Parking support device and parking support method

Abstract

The present invention provides a parking assistance device and a parking assistance method for reducing the processing burden of obstacle judgment. The parking assistance device (100) comprises: a path generation unit (135) for generating a parking path (R1); a range setting unit (136) for calculating the movement range of the vehicle (1A) when the vehicle (1A) moves along the parking path in both the X-axis and Y-axis directions, and setting a search range (W) for searching for obstacles based on the calculated X-axis and Y-axis movement ranges; and a judgment unit (137) for detecting objects that may become obstacles to the movement of the vehicle based on the surrounding conditions of the vehicle, and if the detected object is within the search range, judging whether the detected object is an obstacle that may become an obstacle to the movement of the vehicle along the parking path, and not judging whether the detected object is an obstacle if the detected object is outside the search range.

Description

Technical Field

[0001] The present invention relates to a parking assistance device and a parking assistance method. Background Art

[0002] There is known a device for detecting and reporting obstacles on a travel path when a vehicle is driven autonomously.

[0003] For example, patent document 1 has: a mobile obstacle detection unit that detects a mobile obstacle within a specified monitoring area; a first calculation unit that calculates a predicted movement path of the mobile obstacle; a second calculation unit that calculates a predicted movement path of the own vehicle; a setting unit that sets an alarm execution area within the monitoring area and executes an alarm based on the predicted movement path of the own vehicle; an exclusion unit that excludes mobile obstacles with a low probability of reaching the alarm execution area from the alarm target mobile obstacles based on the predicted movement path of the mobile obstacle and the predicted movement path of the own vehicle; and an alarm unit that reports an alarm with respect to the alarm target mobile obstacle.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2018-180909 Summary of the Invention

[0007] However, if the monitoring area is not set appropriately, obstacles that do not hinder vehicle travel may also be detected, and contact prediction or collision prediction with the vehicle must be performed for the detected obstacles, which increases the processing load.

[0008] An object of the present invention is to provide a parking assistance device and a parking assistance method that reduce the processing load of obstacle determination.

[0009] To achieve the above-mentioned object, the parking assistance device of the present invention is characterized by comprising: an input / output interface connected to an external device; a situation acquisition unit for acquiring a situation surrounding a vehicle detected by a detection device via the input / output interface; a parking position determination unit for determining a parking position for parking the vehicle based on the acquired situation surrounding the vehicle; a path generation unit for generating a parking path for moving the vehicle to the parking position; a range setting unit for calculating a movement range of the vehicle in a first direction and a second direction orthogonal to the first direction, respectively, when the vehicle moves along the parking path, and setting a search range for searching for obstacles based on the calculated movement ranges in the first and second directions; and a determination unit for detecting an object that may become an obstacle to the movement of the vehicle based on the acquired situation surrounding the vehicle, and determining whether the detected object is an obstacle that may become an obstacle to the movement of the vehicle along the parking path if the detected object is within the search range, and not determining whether the detected object is an obstacle if the detected object is outside the search range.

[0010] Effects of the Invention

[0011] According to the present invention, the processing load of obstacle determination can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a block diagram showing the configuration of an in-vehicle device.

[0013] Figure 2 This is a diagram showing an example of a parking path.

[0014] Figure 3 A diagram showing a plurality of division points set on a parking path.

[0015] Figure 4 This is a diagram showing the range of the vehicle when the vehicle is at the initial position.

[0016] Figure 5 This is a diagram showing the range of the host vehicle when the host vehicle is located at a split point.

[0017] Figure 6 This is a diagram showing the range of the host vehicle when the host vehicle is located at a split point.

[0018] Figure 7 This is a diagram showing the range of the host vehicle when the host vehicle is located at a split point.

[0019] Figure 8 This is a diagram showing the range of the vehicle when the vehicle is in the parking position.

[0020] Figure 9This is a diagram showing coordinates indicating the range of the host vehicle at the initial position, the division point, and the parking position.

[0021] Figure 10 This is a flowchart showing the operation of the parking assistance device.

[0022] Figure 11 This is a diagram showing the search range when the parking method is parallel parking.

[0023] Figure 12 This is a diagram showing the search range when the parking method is diagonal parking.

[0024] Figure 13 This is a diagram showing the notification range.

[0025] Figure 14 This is a diagram showing an example of a guidance display displayed on a display device.

[0026] Figure 15 This diagram shows the search range when the X-axis and the Y-axis are rotated 45 degrees clockwise.

[0027] Description of Reference Numerals

[0028] 1A vehicle

[0029] 3. Vehicle-mounted devices

[0030] 5 Communication bus

[0031] 10 Position detection unit

[0032] 20 detection device

[0033] 30 Filming Department

[0034] 31 front camera

[0035] 32 rear camera

[0036] 33 Left side camera

[0037] 34 right side camera

[0038] 40 sonar units

[0039] 50 Wireless communication device

[0040] 60 display devices

[0041] 63 touch sensors

[0042] 65 touch panel

[0043] 67 Guidance Information

[0044] 70 Vehicle Control Unit

[0045] 80 travel drive device

[0046] 81 steering device

[0047] 83 drive device

[0048] 85 brake device

[0049] 87 speed transmission

[0050] 100 parking assistance device

[0051] 110 input and output interfaces

[0052] 120 memory

[0053] 130 processors

[0054] 131 Position Acquisition Unit

[0055] 132 Status Acquisition Department

[0056] 133 Surrounding Map Generation Department

[0057] 134 Parking position determination unit

[0058] 135 Path Generation Unit

[0059] 136 Range Setting Department

[0060] 137 Judgment Department

[0061] 139 Control Information Generation Unit

[0062] H Notification Scope

[0063] P parking position

[0064] Q1~Q5 rectangular figures

[0065] R1, R2, R3 parking paths

[0066] S initial position

[0067] W Exploration Range DETAILED DESCRIPTION

[0068] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0069] [First embodiment]

[0070] Figure 1 1A is a diagram showing the configuration of the vehicle-mounted device 3 mounted on a vehicle. Hereinafter, the vehicle on which the vehicle-mounted device 3 is mounted is referred to as a host vehicle 1A.

[0071] The in-vehicle device 3 includes a position detection unit 10 , a detection device 20 , a wireless communication device 50 , a display device 60 , a vehicle control unit 70 , a travel drive device 80 , and a parking assistance device 100 .

[0072] The position detection unit 10 detects the position of the host vehicle 1A. The position detection unit 10 includes a GNSS (Global Navigation Satellite System) receiver and a processor (neither shown). The GNSS receiver receives signals transmitted from satellites. The processor calculates the latitude and longitude of the host vehicle 1A based on the signals received by the GNSS receiver, and calculates the heading of the host vehicle 1A based on the difference in the calculated position information. The position detection unit 10 outputs the calculated position and heading information of the host vehicle 1A to the parking assistance device 100.

[0073] The detection device 20 includes a plurality of sensors. The detection device 20 of this embodiment includes an imaging unit 30 including a plurality of cameras and a sonar unit 40 as a sensor.

[0074] In this embodiment, the detection device 20 is described as including a camera and sonar. However, the sensors of the detection device 20 are not limited to cameras and sonar. For example, radar or laser radar (LiDAR) capable of measuring the distance between objects using radio waves and light may also be installed in the detection device 20. The detection device 20 outputs images captured by the imaging unit 30 and sensor data from the sonar unit 40 as surrounding information indicating the surrounding conditions to the parking assistance device 100.

[0075] The imaging unit 30 includes a front camera 31 for capturing images of the front of the vehicle 1A, a rear camera 32 for capturing images of the rear of the vehicle 1A, a left camera 33 for capturing images of the left side of the vehicle 1A, and a right camera 34 for capturing images of the right side of the vehicle 1A. Each of these cameras includes an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide-Semiconductor), and a data processing circuit for generating images based on the light received by the image sensor. The imaging unit 30 adjusts the angle of view so that the four cameras can capture a 360° range centered on the vehicle 1A. The front camera 31, rear camera 32, left camera 33, and right camera 34 capture each image range at a predetermined frame rate to generate captured images. The front camera 31, rear camera 32, left camera 33, and right camera 34 output the generated captured images to the parking assistance device 100.

[0076] The sonar unit 40 is mounted at multiple locations such as the front, rear, left, and right sides of the vehicle 1A and uses ultrasonic waves to detect objects around the vehicle 1A. Specifically, the sonar unit 40 detects the position of an object and the distance to the object.

[0077] The wireless communication device 50 performs wireless communication according to a wireless communication standard such as Wi-Fi (registered trademark) in accordance with the control of the parking assistance device 100 .

[0078] The display device 60 includes a touch panel 65. The touch panel 65 includes a display panel 61 and a touch sensor 63. For example, a liquid crystal display or an organic EL display can be used for the display panel 61. For the touch sensor 63, commonly known sensors such as resistive film and capacitive sensors can be used. The touch sensor 63 detects touch operations performed on the display panel 61 and generates a position signal indicating the position of the detected touch operation. The touch sensor 63 outputs operation information, including the generated position signal, to the parking assistance device 100.

[0079] The vehicle control unit 70 is a computer device such as an ECU (Electronic Control Unit) and is a unit that controls the travel drive device 80 installed in the vehicle 1A. The travel drive device 80 includes a steering device 81, a drive device 83, a brake device 85, and a transmission device 87. The vehicle control unit 70 is connected to the steering device 81, the drive device 83, the brake device 85, the transmission device 87, and the parking assistance device 100 via a communication bus 5 compliant with standards such as Ethernet (registered trademark), CAN (Controller Area Network), or LIN (Local Interconnect Network). The vehicle control unit 70 controls the steering device 81, the drive device 83, the brake device 85, and the transmission device 87 based on control information input from the parking assistance device 100.

[0080] The steering device 81 is a device including an actuator for steering the steered wheels of the host vehicle 1A.

[0081] The drive device 83 includes an actuator for adjusting the driving force of the drive wheels of the vehicle 1A. This actuator is a throttle actuator when the power source of the vehicle 1A is an engine, or is the motor when the power source is a motor.

[0082] The brake device 85 is a device including an actuator that controls a brake system provided in the host vehicle 1A based on information from the parking assistance device 100 and controls the braking force applied to the wheels of the host vehicle 1A.

[0083] The transmission 87 includes a transmission and an actuator. The transmission 87 drives the actuator to control the shift position of the transmission, thereby switching the transmission speed ratio and the forward and reverse movement of the vehicle 1A.

[0084] The parking assistance device 100 is a computer device including an input / output interface 110, a memory 120, and a processor 130. The parking assistance device 100 may be configured to include a storage device such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive) in addition to these devices.

[0085] The input / output interface 110 is connected to the communication bus 5 and performs data communication with external devices connected to the communication bus 5. The external devices include the position detection unit 10, the detection device 20, the wireless communication device 50, the display device 60, and the vehicle control unit 70.

[0086] Memory 120 is composed of ROM (Read Only Memory) and RAM (Random Access Memory). Alternatively, memory 120 may be composed of non-volatile semiconductor memory such as flash memory. Memory 120 stores computer programs executed by processor 130, as well as data processed by processor 130 during execution of the computer programs and data resulting from the processing. Memory 120 also stores images captured by imaging unit 30 and sensor data output from sonar unit 40.

[0087] The processor 130 is composed of a CPU (Central Processing Unit) and an MPU (Microprocessor Unit).

[0088] The parking assistance device 100 includes, as functional components, a position acquisition unit 131, a status acquisition unit 132, a surrounding map generation unit 133, a parking position determination unit 134, a route generation unit 135, a range setting unit 136, a determination unit 137, a display control unit 138, and a control information generation unit 139. These functional components are implemented by the processor 130 executing computer programs and performing calculations.

[0089] The position acquisition unit 131 receives inputs of the position information and heading information of the host vehicle 1A calculated by the position detection unit 10. The position acquisition unit 131 corrects the position information and heading information input from the position detection unit 10 using a well-known dead reckoning algorithm. The position acquisition unit 131 outputs the corrected position information and heading information to the surrounding map generation unit 133 and the route generation unit 135.

[0090] The situation acquisition unit 132 causes the imaging unit 30 to perform imaging, and acquires the captured image generated by the imaging unit 30 as surrounding information. The situation acquisition unit 132 temporarily stores the acquired captured image in the memory 120 .

[0091] The situation acquisition unit 132 causes the sonar unit 40 to perform sensing and acquires the detection result of the sonar unit 40 , that is, sensor data, as surrounding information. The situation acquisition unit 132 temporarily stores the acquired sensor data in the memory 120 .

[0092] The surrounding map generation unit 133 generates a surrounding map representing the surrounding conditions of the vehicle 1A based on the position information and direction information input from the position acquisition unit 131, the captured images, and the sensor data stored in the memory 120. The surrounding map stores information such as the locations and distances to objects surrounding the vehicle 1A, as well as the positions of parking frames, such as white lines drawn on the parking lot surface. Objects stored in the surrounding map include, for example, other vehicles parked within the parking frames and structures such as parking poles. These objects are hereinafter referred to as objects. Since the parking frames are drawn on the road surface with a predetermined thickness, intervals corresponding to the thickness of the white lines are detected as periodic features.

[0093] The parking position determination unit 134 refers to the surrounding map generated by the surrounding map generation unit 133 and determines a parking frame in which the host vehicle 1A is to be parked. For example, the parking position determination unit 134 selects a parking frame from the parking frames stored in the surrounding map in which no objects are detected and which is located at a predetermined distance or less from the host vehicle 1A. The parking position determination unit 134 determines the parking position P by setting the position and angle at which the host vehicle 1A is to be parked within the selected parking frame.

[0094] The path generation unit 135 generates a plurality of parking paths R1 for parking the host vehicle 1A in coordination with the parking position P specified by the parking position determination unit 134. The parking paths R1 are paths for moving the host vehicle 1A from the position of the host vehicle 1A to the parking position P. The position of the host vehicle 1A is the position indicated by the position information acquired by the position acquisition unit 131. A known method is used to generate the parking paths R1.

[0095] The range setting unit 136 calculates the movement range of the host vehicle 1A when moving along the parking path R1. The range setting unit 136 calculates the movement range in both the X-axis and Y-axis directions as the movement range of the host vehicle 1A. The range setting unit 136 calculates the maximum and minimum values in both the X-axis and Y-axis directions as the movement range. The range setting unit 136 sets the search range W based on the calculated maximum and minimum values in both directions. The X-axis corresponds to the first direction and is parallel to the vehicle width direction of the host vehicle 1A when the host vehicle 1A is in the parking position P. The Y-axis corresponds to the second direction and is parallel to the vehicle length direction of the host vehicle 1A when the host vehicle 1A is in the parking position P. The host vehicle 1A is not actually parked in the parking position P; it is assumed that the vehicle 1A is moved to the parking position P along the parking path generated by the parking assistance device 100 and that the vehicle 1A is parked in the parking position P.

[0096] Here, refer to Figures 2 to 9 The flow of setting the search range W by the range setting unit 136 will be described.

[0097] Figure 2 1 is a diagram showing an example of the parking path R1. Figure 2 The path shown by the dotted line in FIG is the parking path R1. Figure 2 The parking route R1 shown is a route generated by the route generation unit 135 and is a route for moving the host vehicle 1A from the position of the host vehicle 1A to the parking position P. Hereinafter, the position of the host vehicle 1A is referred to as an initial position S.

[0098] Figure 3 3 is a diagram showing a plurality of division points D set on the parking path R1.

[0099] After the parking route R1 is generated by the route generation unit 135, the range setting unit 136 sets a plurality of division points D on the parking route R1. The number of division points D set on the parking route R1 is arbitrary. For example, the range setting unit 136 sets the division points D for each predetermined distance. Figure 3 3 shows an example in which three division points D, D1 , D2 , and D3 , are set on the parking path R1 .

[0100] After setting the plurality of division points D, the range setting unit 136 assumes that the vehicle 1A is located at the initial position S, the parking position P, and the division points D1, D2, and D3, and calculates the range of the vehicle 1A when the vehicle 1A is located at each position.

[0101] The range setting unit 136 first sets a coordinate system. The range setting unit 136 sets the coordinate system by using the point at which the vehicle 1A's predetermined reference position is located when the vehicle 1A is in parking position P as the origin, the vehicle width direction of the vehicle 1A as the X-axis, and the vehicle length direction as the Y-axis. Hereinafter, the set coordinate system will be referred to as the parking coordinate system. The predetermined reference position of the vehicle 1A is a predetermined position of the vehicle 1A, and can be, for example, the center position in the vehicle length and width directions, or the center of gravity of the vehicle 1A.

[0102] Figure 4 1A is a diagram showing the range of the host vehicle 1A when the host vehicle 1A is at the initial position S.

[0103] Next, the range setting unit 136 calculates the range of the host vehicle 1A when the host vehicle 1A is at the initial position S using the coordinate values of the parking coordinate system based on the position information and direction information of the host vehicle 1A acquired by the position acquisition unit 131 .

[0104] Figure 4 The dotted rectangular figure Q1 in the figure represents the range of the host vehicle 1A when the host vehicle 1A is at the initial position S. The length of the rectangular figure Q1 corresponds to the length of the host vehicle 1A in the vehicle length direction, and the width of the rectangular figure Q1 corresponds to the length of the host vehicle 1A in the vehicle width direction, including the side mirrors. The range setting unit 136 calculates the coordinates of the four vertices of the rectangular figure Q1 as the range of the host vehicle 1A.

[0105] The range setting unit 136 first converts the position information acquired by the position acquisition unit 131, namely the latitude and longitude, into coordinate values of the parking coordinate system. After converting the latitude and longitude into coordinate values of the parking coordinate system, the position acquisition unit 131 calculates the coordinate values representing the positions of the four vertices of the rectangular figure Q1 based on the coordinate values of the converted initial position S, the orientation information of the host vehicle 1A, and pre-set setting values. The pre-set setting values are the values corresponding to the four vertices of the rectangular figure Q1 when the orientation angle of the host vehicle 1A is 0 degrees, that is, when the host vehicle 1A is facing north. Therefore, the range setting unit 136 corrects the four pre-set setting values based on the orientation information of the host vehicle 1A acquired by the position acquisition unit 131.

[0106] After correcting the four set values, the range setting unit 136 adds or subtracts the corrected set values from the coordinate values of the initial position S to calculate the coordinates of the four vertices of the rectangular figure Q1 when the host vehicle 1A is at the initial position S. The four vertices of the rectangular figure are labeled T1, T2, T3, and T4, and the coordinates of the four vertices calculated by the range setting unit 136 are assumed to be T1 (X1, Y1), T2 (X2, Y2), T3 (X3, Y3), and T4 (X4, Y4), respectively.

[0107] Figure 5 is a diagram showing the range of the host vehicle 1A when the host vehicle 1A is located at the division point D1. Figure 6 This is a diagram showing the range of the host vehicle 1A when the host vehicle 1A is located at the division point D2.

[0108] in addition, Figure 7 is a diagram showing the range of the host vehicle 1A when the host vehicle 1A is located at the division point D3. Figure 8 1A is a diagram showing the range of the host vehicle 1A when the host vehicle 1A is located at the parking position P.

[0109] The range setting unit 136 calculates the range of the host vehicle 1A when the host vehicle 1A is at the division points D1 , D2 , and D3 and the parking position P, similarly to the case of calculating the range of the host vehicle 1A when the host vehicle 1A is at the initial position S.

[0110] The range setting unit 136 converts the heading angle of the host vehicle 1A at the initial position S into the heading angle of the host vehicle 1A when the host vehicle 1A is at the dividing point D1. The range setting unit 136 then corrects four pre-set values based on the converted heading angle of the host vehicle 1A and calculates the coordinates of the four vertices of a rectangular figure Q2 representing the range of the host vehicle 1A when the host vehicle 1A is at the dividing point D1. The four vertices of the rectangular figure Q2 are labeled T11, T12, T13, and T14, and the coordinates of the four vertices calculated by the range setting unit 136 are labeled T11 (X11, Y11), T12 (X12, Y12), T13 (X13, Y13), and T14 (X14, Y14), respectively.

[0111] Similarly, the range setting unit 136 calculates the coordinates of the four vertices of the rectangular figure Q3 representing the range of the vehicle 1A when the vehicle 1A is located at the dividing point D2, the rectangular figure Q4 representing the range of the vehicle 1A when the vehicle 1A is located at the dividing point D3, and the rectangular figure Q5 representing the range of the vehicle 1A when the vehicle 1A is located at the parking position P.

[0112] The four vertices of the rectangular figure Q3 are marked as T21, T22, T23 and T24, and the coordinates of the four vertices calculated by the range setting unit 136 are marked as T21 (X21, Y21), T22 (X22, Y22), T23 (X23, Y23) and T24 (X24, Y24).

[0113] The four vertices of the rectangular figure Q4 are marked as T31, T32, T33 and T34, and the coordinates of the four vertices calculated by the range setting unit 136 are marked as T31 (X31, Y31), T32 (X32, Y32), T33 (X33, Y33) and T34 (X34, Y34).

[0114] The four vertices of the rectangular figure Q5 are marked as T41, T42, T43 and T44, and the coordinates of the four vertices calculated by the range setting unit 136 are marked as T41 (X41, Y41), T42 (X42, Y42), T43 (X43, Y43) and T44 (X44, Y44).

[0115] Figure 9 1A is a diagram showing coordinates indicating the range of the host vehicle 1A at each of the initial position S, the division points D1 , D2 , and D3 , and the parking position P. FIG.

[0116] Next, the range setting unit 136 selects the maximum and minimum X coordinate values and the maximum and minimum Y coordinate values from the coordinates indicating the range of the host vehicle 1A at the initial position S, the division point D1, the division point D2, the division point D3, and the parking position P.

[0117] exist Figure 9 In the example shown, the maximum X-coordinate value is X34, the coordinate value of T34, and the minimum X-coordinate value is X1 and X2, the coordinate values of T1 and T2. Furthermore, the maximum Y-coordinate value is Y12, the coordinate value of T12, and the minimum Y-coordinate value is Y43 and Y44, the coordinate values of T43 and T44. Hereinafter, the maximum X-coordinate value is denoted as Xmax, and the minimum Xmin. Furthermore, the maximum Y-coordinate value is denoted as Ymax, and the minimum Y-coordinate value is denoted as Ymin.

[0118] The range setting unit 136 sets the range defined by the selected maximum value Xmax and minimum value Xmin of the X-coordinate value, and the maximum value Ymax and minimum value Ymin of the Y-coordinate value, as the search range W. The range setting unit 136 sets the range of a rectangle formed by the first side E1 and the second side E2 parallel to the X-axis, and the third side E3 and the fourth side E4 parallel to the Y-axis, as the search range W.

[0119] The first side E1 is a side with a Y coordinate value of Ymax and parallel to the X-axis. The second side E2 is a side with a Y coordinate value of Ymin and parallel to the X-axis. The third side E3 is a side with an X coordinate value of Xmax and parallel to the Y-axis. The fourth side E4 is a side with an X coordinate value of Xmin and parallel to the Y-axis.

[0120] The determination unit 137 receives input of information indicating the search range W calculated by the range setting unit 136 . The determination unit 137 also reads the surrounding information acquired by the status acquisition unit 132 from the memory 120 .

[0121] After the vehicle 1A begins moving along the parking path, the determination unit 137 detects objects around the vehicle 1A based on the read surrounding information. Specifically, the determination unit 137 detects objects that could potentially become obstacles using images captured by the imaging unit 30 and detection results from the sonar unit 40. Objects detected by the determination unit 137 include, for example, other vehicles, people, shopping carts, and other structures in the parking lot, such as walls and pillars.

[0122] After detecting an object from the surrounding information, the determination unit 137 determines whether the detected object is within the search range W.

[0123] If the object is outside the search range W, the determination unit 137 does not determine whether the object is an obstacle to the travel of the host vehicle 1A. In other words, since there is no risk of a collision between the object outside the search range W and the host vehicle 1A, the determination unit 137 does not determine whether the object is an obstacle.

[0124] Furthermore, when the object is located inside the search range W, the determination unit 137 determines whether the object is likely to become an obstacle that could contact or collide with the host vehicle 1A while the host vehicle 1A is traveling along the parking path R1. The determination unit 137 repeatedly performs this determination while the host vehicle 1A is traveling along the parking path R1.

[0125] If the determination unit 137 determines that the object is likely to contact or collide with the host vehicle 1A, it determines the object as an obstacle, avoids contact or collision with the obstacle, and calculates an avoidance path for parking the host vehicle 1A at the parking position P. This avoidance path may be a path that uses a portion of the parking path R1 initially generated by the path generation unit 135, or may be a path completely different from the parking path R1.

[0126] The display control unit 138 generates display data to be displayed on the display device 60 and outputs the generated display data to the display device 60. The display device 60 displays a display image based on the input display data on the touch panel 65.

[0127] The control information generating unit 139 receives input of the parking path R1, or a portion of the parking path R1, and the avoidance path information generated by the path generating unit 135. Based on the input parking path R1, or a portion of the parking path R1, and the avoidance path information, the control information generating unit 139 generates control information for execution by the vehicle control unit 70. This control information causes the vehicle control unit 70 to control the steering device 81, the drive device 83, the brake device 85, and the transmission device 87 to automatically drive the host vehicle 1A to the parking position P. The control information generating unit 139 outputs the generated control information to the vehicle control unit 70 via the input / output interface 110.

[0128] Figure 10 : is a flowchart showing the operation of the parking assistance device 100 .

[0129] Edge Reference Figure 10 The operation of the parking assistance device 100 will be described with reference to the flowchart shown.

[0130] First, the parking assistance device 100 determines whether a parking assistance start operation has been accepted (step S1). For example, the parking assistance device 100 determines that a parking assistance start operation has been accepted based on a touch and press of a parking assistance start button displayed on the touch panel 65. If the parking assistance start operation has not been accepted (step S1 / No), the parking assistance device 100 places the start of the next process on hold until a start operation is accepted.

[0131] When the parking assistance device 100 receives a parking assistance start operation (step S1 / Yes), it acquires surrounding information, which is information about the surroundings of the host vehicle 1A, from the detection device 20 (step S2). Step S2 corresponds to an acquisition step. Based on the acquired surrounding information, the parking assistance device 100 detects a parking frame in which the host vehicle 1A can be parked (step S3).

[0132] The parking assistance device 100 sets the angle and position for parking the host vehicle 1A within the detected parking frame, and determines the parking position P for parking the host vehicle 1A (step S4). Step S4 corresponds to a determination step. The parking assistance device 100 generates a parking path R1 for moving the host vehicle 1A from the initial position S of the host vehicle 1A to the set parking position P (step S5). Step S5 corresponds to a generation step.

[0133] Next, the parking assistance device 100 sets a plurality of division points D on the generated parking path R1 (step S6). The parking assistance device 100 sets the division points D according to predetermined distances within the parking path R1. After setting the plurality of division points D, the parking assistance device 100 calculates the coordinate values of the four vertices of a rectangular figure Q1 to Q4 representing the range of the vehicle 1A at each of the initial position S, the plurality of division points D, and the parking position P, assuming that the vehicle 1A is at each of the initial position S, the plurality of division points D, and the parking position P (step S7).

[0134] Next, the parking assistance device 100 selects the maximum X-coordinate value Xmax and the minimum Xmin, and the maximum Y-coordinate value Ymax and the minimum Ymin, from the coordinates of the four vertices of the rectangular figures Q1 to Q4 at each of the initial position S, the plurality of division points D, and the parking position P (step S8).

[0135] Next, the parking assistance device 100 sets a search range W for searching for obstacles based on the selected maximum X-coordinate value Xmax and minimum Xmin, and the maximum Y-coordinate value Ymax and minimum Ymin (step S9). Steps S6 to S9 correspond to setting steps.

[0136] Next, the parking assistance device 100 generates control information for causing the host vehicle 1A to travel along the parking path R1 generated in step S5 (step S10). The parking assistance device 100 outputs the generated control information to the vehicle control unit 70 (step S11). The vehicle control unit 70 controls the steering device 81, the drive device 83, the brake device 85, and the transmission device 87 in accordance with the input control information, causing the host vehicle 1A to travel to the parking position P.

[0137] Next, the parking assistance device 100 determines whether the vehicle 1A has started driving (step S10). The parking assistance device 100 inquires the vehicle control unit 70 whether to start driving the vehicle 1A. If the parking assistance device 100 does not receive a response from the vehicle control unit 70 indicating that the vehicle 1A has started driving (step S12 / No), the parking assistance device 100 waits for the start of the process. Furthermore, if the vehicle 1A has started driving (step S12 / Yes), the parking assistance device 100 acquires surrounding information (step S13) and detects an object based on the acquired surrounding information (step S14). Step S14 corresponds to a detection step.

[0138] If the parking assistance device 100 does not detect an object from the surrounding information (step S14 / No), it determines the position of the host vehicle 1A based on the position information input from the position detection unit 10 and determines whether the host vehicle 1A has reached the parking position P (step S15). If the host vehicle 1A has reached the parking position P (step S15 / Yes), the parking assistance device 100 terminates the processing flow. If the host vehicle 1A has not reached the parking position P (step S15 / No), the parking assistance device 100 returns to the process of step S13 and acquires surrounding information again.

[0139] Furthermore, if the parking assistance device 100 detects an object from the surrounding information (step S14 / Yes), it determines whether the detected object is inside the search range W (step S16). If the parking assistance device 100 does not detect an object inside the search range W (step S16 / No), the process proceeds to step S15 to determine whether the host vehicle 1A has reached the parking position P.

[0140] Furthermore, if the parking assistance device 100 detects an object inside the search range W (step S16 / Yes), it determines whether the object would constitute an obstacle that could collide with or contact the host vehicle 1A if the host vehicle 1A were to travel along the parking path R1 (step S17). Steps S16 and S17 constitute a determination step. If the parking assistance device 100 determines that the object is not an obstacle that could collide with or contact the host vehicle 1A (step S17 / No), the process proceeds to step S15 to determine whether the host vehicle 1A has reached the parking position P.

[0141] If the parking assistance device 100 determines that the detected object is an obstacle that could collide or contact the host vehicle 1A (step S17 / Yes), it causes the vehicle control unit 70 to stop the travel of the host vehicle 1A (step S18). The parking assistance device 100 then generates an avoidance path that can avoid contact or collision with the detected obstacle (step S19).

[0142] After generating the avoidance path, the parking assistance device 100 generates control information for causing the host vehicle 1A to travel along the generated avoidance path (step S20 ). After generating the control information, the parking assistance device 100 outputs the generated control information to the vehicle control unit 70 (step S21 ).

[0143] As described above, the parking assistance device 100 of the present embodiment calculates the movement range of the host vehicle 1A when moving the host vehicle 1A along the generated parking path R1 in both the orthogonal X-axis and Y-axis directions, and sets the search range W for searching for obstacles based on the calculated X-axis and Y-axis movement ranges.

[0144] The parking assistance device 100 detects an object that could potentially hinder the movement of the host vehicle 1A, and if the detected object is within the search range W, determines whether the detected object is an obstacle that could hinder the movement of the host vehicle 1A along the parking path R1. If the detected object is outside the search range W, the determination unit 137 does not determine whether the detected object is an obstacle.

[0145] Therefore, since it is not determined whether an object outside the search range W is an obstacle that hinders the movement of the host vehicle 1A, the processing burden of determining whether a detected object is an obstacle to the vehicle can be reduced.

[0146] Furthermore, since the search range W is set based on the movement range of the host vehicle 1A in the X-axis and Y-axis directions, the search range W can be easily set and the search range W for objects that may become obstacles when moving along the parking path R1 can be optimally set.

[0147] The range setting unit 136 sets the X-axis to the width direction of the host vehicle 1A when the host vehicle 1A is in the parking position P, and sets the Y-axis to the length direction of the host vehicle 1A. The range setting unit 136 sets the rectangular range defined by the movement range of the host vehicle 1A in the X-axis direction and the movement range of the host vehicle 1A in the Y-axis direction as the search range W.

[0148] Therefore, the search range W can be easily set, and the search range W for objects that become obstacles when moving along the parking path R1 can be optimally set.

[0149] Furthermore, the range setting unit 136 sets a plurality of division points D corresponding to predetermined distances within the parking path R1. Assuming the vehicle is at the position of the host vehicle 1A, the positions of the plurality of division points D, and each of the parking positions, the range setting unit 136 calculates coordinate values representing the range of the vehicle in the X-axis and Y-axis directions. The range setting unit 136 sets the search range W based on the maximum and minimum values of the X-axis coordinates and the maximum and minimum values of the Y-axis coordinates calculated at each position.

[0150] Therefore, by limiting the positions for calculating the position of the host vehicle 1A to the position of the host vehicle 1A, the position of the division point D, and the parking position, the processing load for calculating the movement range of the host vehicle 1A in the X-axis direction and the Y-axis direction can be reduced.

[0151] When the determination unit 137 determines that the object is an obstacle that will hinder the host vehicle 1A from moving along the parking path R1 , the path generation unit 135 generates the parking path R1 again for moving the host vehicle 1A to the parking position P, avoiding contact with the obstacle.

[0152] Therefore, the host vehicle 1A can be parked at the parking position P by traveling along a parking path that can avoid contact with the detected obstacle.

[0153] [Modification]

[0154] In the above embodiment, the parking assist device 100 selects parallel parking as the parking method for the parking position P. The parking method for the parking lot where the host vehicle 1A is parked is not limited to parallel parking, and may also be parallel parking or diagonal parking.

[0155] Tandem parking is a parking method in which the vehicle 1A and other vehicles are aligned along the length of the vehicle 1A. Diagonal parking is a parking method in which a vehicle is parked in a parking area that is diagonally positioned relative to the road in front of or behind the parking area.

[0156] Figure 11 3 is a diagram showing a search range W when the parking method is parallel parking.

[0157] Figure 11 The solid line curve R2 in FIG. 1 represents the parking path R2 generated by the parking assistance device 100 in the case of parallel parking. Figure 11 denoted by , the coordinates of the four vertices of a rectangular figure representing the range of the vehicle 1A at each of the initial position S, three division points D1 , D2 , and D3 , and the parking position P, which is the position of the host vehicle 1A.

[0158] With reference Figures 4 to 8Similarly to the situation described above, the four vertices of the rectangular figure when the vehicle 1A is at the initial position S are set to T1 (X1, Y1), T2 (X2, Y2), T3 (X3, Y3) and T4 (X4, Y4), and the four vertices of the rectangular figure when the vehicle 1A is at the dividing point D1 are set to T11 (X11, Y11), T12 (X12, Y12), T13 (X13, Y13) and T14 (X14, Y14). When the vehicle 1A is at the dividing point D2, the four vertices of the rectangular figure are T21 (X21, Y21), T22 (X22, Y22), T23 (X23, Y23), and T24 (X24, Y24). When the vehicle 1A is at the dividing point D3, the four vertices of the rectangular figure are T31 (X31, Y31), T32 (X32, Y32), T33 (X33, Y33), and T34 (X34, Y34). Furthermore, when the vehicle 1A is at the parking position P, the four vertices of the rectangular figure are T41 (X41, Y41), T42 (X42, Y42), T43 (X43, Y43), and T44 (X44, Y44).

[0159] The parking assistance device 100 selects the maximum value Xmax and the minimum value Xmin of the X coordinate value, and the maximum value Ymax and the minimum value Ymin of the Y coordinate value, similarly to the case of parallel parking.

[0160] exist Figure 11 In the example shown, the maximum X coordinate value is X12 at T12, and the minimum X coordinate value is X41 and X43 at T41 and T43. Furthermore, the maximum Y coordinate value is Y1 at T1, and the minimum Y coordinate value is Y43 and Y44 at T43 and T44.

[0161] After selecting the maximum value Xmax and the minimum value Xmin of the X coordinate value, and the maximum value Ymax and the minimum value Ymin of the Y coordinate value, the parking assistance device 100 sets the search range W based on the selected four coordinate values. Figure 11 As shown, the search range W is a rectangular range formed by four sides E1, E2, E3, and E4.

[0162] E1 is a line segment parallel to the X-axis and having a Y-coordinate value Y11 at its intersection with the Y-axis.

[0163] E2 is a line segment parallel to the X-axis and having Y-coordinate values Y43 and Y44 at its intersection with the Y-axis.

[0164] E3 is a line segment parallel to the Y axis and having an X coordinate value of X12 at its intersection with the X axis.

[0165] E4 is a line segment parallel to the Y axis and having X-coordinate values of X41 and X43 at its intersection with the X axis.

[0166] Figure 12 3 is a diagram showing a search range W when the parking method is diagonal parking.

[0167] Figure 12 The solid line curve R3 in FIG. 1 represents the parking path R3 generated by the parking assistance device 100 in the case of diagonal parking. Figure 12 denoted by , are the coordinates of the four vertices of a rectangular figure representing the range of the host vehicle 1A at each of the initial position S, the three division points D1 , D2 , and D3 , and the parking position P.

[0168] The coordinate values of the four vertices of the rectangular figure at each position are Figure 11 The situation described is the same.

[0169] The parking assistance device 100 selects the maximum value Xmax and the minimum value Xmin of the X coordinate value, and the maximum value Ymax and the minimum value Ymin of the Y coordinate value, similarly to the case of parallel parking.

[0170] exist Figure 12 In the example shown, the maximum X coordinate value is X4, the coordinate value of T4, and the minimum X coordinate value is X21, X31, X23, X33, X41, and X43, the coordinate values of T21, T31, T23, T33, T41, and T43. Furthermore, the maximum Y coordinate value is Y21 and Y22, the coordinate values of T21 and T22, and the minimum Y coordinate value is Y43 and Y44, the coordinate values of T43 and T44.

[0171] After selecting the maximum value Xmax and the minimum value Xmin of the X coordinate value and the maximum value Ymax and the minimum value Ymin of the Y coordinate value, the parking assistance device 100 sets the search range W based on the selected four coordinate values. Figure 12 As shown, the search range W is a rectangular range formed by four sides E1, E2, E3, and E4.

[0172] E1 is a line segment parallel to the X-axis and having Y-coordinate values Y21 and Y22 at its intersection with the Y-axis.

[0173] E2 is a line segment parallel to the X-axis and having Y-coordinate values Y43 and Y44 at its intersection with the Y-axis.

[0174] E3 is a line segment parallel to the Y axis and having an X coordinate value of X4 at its intersection with the X axis.

[0175] E4 is a line segment parallel to the Y axis and having X-coordinate values of intersection points with the X axis of X21, T31, T23, T33, T41, and T43.

[0176] [Second embodiment]

[0177] Edge Reference Figure 13 as well as Figure 14 A second embodiment of the present invention will be described.

[0178] The configuration of the parking assistance device 100 according to the second embodiment is the same as that of the first embodiment, and thus a detailed description of the configuration of the parking assistance device 100 will be omitted.

[0179] The parking assistance device 100 according to the second embodiment sets the notification range H outside the search range W. Figure 13 FIG. 1 is a diagram showing the notification range H. FIG. Figure 13 The range indicated by the grid is the notification range H.

[0180] After setting the search range W, the parking assistance device 100 sets a notification range H outside the search range W. The notification range H is determined by adding a preset value to the maximum X-coordinate value (Xmax) and minimum Xmin, and the maximum Y-coordinate value (Ymax) and minimum Ymin, selected when setting the search range W. This setting value is referred to as α (α is an arbitrary natural number).

[0181] The inner range of the notification range H is determined by the four sides E1, E2, E3, and E4 of the search range W, and the outer range of the notification range H is determined by the four sides F1, F2, F3, and F4.

[0182] The first side F1 is a side having a Y coordinate value of Ymax+α and being parallel to the X axis.

[0183] The second side F2 is a side having a Y coordinate value of Ymin-α and parallel to the X axis.

[0184] The third side F3 has an X-coordinate value of Xmax+α and is parallel to the Y-axis.

[0185] The fourth side F4 is a side having an X-coordinate value of Xmin-α and parallel to the Y-axis.

[0186] Furthermore, within the notification range H, the +X-axis range X1 satisfies Xmax < X1 ≤ Xmax + α, and the -X-axis range X2 satisfies Xmin - α ≤ X2 < Xmin. Furthermore, within the notification range H, the +Y-axis range Y1 satisfies Ymax < Y1 ≤ Ymax + α, and the -Y-axis range Y2 satisfies Ymin - α ≤ Y2 < Ymin.

[0187] Figure 141 is a diagram showing an example of a guidance display displayed on the display device 60 .

[0188] When the parking assistance device 100 detects an obstacle within the notification range H, it does not determine whether the obstacle will contact or collide with the host vehicle 1A. Instead, it displays guidance information 67 on the display device 60. This guidance information 67 includes guidance 67a indicating the direction of the detected obstacle as seen by the driver seated in the host vehicle 1A and that the host vehicle 1A will not contact or collide with the detected obstacle. Furthermore, the guidance information 67 may include an image 67b of the obstacle detected within the notification range H, which is an image captured by the imaging unit 30.

[0189] The parking assistance device 100 according to the second embodiment includes a display control unit 138 that displays an image on the display device 60 connected via the input / output interface 110 .

[0190] The range setting unit 136 sets the notification range H outside the search range W.

[0191] When the detected object is outside the search range W and inside the notification range H, the display control unit 138 displays guidance information 67 on the display device 60 to guide the vehicle 1A that the detected object will not hinder its movement.

[0192] Therefore, the occupant is informed that the object has been detected and will not become an obstacle to the host vehicle 1A when moving to the parking position P, thereby providing the occupant with a sense of security.

[0193] The above-mentioned embodiment is merely an example of one aspect of the present invention, and can be arbitrarily modified and applied without departing from the scope of the present invention.

[0194] For example, in the first and second embodiments described above, the vehicle width direction when the host vehicle 1A is parked at the parking position P is defined as the X axis, and the vehicle length direction is defined as the Y axis, and the movement range of the host vehicle 1A in these two directions is calculated.

[0195] exist Figure 15 Chinese means Figure 9 The illustrated example shows an example where the X-axis, which is set as the vehicle width direction, and the Y-axis, which is set as the vehicle length direction, are set as axes rotated 45 degrees clockwise. In this way, the two directions for calculating the moving range of the host vehicle 1A are not limited to the vehicle width direction and the vehicle length direction when the host vehicle 1A is parked in the parking position P, but can be set to any direction.

[0196] in addition, Figure 9 and Figure 11 、 Figure 12 、 Figure 15The search range W shown shows the case where the X coordinate and Y coordinate are set with the parking position P as the origin, but the position of the origin is not limited to the parking position P. For example, the origin can also be set at the initial position S or the position of the division point D.

[0197] in addition, Figure 9 and Figure 11 、 Figure 12 、 Figure 15 In FIG, a coordinate system consisting of two orthogonal axes, namely, the X-axis and the Y-axis, is set, and a search range W is set, but the coordinate system may not be an orthogonal coordinate system.

[0198] In addition, it indicates Figure 1 The block diagram of the parking assistance device 100 is a schematic diagram that categorizes the components according to their main processing content to facilitate understanding of the present invention. The components can also be categorized into more components according to the processing content. In addition, a single component can be categorized so that it can perform more processing.

[0199] in addition, Figure 1 In the embodiment, the parking assistance device 100 may be configured to integrally include at least one of the position detection unit 10 and the detection device 20 .

[0200] Furthermore, when implementing the parking assistance method of the present invention using a computer, the program executed by the computer can also be implemented using a storage medium or a transmission medium for transmitting the program. As the storage medium, a magnetic or optical storage medium or a semiconductor storage device can be used. Specifically, portable or fixed storage media such as a floppy disk, an HDD (Hard Disk Drive), a CD-ROM (Compact Disk Read Only Memory), a DVD, a Blu-ray (registered trademark) Disc, a magneto-optical disk, a flash memory, and a card-type storage medium can be cited. Furthermore, the storage medium may also be a non-volatile storage device such as a ROM or HDD included in the parking assistance device 100.

[0201] In order to make the processing of the parking assistance device 100 easier to understand, the following sections are divided according to the main processing contents: Figure 10 The present invention is not limited to the division method and name of the processing units shown in the flowchart. The processing of the parking assistance device 100 can also be divided into more processing units depending on the processing content. In addition, the processing of the parking assistance device 100 can also be divided so that one processing unit includes multiple processes.

Claims

1. A parking assistance device, characterized in that: have: Input and output interfaces for connection with external devices; a condition acquisition unit for acquiring, via the input / output interface, a surrounding condition of the vehicle detected by the detection device; a parking position determination unit that determines a parking position for parking the vehicle based on the acquired surrounding conditions of the vehicle; a path generating unit for generating a parking path for moving the vehicle from an initial position to the parking position; a range setting unit that calculates a movement range of the vehicle when the vehicle is moved along the parking path in a first direction and a second direction orthogonal to the first direction, and sets a search range for searching for obstacles based on the calculated movement ranges in the first direction and the second direction; and a judgment unit that detects an object that may become an obstacle to the movement of the vehicle based on the acquired surrounding conditions of the vehicle while the vehicle is traveling along the parking path, and judges whether the detected object is an obstacle that may become an obstacle to the movement of the vehicle along the parking path when the detected object is within the search range, and does not judge whether the detected object is an obstacle when the detected object is outside the search range. The range setting unit is configured as follows: Setting a split point on the parking path, A coordinate system defined by an axis corresponding to the first direction and an axis corresponding to the second direction is set. Assuming that the vehicle is at the initial position, the parking position, and the position of the dividing point, respectively, a rectangular figure representing the range of the vehicle when the vehicle is at each position is calculated using the coordinate values of the coordinate system. In the coordinate system, the search range is set based on the range defined by the maximum and minimum values in the first direction of the moving range and the maximum and minimum values in the second direction of the moving range among the four vertices of the rectangular figure at each position.

2. The parking assistance device according to claim 1, wherein: The range setting unit sets the vehicle width direction of the vehicle when the vehicle is in the parking position as the first direction and the vehicle length direction of the vehicle as the second direction. A range defined by the vehicle's movement range in the first direction and the vehicle's movement range in the second direction is set as the search range.

3. The parking assistance device according to claim 1, wherein: The range setting unit sets a plurality of division points for each predetermined distance on the parking path. Assuming that the vehicle is at the vehicle position, the positions of the plurality of set division points, and the parking position, coordinate values representing the range of the vehicle in the first direction and the second direction are calculated, respectively. A rectangular range defined by the maximum and minimum values of the coordinates in the first direction and the maximum and minimum values of the coordinates in the second direction among the coordinate values calculated at each position is set as the search range.

4. The parking assistance device according to claim 1, wherein: When the determination unit determines that the object is an obstacle that will hinder movement of the vehicle along the parking path, the path generation unit regenerates a parking path for moving the vehicle to the parking position while avoiding contact with the obstacle.

5. The parking assistance device according to any one of claims 1 to 4, characterized in that: A display control unit is provided for causing an image to be displayed on a display device connected via the input / output interface. The range setting unit sets a notification range outside the search range, The display control unit displays a guidance display on the display device to guide the user that the detected object will not become an obstacle to movement of the vehicle, when the detected object is outside the search range and within the notification range.

6. A parking assistance method, characterized in that: The steps are as follows: An acquisition step of acquiring the surrounding conditions of the detected vehicle; a step of determining a parking position for parking the vehicle based on the acquired surrounding conditions of the vehicle; generating a parking path for moving the vehicle from an initial position to the parking position; a step of calculating a movement range of the vehicle when the vehicle is moved along the parking path in a first direction and a second direction orthogonal to the first direction, and setting a search range for searching for obstacles based on the calculated movement ranges in the first direction and the second direction; a step of detecting an object that may become an obstacle to movement of the vehicle based on the acquired surrounding conditions of the vehicle while the vehicle is traveling along the parking path; and a step of determining whether the detected object is an obstacle that would hinder the vehicle from moving along the parking path if the detected object is within the search range, and not determining whether the detected object is the obstacle if the detected object is outside the search range; The setting step is constituted as follows: Setting a split point on the parking path, A coordinate system defined by an axis corresponding to the first direction and an axis corresponding to the second direction is set. Assuming that the vehicle is at the initial position, the parking position, and the position of the dividing point, respectively, a rectangular figure representing the range of the vehicle when the vehicle is at each position is calculated using the coordinate values of the coordinate system. In the coordinate system, the search range is set based on the range defined by the maximum and minimum values in the first direction of the moving range and the maximum and minimum values in the second direction of the moving range among the four vertices of the rectangular figure at each position.

Images