Parking assistance device

Abstract

The parking assistance device (500) includes a central processing unit (310a). The central processing unit (310a) detects the dimensions of the parking space. Based on the detected dimensions of the parking space, the central processing unit (310a) adjusts and sets the minimum remaining space that should be ensured between the vehicle (1) and objects surrounding the parking space. Based on the set remaining space dimensions, the central processing unit (310a) assists the vehicle (1) in parking the vehicle (1) into the parking space.

Description

Technical Field

[0001] This disclosure relates to parking assistance devices. Background Technology

[0002] Previous studies have explored technologies for parking in parking spaces using assisted vehicles such as autonomous and semi-autonomous vehicles.

[0003] In the aforementioned technologies, in order to suppress feelings of fear in the driver, it is desirable to ensure a minimum clearance (remaining space) between the vehicle and surrounding objects in the parking space while assisting in parking the vehicle.

[0004] However, if the minimum required size of the remaining space is always set constant, it becomes difficult to move the vehicle without encroaching on the remaining space, depending on the size of the parking space (and the size of the vehicle), and sometimes it is not possible to properly assist the vehicle in parking. Therefore, it is desirable to appropriately implement vehicle parking assistance while appropriately changing the minimum required size of the remaining space. Summary of the Invention

[0005] Therefore, this disclosure provides a parking assistance device that can appropriately assist in parking a vehicle while appropriately changing the size of the remaining space that should be ensured to a minimum.

[0006] The parking assistance device disclosed herein includes a central processing unit. The central processing unit is configured to: detect the size of a parking space where a vehicle may park; adjust and set the size of a minimum remaining space that should be ensured between the vehicle and objects surrounding the parking space based on the detected size of the parking space; and perform assistance in parking the vehicle into the parking space based on the set size of the remaining space.

[0007] According to the above-mentioned parking assistance device, the vehicle parking assistance can be appropriately performed while appropriately changing the size of the remaining space that should be ensured to a minimum according to the size of the parking space.

[0008] In the above-described manner, the central processing unit may set the size of the remaining space to a first size when the size of the parking space is above a first threshold, and set the size of the remaining space to a second size smaller than the first size when the size of the parking space is below a second threshold smaller than the first threshold. With this structure, the size of the remaining space can be easily set to either the first size or the second size by comparing the size of the parking space with the first threshold and the second threshold.

[0009] In the above structure, the central processing unit may repeatedly perform the detection of the size of the parking space before the vehicle completes parking in the parking space, and repeatedly set the size of the remaining space corresponding to the size of the parking space to the first size or the second size before the vehicle completes parking in the parking space. With this structure, the size of the remaining space can be appropriately updated based on the latest detection result of the parking space size.

[0010] In the above structure, the central processing unit may set the size of the remaining space to the previously set size of the first size and the second size when the size of the parking space is between the first threshold and the second threshold. With this structure, the previous history can be taken into account to suppress frequent switching of the size of the remaining space between the first size and the second size.

[0011] In the above-described manner, the central processing unit may also perform parking assistance, including controlling the braking of the vehicle. The central processing unit adjusts and sets the maximum permissible braking intensity of the vehicle based on the dimensions of the parking space. With this structure, by appropriately adjusting the maximum braking intensity of the vehicle, vehicle movement can be easily achieved without encroaching on remaining space, depending on the dimensions of the parking space.

[0012] In the above structure, the central processing unit may set the maximum braking intensity of the vehicle to a first intensity when the size of the parking space is above a first threshold, and set the maximum braking intensity of the vehicle to a second intensity that is stronger than the first intensity when the size of the parking space is below a second threshold that is less than the first threshold. With this structure, the maximum braking intensity can be easily set to either the first intensity or the second intensity by comparing the size of the parking space with the first and second thresholds.

[0013] In the above-described manner, the central processing unit may also perform vehicle parking assistance, including controlling the timing of the vehicle's start-up from a stop. The central processing unit controls the vehicle's start-up timing based on the dimensions of the parking space. With this structure, by appropriately changing the vehicle's start-up timing, vehicle movement can be easily achieved without encroaching on remaining space, depending on the dimensions of the parking space.

[0014] In the above structure, the central processing unit may set the vehicle starting timing as a first timing when the size of the parking space is above a first threshold, and set the vehicle starting timing as a second timing later than the first timing when the size of the parking space is below a second threshold. With this structure, the vehicle starting timing can be easily set to either the first or the second timing by comparing the size of the parking space with the first and second thresholds. Attached Figure Description

[0015] The features, advantages, technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0016] Figure 1 This is a schematic diagram illustrating an example of the structure inside the passenger compartment of a vehicle according to the embodiment.

[0017] Figure 2 This is a schematic diagram illustrating an example of the appearance of the vehicle involved in the embodiment as viewed from above.

[0018] Figure 3 This is a schematic block diagram illustrating an example of the system structure of a vehicle involved in the implementation method.

[0019] Figure 4 This is a schematic diagram illustrating an example of a parking assistance process that can be performed in the implementation.

[0020] Figure 5 This is a schematic block diagram illustrating the function of the parking assistance device according to the embodiment.

[0021] Figure 6 This is a schematic diagram illustrating an example of control corresponding to the size of the parking space that can be implemented in the embodiment.

[0022] Figure 7 This is a flowchart illustrating a series of processes performed by the parking assistance device according to the embodiment as a parking assistance process. Detailed Implementation

[0023] Hereinafter, embodiments and modifications of the present disclosure will be described based on the accompanying drawings. The structures of the embodiments and modifications described below, as well as the functions and effects brought about by such structures, are merely examples and are not limited to the following description.

[0024] First, use Figure 1 as well as Figure 2 A brief description of the structure of the vehicle 1 involved in the implementation method will be provided.

[0025] Figure 1 This is a schematic diagram illustrating an example of the structure inside the carriage 2a of the vehicle 1 according to the embodiment. Figure 2 This is a schematic diagram illustrating the appearance of the vehicle 1 according to the embodiment as viewed from above.

[0026] like Figure 1 As shown, the vehicle 1 according to the embodiment has a passenger compartment 2a including a driver who is the user. Inside the passenger compartment 2a, in a state where the user can operate from the seat 2b, there are brake operation unit 4, acceleration operation unit 5, steering operation unit 6, and transmission operation unit 7, etc.

[0027] The braking operation unit 4 is an input device that receives driver input for the braking mechanism used to generate braking force in vehicle 1. The acceleration operation unit 5 is an input device that receives driver input for the acceleration mechanism used to generate acceleration force in vehicle 1. The steering operation unit 6 is an input device that receives driver input for the steering mechanism used to steer the wheels of vehicle 1. The transmission operation unit 7 is an input device that receives driver input for the transmission mechanism used to change the gear ratios of vehicle 1.

[0028] For example, in Figure 1 In the example shown, the brake control unit 4 is the brake pedal located under the driver's feet. The accelerator control unit 5 is the accelerator pedal located under the driver's feet. The steering control unit 6 is the steering wheel protruding from the instrument panel. The gear shift control unit 7 is the gear lever protruding from the center console.

[0029] A monitor device 11 is installed inside the passenger compartment 2a, which includes a display unit 8 capable of outputting various images and a sound output unit 9 capable of outputting various sounds. The monitor device 11 is, for example, located in the center of the dashboard in the width direction (left-right direction) inside the passenger compartment 2a. Furthermore, the display unit 8 is, for example, composed of an LCD (liquid crystal display) or an OLED (organic electroluminescent display).

[0030] Here, an operation input unit 10 is provided on the display screen of the display unit 8, which is the area for displaying images. The operation input unit 10 is configured, for example, as a touch panel capable of detecting the coordinates of the position of a pointer such as a finger or stylus approaching (including touching). As a result, the user (driver) can visually confirm the image displayed on the display screen of the display unit 8, and can perform various operation inputs by touching (or clicking) the operation input unit 10 using a pointer.

[0031] Furthermore, in this embodiment, the operation input unit 10 can be various physical interfaces such as a switch, dial switch, joystick, or button. Additionally, in this embodiment, other sound output devices can be installed in a different location within the carriage 2a than the monitor device 11. In this case, various sound information can be output from both the sound output unit 9 and the other sound output devices. Furthermore, in this embodiment, the monitor device 11 can also be configured to display information related to various systems such as navigation systems and audio systems.

[0032] In addition, such as Figure 1 as well as Figure 2 As shown, the vehicle 1 involved in the embodiment is configured as a four-wheeled automobile having two front wheels 3F on the left and right, and two rear wheels 3R ​​on the left and right. Hereinafter, for simplicity, the front wheels 3F and the rear wheels 3R ​​will be collectively referred to as wheels. In the embodiment, the sideslip angle of some or all of the four wheels changes (steering) depending on the operation of the steering control unit 303a, etc.

[0033] In addition, vehicle 1 is equipped with multiple cameras for perimeter surveillance (in... Figure 1 as well as Figure 2 The example shown uses four vehicle-mounted cameras 15a to 15d. Camera 15a is located at the rear end 2e of the vehicle body 2 (e.g., below the trunk door 2h) and captures images of the area behind the vehicle 1. Camera 15b is located at the right end 2f of the vehicle body 2, attached to the rearview mirror 2g, and captures images of the right side of the vehicle 1. Camera 15c is located at the front end 2c of the vehicle body 2 (e.g., the front bumper) and captures images of the area in front of the vehicle 1. Camera 15d is located at the left end 2d of the vehicle body 2, attached to the rearview mirror 2g, and captures images of the left side of the vehicle 1. Hereinafter, unless otherwise specified, vehicle-mounted cameras 15a to 15d will sometimes be referred to simply as vehicle-mounted camera 15.

[0034] The vehicle-mounted camera 15 is, for example, a so-called digital camera with imaging elements such as a CCD (charge-coupled device) or a CIS (CMOS (complementary metal-oxide-semiconductor) image sensor). The vehicle-mounted camera 15 captures images around the vehicle 1 at a predetermined frame rate and outputs image data of the captured images. The image data obtained by the vehicle-mounted camera 15 can also be used to construct moving images as frame images.

[0035] Additionally, the vehicle body 2 is equipped with ranging units 16 and 17, which utilize ranging sensors to detect the distance to people and objects (including the road surface) present in the vicinity of the vehicle 1. The ranging units 16 and 17 are configured as sonar or lidar, etc., that detect the distance to objects based on wave-based transmission and reception. Figure 2In the example shown, the ranging unit 16 consists of four ranging units 16a to 16d, and the ranging unit 17 consists of seven ranging units 17a to 17h.

[0036] The ranging unit 16 is configured to detect objects to the side of the vehicle 1, and the ranging unit 17 is configured to detect objects in front of and behind the vehicle 1. In addition, the ranging unit 16 is configured, for example, to detect objects that are far away from the vehicle 1, and the ranging unit 17 is configured, for example, to detect objects that are close to the vehicle 1.

[0037] Next, use Figure 3 The system structure provided in vehicle 1 according to the embodiment for realizing various controls will be described. Furthermore, Figure 3 The system architecture shown is just one example and can be modified in a variety of ways.

[0038] Figure 3 This is a schematic block diagram illustrating an example of the system structure of the vehicle 1 involved in the implementation method.

[0039] like Figure 3 As shown, the vehicle 1 involved in the embodiment includes a braking system 301, an acceleration system 302, a steering control system 303, a transmission system 304, an obstacle sensor 305, a driving status sensor 306, an on-board camera 15, a monitoring device 11, a vehicle control device 310, and an on-board network 350.

[0040] The braking system 301 controls the deceleration of the vehicle 1. The braking system 301 includes a braking unit 301a, a braking control unit 301b, and a braking unit sensor 301c.

[0041] The brake unit 301a is, for example, an actuator for the braking mechanism used to drive the vehicle 1. The brake unit 301a may operate in a manner that assists in the operation of the brake operation unit 4, or it may operate separately from the operation of the brake operation unit 4.

[0042] The braking control unit 301b is configured, for example, as a microcomputer with a hardware processor such as a CPU (central processing unit). The braking control unit 301b controls the degree of deceleration of the vehicle 1 by activating the braking unit 301a based on instructions input via the vehicle network 350.

[0043] The brake sensor 301c is a sensing device used to detect the state of the brake unit 301a (and the brake operation unit 4). The detection result based on the brake sensor 301c is output to the vehicle network 350 and used in various devices on the vehicle network 350.

[0044] The acceleration system 302 controls the acceleration of the vehicle 1. The acceleration system 302 includes an acceleration unit 302a, an acceleration control unit 302b, and an acceleration sensor 302c.

[0045] Acceleration unit 302a is, for example, an actuator for the acceleration mechanism used to drive vehicle 1. Braking unit 301a can operate in a manner that assists in the operation of acceleration operation unit 5, or it can operate separately from the operation of acceleration operation unit 5.

[0046] Acceleration control unit 302b is configured, for example, as a microcomputer with a hardware processor such as a CPU. Acceleration control unit 302b controls the acceleration level of vehicle 1 by activating acceleration unit 302a based on instructions input via vehicle network 350.

[0047] Acceleration sensor 302c is a sensing device used to detect the state of acceleration unit 302a (and acceleration operation unit 5). The detection result based on acceleration sensor 302c is output to vehicle network 350 and used in various devices on vehicle network 350.

[0048] The steering system 303 controls the direction of travel of the vehicle 1. The steering system 303 includes a steering control unit 303a, a steering control unit 303b, and a steering control unit sensor 303c.

[0049] The steering control unit 303a is, for example, an actuator for driving the steering mechanism of the vehicle 1. The steering control unit 303a can operate in a manner that assists in the operation of the steering control operation unit 6, or it can operate separately from the operation of the steering control operation unit 6.

[0050] The steering control unit 303b is configured, for example, as a microcomputer with a hardware processor such as a CPU. The steering control unit 303b controls the direction of travel of the vehicle 1 by activating the steering unit 303a based on instructions input via the vehicle network 350.

[0051] The steering control unit sensor 303c is a sensing device used to detect the state of the steering control unit 303a (and the steering control operation unit 6). The detection results based on the steering control unit sensor 303c are output to the vehicle network 350 and utilized in various devices on the vehicle network 350.

[0052] The transmission system 304 controls the gear ratio of the vehicle 1. The transmission system 304 includes a transmission unit 304a, a transmission control unit 304b, and a transmission unit sensor 304c.

[0053] The transmission unit 304a is, for example, an actuator for the transmission mechanism used to drive the vehicle 1. The transmission unit 304a can operate in a manner that assists in the operation of the transmission operation unit 7, or it can operate separately from the operation of the transmission operation unit 7.

[0054] The transmission control unit 304b is configured, for example, as a computer with a hardware processor such as a CPU. The transmission control unit 304b controls the transmission ratio of the vehicle 1 by operating the transmission unit 304a based on instructions input via the vehicle network 350.

[0055] The transmission unit sensor 304c is a sensing device used to detect the status of the transmission unit 304a (and the transmission operation unit 7). The detection result based on the transmission unit sensor 304c is output to the vehicle network 350 and can be used in various devices on the vehicle network 350.

[0056] The obstacle sensor 305 is a sensing device for detecting data related to objects (obstacles) present in the vicinity of the vehicle 1. The obstacle sensor 305 includes ranging units 16 and 17, which are ranging sensors that acquire distances to objects present in the vicinity of the vehicle 1. Furthermore, the obstacle sensor 305 may also include an onboard camera 15 that acquires images of the surrounding environment of the vehicle 1. The detection results based on the obstacle sensor 305 are output to an onboard network 350 and can be utilized by various devices on the onboard network 350.

[0057] The driving status sensor 306 is a device used to detect the driving status of vehicle 1. The driving status sensor 306 may include, for example, a wheel speed sensor to detect the wheel speed of vehicle 1, an acceleration sensor to detect the acceleration of vehicle 1 in the forward / backward or left / right directions, and a gyroscope sensor to detect the turning speed (angular velocity) of vehicle 1. The detection results from the driving status sensor 306 are output to the vehicle network 350 and can be used by various devices on the vehicle network 350.

[0058] The vehicle control device 310 is configured, for example, to perform various functions by uniformly controlling various systems installed in the vehicle 1, such as an ECU (electronic control unit). Although detailed later, the vehicle control device 310 according to the embodiment is configured to perform parking assistance processing to assist the vehicle 1 in parking (e.g., tandem parking) in autonomous driving and semi-autonomous driving.

[0059] The vehicle control unit 310 includes a CPU 310a, a ROM (Read-Only Memory) 310b, a RAM (Random Access Memory) 310c, an SSD (Solid State Drive) 310d, a display control unit 310e, and a voice control unit 310f.

[0060] CPU 310a is a hardware processor that uniformly controls the vehicle control device 310. CPU 310a reads various control programs (computer programs) stored in ROM 310b, etc., and performs various functions according to the instructions specified by these control programs. Furthermore, the control programs mentioned herein include a parking assistance program for performing the aforementioned parking assistance processing.

[0061] ROM310b is a non-volatile main memory device that stores parameters required for the execution of the various control programs mentioned above.

[0062] RAM310c is a volatile main memory device that provides the working area of ​​CPU310a.

[0063] SSD310d is a rewritable, non-volatile auxiliary storage device. Furthermore, in the vehicle control device 310 according to the embodiment, an HDD (hard disk drive) may be used instead of SSD310d (or something other than SSD310d) as an auxiliary storage device.

[0064] In the various processes performed by the vehicle control device 310, the display control unit 310e is mainly responsible for image processing of the captured images obtained from the vehicle camera 15 and the generation of image data output to the display unit 8 of the monitor device 11.

[0065] In the various processes performed by the vehicle control device 310, the sound control unit 310f is mainly responsible for generating sound data to be output to the sound output unit 9 of the monitor device 11.

[0066] The vehicle network 350 is connected to the braking system 301, acceleration system 302, steering system 303, transmission system 304, obstacle sensor 305, driving status sensor 306, operation input unit 10 of monitor device 11, and vehicle control device 310 in a communicative manner.

[0067] Here, parking assistance techniques for assisted vehicles 1 to park in parking spaces, such as those using autonomous or semi-autonomous driving, have been previously studied. In such techniques, in order to suppress feelings of fear in the driver, it is desirable to perform parking assistance while ensuring a minimum clearance (remaining space) between the vehicle 1 and objects surrounding the parking space.

[0068] For example, Figure 4 This is a schematic diagram illustrating an example of a parking assistance process that can be performed in the implementation.

[0069] exist Figure 4In the example shown, the space S1 of length L1 located between other vehicles 1a and 1b is equivalent to a parking space. Vehicle 1 performs tandem parking by moving along the path indicated by arrow C toward the space S1, which serves as the parking space.

[0070] The tandem parking described above is typically performed when the length L1 of space S1 is greater than the length L0 of vehicle 1 by a certain amount. Therefore, if tandem parking in space S1 is completed, a space S1a of length α is secured between other vehicles 1a and vehicle 1, and between other vehicles 1b and vehicle 1, as the aforementioned remaining space. Furthermore, in this case, in addition to the space S1a of length α, a space S1b of length β is also secured between other vehicles 1a and vehicle 1, and between other vehicles 1b and vehicle 1, to absorb errors in the movement of vehicle 1 during parking assistance processing.

[0071] Previously, the length α of space S1a (and the length β of space S1b) which is the minimum remaining space that should be ensured was predetermined as a constant value corresponding to the specifications of vehicle 1 (the length of vehicle 1, and the response performance of braking unit 301a and acceleration unit 302a, etc.).

[0072] However, if the minimum required size of the remaining space is always set constant, it becomes difficult to move the vehicle 1 without encroaching on the remaining space, depending on the size of the parking space (and the size of the vehicle 1), and sometimes it is not possible to properly assist in parking the vehicle 1. Therefore, it is desirable to appropriately implement parking assistance for the vehicle 1 while appropriately changing the minimum required size of the remaining space.

[0073] Therefore, the implementation method utilizes the vehicle control device 310 to achieve the following... Figure 5 The parking assistance device 500, as shown, enables the appropriate execution of parking assistance for vehicle 1 while appropriately changing the size of the remaining space that should be ensured to a minimum.

[0074] Figure 5 This is a schematic block diagram illustrating the function of the parking assistance device 500 according to the embodiment.

[0075] This is achieved within the vehicle control device 310 through the combination of software and hardware. Figure 5 The functions shown. That is, Figure 5 The function shown is achieved by the CPU 310a of the vehicle control device 310 reading and executing a parking assistance program, which is a control program stored in the ROM 310b, etc. Alternatively, in some embodiments, it can also be implemented as dedicated hardware (circuit). Figure 5 At least a portion of the functions shown.

[0076] like Figure 5 As shown, the parking assistance device 500 according to the embodiment includes a detection processing unit 501, a setting processing unit 502, and an assistance processing unit 503.

[0077] Based on the detection results from the obstacle sensor 305, the detection processing unit 501 detects the size of the parking space where the vehicle 1 is likely to park. For example, in the above-mentioned... Figure 4 In the example shown, the detection processing unit 501 detects the length L1 of the space S1 between the parking space and other vehicles 1a and 1b, based on the dimensions of the parking space.

[0078] Furthermore, the setting processing unit 502 sets the size of the remaining space that should be ensured at the minimum level between the vehicle 1 and the objects surrounding the parking space based on the size change of the parking space detected by the detection processing unit 501.

[0079] For example, when the parking space is relatively wide, even if the size of the remaining space is set to a constant value that is the same as the existing value that is predetermined based on the specifications of vehicle 1 in order to reduce the fear caused to the driver, it is easy to move vehicle 1 without encroaching on the remaining space.

[0080] On the other hand, when the parking space is narrow, if the size of the remaining space is set to a constant value that is the same as existing values ​​corresponding to the specifications of vehicle 1, it is difficult to move vehicle 1 without encroaching on the remaining space. However, even in this case, as long as it is permissible to cause some fear to the driver and the size of the remaining space is made smaller than usual, it is possible to move vehicle 1 without encroaching on the remaining space.

[0081] Therefore, when the size of the parking space is above a first threshold, the setting processing unit 502 sets the size of the remaining space to a first size, and when the size of the parking space is below a second threshold that is less than the first threshold, the setting processing unit 502 sets the size of the remaining space to a second size that is smaller than the first size.

[0082] Furthermore, in this embodiment, the detection result of the obstacle sensor 305 may contain errors, so the detection result of the parking space size can change according to the movement of the vehicle 1. Therefore, the detection processing unit 501 does not finish detecting the parking space size only once, but repeatedly performs the detection of the parking space size before the vehicle 1 finishes parking in the parking space. Furthermore, the setting processing unit 502 repeatedly performs the setting of the remaining space size corresponding to the parking space size to a first size or a second size before the vehicle 1 finishes parking in the parking space.

[0083] However, it is undesirable for the size of the remaining space to frequently change between the first and second dimensions. Therefore, when the size of the parking space is between the first and second thresholds, the setting processing unit 502 sets the size of the remaining space to the previously set value between the first and second dimensions. Furthermore, when setting the size of the remaining space for the first time, the setting processing unit 502 sets the size of the remaining space to the first and second dimensions that have been predetermined as an initial value.

[0084] Furthermore, the auxiliary processing unit 503 performs parking assistance for the vehicle 1 towards the parking space based on the size of the remaining space set by the setting processing unit 502. More specifically, the auxiliary processing unit 503 calculates the driving path that the vehicle 1 should follow before reaching the parking space based on the size of the remaining space set by the setting processing unit 502, and performs parking assistance processing including control of one or more of the braking system 301, acceleration system 302, steering control system 303, and transmission system 304 in a manner that causes the vehicle 1 to move along the driving path.

[0085] Furthermore, in the implementation, parameters other than the size of the remaining space can also be set (changed) according to the size of the parking space.

[0086] For example, in an embodiment, when the parking space is relatively wide, even if the maximum braking intensity of the vehicle 1, which is controlled by the auxiliary processing unit 503, is reduced to a level that can sufficiently reduce the deterioration of the riding comfort caused by the impact of braking, it is easy to move the vehicle 1 without encroaching on the remaining space.

[0087] On the other hand, when the parking space is narrow, if the maximum braking force of vehicle 1 is reduced to the same level as described above, the braking distance tends to increase, making it difficult to move vehicle 1 without encroaching on the remaining space. However, even in this case, as long as the deterioration of the ride comfort due to braking impact is allowed to a certain extent, and the maximum braking force of vehicle 1 is increased, it is possible to move vehicle 1 without encroaching on the remaining space.

[0088] Therefore, in this embodiment, the setting processing unit 502 can also set the maximum braking intensity of the vehicle 1 allowed by the auxiliary processing unit 503 according to the change in the size of the parking space. More specifically, the setting processing unit 502 can set the maximum braking intensity of the vehicle 1 to a first intensity when the size of the parking space is above a first threshold, and set the maximum braking intensity of the vehicle 1 to a second intensity that is stronger than the first intensity when the size of the parking space is below a second threshold that is less than the first threshold.

[0089] Furthermore, in the embodiment, when the parking space is relatively wide, even if the timing of the start of the vehicle 1 controlled by the auxiliary processing unit 503 from a stop is advanced to sufficiently reduce the degree of deterioration in the riding comfort caused by the delay in start, it is easy to move the vehicle 1 without encroaching on the remaining space.

[0090] On the other hand, when the parking space is narrow, if the starting timing of vehicle 1 controlled by the auxiliary processing unit 503 is advanced to the same point as described above, vehicle 1 is prone to overshooting, making it difficult to move vehicle 1 without encroaching on the remaining space. However, even in this case, as long as the deterioration of the riding experience due to the delayed starting is tolerated to a certain extent, delaying the starting timing of vehicle 1 can achieve the movement of vehicle 1 without encroaching on the remaining space.

[0091] Therefore, in this embodiment, the setting processing unit 502 can also set the starting time of the vehicle 1 controlled by the auxiliary processing unit 503 according to the change in the size of the parking space. More specifically, the setting processing unit 502 can set the starting time of the vehicle 1 as a first timing when the size of the parking space is above a first threshold, and set the starting time of the vehicle 1 as a second timing later than the first timing when the size of the parking space is below a second threshold less than the first threshold.

[0092] Furthermore, when the size of the parking space is between the first threshold and the second threshold, the maximum braking intensity of vehicle 1 and the starting timing of vehicle 1 can both be set using the same concept as in the example described above where the length of the remaining space is set according to the size of the parking space. In other words, when the size of the parking space is between the first threshold and the second threshold, the maximum braking intensity of vehicle 1 can be set to the earlier of the first intensity and the second intensity, and the starting timing of vehicle 1 can be set to the earlier of the first timing and the second timing.

[0093] In summary, the control measures implemented based on the dimensions of the parking space in the above-mentioned implementation methods are as follows: Figure 6 As shown.

[0094] Figure 6 This is a schematic diagram illustrating an example of control corresponding to the size of the parking space that can be performed in the implementation method.

[0095] like Figure 6 As shown, in the embodiment, when the size of the parking space detected by the detection processing unit 501 is above a first threshold, control is performed such as achieving a remaining space of a first length, braking with a maximum intensity of a first intensity, and starting at a first timing.

[0096] Furthermore, in the implementation, when the size of the parking space is less than or below a second threshold that is less than the first threshold, control is performed such as achieving a remaining space of a second length that is shorter than the first length, braking with a second intensity that is stronger than the first intensity, and starting at a second timing that is later than the first timing.

[0097] Furthermore, in the implementation, when the size of the parking space is between a first threshold and a second threshold, if the previous parameters were a first length, a first intensity, and a first timing, these parameters are continued to be used; if the previous parameters were a second length, a second intensity, and a second timing, these parameters are also continued to be used. Moreover, there is no predetermined initial value for either the combination of the first length, first intensity, and first timing, or the combination of the second length, second intensity, and second timing.

[0098] Based on the above structure, the parking assistance device 500 involved in the implementation method performs parking assistance processing and executes the following... Figure 7 The series of processes shown. Figure 7 The series of processes shown begins, for example, when the size of the parking space detected by the detection processing unit 501 is greater than or equal to a specified size.

[0099] Figure 7 This is a flowchart illustrating a series of processes performed by the parking assistance device 500 according to the embodiment as a parking assistance process.

[0100] like Figure 7 As shown, in the embodiment, firstly, in S701, the detection processing unit 501 of the parking assistance device 500 obtains the detection result of the obstacle sensor 305.

[0101] Furthermore, in S702, the detection processing unit 402 detects the size (e.g., length) of the parking space where the vehicle 1 may park, based on the information obtained in S701.

[0102] Furthermore, in S703, the setting processing unit 502 of the parking assistance device 500 determines the narrowness of the parking space based on the detection result of S702. More specifically, the setting processing unit 502 determines that the parking space is too wide if the size of the parking space is above the first threshold, and determines that the parking space is too narrow if the size of the parking space is below the second threshold. In addition, when the size of the parking space is between the first threshold and the second threshold, the setting processing unit 502 continues to accept the determination result of the previous S702. However, when the processing of S702 is executed for the first time, the setting processing unit 502 determines that the parking space is too narrow based on a predetermined setting, for example.

[0103] Furthermore, in S704, the setting processing unit 502 determines whether the parking space is narrow in S702.

[0104] In S704, if it is determined that the parking space is too narrow, the process proceeds to S705. Furthermore, in S705, the setting processing unit 502 sets the length of the remaining space that should be considered in the parking assistance processing to a second length that is shorter than the conventional first length predetermined based on the specifications of the vehicle 1 to reduce the fear caused to the driver.

[0105] Furthermore, in S706, the setting processing unit 502 sets the maximum braking intensity allowed by the auxiliary processing unit 503 in the parking assistance processing to a second intensity that is stronger than the conventional first intensity, which is set to sufficiently reduce the degree of deterioration in ride comfort caused by braking impact.

[0106] Furthermore, in S707, the setting processing unit 502 sets the starting time of the vehicle 1, which is controlled by the auxiliary processing unit 503 in the parking assistance processing, from a stop to a second timing that is later than the conventional first timing that is set to sufficiently reduce the degree of deterioration in ride comfort caused by the delay in starting.

[0107] On the other hand, in S704, if it is determined that the parking space is wide, the process proceeds to S708. Furthermore, in S708, the setting processing unit 502 sets the length of the remaining space that should be considered in the parking assistance processing to a normal first length.

[0108] Furthermore, in S709, the setting processing unit 502 sets the maximum braking intensity allowed by the auxiliary processing unit 503 in the parking assistance processing to the normal first intensity.

[0109] Furthermore, in S710, the setting processing unit 502 sets the starting time of the vehicle 1, which is controlled by the auxiliary processing unit 503 in the parking assistance processing, from a stop to a normal first timing.

[0110] If the parameters to be considered in the parking assistance process are set through the processes of S705 to S707 or S708 to S710, the process proceeds to S711. Then, in S711, the assistance processing unit 503 generates a movement path for the vehicle 1 until it reaches the parking space based on the length of the remaining space (first length or second length).

[0111] Furthermore, in S712, the auxiliary processing unit 503 considers the maximum braking intensity (first intensity or second intensity) and the starting timing (first timing or second timing) to control one or more of the braking system 301, acceleration system 302, steering system 303 and transmission system 304, and causes the vehicle 1 to move along the movement path generated in S711.

[0112] Furthermore, in S713, the auxiliary processing unit 503 determines whether the parking of vehicle 1 into the parking space has been completed.

[0113] In S713, if it is determined that parking is not complete, the process returns to S701. On the other hand, in S713, if it is determined that parking is complete, the process ends. In this way, the parking assistance process according to the embodiment is performed.

[0114] As explained above, the parking assistance device 500 according to the embodiment includes a detection processing unit 501, a setting processing unit 502, and an assistance processing unit 503. The detection processing unit 501 detects the size (length) of a parking space where the vehicle 1 may park. Then, the setting processing unit 502 changes and sets the size (length) of the remaining space that should be minimum guaranteed between the vehicle 1 and objects surrounding the parking space based on the size of the parking space detected by the detection processing unit 501. Then, the assistance processing unit 503 performs assistance in parking the vehicle 1 into the parking space based on the size of the remaining space set by the setting processing unit 502.

[0115] According to the embodiment, the parking assistance device 500 can appropriately assist in parking the vehicle 1 while appropriately changing the size of the remaining space that should be ensured to a minimum according to the size of the parking space.

[0116] More specifically, in this embodiment, the setting processing unit 502 sets the size of the remaining space to a first size (first length) when the size of the parking space is above a first threshold, and sets the size of the remaining space to a second size (second length) smaller than the first size when the size of the parking space is below a second threshold. With this structure, the size of the remaining space can be easily set to either the first size or the second size by comparing the size of the parking space with the first threshold and the second threshold.

[0117] Furthermore, in this embodiment, the detection processing unit 501 repeatedly performs the detection of the parking space dimensions before the vehicle 1 completes parking in the parking space. Moreover, the setting processing unit 502 repeatedly sets the remaining space dimensions corresponding to the parking space dimensions to either a first dimension or a second dimension before the vehicle 1 completes parking in the parking space. With this structure, the remaining space dimensions can be appropriately updated based on the latest detection results of the parking space dimensions.

[0118] Furthermore, in this embodiment, when the size of the parking space is between a first threshold and a second threshold, the setting processing unit 502 sets the size of the remaining space to the previously set size (either the first or the second size). With this structure, the previous history can be taken into account, thus suppressing frequent switching of the remaining space size between the first and second sizes.

[0119] In this embodiment, the auxiliary processing unit 503 is capable of performing parking assistance for the vehicle 1, including controlling the braking of the vehicle 1. In this case, the setting processing unit 502 can also change and set the maximum braking intensity of the vehicle 1 allowed by the auxiliary processing unit 503 according to the size of the parking space. With this structure, by appropriately changing the maximum braking intensity of the vehicle 1, the movement of the vehicle 1 can be easily achieved without encroaching on the remaining space, depending on the size of the parking space.

[0120] More specifically, in this embodiment, the setting processing unit 502 can set the maximum braking intensity of the vehicle 1 to a first intensity when the size of the parking space is above a first threshold, and set the maximum braking intensity of the vehicle 1 to a second intensity that is stronger than the first intensity when the size of the parking space is below a second threshold that is less than the first threshold. With this structure, the maximum braking intensity can be easily set to either the first intensity or the second intensity by comparing the size of the parking space with the first threshold and the second threshold.

[0121] Furthermore, in this embodiment, the auxiliary processing unit 503 can perform parking assistance for the vehicle 1, including controlling the timing of the vehicle 1's start-up from a stop. In this case, the setting processing unit 502 can also change and set the starting timing of the vehicle 1 controlled by the auxiliary processing unit 503 according to the size of the parking space. With this structure, by appropriately changing the starting timing of the vehicle 1, the movement of the vehicle 1 can be easily achieved without encroaching on the remaining space, depending on the size of the parking space.

[0122] More specifically, in this embodiment, the setting processing unit 502 sets the starting time of vehicle 1 to a first timing when the size of the parking space is above a first threshold, and sets the starting time of vehicle 1 to a second timing later than the first timing when the size of the parking space is below a second threshold. With this structure, the starting time of vehicle 1 can be easily set to either the first timing or the second timing by comparing the size of the parking space with the first and second thresholds.

[0123] Furthermore, the parking assistance program executed in the vehicle control device 310 according to the embodiment does not necessarily need to be pre-stored in the ROM 310b, etc. For example, the information processing program according to the embodiment may also be provided as a computer program product recorded in an installable or executable form on a computer-readable recording medium such as a disk or optical disc.

[0124] Alternatively, the parking assistance program involved in the implementation can also be provided or distributed via a network such as the Internet. That is, the parking assistance program involved in the implementation can also be provided by accepting downloads via the network while stored on a computer connected to a network such as the Internet.

[0125] Variations

[0126] In the above embodiments, a structure is illustrated in which the length of the remaining space corresponding to the size of the parking space is changed during the execution of parking assistance processing for tandem parking. However, the change of the length of the remaining space corresponding to the size of the parking space is also effective during the execution of parking assistance processing for parking other than tandem parking, such as for parallel parking. In addition, the change of the length of the remaining space corresponding to the size of the parking space may also be effective during the execution of other driving assistance processing, such as exit assistance processing for assisting vehicle 1 to exit the parking space.

[0127] Furthermore, in the above embodiment, a structure is illustrated in which the length of the remaining space, the maximum braking intensity, and the starting timing are changed in two stages. However, the length of the remaining space, the maximum braking intensity, and the starting timing can also be changed in three or more stages, or they can be changed continuously without step changes.

[0128] The embodiments and modifications of this disclosure have been described above. However, the above embodiments and modifications are merely examples and do not limit the scope of the invention. The above-described new embodiments and modifications can be implemented in various ways, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. The above-described embodiments and modifications are included in the scope and spirit of the invention, and are included in the scope of the invention as described in the claims and its equivalents.

Claims

1. A parking assistance device (500), wherein, Includes a central processing unit (310a). The central processing unit (310a) is configured as follows: Detect the dimensions of a parking space where a vehicle (1) may park; Based on the detected changes in the size of the parking space, the size of the remaining space that should be ensured to the minimum extent between the vehicle (1) and the objects surrounding the parking space is set. as well as Based on the set size of the remaining space, assist in parking the vehicle (1) into the parking space. When the size of the parking space is above a first threshold, the central processing unit (310a) sets the size of the remaining space to a first size; when the size of the parking space is below a second threshold (less than the first threshold), the central processing unit (310a) sets the size of the remaining space to a second size smaller than the first size. The central processing unit (310a) repeatedly performs the detection of the size of the parking space before the vehicle (1) completes parking in the parking space. Before the vehicle (1) completes parking in the parking space, the central processing unit (310a) repeatedly executes the setting of the size of the remaining space corresponding to the size of the parking space to either the first size or the second size. When the size of the parking space is between the first threshold and the second threshold, the central processing unit (310a) sets the size of the remaining space to the former of the first size and the second size.

2. The parking assistance device (500) according to claim 1, wherein, The central processing unit (310a) performs parking assistance for the vehicle (1), including control of the braking of the vehicle (1). The central processing unit (310a) changes the size of the parking space and sets the maximum allowable braking intensity of the vehicle (1).

3. The parking assistance device (500) according to claim 2, wherein, When the size of the parking space is above a first threshold, the central processing unit (310a) sets the maximum braking intensity of the vehicle (1) to a first intensity; when the size of the parking space is below a second threshold less than the first threshold, the central processing unit (310a) sets the maximum braking intensity of the vehicle (1) to a second intensity stronger than the first intensity.

4. The parking assistance device (500) according to claim 1 or 3, wherein, The central processing unit (310a) performs parking assistance for the vehicle (1), including controlling the timing of the start-up of the vehicle (1) from a stop. The central processing unit (310a) changes the size of the parking space and sets the starting time of the vehicle (1) to be controlled.

5. The parking assistance device (500) according to claim 4, wherein, When the size of the parking space is above a first threshold, the central processing unit (310a) sets the starting time of the vehicle (1) to a first timing, and when the size of the parking space is below a second threshold less than the first threshold, it sets the starting time of the vehicle (1) to a second timing later than the first timing.

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