Parking control device

Abstract

A parking control device has a control unit capable of performing a reverse parking assistance control based on environmental information. The control unit, upon detecting a parking space, determines whether a specific condition established in a case where a width of the parking space is relatively narrow is established, and in a case where the specific condition is established, performs a guidance control based on the environmental information as the reverse parking assistance control, the guidance control being a control that moves the vehicle from a current position to a front position of the parking space, that is, a target guidance position, so that the vehicle is parked at the target guidance position in a posture in which a front-rear axis of the vehicle becomes parallel to a length direction of the parking space, a width thereof is included in a width of the parking space in a case of viewing the vehicle from the front, and a rear end portion of the vehicle is closer to the parking space than a front end portion. Thus, without introducing a camera device and a stereo object information acquisition device having higher detection accuracy, it is possible to significantly reduce a burden on a driver when parking the vehicle in a reverse direction to a parking space having a relatively narrow width.

Description

TECHNICAL FIELD

[0001] The present application relates to a parking control device capable of performing parking control including reverse parking assist control that assists a driver of a vehicle in reverse parking the vehicle into a parking space. BACKGROUND

[0002] Hitherto, a parking control device mounted on a vehicle that is capable of detecting a parking space (a space having a shape and size in which a vehicle can be parked) based on environmental information acquired from an environmental sensor such as a photographing device (typically, a camera sensor) and a stereoscopic object information acquisition device (typically, a clearance sonar), and performing parking control including control that causes the vehicle to be reverse parked into the detected parking space is known. When the parking control device detects a parking space, it calculates a movement path from the current position to the target parking position based on the environmental information and causes the vehicle to move along the movement path.

[0003] Generally, the detection accuracy of the environmental sensor is not so high. Therefore, in the case of a parking space that is relatively narrow in width (for example, a parking space in a mechanical parking lot), it is possible that the vehicle will not be properly parked in the parking space due to the deviation in the detection accuracy of the sensor. Therefore, the parking control device is configured not to perform parking control in the case where the width of the detected parking space is relatively narrow, although a parking space is detected (for example, refer to Patent Document 1).

[0004] PRIOR ART DOCUMENTS

[0005] Patent Document 1: Japanese Patent Application Publication No. 2008-207726 SUMMARY

[0006] However, in the case where the driver parks a vehicle into a parking space that is relatively narrow in width by the driver's own parking operation, the driver needs to carefully perform the parking operation in order to move the vehicle to the parking space without contacting surrounding obstacles, and feels a large burden on a series of operations. In view of the fact that parking control is developed with the purpose of reducing or eliminating the burden of the driver's parking operation, it is desirable that the parking operation into such a parking space that is relatively narrow in width be assisted by some kind of parking control.

[0007] The present application is made in order to address the above-described problems. That is, one of the objects of the present application is to provide a parking control device that is capable of greatly reducing the burden on a driver when reverse parking a vehicle into a parking space that is relatively narrow in width without introducing a photographing device and a stereoscopic object information acquisition device that have higher detection accuracy.

[0008] The parking control device (hereinafter referred to as "the device of the present application") according to the present application includes:

[0009] The camera device (11) takes pictures of the area around the vehicle;

[0010] A three-dimensional object information acquisition device (12) acquires information about three-dimensional objects existing around the vehicle as three-dimensional object information; and

[0011] The control unit (10) is capable of detecting parking spaces (30, 50, 60) based on environmental information including image information and the stereoscopic object information, and performing parking control including reversing parking assist control. The image information includes image data obtained by the shooting device (11). The parking space is a space with a shape and size in which the vehicle can park. The reversing parking assist control is a control that assists the driver of the vehicle in reversing the vehicle into the detected parking space (30, 50, 60).

[0012] The control unit (10) is configured as follows:

[0013] If a parking space (30, 50, 60) is detected, determine whether a specific condition is met (steps 1310, 1320, 1430). This specific condition is met if the width (w) of the parking space is relatively narrow.

[0014] If the specific conditions are met (step 1310: Yes, step 1320: Yes, step 1430: Yes), based on the environmental information, guidance control is executed as the reversing parking assistance control. The guidance control is to move the vehicle from the current position to the target guidance position (Pg) so that the vehicle stops at the target guidance position (Pg) in the following posture: the target guidance position is the position in front of the detected parking space (30, 60), and the posture is that the front and rear axles of the vehicle are parallel to the length direction of the detected parking space (30, 60), the width of the vehicle is included in the width of the detected parking space when viewed from the front, and the rear end of the vehicle is closer to the detected parking space than the front end.

[0015] In the device of the application, in a case where a parking space is detected on the basis of the environmental information, it is determined whether or not a specific condition (a condition that is established in a case where the width of the parking space is narrow) is established. In a case where it is determined that the specific condition is established, guidance control for moving the vehicle from the current position to a target guidance position (a position in front of the parking space) is executed as the reverse parking assist control. By the guidance control, the vehicle is parked at the target guidance position in a posture in which the front and rear axes thereof are parallel to the length direction of the parking space, the width thereof is contained in the width of the parking space in a case where the vehicle is viewed in the front, and the rear end portion of the vehicle is closer to the parking space than the front end portion. Therefore, the driver can park the vehicle in the parking space by simply making a slight adjustment to the posture of the vehicle by steering operation while making the vehicle retreat. In this way, in a case where the width of the detected parking space is narrow, the device of the application does not execute parking control, but executes guidance control for moving the vehicle to a position (i.e., the target guidance position) at which the driver can park the vehicle by simply performing a parking operation, as the reverse parking assist control. Thus, without introducing a photographing device and a stereo object information acquisition device having higher detection accuracy, the burden on the driver when parking the vehicle in a parking space having a narrow width can be greatly reduced.

[0016] In one aspect of the application,

[0017] The control unit (10) is configured to, in a case where it is determined that the specific condition is not established (step 1320: No, step 1430: No), execute control for moving the vehicle from the current position to a target parking position (Pp) that is a position within the detected parking space (50) on the basis of the environmental information, as the parking control.

[0018] In a case where the width of the parking space is wide, the vehicle can be appropriately moved to the target parking position (a position within the parking space) by the parking control even if the detection accuracy of the photographing device and the stereo object information acquisition device is not so high. In this way, by switching the type of parking control on the basis of whether or not the specific condition is established, appropriate parking control corresponding to the width of the parking space can be executed.

[0019] In one aspect of the application,

[0020] The control unit (10) is configured to:

[0021] The control unit (10) is configured to:

[0022] In a case where it is determined that the detected parking space is a mechanical parking space (step 1310: Yes), it is determined that the specific condition is established.

[0023] Generally, mechanical parking lots typically have narrow parking spaces and are surrounded by obstacles such as pillars. According to the device of the present invention, guidance control is performed when the detected parking space is a mechanical parking space, thus significantly reducing the driver's workload when reversing into that space.

[0024] In one aspect of the invention,

[0025] The control unit (10) is configured as follows:

[0026] If it is determined that the detected parking spaces (30, 50, 60) are not mechanical parking spaces (step 1310: No), at least based on the image information, it is determined whether the width (w) of the detected parking spaces (50, 60) is below a predetermined width threshold (wth) (step 1320).

[0027] If it is determined that the width of the detected parking space is below the width threshold (step 1320: yes), the specific condition is determined to be met.

[0028] According to this configuration, even if the detected parking space is not a mechanical parking space, guidance control is still performed if the width of the parking space is below the width threshold. Therefore, the burden on the driver when reversing the vehicle into the parking space can be greatly reduced.

[0029] In one aspect of the invention,

[0030] It also features a display screen (25a).

[0031] The control unit (10) is configured as follows:

[0032] During the period when the vehicle is reversing at a speed below a predetermined speed threshold, a rear image containing the rear region of the vehicle is generated based on the image information, and the rear image is displayed in a predetermined first region (A1) of the display screen (25a).

[0033] The guidance control is executed based on the fulfillment of the specific conditions (step 1330), and then, in the first case where the vehicle begins to reverse from the target guidance position (Pg) through the driver's parking operation (step 1340: Yes),

[0034] Execute perspective display control as the reversing parking assist control (step 1345). The perspective display control is a display control that generates a composite rear image (I3st) and displays the composite rear image (I3st) in the first area (A1) instead of the rear image. The composite rear image is an image obtained by combining the rear image and an image of the rear part of the vehicle (Vr) which has been subjected to perspective processing and consists of the rear end (Br) and the rear wheel (Wr) of the vehicle.

[0035] According to this configuration, guidance control is executed based on the fulfillment of specific conditions. Then, when the vehicle begins to reverse from the target guidance position through the driver's parking operation, perspective display control is executed as a reversing parking assistance control. This perspective display control is a display control that replaces the rear image and displays a composite rear image on the display screen. The composite rear image includes the rear of the vehicle after perspective processing. Therefore, by referring to the composite rear image, the driver can visually identify the area directly below the rear of the vehicle, thereby confirming the position of the rear wheels and the surrounding conditions. As a result, the burden on the driver when reversing the vehicle into a narrow parking space can be further reduced.

[0036] In one aspect of the invention,

[0037] The control unit (10) is configured as follows:

[0038] During the period when the vehicle is reversing at a speed below the speed threshold, based on the image information, an overhead image (I2) is generated by overlaying an image that appears to be looking down on the surrounding area from directly above the vehicle's perimeter, onto the vehicle's planar image. This overhead image is then displayed in a predetermined second area (A2) of the display screen (25a).

[0039] In the first case (step 1340),

[0040] The following control is executed as the perspective display control: the control generates a vehicle perspective overhead image (I2st) and displays the vehicle perspective overhead image in the second region (A2) instead of the overhead image. The vehicle perspective overhead image is an overhead image (I2) of the vehicle planar image after perspective processing.

[0041] According to one aspect of the invention, guidance control is executed based on the fulfillment of specific conditions. Then, when the vehicle begins to reverse from the target guidance position through the driver's parking operation, perspective display control is performed, replacing the overhead view with a perspective view of the vehicle on the display screen. The perspective view of the vehicle includes a planar image of the vehicle after perspective processing. Therefore, by referring to the perspective view of the vehicle, the driver can visually identify the area directly below the vehicle, thereby confirming the relative position of the rear wheels in the parking space, etc. As a result, the burden on the driver when reversing into a narrow parking space can be further reduced.

[0042] In one aspect of the invention,

[0043] It also features a display screen (25a).

[0044] The control unit (10) is configured as follows:

[0045] During the period when the vehicle is reversing at a speed below a predetermined speed threshold, based on the image information, an overhead image (I2) is generated by overlaying an image that appears to be looking down on the surrounding area from directly above the vehicle's perimeter. This overhead image is then displayed in a predetermined second area (A2) of the display screen (25a).

[0046] The guidance control is executed based on the fulfillment of the specific conditions, and then, if the vehicle begins to reverse from the target guidance position through the driver's parking operation (step 1340),

[0047] Taking the change of the vehicle's door rearview mirror from an open state to a closed state as a trigger (step 1350: Yes), a magnified display control is executed as the reversing parking assistance control. The magnified display control is a display control that generates a magnified overhead image (I2mag) and displays the magnified overhead image in the second area (A2) instead of the overhead image. The magnified overhead image is an image obtained by increasing the display magnification of the overhead image (I2) to magnify the vehicle's planar image and its vicinity.

[0048] According to one aspect of the invention, guidance control is executed based on the fulfillment of specific conditions. Then, when the vehicle begins to reverse from the target guidance position through the driver's parking operation, a magnified display control is executed as a reversing parking assistance control, replacing the overhead view with a magnified overhead view on the display screen, triggered by the change of the vehicle's door rearview mirror from an open state to a closed state. The magnified overhead view is an image obtained by magnifying the vehicle and its surroundings. Therefore, by referring to the magnified overhead view, the driver can confirm the situation on the side of the vehicle in the parking space. Thus, even when it becomes impossible to use the door rearview mirror to confirm the situation on the side of the vehicle, the driver can perform the parking operation with less burden.

[0049] In the above description, in order to help understand the invention, parentheses are used to add the reference numerals used in the embodiments to the technical features of the invention corresponding to the embodiments, but the technical features of the invention are not limited to the embodiments specified by the reference numerals. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of a parking control device according to an embodiment of the present invention.

[0051] Figure 2 It is a diagram showing the layout of the display area of ​​the screen.

[0052] Figure 3 This is an example diagram illustrating a scenario where a parking control system is activated near a mechanical parking garage.

[0053] Figure 4 This is an example of an image displayed on the screen when the parking control system is activated.

[0054] Figure 5 This is a diagram showing an example of a parking space in a non-mechanical, typical parking lot.

[0055] Figure 6 This is a diagram showing an example of a parking space in a non-mechanical, narrow parking lot.

[0056] Figure 7 This is a diagram illustrating an example of a guided movement path.

[0057] Figure 8 It is a diagram showing the position of the vehicle relative to the parking space when the guidance control ends.

[0058] Figure 9 This is a diagram illustrating an example of a scene where see-through display control is being implemented.

[0059] Figure 10 It means that when the vehicle passesFigure 9 The time point at the indicated location is displayed in the image on the screen.

[0060] Figure 11 This is a diagram illustrating an example of a scene where zoom-in display control is being executed.

[0061] Figure 12 It means that when the vehicle passes Figure 11 The time point at the indicated location is displayed in the image on the screen.

[0062] Figure 13 This is a flowchart showing the routine executed by the CPU of the parking control ECU10, which is part of the parking control device.

[0063] Figure 14 This is a flowchart illustrating the routine executed by the CPU of the parking control ECU in a parking control device according to a variation of the present invention.

[0064] Label Explanation

[0065] 10: Parking control ECU; 11: Camera sensor; 12: Gap sonar; 13: Start switch; 21: Drive unit; 22: Braking unit; 23: Steering unit; 24: Gear shifting unit; 25: Display device; 25a: Display; 30, 31, 32: Mechanical parking space; 30a: Tray; 50: Standard parking space; 60: Narrow parking space Detailed Implementation

[0066] (Implementation Method)

[0067] Hereinafter, the parking control device (hereinafter also referred to as "this embodiment device") according to this embodiment will be described with reference to the accompanying drawings. Figure 1 As shown, this embodiment includes a parking control ECU 10 and connected to the parking control ECU 10 a camera sensor 11, a gap sonar 12, a start switch 13, a drive unit 21, a braking unit 22, a steering unit 23, a gear shifting unit 24, and a display unit 25. The parking control ECU 10 has a microcomputer as its main component. ECU is short for Electronic Control Unit. The microcomputer includes a CPU, ROM, RAM, and interfaces (I / F), etc., and various functions are implemented by the CPU executing instructions (programs, routines) stored in the ROM. In addition, some of these functions can also be executed by other ECUs not shown. In the following, the vehicle equipped with this embodiment will be referred to as the "vehicle itself".

[0068] The parking control ECU 10 is configured to acquire information sent by the sensors 11 and 12 and signals generated by the switch 13 at predetermined intervals, and control devices 21 to 25 based on the acquired signals. Hereinafter, the parking control ECU 10 will also be referred to simply as "ECU 10".

[0069] The camera sensor 11 (shooting device) includes a camera sensor 11a located at the center of the front of the vehicle, a camera sensor 11b located at the center of the rear of the vehicle, a camera sensor 11c located below the right rearview mirror, and a camera sensor 11d located below the left rearview mirror. The camera sensors 11a to 11d differ only in their shooting range, but have essentially the same structure.

[0070] Camera sensor 11a captures images of the area in front of the vehicle, camera sensor 11b captures images of the area behind the vehicle, camera sensor 11c captures images of the right side of the vehicle, and camera sensor 11d captures images of the left side of the vehicle. Camera sensors 11a to 11d send the captured frontal, rearal, right-side, and left-side image data to ECU 10, respectively. In the following, information including frontal, rearal, right-side, and left-side image data will be referred to as "image information." Furthermore, the number and installation location of the camera sensors 11 are not limited to those described above.

[0071] Based on image information, ECU 10 generates an image that appears to be a view of the surrounding area from directly above the vehicle. Furthermore, it generates this top-down image by overlaying a pre-stored planar image of the vehicle in ECU 10's ROM. ECU 10 displays this top-down image on the display 25a of the display device 25 (described later) under predetermined conditions.

[0072] Based on image information, ECU 10 generates an image obtained by observing the surroundings of its own vehicle from an imaginary viewpoint set at any position around the vehicle. Furthermore, it generates an imaginary viewpoint image by overlaying this image with a polygon representing the shape of the vehicle as observed from the imaginary viewpoint. ECU 10 displays this imaginary viewpoint image on display 25a (described later) under predetermined conditions.

[0073] The ECU 10 generates a travel direction image displaying the area along the vehicle's travel direction based on the forward or rearward image data contained in the image information. Specifically, when the vehicle is moving forward or has stopped moving forward, the ECU 10 generates a travel direction image representing the area in front of the vehicle based on the forward image data. On the other hand, when the vehicle is reversing or has stopped reversing, the ECU 10 generates a travel direction image representing the area behind the vehicle based on the rearward image data. Depending on the driving conditions of the vehicle, the ECU 10 displays one of these travel direction images on the display 25a (described later) under predetermined conditions. Furthermore, the travel direction image representing the area behind the vehicle is equivalent to an example of a "rearward image".

[0074] The gap sonar 12 (a three-dimensional object information acquisition device) transmits ultrasonic waves to a predetermined range and receives reflected waves from the three-dimensional object. Furthermore, based on the time from the transmission of the ultrasonic waves to their reception, it calculates the distance from its own vehicle to the three-dimensional object and the orientation of the three-dimensional object relative to its own vehicle (information about the three-dimensional object), and obtains the calculation result as the three-dimensional object information (in other words, detecting the three-dimensional object).

[0075] The gap sonar 12 includes four gap sonars 12a-12d located at the front end of the vehicle and four gap sonars 12e-12h located at the rear end of the vehicle. Gap sonars 12a and 12b are located at the right front corner and left front corner of the vehicle, respectively. Gap sonars 12c and 12d are located at equidistant positions along the width direction from the center of the front end of the vehicle. Gap sonars 12e and 12f are located at the right rear corner and left rear corner of the vehicle, respectively. Gap sonars 12g and 12h are located at equidistant positions along the width direction from the center of the rear end of the vehicle.

[0076] Compared to gap sonars 12c, 12d, 12g, and 12h, gap sonars 12a, 12b, 12e, and 12f are designed to detect three-dimensional objects located at a greater distance from the vehicle. Gap sonars 12a, 12b, 12e, and 12f differ only in their detection range for three-dimensional objects; they are essentially the same in structure. Gap sonars 12c, 12d, 12g, and 12h differ only in their detection range for three-dimensional objects; they are essentially the same in structure.

[0077] Gap sonars 12a-12d acquire three-dimensional object information of three-dimensional objects existing in the right-front, left-front, front right, and front left regions of their own vehicle, respectively, and transmit this object information to ECU 10. Gap sonars 12e-12h acquire three-dimensional object information of three-dimensional objects existing in the right-rear, left-rear, rear right, and rear left regions of their own vehicle, respectively, and transmit this object information to ECU 10. Furthermore, the number and installation position of gap sonars 12 are not limited to those described above.

[0078] In the following text, image information and three-dimensional object information are sometimes collectively referred to as "environmental information".

[0079] The ECU10 detects parking spaces with shapes and sizes suitable for its own vehicle based on environmental information. For parking spaces, detection can be based on features such as markings or pallets included in image information, or three-dimensional objects (obstacles) such as side walls and pillars included in three-dimensional information. Here, a pallet is a metal platform used to hold a vehicle in a parking space of a mechanical parking garage.

[0080] The ECU 10 is configured to perform parking controls including automatic reverse parking control and reverse parking assist control. Automatic reverse parking control automatically reverses the vehicle into a parking space (entering the parking space from the rear of the vehicle). Reverse parking assist control assists the driver in reversing the vehicle into a parking space. In other words, automatic reverse parking control is a parking control that, through drive control, braking control, steering control, and gear shifting control by the ECU 10, automatically moves the vehicle from its current position to the target parking position within the parking space without requiring driver intervention. On the other hand, reverse parking assist control includes guidance control, perspective display control, and magnification display control (described later), which assist the driver in moving the vehicle from its current position to the target parking position.

[0081] Furthermore, parking control may also include forward automatic parking control, which automatically parks the vehicle in a parking space with the front of the vehicle facing forward, and forward parking assistance control, which assists the driver in parking the vehicle in a forward-facing manner. Additionally, parking control may include parking assistance control, which assists the driver's parking operation by performing at least one of drive control, braking control, steering control, and gear shifting control via the ECU 10. Further, parking control may also include automatic longitudinal parking or control that assists the driver in longitudinal parking.

[0082] The start switch 13 is a switch pressed (operated) by the driver to start or stop the system used to perform parking control (hereinafter referred to as the "parking control system").

[0083] The drive unit 21 is a device used to provide driving force to the drive wheels of the vehicle to propel it. The ECU 10 controls the driving force supplied to the drive wheels by performing drive control to control the operation of the drive unit 21. Furthermore, the type of vehicle is not particularly limited; for example, it can be a motor vehicle, a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), or a battery electric vehicle (BEV).

[0084] Braking device 22 is a device used to provide braking force to the wheels of the vehicle to brake the vehicle. ECU 10 controls the braking force provided to the wheels by performing braking control to control the operation of braking device 22.

[0085] The steering device 23 is a device for providing steering torque to the steering mechanism (not shown) to steer the steering wheels of the vehicle. The ECU 10 controls the steering torque (and thus the steering angle of the steering wheels) provided to the steering mechanism by performing steering control to control the operation of the steering device 23.

[0086] The shift mechanism 24 is a device used to operate the vehicle's transmission and / or drive direction switching mechanism according to the position of the gear lever (not shown) (typically "D", "R", "P", etc.). The ECU 10 automatically switches the position of the gear lever and controls the transmission and / or drive direction switching mechanism by performing shift control to control the operation of the shift mechanism 24.

[0087] The display device 25 has a display 25a (display screen) positioned in a location where the driver can visually perceive it. The display device 25 is typically a display device included in a navigation system, and a touch panel can be used for the display 25a. Figure 2As shown, the display 25a consists of a display area A1 (first area) on the left and a display area A2 (second area) on the right. Display area A1 can display a hypothetical viewpoint image or a direction-of-travel image. Display area A2 can display a top-down image. The ECU 10 controls the display device 25 to display images corresponding to the control phase of the parking control system in display areas A1 and A2 of the display 25a.

[0088] (Job details)

[0089] Next, the operation of ECU 10 will be explained in detail. When the speed of the vehicle V is below a predetermined speed threshold, ECU 10 searches for a parking space based on environmental information. When the driver wishes to perform automatic reversing parking control or reversing parking assist control for a specific parking space, the driver positions the vehicle V horizontally in front of the parking space (i.e., stops the vehicle with its front and rear axles approximately perpendicular to the length of the parking space) and presses the start switch 13. When the start switch 13 is pressed, ECU 10 activates the parking control system. Furthermore, while positioning the vehicle V horizontally, the driver stops the vehicle V by pressing the brake pedal. That is, the gear lever position is maintained at "D".

[0090] Figure 3 This is a diagram illustrating an example of a scenario where a parking control system is activated. Figure 3 In this example, the driver wants to use the parking control system to park their vehicle V in parking space 30 of a mechanical parking garage. In this situation, the driver positions their vehicle V across the area in front of parking space 30 and presses the start switch 13. The ECU 10 then activates the parking control system.

[0091] Parking space 30 has a rectangular tray 30a. The tray 30a has tracks R on both sides along its shorter side (width direction). Track R is a groove extending in the longer direction (depth direction), and its width is larger than the width of a typical wheel. By rotating the wheel along track R, the vehicle can enter the parking space 30 in a suitable posture. Parking spaces 31 and 32 have the same structure as parking space 30. Furthermore, in... Figure 3 Only parking spaces 30-32 on the ground floor of the mechanical parking garage are shown; illustrations of parking spaces on two or more floors are omitted.

[0092] When the parking control system is activated, the ECU10 highlights the parking space closest to its own vehicle V among the parking spaces detected by the search results on the display 25a as a parking space candidate. Figure 4 This is an example diagram showing the image displayed on display 25a when the parking control system is activated. (See diagram for example.) Figure 4As shown, ECU10 displays a hypothetical viewpoint image I1 in display area A1 of display 25a, and displays an overhead view image I2 in display area A2.

[0093] The hypothetical viewpoint image I1 is an image that allows the viewer to see the parking space 30 from a point beyond their own vehicle V. The hypothetical viewpoint image I1 includes messages 40 and 41. The ECU 10 displays messages indicating the current situation (in...). Figure 4 In the example, the message "Confirm parking space" is used as message 40 to display a message reminding the driver to pay attention (in... Figure 4 In the example, the message "Please directly check the surrounding area of ​​the vehicle" is used as message 41. In the hypothetical viewpoint image I1, parking space 30 is highlighted as a parking space candidate by the rectangular box F.

[0094] The overhead view I2 includes a display bar 42 indicating the categories of parking space candidates and a start button 43 (both described later). In the overhead view I2, parking space 30 is highlighted as a parking space candidate by marker M0. Furthermore, as... Figure 3 As shown, when the vehicle V stops not only near the area in front of parking space 30 but also near the area in front of parking space 31, the ECU 10 determines that the driver may wish to park in parking space 31 and highlights parking space 31 as a second parking space candidate via marker M1. However, marker M1 is displayed in a manner less prominent than marker M0. The driver can change the desired parking space from parking space 30 to parking space 31 by touching marker M1. In this case, marker M1 becomes a parking space candidate and is displayed in a manner more prominent than marker M0, which is the second parking space candidate. Furthermore, the imaginary viewpoint image I1 is changed to an image that allows the driver to see parking space 31 from across the vehicle V, and parking space 31 is highlighted by frame F.

[0095] At this point, ECU10 determines whether a specific condition is met based on the parking space candidates. This specific condition is met when the width of the parking space candidate is relatively narrow. Here, there are three types of parking lots: mechanical parking lots, non-mechanical standard parking lots, and non-mechanical narrow-width parking lots.

[0096] Mechanical parking systems are parking lots that use power to move vehicle-carrying pallets vertically and / or horizontally to store vehicles in a three-dimensional manner. The parking spaces in mechanical parking systems are relatively narrow (width). Figure 3 Non-mechanical parking lots typically refer to parking lots that do not have pallets and whose parking spaces are wider than standard. Figure 5 This is a diagram showing 50 parking spaces in a typical non-mechanized parking lot. (Example)Figure 5 As shown, parking space 50 is marked by line L, and its width w1 is relatively large. Non-mechanical narrow parking lots refer to parking lots that lack pallets and have relatively narrow parking spaces. Figure 6 This is a diagram showing 60 parking spaces in a non-mechanical, narrow parking lot. (See diagram below.) Figure 6 As shown, parking space 60 is divided into block B, which has a relatively narrow width w2. Furthermore, block B is defined by a height that prevents the vehicle door from touching the ground when it is open.

[0097] In the following text, parking spaces in mechanical parking lots will be referred to as "mechanical parking spaces", parking spaces in non-mechanical conventional parking lots will be referred to as "conventional parking spaces", and parking spaces in non-mechanical narrow parking lots will be referred to as "narrow parking spaces".

[0098] ECU 10 determines that a specific condition is met when a parking space candidate is a mechanical parking space or a narrow parking space. Specifically, if ECU 10 detects a tray from a parking space candidate based on environmental information (especially image information), it determines that the parking space candidate is a mechanical parking space. Furthermore, if ECU 10 does not detect a tray from a parking space candidate, it calculates the width w of the parking space candidate based on environmental information. If the width w is below a predetermined width threshold wth, it determines that the parking space candidate is a narrow parking space. In these cases, ECU 10 determines that the specific condition is met. Moreover, the width threshold wth is preset to a value that is less than the width of a parking space with a width greater than or equal to the width of a relatively narrow parking space. Figure 3 In the example, ECU10 detects pallet 30a from parking space candidate 30 based on environmental information, thereby determining that parking space candidate 30 is a mechanical parking space. Figure 6 In the example, ECU10 did not detect the pallet from parking space candidate 60 based on environmental information. Therefore, it calculated the width w2. Since w2≤wth holds, it determined that parking space candidate 60 is a narrow parking space.

[0099] In contrast, ECU10 determines that a specific condition is not met when the parking space candidate is a regular parking space. Specifically, if ECU10 does not detect a pallet from the parking space candidate based on environmental information, and the width w of the parking space candidate is greater than the width threshold wth, it determines that the parking space candidate is a regular parking space, and the specific condition is not met. Figure 5 In the example, ECU10 did not detect the pallet from parking space candidate 50 based on environmental information. Therefore, the calculation width w1 was calculated. Since w1 > wth, parking space candidate 50 was determined to be a normal parking space.

[0100] ECU10 displays the result in bar 42 (see reference). Figure 4 The ECU 10 displays the category of the parking space candidate in the display bar 42. Specifically, if the determination result is "mechanical parking space," it displays "mechanical" in the display bar 42; if the determination result is "normal parking space," it displays "normal" in the display bar 42; and if the determination result is "narrow parking space," it displays "narrow" in the display bar 42. Thus, the driver can confirm the category of the parking space that has been highlighted. Figure 4 In the example, ECU10 is displayed as "Mechanical" in display bar 42.

[0101] When the driver wishes to park their vehicle V in a parking space candidate highlighted on display 25a, they touch the start button 43 (see reference). Figure 4 Therefore, ECU10 identifies the parking space candidate as the parking space to be executed for parking control. Furthermore, if certain conditions are met, it generates a movement path Rg for guidance control and executes guidance control; if certain conditions are not met, it generates a movement path Rp for automatic reversing parking control and executes automatic reversing parking control.

[0102] First, refer to Figure 7 and Figure 8 This will explain the boot control process. For example... Figure 7 and Figure 8 As shown, guidance control is the control that moves the vehicle V along the movement path Rg from its current position to the target guidance position Pg, and it is a type of reversing parking assistance control. The target guidance position Pg is set as the parking space (in... Figure 7 and Figure 8 In the example, the vehicle is positioned in front of (directly in front of) a mechanical parking space 30. The guidance control differs from the automatic reversing parking control, which stops the vehicle V in front of the parking space, in that it stops the vehicle V within the parking space.

[0103] ECU10 generates the movement path Rg based on environmental information (see reference). Figure 7 The vehicle V is positioned such that, when parked at the target guide position Pg, its front and rear axles are parallel to the length of the parking space, its width is included within the width of the parking space when viewed from the front, and the rear end of the vehicle V is closer to the parking space than its front end (see reference). Figure 8 In the following text, this posture will also be referred to as the "accessible posture". Furthermore, if a proper movement path Rg cannot be generated due to factors such as a narrow area in front of the parking space, the ECU10 will inform the driver that guidance control cannot be initiated.

[0104] After generating the movement path Rg, ECU 10 initiates guidance control at the moment the driver releases the brake pedal. In this embodiment, guidance control is performed by ECU 10 through drive control, braking control, steering control, and gear shifting control (i.e., no driver stopping operation is required). However, it is also possible to configure ECU 10 to perform guidance control by performing at least one of these controls (e.g., drive control, braking control, and steering control). During the execution of guidance control, ECU 10 displays a travel direction image in display area A1 of display 25a, and displays a top-down image (illustration omitted) in display area A2. ECU 10 stops its own vehicle V at the target guidance position Pg at the moment (see reference...) Figure 8 End guidance control and notify the driver of the situation via message or voice.

[0105] Next, refer to Figure 5 The automatic parking control in reverse is explained. For example... Figure 5 As shown, the automatic reversing parking control is a well-known control method that moves the vehicle V from its current position to the target parking position Pp along a movement path Rp so that the vehicle V enters the parking space from its rear end. ECU 10 is in the parking space (in Figure 5 In the example, a target parking location Pp is set within a typical parking space (50), and a movement path Rp is generated based on environmental information.

[0106] After generating the movement path Rp, ECU 10 initiates automatic reversing parking control at the moment the driver releases the brake pedal. During the execution of this control, ECU 10 displays a direction-of-travel image in display area A1 of display 25a, and a top-down image (illustration omitted) in display area A2. ECU 10 terminates automatic reversing parking control when the vehicle V stops at the target parking position Pp, and informs the driver of this status via message or voice. Furthermore, in this embodiment, automatic reversing parking control is executed even if specific conditions are not met. However, the type of parking control is irrelevant as long as it moves the vehicle V from its current position to the target parking position. For example, it can execute automatic forward parking control or parking assistance control that only executes drive control, braking control, and steering control (i.e., without gear shifting control).

[0107] As described above, during the guidance control, the vehicle V does not enter the parking space. Therefore, after the guidance control ends, the driver reverses the vehicle V from the target guidance position Pg to park in the parking space through their own parking operation. Since the vehicle V stops in an enterable position, the driver's workload for the parking operation after guidance control is significantly reduced. However, since the position of the rear wheels of the vehicle V and its surrounding conditions cannot be confirmed during reversing, it is desirable for the driver to be able to confirm the position of the rear wheels and its surrounding conditions during reversing to further reduce the driver's workload.

[0108] Therefore, ECU10 is configured such that, after the guidance control ends and the driver begins to reverse from the target guidance position Pg (case 1), it begins to provide visual assistance to the driver's parking operation through perspective display control. Perspective display control is the control that displays a synthetic driving direction image I3st and a vehicle perspective overhead image I2st on the display 25a. It is a type of reversing parking assistance control. The synthetic driving direction image I3st includes the rear portion of the vehicle Vr (described later) after perspective processing, and the vehicle perspective overhead image I2st includes a planar image of the vehicle after perspective processing.

[0109] Figure 9 This is an example diagram showing a scene where perspective display control is being executed. Figure 10 This indicates that the vehicle V passes through. Figure 9 The time point at the indicated location is displayed in the image on monitor 25a. (As shown) Figure 10 As shown, ECU10 displays a synthetic travel direction image I3st in display area A1 of display 25a instead of the travel direction image, and displays a vehicle perspective overhead image I2st in display area A2 instead of the overhead image I2.

[0110] First, the synthesized direction-of-flight image I3st will be explained. The synthesized direction-of-flight image I3st includes messages 40 and 41. ECU 10 displays messages indicating instructions to the driver (in... Figure 10 In the example, the message "Please go back" is used as message 40, and it is displayed with... Figure 4 The same message is used as message 41. Additionally, the synthesized travel direction image I3st includes the rear portion Vr of the vehicle. The rear portion Vr is a segment cut from a vehicle image pre-stored in the ROM of ECU 10, consisting of the rear end Br of the vehicle V and the rear wheel Wr. The movement of the rear portion Vr is linked to the movement of the vehicle V. For example, when the rear wheels of the vehicle V are turning, the rear wheel Wr of the rear portion Vr is displayed as turning in the synthesized travel direction image I3st.

[0111] As described above, the ECU 10 acquires image information from the camera sensor 11 every predetermined time interval. The ECU 10 is configured to store a travel direction image generated from at least the rear image data in each image data contained in the image information during the predetermined period T in its own RAM. The generation of the synthetic travel direction image I3st is performed as follows: The ECU 10 first performs perspective processing on the rear portion Vr of the vehicle. Then, it reads from the RAM a travel direction image generated at a past time point before the specific period Tspe (described later) of the current time point (hereinafter also referred to as the "past travel direction image"). Next, the rear portion Vr of the vehicle, which has undergone perspective processing and overlaps with the position of the vehicle V at the current time point in the past travel direction image, is then processed. Finally, the synthetic travel direction image I3st is generated by seamlessly synthesizing the travel direction image generated at the current time point and the past travel direction image containing the perspective-processed rear portion Vr of the vehicle. Furthermore, the synthetic travel direction image I3st is equivalent to an example of a "synthetic rear image".

[0112] Here, a specific period is explained. As the vehicle V continuously reverses, the rear of the vehicle V gradually enters the rear area captured by camera sensor 11b at a certain time point Tpa. Therefore, at a certain time point Tpre, the portion of the vehicle V entering this rear area corresponds to the rear portion Vr of the vehicle. The difference between time point Tpre and time point Tpa (< period T) corresponds to the specific period Tspe.

[0113] Next, the vehicle perspective overhead image I2st will be explained. ECU10 generates the vehicle perspective overhead image I2st by performing perspective processing on the planar image of the vehicle contained in the overhead image I2.

[0114] The ECU10 determines whether the door rearview mirror closure condition is met during driving. The door rearview mirror closure condition is met when the door rearview mirror (not shown) of the vehicle V may come into contact with an obstacle (such as a pillar in a mechanical parking garage), and its determination is based on environmental information. When the door rearview mirror closure condition is met, the ECU10 automatically closes (retracts) the door rearview mirror (not shown). Thus, the door rearview mirror changes from an open state to a closed state.

[0115] During the reversing process, the driver refers to the side mirrors to check the situation on the side of the vehicle (V-shaped side). Therefore, when the side mirrors are closed due to the door mirror closure condition being met, it becomes difficult to check the situation on the side of the vehicle (V-shaped side). Thus, after the guidance control ends, when the driver begins reversing from the target guidance position Pg and the door mirror closure condition is met, the ECU10 executes a magnified display control to visually assist the driver's parking operation. The magnified display control displays a magnified overhead image I2mag, obtained by magnifying the planar image of the vehicle and its surroundings in the overhead view I2, on the display 25a; it is a type of reversing parking assistance control.

[0116] Figure 11 This diagram illustrates an example of a scenario where zoom-in display control is being executed. Figure 12 This indicates that the vehicle V passes through. Figure 11 The time point at the indicated location is displayed in the image on monitor 25a. (As shown) Figure 12 As shown, ECU10 displays a composite travel direction image I3st in display area A1 of display 25a instead of the travel direction image, and displays a magnified overhead view image I2mag in display area A2 as the overhead view image I2. Furthermore, since perspective display control is performed in this embodiment, the magnified overhead view image I2mag is generated based on the vehicle perspective overhead view image I2st. Hereinafter, the magnified overhead view image I2mag displayed on display 25a during the execution of perspective display control will be referred to as "vehicle perspective magnified overhead view image I2stmag".

[0117] ECU 10 extracts a region containing the vehicle planar image and its vicinity (particularly the sides of the planar image) from the overhead view image I2 (the vehicle perspective overhead view image I2st during the execution of perspective display control), and increases the display magnification so that the extracted region matches the size of the display area A2. This generates a magnified overhead view image I2mag (the vehicle perspective magnified overhead view image I2stmag during the execution of perspective display control). Furthermore, camera sensors 11c and 11d are located below the door rearview mirrors; therefore, the shooting angles of camera sensors 11c and 11d change when the door rearview mirrors are closed. Thus, ECU 10 corrects the right-side and left-side image data acquired after the door rearview mirrors are closed to image data corresponding to the shooting angles of camera sensors 11c and 11d before the door rearview mirrors were closed. Therefore, even when the door rearview mirrors are closed, the magnified overhead view image I2mag can be appropriately generated.

[0118] (Specific tasks)

[0119] Next, the specific operation of ECU10 will be explained. The CPU of ECU10 is configured to execute... Figure 13 The routine is represented by a flowchart. The parking control system is activated by the driver of the vehicle V, which is parked in front of the parking space, pressing the start switch 13.

[0120] The CPU begins processing at step 1300, and in step 1305, it highlights the parking space closest to its own vehicle V as a parking space candidate on the display 25a. Next, the CPU moves the processing to step 1310, where it determines whether the parking space candidate is a mechanical parking space based on environmental information (especially image information).

[0121] If the parking space candidate is a mechanical parking space (step 1310: Yes), the CPU proceeds to step 1315 (described later). On the other hand, if the parking space candidate is not a mechanical parking space (step 1310: No), the CPU proceeds to step 1320, calculates the width w of the parking space candidate based on environmental information, and determines whether the width w is below the width threshold wth. If w ≤ wth (step 1320: Yes), the CPU determines that the parking space candidate is a narrow parking space and proceeds to step 1315.

[0122] In step 1315, the CPU determines whether the driver has pressed the start button 43 displayed on the display 25a (see reference). Figure 4 If the start button 43 is not pressed (step 1315: No), the CPU performs the determination in step 1315 again. If the start button 43 is pressed during this process (step 1315: Yes), the CPU determines the parking space candidate as the parking space to be executed by parking control, and the process proceeds to step 1325.

[0123] In step 1325, the CPU generates a movement path Rg from the current position to the target guidance position Pg based on environmental information (refer to...). Figure 7 Next, at the moment the driver releases the brake pedal, the CPU initiates step 1330, executing guidance control to automatically move the vehicle V along the movement path Rg to the target guidance position Pg (see reference). Figure 8 Then, the CPU initiates the process to step 1335, notifying the driver that the guidance control has ended, and then initiates the process to step 1340.

[0124] In step 1340, the CPU determines whether the vehicle has started reversing based on signals obtained from the gear position sensor and vehicle speed sensor (both omitted from the diagram). If reversing has not started (step 1340: No), the CPU proceeds to step 1335. If the vehicle has started reversing during this process (step 1340: Yes), the CPU moves to step 1345 and begins perspective display control (see reference). Figure 10 ).

[0125] Next, the CPU proceeds to step 1350, determining whether the door rearview mirror closing condition is met based on environmental information. If the door rearview mirror closing condition is not met (step 1350: No), the CPU proceeds to step 1355, determining whether the gear is "P" based on the signal obtained from the gear position sensor. If the gear is not "P" (step 1355: No), the CPU determines that the vehicle V is still in reverse and performs the determination in step 1350 again. If the door rearview mirror closing condition is met during this process (step 1350: Yes), the CPU proceeds to step 1360, automatically closing (retracting) the door rearview mirror and starting to magnify the display control (see reference). Figure 12 ).

[0126] Next, the CPU proceeds to step 1365 to determine if the gear is "P". If the gear is not "P" (step 1365: No), the CPU determines that the vehicle V is still reversing and performs the determination in step 1365 again. If the gear becomes "P" during this process (step 1365: Yes), the CPU determines that the driver's parking operation has been completed, and proceeds to step 1370 to terminate the perspective display control and magnified display control. Then, the CPU terminates this routine in step 1395.

[0127] On the other hand, if the condition that the rearview mirror is not closed remains unchanged (step 1350: No) and the gear is in "P" (step 1355: Yes), the CPU determines that the driver's parking operation has been completed, and the process proceeds to step 1370, ending the perspective display control. Then, the CPU terminates this routine in step 1395.

[0128] Conversely, if w > wth (step 1320: No), the CPU determines that the parking space candidate is a normal parking space, and the process proceeds to step 1375, which determines whether the start button 43 has been pressed by the driver. If the start button 43 has not been pressed (step 1375: No), the CPU performs the determination in step 1375 again. If the start button 43 has been pressed during this process (step 1375: Yes), the CPU identifies the parking space candidate as the parking space to be executed by parking control, and the process proceeds to step 1380.

[0129] In step 1380, the CPU generates a movement path Rp from the current position to the target parking position Pp based on environmental information (refer to...). Figure 5 Next, at the moment the driver releases the brake pedal, the CPU initiates step 1385, executing automatic reversing parking control to move the vehicle V automatically along the movement path Rp to the target parking position Pp. Then, the CPU initiates step 1390, informing the driver that the automatic reversing parking control has ended, and terminates the routine in step 1395. That is, during automatic reversing parking control, perspective display control and magnified display control are not executed.

[0130] As explained above, in this embodiment, when the detected parking space is a mechanical or narrow parking space (i.e., a relatively narrow parking space), parking control is not neglected; instead, guidance control is performed to move the vehicle V to a position (target guidance position) that the driver can easily park with a simple parking maneuver. Therefore, the burden on the driver when reversing the vehicle V into a narrow parking space can be significantly reduced without introducing a camera sensor 11 with higher detection accuracy and a gap sonar 12.

[0131] In particular, for a driver to park in a mechanical or narrow parking space using their own parking maneuver, the vehicle V needs to be positioned in an accessible position in front of the parking space. Therefore, when the area in front of a mechanical or narrow parking space is narrow, the driver needs to repeatedly turn around in the confined area to adjust the position and posture of the vehicle V, further increasing the workload involved in the parking operation. According to this embodiment, as long as the area in front has a size sufficient to set a movement path Rg, the vehicle V can be stopped in a target guided position in an accessible position through guidance control. Therefore, this embodiment is particularly useful when the area in front of a mechanical or narrow parking space is narrow.

[0132] Furthermore, in this embodiment, when the detected parking space is a regular parking space (i.e., a parking space with a width greater than ordinary), automatic reverse parking control is executed. Thus, by switching the type of parking control based on the type of the detected parking space, appropriate parking control corresponding to the width of the parking space can be executed.

[0133] Furthermore, in this embodiment, when the vehicle V begins to reverse after the guidance control ends, perspective display control is executed. Therefore, by referring to the synthetic direction-of-travel image I3st, the driver can visually identify the area directly below the rear of the vehicle V, thereby confirming the position of the rear wheels and the surrounding conditions. Additionally, by referring to the vehicle perspective overhead image I2st, the driver can also visually identify the area directly below the rear of the vehicle V, thereby confirming the relative position of the rear wheels within the parking space. As a result, the burden on the driver when reversing the vehicle V into a narrow parking space can be further reduced. Especially when parking in a mechanical parking space, the relative position of the rear wheels within the track R of the pallet can be confirmed, thus making the parking operation easier.

[0134] Furthermore, in this embodiment, when the vehicle V begins to reverse after the guidance control ends, magnified display control is executed when the door and rearview mirror closing condition is met. Therefore, the driver can confirm the side conditions of their vehicle V in the parking space by referring to the magnified overhead image I2mag. Thus, even with the door and rearview mirror closed, the driver can perform the parking operation with less burden. Especially when parking in a mechanical parking space, the gap between the side of the vehicle V and the track R of the pallet can be confirmed, making the parking operation easier.

[0135] (Modified Example)

[0136] Next, the parking control device involved in the modified example (hereinafter also referred to as "this modified device") will be described. In this modified example, the parking control system differs from the implementation method in that it has a parking space registration function. The parking space registration function will be described below, and then the parking control for registering parking spaces will be described.

[0137] The parking space registration function works as follows: parking spaces are pre-stored (registered) in the ROM of ECU 10. After registration, when a registered parking space is detected, parking control is executed for that parking space. Specifically, when the driver wishes to register a parking space, the vehicle V is brought to a stop (achieved by pressing the brake pedal) near the parking space, and the start switch 13 is pressed to activate the parking control system. Furthermore, when the desired parking space candidate is highlighted, the registration button (not shown) displayed on display 25a is pressed. ECU 10 then identifies the parking space candidate as the parking space to be registered, and displays these categories on display 25a to allow the driver to select the type of parking space ("mechanical," "normal," and "narrow").

[0138] After the driver selects the parking space category, the ECU 10 executes parking control corresponding to the selected category. Specifically, if the driver selects either "mechanical" or "narrow" parking, the ECU 10 sets a target guide position Pg in front of the parking space to generate a movement path Rg and executes guide control. When the guide control ends and the driver begins to reverse, the ECU 10 initiates perspective display control and, triggered by the closing of the rearview mirror, begins magnification display control. When the driver's parking maneuver is completed, the ECU 10 terminates these display controls. At this point, the ECU 10 extracts multiple feature points from the road surface surrounding the parking space and associates the coordinates of these feature points with the parking space category selected by the driver (in this example, "mechanical" or "narrow"), storing the association (in the ECU 10's ROM) with the parking space. Thus, the parking space is registered as either a mechanical parking space or a narrow parking space. Hereinafter, the registered parking space will also be referred to as a "registered parking space." In addition, a feature point refers to a point with a predetermined pixel size that can be extracted from a captured image on the ground, and a point whose brightness and / or density meet predetermined conditions.

[0139] On the other hand, when the driver selects the "normal" category, the ECU 10 sets the target parking position Pp within the parking space to generate a movement path Rp and executes automatic reversing parking control. When the automatic reversing parking control ends, the ECU 10 extracts multiple feature points from the road surface around the parking space, associates the coordinates of these feature points with the parking space category selected by the driver ("normal" in this example), and stores them. Thus, the parking space is registered as a normal parking space.

[0140] Furthermore, when the driver presses the registration button, the ECU 10 determines the parking space category based on environmental information. If the parking space is a mechanical or narrow parking space, the display 25a shows both "mechanical" and "narrow" categories in a selectable manner; conversely, it displays the "normal" category (or does not display it) in a non-selectable manner. This is because the ECU 10 is configured not to perform automatic parking control for mechanical or narrow parking spaces. However, registering a mechanical parking space as a narrow parking space or vice versa is not a problem. On the other hand, if the parking space is a normal parking space, the ECU 10 displays all categories in a selectable manner on the display 25a. In this case, the driver can register either a normal parking space as a mechanical parking space or a narrow parking space.

[0141] Next, refer to Figure 14 Parking control for registered parking spaces will be explained. When the ECU10 stores registered parking spaces in the ROM, during slow travel at speeds below a speed threshold, it performs image-based detection of feature points stored in the ROM in parallel with the processing of parking space detection based on environmental information. Upon detection of a feature point, the CPU retrieves (reads out) the category of the registered parking space stored associated with that feature point.

[0142] At the moment the driver parks their vehicle V across the area in front of the registered parking space, the CPU has already performed the aforementioned processing and obtained the category of the registered parking space. When the driver presses the start switch 13 and the parking control system is activated, the CPU begins processing from step 1400, and in step 1410, the registered parking space is highlighted as a parking space candidate on the display 25a. Next, the CPU proceeds to step 1420 to determine whether the driver has pressed the start button displayed on the display 25a. If the start button has not been pressed (step 1420: No), the CPU performs the determination in step 1420 again. If the start button has been pressed during this process (step 1420: Yes), the CPU determines the parking space candidate as the parking space to be executed by parking control, and proceeds to step 1430.

[0143] In step 1430, the CPU determines whether the category of the registered parking space is stored as "mechanical" or "narrow". As described above, the CPU obtains the category of the registered parking space at the time the feature point is detected, and therefore makes a determination based on the obtained category. If the category of the registered parking space is stored as "mechanical" or "narrow" (step 1430: Yes), the CPU proceeds... Figure 13The processing after step 1325 (i.e., guide control, perspective display control, and magnification display control) ends in step 1395. On the other hand, if the category of the registered parking space is stored as "normal" (step 1430: No), the CPU performs... Figure 13 The processing after step 1380 (i.e., automatic reversing parking control) ends in step 1395. Furthermore, in this variation, "the type of the registered parking space is stored as 'mechanical' or 'narrow'" is an example of a specific condition.

[0144] In this modified example, when the detected parking space is a registered parking space, the ECU10 does not perform the process of determining the category of the parking space, but reads the category of the parking space stored when it was registered, and performs parking control corresponding to that category. With this configuration, the same effect as the implementing device can be achieved.

[0145] The above describes the parking control device related to the embodiments and modifications. The present invention is not limited to the above embodiments and modifications. Various changes can be made as long as they do not depart from the purpose of the present invention.

[0146] For example, the type of parking space can also be selected by the driver. Specifically, when the parking control system is activated, the ECU 10 highlights the detected parking space candidates and displays a button indicating the category of each candidate on the display 25a. When the driver presses a button to select a category, the ECU 10 executes parking control (guided control or automatic reverse parking control) corresponding to the selected category. However, if the parking space candidate is a mechanical or narrow parking space, the button indicating the "normal" category is not displayed.

[0147] In addition, the present invention can also be applied to vehicles that operate through autonomous driving control (so-called autonomous vehicles).

Claims

1. A parking control apparatus comprising: a photographing device that photographs a surrounding of a vehicle; a three-dimensional object information acquisition device that acquires information on a three-dimensional object existing in the surrounding of the vehicle as three-dimensional object information; a display screen; and a control unit that detects a parking space based on environmental information including image information and the three-dimensional object information, the image information including image data obtained by photographing by the photographing device, the parking space being a space having a shape and a size in which the vehicle can park, and performs parking control including reverse parking assist control that assists a driver of the vehicle in parking the vehicle in the detected parking space, the control unit being configured to: in a case where the parking space is detected, determine whether or not a specific condition is satisfied, the specific condition corresponding to whether or not a width of the parking space does not exceed a predetermined width threshold, in a case where it is determined that the specific condition is satisfied, perform guidance control based on the environmental information as the reverse parking assist control, the guidance control being control that moves the vehicle from a current position to a target guidance position so that the vehicle is parked in the target guidance position in a posture in which a front-rear axis of the vehicle becomes parallel to a length direction of the detected parking space, a width thereof is included in a width of the detected parking space in a case where the vehicle is viewed from the front, and a rear end portion of the vehicle is closer to the detected parking space than a front end portion, the target guidance position being a position in front of the detected parking space, in a period during which the vehicle is backing up at a speed equal to or lower than a predetermined speed threshold, generate an overhead image obtained by superimposing a vehicle plan image on an image that appears to look down on a surrounding area of the vehicle from directly above based on the image information, and display the overhead image in a predetermined second region of the display screen, perform the guidance control in accordance with satisfaction of the specific condition, and then in a case where the vehicle has started backing up from the target guidance position by a parking operation of the driver, perform magnification display control as the reverse parking assist control in conjunction with a change from an open state to a closed state of a door mirror of the vehicle, the magnification display control being display control that generates a magnified overhead image by magnifying the vehicle plan image and a vicinity thereof by increasing a display magnification of the overhead image, and displays the magnified overhead image instead of the overhead image in the second region.

2. The parking control apparatus according to claim 1, the control unit being further configured to, in a case where it is determined that the specific condition is not satisfied, perform control that moves the vehicle from the current position to a target parking position as the parking control based on the environmental information, the target parking position being a position within the detected parking space.

3. The parking control apparatus according to claim 1, the control unit being further configured to: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ determining whether the detected parking space is a mechanical parking space based on at least the image information, the mechanical parking space being a parking space of a mechanical parking lot, in a case where it is determined that the detected parking space is a mechanical parking space, determining that the specific condition is satisfied.

4. The parking control device according to claim 3, the control unit is further configured to: in a case where it is determined that the detected parking space is not a mechanical parking space, determining whether a width of the detected parking space is below a predetermined width threshold based on at least the image information, in a case where it is determined that the width of the detected parking space is below the width threshold, determining that the specific condition is satisfied.

5. The parking control device according to any one of claims 1 to 4, the control unit is further configured to: generate a rear image including a rear region of the vehicle based on the image information during a period in which the vehicle is backing up at a speed below a predetermined speed threshold, display the rear image in a predetermined first region of the display screen, perform the guidance control in accordance with satisfaction of the specific condition, and then in a first case where the vehicle has started backing up from the target guidance position by a parking operation of the driver, perform perspective display control as the reverse parking assistance control, the perspective display control being display control that generates a composite rear image by synthesizing the rear image and an image including a vehicle rear portion subjected to perspective processing by the rear end portion and the rear wheel of the vehicle, and displays the composite rear image in place of the rear image in the first region.

6. The parking control device according to claim 5, the control unit is configured to: in the first case, further perform, as the perspective display control, control that generates a vehicle perspective overhead image by performing perspective processing on the plan view image of the vehicle, and displays the vehicle perspective overhead image in place of the overhead image in the second region.

Images