Parking assistance devices, methods, procedures and computer-readable recording media

Abstract

This invention provides a parking assistance device, method, program, and computer-readable recording medium. The parking assistance device disclosed herein enables automatic vehicle driving based on driver-led instruction driving. The parking assistance device includes a learning unit and a modification unit. The learning unit learns the driving path to park the vehicle in a parking position, as well as the vehicle's speed, steering angle, and braking actions during the instruction driving, based on driver-led instruction driving. The modification unit modifies the vehicle's speed, steering angle, or braking actions during automatic driving relative to the speed, steering angle, or braking actions during instruction driving, based on at least one of regulations related to automatic vehicle driving, environmental information related to the vehicle's surrounding environment, and geographical information related to the road conditions around the vehicle.

Description

Technical Field

[0001] This disclosure relates to a parking assistance device and a parking assistance method. Background Technology

[0002] Previously, parking assistance technologies were known that enabled vehicles to move autonomously during parking. One type of parking assistance involves learning driving paths based on driver-led instruction and utilizing the learned results for parking assistance. This technology is used, for example, for repeatedly parking vehicles in fixed locations such as parking lots at the driver's home or workplace.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 6022447 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] However, the teaching drive is a manual operation performed by the driver, so the vehicle speed and wheel movements during the teaching drive may not be suitable for autonomous driving.

[0008] This disclosure provides a parking assistance device and parking assistance method that enables the vehicle to behave in a manner suitable for driving via autonomous driving when the vehicle is automatically driving along a driving path based on a teaching driving course.

[0009] Solution for solving the problem

[0010] The parking assistance device disclosed herein enables automatic vehicle driving based on driver-led instruction driving. The parking assistance device includes a learning unit and a modification unit. The learning unit learns the driving path to park the vehicle in a parking position, as well as the vehicle's speed, steering angle, and braking actions during the instruction driving, based on at least one of the following: regulations related to automatic vehicle driving, environmental information related to the vehicle's surrounding environment, and geographical information related to the road conditions surrounding the vehicle.

[0011] The effects of the invention

[0012] According to the parking assistance device and parking assistance method disclosed herein, when a vehicle is automatically driving along a driving path based on a teaching driving course, the behavior of the vehicle can be made to be suitable for driving by automatic driving. Attached Figure Description

[0013] Figure 1 This is a diagram showing an example of a vehicle equipped with the parking assistance device according to the first embodiment.

[0014] Figure 2 This is a diagram illustrating an example of the structure near the driver's seat of the vehicle according to the first embodiment.

[0015] Figure 3 This is a diagram illustrating an example of the hardware structure of the parking assistance device according to the first embodiment.

[0016] Figure 4 This is a diagram illustrating an example of parking assistance according to the first embodiment.

[0017] Figure 5 This is a block diagram illustrating an example of the functions of the parking assistance device according to the first embodiment.

[0018] Figure 6 This is a diagram illustrating an example of a notification related to the first embodiment.

[0019] Figure 7 This is a flowchart illustrating an example of the process of parking assistance performed by the parking assistance device according to the first embodiment.

[0020] Figure 8 This is a flowchart illustrating an example of the process of driving path correction and automatic driving processing performed by the parking assistance device according to the first embodiment.

[0021] Figure 9 This is a flowchart illustrating an example of the process for handling changes to travel route information according to the second embodiment. Detailed Implementation

[0022] The embodiments of the parking assistance device and parking assistance method disclosed herein will now be described with reference to the accompanying drawings.

[0023] (First Implementation)

[0024] Figure 1 This is a diagram showing an example of a vehicle 1 equipped with the parking assistance device 100 according to the first embodiment. (See diagram below.) Figure 1 As shown, vehicle 1 has a body 12 and two pairs of wheels 13 arranged along a predetermined direction on the body 12. The two pairs of wheels 13 have a pair of front wheels 13f and a pair of rear wheels 13r.

[0025] Figure 1 The front wheel 13f shown is an example of the first wheel in this embodiment. The rear wheel 13r is an example of the second wheel in this embodiment. Furthermore, Figure 1The vehicle 1 shown has four wheels 13, but the number of wheels 13 is not limited to this. For example, vehicle 1 can also be a two-wheeled vehicle.

[0026] The vehicle body 12 is coupled with wheels 13, allowing the vehicle body 12 to move via the wheels 13. In this configuration, the predetermined direction of the two pairs of wheels 13 is the driving direction (movement direction) of the vehicle 1. The vehicle 1 can move forward or backward by switching gears (not shown). Furthermore, the vehicle 1 can also turn left or right by steering.

[0027] Furthermore, the vehicle body 12 has a front end portion F, which is the end portion on the side of the front wheel 13f, and a rear end portion R, which is the end portion on the side of the rear wheel 13r. The vehicle body 12 is generally rectangular when viewed from above; sometimes, the four corners of the generally rectangular shape are referred to as ends. Additionally, the vehicle 1 also includes a display device, a speaker, and an operating unit. Figure 1 Illustrations omitted.

[0028] A pair of bumpers 14 are provided at the front end F, the rear end R, and near the lower end of the vehicle body 12. The front bumper 14f of the pair of bumpers 14 covers the entire front surface and a portion of the side near the lower end of the vehicle body 12. The rear bumper 14r of the pair of bumpers 14 covers the entire rear surface and a portion of the side near the lower end of the vehicle body 12.

[0029] Wave transceiver units 15f and 15r for transmitting and receiving ultrasonic waves are provided at designated ends of the vehicle body 12. For example, one or more wave transceiver units 15f are provided on the front bumper 14f, and one or more wave transceiver units 15r are provided on the rear bumper 14r. Hereinafter, unless otherwise specified, the wave transceiver units 15f and 15r will be referred to simply as wave transceiver units 15. In addition, the number and position of the wave transceiver units 15 are not limited to... Figure 1 The example shown. For example, vehicle 1 may also have wave transceiver units 15 on the left and right sides.

[0030] In this embodiment, sonar using ultrasonic waves is used as an example of the wave transceiver unit 15 for explanation, but the wave transceiver unit 15 can also be a radar that transmits and receives electromagnetic waves. Alternatively, the vehicle 1 may be equipped with both sonar and radar. In addition, the wave transceiver unit 15 can be simply referred to as a sensor.

[0031] More specifically, the transceiver unit 15 includes a wave transmitting unit for transmitting sound waves or electromagnetic waves such as ultrasonic waves, and a wave receiving unit for receiving reflected sound waves obtained by the reflection of sound waves or electromagnetic waves transmitted from the wave transmitting unit by an object. Based on the transmission and reception results of sound waves or electromagnetic waves, the transceiver unit 15 detects obstacles around the vehicle 1. Furthermore, based on the transmission and reception results of sound waves or electromagnetic waves, the transceiver unit 15 measures the distance between obstacles around the vehicle 1 and the vehicle 1.

[0032] In addition, vehicle 1 is equipped with a first camera device 16a for capturing images of the front of vehicle 1, a second camera device 16b for capturing images of the rear of vehicle 1, a third camera device 16c for capturing images of the left side of vehicle 1, and a fourth camera device for capturing images of the right side of vehicle 1. The fourth camera device is not shown in the figure.

[0033] Hereinafter, without specifically distinguishing between the first camera device 16a, the second camera device 16b, the third camera device 16c, and the fourth camera device, they will be referred to simply as camera device 16. The location and number of camera devices are not limited to… Figure 1 The example shown. For example, vehicle 1 may only have two camera devices: the first camera device 16a and the second camera device 16b. Alternatively, vehicle 1 may have other camera devices in addition to those shown in the example above.

[0034] The camera device 16 is capable of capturing images of the surroundings of the vehicle 1, and may be a camera used for capturing color images. Furthermore, the images captured by the camera device 16 can be either moving or still images. Additionally, the camera device 16 can be a camera built into the vehicle 1, or it can be a camera from a dashcam that is installed after installation in the vehicle 1.

[0035] Additionally, a parking assist device 100 is installed in vehicle 1. The parking assist device 100 enables automatic driving of vehicle 1 based on driver-guided instruction. The parking assist device 100 can be an information processing unit that can be installed in vehicle 1, such as an ECU (Electronic Control Unit) or OBU (OnBoard Unit) located inside vehicle 1. Alternatively, the parking assist device 100 can also be an external device located near the front bulkhead of vehicle 1. Furthermore, the parking assist device 100 can also be used as an in-vehicle navigation device, etc.

[0036] Next, the structure near the driver's seat of vehicle 1 in this embodiment will be described. Figure 2 This is a diagram showing an example of the structure near the driver's seat 130a of the vehicle 1 according to the first embodiment.

[0037] like Figure 2 As shown, vehicle 1 has a driver's seat 130a and a passenger seat 130b. In addition, a windshield 180, a front panel 190, a steering wheel 140, a display device 120 and operation buttons 141 are provided in front of the driver's seat 130a.

[0038] The display device 120 is a display installed on the front bulkhead 190 of the vehicle 1. As an example, the display device 120 is as follows: Figure 2 It is located in the center of the front bulkhead 190 as shown. The display device 120 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. Alternatively, the display device 120 can also be used as a touch panel.

[0039] Furthermore, the windshield 180 is a head-up display capable of displaying images by projecting images onto a projection device (not shown). The display device 120 and the head-up display are examples of the display unit in this embodiment.

[0040] Furthermore, the steering wheel 140 is positioned in front of the driver's seat 130a and can be operated by the driver. The rotation angle of the steering wheel 140, i.e., the steering angle, is electrically or mechanically linked to the change in the orientation of the front wheel 13f, which serves as the steering wheel. Alternatively, the steering wheel may be the rear wheel 13r, or both the front wheel 13f and the rear wheel 13r may be used as steering wheels.

[0041] Operation button 141 is a button that can be operated by a user. Furthermore, in this embodiment, the user is, for example, the driver of vehicle 1. Operation button 141 is pressed by the driver to initiate operations such as starting parking assistance. Furthermore, the location of operation button 141 is not limited to... Figure 2 The example shown could also be provided on the steering wheel 140. The operation button 141 is an example of an operation unit in this embodiment. Alternatively, if the display device 120 is also used as a touch panel, the display device 120 could also be an example of an operation unit. Furthermore, an operation terminal capable of sending signals from outside the vehicle 1 to the vehicle 1, such as a remote control or electronic key (not shown), could also be used as an example of an operation unit.

[0042] Next, the hardware structure of the parking assistance device 100 will be explained. Figure 3 This is a diagram illustrating an example of the hardware structure of the parking assistance device 100 according to the first embodiment. Figure 3 As shown, the parking assistance device 100 interconnects the CPU (Central Processing Unit) 11A, ROM (Read Only Memory) 11B, RAM (Random Access Memory) 11C, I / F (interface) 11D, and HDD (Hard Disk Drive) 11E via a bus 11F and uses a typical computer hardware structure.

[0043] CPU 11A is a computing device used to control the ECU as a whole. Furthermore, CPU 11A is an example of the processor in the parking assist device 100 of this embodiment; other processors or processing circuits may be used to replace CPU 11A. ROM 11B stores programs and other data used to implement various processes performed by CPU 11A. RAM 11C is, for example, the main storage device of the parking assist device 100, storing data required for various processes performed by CPU 11A. I / F 11D is an interface for transmitting and receiving data. Additionally, I / F 11D can also transmit and receive information with other ECUs installed in vehicle 1 via CAN (Controller Area Network) or similar devices within vehicle 1.

[0044] Next, the functions of vehicle 1 in this embodiment will be explained. Vehicle 1 in this embodiment learns driving paths based on instructional driving performed by the driver, and uses the learning results to provide parking assistance. Such parking assistance is effective in reducing the driver's parking effort, for example, when repeatedly parking the vehicle in a fixed location such as a designated parking space in the driver's own garage, a contracted parking space in an apartment building, or a parking lot at their workplace. Therefore, this type of parking assistance is called memory-type parking (home zone parking).

[0045] Figure 4 This is a diagram illustrating an example of parking assistance according to the first embodiment. Figure 4 The driving path 80 shown is the path by which vehicle 1 moves from the starting position 900 to the parking position 910.

[0046] Parking location 910 is, for example, located in the garage 920 of the driver's own home 7 of vehicle 1, but is not limited to this. Figure 4 In the example shown, the starting position 900 is located on lane 40, which is a road. Additionally, the entrance and exit of garage 920 face sidewalk 41. Furthermore, there is a step 45 at the boundary between lane 40 and sidewalk 41. Vehicle 1 crosses the step 45 and sidewalk 41 as it moves from lane 40 to garage 920.

[0047] The parking assist device 100 of this embodiment performs learning of a driving path 80 and memory-based parking to park the vehicle 1 in a parking position 910 based on the learned driving path 80. The parking position 910 is the endpoint of the memory-based parking driving path, also referred to as the target position. Furthermore, Figure 4 The driving path 80 shown is one example, and the environment in which memory parking can be applied according to this embodiment is not limited to this.

[0048] Next, details of the function of the parking assistance device 100 in this embodiment will be explained. Figure 5 This is a block diagram illustrating an example of the functions of the parking assistance device 100 according to the first embodiment.

[0049] like Figure 5 As shown, the parking assistance device 100 of this embodiment includes an acquisition unit 101, an extraction unit 102, a learning unit 103, an estimation unit 104, a determination unit 105, a modification unit 106, an output control unit 107, a vehicle control unit 108, a receiving unit 109, and a storage unit 110.

[0050] The storage unit 110 is, for example, composed of a ROM 11B, RAM 11C, or HDD 11E. Furthermore, in Figure 5 The parking assist device 100 is described as including a storage unit 110, but it may also function as a storage unit 110 using multiple storage media.

[0051] The storage unit 110 stores programs and data used in various processes executed by the parking assistance device 100. For example, the program executed by the parking assistance device 100 in this embodiment is a modular structure including the above-described units (acquisition unit 101, extraction unit 102, learning unit 103, estimation unit 104, determination unit 105, modification unit 106, output control unit 107, vehicle control unit 108, and acceptance unit 109). As actual hardware, the CPU 11A reads the program from the storage unit 110 and executes the program to load the above-described units into the RAM 11C, thereby generating the acquisition unit 101, extraction unit 102, learning unit 103, estimation unit 104, determination unit 105, modification unit 106, output control unit 107, vehicle control unit 108, and acceptance unit 109 in the RAM 11C.

[0052] The program executed by the parking assistance device 100 of this embodiment is provided as an installable or executable file on a computer-readable recording medium such as a CD-ROM, floppy disk (FD), CD-R, or DVD (Digital Versatile Disk).

[0053] Alternatively, the program executed by the parking assistance device 100 of this embodiment can be stored on a computer connected to a network such as the Internet, and provided by downloading the program via the network. Alternatively, the program executed by the parking assistance device 100 of this embodiment can be provided or distributed via a network such as the Internet. Alternatively, the program executed by the parking assistance device 100 of this embodiment can be pre-embedded in a ROM 11B or similar device for provision.

[0054] In addition, the storage unit 110 stores regulations and map information related to the automatic driving of vehicle 1.

[0055] The regulations relating to the autonomous driving of Vehicle 1 are those applicable when Vehicle 1 is driving autonomously, concerning the speed, steering angle, or whether a temporary stop is required. These regulations are determined, for example, by laws or standards. More specifically, the regulations relating to the autonomous driving of Vehicle 1 are determined by international standards such as ISO 20900 (2019 Intelligent transport systems—Partially automated parking systems: PAPS) or by national laws. For example, in PAPS, the speed for semi-automatic parking is specified as approximately 10 km / h or less.

[0056] Furthermore, the regulations relating to the autonomous driving of vehicle 1 are not limited to those specific to autonomous driving, but may also be regulations relating to the overall driving of vehicle 1. For example, regulations relating to the overall driving of vehicle 1 include the location of temporary stops as determined by road traffic laws.

[0057] Furthermore, regulations relating to the autonomous driving of vehicle 1 are not only based on laws or regulations, but can also be based on the passenger's experience or the impact on those around vehicle 1 during autonomous driving. For example, sometimes, even if the speed is below the legal or standard limit, the passenger may perceive the speed as too high. The impact on those around vehicle 1 refers to situations where the vehicle 1, while operating in autonomous mode, frightens or creates an impression of danger for those nearby.

[0058] In this embodiment, the storage unit 110 stores a speed slower than that determined by law or standard as a threshold for the vehicle speed during automatic driving, in order to improve the riding comfort of the occupants of the vehicle 1 and the sense of security of people around the vehicle 1. Furthermore, this threshold can be pre-registered at the time the parking assist device 100 leaves the factory, or it can be set by the user.

[0059] Furthermore, sometimes even when the speed is below a threshold, the ride comfort deteriorates due to the magnitude or frequency of changes in the steering angle. For example, when making a large steering maneuver while the speed is reduced using automatic driving, the swaying of the vehicle body 12 may increase, resulting in a worse ride comfort. Therefore, in this embodiment, the storage unit 110 stores the combination of speed and steering angle as one of the regulations related to the automatic driving of the vehicle 1.

[0060] In addition, laws and regulations are sometimes revised, so the regulations related to the automatic driving of vehicle 1 stored in storage unit 110 are updated regularly.

[0061] The map information is a digital map containing information about the roads surrounding vehicle 1. Furthermore, even if the map information is not stored in the parking assistance device 100, it can be obtained from the Internet during use. The map information is an example of geographical information related to the road conditions surrounding vehicle 1 in this embodiment.

[0062] The acquisition unit 101 acquires vehicle information and environmental information from the camera device 16, the transceiver unit 15, various sensors or other ECUs mounted on the vehicle 1.

[0063] Vehicle information is information related to the behavior of vehicle 1. Vehicle information includes, for example, information related to the speed, steering angle, and braking action of vehicle 1. Information related to braking action includes, for example, information about the timing and intensity of brake application in vehicle 1.

[0064] Environmental information is information related to the environment surrounding vehicle 1. For example, environmental information includes whether there are obstacles around vehicle 1 and the distance between vehicle 1 and obstacles. More specifically, the acquisition unit 101 acquires whether there are obstacles detected by the wave transceiver unit 15 and the distance between obstacles around vehicle 1 and vehicle 1 measured by the wave transceiver unit 15.

[0065] In addition, the environmental information may also include other information. For example, images obtained by photographing the area around vehicle 1 may also be included in the environmental information. The acquisition unit 101 acquires images obtained by photographing the area around vehicle 1 from the imaging device 16. Hereinafter, these images will be referred to as surrounding images. More specifically, when vehicle 1 learns a driving path based on a learning driving path and when vehicle 1 performs automatic driving based on the learned driving path, the acquisition unit 101 acquires multiple surrounding images.

[0066] In addition, the acquisition unit 101 acquires regulations related to the autonomous driving of vehicle 1 via a network such as the Internet and stores them in the storage unit 110. This process can be performed either periodically or when the acquisition unit 101 receives notification of legal revisions, etc.

[0067] The extraction unit 102 extracts feature points from the surrounding images. The method used by the extraction unit 102 to extract feature points is not particularly limited, and known methods can be applied. For example, the extraction unit 102 may extract feature points using methods such as FAST (Features from Accelerated Segment Test) or ORB (Oriented FAST and Rotated BRIEF). Alternatively, when learning the driving path 80, the extraction unit 102 may prioritize recording feature points that meet specified conditions among the extracted feature points. For example, feature points extracted from multiple consecutive surrounding images in a time sequence, where the distance traveled by the vehicle 1 during the shooting period, may be preferentially selected as feature points.

[0068] The learning unit 103 learns the driving path 80 that brings vehicle 1 to a parking position 910, as well as the speed, steering angle, and braking actions of vehicle 1 during the teaching drive, based on the teaching drive performed by the driver. Furthermore, when learning the driving path 80, the learning unit 103 learns the changes in the position of vehicle 1 based on changes in feature points extracted from multiple surrounding images captured during the teaching drive. Additionally, the learning unit 103 learns the speed, steering angle, and braking actions of vehicle 1 during the teaching drive.

[0069] In this embodiment, the teaching drive involves the driver manually moving vehicle 1 from a starting position 900 outside the parking position to the parking position 910. In this embodiment, the learning unit 103 learns from the starting position 900 during the teaching drive as the starting position of the driving path 80. Furthermore, the distance from the starting position 900 to the parking position 910 is, for example, approximately 50 meters, but is not limited to this.

[0070] For example, the driver begins a teaching drive from a position where vehicle 1 is stopped at a desired location different from parking position 910, such as outside garage 920, and then reverses vehicle 1 to parking position 910 inside garage 920. Furthermore, the teaching drive is not limited to reversing; it can also be forward.

[0071] During the instructional driving session, the acquisition unit 101 acquires surrounding images and vehicle information. Additionally, during this instructional driving session, the extraction unit 102 extracts feature points from the surrounding images acquired by the acquisition unit 101. The learning unit 103 records the path taken by the vehicle 1 through manual driving as driving path 80 based on the extracted feature points and vehicle information at the time the surrounding images containing the extracted feature points were captured. Specifically, when the driver performs an instructional driving session in which the vehicle 1 reverses to park in parking position 910, driving path 80 is also the path in which the vehicle 1 reverses to park in parking position 910. Furthermore, in this embodiment, the starting position of the instructional driving session is the starting position 900 of driving path 80. The learning unit 103 stores the driving path information used to define the recorded driving path 80 in the storage unit 110.

[0072] The driving path information is stored in the storage unit 110, for example, as information obtained by correlating the speed, steering angle, and braking action of the vehicle 1 during the teaching drive with feature points extracted from multiple surrounding images taken as the vehicle 1 moves during the teaching drive in a time sequence. Furthermore, the method for learning the driving path 80 and the way the driving path is defined are not limited to this example.

[0073] The estimation unit 104 estimates the position of vehicle 1 based on surrounding images.

[0074] More specifically, when the driver's start-memory parking operation is accepted by the receiving unit 109 (described later), the estimation unit 104 reads the driving path 80 from the storage unit 110. Then, the estimation unit 104 estimates the position of the vehicle 1 and the starting position 900 of the driving path 80 based on the driving path 80 and the feature points extracted from the surrounding image by the extraction unit 102.

[0075] The estimation unit 104 compares feature points of the surrounding image when learning the driving path 80 with feature points of the surrounding image at the time when the start-memory parking operation was accepted. Based on the differences in these feature points, the estimation unit 104 estimates the position and orientation of vehicle 1 at the time when the start-memory parking operation was accepted. Furthermore, the estimation unit 104 may not determine the driving start position 900 and the current position of vehicle 1 as absolute positions, but only as a relative positional relationship between the driving start position 900 and the current position of vehicle 1. Moreover, the method by which the estimation unit 104 estimates the position of vehicle 1 and the driving start position 900 is not limited to this example.

[0076] The estimation unit 104 sends the estimated position of vehicle 1 and the starting position 900 of driving to the output control unit 107, which will be described later.

[0077] Furthermore, during the period when vehicle 1 is automatically driving through vehicle control unit 108 (described later), estimation unit 104 also estimates the position of vehicle 1 based on feature points contained in the driving path information and feature points extracted from surrounding images acquired during automatic driving. Estimation unit 104 then sends the estimated position of vehicle 1 to vehicle control unit 108.

[0078] The determination unit 105 determines whether the driving path 80 learned by the learning unit 103 and the behavior of the vehicle 1 during the training driving meet the regulations related to the autonomous driving of the vehicle 1, based on at least one of the regulations related to the autonomous driving of the vehicle 1, environmental information, and geographic information. In this embodiment, the determination unit 105 performs this determination when autonomous driving based on the driving path 80 begins. The behavior of the vehicle 1 during the training driving includes the vehicle 1's speed, steering angle, and braking action. Furthermore, the determination unit 105 may perform the determination process based on any one or two of the regulations related to the autonomous driving of the vehicle 1, environmental information, and geographic information, or it may perform the determination process based on all of the regulations related to the autonomous driving of the vehicle 1, environmental information, and geographic information.

[0079] More specifically, when the receiving unit 109 accepts the operation to start memory-based parking, the determination unit 105 reads the driving path information from the storage unit 110. The determination unit 105 determines whether the read driving path information meets the requirements related to the automatic driving of vehicle 1. If the determination unit 105 determines that the driving path 80 does not meet the requirements related to the automatic driving of vehicle 1, it sends the requirements that the driving path 80 does not meet to the modification unit 106.

[0080] The modification unit 106 modifies the speed, steering angle, or braking action of the vehicle 1 during automatic driving relative to the speed, steering angle, or braking action during training driving, based on regulations related to the automatic driving of the vehicle 1, environmental information related to the surrounding environment of the vehicle 1, and geographical information related to the road conditions around the vehicle 1. That is, the modification unit 106 does not simply reproduce the recorded training driving as is, but rather makes corrections to meet the regulations related to the automatic driving of the vehicle 1. In this embodiment, when automatic driving based on driving path 80 begins, the modification unit 106 performs the modification of the speed, steering angle, or braking action.

[0081] More specifically, if the determination unit 105 determines that the behavior of vehicle 1 during driving path 80 or teaching driving does not meet the requirements related to the automatic driving of vehicle 1, the modification unit 106 changes the driving path 80, or the speed, steering angle, or braking action.

[0082] For example, if the speed during the training run is above a threshold, the change unit 106 changes the speed to below the threshold. Furthermore, in this case, the trajectory of the driving path 80 can be the same as during the training run.

[0083] In addition, if the combination of speed and steering angle during teaching driving does not meet the requirements related to the automatic driving of vehicle 1, the modification unit 106 makes the driving path 80 smooth by changing the combination of speed and steering angle.

[0084] Furthermore, if a temporary stop is required due to regulations related to the automatic driving of vehicle 1, even though it was not a location where a temporary stop was not made during training driving, the modification unit 106 changes the braking action to make a temporary stop. Locations where a temporary stop is required according to regulations include, for example, the pedestrian walkway 41 between lane 40 and garage 920.

[0085] If the driver does not temporarily stop when crossing the pedestrian crossing 41 during a training drive, the modification unit 106 changes the braking action to cause a temporary stop when crossing the pedestrian crossing 41 during automatic driving. The presence of the pedestrian crossing 41 on the driving path 80 can also be determined by the determination unit 105 based on environmental information acquired by the acquisition unit 101 or map information stored in the storage unit 110. For example, there is a step 45 at the boundary between the lane 40 and the pedestrian crossing 41. If this step is detected by the wave transceiver unit 15 or a surrounding image, the determination unit 105 determines the position where the driving path 80 enters the pedestrian crossing 41 and determines whether a braking action was performed at that position during the recorded behavior of the vehicle 1 during the training drive.

[0086] Furthermore, the modification unit 106 can also modify the behavior of vehicle 1 recorded during the teaching drive based on environmental information. As described above, the environmental information includes whether there are obstacles around vehicle 1 and the distance between the obstacles around vehicle 1 and vehicle 1. For example, if there are obstacles such as other vehicles near the driving path 80, the modification unit 106 can also modify the driving path 80 to make vehicle 1 temporarily stop or move away from the obstacle.

[0087] Furthermore, in this embodiment, the determination unit 105 and the change unit 106 are described separately, but these functions may also be performed by a single functional unit.

[0088] If the speed, steering angle, or braking action is changed by the change unit 106, the output control unit 107 notifies the occupants of vehicle 1 to perform an action different from the training driving. Alternatively, if vehicle 1 temporarily stops during automatic driving, the output control unit 107 may notify the driver to check their surroundings.

[0089] Figure 6 This is a diagram illustrating an example of a notification related to the first embodiment. (See diagram for example.) Figure 6 As shown, the output control unit 107 causes the display device 120 to display a message such as "Temporarily stopped according to law, please check your surroundings." Alternatively, the output control unit 107 can also notify the occupants of vehicle 1 of actions different from training driving by displaying a warning symbol or graphic on the head-up display. Furthermore, the method of notification by the output control unit 107 is not limited to display; the output control unit 107 can also output messages via sound from the vehicle 1's speakers.

[0090] Return to Figure 5 The vehicle control unit 108 moves the vehicle 1 to the parking position 910 via automatic driving based on the driving path 80. The vehicle control unit 108 controls the steering, braking, and acceleration / deceleration of the vehicle 1 to enable automatic driving. In this embodiment, the vehicle control unit 108 enables the vehicle 1 to drive automatically along the learned driving path 80. This driving control method is called reproducing the driving path 80.

[0091] Furthermore, if the speed, steering angle, or braking action is changed by the change unit 106, the vehicle control unit 108 moves the vehicle 1 to the parking position 910 by automatic driving based on the changed speed, steering angle, or braking action.

[0092] Furthermore, in this embodiment, during the automatic driving of the vehicle control unit 108, the driver may sit in the driver's seat 130a of the vehicle 1 or get out of the vehicle 1.

[0093] Furthermore, if vehicle 1 deviates from the driving path 80, vehicle control unit 108 uses feedback control to move vehicle 1 back to the driving path 80. For example, vehicle control unit 108 estimates the difference between the position of vehicle 1 and the driving path 80 based on the position of vehicle 1 estimated by estimation unit 104, and moves vehicle 1 in a way that minimizes the difference.

[0094] In addition, Figure 5 The diagram shows that the parking assist device 100 includes a vehicle control unit 108, but the vehicle control unit 108 can also be implemented by other ECUs outside the parking assist device 100.

[0095] The receiving unit 109 receives various operations from the driver. For example, the receiving unit 109 receives an operation to start parking assistance when the operation button 141 is pressed. Alternatively, if the display device 120 is a touch panel, the operation to start parking assistance may also be received when an image button on the touch panel is pressed.

[0096] Next, the process of parking assistance processing performed by the parking assistance device 100 of this embodiment, configured as described above, will be explained.

[0097] Figure 7 This is a flowchart illustrating an example of the parking assistance process performed by the parking assistance device 100 according to the first embodiment. Figure 7 The process up to and including the start of autonomous driving is explained. For example, the flowchart processing begins when the operation to start parking assistance is accepted by the receiving unit 109. Furthermore, before executing the flowchart processing, the learning unit 103 learns the driving path 80 based on the teaching drive.

[0098] First, the acquisition unit 101 acquires surrounding images from the camera device 16 (S1).

[0099] Then, the extraction unit 102 extracts feature points from the surrounding image acquired by the acquisition unit 101 (S2).

[0100] Next, the estimation unit 104 reads the driving path information from the storage unit 110 and estimates the position of the vehicle 1 based on the driving path 80 defined in the driving path information and the feature points extracted from the surrounding image by the extraction unit 102 (S3).

[0101] In addition, the estimation unit 104 estimates the starting position 900 of automatic parking based on the driving path 80 and the feature points extracted from the surrounding image by the extraction unit 102 (S4).

[0102] Furthermore, while vehicle 1 moves to the starting position 900, acquisition unit 101 continuously acquires surrounding images from camera device 16. Additionally, extraction unit 102 extracts feature points from the acquired surrounding images. Furthermore, acquisition unit 101 acquires vehicle information, the presence or absence of obstacles around vehicle 1, and the distance to obstacles. Estimation unit 104 estimates the position of vehicle 1, which changes according to its movement, based on the movement of feature points extracted from the surrounding images or the vehicle information.

[0103] Then, the vehicle control unit 108 determines whether the vehicle 1 has stopped at the starting position 900 (S7). If the vehicle 1 has not reached the starting position 900 ("No" in S5), the vehicle control unit 108 waits for the vehicle 1 to reach the starting position 900 and stop.

[0104] Then, when vehicle 1 reaches the starting position 900 and stops ("Yes" in S5), driving path correction and automatic driving processing begin (S6).

[0105] Figure 8This is a flowchart illustrating an example of the process of driving path correction and automatic driving processing performed by the parking assistance device 100 according to the first embodiment.

[0106] First, the determination unit 105 reads the driving route information from the storage unit 110 (S601). In addition, the determination unit 105 can also read map information from the storage unit 110.

[0107] In addition, the acquisition unit 101 acquires environmental information from the wave transceiver unit 15 mounted on the vehicle 1 (S602).

[0108] In addition, the acquisition unit 101 acquires vehicle information from various sensors or other ECUs mounted on the vehicle 1 (S603).

[0109] Next, the determination unit 105 determines whether the driving path information meets the requirements related to the automatic driving of vehicle 1.

[0110] Specifically, the determination unit 105 determines whether the driving path information complies with laws or standards (S604). For example, the determination unit 105 determines the location of the driving path 80 defined in the driving path information on the sidewalk 41 based on map information. Then, the determination unit 105 compares the recorded braking actions included in the driving path information with the location of the driving path 80 on the sidewalk 41 to determine whether the braking actions included in the driving path information comply with the temporary stop stipulated in the law. In addition, the determination unit 105 is not limited to determining whether there is a temporary stop, but also determines whether the driving path information complies with various regulations related to the automatic driving of the vehicle 1 stored in the storage unit 110.

[0111] Then, if the determination unit 105 determines that the driving path information does not comply with the regulations related to the automatic driving of the vehicle 1 (in S604, it is "No"), the determination unit 105 sends the regulations that the driving path 80 does not meet to the modification unit 106.

[0112] In this case, the modification unit 106 modifies the driving path information to meet the requirements determined by the determination unit 105 as not met (S605). For example, before the driving path 80 crosses the pedestrian crossing 41, the modification unit 106 adds a braking action to temporarily stop the vehicle.

[0113] In addition, if the determination unit 105 determines that the driving path information complies with the regulations related to the automatic driving of the vehicle 1 ("Yes" in S604), it determines whether the speed contained in the driving path information is below a threshold (S606).

[0114] Then, if the determination unit 105 determines that the speed contained in the driving path information is faster than the threshold (in S606, it is "No"), it notifies the change unit 106 that the speed is faster than the threshold.

[0115] In this case, the modification unit 106 changes the speed contained in the driving path information to a speed below the threshold (S607).

[0116] In addition, if the determination unit 105 determines that the speed contained in the driving path information is below the threshold ("Yes" in S606), it determines whether the combination of speed and steering angle contained in the driving path information meets the prescribed conditions (S608).

[0117] Then, if the determination unit 105 determines that the combination of speed and steering angle contained in the driving path information does not meet the prescribed conditions ("No" in S608), it notifies the change unit 106 of the range on the driving path 80 where the combination of speed and steering angle does not meet the prescribed conditions.

[0118] In this case, the modification unit 106 makes changes so that the speed and steering angle contained in the driving path information meet the specified conditions (S609).

[0119] Then, the modification unit 106 sends the modified driving route information to the vehicle control unit 108. Additionally, if the driving route information based on the training driving meets all the requirements, the modification unit 106 notifies the vehicle control unit 108 that there are no change points in the driving route information.

[0120] Next, the vehicle control unit 108 begins automatic driving (S610). If the driving path information is changed by the modification unit 106, the vehicle control unit 108 controls the vehicle 1 based on the changed driving path information. Alternatively, if there is no change point in the driving path information, the vehicle control unit 108 controls the vehicle 1 based on the driving path information stored in the storage unit 110.

[0121] In addition, during autonomous driving, the acquisition unit 101 continuously acquires surrounding images (S611). Then, the extraction unit 102 extracts feature points from the surrounding images (S612).

[0122] Then, the estimation unit 104 estimates the position of vehicle 1 based on the extracted feature points (S613). In addition, the acquisition unit 101 can also continuously acquire environmental information and vehicle information during autonomous driving.

[0123] Furthermore, the determination unit 105 determines whether vehicle 1 needs to temporarily stop (S614). For example, if the current position of vehicle 1 estimated by the estimation unit 104 is the temporary stopping position defined in the driving path information, the determination unit 105 determines that vehicle 1 needs to temporarily stop. In addition, the determination unit 105 also determines that vehicle 1 needs to temporarily stop based on environmental information and vehicle information, such as when there are obstacles such as other vehicles around vehicle 1.

[0124] If the determination unit 105 determines that a temporary stop is required ("Yes" in S614), the vehicle control unit 108 causes the vehicle 1 to stop temporarily (S615).

[0125] Then, the output control unit 107 causes the display device 120 to display a notification screen for notifying the vehicle 1 to temporarily stop (S616). Until the temporary stop of the vehicle 1 ends ("No" in S617), the output control unit 107 causes the display of the notification screen to continue and enters standby mode.

[0126] Then, when the temporary stop of vehicle 1 ends ("Yes" in S617), vehicle control unit 108 resumes driving via automatic driving (S618).

[0127] Then, the output control unit 107 determines whether the vehicle 1 has reached the parking position 910 based on the position of the vehicle 1 estimated by the estimation unit 104 (S619). If it is determined that the vehicle 1 has not reached the parking position 910 ("No" in S619), the process returns to S610 to continue the process of moving the vehicle 1 to the parking position 910. Conversely, if it is determined that the vehicle 1 has reached the parking position 910 ("Yes" in S619), the driving path correction and automatic driving process ends.

[0128] In addition, Figure 8 The text describes an example of displaying a notification screen during a temporary stop, but the timing of the notification screen display is not limited to temporary stops. It can also be displayed when the steering angle or vehicle speed during autonomous driving differs from that during training driving.

[0129] In addition, Figure 7 and Figure 8 In the flowchart, it is assumed that the change of driving path information is performed after vehicle 1 stops at the starting position 900 and before it begins autonomous driving-based movement. However, the timing of the change of driving path information is not limited to this. The change of driving path information can also be performed before vehicle 1 stops at the starting position 900. Alternatively, the change of driving path information can be performed after vehicle 1 begins autonomous driving-based movement, as vehicle 1 moves forward.

[0130] In addition, Figure 8 In the flowchart, whenever the determination unit 105 makes a determination, the change unit 106 changes the driving route information. However, it is also possible that the change unit 106 changes the driving route information after all determinations are completed.

[0131] Furthermore, the dynamic determination process for determining temporary stops based on the detection of obstacles or the like around vehicle 1 can be performed by vehicle control unit 108 instead of determination unit 105.

[0132] In this way, the parking assistance device 100 of this embodiment learns the driving path 80 for parking the vehicle 1 in the parking position 910, as well as the speed, steering angle, and braking actions of the vehicle 1 during the teaching drive, based on the teaching drive performed by the driver. Then, based on at least one of the regulations related to the automatic driving of the vehicle 1, environmental information, and geographical information, the speed, steering angle, or braking action of the vehicle 1 during automatic driving is changed relative to the speed, steering angle, or braking action during the teaching drive. Therefore, according to the parking assistance device 100 of this embodiment, when the vehicle 1 is automatically driving along the driving path 80 based on the teaching drive, the behavior of the vehicle 1 can be made suitable for driving through automatic driving.

[0133] Furthermore, the regulations related to the automatic driving of vehicle 1 are those applicable when vehicle 1 is driving automatically, relating to vehicle 1's speed, steering angle, or whether a temporary stop is required. According to the parking assist device 100 in this embodiment, by changing the speed, steering angle, or braking action relative to the training driving in a manner that satisfies these regulations, even if the driver does not comply with these regulations during training driving, vehicle 1 can still perform the prescribed actions during automatic driving. Moreover, because the parking assist device 100 has such a correction function, the driver can drive at a speed easily suitable for manual driving during training driving, even without forcing the driver to drive at a low speed that complies with the regulations for automatic driving.

[0134] Furthermore, the regulations relating to the automatic driving of vehicle 1 are determined by laws or standards. Therefore, the parking assistance device 100 according to this embodiment can assist vehicle 1 in driving in accordance with laws or standards.

[0135] Furthermore, the regulations related to the automatic driving of vehicle 1 are determined based on the passenger's riding comfort or the impact on people around vehicle 1 during automatic driving. Therefore, according to the parking assist device 100 in this embodiment, it is possible to assist vehicle 1 in improving the passenger's riding comfort during automatic driving and in increasing the sense of security given to people around vehicle 1.

[0136] (Second Implementation)

[0137] In this first embodiment, the parking assistance device 100 not only changes the driving path information when performing parking assistance based on autonomous driving, but also changes the driving path information when learning the driving path 80 based on teaching driving.

[0138] The structure of vehicle 1 in this embodiment is similar to that in... Figure 1 and Figure 2 The structure is the same as that of the first embodiment described herein. Furthermore, the hardware structure and functional block of the parking assistance device 100 in this embodiment are the same as those described in [the previous embodiment]. Figure 3 and Figure 5 The parking assistance device 100 of this embodiment is the same as that described in the first embodiment. The parking assistance device 100 of this embodiment also includes an acquisition unit 101, an extraction unit 102, a learning unit 103, an estimation unit 104, a determination unit 105, a change unit 106, an output control unit 107, a vehicle control unit 108, a receiving unit 109, and a storage unit 110, just like the first embodiment.

[0139] In addition to having the same structure as in the first embodiment, the determination unit 105 of this embodiment also determines whether the driving path information, which includes the driving path 80, meets the requirements related to the automatic driving of the vehicle 1 when the learning unit 103 generates driving path information based on the teaching driving.

[0140] In addition to having the same structure as the first embodiment, the modification unit 106 of this embodiment also performs changes to speed, steering angle or braking action when the learning unit 103 generates driving path information including driving path 80 based on teaching driving.

[0141] Figure 9 This is a flowchart illustrating an example of the process for handling changes to driving route information according to the second embodiment. For example, this flowchart process begins when the driver initiates the registration of driving route information.

[0142] First, the acquisition unit 101 acquires surrounding images from the camera device 16 (S101).

[0143] Then, the extraction unit 102 extracts feature points from the surrounding image acquired by the acquisition unit 101 (S102).

[0144] In addition, the acquisition unit 101 acquires vehicle information (S103).

[0145] In addition, the receiving unit 109 determines whether the operation to end the teaching drive has been accepted from the operation button 141, etc. (S104). The processing of S101 to S104 is repeated until the operation to end the teaching drive is accepted (S104 is "No").

[0146] If the operation to end the teaching drive is accepted ("Yes" in S104), the learning unit 103 saves the recorded driving path 80, speed, steering angle and braking action of the teaching drive as driving path information in the storage unit 110 (S105).

[0147] Next, the determination unit 105 determines whether the driving path information meets the requirements related to the automatic driving of vehicle 1.

[0148] From the determination of whether the driving path information in S106 complies with laws or standards until the handling of speed and steering angle in the changed driving path information in S111, and... Figure 8 The processing in S604 to S609 of the flowchart of the first embodiment described herein is the same.

[0149] Furthermore, in this embodiment, the driving path information is corrected during learning in a manner that satisfies the regulations related to the automatic driving of vehicle 1. However, when performing parking assistance based on automatic driving, the determination unit 105 performs a determination again to determine whether the driving path information satisfies the latest regulations related to the automatic driving of vehicle 1. The process for this is the same as in the first embodiment.

[0150] In this way, when a driving path 80 is generated based on a training driving test, the parking assist device 100 of this embodiment performs changes to the speed, steering angle, or braking actions recorded during the training driving test based on regulations, environmental information, and geographic information related to the automatic driving of the vehicle 1. Therefore, according to this embodiment, the parking assist device 100, while possessing the same functions as the first embodiment, stores driving path information that has been pre-updated to meet the regulations in the storage unit 110. As a result, the amount of changes required when performing parking assist based on automatic driving is reduced, and consequently, the processing load required to update the driving path information when performing parking assist is reduced.

[0151] (Variation Example 1)

[0152] In the embodiments described above, the modification unit 106 can modify the speed, steering, and braking actions learned from the teaching driving, but it may not be able to modify all of these. The modification unit 106 only needs to modify the speed.

[0153] (Variation Example 2)

[0154] Furthermore, in the second embodiment described above, an example of changing the driving route information during learning based on instructional driving was given, but the timing of changing the driving route information is not limited to this. For example, the determination unit 105 may also determine whether the driving route information meets the latest regulations related to the automatic driving of vehicle 1 after it has been saved in the storage unit 110. In this case, based on the determination result of the determination unit 105, the modification unit 106 updates the driving route information saved in the storage unit 110.

[0155] (Variation Example 3)

[0156] Furthermore, if the driver exits the vehicle 1 during autonomous driving via the vehicle control unit 108, the screen displayed on the operating terminal, such as a remote control or electronic key, can also be a display unit. In this case, the output control unit 107 can also display on the screen of the operating terminal that the vehicle 1 is performing actions different from those during training driving.

[0157] (Variation Example 4)

[0158] Furthermore, the modification unit 106 can also modify the speed, steering angle, or braking action of vehicle 1 during automatic driving relative to the speed, steering angle, or braking action during teaching driving, based on the learned map information and the learned model obtained from the stopping position. The learned model is generated, for example, through deep learning or other machine learning methods.

[0159] (Variation Example 5)

[0160] In addition, if the driving path information based on the teaching trip includes unnecessary temporary stops, the modification unit 106 can also change the braking action of the driving path information to avoid performing the temporary stop.

[0161] (Variation Example 6)

[0162] Furthermore, in the embodiments described above, the parking assist device 100 uses the driving path during the learning process as the driving path 80 for automatic driving in memory-type parking. However, the learning method is not limited to this.

[0163] For example, a teaching drive can also be a drive in which the driver manually moves vehicle 1 from parking position 910 to a teaching drive end position outside the parking position. In this case, the learning unit 103 generates a driving path 80 for memory-type parking by reproducing the teaching drive path in reverse.

[0164] For example, the driver begins a training drive from the state where vehicle 1 is parked in parking position 910 within garage 920, causing vehicle 1 to move forward and exit garage 920. Then, the driver moves vehicle 1 further forward from garage 920 to the desired end position of the training drive and brings vehicle 1 to a stop. The learning unit 103 then records this training drive based on steering, braking, acceleration / deceleration, and feature points extracted from surrounding images. Based on the recorded training drive, the learning unit 103 generates a driving path 80 for vehicle 1 to reverse from the end position of the training drive back to parking position 910 within garage 920. In this method, the end position of the training drive is the starting position 900 of automatic driving. This method is also called reverse path reconstruction.

[0165] Generally, in manual driving, it is easier to exit vehicle 1 from garage 920 than to enter it. If this is the learning method, even if the driver is not skilled at reversing vehicle 1 to enter garage 920, a memory-based parking path 80 can be generated through a teaching drive where the driver moves vehicle 1 forward to exit garage 920. Furthermore, this variation is illustrated using the scenario where the driver moves vehicle 1 forward during a teaching drive, but it is also possible for the driver to reverse vehicle 1 during a teaching drive.

[0166] Several embodiments of the present invention have been described, but these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments, their variations, and the scope and spirit of the invention are equally included in the scope of the invention as set forth in the claims and its equivalents.

Claims

1. A parking assistance device for automatically driving a vehicle based on driver-led instruction driving, the parking assistance device comprising: The learning unit, based on the aforementioned training drive, learns the driving path to park the vehicle in the parking position, as well as the vehicle's speed, steering angle, and braking actions during the training drive; and The modification unit modifies the speed or braking action of the vehicle during automatic driving relative to the speed or braking action during the training driving, based on at least one of regulations related to the vehicle's autonomous driving and geographical information related to the road conditions surrounding the vehicle. in, The modification unit may change the speed of the vehicle's automatic driving on the driving path learned during the teaching drive, or the modification unit may change the braking action of the vehicle to temporarily stop the vehicle. The parking assist device also includes an output control unit that, when the change unit changes the speed or the braking action, notifies the occupants of the vehicle to perform an action different from the instructional driving.

2. The parking assistance device according to claim 1, characterized in that, The regulations relating to the automatic driving of the vehicle are those applicable when the vehicle is driving automatically and relate to the vehicle's speed or whether a temporary stop is required.

3. The parking assistance device according to claim 1 or 2, characterized in that, The regulations relating to the autonomous driving of the vehicle are determined by law or standard.

4. The parking assistance device according to claim 1 or 2, characterized in that, The regulations relating to the autonomous driving of the vehicle are based on the riding comfort of the passengers or the impact on people around the vehicle when the vehicle is autonomously driving.

5. The parking assistance device according to claim 1 or 2, characterized in that, It also includes a vehicle control unit that moves the vehicle to the parking position via automatic driving based on the speed or braking action modified by the modification unit.

6. The parking assistance device according to claim 1 or 2, characterized in that, When autonomous driving based on the driving path is initiated, the modification unit performs changes to the speed or the braking action.

7. The parking assistance device according to claim 1 or 2, characterized in that, When the driving path is generated based on the teaching driving, the modification unit performs the change of the speed or the braking action.

8. The parking assistance device according to claim 1 or 2, characterized in that, The modification unit modifies the speed or braking action of the vehicle during automatic driving relative to the speed or braking action during the teaching driving based on the learning completion model obtained from the learning map information and the stopping position.

9. The parking assistance device according to claim 1 or 2, characterized in that, The teaching drive refers to the driver manually moving the vehicle from a starting position outside the parking position to the parking position. The learning unit uses the starting position of the driving in the teaching trip as the starting position of the driving path for learning.

10. The parking assistance device according to claim 1 or 2, characterized in that, The teaching drive refers to the driver manually moving the vehicle from the parking position to a teaching drive completion position outside the parking position. The learning unit uses the end position of the teaching drive as the starting position of the driving path and the path in which the vehicle travels in the opposite direction to the teaching drive as the driving path for learning.

11. The parking assistance device according to claim 1 or 2, characterized in that, The speed of the vehicle during automatic driving, as modified by the modification unit, is slower than the speed of the vehicle during teaching driving. The vehicle's speed during automatic driving is slower than 10 km / h.

12. The parking assistance device according to claim 1 or 2, characterized in that, The modification unit alters the braking action of the vehicle so that the vehicle temporarily stops on the driving path learned during the teaching drive, and at a location where the vehicle did not make a temporary stop during the teaching drive.

13. The parking assistance device according to claim 12, characterized in that, The modification unit alters the braking action of the vehicle so that the vehicle does not temporarily stop on the driving path learned during the teaching drive, and at the places where the vehicle made a temporary stop during the teaching drive.

14. A parking assistance method, comprising the following steps: The learning steps, based on the teaching drive, are to learn the driving path to park the vehicle in the parking position, as well as the vehicle's speed, steering angle, and braking actions during the teaching drive. as well as The modification step involves, based on at least one of regulations relating to the vehicle's autonomous driving and geographic information relating to the road conditions surrounding the vehicle, modifying the vehicle's speed or braking action during autonomous driving relative to the speed or braking action during the training driving. In the modification step, the speed of the vehicle during automatic driving on the driving path learned in the teaching drive is changed, or the braking action of the vehicle is changed to temporarily stop the vehicle. The parking assistance method further includes a notification step, in which, if the speed or braking action is changed in the change step, the occupants of the vehicle are notified to perform an action different from the instructional driving.

15. A parking assistance device for automatically driving a vehicle based on instructional driving performed by a driver, the parking assistance device comprising: The learning department, based on the aforementioned driving instruction, learns the driving path to park the vehicle in the parking position; and The modification unit modifies the braking action of the vehicle during automatic driving relative to the braking action during the teaching driving. The parking assist device alters the braking action of the vehicle to cause the vehicle to temporarily stop on the driving path learned during the teaching drive, and at a location where the vehicle did not make a temporary stop during the teaching drive, or alters the braking action of the vehicle to prevent the vehicle from making a temporary stop on the driving path learned during the teaching drive, and at a location where the vehicle made a temporary stop during the teaching drive.

16. A parking assistance method for automatically driving a vehicle based on driver-led instruction, wherein in the parking assistance method, Based on the aforementioned driving instructions, the learning department learns the driving path to park the vehicle in the parking position. The modification unit modifies the braking action of the vehicle during automatic driving relative to the braking action during the teaching driving. The vehicle control unit causes the vehicle to temporarily stop on the driving path learned during the teaching drive, at a location where the vehicle did not make a temporary stop during the teaching drive, or causes the vehicle not to make a temporary stop on the driving path learned during the teaching drive, at a location where the vehicle made a temporary stop during the teaching drive.

17. A computer program product comprising a program for causing a computer to perform the parking assistance method according to any one of claims 14 and 16.

18. A computer-readable recording medium storing a program for causing a computer to perform the parking assistance method according to any one of claims 14 and 16.

Images