Parking assist device

Abstract

A parking assistance device includes a control device that performs parking assistance control to automatically park a vehicle in a parking space. The control device sets a viewpoint for generating a parking space image at a point that is higher than the vehicle and located on the opposite side of the parking space relative to the vehicle. The control device also sets an angle corresponding to the parking space distance, which is the actual distance between the parking space represented by the parking space image and the vehicle, as a depression angle for generating the parking space image. The control device generates the parking space image using the set viewpoint and depression angle, displays the parking space image on a display device, and uses parking assistance control to park the vehicle in the parking space designated as the target parking space by the driver by referring to the parking space image.

Description

Technical Field

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

[0002] Parking assistance devices that perform parking assistance control for automatically parking a vehicle in a parking space are known (see, for example, Japanese Patent Application Laid-Open No. 2020-43418). One such parking assistance device is also known, which displays an image of a parking space where the vehicle can be parked using parking assistance control on a display device such as a monitor, allows the driver of the vehicle to set a target parking space with reference to the image, and automatically parks the vehicle in the driver-set target parking space using parking assistance control. Summary of the Invention

[0003] As described above, when the driver automatically parks the vehicle in a parking space using parking assist control, the driver sets the target parking space while viewing the image of the parking space displayed on the display device. Therefore, it is preferable that the image of the parking space displayed on the display device be one that allows the driver to accurately grasp the actual distance (parking space distance) between the vehicle and the parking space represented by the image.

[0004] If the driver cannot accurately grasp the parking space distance, the driver cannot set the parking space where the vehicle is desired to be parked as the target parking space. As a result, when the driver attempts to automatically park the vehicle in the parking space using parking assist control, the vehicle cannot be parked at the desired location.

[0005] An object of the present invention is to provide a parking assist device that enables a driver to more accurately grasp the distance to a parking area from an image of a parking area displayed on a display device.

[0006] A parking assistance device according to the present invention includes a control device that performs parking assistance control to automatically park a vehicle in a parking space designated by a driver of the vehicle. The parking assistance device according to the present invention further includes a display device that displays a parking space image, visually recognizable by the driver, the parking space image indicating a parking space in which the vehicle can be parked by the parking assistance control. The control device uses the parking assistance control to park the vehicle in the parking space designated as the target parking space by the driver, referring to the parking space image.

[0007] In the parking assistance device according to the present invention, the control device sets a point higher than the vehicle and located on the opposite side of the parking area relative to the vehicle as a viewpoint for generating the parking area image, and sets an angle corresponding to a parking area distance, which is the actual distance between the parking area represented by the parking area image and the vehicle, as a depression angle for generating the parking area image. The control device then generates the parking area image using the viewpoint and depression angle, displays the generated parking area image on the display device, and, through the parking assistance control, parks the vehicle in the parking area that the driver has set as the target parking area by referring to the parking area image.

[0008] According to the present invention, the driver sets a target parking zone by referring to a parking zone image displayed on a display device. Therefore, to enable the driver to set the parking zone at the desired parking location as the target parking zone, the parking zone image is preferably an image that allows the driver to accurately grasp the actual distance (parking zone distance) between the parking zone represented by the image and the vehicle. To generate a parking zone image that allows the driver to accurately grasp the parking zone distance, it is effective to set the depression angle based on the parking zone distance. This depression angle is a factor that determines the viewing style of the parking zone image. According to the present invention, the depression angle is set to an angle corresponding to the parking zone distance. Therefore, the driver can more accurately grasp the parking zone distance by viewing the parking zone image, and as a result, can set the parking zone at the desired parking location as the target parking zone.

[0009] In the parking assist device according to the present invention, for example, the control device sets a larger angle as the depression angle as the parking area distance is longer.

[0010] Generally speaking, a driver viewing a parking area image generated using a large depression angle perceives the parking area represented by the parking area image as being located far from the vehicle. According to the present invention, the depression angle is set to a larger angle as the parking area distance increases. Thus, the driver can more accurately grasp the parking area distance by viewing the parking area image.

[0011] Furthermore, in the parking assist device according to the present invention, for example, the control device sets a point located farther from the vehicle on the opposite side of the parking area as the viewpoint as the parking area distance becomes longer.

[0012] Generally speaking, when an image representing a vehicle is displayed in a parking area image, the driver can more accurately grasp the distance to the parking area by viewing the parking area image. Furthermore, the longer the parking area distance is, the more likely it is that the image representing the vehicle will be displayed in the parking area image when the viewpoint is located farther away from the parking area relative to the vehicle. According to the present invention, the longer the parking area distance is, the farther away from the parking area relative to the vehicle the viewpoint is. Therefore, the driver can more accurately grasp the distance to the parking area by viewing the parking area image.

[0013] Furthermore, in the parking assist device according to the present invention, for example, the control device sets a point at a lower position as the viewpoint as the parking area distance becomes longer.

[0014] Generally speaking, when the parking area distance is long, the image representing the vehicle is more easily displayed in the parking area image when the viewpoint is low. According to the present invention, the viewpoint is set to a lower position as the parking area distance increases. This allows the driver to more accurately grasp the parking area distance by viewing the parking area image.

[0015] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and additional advantages of the present invention will be readily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

[0017] Figure 1 It is a diagram showing a parking assistance device according to an embodiment of the present invention and a vehicle equipped with the parking assistance device.

[0018] Figure 2 This is a diagram showing parking areas and the like where vehicles are parked.

[0019] Figure 3A FIG. 1 is a diagram showing a display showing a control start operation screen. Figure 3B FIG. 1 is a diagram showing a display showing a target setting operation screen including a parking area line image, etc. Figure 3C This is a diagram showing a display on which a target adjustment operation screen including a parking area line image and the like is displayed.

[0020] Figure 4A This is a diagram showing the viewpoint and depression angle used to generate the bird's-eye view image, and the relationship between the position of the vehicle. Figure 4B This is also a diagram showing the positional relationship between the viewpoint and the vehicle.

[0021] Figure 5A FIG. 1 is a diagram showing a display showing a target setting operation screen when the distance from the vehicle to the parking area is a first distance. Figure 5B FIG. 1 is a diagram showing a display showing a target setting operation screen when the distance from the vehicle to the parking area is the second distance. Figure 5C FIG. 1 is a diagram showing a display showing a target setting operation screen when the distance from the vehicle to the parking area is the third distance. Figure 5D This is a diagram showing a display showing a target setting operation screen when the distance from the vehicle to the parking area is the fourth distance.

[0022] Figure 6 is a graph showing the target travel route.

[0023] Figure 7 It is a diagram showing a display showing an automatic driving screen.

[0024] Figure 8 This is a diagram showing a situation in which the vehicle moves forward while turning right by parking assist control.

[0025] Figure 9 This is a diagram showing a situation in which the vehicle is turning left and moving backwards by parking assist control.

[0026] Figure 10 This is a diagram showing a situation where the vehicle moves straight backwards by parking assist control.

[0027] Figure 11 1 is a diagram showing a situation when the vehicle has reached the parking completion position.

[0028] Figure 12 It is a diagram showing a display on which a registration operation screen is displayed.

[0029] Figure 13 This is a flowchart showing a routine executed by the parking assistance device according to the embodiment of the present invention.

[0030] Figure 14 This is a flowchart showing a routine executed by the parking assistance device according to the embodiment of the present invention.

[0031] Figure 15 This is a flowchart showing a routine executed by the parking assistance device according to the embodiment of the present invention.

[0032] Figure 16 This is a flowchart showing a routine executed by the parking assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0033] Hereinafter, a parking assist device according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 A parking assistance device 10 according to an embodiment of the present invention and a vehicle (own vehicle 100 ) to which the parking assistance device 10 is applied are shown.

[0034] ECU

[0035] The parking assist system 10 includes an ECU 90, a control unit that performs various controls and processes. ECU stands for Electronic Control Unit. ECU 90 primarily includes a microcomputer. The microcomputer includes a CPU, ROM, RAM, nonvolatile memory, and interfaces. The CPU executes instructions, programs, or routines stored in the ROM to implement various functions.

[0036] <Vehicle running equipment>

[0037] The vehicle 100 is equipped with a vehicle driving device 20. The vehicle driving device 20 is a device that outputs a driving force for driving the vehicle 100, a braking force for braking the vehicle 100, and a steering force for turning the vehicle 100. In this example, the vehicle driving device 20 includes a driving device 21, a braking device 22, and a steering device 23.

[0038] Drive unit

[0039] The drive device 21 is a device that outputs driving force for the vehicle 100 to travel, and is, for example, an internal combustion engine or a motor. The drive device 21 is electrically connected to the ECU 90. The ECU 90 controls the operation of the drive device 21 to control the driving force output from the drive device 21.

[0040] Braking system

[0041] The brake device 22 is a device, such as a brake device, that outputs a braking force applied to the vehicle 100 to brake the vehicle 100. The brake device 22 is electrically connected to the ECU 90. The ECU 90 controls the operation of the brake device 22 to control the braking force output from the brake device 22.

[0042] Steering

[0043] The steering device 23 is a device that outputs a steering force to be provided to the vehicle 100 for steering the vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 controls the operation of the steering device 23 to control the steering force output from the steering device 23.

[0044] <Display device>

[0045] The vehicle 100 is also equipped with a display device 30. The display device 30 is a device that displays various images and includes a display 31. In this example, the display 31 is a so-called navigation device display. The display device 30 is disposed at a location on the vehicle 100 that the driver can visually recognize.

[0046] The display device 30 is electrically connected to the ECU 90 . The ECU 90 can display various images on the display 31 of the display device 30 .

[0047] <Sensors, etc.>

[0048] The vehicle 100 is also equipped with an accelerator pedal 51 , an accelerator pedal operation amount sensor 52 , a brake pedal 53 , a brake pedal operation amount sensor 54 , a steering wheel 55 , a steering shaft 56 , a steering angle sensor 57 , a steering torque sensor 58 , a vehicle speed detection device 59 , and a peripheral information detection device 60 .

[0049] <Accelerator pedal operation amount sensor>

[0050] The accelerator pedal operation amount sensor 52 detects the operation amount of the accelerator pedal 51. The accelerator pedal operation amount sensor 52 is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 52 transmits information about the detected operation amount of the accelerator pedal 51 to the ECU 90. Based on this information, the ECU 90 obtains the operation amount of the accelerator pedal 51 as the accelerator pedal operation amount AP.

[0051] The ECU 90 calculates the required driving force (required driving torque) based on the accelerator pedal operation amount AP and the vehicle speed SPD of the vehicle 100. The required driving force is the driving force that the drive device 21 is required to output. The ECU 90 controls the operation of the drive device 21 to output the required driving force. Furthermore, when executing parking assist control (described later), the ECU 90 appropriately determines the required driving force required to propel the vehicle 100, regardless of the accelerator pedal operation amount AP and other factors, and controls the operation of the drive device 21 to output the required driving force.

[0052] <Brake pedal operation amount sensor>

[0053] The brake pedal operation amount sensor 54 detects the amount of operation on the brake pedal 53. The brake pedal operation amount sensor 54 is electrically connected to the ECU 90. The brake pedal operation amount sensor 54 transmits information about the amount of operation on the brake pedal 53 to the ECU 90. Based on this information, the ECU 90 obtains the amount of operation on the brake pedal 53 as the brake pedal operation amount BP.

[0054] The ECU 90 calculates the required braking force (required braking torque) from the brake pedal operation amount BP. The required braking force is the braking force that the brake device 22 is required to output. The ECU 90 controls the operation of the brake device 22 to output the required braking force. Furthermore, when executing parking assist control, which will be described later, the ECU 90 appropriately determines the required braking force required to brake the vehicle 100, regardless of the brake pedal operation amount BP and other factors, and controls the operation of the brake device 22 to output the required braking force.

[0055] Steering angle sensor

[0056] The steering angle sensor 57 detects the rotation angle of the steering shaft 56 relative to the neutral position. The steering angle sensor 57 is electrically connected to the ECU 90. The steering angle sensor 57 transmits information about the detected rotation angle of the steering shaft 56 to the ECU 90. Based on this information, the ECU 90 obtains the rotation angle of the steering shaft 56 as the steering angle θs.

[0057] Steering torque sensor

[0058] The steering torque sensor 58 detects the torque inputted by the driver to the steering shaft 56 via the steering wheel 55. The steering torque sensor 58 is electrically connected to the ECU 90. The steering torque sensor 58 transmits information on the detected torque to the ECU 90. Based on this information, the ECU 90 obtains the torque inputted by the driver to the steering shaft 56 via the steering wheel 55 as the driver input torque TQ_D.

[0059] <Vehicle speed detection device>

[0060] The vehicle speed detection device 59 detects the speed of the vehicle 100 and is, for example, a wheel speed sensor. The vehicle speed detection device 59 is electrically connected to the ECU 90. The vehicle speed detection device 59 transmits information about the detected speed of the vehicle 100 to the ECU 90. Based on this information, the ECU 90 obtains the vehicle speed SPD of the vehicle 100.

[0061] The ECU 90 calculates the torque (assistive steering torque TQ_A) applied to the steering shaft 56 from the steering device 23 based on the acquired steering angle θs, the driver input torque TQ_D, and the vehicle speed SPD. The assistive steering torque TQ_A is the torque applied to the steering shaft 56 to assist the driver's steering operation of the steering wheel 55. The ECU 90 controls the operation of the steering device 23 so that the assistive steering torque TQ_A is output from the steering device 23. Furthermore, when executing parking assist control (described later), the ECU 90 appropriately determines the required steering force required to steer the vehicle 100, regardless of the steering angle θs and other factors, and controls the operation of the steering device 23 so that this required steering force is output.

[0062] <Surrounding Information Detection Device>

[0063] The surrounding information detection device 60 detects information about the surroundings of the own vehicle 100 and is composed of, for example, a camera, a radar sensor (millimeter wave radar, etc.), an ultrasonic sensor (clearance sonar), and a laser radar (LiDAR).

[0064] The surrounding information detection device 60 is electrically connected to the ECU 90. The surrounding information detection device 60 transmits detected information about the surroundings of the vehicle 100 (surrounding information I_S) to the ECU 90. The ECU 90 can use the surrounding information I_S to identify objects and ground-level demarcation lines around the vehicle 100 and further determine the positional relationship between the identified objects and the vehicle 100. Objects include people, walls, pillars, bicycles, and other vehicles.

[0065] <Overview of Parking Assist System Operation>

[0066] Next, the operation of the parking assistance device 10 will be briefly described. The parking assistance device 10 is configured to execute parking assistance control. Parking assistance control is a control that automatically causes the vehicle 100 to park in a parking space designated by the driver, without requiring the driver to operate the accelerator pedal 51, the brake pedal 53, or the steering wheel 55.

[0067] <Control start operation screen>

[0068] like Figure 2 As shown, the parking assist device 10 is configured to park in a parking lot 200 (in the side of the parking lot 200) when the vehicle 100 is to be parked. Figure 2 In the example shown, when there is a parking lot 200 on the left side of the vehicle 100, as shown in FIG. Figure 3A As shown, the control start operation screen 311 is displayed on the display 31. Figure 2, reference numeral 202 denotes a fence adjacent to the parking lot 200 , and reference numeral 203 denotes a building adjacent to the parking lot 200 .

[0069] The control start operation screen 311 includes a control start button image 411. The control start button image 411 is an image corresponding to a parking assist switch that is touched and operated by the driver to cause the parking assist device 10 to start parking assist control.

[0070] Furthermore, the vehicle 100 may be equipped with a parking assistance operator that is operated by the driver to initiate parking assistance control in the parking assistance device 10. The parking assistance operator is composed of various buttons and switches. The parking assistance operator is provided, for example, on the steering wheel of the vehicle 100 or on a lever attached to the steering column of the vehicle 100.

[0071] When a touch operation is applied to the control start button image 411 , the parking assist device 10 determines that execution of the parking assist control has been requested, and starts the parking assist control.

[0072] Parking Assist Control

[0073] When the parking assist control is started, the parking assist device 10 determines whether the parking lot 200 located to the side of the host vehicle 100 is a parking lot registered in the parking assist device 10 (registered parking lot 200 reg ).

[0074] When the parking assist device 10 determines that the parking lot 200 located to the side of the host vehicle 100 is the registered parking lot 200reg, the parking assist device 10 estimates and obtains the actual distance (parking area distance D201) between the parking area 201 registered in association with the registered parking lot 200reg (registered parking area 201reg) and the host vehicle 100 based on the surrounding information I_S.

[0075] On the other hand, when the parking assistance device 10 determines that the parking lot 200 located to the side of the host vehicle 100 is not a registered parking lot 200reg, it obtains a parking area candidate 201can based on the surrounding information I_S. The parking area candidate 201can is a candidate for a parking area 201 within the parking lot 200 in which the host vehicle 100 can park. Furthermore, the parking area 201 is a area within the parking lot 200 in which the host vehicle 100 can park.

[0076] When acquiring the parking area candidate 201can, the parking assistance device 10 estimates and acquires the actual distance (parking area distance D201) between the parking area candidate 201can and the host vehicle 100 based on the surrounding information I_S.

[0077] <Target setting operation screen>

[0078] When the parking assist device 10 obtains the parking area distance D201, Figure 3B As shown, a target setting operation screen 312 is displayed on the display 31. The target setting operation screen 312 includes an overhead image 420, a parking area dividing line image (parking area dividing image) 430, a distance image 440, a target adjustment button image 412, and an automatic driving start button image 413.

[0079] Bird's-eye view image 420 is generated by synthesizing image data captured by the camera of surrounding information detection device 60 (camera image data I_C) to represent the conditions within parking lot 200 as viewed from obliquely above the vehicle 100 (details will be described later). Therefore, it includes not only an image of parking lot 200 but also an image of the vehicle. While the image of the vehicle shown in bird's-eye view image 420 may be an actual image of the vehicle 100, in this example, it is an image previously prepared and stored in parking assistance device 10 as an image of the vehicle.

[0080] The parking area dividing line image 430 is an image (registered parking area dividing line image) representing the parking area 201 registered in association with the registered parking lot 200reg when the parking lot 200 existing on the side of the own vehicle 100 is the registered parking lot 200reg; and is an image (parking area dividing line image) representing the obtained parking area candidate 201can when the parking lot 200 existing on the side of the own vehicle 100 is not the registered parking lot 200reg.

[0081] The distance image 440 is an image indicating the parking area distance D201, and in this example is an image obtained by combining an arrow image extending between the image indicating the vehicle and the parking area dividing line image 430, and a number indicating the parking area distance D201.

[0082] The target adjustment button image 412 is an image corresponding to a target adjustment button that is touched by the driver to display the target setting operation screen 312 for adjusting the position of the parking area 201 (target parking area 201tgt) where the vehicle 100 is to be parked by parking assist control.

[0083] The automatic driving start button image 413 is an image equivalent to the automatic driving start button, which is a button touched by the driver to set the parking area 201 (target parking area 201tgt) where the own vehicle 100 is to be parked through parking assist control, and to start the automatic driving of the own vehicle 100 to park the own vehicle 100 in the target parking area 201tgt.

[0084] In target setting operation screen 312, bird's-eye view image 420 is displayed in left area 31L of display 31, and parking area line image 430 and distance image 440 are superimposed on bird's-eye view image 420. Target adjustment button image 412 and automatic driving start button image 413 are displayed in right area 31R of display 31.

[0085] When a touch operation is applied to the target adjustment button image 412, as shown in FIG. Figure 3C As shown, the parking assist device 10 displays a target adjustment operation screen 313 on the display 31. The target adjustment operation screen 313 includes a bird's-eye view image 420, a parking area dividing line image (parking area dividing image) 430, a distance image 440, a move button image 450, an angle adjustment button image 460, and an automatic driving start button image 413.

[0086] The move button image 450 includes an upward move button image 451 , a downward move button image 452 , a left move button image 453 , and a right move button image 454 .

[0087] Upward movement button image 451 is an image that the driver touches to move parking area line image 430 upward on display 31. Downward movement button image 452 is an image that the driver touches to move parking area line image 430 downward on display 31. Leftward movement button image 453 is an image that the driver touches to move parking area line image 430 leftward on display 31. Rightward movement button image 454 is an image that the driver touches to move parking area line image 430 rightward on display 31.

[0088] The angle adjustment button image 460 includes a left turn angle adjustment button image 462 and a right turn angle adjustment button image 461 .

[0089] Left turn angle adjustment button image 462 is an image that the driver touches to rotate parking area line image 430 to the left on display 31. Right turn angle adjustment button image 461 is an image that the driver touches to rotate parking area line image 430 to the right on display 31.

[0090] In the target adjustment operation screen 313, an overhead image 420 is displayed in the left area 31L of the display 31. A parking area line image 430 and a distance image 440 are displayed superimposed on the overhead image 420. A move button image 450, an angle adjustment button image 460, and an automatic driving start button image 413 are displayed in the right area 31R of the display 31.

[0091] Adjustment of the target parking area location

[0092] Before the driver touches automatic driving start button image 413, he or she can touch move button image 450 to move parking area line image 430 up, down, left, and right on display 31. Furthermore, the driver can touch angle adjustment button image 460 to rotate parking area line image 430 left or right on display 31. By moving or rotating parking area line image 430 on display 31, the driver can change the position of parking area 201 where vehicle 100 is to be parked to a desired position.

[0093] <Generation of Bird's-Eye Image>

[0094] When parking area marking image 430 and bird's-eye view image 420 are displayed superimposed on display 31, bird's-eye view image 420 and parking area marking image 430 are significantly different from what the driver actually perceives through visual recognition. Therefore, simply by viewing display 31, the driver will have difficulty understanding the actual distance between parking area 201 displayed on display 31 and vehicle 100.

[0095] The target adjustment operation screen 313 is a screen for setting the parking area 201 (target parking area 201tgt) where the driver will automatically park his own vehicle 100 through parking assist control in the future, and the driver touches the move button image 450 and the angle adjustment button image 460 to adjust the position of the parking area dividing line image 430 on the display 31 to the desired position. Therefore, the overhead image 420 and the parking area dividing line image 430 are expected to be images that enable the driver who views those overhead images 420 and the parking area dividing line image 430 to accurately grasp the actual distance between the parking area 201 and his own vehicle 100.

[0096] Then, the parking assist device 10 displays the bird's-eye view image 420 and the parking area dividing line image 430 that are different according to the estimated parking area distance D201 on the display 31 .

[0097] Specifically, if Figure 4A and Figure 4BAs shown, the parking assistance device 10 sets a point higher than the vehicle 100 and located on the opposite side of the parking area 201 relative to the vehicle 100 as the viewpoint Pv for generating the bird's-eye view image 420. In this example, the viewpoint Pv is the intersection of the vertical plane Py, the vertical plane Pxy, and the horizontal plane Pz.

[0098] Vertical plane Py is a plane extending in the vertical direction that bisects the host vehicle 100 in the front-back direction. Vertical plane Pxy is a plane extending in the vertical direction at a predetermined distance Dv from vertical plane Px, which bisects the host vehicle 100 in the left-right direction, toward the side of the host vehicle 100 opposite the parking lot 200. Horizontal plane Pz is a plane extending in the horizontal direction that is vertically above the ground G by a predetermined height Hv.

[0099] The parking assistance device 10 generates an overhead image 420 and a parking area marking line image 430 based on the camera image data I_C, etc. The overhead image 420 and the parking area marking line image 430 are images that reflect a predetermined range Rv, which is an area with the axis (viewpoint axis Av) extending from the viewpoint Pv to the parking lot 200 at a predetermined depression angle θd relative to the vertical plane Pxy as the center axis.

[0100] Furthermore, the parking assist device 10 sets an angle corresponding to the parking space distance D201 as the depression angle θd used to generate the bird's-eye view image 420. More specifically, the longer the parking space distance D201 is, the larger the depression angle θd is set by the parking assist device 10.

[0101] In addition, the longer the parking area distance D201 is, the larger the angle that the parking assistance device 10 sets as the depression angle θd, and the longer the parking area distance D201 is, the farther point on the opposite side of the parking area 201 relative to the own vehicle 100 (that is, the point where the predetermined distance Dv is long) is set as the viewpoint Pv. It can also be constructed so that on this basis or instead, the longer the parking area distance D201 is, the lower the point (that is, the point where the predetermined height Hv is low) is set as the viewpoint Pv.

[0102] The parking assist device 10 generates the bird's-eye view image 420 using the set viewpoint Pv and depression angle θd.

[0103] For example, when the parking area distance D201 is a certain distance (first distance D1), the parking assist device 10 sets the angle (first angle θ1) corresponding to the first distance D1 as the depression angle θd, and generates the bird's-eye view image 420 and the parking area line image 430. In this case, the display on the display 31 becomes Figure 5A The display shown.

[0104] Furthermore, when the parking area distance D201 is longer than the first distance D1 (second distance D2), the parking assist device 10 sets the angle corresponding to the second distance D2 (second angle θ2) as the depression angle θd, and generates the bird's-eye view image 420 and the parking area line image 430. In this case, the display on the display 31 becomes Figure 5B The display shown.

[0105] Furthermore, when the parking area distance D201 is longer than the second distance D2 (third distance D3), the parking assist device 10 sets the angle corresponding to the third distance D3 (third angle θ3) as the depression angle θd, and generates the bird's-eye view image 420 and the parking area line image 430. In this case, the display on the display 31 becomes Figure 5C The display shown.

[0106] Furthermore, when the parking area distance D201 is longer than the third distance D3 (fourth distance D4), the parking assist device 10 sets the angle corresponding to the fourth distance D4 (fourth angle θ4) as the depression angle θd, and generates the bird's-eye view image 420 and the parking area line image 430. In this case, the display on the display 31 becomes Figure 5D The display shown.

[0107] <Setting of target parking areas>

[0108] When a touch operation is applied to the automatic driving start button image 413 , the parking assist device 10 sets the parking area 201 corresponding to the position of the parking area dividing line image 430 at that time on the display 31 as the target parking area 201 tgt .

[0109] <Setting the target driving route>

[0110] When the parking assist device 10 sets the target parking area 201tgt, Figure 6 As shown, the driving route (target driving route Rtgt) of the own vehicle 100 for parking the own vehicle 100 in the target parking area 201tgt is set based on the surrounding information I_S. In this example, the end point of the target driving route Rtgt is the center position Ptgt (parking completion position Pend) of the target parking area 201tgt.

[0111] <Auto-driving screen>

[0112] In addition, when a touch operation is applied to the automatic driving start button image 413, as shown in FIG. Figure 7As shown, the parking assist device 10 displays an automatic driving screen 314 on the display 31 and starts automatic driving of the vehicle 100. The automatic driving screen 314 includes a bird's-eye view image 420, a parking area line image 430, a vehicle bird's-eye view image 471, and a target parking area bird's-eye view image 472.

[0113] The vehicle overhead image 471 shows the own vehicle 100 when viewed from vertically above. The target parking area overhead image 472 shows the target parking area 201tgt when viewed from vertically above the surroundings of the own vehicle 100.

[0114] In the automatic driving screen 314, a bird's-eye view image 420 is displayed in the left area 31L of the display 31, and a parking area dividing line image 430 is displayed overlapping the bird's-eye view image 420. Furthermore, a vehicle bird's-eye view image 471 and a target parking area bird's-eye view image 472 are displayed in the right area 31R of the display 31. Target parking area bird's-eye view image 472 is displayed to the left of the vehicle bird's-eye view image 471 when the target parking area 201tgt is on the left side of the vehicle 100, and to the right of the vehicle bird's-eye view image 471 when the target parking area 201tgt is on the right side of the vehicle 100.

[0115] Automatic driving

[0116] When the parking assist device 10 starts the automatic driving of the own vehicle 100, the own vehicle 100 is driven along the target driving route Rtgt. For example, when the target parking area 201tgt is located on the left side of the own vehicle 100, first, Figure 8 As shown in FIG. 1 , the parking assist device 10 causes the vehicle 100 to move forward while turning right, and stops the vehicle 100 when the vehicle has moved forward a predetermined distance. Figure 9 As shown, the parking assist device 10 causes the vehicle 100 to turn left and back up, gradually reducing the steering angle θs, and steering the vehicle 100 so that the steering angle θs becomes zero when the front-rear direction of the vehicle 100 becomes parallel to the longitudinal direction of the target parking area 201tgt. Figure 10 As shown, the parking assist device 10 causes the host vehicle 100 to move straight backward.

[0117] like Figure 11 As shown, when the center position P100 of the vehicle 100 reaches the parking completion position Pend, the parking assist device 10 stops supplying driving force to the vehicle 100 and applies braking force to the vehicle 100 to stop the vehicle 100. Parking of the vehicle 100 is thereby completed.

[0118] <Registration operation screen>

[0119] When the parking of the own vehicle 100 to the target parking area 201tgt is completed, the parking assist device 10 Figure 12 As shown, a registration operation screen 315 is displayed on the display 31. The registration operation screen 315 includes a vehicle overhead view image 471, a target parking area overhead view image 472, a registration button image 414, a move button image 450, and an angle adjustment button image 460.

[0120] The registration button image 414 is an image corresponding to a registration button that is touched by the driver to register the parking area 201 where the vehicle 100 is currently parked as the registered parking area 201 reg.

[0121] In the registration operation screen 315 , a vehicle bird's-eye view image 471 and a target parking area bird's-eye view image 472 are displayed in the left area 31L of the display 31 . Furthermore, a registration button image 414 , a move button image 450 , and an angle adjustment button image 460 are displayed in the right area 31R of the display 31 .

[0122] Adjustments to the location of registered parking areas

[0123] Before the driver touches register button image 414, he or she can touch move button image 450 to move target parking area overhead image 472 up, down, left, and right on display 31. Furthermore, the driver can touch angle adjustment button image 460 to rotate target parking area overhead image 472 left or right on display 31. By moving or rotating target parking area overhead image 472 on display 31, the driver can change the position of registered parking area 201 to a desired position.

[0124] <Parking lot registration>

[0125] When a touch operation is applied to the registration button image 414, the parking assistance device 10 registers (stores, saves) the information of the parking lot 200 where the own vehicle 100 is parked in the non-volatile memory, and, in association with the information of the parking lot 200, registers (stores, saves) the information of the parking area 201 corresponding to the position of the target parking area overhead image 472 on the display 31 at that time in the non-volatile memory, thereby ending the parking assistance control.

[0126] Effects

[0127] The above is an overview of the operation of the parking assistance device 10. To generate a bird's-eye view image 420 that allows the driver to accurately grasp the parking space distance D201, it is effective to set the depression angle θd based on the parking space distance D201. This depression angle θd is a factor that determines the viewing style of the bird's-eye view image 420. In the parking assistance device 10, the depression angle θd is set to an angle corresponding to the parking space distance D201. Therefore, the driver can more accurately grasp the parking space distance D201 by viewing the bird's-eye view image 420. As a result, the driver can set the parking space 201 at the desired parking location for the vehicle 100 as the target parking space 201tgt.

[0128] In the above, the parking assistance control performed by the parking assistance device 10 is described using an example in which the own vehicle 100 backs up and stops in the parking area 201 when the parking area 201 exists on the left side of the own vehicle 100. However, the parking assistance control can also cause the own vehicle 100 to back up and stop in the parking area 201 when the parking area 201 exists on the right side of the own vehicle 100, or to move the own vehicle 100 forward and stop in the parking area 201 when the parking area 201 exists on the left side of the own vehicle 100, or to move the own vehicle 100 forward and stop in the parking area 201 when the parking area 201 exists on the right side of the own vehicle 100.

[0129] Furthermore, the parking assist control can cause the own vehicle 100 to back up and park in the parking area 201 when the parking area 201 exists behind the own vehicle 100, or it can cause the own vehicle 100 to move forward and park in the parking area 201 when the parking area 201 exists in front of the own vehicle 100.

[0130] Furthermore, the parking assist control can move the own vehicle 100 forward and park in the parking area 201 when the parking area 201 exists behind the own vehicle 100, or can move the own vehicle 100 backward and park in the parking area 201 when the parking area 201 exists in front of the own vehicle 100.

[0131] <Specific Operation of Vehicle Parking Assist System>

[0132] Next, the specific operation of the parking assist device 10 will be described. The CPU of the ECU 90 of the parking assist device 10 is configured to execute the operation in a predetermined calculation cycle. Figure 13 The routine shown.

[0133] Therefore, when a predetermined timing is reached, the CPU starts processing from step 1300 and proceeds to step 1305, where it determines whether the value of the control start flag X1 is "0." The value of the control start flag X1 is set to "1" when the vehicle 100 is parked to the side of the parking lot 200, and is set to "0" when the parking lot 200 is registered in the parking assistance device 10.

[0134] If the CPU determines “YES” at step 1305 , the process proceeds to step 1310 to determine whether the vehicle 100 is parked to the side of the parking lot 200 .

[0135] If the CPU determines "yes" in step 1310, the process proceeds to step 1315, where the control start operation screen 311 is displayed on the display 31. Next, the CPU proceeds to step 1320, where the value of the control start flag X1 is set to "1." Next, the CPU proceeds to step 1325, where the value of the control start operation screen display flag X2 is set to "1." Thus, the control start operation screen display flag X2 is set to "1" when the control start operation screen 311 is displayed on the display 31, and is set to "0" when the control start button image 411 is touched. Next, the CPU proceeds to step 1335.

[0136] On the other hand, when the CPU makes a "No" determination at step 1305 or step 1310, the CPU advances the process to step 1330 to determine whether the value of the control start operation screen display flag X2 is "1".

[0137] If the CPU determines “YES” at step 1330 , it proceeds to step 1335 .

[0138] When the CPU advances the process to step 1335 , it determines whether a touch operation has been performed on control start button image 411 .

[0139] If the CPU determines "YES" in step 1335, the process proceeds to step 1340, where it sets the value of the control start operation screen display flag X2 to "0." Next, the CPU proceeds to step 1345, where it sets the value of the target setting operation screen display request flag X3 to "1." Thus, the value of the target setting operation screen display request flag X3 is set to "1" when the control start button image 411 is touched, and is set to "0" when the target parking zone 201tgt is set. Next, the CPU proceeds to step 1395, temporarily terminating this routine.

[0140] On the other hand, when the CPU makes a "No" determination at step 1335, the CPU directly proceeds to step 1395 and temporarily ends this routine.

[0141] Furthermore, when the CPU makes a "No" determination at step 1330, the CPU directly proceeds to step 1395 and temporarily terminates this routine.

[0142] Furthermore, the CPU is executed in a predetermined operation cycle Figure 14 Therefore, when the predetermined timing is reached, the CPU starts Figure 14 The process starts at step 1400 and proceeds to step 1405 to determine whether the value of the target setting operation screen display request flag X3 is "1".

[0143] If the CPU determines "yes" in step 1405, the process proceeds to step 1410 to determine whether the value of the target setting operation screen display flag X4 is "0." The value of the target setting operation screen display flag X4 is set to "1" when the target setting operation screen 312 is displayed on the display 31, and is set to "0" when the target parking zone 201tgt is set.

[0144] If the CPU determines "yes" in step 1410, the process proceeds to step 1415. If the parking lot 200 located to the side of the vehicle 100 is a registered parking lot 200reg, the CPU estimates and obtains the distance to the registered parking area 201reg as the parking area distance D201. If the parking lot 200 located to the side of the vehicle 100 is not a registered parking lot 200reg, the CPU estimates and obtains the distance to the candidate parking area 201can as the parking area distance D201. Next, the CPU proceeds to step 1420, where the target setting operation screen 312 including at least the parking area dividing line image 430 is displayed on the display 31. Next, the CPU proceeds to step 1425, where the target setting operation screen display flag X4 is set to "1." Next, when the CPU proceeds to step 1430, it determines whether a touch operation has been performed on the target adjustment button image 412.

[0145] If the CPU determines “YES” at step 1430 , the CPU advances the process to step 1435 , and displays the target adjustment operation screen 313 on the display 31 . Next, the CPU advances the process to step 1440 .

[0146] On the other hand, when the CPU makes a “No” determination at step 1430 , the CPU directly proceeds to step 1440 .

[0147] When the CPU advances the processing to step 1440 , it determines whether a touch operation has been performed on the automatic driving start button image 413 .

[0148] If the CPU determines "YES" in step 1440, the process proceeds to step 1445, where the target parking area 201tgt and the target driving route Rtgt are set. The CPU then proceeds to step 1450, where the target setting operation screen display request flag X3 is set to "0." The CPU then proceeds to step 1455, where the target setting operation screen display flag X4 is set to "0." The CPU then proceeds to step 1460, where the automatic driving start request flag X5 is set to "1." Thus, the automatic driving start request flag X5 is set to "1" when a touch operation is applied to the automatic driving start button image 413, and is set to "0" when the vehicle 100 has completed parking in the target parking area 201tgt. The CPU then proceeds to step 1495, temporarily terminating this routine.

[0149] On the other hand, when the CPU makes a "No" determination at step 1440, the CPU directly proceeds to step 1495 and temporarily ends this routine.

[0150] Furthermore, when the CPU makes a "No" determination at step 1405, the CPU directly proceeds to step 1495 and temporarily ends this routine.

[0151] Furthermore, the CPU is executed in a predetermined operation cycle Figure 15 Therefore, when the predetermined timing is reached, the CPU starts Figure 15 The process starts at step 1500 and proceeds to step 1505 to determine whether the value of the automatic travel start request flag X5 is "1".

[0152] If the CPU determines "yes" in step 1505, the process proceeds to step 1510, where the automatic driving screen 314 is displayed on the display 31. The CPU then proceeds to step 1515, where it controls the operation of the vehicle driving device 20 so that the vehicle 100 travels along the target driving route Rtgt. The CPU then proceeds to step 1520, where it determines whether the vehicle 100 has completed parking in the target parking area 201tgt.

[0153] If the CPU determines "yes" in step 1520, the process proceeds to step 1525, where the value of the registration operation screen display request flag X6 is set to "1." Thus, the value of the registration operation screen display request flag X6 is set to "1" when the vehicle 100 has completed parking in the target parking area 201tgt, and is set to "0" when the information of the parking area 201 in which the vehicle 100 is parked is registered in the non-volatile memory. Next, the CPU proceeds to step 1530, where the value of the automatic driving start request flag X5 is set to "0." The CPU then proceeds to step 1595, temporarily terminating this routine.

[0154] On the other hand, when the CPU makes a "No" determination at step 1520, the CPU directly proceeds to step 1595 and temporarily ends this routine.

[0155] Furthermore, when the CPU makes a "No" determination at step 1505, the CPU directly proceeds to step 1595 and temporarily terminates this routine.

[0156] Furthermore, the CPU is executed in a predetermined operation cycle Figure 16 Therefore, when the predetermined timing is reached, the CPU starts Figure 16 The process starts at step 1600 and proceeds to step 1605 to determine whether the value of the registration operation screen display request flag X6 is "1".

[0157] If the CPU determines "yes" in step 1605, the process proceeds to step 1610 to determine whether the value of the registration operation screen display flag X7 is "0." The value of the registration operation screen display flag X7 is set to "1" when the registration operation screen 315 is displayed on the display 31, and is set to "0" when the parking area 201 where the vehicle 100 is parked is registered in the non-volatile memory.

[0158] If the CPU determines "yes" in step 1610, the process proceeds to step 1615, where the registration operation screen 315 is displayed on the display 31. The CPU then proceeds to step 1620, where the value of the registration operation screen display flag X7 is set to "1." The CPU then proceeds to step 1625.

[0159] On the other hand, when the CPU makes a “No” determination at step 1610 , the CPU directly proceeds to step 1625 .

[0160] When the CPU advances the process to step 1625 , it determines whether a touch operation has been performed on the registration button image 414 .

[0161] If the CPU determines "YES" in step 1625, the process proceeds to step 1630, where the information about the parking area 201 where the vehicle 100 is parked is registered in the non-volatile memory. The CPU then proceeds to step 1635, where the value of the registration operation screen display request flag X6 is set to "0." The CPU then proceeds to step 1640, where the value of the registration operation screen display flag X7 is set to "0." The CPU then proceeds to step 1645, where the value of the control start flag X1 is set to "0." The CPU then proceeds to step 1695, where this routine is temporarily terminated.

[0162] On the other hand, when the CPU makes a "No" determination at step 1625, the CPU directly proceeds to step 1695 and temporarily ends this routine.

[0163] Furthermore, when the CPU makes a "No" determination at step 1605, the CPU directly proceeds to step 1695 and temporarily ends this routine.

[0164] The above is the specific operation of the parking assist device 10 .

[0165] In addition, the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

Claims

1. A parking assist device comprising a control device for executing parking assist control for automatically parking a vehicle in a parking space designated by a driver of the vehicle. The parking assist device includes a display device that displays a parking area image so that the driver can visually recognize the parking area image, the parking area image indicating a parking area where the vehicle can be parked by the parking assist control. The control device is composed of: A point higher than the vehicle and located on the opposite side of the parking area relative to the vehicle is set as a viewpoint for generating the parking area image. An angle corresponding to a parking area distance is set as a depression angle for generating the parking area image. The parking area distance is the actual distance between the parking area represented by the parking area image and the vehicle, and the parking area distance is estimated based on information about the surroundings of the vehicle detected by a surrounding information detection device composed of a camera, a radar sensor, an ultrasonic sensor, and a laser radar. generating the parking area image using the viewpoint and the depression angle, causing the generated parking area division image to be displayed on the display device, The parking assist control is used to park the vehicle in a parking area that is set as a target parking area by the driver with reference to the parking area image. The control device is configured to set a larger angle as the depression angle as the parking area distance is longer.

2. The parking assist device according to claim 1, The control device is configured to set a point located farther from the vehicle on the opposite side of the parking area as the parking area distance increases.

3. The parking assist device according to claim 1 or 2, The control device is configured to set a point at a lower position as the viewpoint as the parking area distance becomes longer.

Images