Stop assist system

Abstract

A stop assist system is provided. A stop assist system for moving a mobile body to a stop position and stopping the mobile body at the stop position includes an external environment recognition unit that recognizes an external environment of the mobile body, and a mobile body control unit that performs a drive process to cause the mobile body to travel to the stop position based on a recognition result of the external environment recognition unit. When, while the mobile body is traveling to the stop position, the mobile body control unit determines, based on the recognition result, that an object is present within a range of a prescribed lateral threshold outside a lateral direction of the mobile body and that the object extends in a traveling direction beyond a prescribed longitudinal threshold or more within the range, the mobile body control unit suspends the drive process.

Description

TECHNICAL FIELD

[0001] The present application relates to a stop assist system for moving and stopping a moving body such as a vehicle. BACKGROUND

[0002] A parking assist device (parking assist system) is known for moving a vehicle to a parking space and stopping the vehicle in the parking space by travel control without requiring operation by a driver on the vehicle or remote operation from outside the vehicle (for example, WO2011 / 132309A1).

[0003] The parking assist device described in WO2011 / 132309A1 is provided with a stop position decision unit that decides a stop position for temporarily stopping the vehicle near an entrance of a parking space. The stop position decision unit decides the stop position as a position in which at least a part of the vehicle has entered the parking space and an occupant can exit the vehicle through a door provided on a side of some seat (for example, a driver's seat) of the own vehicle. After stopping the vehicle in the stop position, when it is detected that the occupant exits with baggage, the parking assist device stops the vehicle in the parking space by remote operation or travel control.

[0004] There can be a case in which, after parking, it is necessary to access the passenger compartment of the vehicle (moving body) to, for example, open the hood and perform maintenance. However, if the vehicle is stopped in a position in which it is difficult to open and close a door (opening and closing member) of the passenger compartment, it is difficult to access the passenger compartment of the vehicle (or enter and exit the moving body). SUMMARY

[0005] In view of the above background, a main object of the present application is to provide a stop assist system for moving a moving body to a stop position and stopping the moving body in the stop position, so that the stop assist system can prevent the moving body from traveling to a position in which it can be unexpectedly difficult for a user to enter and exit the moving body.

[0006] To achieve the above object, one aspect of the present application provides a stop assist system 1, 201, 301 for moving a mobile body S to a stop position and stopping the mobile body at the stop position, the stop assist system including: an external environment recognition unit 41 that recognizes an external environment of the mobile body; and a mobile body control unit 43 that performs a drive process to cause the mobile body to travel to the stop position based on a recognition result of the external environment recognition unit, wherein, when the mobile body control unit determines, based on the recognition result, that an object is present within a range of a prescribed lateral threshold value W outside a lateral direction of the mobile body and that the object extends in a travel direction beyond a prescribed longitudinal threshold value D or more within the range while the mobile body is traveling to the stop position, the mobile body control unit suspends the drive process.

[0007] When an object is present within a range that is less than or equal to a lateral threshold value from a lateral surface of a mobile body such that the object extends in a travel direction beyond a longitudinal threshold value or more, it can be predicted that there is a wall-like object extending in the travel direction at a position where a gap between the object and a lateral side of the mobile body is less than or equal to the lateral threshold value. In this case, it is expected that if the mobile body continues to move, it will become difficult to enter and exit the mobile body due to the small gap between the mobile body and the object.

[0008] According to the above aspect, in the case where an object is present within a range that is less than or equal to a lateral threshold value such that the object extends in a travel direction beyond a longitudinal threshold value or more, the drive process is suspended. Therefore, the user can recognize that it can be difficult to enter and exit the mobile body. Thus, it is possible to prevent the mobile body from moving to and stopping in a space where it can be unexpectedly difficult for the user to enter and exit the mobile body.

[0009] In the above aspect, preferably, the stop assist system further includes an input / output unit 38 that is capable of issuing a notification to a user of the mobile body in accordance with a signal from the mobile body control unit and that is capable of receiving an input from the user, wherein, after suspending the drive process, the mobile body control unit causes the input / output unit to issue a notification to the user asking whether to resume the drive process and resumes the drive process when the input / output unit receives an input from the user indicating that the user wishes to resume the drive process.

[0010] According to this aspect, when there is an input from the user indicating that it is desired to resume the drive process, the mobile body control unit resumes the drive process. Therefore, when the drive process is suspended, the user can resume the drive process, thereby improving the convenience of the stop assist system.

[0011] To achieve the above object, another aspect of the present application provides a stop assist system 101 for moving a mobile body S to a stop position and stopping the mobile body at the stop position, the stop assist system including: an external environment recognition unit 41 that recognizes an external environment of the mobile body; a mobile body control unit 43 that performs a drive process to cause the mobile body to travel to the stop position based on a recognition result of the external environment recognition unit; and an input / output unit 38 that is capable of giving a notification to a user of the mobile body according to a signal from the mobile body control unit and is capable of receiving an input from the user, wherein, while the mobile body is traveling to the stop position, when the mobile body control unit determines, based on the recognition result, that there is an object within a range of a prescribed lateral threshold value W laterally outside the mobile body and that the object extends in a direction of travel beyond a prescribed longitudinal threshold value D or more within the range, the mobile body control unit causes the input / output unit to give a notification of the presence of the object.

[0012] When there is an object within a range of less than or equal to a lateral threshold value from a lateral surface of a mobile body such that the object extends in a direction of travel beyond a longitudinal threshold value or more, it is predicted that there is a wall-like object extending in the direction of travel at a position where a gap between the object and a lateral side of the mobile body is less than or equal to the lateral threshold value. In this case, it is expected that if the mobile body continues to move, it will become difficult to enter and exit the mobile body due to the small gap between the mobile body and the object.

[0013] According to the above aspect, the input / output unit gives a notification in the case where there is an object within a range of less than or equal to a lateral threshold value such that the object extends in a direction of travel beyond a longitudinal threshold value or more. Therefore, the user can recognize that it can be difficult to enter and exit the mobile body. It is thus possible to prevent the mobile body from moving to and stopping in a space where it can be unexpectedly difficult for the user to enter and exit the mobile body.

[0014] In the above aspect, preferably, if the input / output unit receives an input from the user indicating cancellation of the drive process after the input / output unit gives the notification to the user, the mobile body control unit cancels the drive process.

[0015] According to this aspect, when the input / output unit receives an input indicating cancellation of the drive process, the mobile body control unit cancels the drive process. Therefore, the user can easily cancel the movement of the mobile body in the drive process by making an input to the input / output unit.

[0016] In the above aspect, preferably, the mobile body has an opening and closing member B, B1, B2 for entering and exiting the mobile body, and the mobile body control unit sets the prescribed lateral threshold value in accordance with a movement pattern of the opening and closing member.

[0017] According to this aspect, the lateral threshold value can be set to an appropriate threshold value in accordance with the movement pattern of the opening and closing member.

[0018] In the above aspect, preferably, the mobile body control unit suspends the drive processing when the mobile body control unit determines that an object will be present within a required area Y required for entry and exit of the mobile body when the mobile body is in the stop position.

[0019] According to this aspect, it is possible to avoid a situation in which the user cannot enter or exit the passenger compartment after the mobile body reaches the stop position.

[0020] In the above aspect, preferably, wherein, when the mobile body control unit determines, based on the recognition result, that no object present in the range of the prescribed lateral threshold value outside the lateral direction of the mobile body extends beyond the prescribed longitudinal threshold value or more in the direction of travel while the mobile body is traveling, the mobile body control unit continues the drive processing.

[0021] According to this aspect, when the mobile body moves to a space in which it is almost impossible to become difficult to enter or exit the passenger compartment, it is possible to maintain the drive processing without stopping it.

[0022] According to the above configuration, it is possible to provide a stop assist system for moving a mobile body provided with a passenger compartment to a stop position and stopping the mobile body at the stop position, which can prevent the mobile body from being moved to and stopped at a position in which the user can unexpectedly have difficulty entering or exiting the passenger compartment. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a functional block diagram of a vehicle provided with a parking assist system according to the first embodiment of the present application;

[0024] Figure 2 is a timing chart of an automatic parking processing performed by the parking assist system;

[0025] Figure 3 is an example of a screen display of an input / output unit of an operation terminal during the drive processing.

[0026] Figure 4 is a flowchart of a narrowness determination processing performed by the parking assist system according to the first embodiment;

[0027] Figure 5A is a diagram showing a monitoring area of a vehicle provided with a hinged door;

[0028] Figure 5B is a diagram showing a monitoring area of a vehicle provided with a sliding door;

[0029] Figure 6 This is an embodiment of the notification screen of the input / output unit of the operating terminal, used to notify the driver to stop the vehicle during narrowness determination processing;

[0030] Figure 7A This is a schematic diagram showing the vehicle moving toward a parking position in a parking space set between the walls;

[0031] Figure 7B This is a schematic diagram showing a vehicle moving toward a parking position in a designated parking space within a garage;

[0032] Figure 7C This is a schematic diagram showing a vehicle moving toward a parking position set in a parking space of a multi-level parking lot equipped with pillars;

[0033] Figure 8 This is a flowchart of the narrowness determination process performed by the parking assist system according to the second embodiment of the present invention;

[0034] Figure 9 This is a flowchart of the narrowness determination process performed by the parking assist system according to the third embodiment of the present invention;

[0035] Figure 10A This is a diagram showing the area required for parking forward;

[0036] Figure 10B It is a diagram showing the area required for rearward parking; and

[0037] Figure 11 This is a flowchart of the narrowness determination process performed by the parking assist system according to the fourth embodiment of the present invention. Detailed Implementation

[0038] Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0039] (First Implementation)

[0040] like Figure 1 As shown, the parking assist system 1 is a system that stops the vehicle S via remote operation. In this embodiment, the vehicle S is a four-wheeled vehicle capable of autonomous movement.

[0041] The vehicle S provided with the parking assistance system 1 has doors B (opening and closing members) for entering and exiting a vehicle cabin. Note that the movement pattern of each door B is not particularly limited as long as it can be opened and closed when a user enters or exits the vehicle S. For example, the door B can be a hinged door Bl that is connected to a vehicle body via a hinge and swings about a hinge axis. In addition, the door B can be a sliding door B2 that is configured to slide to be opened and closed. Hereinafter, some embodiments in which the vehicle S to which the parking assistance system 1 is applied is provided with a hinged door Bl that is configured to swing about respective hinge axes extending in the vertical direction of the vehicle body or a sliding door B2 that is configured to slide in the front-rear direction of the vehicle body will be described.

[0042] The parking assistance system 1 includes a vehicle system 2 installed in the vehicle S and at least one operation terminal 3. The vehicle system 2 includes a powertrain 4, a braking device 5, a steering device 6, an external environment sensor 7, a vehicle sensor 8, a communication device 9, a navigation device 10, an operation input member 11, a human-machine interface (HMI) 14, and a control device 15. The above components of the vehicle system 2 are connected to each other so as to transmit signals therebetween via a communication means such as a controller area network (CAN).

[0043] The powertrain 4 is a device configured to apply a driving force to the vehicle S. For example, the powertrain 4 includes a power source and a transmission. The power source includes at least one of an internal combustion engine such as a gasoline engine and a diesel engine and an electric motor. In the present embodiment, the powertrain 4 includes an automatic transmission 16 and a shift actuator 17 for changing the gear (the gear of the vehicle) of the automatic transmission 16. The braking device 5 is a device configured to apply a braking force to the vehicle S. For example, the braking device 5 includes a brake caliper configured to press a brake pad against a brake rotor and an electric cylinder configured to supply an oil pressure to the brake caliper. The braking device 5 can include an electric parking brake device configured to restrict the rotation of a wheel via a cable. The steering device 6 is a device for changing the steering angle of a wheel. For example, the steering device 6 includes a rack-and-pinion mechanism configured to steer (turn) a wheel and an electric motor configured to drive the rack-and-pinion mechanism. The powertrain 4, the braking device 5, and the steering device 6 are controlled by the control device 15.

[0044] The external environment sensor 7 serves as an external environment information acquisition device for detecting electromagnetic waves, sound waves, and the like from the surroundings of the vehicle S to detect an object outside the vehicle S and acquire the surrounding environment information of the vehicle S. The external environment sensor 7 includes a sonar 18 and an external camera 19. The external environment sensor 7 can also include a millimeter wave radar and / or a laser radar. The external environment sensor 7 outputs the detection result to the control device 15.

[0045] Each sonar 18 is constituted by a so-called ultrasonic sensor. Each sonar 18 emits an ultrasonic wave toward the periphery of the vehicle S and captures an ultrasonic wave reflected by an object in the periphery of the vehicle, thereby detecting the position (distance and direction) of the object. A plurality of sonars 18 are provided at each of the rear and front of the vehicle S. In the present embodiment, a pair of left and right sonars 18 is provided on the rear bumper, a pair of left and right sonars 18 is provided on the front bumper, a pair of sonars 18 is provided at the front end of the vehicle so that the two sonars 18 forming the pair are provided on the left and right side surfaces of the front end of the vehicle, and a pair of sonars 18 is provided at the rear end of the vehicle so that the two sonars 18 forming the pair are provided on the left and right side surfaces of the rear end of the vehicle. That is, a total of eight sonars 18 are provided in the vehicle. The sonars 18 provided on the rear bumper mainly detect the positions of objects behind the vehicle S. The sonars 18 provided on the front bumper mainly detect the positions of objects in front of the vehicle S. The sonars 18 provided at the left and right side surfaces of the front end of the vehicle S respectively detect the positions of objects outside the left and right of the front end of the vehicle S. The sonars 18 provided at the left and right side surfaces of the rear end of the vehicle S respectively detect the positions of objects outside the left and right of the rear end of the vehicle S.

[0046] The outside cameras 19 are devices configured to capture images of the periphery of the vehicle S. For example, each outside camera 19 is constituted by a digital camera using a solid imaging element such as a CCD or a CMOS. The outside cameras 19 include a front camera for capturing an image in front of the vehicle S and a rear camera for capturing an image behind the vehicle S. The outside cameras 19 can include a pair of left and right cameras provided in the vicinity of the rearview mirrors of the vehicle S to capture images of the left and right sides of the vehicle S.

[0047] The vehicle sensors 8 include a vehicle speed sensor configured to detect the speed of the vehicle S, an acceleration sensor configured to detect the acceleration of the vehicle S, a yaw rate sensor configured to detect the angular rate about the vertical axis of the vehicle S, and a direction sensor configured to detect the direction of the vehicle S. For example, the vehicle speed sensor can be constituted by a plurality of wheel speed sensors configured to detect the speed (rotational speed) of the corresponding wheels of the vehicle. The yaw rate sensor is constituted by, for example, a gyro sensor.

[0048] The communication device 9 is a device that mediates wireless communication between the control device 15 and the operation terminal 3. The control device 15 communicates with the operation terminal 3 carried by the user via the communication device 9 using Bluetooth (registered trademark) as a near field wireless communication standard.

[0049] The navigation device 10 is a device configured to obtain a current position of the vehicle S and provide route guidance to a destination or the like. The navigation device 10 includes a GPS receiving unit 20 and a map storage unit 21. The GPS receiving unit 20 identifies the position (latitude and longitude) of the vehicle S based on a signal received from an artificial satellite (positioning satellite). The map storage unit 21 is configured from a known storage device such as a flash memory or a hard disk, and stores map information.

[0050] The operation input member 11 is provided in the interior of the vehicle S to receive an input operation for controlling the vehicle S by an occupant (user). The operation input member 11 includes a steering wheel, an accelerator pedal, a brake pedal (brake input member), and a shift lever (shift member). The shift lever is configured to receive an operation for selecting a shift position of the vehicle.

[0051] The drive operation sensor 12 detects an operation amount of the operation input member 11. The drive operation sensor 12 includes a steering angle sensor configured to detect a steering angle of the steering wheel, a brake sensor configured to detect a depression amount of the brake pedal, and an acceleration sensor configured to detect a depression amount of the accelerator pedal. The drive operation sensor 12 outputs the detected operation amount to the control device 15.

[0052] The HMI 14 is an input / output device for receiving an input operation by an occupant and notifying the occupant of various information via display and / or voice. The HMI 14 includes, for example, a touch panel 32 including a display screen such as a liquid crystal display or an organic EL display, and configured to receive an input operation by an occupant, a sound producing device 33 such as a buzzer or a speaker, a park master switch 34, and a selection input member 35. The park master switch 34 receives an input operation by an occupant to execute a selected one of an automatic parking process (automatic parking operation) and an automatic drive-off process (automatic drive-off operation). The park master switch 34 is a so-called momentary switch that is turned on only when a press operation (push-down operation) is performed by an occupant. The selection input member 35 receives a selection operation by an occupant related to the selection of the automatic parking process and the automatic drive-off process. The selection input member 35 can be composed of a rotary selection switch, which preferably requires a press as the selection operation.

[0053] The control device 15 is composed of an electronic control unit (ECU) including a CPU, a nonvolatile memory such as a ROM, a volatile memory such as a RAM, and the like. The CPU performs an operation process according to a program, whereby the control device 15 performs various types of vehicle control. The control device 15 can be composed of one hardware, or can be composed of units including a plurality of hardware. Furthermore, the functions of the control device 15 can be at least partially performed by hardware such as an LSI, an ASIC, and an FPGA, or can be performed by a combination of software and hardware.

[0054] The operation terminal 3 is a wireless terminal that can be carried by the user, and in the present embodiment, the operation terminal 3 is constituted by a smartphone. A prescribed application is pre-installed in the operation terminal 3 so that the operation terminal 3 can communicate with the control device 15 from outside the vehicle via the communication device 9.

[0055] The operation terminal 3 is equipped with an input / output unit 38. The input / output unit 38 is constituted by a touch panel having a screen. When the operation terminal 3 receives a signal from the control device 15, the operation terminal 3 processes the signal, and the input / output unit 38 appropriately displays the processing result on the screen to notify the user. In addition, the input / output unit 38 receives input from the user by detecting the user's touch (contact or press) to the screen.

[0056] The parking assist system 1 is a system for performing so-called automatic parking to autonomously move the vehicle S to a target position (target parking position or target departure position) selected by the occupant therefrom to park or depart the vehicle S.

[0057] The parking assist system 1 includes the external environment sensor 7, the control device 15, and the operation terminal 3.

[0058] The control device 15 performs so-called remote parking by controlling the vehicle S to park the vehicle S, to move the vehicle S to the target position in accordance with the operation input to the operation terminal 3. In order to perform such control of the vehicle S, the control device 15 includes an external environment recognition unit 41, a vehicle position recognition unit 42, a behavior planning unit 43, a travel control unit 44, and a storage unit 45.

[0059] The external environment recognition unit 41 recognizes an obstacle (for example, a parked vehicle or a wall) existing around the vehicle S based on the detection result of the external environment sensor 7, thereby obtaining information on the obstacle. In addition, the external environment recognition unit 41 analyzes the image captured by the external camera 19 based on a known image analysis method such as pattern matching, thereby determining whether a wheel stopper or an obstacle is present and obtaining the size of the wheel stopper or the obstacle in the case where the wheel stopper or the obstacle is present. In addition, the external environment recognition unit 41 can calculate the distance to the obstacle based on the signal from the sonar 18 to obtain the position of the obstacle.

[0060] In addition, by analyzing the detection result of the external environment sensor 7 (more specifically, by analyzing the image captured by the external camera 19 based on a known image analysis method such as pattern matching), the external environment recognition unit 41 can acquire the lane on the road defined by a road marker and the parking space defined by a white line or the like provided on the surface of the road, the parking lot, or the like.

[0061] The vehicle position recognition unit 42 recognizes the position of the vehicle S in which the control device 15 is installed, based on a signal from the GPS reception unit 20 of the navigation device 10. In addition, the vehicle position recognition unit 42 can obtain the vehicle speed and the yaw rate from the vehicle sensor 8 in addition to the signal from the GPS reception unit 20, and recognize the position and the posture of the vehicle S in which the vehicle position recognition unit is installed, by so-called inertial navigation.

[0062] The travel control unit 44 controls the powertrain 4, the brake device 5, and the steering device 6 based on the travel control instruction from the action planning unit 43, to cause the vehicle S to travel.

[0063] (Parking assist process)

[0064] When the action planning unit 43 detects an input to the touch panel 32 by the user, indicating that the user wishes to perform parking assist under remote operation, after the vehicle S is stopped, the action planning unit 43 performs a parking assist process. Hereinafter, the parking assist process will be described with reference to the timing chart of FIG. 10. Figure 2

[0065] The action planning unit 43 first performs an acquisition process to acquire one or more parking spaces. More specifically, the action planning unit 43 first displays a notification instructing the user (driver) to move the vehicle S straight on the touch panel 32 of the HMI 14. While the user is moving the vehicle S straight, the action planning unit 43 acquires the position and the size of each obstacle detected based on a signal from the external environment sensor 7, and the position of the white line provided on the road surface. The action planning unit 43 extracts one or more spaces in which the vehicle can be parked (i.e., parking spaces) based on the acquired position and size of the obstacle, and the position of the white line.

[0066] Next, the action planning unit 43 performs a trajectory calculation process to calculate a trajectory of the vehicle S from the current position of the vehicle S to each of the extracted parking spaces. Preferably, the action planning unit 43 calculates a trajectory of each of the forward parking and the reverse parking, so that an input operation for selecting the forward parking or the reverse parking from the user can be received.

[0067] In the present embodiment, in the trajectory calculation process, the trajectory is set so as to switch the vehicle S between moving forward and moving backward. This switching operation can be repeatedly performed.

[0068] ​In the case of reverse parking, the action planning unit 43 sets a switching point at which the movement mode of the vehicle S is switched from forward movement to reverse movement (hereinafter referred to as a front switching point) at a position at which the entire vehicle S is located outside the parking position. In addition, the action planning unit 43 sets the last passed front switching point (hereinafter, the last front switching point) at a position at which the vehicle S reaches the parking position by only reverse movement without a steering operation. Thus, in automatic parking, the vehicle S reaches the parking position by only reverse movement from the last front switching point.

[0069] In the case of forward parking, the action planning unit 43 sets a switching point at which the movement mode of the vehicle S is switched from reverse movement to forward movement (hereinafter referred to as a rear switching point) at a position at which the entire vehicle S is located outside the parking position. In addition, the action planning unit 43 sets the last passed rear switching point (hereinafter, the last rear switching point) at a position at which the vehicle S reaches the parking position by only forward movement without a steering operation. Thus, in automatic parking, the vehicle S reaches the parking position by only forward movement from the last rear switching point.

[0070] Hereinafter, the last front switching point and the last rear switching point can be collectively referred to as the last switching point.

[0071] Next, the action planning unit 43 performs parking position reception processing to receive a parking position selected from the one or more parking spaces. Specifically, when the action planning unit 43 acquires at least one parking space, the action planning unit 43 causes the touch panel 32 to display a notification instructing the user (driver) to stop the vehicle S. At this time, after instructing the user to stop the vehicle S, the action planning unit 43 can instruct the user to put the shift lever to the parking position.

[0072] The action planning unit 43 displays the current position of the vehicle S and the parking spaces on the touch panel 32. At this time, the action planning unit 43 preferably displays an image acquired by the external camera 19 on the touch panel 32 in an overlaid manner. Thereafter, the action planning unit 43 causes the touch panel 32 to display a notification prompting the user to select one of the parking spaces in which the vehicle S is to be parked (i.e., to select a parking position). When the user inputs a desired parking position, the touch panel 32 outputs a signal corresponding to the input parking position to the action planning unit 43.

[0073] Next, the action planning unit 43 causes the touch panel 32 to display a notification prompting the user to get out of the vehicle S, and causes the input / output unit 38 (touch panel) of the operation terminal 3 to display a notification instructing the user to activate the remote parking application. After these notifications, the user gets out of the vehicle S and then activates the application on the operation terminal 3.

[0074] As Figure 3When the application is activated, an operation input reception screen is displayed on the input / output unit 38 of the operation terminal 3 as shown in FIG. 12. When the user makes an operation input with the input / output unit 38 (touch panel) of the operation terminal 3, the operation terminal 3 transmits the operation amount to the action planning unit 43. Based on the recognition result of the external environment recognition unit 41 and the received operation amount, the action planning unit 43 performs a drive process of moving the vehicle S along the trajectory to the parking position. That is, the action planning unit 43 corresponds to a mobile body control unit that performs a drive process of moving a mobile body (vehicle S) to a target position (parking position). In the present embodiment, the action planning unit 43 sets the movement amount of the vehicle S according to the amount of sliding on the input / output unit 38 of the operation terminal 3. Thus, the parking assist system 1 for parking the vehicle S in the parking position is configured such that, based on the recognition of the external environment recognition unit 41, the action planning unit 43 moves the vehicle S according to the input amount to the operation terminal 3.

[0075] When the vehicle S reaches the parking position, the action planning unit 43 performs a parking process. In the parking process, the action planning unit 43 first drives the shift actuator to set the shift position (shift range) to the parking position (parking or P range) and stops the powertrain 4. When the powertrain 4 is stopped, the action planning unit 43 transmits a parking completion signal to the operation terminal 3. When the input / output unit 38 receives the parking completion signal, the operation terminal 3 displays a notification of the parking completion on the screen. That is, the parking position corresponds to a position at which the vehicle S is parked, that is, a stop position at which the vehicle S is to be stopped.

[0076] (Narrowness determination process)

[0077] In the drive process of the automatic parking process, the action planning unit 43 repeatedly performs a narrowness determination process at a prescribed interval while the vehicle S moves from the last switching point to the parking position. The narrowness determination process is a process for determining whether the vehicle S can move to the parking position or not, based on information acquired by the sonar 18 provided on the left and right side surfaces of the vehicle S. Hereinafter, details of the narrowness determination process will be described with reference to FIGS. 13 to 16. Note that it is assumed that the cancel flag is set to zero before the narrowness determination process is started. Figure 4 Figure 5A Figure 5B Figure 6 Figure 7A to Figure 7C

[0078] ​​​​​Also, note that although in the following description the action planning unit 43 performs the narrowness determination processing only when the vehicle S moves from the last switching point to the parking position in the drive processing, the present application is not limited to this. In another embodiment, when the action planning unit 43 performs the switching operation a number of times less than or equal to a prescribed number of times until the vehicle S reaches the parking position in the drive processing, the action planning unit 43 can continuously perform the narrowness determination processing during this period.

[0079] Figure 4 is a flowchart showing the narrowness determination processing. As shown in Figure 4 , in a first step ST11 of the narrowness determination processing, the action planning unit 43 acquires the positions of the objects recognized by the external environment recognition unit 41 using the detection results of the sonar 18. Note that the objects recognized by the external environment recognition unit 41 can include walls, other vehicles, obstacles, etc., and are not limited to a particular one of these.

[0080] Next, the action planning unit 43 determines whether any of the objects recognized by the external environment recognition unit 41 is located in a range defined on both lateral sides of the vehicle with respect to the traveling direction of the vehicle S (see the hatched areas in Figure 5A and Figure 5B ), each of which is less than or equal to a prescribed lateral threshold W from the respective one of the left and right side surfaces of the vehicle S. Hereinafter, each of the areas in the lateral direction (left-right direction) outside the vehicle in which the range with respect to the traveling direction is less than the prescribed lateral threshold W from the door B located on the respective left or right side of the vehicle S is referred to as a monitoring area X.

[0081] The prescribed lateral threshold W is set for each of the left and right sides of the vehicle S, and corresponds to the minimum value of the gap (distance) between the vehicle S and the objects outside the vehicle that is usually required for the user (vehicle occupant) to open and close the door B to enter and exit the vehicle S. In other words, the prescribed lateral threshold W corresponds to a threshold below which the gap between the vehicle S and the objects located on the left and right sides of the vehicle S is insufficient for the user to usually enter and exit the vehicle S by opening and closing the door B. The prescribed lateral threshold W is usually about 40 cm.

[0082] The action planning unit 43 defines the prescribed lateral threshold W in accordance with the movement pattern of the door B provided on the vehicle S. Specifically, as shown in Figure 5A and Figure 5B , the action planning unit 43 sets the prescribed lateral threshold W for the vehicle S provided with only the hinged door B1 (see Figure 5A ) to be greater than the prescribed lateral threshold W for the vehicle S provided with the sliding door B2 (see Figure 5B ).

[0083] Note that the present application is not limited to the above, for example the prescribed lateral threshold W for each door can be set based on input by the user via the touch panel 32 of the HMI 14 or the input / output unit 38 of the operation terminal 3, and stored in the control device 15.

[0084] The action planning unit 43 determines whether any object recognized by the external environment recognition unit 41 is within the monitoring area X, and if so, proceeds to step ST12. If there is no object present within the monitoring area X, the action planning unit 43 ends the narrowness determination process.

[0085] In step ST12, the action planning unit 43 determines whether any object recognized by the external environment recognition unit 41 extends beyond the prescribed longitudinal threshold D or more in the direction of travel within the monitoring area X.

[0086] The prescribed longitudinal threshold D is defined as being greater than a typical length of a shutter or large door provided in the garage or a pillar provided at the entrance to the parking area in a direction orthogonal to the parking direction.

[0087] Note that the present application is not limited to the above, for example the prescribed longitudinal threshold D can be set based on input by the user via the touch panel 32 of the HMI 14 or the input / output unit 38 of the operation terminal 3, and stored in the control device 15.

[0088] When there is an object extending beyond the prescribed longitudinal threshold D or more, the action planning unit 43 proceeds to step ST13, otherwise the action planning unit 43 ends the narrowness determination process.

[0089] In step ST13, the action planning unit 43 causes the travel control unit 44 to suspend travel of the vehicle S. When the travel suspension is complete, the action planning unit 43 proceeds to step ST14. Note that the travel suspension here includes stopping the vehicle S and decelerating the vehicle S (for example, reducing the vehicle speed from 10 km / h to 5 km / h).

[0090] In step ST14, the action planning unit 43 transmits a notification signal to the operation terminal 3. Upon receiving the notification signal, the operation terminal 3 causes the input / output unit 38 (touch panel) of the operation terminal 3 to display a notification that automatic parking is suspended, with the cancel button 38A and the resume button 38B (as shown in FIG. 6) at the ready until either the cancel button 38A or the resume button 38B is pressed. When the cancel button 38A or the resume button 38B is pressed, the operation terminal 3 transmits a reception signal to the action planning unit 43 indicating which button was pressed. Upon receiving the reception signal from the operation terminal 3, the action planning unit 43 proceeds to step ST15. Figure 6

[0091] ​In step ST15, the action planning unit 43 determines whether the button that is pressed is the resume button 38B (i.e., whether there is an input corresponding to a resume request). When it is determined that the button that is pressed is the resume button 38B, the action planning unit 43 executes step ST16. If it is determined that the button that is pressed is not the resume button 38B (i.e., the button that is pressed is the cancel button 38A), the action planning unit 43 executes step ST17.

[0092] In step ST16, the action planning unit 43 causes the travel control unit 44 to resume travel of the vehicle S toward the parking position. When the travel is resumed, the action planning unit 43 ends the narrowness determination processing.

[0093] In step ST17, the action planning unit 43 sets the cancel flag to 1. When the setting of the cancel flag is completed, the action planning unit 43 ends the narrowness determination processing.

[0094] In addition, in addition to setting the cancel flag to 1 in step ST17, the action planning unit 43 cancels the drive processing and executes the parking processing. Thus, the vehicle S is parked at the position at which the drive processing is suspended.

[0095] Next, the operation and effects of the parking assist system 1 configured as above will be described.

[0096] When the vehicle S is provided with the parking assist system 1 that can automatically park the vehicle S in the parking position and can autonomously move the vehicle S to a position at which the user (occupant) can enter the vehicle S when in use, the user does not necessarily have to enter or exit the vehicle S parked in the parking position. Thus, it is possible to park the vehicle S in a narrow space in which there is another vehicle, a wall, or the like nearby.

[0097] However, if after parking, for example, the amount of charge of the battery becomes too small for the vehicle S to be started (a so-called battery-less state occurs), the user has to enter the vehicle S, perform a prescribed operation to open the hood, and connect a new battery. In this case, if after parking as shown in Figure 7A the gap between each door B and the object on the corresponding side is less than or equal to a prescribed lateral threshold W, the door B cannot be opened, and the user cannot enter the vehicle S. Thus, a problem can arise in that the user cannot enter the vehicle S to perform the operation of opening the hood, and as a result, the vehicle S cannot be started.

[0098] To solve this problem, it can be conceived that if on the way to the parking position, the vehicle has to pass an object, and the distance between the object and the opposite one of the left and right side surfaces of the vehicle body is less than or equal to a prescribed lateral threshold W, automatic parking to the parking position is prohibited. However, if such a method is employed, as shown in Figure 7B a garage provided with shutters as shown in Figure 7CAs shown, the demarcated parking spaces in multi-story parking lots with pillars at their entrances / exits cannot be set as parking positions, thus limiting the scope of applications where automatic parking can be performed.

[0099] The inventors of this application have noted that, regarding parking space in garages or parking lots, it is often as follows: Figure 7B and Figure 7C As shown, the narrowing only occurs near the entrance / exit. As a result of careful study, the inventors of this application have concluded that the parking spaces for vehicles S can be essentially divided into two groups, in which the width from the entrance / exit to the parking position is constant (e.g., ...). Figure 7A As shown in the image), while in another group, the narrowing only occurs near the entrance / exit (as shown in the image). Figure 7B and Figure 7C (As shown in the diagram). Furthermore, the inventors of this application have discovered that the width in the direction orthogonal to the parking direction is constant within a specified distance from the entrance / exit in the parking direction (hereinafter referred to as the specified longitudinal threshold D), which corresponds to the case where the width from the entrance / exit to the parking position is constant.

[0100] like Figure 7A As shown, if the width from the entrance / exit to the parking position is constant and the width of the gap between each of the left and right side surfaces of the vehicle S and the object (wall) located on the corresponding left or right side is less than the specified lateral threshold W, the door B cannot be opened and it becomes difficult to enter the vehicle S.

[0101] If the width from the entrance / exit to the parking position is constant and the width of the gap between each of the left and right side surfaces of the vehicle S and the object (wall) located on the corresponding left or right side is less than the specified lateral threshold W, the action plan unit 43 determines that there is an object in the monitoring area X ("yes" in ST11) and that the object extends in the front-rear direction beyond the specified longitudinal threshold D or greater ("yes" in ST12), and accordingly suspends the drive process (ST13).

[0102] At this point, based on the pause of the automatic parking (more specifically, the drive handling), the user can recognize that this situation corresponds to a case where the width from the entrance / exit to the parking position is constant (e.g., Figure 7A As shown in the diagram, if vehicle S moves to the parking position, it may become difficult to enter and leave vehicle S. Therefore, it is necessary to prevent vehicle S from moving and parking in spaces where the user unexpectedly has difficulty entering and leaving vehicle S (e.g., in...). Figure 7A (between the two walls shown).

[0103] In the present embodiment, the action planning unit 43 continuously performs the narrowness determination processing when the vehicle S moves from the last switching position toward the parking position. As a result, when the vehicle S enters between two parallel walls positioned so that each of the left and right side surfaces of the vehicle body has a gap between the opposing walls that is less than or equal to the prescribed lateral threshold W, the drive processing is suspended at a position reached when the vehicle S moves from the end of the walls toward the parking position by approximately the prescribed longitudinal threshold D (i.e., a position at which the portion of the vehicle S extending beyond the prescribed longitudinal threshold D from the end in the direction of travel is located between the two walls). Thus, it is possible to prevent the vehicle S from completely entering between the two walls, thereby making it easy to move the vehicle S out from between the two walls.

[0104] After suspending the automatic parking, the action planning unit 43 causes the input / output unit 38 of the operation terminal 3 to display a cancel button 38A and a resume button 38B (ST14). If the user presses the resume button 38B (YES in ST15), the action planning unit 43 causes the travel control unit 44 to resume travel of the vehicle S toward the parking position (ST16). Thus, the resume button 38B corresponds to a reception button configured to receive an input indicating a desire to resume the automatic parking processing.

[0105] In this way, when the automatic parking is suspended, the user can resume the automatic parking processing by pressing the resume button 38B. Thus, in the case where the automatic parking is suspended due to the presence of an obstacle that is unrelated to the opening and closing of the door B, the user can resume the automatic parking by pressing the resume button 38B. Thus, compared to a case where the resume button 38B is not displayed and it is not possible to execute a resume instruction, the convenience of the parking assist system 1 is improved.

[0106] The action planning unit 43 sets the prescribed lateral threshold W on the vehicle exterior side of each hinged door B1 to be greater than the prescribed lateral threshold W on the vehicle exterior side of each sliding door B2. In this way, since the prescribed lateral threshold W is set in accordance with the movement pattern of each door B, it is possible to appropriately set the threshold so that the automatic parking is suspended when the lateral side of the vehicle S cannot ensure a space for opening and closing each door B in accordance with the movement pattern of the door B.

[0107] In addition, when there is no object within the monitoring region (NO in ST11), or when there is an object within the monitoring region X but the presence of the object in the front-rear direction does not exceed the prescribed longitudinal threshold D or more (NO in ST12), the drive processing continues without being suspended.

[0108] As Figure 7B and Figure 7CAs shown, when an object exists within the monitoring area X, but the object's length in the longitudinal direction is less than a predetermined longitudinal threshold D, and the area only narrows near the entrance / exit (e.g., the object is a folding door), the drive process continues without pausing. Since automatic parking continues only when the entrance / exit is narrow and it is anticipated that door B will be able to open and close when the vehicle S is in the parking position, the convenience of parking assist system 1 is improved compared to the case where automatic parking is immediately suspended when an object exists within the monitoring area X.

[0109] (Second Implementation)

[0110] like Figure 8 As shown, the parking assistance system 101 according to the second embodiment of the present invention differs from the first embodiment in that, in the narrowness determination process performed by the action planning unit 43, step ST14 is executed immediately after step ST12, and the display on the input / output unit 38 of the operation terminal 3 is different in step ST14, but other configurations are the same as in the first embodiment. Therefore, a description of other configurations will be omitted.

[0111] When the action planning unit 43 determines in the narrowness determination process that an object exists in the monitoring area X ("Yes" in ST11), and the presence of the object in the monitoring area X exceeds a predetermined longitudinal threshold D or greater ("Yes" in ST12), the action planning unit 43 transmits a notification signal to the operation terminal 3 so that the input / output unit 38 of the operation terminal 3 displays a notification that it may become impossible to enter and leave the vehicle S after parking (e.g., Figure 8 (as shown in the diagram) (ST14). At this time, the Restore button 38B and the Cancel button 38A are displayed together on the input / output unit 38 of the operation terminal 3.

[0112] When the input / output unit 38 detects that the resume button 38B (indicating a desired resumption) or the cancel button 38A (indicating a desired cancellation) is pressed, the operation terminal 3 transmits a receive signal to the control device 15. When the control device 15 receives a receive signal indicating that the resume button 38B has been pressed, the action planning unit 43 resumes the movement of the vehicle S (ST16). When the control device 15 receives a receive signal indicating that the cancel button 38A has been pressed, the action planning unit 43 sets the cancel flag to 1 (ST17) and cancels the drive process to park the vehicle S.

[0113] Next, the effect of the parking assistance system 101 configured as above will be described. In a case where the width from the entrance / exit to the parking position is constant, and the width of the gap between each of the left and right side surfaces of the vehicle S and the object (wall) positioned on the respective left or right side is smaller than the prescribed lateral threshold W, the action planning unit 43 determines that the object is present within the monitoring region X (YES in ST11), and that the object extends beyond the prescribed longitudinal threshold D or more in the front-rear direction (YES in ST12), and thus displays a notification that it can be impossible to enter and exit the vehicle S after parking on the input / output unit 38 of the operation terminal 3. Thereby, it is possible to prevent the vehicle S from being moved and parked by the user in a space (for example, between the two walls shown in Figure 7A ) in which it is difficult to enter and exit the vehicle S by chance.

[0114] When the input / output unit 38 of the operation terminal 3 detects an input indicating that automatic parking is desired to be cancelled (i.e., the cancel button 38A is pressed), the action planning unit 43 cancels automatic parking. In this way, the user can easily cancel automatic parking by making an input to the input / output unit 38.

[0115] (Third Embodiment)

[0116] The parking assistance system 201 according to the third embodiment of the present application differs from the first embodiment in that, as shown in Figure 9 , the narrowness determination process includes a step ST21.

[0117] Further, as shown in Figure 10A and Figure 10B , the storage unit 45 stores, as the required region Y, a region that is required for the user to move to the door B of the vehicle S and open and close B when the vehicle S is in the parking position. In the present embodiment, the storage stores, for each door B and for each of forward parking and rearward parking, a region that is required for the user to open and close the door B and enter and exit the vehicle S. The required region Y for each door B differs between forward parking (see Figure 10A ) and rearward parking (see Figure 10B ).

[0118] The configurations other than the above points are the same as in the first embodiment. Thus, the description of other configurations will be omitted.

[0119] When the determination result of step ST11 is "No" or the determination result of step ST12 is "No", the action planning unit 43 executes step ST21. In step ST21, the action planning unit 43 acquires the required region Y of each door B from the storage unit 45 according to the parking mode (forward parking or reverse parking). Thereafter, during the travel of the vehicle S, the action planning unit 43 determines whether there will be an obstacle in the required region Y of each door B such that the obstacle will obstruct the opening and closing of the door B when the vehicle S reaches the parking position.

[0120] When it is determined that there will be an object in the required region Y of each door B, the action planning unit 43 executes step ST13, and otherwise the action planning unit 43 ends the narrowness determination processing.

[0121] Next, the effect of the parking assistance system 201 configured as above will be described. When the action planning unit 43 determines that there will be an object in the required region Y of each door B after the vehicle S reaches the parking position, the action planning unit 43 executes step ST13 to suspend the travel of the vehicle S (ST13). Thereafter, the action planning unit 43 causes the input / output unit 38 of the operation terminal 3 to display a notification that the automatic parking has been suspended together with the cancel button 38A and the resume button 38B (ST14).

[0122] In this way, since the notification that the automatic parking has been suspended is displayed on the input / output unit 38, it is possible to prevent the user from accidentally finding that each door B cannot be opened and closed when the vehicle S reaches the parking position, and thus it is not possible to get in and out of the vehicle S.

[0123] In addition, when it is possible to determine that there will be no object that can obstruct the opening and closing of each door B in the required region Y of each door B in the case where the vehicle S reaches the parking position during the travel of the vehicle S, the action planning unit 43 continues the drive of the vehicle S to the parking position without causing the input / output unit 38 of the operation terminal 3 to issue a notification. Thus, the convenience of the parking assistance system 201 is improved.

[0124] (Fourth Embodiment)

[0125] The parking assistance system 301 according to the fourth embodiment of the present application differs from the third embodiment in that the narrowness determination processing includes step ST31 instead of step ST21.

[0126] In step ST31, the action planning unit 43 determines whether there will be an object in each required region Y of the left and right doors B of the first row with respect to the travel direction when the vehicle S reaches the parking position. When there is an object in each required region Y of the left and right doors B of the first row with respect to the travel direction, the action planning unit 43 executes step ST13, and otherwise the action planning unit 43 ends the narrowness determination processing.

[0127] Next, the operation of the parking assist system 301 configured as above will be described. In the parking assist system 301, when it is determined that there is an object extending over the prescribed longitudinal threshold D or more in the monitoring area X (YES in each of ST11 and ST12), the travel is suspended (ST13), but if a resumption input is made thereafter, the travel of the vehicle S is resumed. Thereafter, the narrowness determination processing is executed again, and if there is an object in each of the required areas Y of the left and right doors B in the first row with respect to the travel direction (YES in ST31), the travel of the vehicle S is suspended. Thereafter, if a resumption input is made again (YES in ST15), the travel of the vehicle S is resumed (ST16).

[0128] The foregoing has described a specific embodiment of the present application, but the present application is not limited to the above-described embodiment, and can be modified or changed in various ways. For example, in the above embodiment, the present application is exemplarily applied to the parking assist systems 1, 101, 201, 301 for parking the vehicle S, but the present application is not limited to such an embodiment. The present application can be applied to a stop assist system for moving and stopping a movable object (moving body), which can include an automobile, a motorcycle, a unicycle, a watercraft, an aircraft, and the like.

[0129] In addition, the signal used by the external environment recognition unit 41 to recognize the object around the vehicle S can be acquired by any sensor that can be included in the external environment sensor 7. Specifically, the external environment recognition unit 41 can recognize the object around the vehicle S based on a signal from any one of the sonar 18, the external camera 19, a radar, a lidar, and the like.

[0130] In the above embodiment, the notification that the automatic parking is suspended is made as a display on the input / output unit 38 of the operation terminal 3, but the notification method or means is not limited thereto. For example, the notification can be made by means of a voice emitted from the operation terminal 3 or flickering of a screen or a light emitting element provided on the operation terminal 3.

[0131] In the above embodiment, the operation terminal 3 is a smartphone, but the present application is not limited thereto. For example, the operation terminal 3 can be a tablet, a frequency operation button (FOB) key (also referred to as a smart key or an access key), or a remote controller. In addition, in the above embodiment, the action planning unit 43 moves the vehicle S in the drive processing based on an operation amount input to the operation terminal 3, but the device that inputs the operation amount is not limited to the operation terminal 3. The action planning unit 43 can move the vehicle S based on an input amount input to a switch, a joystick, a sensor, or the like provided in the vehicle S.

[0132] Further, in the above embodiment, the input / output unit 38 that issues a notification that the drive processing has been suspended and receives an instruction to resume or not to resume the drive processing is configured by the touch panel of the operation terminal 3, but the present application is not limited to this. For example, the input / output unit 38 can be configured by the touch panel 32 of the HMI 14 provided in the vehicle S.

[0133] In the above third embodiment, the action planning unit 43 is configured to execute the step ST13 when it is determined in the step ST21 that the object is present in each of the required regions Y, but the present application is not limited to this. For example, the action planning unit 43 can be configured to determine in the step ST21 whether an object is present in each of the required regions Y of the left and right front doors B and execute the step ST13 when it is determined that an object is present in each of the two required regions Y. Further, the action planning unit 43 can be configured to determine in the step ST21 whether an object is present in the required region Y of the door B of the driver's seat and execute the step ST13 when it is determined that an object is present.

[0134] In the above embodiment, the prescribed longitudinal threshold D is a fixed value according to the shape of the parking space or the like, but it can depend on the design of the vehicle S or the like. Further, the prescribed longitudinal threshold D can depend on the parking direction (forward parking or rearward parking). The prescribed lateral threshold W can be changed according to the number of doors B provided on the vehicle S in addition to depending on the movement pattern of each door B. In particular, the action planning unit 43 can set the prescribed lateral threshold W for a two-door vehicle S to be smaller than the prescribed lateral threshold W for a four-door vehicle S.

[0135] Further, in the step ST13 of the above embodiment, the action planning unit 43 can be configured to determine, based on the recognition result of the external environment recognition unit 41, whether the object positioned within the monitoring region X is a movable body such as a vehicle, continue the travel of the vehicle S while decelerating if the object is a movable body, and stop the movement of the vehicle S if the object is not a movable body. Further, in the step ST13, the action planning unit 43 can be configured to determine, based on the recognition result of the external environment recognition unit 41, whether the object positioned within the monitoring region X is a movable body such as a vehicle, cause the input / output unit 38 to display a warning and receive a cancel or a resume without decelerating the vehicle S if the object is a movable body, and stop the movement of the vehicle S if the object is not a movable body.

[0136] In addition, when the travel of the vehicle S is suspended in the narrowness determination processing of the above embodiment (ST13), a resumption input (YES in ST15) can be made thereafter so as to resume the travel (ST16) and execute the narrowness determination processing again. When the narrowness determination processing is executed in response to the resumption input, the action planning unit 43 can execute the step ST21 (or the step ST31) without executing the steps ST11 and ST12.

[0137] In the above embodiment, the prescribed lateral threshold W and the required region Y are defined as thresholds and regions for defining a range required for opening the door B so that a person can enter and exit the vehicle S, but the application is not limited thereto. For example, the prescribed lateral threshold W and the required region Y can be defined as thresholds and regions for defining a range required for opening the door B to allow access to the inside of the cabin so that it becomes possible for a hand to be inserted into the cabin to operate an operation member provided within the cabin.

Claims

1. A stopping assistance system for moving a moving body to a stopping position and stopping the moving body at the stopping position, the stopping assistance system comprising: An external environment identification unit identifies the external environment of the moving body; as well as The mobile body control unit performs driving processing based on the identification result of the external environment identification unit to move the mobile body to the stop position. Specifically, when the moving body is moving towards the stopping position, if the moving body control unit determines, based on the identification result, that there is an object within a specified lateral threshold range outside the moving body and that the object extends beyond a specified longitudinal threshold range along the direction of travel within that range, the moving body control unit suspends the driving process.

2. The stop assistance system according to claim 1, further comprising an input / output unit capable of issuing a notification to a user of the mobile body based on a signal from the mobile body control unit, and capable of receiving input from the user. in, After pausing the drive processing, the mobile body control unit causes the input / output unit to notify the user, asking whether to resume the drive processing, and resumes the drive processing when the input / output unit receives input from the user indicating that the user wishes to resume the drive processing.

3. The stopping assistance system according to claim 1 or 2, wherein, The moving body has opening and closing members for entering and leaving the moving body, and The moving body control unit sets the specified lateral threshold according to the movement mode of the opening and closing component.

4. The stopping assistance system according to claim 1 or 2, wherein, When the mobile control unit determines that an object will be present in the required area for entering and leaving the mobile body when the mobile body is in the stopped position, the mobile control unit suspends the drive process.

5. The stopping assistance system according to claim 1 or 2, wherein, When the moving body is moving, and the moving body control unit determines, based on the identification result, that no object extending beyond the predetermined longitudinal threshold in the direction of travel appears within the predetermined lateral threshold range outside the moving body, the moving body control unit continues the driving process.

6. A stopping assistance system for moving a moving body to a stopping position and stopping the moving body at the stopping position, the stopping assistance system comprising: An external environment identification unit identifies the external environment of the moving body; A mobile control unit, which performs driving processing based on the identification result of the external environment identification unit to move the mobile body to the stop position; and An input / output unit is provided, which can send notifications to the user of the mobile body based on signals from the mobile body control unit, and can receive input from the user. While the moving body is moving toward the stopping position, when the moving body control unit determines, based on the identification result, that there is an object within a specified lateral threshold range outside the moving body and that the object extends beyond a specified longitudinal threshold range along the direction of travel within that range, the moving body control unit causes the input / output unit to issue a notification that the object exists.

7. The stopping assistance system according to claim 6, wherein, After the input / output unit sends the notification to the user, if the input / output unit receives an instruction from the user to cancel the input of the drive processing, the mobile body control unit cancels the drive processing.

8. The stopping assistance system according to claim 6 or 7, wherein, The moving body has opening and closing members for entering and leaving the moving body, and The moving body control unit sets the specified lateral threshold according to the movement mode of the opening and closing component.

9. The stopping assistance system according to claim 6 or 7, wherein, When the mobile control unit determines that an object will be present in the required area for entering and leaving the mobile body when the mobile body is in the stopped position, the mobile control unit suspends the drive process.

10. The stopping assistance system according to claim 6 or 7, wherein, When the moving body is moving, and the moving body control unit determines, based on the identification result, that no object extending beyond the predetermined longitudinal threshold in the direction of travel appears within the predetermined lateral threshold range outside the moving body, the moving body control unit continues the driving process.

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