Parking aid

Abstract

The parking assist device comprises: an information acquisition device that acquires vehicle surrounding information, the vehicle surrounding information including information about objects existing around a parked vehicle (SV); and a control unit (10) configured to perform parking assist control so that the vehicle moves along a moving path (MP). The control unit changes the number of times the vehicle stops while the vehicle moves along the moving path based on the vehicle surrounding information.

Description

Technical Field

[0001] The present disclosure relates to a parking assist device that performs parking assist control for moving a parked vehicle to a travel road. Background Art

[0002] Conventionally, a parking assistance device has been proposed (see, for example, Patent Document 1) that uses an environmental sensor such as a camera and a sensor mounted on a vehicle to detect the surrounding conditions of the vehicle and executes parking assistance control so that the vehicle moves to a target position set according to the detected surrounding conditions. The parking assistance control includes steering angle control for controlling the steering angle of the vehicle, driving force control for controlling the driving force of the vehicle, and braking force control for controlling the braking force of the vehicle.

[0003] Prior art literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2015-174586 Summary of the invention

[0005] When the vehicle is moved to the driving road (out of the garage) by the parking assist control, other objects (such as pedestrians and other vehicles) may approach from the right and / or left side of the vehicle. In view of this situation, it is assumed that the vehicle will be stopped multiple times during the execution of the parking assist control. Thus, the driver is given multiple opportunities to confirm the status of the driving road. However, when the vehicle is stopped multiple times, the vehicle may stop even though the driver has confirmed the status of the driving road. Therefore, the driver may feel troubled.

[0006] The present invention is made to solve the above-mentioned problem. That is, one object of the present invention is to provide a parking assist device that can change the number of stops of a vehicle in parking assist control according to the surrounding conditions of the vehicle.

[0007] A parking assist device in one or more embodiments includes:

[0008] An information acquisition device (70, 71, 72) that acquires vehicle periphery information including information on objects existing around a parked vehicle (SV); and

[0009] a control unit (10),

[0010] The control unit is composed of:

[0011] When an assist request is generated, a target position (Ptgt) of the vehicle when the vehicle is moved to a travel road (RD) is set based on the vehicle surrounding information,

[0012] calculating a movement path (MP) for moving the vehicle from the current position (Po) of the vehicle to the target position,

[0013] Parking assist control including at least steering angle control for changing a steering angle of the vehicle, driving force control for controlling a driving force of the vehicle, and braking force control for controlling a braking force of the vehicle is performed so that the vehicle moves along the movement path.

[0014] The control unit is configured to change, based on the vehicle periphery information, the number of times the vehicle stops while the vehicle moves along the movement path.

[0015] According to the above configuration, the parking assist device can reduce the possibility of the driver feeling troubled while providing the driver with an opportunity to confirm the condition of the road on which the driver is traveling.

[0016] In one or more embodiments, the control unit is configured to: based on the vehicle surrounding information,

[0017] detecting a first object (OB1) existing on a first side, the first side being one of a right side and a left side of the vehicle,

[0018] A second object (OB2) existing on a second side, which is the other of the right side and the left side of the vehicle, is detected.

[0019] The control unit is configured to change the number of times based on the positional relationship between a vehicle end (SVa) serving as the end of the vehicle on the driving road side, a first end (OB1a) serving as the end of the first object on the driving road side, and a second end (OB2a) serving as the end of the second object on the driving road side.

[0020] In one or more embodiments, the control unit is configured as:

[0021] Based on the positional relationship, determining whether the current state is a predetermined first state,

[0022] When it is determined that the current situation is the first situation, the number of times is set to 2.

[0023] The first condition includes a condition in which both the first object and the second object obstruct the field of view from the vehicle and a distance (d3) between the first end and the second end in the front-rear direction of the vehicle is greater than a predetermined threshold (dth2).

[0024] The control unit is configured to: during the period when the vehicle moves along the movement path,

[0025] When the end of the vehicle reaches a position ahead of the first end by a predetermined distance (ds), the vehicle is stopped;

[0026] When the vehicle end reaches a position ahead of the second end by the predetermined distance (ds), the vehicle is stopped.

[0027] In addition, the “field of view from the vehicle” means the range of the traveling road that can be confirmed from the vehicle and the range of the traveling road that can be seen by the driver of the vehicle or the information acquisition device (for example, a camera).

[0028] According to the above configuration, the parking assist device stops the vehicle twice in the first situation. Specifically, the parking assist device stops the vehicle at a position where the first object does not block the view, and further stops the vehicle at a position where the second object does not block the view. The driver can reliably check the situation on the driving road.

[0029] In one or more embodiments, the control unit is configured as:

[0030] Based on the positional relationship, determining whether the current state is a predetermined second state,

[0031] When it is determined that the current situation is the second situation, the number of times is set to 1.

[0032] The second condition includes a condition in which both the first object and the second object obstruct the field of view from the vehicle and a distance (d3) between the first end and the second end in the front-rear direction of the vehicle is less than a predetermined threshold (dth2) and a condition in which only the first object obstructs the field of view.

[0033] The control unit is configured to stop the vehicle when the end of the vehicle reaches a position ahead of the first end by a predetermined distance (ds) while the vehicle is moving along the movement path.

[0034] According to the above configuration, the parking assist device stops the vehicle only once in the second situation at a position where the driver can check other objects approaching from the right and left sides. Even with a single stop, the driver can fully check the conditions on the road. Therefore, the driver can be given an opportunity to check the conditions on the road while reducing the possibility of the driver feeling troubled.

[0035] In one or more embodiments, the control unit is configured as:

[0036] Based on the positional relationship, determining whether the current state is a predetermined third state,

[0037] When it is determined that the current situation is the third situation, the number of times is set to zero.

[0038] The third situation includes a situation in which both the first object and the second object do not obstruct the field of vision from the vehicle.

[0039] According to the above configuration, the parking assist device does not stop the vehicle in the third situation. Therefore, the possibility of the driver feeling troubled can be reduced.

[0040] In one or more embodiments, the control unit is configured to calculate a first distance (d1), a second distance (d2), and a third distance (d3) as information related to the positional relationship, the first distance being the distance in the front-rear direction of the vehicle between the vehicle end (SVa) and the first end (OB1a), the second distance being the distance in the front-rear direction of the vehicle between the vehicle end (SVa) and the second end (OB2a), and the third distance being the distance in the front-rear direction of the vehicle between the first end (OB1a) and the second end (OB2a).

[0041] In one or more embodiments, the control unit may also be implemented by a microprocessor programmed to perform one or more functions described in this specification. In one or more embodiments, the control unit may also be implemented in whole or in part by hardware consisting of an integrated circuit, i.e., an ASIC, etc., dedicated to one or more applications.

[0042] In the above description, in order to help understand the invention, the names and / or numbers used in the embodiments are added in brackets to the configurations of the invention corresponding to the embodiments described later. However, the various constituent elements of the invention are not limited to the embodiments specified by the names and / or numbers. Further features of the embodiments of the present invention are clarified according to the description of this specification and the drawings, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The following is a schematic diagram of the configuration of a parking assistance device according to one or more embodiments.

[0044] Figure 2 It is a top view of a vehicle showing the arrangement of ultrasonic sensors and cameras.

[0045] Figure 3 This is a diagram for explaining a screen (assist mode screen) displayed when the display mode of the touch panel is the second mode.

[0046] Figure 4This is a diagram for explaining an example of the first situation.

[0047] Figure 5 This is a diagram for explaining an example of the first situation.

[0048] Figure 6 This is a diagram for explaining an example of the first situation.

[0049] Figure 7 This is a diagram for explaining an example of the first situation.

[0050] Figure 8 This is a diagram for explaining an example of the first situation.

[0051] Fig. 9 This is a diagram for explaining an example of the second situation.

[0052] Fig.10 This is a diagram for explaining an example of the second situation.

[0053] Fig.11 It is a diagram for explaining another example of the second situation.

[0054] Fig.12 It is a diagram for explaining another example of the second situation.

[0055] Fig.13 This is a diagram for explaining an example of the third situation.

[0056] Fig.14 It is a diagram for explaining another example of the third situation.

[0057] Fig.15 A diagram for explaining a message displayed on the assist mode screen.

[0058] Fig.16 A diagram for explaining a message displayed on the assist mode screen.

[0059] Fig.17 This is a flowchart showing the “garage exit assist start routine” executed by the CPU of the parking assist ECU.

[0060] Fig.18 1 is a flowchart showing a “parking assist control execution routine” executed by the CPU.

[0061] Fig.19 This is a flowchart showing the "interrupt routine" executed by the CPU.

[0062] Fig. 20 2 is a flowchart showing the “parking assist control end routine” executed by the CPU.

[0063] Description of symbols

[0064] 10 parking assist ECU, 20 engine ECU, 30 brake ECU, 40 SBW ECU, 50 EPS ECU, 60 navigation ECU, 70 environmental sensor. DETAILED DESCRIPTION

[0065] Hereinafter, one or more embodiments will be described with reference to the accompanying drawings. The parking assist device is applied to a vehicle SV (see Figure 2 ).

[0066] like Figure 1 As shown, the parking assist device includes a parking assist ECU 10. The parking assist ECU 10 includes a microcomputer including a CPU 10a, a RAM 10b, a ROM 10c, and an interface (I / F) 10d. In addition, in this specification, "ECU" means an electric control unit. The ECU includes a microcomputer including a CPU, a RAM, a ROM, and an interface. The CPU implements various functions by executing instructions stored in the ROM.

[0067] The parking assist ECU 10 is connected to the engine ECU 20, the brake ECU 30, the SBW (Shift-by-Wire) ECU 40, the electric power steering ECU (hereinafter referred to as "EPS ECU") 50, and the navigation ECU 60 via the CAN (Controller Area Network) 90. These ECUs are connected to each other via the CAN 90 in a manner capable of sending and receiving information. Therefore, the detection value of the sensor connected to a specific ECU is also sent to other ECUs.

[0068] The engine ECU 20 is connected to an engine state sensor (not shown) including an accelerator pedal operation amount sensor 21 and an engine actuator (Act) 22. The accelerator pedal operation amount sensor 21 detects the operation amount (accelerator opening) of an accelerator pedal 21a and generates a signal indicating the accelerator pedal operation amount AP.

[0069] The engine ECU 20 drives the engine actuator 22 based on the accelerator pedal operation amount AP and the operating state amount (e.g., engine speed) detected by other engine state amount sensors. As a result, the engine ECU 20 can change the torque (engine generated torque) generated by the internal combustion engine 23. The engine generated torque is transmitted to the drive wheels via the transmission 24. Therefore, the engine ECU 20 can control the driving force of the vehicle SV by controlling the engine actuator 22.

[0070] In addition, when the vehicle SV is a hybrid vehicle, the engine ECU 20 can control the driving force generated by either or both of the "internal combustion engine and the electric motor" as the vehicle driving source. Further, when the vehicle SV is an electric vehicle, the engine ECU 20 can control the driving force generated by the electric motor as the vehicle driving source.

[0071] The brake ECU 30 is connected to a brake pedal operation amount sensor 31 and a brake actuator 32. The brake pedal operation amount sensor 31 detects the operation amount of a brake pedal 31a, and outputs a signal indicating the brake pedal operation amount BP.

[0072] The braking force (brake torque) on the wheel is controlled by the brake actuator 32. The brake actuator 32 adjusts the oil pressure supplied to the wheel brake pump (not shown) of the friction brake mechanism 33 according to the instruction from the brake ECU 30, and controls the brake pressure of the wheel brake pump by the oil pressure. As a result, the wheel brake pump generates the friction braking force on the wheel. Therefore, the brake ECU 30 can control the braking force of the vehicle SV by controlling the brake actuator 32.

[0073] The SBW ECU 40 is connected to a gear lever sensor 41 and an SBW actuator 42. The gear lever sensor 41 detects the position of the gear lever. The SBW ECU 40 receives the position of the gear lever from the gear lever sensor 41 and controls the SBW actuator 42 based on the position of the gear lever. The SBW actuator 42 controls the gear position switching mechanism 43 according to the instruction from the SBW ECU 40 to switch the gear position of the transmission 24 to one of the plurality of gear positions.

[0074] In this example, the gear positions include at least a parking position, a neutral position, a forward position, and a reverse position. The parking position is a position in which driving force is not transmitted to the drive wheels and the vehicle is mechanically locked in the stop position. The neutral position is a position in which driving force is not transmitted to the drive wheels and the vehicle is not mechanically locked in the stop position. The forward position is a position in which driving force is transmitted to the drive wheels to move the vehicle forward. The reverse position is a position in which driving force is transmitted to the drive wheels to move the vehicle backward.

[0075] More specifically, when the position of the shift lever is "P", the SBW ECU40 drives the SBW actuator 42 and controls the gear switching mechanism 43 so that the gear position of the transmission 24 becomes the parking position. When the position of the shift lever is "N", the SBW ECU40 drives the SBW actuator 42 and controls the gear switching mechanism 43 so that the gear position of the transmission 24 becomes the neutral position. When the position of the shift lever is "D", the SBW ECU40 drives the SBW actuator 42 and controls the gear switching mechanism 43 so that the gear position of the transmission 24 becomes the forward position. Further, when the position of the shift lever is "R", the SBW ECU40 drives the SBW actuator 42 and controls the gear switching mechanism 43 so that the gear position of the transmission 24 becomes the reverse position.

[0076] The EPS ECU 50 is connected to an assist motor (M) 51. The assist motor 51 is assembled to a steering mechanism 52. The steering mechanism 52 is a mechanism for steering the steering wheel according to the rotation operation of the steering wheel SW. The steering mechanism 52 includes a steering wheel SW, a steering shaft US connected to the steering wheel SW, and a steering gear mechanism (not shown) and the like. The EPS ECU 50 detects the steering torque input to the steering wheel SW by the driver through a steering torque sensor 53 provided on the steering shaft US, and drives the assist motor 51 based on the steering torque. The EPS ECU 50 provides a steering torque (steering assist torque) to the steering mechanism 52 by driving the assist motor 51, thereby assisting the steering operation of the driver.

[0077] Furthermore, when the EPS ECU 50 receives a steering command from the parking assist ECU 10 via the CAN 90 during the execution of the parking assist control described later, the EPS ECU 50 drives the assist motor 51 based on the steering torque determined by the steering command. This steering torque is different from the above-mentioned steering assist torque, and means a torque provided to the steering mechanism 52 according to the steering command from the parking assist ECU 10 without the need for the driver's steering operation. The steering angle (i.e., the steering angle) of the steering wheel of the vehicle SV is changed by this torque.

[0078] The navigation ECU 60 includes a GPS receiver 61 for receiving a GPS signal for detecting the "latitude and longitude" of the position where the vehicle SV is located, a map database 62 storing map information, and a touch panel 63. The navigation ECU 60 performs various calculations based on the latitude and longitude of the position where the vehicle is located and the map information, and causes the touch panel 63 to display the position of the vehicle on the map. Hereinafter, the display mode when the touch panel 63 displays the "position of the vehicle on the map" is referred to as the "first mode (navigation mode)". The touch panel 63 is a touch panel display that can display maps, images, etc.

[0079] The display mode of the touch panel 63 has a second mode (parking assistance mode) in addition to the first mode. The second mode is a display mode when parking assistance control is performed, and is a display mode for displaying various images showing the surrounding conditions of the vehicle as described later. When an assistance request described later is generated, the display mode is switched from the first mode to the second mode.

[0080] The parking assist ECU 10 is connected to an environmental sensor 70. The environmental sensor 70 obtains information about the surroundings of the vehicle. The information about the surroundings of the vehicle includes information about three-dimensional objects existing around the vehicle and information about demarcation lines on the road surface around the vehicle. Three-dimensional objects include moving objects such as cars, pedestrians, and bicycles, and fixed objects such as guardrails and fences. Hereinafter, these three-dimensional objects are simply referred to as "objects". The environmental sensor 70 includes a plurality of ultrasonic sensors 71a to 71h and a plurality of cameras 72a to 72d. The plurality of ultrasonic sensors 71a to 71h are collectively referred to as "ultrasonic sensors 71". The plurality of cameras 72a to 72d are collectively referred to as "cameras 72". In addition, the environmental sensor 70 is sometimes referred to as an "information acquisition device for acquiring information about the surroundings of the vehicle".

[0081] The ultrasonic sensor 71 transmits ultrasonic waves in a pulsed manner to a predetermined range around the vehicle SV, and receives reflected waves reflected by an object. The ultrasonic sensor 71 obtains information indicating "a point on an object where the transmitted ultrasonic wave is reflected, i.e., a reflection point" and "a distance from the ultrasonic sensor" based on the time from the transmission to the reception of the ultrasonic wave. The ultrasonic sensor 71 outputs the obtained information to the parking assist ECU 10.

[0082] like Figure 2 As shown, four ultrasonic sensors 71a to 71d are provided at intervals in the vehicle width direction on the front bumper 201 of the vehicle SV. Furthermore, ultrasonic sensors 71e to 71h are provided at intervals in the vehicle width direction on the rear bumper 202 of the vehicle SV.

[0083] The camera 72 is, for example, a digital camera with a built-in CCD (charge coupled device) or CIS (CMOS image sensor) shooting element. The camera 72 outputs image data of the surrounding area of ​​the vehicle SV at a predetermined frame rate. The camera 72 captures the surrounding conditions of the vehicle SV (including the position and shape of objects and the position and shape of dividing lines) and outputs the image data to the parking assist ECU 10.

[0084] like Figure 2As shown, the camera 72a is arranged at the approximate center of the front bumper 201 in the vehicle width direction, and photographs the front area of ​​the vehicle SV. The camera 72b is arranged at the wall of the trunk 203 at the rear of the vehicle body 200, and photographs the rear area of ​​the vehicle SV. The camera 72c is arranged at the right rearview mirror 204, and photographs the right side area of ​​the vehicle SV. The camera 72d is arranged at the left rearview mirror 205, and photographs the left side area of ​​the vehicle SV. Hereinafter, the image data obtained by photographing by the cameras 72a, 72b, 72c and 72d are sometimes referred to as "front image data", "rear image data", "right side image data" and "left side image data", respectively.

[0085] The parking assist ECU 10 receives information from the ultrasonic sensor 71 each time a predetermined time (hereinafter referred to as the "first time" for the sake of convenience) has passed. The parking assist ECU 10 plots the information (i.e., the position of the reflection point as the point where the ultrasonic wave is reflected) on a two-dimensional map. The two-dimensional map is a top view with the position of the vehicle SV as the origin, the direction of travel of the vehicle SV as the X-axis, and the left direction of the vehicle as the Y-axis. In addition, the "position of the vehicle" refers to the predetermined geometric center position of the vehicle SV when viewed from above. Based on the shape formed by a group of reflection points on the two-dimensional map, the parking assist ECU 10 detects an object located around the vehicle SV and determines the position (distance and orientation) and shape of the object relative to the vehicle SV.

[0086] In addition, the above-mentioned "position of the vehicle" may also be other specific positions on the vehicle (such as the center position of the left front wheel and the right front wheel when viewed from above and the center position of the left rear wheel and the right rear wheel when viewed from above, etc.).

[0087] Furthermore, the parking assist ECU 10 acquires image data from the camera 72 each time the first time period has passed. The parking assist ECU 10 detects an object located around the vehicle SV by analyzing the image data from the camera 72, and determines the position (distance and orientation) and shape of the object relative to the vehicle SV. The parking assist ECU 10 depicts the object determined (detected) based on the image data on the above-mentioned two-dimensional map. Therefore, the parking assist ECU 10 can detect an object existing around the vehicle SV (within a predetermined distance range from the position of the vehicle SV) based on the information represented on the two-dimensional map.

[0088] The parking assist ECU 10 detects an "area where no object exists" around the vehicle SV based on information displayed on the two-dimensional map. If the area where no object exists is an area with a size and shape that the vehicle SV can move, the parking assist ECU 10 determines the area as an "area where exit is possible (or where parking is possible)".

[0089] The parking assist ECU 10 is further connected to a vehicle speed sensor 81 , a parking assist switch 82 , and a speaker 83 .

[0090] The vehicle speed sensor 81 detects the speed of the vehicle SV (vehicle speed), and outputs a signal indicating the vehicle speed.

[0091] The parking assist switch 82 is a switch that is pressed when the driver requests the parking assist ECU 10 to execute parking assist control (when an assist request described later is generated).

[0092] The speaker 83 emits a sound when receiving a sound emission command from the parking assisting ECU 10 .

[0093] (Screen display)

[0094] Next, the screen displayed on the touch panel 63 when the display mode is the second mode (hereinafter referred to as the "assistance mode screen") will be described. Figure 3 As shown, the assistance mode screen has a first display area 301 , a second display area 302 , and a third display area 303 .

[0095] The parking assist ECU 10 displays the “viewpoint image and traveling direction image” described below on the assist mode screen when the display mode is the second mode. Hereinafter, a method for generating each of the viewpoint image and the traveling direction image will be briefly described.

[0096] The parking assist ECU 10 generates an image (viewpoint image) of the vehicle SV and the surrounding area of ​​the vehicle SV observed from a set virtual viewpoint based on the image data (front image data, rear image data, right side image data, and left side image data) obtained from the camera 72. Such a method of generating a viewpoint image is well known (see Japanese Patent Application Laid-Open No. 2012-217000 and Japanese Patent Application Laid-Open No. 2013-021468, etc.). For example, the viewpoint image is an image as if the vehicle SV is viewed downward from a position directly above the vehicle SV. Such a viewpoint image is also called a "bird's-eye view image".

[0097] The parking assist ECU 10 generates an image (travel direction image) showing an area in the travel direction of the vehicle SV based on the front image data and the rear image data. When the vehicle SV is moving forward, the parking assist ECU 10 generates a travel direction image showing an area in front of the vehicle SV based on the front image data. On the other hand, when the vehicle SV is moving backward, the parking assist ECU 10 generates a travel direction image showing an area behind the vehicle SV based on the rear image data.

[0098] like Figure 3As shown, the parking assisting ECU 10 displays the bird's-eye view image 401 in the first display area 301 , and displays the traveling direction image 402 in the second display area 302 .

[0099] (Parking assistance control content)

[0100] The parking assist ECU 10 detects the position of the shift lever and the operation of the parking assist switch 82 , and selects any assist mode among the parking exit mode, the parallel parking mode, and the tandem parking mode.

[0101] The outbound mode is a mode for assisting a parked vehicle to move toward the travel road. The parallel parking mode is a mode for assisting a vehicle in parallel parking. The meaning of parallel parking is the same as parking a vehicle at right angles to the travel direction of the travel road. The parallel parking mode is a mode for assisting a vehicle in parallel parking. The meaning of parallel parking is the same as parking a vehicle in parallel with the travel direction of the travel road. The parallel parking mode and the parallel parking mode are not directly related to the features of the present embodiment, and therefore, descriptions of these modes are omitted.

[0102] For example, when the parking assist switch 82 is pressed once with the shift lever at the “P” position, the parking assist ECU 10 selects the exit mode as the assist mode.

[0103] When the exit mode is selected, the parking assist ECU 10 sets the target area within the exit-capable area. The target area is the area occupied by the vehicle body 200 when the exit of the vehicle SV is completed. Furthermore, the parking assist ECU 10 sets the position of the vehicle when the vehicle SV moves to the target area as the target position. The target position here refers to the position where the aforementioned center position of the vehicle SV should reach when viewed from above. In addition, in this specification and claims, "moving the center position of the vehicle to the target position or predetermined position" is sometimes expressed simply as "moving the vehicle to the target position or predetermined position".

[0104] The parking assist ECU 10 calculates a moving path for moving the vehicle SV from the current position to the target position. The moving path is a path for moving the center position of the vehicle SV from the current position to the target position while the vehicle body 200 is spaced a predetermined distance from an object (another vehicle, a curb, a guardrail, etc.). In addition, the moving path can be calculated by one of various known calculation methods (for example, the method proposed in Japanese Patent Application Laid-Open No. 2015-3565).

[0105] When the movement path is determined, the parking assist ECU 10 determines movement assist information for moving the vehicle SV along the movement path. The movement assist information includes the movement direction of the vehicle SV (specifically, the gear position of the transmission 24), the steering angle pattern (steering angle information), and the speed pattern (speed information).

[0106] The parking assist ECU 10 sends a shift control command to the SBW ECU 40 via the CAN 90 according to the determined shift position. Upon receiving the shift control command from the parking assist ECU 10, the SBW ECU 40 drives the SBW actuator 42 to change the shift position of the transmission 24 to the position determined by the shift control command (i.e., performs shift control).

[0107] The steering angle pattern is data that associates the center position of the vehicle SV on the moving path with the steering angle, and indicates the change in the steering angle (target steering angle) when the center position of the vehicle SV moves along the moving path. The parking assist ECU 10 sends a steering command (including the target steering angle) to the EPS ECU 50 via the CAN 90 according to the determined steering angle pattern. When the EPS ECU 50 receives the steering command from the parking assist ECU 10, it drives the assist motor 51 based on the steering torque determined by the steering command to make the actual steering angle consistent with the target steering angle (i.e., performs steering angle control).

[0108] The speed pattern is data that associates the center position of the vehicle SV on the moving path with the driving speed, and indicates the change in the vehicle speed (target value of the vehicle speed) when the center position of the vehicle SV moves along the moving path. The parking assist ECU 10 sends a driving force control instruction to the engine ECU 20 via the CAN 90 according to the determined speed pattern. When the engine ECU 20 receives the driving force control instruction from the parking assist ECU 10, it controls the engine actuator 22 according to the driving force control instruction (i.e., performs driving force control). Furthermore, the parking assist ECU 10 sends a braking force control instruction to the brake ECU 30 via the CAN 90 according to the determined speed pattern. When the brake ECU 30 receives the braking force control instruction from the parking assist ECU 10, it controls the brake actuator 32 according to the braking force control instruction (i.e., performs braking force control).

[0109] (Assisted requirements)

[0110] As described below, the parking assist ECU 10 detects the operation of the parking assist switch 82, the shift position, and the surrounding conditions of the vehicle SV, and determines whether a parking assist request has been generated. Hereinafter, the parking assist request is simply referred to as an "assistance request."

[0111] When all of the following conditions A1 to A4 are satisfied, the parking assisting ECU 10 determines that an assist request has been generated.

[0112] (Condition A1) No auxiliary requirements have yet arisen.

[0113] (Condition A2) The exit mode is selected. That is, the parking assist switch 82 is pressed once when the shift position is in the parking position (P).

[0114] (Condition A3) The vehicle speed at the time when the condition A2 is satisfied is a predetermined stop determination vehicle speed (for example, 0 [km / h]).

[0115] (Condition A4) An area on the travel road adjacent to the area where the vehicle SV is parked and having a size and shape in which the vehicle SV can exist (garage exit possible area) is detected.

[0116] When an assistance request is generated, the parking assist ECU 10 executes parking assist control in the exit mode.

[0117] (Work Summary)

[0118] In this example, the parking assist ECU 10 changes the number of times the vehicle SV stops while the vehicle SV moves along the moving path (hereinafter referred to as the “number of stops”) according to the surrounding conditions of the vehicle SV.

[0119] exist Figure 4 In the example, the vehicle SV is parked (vehicle speed is zero, and the gear is in the parking position (P)). There is another vehicle OB1 on the left side of the vehicle SV. Next, there is a wall OB2 on the right side of the vehicle SV.

[0120] The driver of the vehicle SV presses the parking assist switch 82 once to move the vehicle SV to the travel road RD. The parking assist ECU 10 detects a parking exit possible area in the travel road RD. The above-mentioned conditions A1 to A4 are satisfied, so the parking assist ECU 10 determines that an assist request has been made.

[0121] The parking assist ECU 10 sets the target area Atgt within the exitable area. The parking assist ECU 10 sets the position of the vehicle SV when the vehicle SV moves to the target area Atgt as the target position Ptgt. Furthermore, the parking assist ECU 10 calculates a movement path MP for moving the vehicle SV from the current position Po to the target position Ptgt.

[0122] The parking assist ECU 10 determines whether there is an object in a predetermined first region Rd1 on the left side of the vehicle SV on the two-dimensional map. The length in the X-axis direction and the length in the Y-axis direction of the first region Rd1 are set to include one vehicle of typical size. In this example, the parking assist ECU 10 detects another vehicle OB1 in the first region Rd1. Hereinafter, the object (other vehicle) OB1 detected in the first region Rd1 is referred to as "first object OB1".

[0123] The parking assist ECU 10 determines whether there is an object in a predetermined second region Rd2 on the right side of the vehicle SV on the two-dimensional map. The length of the second region Rd2 in the X-axis direction and the length of the Y-axis direction are set to be the same as those of the first region Rd1. In this example, the parking assist ECU 10 detects a wall OB2 in the second region Rd2. Hereinafter, the object (wall) OB2 detected in the second region Rd2 is referred to as "second object OB2".

[0124] Hereinafter, the end SVa of the vehicle SV on the driving road RD side is recorded as "vehicle end SVa", the end OB1a of the first object OB1 on the driving road RD side is recorded as "first end OB1a", and the end OB2a of the second object OB2 on the driving road RD side is recorded as "second end OB2a".

[0125] The parking assisting ECU 10 calculates information on the positional relationship among the vehicle end SVa, the first end OB1a, and the second end OB2a. The parking assisting ECU 10 changes (sets) the number of stops based on the information on the positional relationship.

[0126] More specifically, if Figure 5 As shown, the parking assisting ECU 10 calculates the first distance d1 , the second distance d2 , and the third distance d3 as information on the positional relationship.

[0127] The first distance d1 is the distance between the vehicle end SVa and the first end OB1a in the front-rear direction of the vehicle SV. Figure 5 As shown in FIG. 1 , when the first end OB1a is located on the driving road RD side relative to the vehicle end SVa, the parking assist ECU 10 calculates the first distance d1 as a negative value. On the other hand, when the vehicle end SVa is located on the driving road RD side relative to the first end OB1a, the parking assist ECU 10 calculates the first distance d1 as a positive value.

[0128] The second distance d2 is the distance between the vehicle end SVa and the second end OB2a in the front-rear direction of the vehicle SV. Figure 5As shown in FIG. 1 , when the second end OB2a is located on the driving road RD side relative to the vehicle end SVa, the parking assist ECU 10 calculates the second distance d2 as a negative value. On the other hand, when the vehicle end SVa is located on the driving road RD side relative to the second end OB2a, the parking assist ECU 10 calculates the second distance d2 as a positive value.

[0129] The third distance d3 is a distance (≥0) between the first end portion OB1a and the second end portion OB2a in the front-rear direction of the vehicle SV.

[0130] The parking assist ECU 10 determines whether the current state (the state at the time of starting the parking assist control) is the first state, the second state, or the third state based on the first distance d1, the second distance d2, and the third distance d3. Hereinafter, such processing is sometimes referred to as "state determination processing". The details of each of the first state, the second state, and the third state will be described later.

[0131] When the parking assist ECU 10 determines that the current situation is the first situation, the number of stops is set to 2. When the parking assist ECU 10 determines that the current situation is the second situation, the number of stops is set to 1. When the parking assist ECU 10 determines that the current situation is the third situation, the number of stops is set to zero (that is, the parking assist ECU 10 does not stop the vehicle SV).

[0132] Hereinafter, conditions for determining the first situation, the second situation, and the third situation will be described in detail.

[0133] (First Situation)

[0134] like Figure 6 As shown, when the vehicle SV is at the current position Po, the first object OB1 obstructs the field of view from the vehicle SV. Here, the "field of view from the vehicle" refers to the range of the driving road RD that can be confirmed from the vehicle SV, and in this example, it means the range of the driving road RD that can be seen by the driver. In addition, as described later, the "field of view from the vehicle" may also be the range of the driving road RD that can be seen from the camera 72.

[0135] The driver's field of vision is blocked by the first object OB1, so the driver cannot confirm (perceive) the object (pedestrian) OB3 moving on the travel road RD and approaching the vehicle SV from the left side of the vehicle SV.

[0136] Furthermore, the second object OB2 obstructs the driver's field of vision. The driver cannot confirm (perceive) the object (pedestrian) OB4 moving on the travel road RD and approaching the vehicle SV from the right side of the vehicle SV. Hereinafter, the object OB4 will be described as "the fourth object OB4".

[0137] like Figure 6 As shown, it is assumed that the vehicle SV moves on the moving path MP and the first distance d1 becomes a predetermined positive distance ds (see dotted line SV'). The distance ds is set to a value that does not obstruct the driver's field of vision by the first object OB1. In this case, the driver can recognize the third object OB3.

[0138] However, in this example, there is a large deviation between the position of the first end OB1a in the front-to-back direction of the vehicle SV and the position of the second end OB2a in the front-to-back direction of the vehicle SV. That is, the third distance d3 is large. Even if the vehicle SV stops at the time point when the first distance d1 becomes the distance ds, the second object OB2 still obstructs the driver's field of vision (the field of vision on the right side). At this time point, it is also difficult for the driver to confirm the fourth object OB4.

[0139] like Figure 7 As shown, it is assumed that the vehicle SV moves further on the moving path MP and the second distance d2 becomes the distance ds (refer to the dotted line SV"). In this case, the driver can confirm the fourth object OB4. Figure 5 In the example of FIG. 1 , the driver can check the condition of the travel road RD by stopping the vehicle SV twice.

[0140] Taking the above into consideration, the parking assisting ECU 10 determines that the current situation is the first situation when all of the following conditions B1 to B3 are satisfied.

[0141] (Condition B1) The parking assisting ECU 10 detects the first object OB1 in the first region Rd1 and detects the second object OB2 in the second region Rd2.

[0142] (Condition B2) The first distance d1 is smaller than a predetermined first threshold value dth1, and the second distance d2 is smaller than the first threshold value dth1. The condition B2 is a condition for determining whether both the first object OB1 and the second object OB2 obstruct the field of view from the vehicle SV (the field of view of the driver). The first threshold value dth1 is, for example, a value less than zero. In addition, the first threshold value dth1 may also be changed according to the type of vehicle. For example, for a vehicle having a large length between the driver's seat and the vehicle end SVa, the first threshold value dth1 may also be set to a positive value.

[0143] (Condition B3) The third distance d3 is larger than a predetermined positive second threshold dth2.

[0144] As described above, the first situation includes a situation in which both the first object OB1 and the second object OB2 obstruct the driver's field of vision and the third distance d3 is greater than the second threshold dth2.

[0145] When the parking assist ECU 10 determines that the current situation is the first situation, Figure 8 As shown, a first stop position Ps1 and a second stop position Ps2 are set on the moving path MP. The first stop position Ps1 is a position where the first distance d1 becomes the distance ds (see Figure 6 The second stop position Ps2 is a position where the second distance d2 becomes the distance ds (see Figure 7 The parking assisting ECU 10 calculates a speed pattern so that the vehicle SV stops at the first stop position Ps1 and the vehicle SV stops at the second stop position Ps2.

[0146] (Second situation)

[0147] Fig. 9 2 is a diagram showing an example of the second situation. In this example, a first object OB1 exists on the left side of the vehicle SV, and a second object OB2 exists on the right side of the vehicle SV. In addition, the first end OB1a is slightly closer to the travel road RD than the second end OB2a.

[0148] As shown in the figure, the deviation between the position of the first end OB1a in the front-rear direction of the vehicle SV and the position of the second end OB2a in the front-rear direction of the vehicle SV is small. That is, the third distance d3 (not shown) is less than the second threshold value dth2. In this case, Fig.10 As shown in FIG. 1 , it is assumed that the vehicle SV moves on the moving path MP and the first distance d1 becomes the distance ds. At this time point, the first object OB1 and the second object OB2 do not obstruct the driver's field of vision, so the driver can recognize the third object OB3 and the fourth object OB4. Fig. 9 In the example of FIG. 1 , the driver can check the condition of the travel road RD by stopping the vehicle SV once.

[0149] Taking the above into consideration, the parking assisting ECU 10 determines that the current situation is the second situation when all of the following conditions C1 to C3 are satisfied.

[0150] (Condition C1) The parking assisting ECU 10 detects the first object OB1 in the first region Rd1 and detects the second object OB2 in the second region Rd2.

[0151] (Condition C2) The first distance d1 is smaller than the first threshold dth1, and the second distance d2 is smaller than the first threshold dth1.

[0152] (Condition C3) The third distance d3 is equal to or less than the second threshold value dth2.

[0153] When the parking assist ECU 10 determines that the current situation is the second situation, it selects the object (hereinafter referred to as the "target object") that is closer to the travel road RD between the first object OB1 and the second object OB2. In this example, the target object is the first object OB1. The parking assist ECU 10 sets the first stop position Ps1 on the travel path MP. Fig.10 As shown, the first stop position Ps1 is a position where the distance between the end of the target object (ie, OB1a) and the vehicle end SVa (ie, first distance d1) is equal to the distance ds. The parking assist ECU 10 calculates a speed pattern so that the vehicle SV stops at the first stop position Ps1.

[0154] Further, in Fig.11 In the example, when the vehicle SV is at the current position Po, the second object OB2 does not obstruct the driver's field of vision. The driver can confirm the fourth object OB4. Only the first object OB1 obstructs the driver's field of vision. In this situation, the driver can also confirm the condition of the driving road RD by stopping the vehicle SV once.

[0155] Taking the above into consideration, the parking assisting ECU 10 determines that the current situation is the second situation when both the following conditions D1 and D2 are satisfied.

[0156] (Condition D1) The parking assisting ECU 10 detects the first object OB1 in the first region Rd1 and detects the second object OB2 in the second region Rd2.

[0157] (Condition D2) One of the first distance d1 and the second distance d2 is smaller than the first threshold dth1, and the other is greater than or equal to the first threshold dth1. The condition D2 is a condition for determining whether only one of the first object OB1 and the second object OB2 obstructs the driver's field of vision.

[0158] As described above, the parking assisting ECU 10 sets the first stop position Ps1 on the movement path MP. The first stop position Ps1 is a position where the first distance d1 becomes the distance ds. The parking assisting ECU 10 calculates a speed pattern so that the vehicle SV stops at the first stop position Ps1.

[0159] Further, in Fig.12In the example of , there is only the first object OB1, and the first object OB1 blocks the driver's field of vision. In this situation, the driver can also confirm the condition of the travel road RD by stopping the vehicle SV once.

[0160] Considering the above, the parking assisting ECU 10 determines that the current situation is the second situation when both the following conditions E1 and E2 are satisfied. The parking assisting ECU 10 sets the first stop position Ps1 on the movement path MP. The first stop position Ps1 is a position where the first distance d1 becomes the distance ds.

[0161] (Condition E1) The parking assisting ECU 10 detects the first object OB1 in the first region Rd1 and detects no object in the second region Rd2.

[0162] (Condition E2) The first distance d1 is smaller than the first threshold dth1.

[0163] Furthermore, the parking assisting ECU 10 determines that the current situation is the second situation when both the following conditions F1 and F2 are satisfied. The parking assisting ECU 10 sets a second stop position Ps2 on the movement path MP. The second stop position Ps2 is a position where the second distance d2 becomes the distance ds.

[0164] (Condition F1) The parking assisting ECU 10 detects no object in the first region Rd1 and detects the second object OB2 in the second region Rd2.

[0165] (Condition F2) The second distance d2 is smaller than the first threshold dth1.

[0166] As described above, the second situation includes (a) a situation where both the first object OB1 and the second object OB2 obstruct the driver's field of vision and the third distance d3 is less than the second threshold dth2 and (b) a situation where only the first object OB1 or only the second object OB2 obstructs the driver's field of vision.

[0167] (Third Situation)

[0168] When the current situation does not belong to either the first situation or the second situation, the parking assisting ECU 10 determines that the current situation is the third situation.

[0169] Fig.13is a diagram showing an example of the third condition. There is a first object OB1, and there is a second object OB2. However, both the first distance d1 and the second distance d2 are relatively large positive values. The first object OB1 and the second object OB2 do not obstruct the driver's field of vision, so the driver can confirm both the third object OB3 and the fourth object OB4. In this condition, it is considered unnecessary to provide the driver with an opportunity to confirm the condition of the driving road. In this way, the third condition includes a condition in which both the first object OB1 and the second object OB2 do not obstruct the driver's field of vision.

[0170] Parking assist ECU10 Fig.13 The parking assist ECU 10 calculates a speed pattern so that the vehicle SV does not stop.

[0171] Fig.14 1 is a diagram showing another example of the third situation. No object exists in the first region Rd1 and the second region Rd2. The driver can recognize both the third object OB3 and the fourth object OB4. The parking assist ECU 10 Fig.14 In the case of , it is determined that the current situation is the third situation. Furthermore, the parking assisting ECU 10 calculates the speed pattern so that the vehicle SV does not stop.

[0172] (Automatically stop processing)

[0173] When the parking assist ECU 10 stops the vehicle SV at the first stop position Ps1 (or the second stop position Ps2), the parking assist ECU 10 interrupts (temporarily stops) the parking assist control. After interrupting the parking assist control, the parking assist ECU 10 executes an automatic stop process for maintaining the stopped state of the vehicle SV. The parking assist ECU 10 generates a braking force to maintain the stopped state of the vehicle SV by sending a braking force control command to the brake ECU 30.

[0174] (Restart the operation)

[0175] After the parking assist ECU 10 interrupts the parking assist control and starts the automatic stop process, it requests the driver to perform a predetermined restart operation. The restart operation is an operation for restarting the parking assist control, and in this example, it is an operation on the brake pedal 31a.

[0176] Specifically, if Fig.15 As shown, the parking assisting ECU 10 displays a message 1501 requesting “depress the brake pedal 31 a ” in the third display area 303 of the assist mode screen, and causes the speaker 83 to utter the message 1501 .

[0177] The parking assist ECU 10 determines whether the brake pedal 31a is stepped on based on the brake pedal operation amount BP. If the brake pedal 31a is stepped on, the parking assist ECU 10 requests the driver to release the brake pedal 31a. Specifically, Fig.16 As shown, the parking assisting ECU 10 displays a message 1601 requesting “release your foot from the brake pedal 31 a ” in the third display area 303 of the assist mode screen, and causes the speaker 83 to utter the message 1601 .

[0178] Then, the parking assisting ECU 10 determines whether the brake pedal 31a has been released based on the brake pedal operation amount BP. If the brake pedal 31a has been released, the parking assisting ECU 10 cancels the automatic stop process and resumes the parking assist control.

[0179] (Work assisting with outbound delivery)

[0180] Next, the flow of executing parking assist control in the exit mode (hereinafter sometimes referred to as "exit assist") is described. The CPU 10a (hereinafter referred to as "CPU") of the parking assist ECU 10 executes each of the following operations every time a predetermined time (first time) elapses. Figures 17 to 20 The routine shown.

[0181] Furthermore, the CPU executes a routine (not shown) every time the first time period elapses, thereby acquiring vehicle surrounding information from the environment sensor 70 and updating the above-mentioned two-dimensional map based on the vehicle surrounding information.

[0182] When the ignition key switch (start switch) not shown in the figure of the vehicle SV is changed from the off position to the on position, the CPU executes an initialization routine not shown in the figure and sets the values ​​of various flags (X1 and X2) described below to "0".

[0183] When the predetermined timing is reached, the CPU Fig.17 The processing starts from step 1700 and enters step 1701 to determine whether the value of the first flag X1 is "0". When the value of the first flag X1 is "0", it indicates that no auxiliary request (i.e., outbound auxiliary request) has been generated, and when the value is "1", it indicates that an auxiliary request has been generated. In other words, the CPU determines in step 1701 whether the above-mentioned condition A1 is satisfied. When the value of the first flag X1 is not "0", the CPU determines "No" in step 1701 and directly enters step 1795, terminating this routine.

[0184] Now, assuming that the value of the first flag X1 is "0", the CPU determines "yes" in step 1701 and proceeds to step 1702 to determine whether the above conditions A2 to A4 are satisfied. If at least one of the conditions A2 to A4 is not satisfied, the CPU determines "no" in step 1702 and directly proceeds to step 1795 to end this routine.

[0185] In contrast, when condition A2 to condition A4 are satisfied, the CPU determines "yes" in step 1702 and proceeds to step 1703 to determine whether a predetermined start operation has been performed. The CPU displays a first button for selecting the direction of travel of the vehicle SV (i.e., right or left) and a second button for starting the exit assistance on the touch panel 63. The start operation includes an operation on the first button and an operation on the second button. If the start operation is not performed, the CPU determines "no" in step 1703 and directly proceeds to step 1795, terminating this routine.

[0186] When the start operation has been performed, the CPU makes a “YES” determination in step 1703 , sequentially performs the processes of steps 1704 to 1708 described below, and proceeds to step 1709 .

[0187] Step 1704 : The CPU switches the display mode of the screen displayed on the touch panel 63 from the first mode to the second mode. As a result, the assist mode screen is displayed on the touch panel 63 .

[0188] Step 1705: The CPU sets the target area Atgt within the exit area. Further, the CPU sets the center position of the vehicle SV when the vehicle SV moves to the target area Atgt as the target position Ptgt. The CPU calculates the moving path MP that moves the position of the vehicle SV from the current position (starting position) Po to the target position Ptgt.

[0189] Step 1706: The CPU determines the moving direction (specifically, the gear position) of the vehicle SV.

[0190] Step 1707: The CPU calculates a steering angle pattern for moving the vehicle SV along the movement path MP.

[0191] Step 1708: The CPU executes the situation determination process as described above. The CPU determines whether the current situation belongs to the first situation, the second situation, or the third situation based on the vehicle surrounding information (more specifically, the two-dimensional map).

[0192] When the CPU enters step 1709, the CPU determines whether the current status (the status determined in step 1708) is the first status or the second status. When the current status is the first status or the second status, the CPU determines "yes" in step 1709 and sequentially performs the processing of steps 1710 to 1712 described below. Then, the CPU enters step 1795 and ends this routine.

[0193] Step 1710: The CPU sets one or two stop positions on the moving path MP according to the situation determined in step 1708. When the current situation is the first situation, the CPU sets the first stop position Ps1 and the second stop position Ps2 on the moving path MP as described above. When the current situation is the second situation, the CPU sets the first stop position Ps1 on the moving path MP as described above.

[0194] Step 1711: The CPU operates in speed mode as described above.

[0195] Step 1712: The CPU sets the value of the first flag X1 to "1".

[0196] Furthermore, when the predetermined timing is reached, the CPU Fig.18 The routine starts processing at step 1800 and proceeds to step 1801 to determine whether the value of the first flag X1 is "1" and the value of the second flag X2 is "0". When the value of the second flag X2 is "0", it indicates that the parking assist control is not interrupted (temporarily stopped), and when the value of the second flag X2 is "1", it indicates that the parking assist control is interrupted. When the value of the first flag X1 is "0" or the value of the second flag X2 is "1", the CPU determines "No" in step 1801, directly proceeds to step 1895 and ends this routine.

[0197] On the other hand, when the value of the first flag X1 is "1" and the value of the second flag X2 is "0", the CPU makes a "yes" determination in step 1801 and proceeds to step 1802 to determine whether the CPU has completed the operation. Fig.17The CPU determines whether the condition determined in step 1708 is the first condition or the second condition. In the case where the condition determined in step 1708 is the third condition, the CPU determines "No" in step 1802 and directly enters step 1804 to perform parking assist control. Specifically, the CPU performs gear control by sending a gear control instruction to the SBWECU40 according to the determined gear. The CPU performs steering angle control by sending a steering instruction (including a target steering angle) to the EPS ECU50 according to the steering angle mode. The CPU performs driving force control by sending a driving force control instruction to the engine ECU20 according to the speed mode. Furthermore, the CPU performs braking force control by sending a braking force control instruction to the brake ECU30 according to the speed mode. Therefore, the driver can move the center position of the vehicle SV to the target position Ptgt within the driving road RD without performing driving operations (operation of the gear lever, steering wheel SW, accelerator pedal 21a and brake pedal 31a). Then, the CPU enters step 1895 and ends this routine.

[0198] In addition, when the driver requires a large braking force by operating the brake pedal 31a during the execution of the parking assist control, the CPU can control the brake actuator 32 to generate a braking force corresponding to the requirement. In this case, the CPU can set the driving force to zero by controlling the engine actuator 22.

[0199] On the other hand, if the condition determined in step 1708 is the first condition or the second condition, the CPU determines "yes" in step 1802 and proceeds to step 1803 to determine whether the vehicle SV has reached the stop position (the first stop position Ps1 or the second stop position Ps2). If the vehicle SV has not reached the stop position, the CPU determines "no" in step 1803 and proceeds to step 1804 to execute parking assist control.

[0200] Assume that the CPU repeatedly executes Fig.18 The vehicle SV reaches the stop position by repeatedly executing the routine (i.e., repeatedly executing the processing of step 1804). In this case, when the CPU enters step 1803, the CPU determines "yes" and sequentially performs the processing of steps 1805 and 1806 described below. Then, the CPU enters step 1895 and ends this routine.

[0201] Step 1805: The CPU executes the automatic stop process as described above.

[0202] Step 1806: The CPU sets the value of the second flag X2 to "1". As a result, the CPU makes a "No" determination in step 1801, and the parking assist control is interrupted.

[0203] Furthermore, when the predetermined timing is reached, the CPU Fig.19 The routine starts processing at step 1900 and proceeds to step 1901 to determine whether the value of the second flag X2 is "1". If the value of the second flag X2 is not "1", the CPU determines "No" in step 1901, directly proceeds to step 1995 and ends this routine.

[0204] On the other hand, it is assumed that the value of the second flag X2 is Fig.18 In the routine, the parking assist control is set to "1", and the parking assist control has been interrupted. In this case, the CPU determines "yes" in step 1901 and enters step 1902 to request to restart the operation (operation of the brake pedal 31a). Fig.15 As shown, the CPU displays the message 1501 in the third display area 303 of the assistance mode screen and causes the speaker 83 to utter the message.

[0205] Next, the CPU determines whether the driver has stepped on the brake pedal 31a in step 1903. If the driver has stepped on the brake pedal 31a, the CPU determines "yes" in step 1903 and proceeds to step 1904 to request the driver to release the brake pedal 31a. Fig.16 As shown, the CPU displays the message 1601 in the third display area 303 of the assistance mode screen and causes the speaker 83 to utter the message.

[0206] Next, the CPU determines whether the brake pedal 31a has been released in step 1905. If the brake pedal 31a has not been released, the CPU returns to the process of step 1904.

[0207] On the other hand, when the brake pedal 31a has been released, the CPU makes a "yes" determination in step 1905, and sequentially performs the processing of steps 1906 and 1907 described below. Then, the CPU proceeds to step 1995, and ends this routine.

[0208] Step 1906: The CPU cancels the automatic stop process.

[0209] Step 1907: The CPU sets the value of the second flag X2 to "0". Fig.18 The determination in step 1801 of the routine is "YES", and therefore, the parking assist control is restarted.

[0210] In addition, when the driver does not step on the brake pedal 31a at the time when the CPU enters step 1903, the CPU determines "No" in this step 1903 and enters step 1908. The CPU determines whether a predetermined termination condition (cancellation condition) is satisfied. The termination condition is satisfied when the elapsed time Etm1 from the time when the process of step 1902 is first executed becomes more than the predetermined first time threshold value Tm1. When the termination condition is not satisfied, the CPU determines "No" in this step 1908 and returns to step 1902.

[0211] When the suspension condition is satisfied, the CPU makes a "Yes" determination at step 1908, and sequentially performs the processing of steps 1909 to 1911 described below. Then, the CPU proceeds to step 1995 to terminate this routine.

[0212] Step 1909: The CPU cancels the automatic stop process.

[0213] Step 1910: The CPU executes a predetermined end process. Specifically, the CPU displays a message that “exit assistance (i.e., parking assistance control in exit mode) has ended” in the third display area 303 of the assistance mode screen, and causes the speaker 83 to utter the message.

[0214] Step 1911: The CPU sets the value of the first flag X1 to “0” and sets the value of the second flag X2 to “0.” In this way, if the driver does not perform a restart operation, the parking assist control ends.

[0215] Furthermore, when the predetermined timing is reached, the CPU Fig. 20 The routine starts processing at step 2000 and proceeds to step 2001 to determine whether the value of the first flag X1 is "1" and the value of the second flag X2 is "0". When the value of the first flag X1 is "0" or the value of the second flag X2 is "1", the CPU determines "no" in step 2001, directly proceeds to step 2095 and ends this routine.

[0216] On the other hand, when the value of the first flag X1 is "1" and the value of the second flag X2 is "0", the CPU determines "yes" in step 2001 and proceeds to step 2002 to determine whether the center position of the vehicle SV has reached the target position Ptgt. When the center position of the vehicle SV has not reached the target position Ptgt, the CPU determines "no" in step 2002, directly proceeds to step 2095 and ends this routine.

[0217] It is assumed that the center position of the vehicle SV has reached the target position Ptgt. In this case, the CPU makes a "yes" determination in step 2002, and sequentially performs the processing of steps 2003 and 2004 described below. Then, the CPU proceeds to step 2095 to terminate this routine.

[0218] Step 2003: The CPU executes a predetermined end process. Specifically, the CPU displays a message to the effect that “the outbound assistance has ended” in the third display area 303 of the assistance mode screen, and causes the speaker 83 to utter the message.

[0219] Step 2004: The CPU sets the value of the first flag X1 to "0".

[0220] According to the above configuration, the parking assist device changes the number of times the vehicle SV stops while the vehicle SV moves along the moving path MP within a range of zero to two according to the surrounding conditions of the vehicle SV. This can provide the driver with an opportunity to check the conditions of the travel road RD while reducing the possibility of the driver feeling troubled.

[0221] In the first situation, the parking assist device stops the vehicle SV twice. Furthermore, the parking assist device stops the vehicle SV when the vehicle end SVa reaches a position ahead of the first end OB1a by a distance ds, and stops the vehicle SV when the vehicle end SVa reaches a position ahead of the second end OB2a by a distance ds. Therefore, the driver can reliably check the situation in the travel road RD.

[0222] In the second situation, the parking assist device stops the vehicle SV only once at a position where the driver can check other objects (OB3 and OB4) approaching from the left and right sides. Even with a single stop, the driver can fully check the conditions in the driving road RD. The possibility of the driver feeling troubled can be reduced while providing the driver with an opportunity to check the conditions of the driving road RD.

[0223] In the third situation, the driver can fully check the situation in the travel road RD at the time of starting the parking assist control. Therefore, the parking assist device does not stop the vehicle SV. Therefore, the possibility of the driver feeling troubled can be reduced.

[0224] In addition, the present disclosure is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0225] (Variant 1)

[0226] In the above embodiment, the CPU sets the stop position on the moving path MP before starting the parking assist control (step 1710 ), but the present invention is not limited thereto. The CPU may set the first stop position Ps1 and the second stop position Ps2 based on the vehicle surrounding information after starting the parking assist control.

[0227] (Variant 2)

[0228] The parking assist ECU 10 may also set the number of stops and the stop position in consideration of the range of the driving road RD that can be seen from the camera 72 (e.g., the camera 72a) (hereinafter referred to as the "field of view of the camera 72"). In this configuration, the parking assist ECU 10 may also allow the driver to confirm the overhead image 401 and the traveling direction image 402 on the assist mode screen at the time point when the vehicle SV is stopped at the stop position (Ps1, Ps2). The distance ds may be set to a degree that the field of view of the camera 72 is not obstructed by the first object OB1 (or the second object OB2). According to this configuration, the distance ds can be set to a value smaller than the distance ds in the case where the driver is allowed to confirm the condition of the driving road RD with his own field of view. Safety can be further improved.

[0229] (Variant 3)

[0230] The restart operation is not limited to the above example, and may be other operations. The restart operation may be an operation on a switch provided near the steering wheel SW. The restart operation may be an operation on a button displayed on the touch panel 63. Furthermore, the restart operation may be an operation on the parking assist switch 82.

[0231] (Variant 4)

[0232] The parking assist control may include at least steering angle control, driving force control, and braking force control. That is, the parking assist control may not include gear position control. In the case where the parking assist control does not include gear position control, the CPU Fig.17 After step 1711 of the routine, the driver is informed of the gear position of the transmission 24 via the assist mode screen on the touch panel 63 and / or the speaker 83. When the driver operates the shift lever to make the gear position consistent with the informed gear position, the CPU proceeds to step 1712 and sets the value of the first flag X1 to "1".

Claims

1. A parking assist device, comprising: an information acquisition device that acquires vehicle periphery information including information on objects existing around a parked vehicle; and Control unit, The control unit is composed of: When an assistance request is generated, a target position of the vehicle when the vehicle is moved to a travel road is set based on the vehicle surrounding information, calculating a movement path for moving the vehicle from the current position of the vehicle to the target position, executing parking assist control including at least steering angle control for changing a steering angle of the vehicle, driving force control for controlling a driving force of the vehicle, and braking force control for controlling a braking force of the vehicle so that the vehicle moves along the movement path, The control unit is configured to change the number of times the vehicle stops while the vehicle moves along the movement path based on the vehicle surrounding information. The control unit is configured to: based on the vehicle surrounding information, detecting a first object existing on a first side, the first side being one of a right side and a left side of the vehicle, detecting a second object existing on a second side, the second side being the other of the right side and the left side of the vehicle, The control unit is configured to change the number of times based on a positional relationship between a vehicle end portion of the vehicle on the driving road side, a first end portion of the first object on the driving road side, and a second end portion of the second object on the driving road side.

2. The parking assist device according to claim 1, The control unit is composed of: Based on the positional relationship, determining whether the current state is a predetermined first state, When it is determined that the current situation is the first situation, the number of times is set to 2. The first condition includes a condition in which both the first object and the second object obstruct the field of view from the vehicle, and a distance between the first end and the second end in the front-rear direction of the vehicle is greater than a predetermined threshold value. The control unit is configured to: during the period when the vehicle moves along the movement path, When the end of the vehicle reaches a position ahead of the first end by a predetermined distance, the vehicle is stopped; When the vehicle end reaches a position ahead of the second end by the predetermined distance, the vehicle is stopped.

3. The parking assist device according to claim 1, The control unit is composed of: Based on the positional relationship, determining whether the current state is a predetermined second state, When it is determined that the current situation is the second situation, the number of times is set to 1, The second condition includes a condition in which both the first object and the second object obstruct the field of view from the vehicle and a distance between the first end and the second end in the front-rear direction of the vehicle is less than a predetermined threshold value and a condition in which only the first object obstructs the field of view, The control unit is configured to stop the vehicle when the end of the vehicle reaches a position ahead of the first end by a predetermined distance while the vehicle is moving along the movement path.

4. The parking assist device according to claim 1, The control unit is composed of: Based on the positional relationship, determining whether the current state is a predetermined third state, When it is determined that the current situation is the third situation, the number of times is set to zero, The third situation includes a situation in which both the first object and the second object do not obstruct the field of vision from the vehicle.

5. The parking assist device according to claim 1, The control unit is configured to calculate a first distance, a second distance, and a third distance as information related to the positional relationship, wherein the first distance is the distance in the front-rear direction of the vehicle between the vehicle end and the first end, the second distance is the distance in the front-rear direction of the vehicle between the vehicle end and the second end, and the third distance is the distance in the front-rear direction of the vehicle between the first end and the second end.

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