Parking assist device

Abstract

Provided is a parking assist device capable of parking a vehicle without causing trouble to a user even if the vehicle cannot be parked in a designated space. The parking assist device performs automatic parking control that causes a vehicle to automatically travel to a designated space designated by a user so that the vehicle is automatically parked in the designated space. The parking assistance device is configured to terminate the automatic parking control when a predetermined termination condition is satisfied, to search for an available space in which the vehicle can be parked while the vehicle is automatically driven when it is determined that the vehicle cannot be parked in the designated space while the vehicle is being driven in the designated space, and to stop the parking assistance device when the available space is found. A vehicle is automatically parked in an available space, and if the available space is not found before an end condition is satisfied, a user is notified that the available space is not found.

Description

Technical Field

[0001] The present invention relates to a parking assistance device that performs automatic parking control for automatically parking a vehicle in a designated space (space, parking space) specified by a user. Background Art

[0002] Conventionally, a parking assistance device that performs automatic parking control has been known. For example, the parking assistance device described in Patent Document 1 (hereinafter referred to as the "existing device") is a management device for an automated valet parking lot and is configured to be able to communicate with a plurality of vehicles existing in or around the parking lot. When the parking priority of a first vehicle to be parked newly is higher than the parking priority of a second vehicle that has already been parked, the existing device instructs the second vehicle to exit the parked parking space (parking space) by automatic driving and instructs the first vehicle to park in the parking space.

[0003] Prior Art Documents

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-077064 Summary of the Invention

[0005] The existing device is premised on being able to control a plurality of vehicles by issuing instructions to the plurality of vehicles. The existing device cannot be applied to a parking assistance device that controls only one vehicle. That is, even if a second vehicle is parked in the designated space where the user wants the first vehicle to park, the parking assistance device that controls only one vehicle cannot cause the second vehicle to exit from the designated space.

[0006] The present invention has been made to address the above problems. That is, one of the objects of the present invention is to provide a parking assistance device that can park a vehicle without causing trouble to the user even when the vehicle cannot be parked in the designated space.

[0007] The parking assistance device of the present invention (hereinafter referred to as "the device of the present invention") performs automatic parking control (Steps 600 to 695) to automatically drive the vehicle to a designated space (DS) specified by the user so that the vehicle is automatically parked in the designated space. The parking assistance device is configured to end the automatic parking control (Steps 560, 565) when a predetermined end condition is satisfied (Step 530 "Yes"), and when it is determined that the vehicle cannot be parked in the designated space during the driving of the vehicle to the designated space (Step 635 "Yes"), while automatically driving the vehicle, search for an available (possible) space where the vehicle can be parked (Steps 664, 670, 672). When the available space is found (Step 672 "Yes"), park the vehicle automatically in the available space (Steps 676, 678, 680). When the available space is not found before the end condition is satisfied (Step 530 "Yes", Step 548 "Yes", Step 550 "No"), notify the user of the fact that the available space has not been found (Step 570).

[0008] According to the device of the present invention, when the vehicle cannot be parked in the designated space, the vehicle searches for an available space and automatically parks in the available space. Therefore, the vehicle can be parked without causing trouble to the user. Furthermore, when the available space is not found before the end condition is satisfied, the user is notified of this fact, so that the user can take measures such as re-specifying the parking space. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a schematic system configuration diagram of a parking assistance system according to an embodiment of the present invention.

[0010] Figure 2 is a timing chart showing the operation of a parking assistance system according to an embodiment of the present invention.

[0011] Figure 3 is Figure 1 an explanatory diagram of an operation example of the parking assistance device shown.

[0012] Figure 4 is Figure 1 a flowchart of a start determination routine executed by the CPU of the ECU shown.

[0013] Figure 5 is Figure 1 a flowchart of a stop determination routine executed by the CPU of the ECU shown.

[0014] Figure 6 is Figure 1Part of the flowchart of the reverse summon control routine executed by the CPU of the ECU shown.

[0015] Figure 7 Yes Figure 1 The remaining part of the flowchart of the reverse summon control routine executed by the CPU of the ECU shown.

[0016] Explanation of reference numerals

[0017] 10 Parking assistance device; 20 ECU; 22 Camera; 24 Sonar; 34 Steering motor; 50 Remote operation device; 52 Display device. Detailed implementation mode

[0018] As Figure 1 Shown, the parking assistance system related to this implementation mode includes a parking assistance device 10, a remote operation device 50, and a parking lot management server 60 applied to the vehicle VA. The parking assistance device 10, the remote operation device 50, and the parking lot management server 60 are communicably connected via the network NW.

[0019] The parking assistance device 10 includes Figure 1 The components shown. In this specification, "ECU 20" is an electronic control device having a microcomputer as the main part. The ECU 20 is also referred to as a control unit, a controller, and a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, and an interface (I / F), etc. The functions implemented by the ECU 20 can also be implemented by multiple ECUs.

[0020] The camera 22 obtains image data by photographing the scenery around the vehicle VA. The ECU 20 obtains the image data from the camera 22.

[0021] The sonar 24 obtains sonar data related to the position of an object existing around the vehicle VA relative to the vehicle VA. The ECU 20 obtains the sonar data from the sonar 24. The wheel speed sensor 26 measures the wheel speed of the vehicle VA. The ECU 20 obtains the detection value of the wheel speed sensor 26. The communication interface (I / F) 28 is an interface for connecting to the network NW.

[0022] The powertrain actuator 30 changes the driving force generated by the drive device (e.g., internal combustion engine and / or electric motor) of the vehicle VA. The brake actuator 32 controls the braking force applied to the vehicle VA. The steering motor 34 is assembled to the steering mechanism 36. The steering mechanism 36 is a mechanism for steering the steering wheel according to the operation of the steering wheel. The steering motor 34 generates an automatic steering torque for changing the steering angle of the steering wheel in the steering mechanism 36 according to an instruction from the ECU 20.

[0023] The PKB actuator 38 applies a parking brake force to the wheels. The ECU 20 can use the PKB actuator 38 to apply a parking brake force to the wheels and maintain the vehicle VA in a stopped state. The shift actuator 40 changes the shift range. The shift ranges include the parking range (P), the drive range (D), and the reverse range (R), etc.

[0024] The remote operation device 50 is a device that can be operated by a user outside the vehicle. As an example, it is a smart phone. The remote operation device 50 includes a display device 52. The display device 52 is a touch panel type display device through which the user can input to the remote operation device 50 by touching the display device 52. When the display device 52 is not a touch panel type, the remote operation device 50 includes an input device.

[0025] The parking lot management server 60 is a server that manages the availability status of parking spaces in the parking lot. The parking lot management server 60 includes a CPU, a ROM, a RAM, and an I / F. Furthermore, the parking lot management server 60 includes a storage device 62. In the storage device 62, parking lot plane data 64, availability status data 66, and parking lot path data 68 are stored. The parking lot plane data 64 is data of the floor plan of the parking lot. The availability status data 66 is data related to the availability status of the parking spaces in the parking lot. The parking lot management server 60 determines the availability status of the parking spaces based on the images captured by the cameras installed in the parking lot and photographing the parking spaces, and updates the availability status data 66 based on the determined availability status. The parking lot path data 68 is data related to the paths that the vehicle VA can travel within the parking lot.

[0026] (Outline of operation)

[0027] The parking assistance device 10 according to the present embodiment performs automatic parking control to automatically drive the vehicle VA to the designated parking space, that is, the designated space DS (refer to Figure 3 .) specified by the user by operating the remote operation device 50, and to automatically park the vehicle VA in the designated space DS. As an example of such automatic parking control, there is reverse summon control which is a type of autonomous driving. In reverse summon control, the user who gets out of the vehicle at the entrance of the parking lot or the like operates the remote operation device 50, and the vehicle VA automatically travels (autonomously travels) to the designated space DS and parks in the designated space DS.

[0028] When the user designates a parking space where another vehicle is already parked as the designated space DS, or when another vehicle parks in the designated space DS while the vehicle VA is traveling toward the designated space DS, the vehicle VA may not be able to park in the designated space DS. When the user needs to designate a new designated space DS when the vehicle VA cannot park in the designated space DS, the user may find it troublesome to designate a new designated space DS.

[0029] Accordingly, when the parking assistance device 10 determines that the vehicle VA cannot park in the designated space DS, it searches for a parking space where parking is possible (hereinafter referred to as “available space PS”). Specifically, the parking assistance device 10 automatically drives the vehicle VA to search for the available space PS. When the parking assistance device 10 finds the available space PS, it automatically parks the vehicle VA in the available space PS.

[0030] Thereby, even when the vehicle VA cannot park in the designated space DS, the user does not need to designate a new designated space DS, and thus the possibility that the user finds it troublesome can be reduced.

[0031] (Operation)

[0032] Refer to Figure 2 to describe the operation of the parking assistance system.

[0033] The user starts a parking assistance application (App) (202) in the remote operation device 50. When the parking assistance application is started, the remote operation device 50 causes the display device 52 to display a start screen (204) including a start button 520. When the user touches the start button 520 (206), the remote operation device 50 determines the parking lot management server 60 of the parking lot closest to the current position of the vehicle VA, and sends an acquisition request to the parking lot management server 60 (208). In addition, the remote operation device 50 stores position data in which the correspondence between the positions of the parking lots managed by the parking lot management server 60 and the identifiers of the parking lot management server 60 is registered. The current position of the vehicle VA is determined based on signals received by a GNSS (Global Navigation Satellite System) receiver (not shown) provided in the parking assistance device 10.

[0034] When the parking lot management server 60 receives an acquisition request, it sends parking lot data including the parking lot floor plan data 64, the occupancy status data 66, and the parking lot path data 68 to the remote operation device 50 (210). When the remote operation device 50 receives the parking lot data, it causes the display device 52 to display a specified screen (212) based on the parking lot floor plan data 64 and the occupancy status data 66. The specified screen is a screen for allowing the user to specify a specified space DS. In the specified screen, a floor plan of the parking lot and the occupancy status of each parking space in the parking lot are displayed.

[0035] When the user specifies the specified space DS in the specified screen (214), the remote operation device 50 sends a start signal to the parking assistance device 10 (216) and causes the display device 52 to display a control screen including a travel button 522 (218). The start signal includes data related to the position of the specified space in the parking lot floor plan data 64 and the parking lot path data 68. During the period when the user touches the travel button 522 (220), the remote operation device 50 sends a permission signal to the parking assistance device 10 every predetermined time (222).

[0036] When the parking assistance device 10 receives the start signal, it starts reverse summon control (224). Specifically, the parking assistance device 10 generates a first route RT1 from the current position of the vehicle VA to the specified space DS for the vehicle VA to park in the specified space DS (refer to Figure 3 .). When the parking assistance device 10 receives the permission signal, it causes the vehicle VA to automatically travel along the first route RT1 (226). Specifically, the parking assistance device 10 controls the powertrain actuator 30, the brake actuator 32, and the steering motor 34 to cause the vehicle VA to travel along the first route. When the time without receiving the permission signal exceeds a certain time, the parking assistance device 10 interrupts the autonomous driving of the vehicle VA and stops the vehicle VA.

[0037] During the period when the parking assistance device 10 automatically travels the vehicle VA along the first route RT1, it determines whether the specified space DS is parkable (can it be parked) based on the image data and the sonar data. When the vehicle VA arrives near the specified space DS, it is possible to determine whether the specified space DS is parkable. Similarly, the parking assistance device 10 searches for an available space PS based on the image data and the sonar data, and stores the position of the available space PS in advance when the available space PS is found.

[0038] When the vehicle VA arrives near the designated space DS and it is determined that the designated space DS is parkable, the parking assist device 10 causes the vehicle VA to continue traveling along the first route RT1 and parks the vehicle VA in the designated space DS (228). Specifically, the parking assist device 10 controls the powertrain actuator 30, the brake actuator 32, and the steering motor 34 so that the vehicle VA stops in the designated space DS. When parking is completed, the parking assist device 10 operates the PKB actuator 38 to maintain the vehicle VA in a stopped state and controls the shift actuator 40 to change the gear to the parking gear (P). When the parking of the vehicle VA in the designated space DS is completed, the parking assist device 10 sends a first completion signal to the remote operation device 50 (230). When the remote operation device 50 receives the first completion signal, it causes the display device 52 to display a first completion screen (232). The first completion screen is a screen for notifying the user that the vehicle VA has been parked in the designated space DS.

[0039] In contrast, when the vehicle VA arrives near the designated space DS and it is determined that the designated space DS is not parkable, if no available space PS has been found up to this point, the parking assist device 10 creates a second route RT2 for the vehicle VA to travel in order to search for an available space PS (see Figure 3 .). The parking assist device 10 causes the vehicle VA to travel along the second route RT2 and searches for an available space PS (234). Specifically, the parking assist device 10 controls the powertrain actuator 30, the brake actuator 32, and the steering motor 34 so that the vehicle VA travels along the second route RT2.

[0040] When the parking assist device 10 finds an available space PS before the end condition is satisfied, it creates a third route RT3 from the current position of the vehicle VA to the available space PS for the vehicle VA to park in the available space PS (see Figure 3 .). The end condition is that the travel distance D traveled by the vehicle VA since the start of the reverse summon control is equal to or greater than a threshold distance Dth. The parking assist device 10 causes the vehicle VA to travel along the third route RT3 (236) and parks the vehicle VA in the available space PS (238). When the parking of the vehicle VA in the available space PS is completed, the parking assist device 10 sends a second completion signal to the remote operation device 50 (240). When the remote operation device 50 receives the second completion signal, it causes the display device 52 to display a second completion screen (242). The second completion screen is a screen for notifying the user that since the vehicle VA could not be parked in the designated space DS, the vehicle VA has been parked in the available space PS and the position of the available space PS where the vehicle VA is parked.

[0041] When the parking assistance device 10 fails to detect an available space PS before the end condition is satisfied, it sends a no signal (244) to the remote operation device 50 and stops the vehicle VA (246). When the remote operation device 50 receives the no signal (the second no signal described later), it causes the display device 52 to display a no screen (the second no screen described later) (248). This no screen is a screen for notifying the user that the vehicle cannot be parked in the designated space DS and no available space PS has been detected.

[0042] (Operation example)

[0043] Refer to Figure 3 , and describe the operation example of the parking assistance device 10. As Figure 3 shown, there are parking spaces numbered 1 to 16 in the parking lot.

[0044] At time t1, the user gets out of the vehicle VA, operates the remote operation device 50 to start the parking assistance application, and designates the second parking space as the designated space DS. When the designated space DS is specified, the parking assistance device 10 starts reverse summons control and creates a first route RT1 from the current position of the vehicle VA to the designated space DS (refer to Figure 3 the solid line RT1 in.).

[0045] The parking assistance device 10 causes the vehicle VA to travel along the first route RT1. Before the vehicle VA reaches the designated space DS at time t2. At time t2, since another vehicle is parked in the designated space DS, the parking assistance device 10 determines that the vehicle VA cannot be parked in the designated space DS. In this case, the parking assistance device 10 creates a second route RT2 for searching for an available space PS (refer to Figure 3 the single dotted line RT2 in.).

[0046] The parking assistance device 10 causes the vehicle VA to travel along the second route RT2. Before the vehicle VA reaches the fourth parking space at time t3. In this case, the parking assistance device 10 determines that the fourth parking space is an available space PS and creates a third route RT3 for parking the vehicle VA in the available space PS (refer to Figure 3 the dotted line RT3 in.).

[0047] The parking assistance device 10 can park the vehicle VA in the fourth parking space as the available space PS by causing the vehicle VA to travel along the third route RT3.

[0048] (Specific operation)

[0049] Every time a predetermined time elapses, the CPU of the ECU 20 executes the routine shown in the flowchart in Figures 4 to 6 .

[0050] <Start determination routine>

[0051] When the appropriate time arrives, the CPU starts processing from Figure 4 step 400, and in step 405, determines whether the value of the execution flag Xexe is "0".

[0052] The value of the execution flag Xexe is set to "1" when starting the reverse call control, and set to "0" when ending the reverse call control. In addition, the value of the execution flag Xexe is set to "0" in the initial routine. The initial routine is executed by the CPU when an ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0053] When the value of the execution flag Xexe is "0", the CPU determines "yes" in step 405, and the process proceeds to step 410. In step 410, the CPU determines whether the parking assistance device 10 has received a start signal from the remote operation device 50.

[0054] When the parking assistance device 10 has not received the start signal, the CPU determines "no" in step 410, and the process proceeds to step 495, where the CPU temporarily ends this routine. On the other hand, when the parking assistance device 10 has received the start signal, the CPU sequentially executes steps 415 to 430.

[0055] Step 415: The CPU creates the first route RT1.

[0056] Step 420: The CPU sets the value of the execution flag Xexe to "1".

[0057] Step 425: The CPU sets the values of the stop flag Xst, the possible flag Xpo, the impossible flag Xim, and the discovery flag Xfd to "0".

[0058] The stop flag Xst is set to "1" when the time without receiving the permission signal reaches a certain time or more, and set to "0" when receiving the permission signal. The possible flag Xpo is set to "1" when the designated space DS is parkable, and set to "0" when the designated space DS is not parkable. The impossible flag Xim is set to "1" when the designated space DS is not parkable, and set to "0" when the designated space DS is parkable. The discovery flag Xfd is set to "1" when the designated space DS is not parkable and an available space PS is found.

[0059] In addition, these flags are set to "0" in the initial routine.

[0060] Step 430: The CPU sets the timer T and the traveling distance D to "0".

[0061] The timer T is a timer for measuring the time when no permission signal is received. The traveling distance D represents the distance traveled by the vehicle VA since the start of the reverse call control.

[0062] After that, the process proceeds to step 495, and the CPU temporarily ends this routine.

[0063] When the value of the execution flag Xexe is "1" when the process proceeds to step 405, the CPU determines "No" in step 405. In this case, the process proceeds to step 495, and the CPU temporarily ends this routine.

[0064] <Stop determination routine>

[0065] When an appropriate time arrives, the CPU starts processing from Figure 5 step 500, and determines whether the value of the execution flag Xexe is "1" in step 505.

[0066] When the value of the execution flag Xexe is "0", the CPU determines "No" in step 505. In this case, the process proceeds to step 595, and the CPU temporarily ends this routine. When the value of the execution flag Xexe is "1", the CPU determines "Yes" in step 505, and the process proceeds to step 510. In step 510, the CPU determines whether a permission signal is received.

[0067] When a permission signal is received, the CPU determines "Yes" in step 510, and executes steps 515 to 530.

[0068] Step 515: The CPU sets the timer T to "0".

[0069] Step 520: The CPU sets the value of the stop flag Xst to "0".

[0070] Step 525: The CPU adds the traveling distance Dtr traveled by the vehicle VA from the last execution of this routine to the current time to the traveling distance D. In addition, the traveling distance Dtr is determined based on the detection value of the wheel speed sensor 26.

[0071] Step 530: The CPU determines whether the traveling distance D is equal to or greater than the threshold distance Dth.

[0072] When the traveling distance D is less than the threshold distance Dth, the CPU determines "No" in step 530, and the process proceeds to step 595, and the CPU temporarily ends this routine.

[0073] When no permission signal is received when the process enters step 510, the CPU determines "No" in step 510 and executes step 535 and step 540.

[0074] Step 535: The CPU increments the timer T by "1".

[0075] Step 540: The CPU determines whether the timer T is above the threshold Tth.

[0076] When the timer T is less than the threshold Tth, the CPU determines "No" in step 540 and the process enters step 525. When the timer T is above the threshold Tth, the CPU determines "Yes" in step 540 and the process enters step 545. In step 545, the CPU sets the value of the stop flag Xst to "1" and the process enters step 525.

[0077] When the driving distance D is above the threshold distance Dth when the process enters step 530, the CPU determines "Yes" in step 530 and the process enters step 548. In step 548, the CPU determines whether the value of the discovery flag Xfd is "0".

[0078] When the value of the discovery flag Xfd is "0", the CPU determines "Yes" in step 548 and the process enters step 550. In step 550, the CPU determines whether the value of the non - available flag Xim is "0".

[0079] When the value of the non - available flag Xim is "0", the CPU determines "Yes" in step 550 and executes step 555 to step 565.

[0080] Step 555: The CPU sends the first non - available signal to the remote operation device 50.

[0081] When the remote operation device 50 receives the first non - available signal, it causes the display device 52 to display the first non - available screen. The first non - available screen is a screen for notifying the user that parking in the designated space DS could not be completed.

[0082] Step 560: The CPU sets the value of the execution flag Xexe to "0".

[0083] Step 565: The CPU decelerates and stops the vehicle VA. When the vehicle VA has stopped, it activates the PKB actuator 38 to maintain the vehicle VA in the stopped state and controls the shift actuator 40 to change the gear to the parking gear (P).

[0084] After that, the process enters step 595 and the CPU temporarily ends this routine.

[0085] When the value of the flag Xim cannot be marked as "1" when the process enters step 550, the CPU determines "No" in step 550, and the process enters step 570. In step 570, the CPU sends the second unavailable signal to the remote operation device 50. Then, the process enters step 560. When the remote operation device 50 receives the second unavailable signal, it causes the display device 52 to display the second unavailable screen. The second unavailable screen is a screen for notifying the user that it is impossible to park in the designated space DS and there is no available space PS.

[0086] When it is found that the value of the flag Xfd is "1" when the process enters step 548, the CPU determines "No" in step 548, and the process enters step 595, and the CPU temporarily ends this routine. When it is impossible to park in the designated space DS and an available space PS is found, the value of the flag Xfd is set to "1". In this case, even if the end condition is satisfied after the value of the flag Xfd is set to "1" (after the available space PS is found) (step 530 "Yes"), the value of the execution flag Xexe is not set to "0" (the reverse call control is not ended), and the vehicle VA is parked in the available space PS. Thus, the possibility that the vehicle VA stops on the drivable path in the parking lot can be reduced.

[0087] <Reverse Call Control Routine>

[0088] When an appropriate time arrives, the CPU starts processing from Figure 6 step 600, and determines in step 605 whether the value of the execution flag Xexe is "1".

[0089] When the value of the execution flag Xexe is "0", the CPU determines "No" in step 605, and the process enters step 695 and temporarily ends this routine. When the value of the execution flag Xexe is "1", the CPU determines "Yes" in step 605, and the process enters step 610. In step 610, the CPU determines whether the value of the stop flag Xst is "1".

[0090] When the value of the stop flag Xst is "0", the CPU determines "No" in step 610, and the process enters step 615. In step 615, the CPU determines whether both the possible flag Xpo and the unavailable flag Xim are "0".

[0091] When both the possible flag Xpo and the unavailable flag Xim are "0", the CPU determines "Yes" in step 615, and executes step 620 and step 625.

[0092] Step 620: The CPU controls the vehicle VA to make the vehicle VA travel along the first route RT1.

[0093] Step 625: The CPU determines whether there is an available space PS based on the image data and sonar data.

[0094] In the case where there is no available space PS, the CPU determines "no" in step 625, and the process proceeds to step 630. In step 630, the CPU determines whether the designated space DS is parkable based on the image data and sonar data.

[0095] In the case where the designated space DS is not parkable or in the case where it is impossible to determine whether the designated space DS is parkable, the CPU determines "no" in step 630, and the process proceeds to step 635. In step 635, the CPU determines whether the designated space DS is not parkable.

[0096] In the case where it is impossible to determine whether the designated space DS is parkable, the CPU determines "no" in step 635, and the process proceeds to step 695, where the CPU temporarily ends this routine.

[0097] In the case where the designated space DS is parkable when the process proceeds to step 630, the CPU determines "yes" in step 630, and the process proceeds to step 640. In step 640, the CPU sets the value of the possible flag Xpo to "1" and the value of the impossible flag Xim to "0". Then, the process proceeds to step 695, where the CPU temporarily ends this routine.

[0098] In the case where the value of the possible flag Xpo is "1" and the value of the impossible flag Xim is "0" when the process proceeds to step 615, the CPU determines "no" in step 615, and the process proceeds to Figure 7 step 645 as shown. In step 645, the CPU determines whether the value of the possible flag Xpo is "1" and the value of the impossible flag Xim is "0". Since the value of the possible flag Xpo is "1" and the value of the impossible flag Xim is "0", the CPU determines "yes" in step 645 and executes step 648 and step 650.

[0099] Step 648: The CPU controls the vehicle VA to make the vehicle VA travel along the first route RT1.

[0100] Step 650: The CPU determines whether the parking in the designated space DS has been completed.

[0101] In the case where the parking in the designated space DS has not been completed, the CPU determines "no" in step 650, and the process proceeds to Figure 6 step 695 as shown, and the CPU temporarily ends this routine.

[0102] In the case where the parking in the designated space DS has been completed, the CPU Figure 7If the determination in step 650 shown is "Yes", step 655 and step 660 are executed.

[0103] Step 655: The CPU sends a first completion signal to the remote operation device 50.

[0104] Step 660: The CPU sets the value of the execution flag Xexe to "0".

[0105] After that, the process proceeds to Figure 6 Step 695 shown, and the CPU temporarily ends this routine.

[0106] When the process proceeds to Figure 6 Step 635 shown and it is determined that the designated space DS is not parkable, the CPU determines "Yes" in step 635, and the process proceeds to step 662. In step 662, the CPU determines whether there is an available space PS stored.

[0107] When there is no available space PS stored, the CPU determines "No" in step 662, and steps 664 and step 666 are executed.

[0108] Step 664: The CPU creates a second route RT2.

[0109] Step 666: The CPU sets the possible flag Xpo to "0" and the impossible flag Xim to "1".

[0110] After that, the process proceeds to step 695, and the CPU temporarily ends this routine.

[0111] When the process proceeds to Figure 7 Step 645 shown and the value of the possible flag Xpo is "0" and the value of the impossible flag Xim is "1", the CPU determines "No" in step 645, and the process proceeds to step 668. In step 668, the CPU determines whether the value of the discovery flag Xfd is "0".

[0112] When the value of the discovery flag Xfd is "0", the CPU determines "Yes" in step 668, and steps 670 and step 672 are executed.

[0113] Step 670: The CPU controls the vehicle VA so that the vehicle VA travels along the second route RT2.

[0114] Step 672: The CPU determines whether there is an available space PS based on the image data and the sonar data.

[0115] When there is no available space PS, the CPU determines "No" in step 672, and the process proceeds to Figure 6In step 695 shown below, the CPU temporarily ends this routine. When there is available space PS, the CPU determines "Yes" in step 672 shown in Figure 7 and executes step 674 and step 676.

[0116] Step 674: The CPU sets the value of the discovery flag Xfd to "1".

[0117] Step 676: The CPU creates the third route RT3.

[0118] After that, the process proceeds to Figure 6 step 695 shown below, and the CPU temporarily ends this routine.

[0119] When the process proceeds to Figure 7 step 668 shown below and the value of the discovery flag Xfd is "1", the CPU determines "No" in step 668 and executes step 678 and step 680.

[0120] Step 678: The CPU controls the vehicle VA so that the vehicle VA travels along the third route RT3.

[0121] Step 680: The CPU determines whether parking in the available space PS has been completed.

[0122] When parking in the available space PS has not been completed, the CPU determines "No" in step 680, and the process proceeds to Figure 6 step 695 shown below, and the CPU temporarily ends this routine.

[0123] When parking in the available space PS has been completed, the CPU determines "Yes" in Figure 7 step 680 shown below and executes step 682 and step 684.

[0124] Step 682: The CPU sends the second completion signal to the remote operation device 50.

[0125] Step 684: The CPU sets the value of the execution flag Xexe to "0".

[0126] After that, the process proceeds to Figure 6 step 695 shown below, and the CPU temporarily ends this routine.

[0127] Even before determining that parking in the designated space DS is not possible, the CPU determines whether there is available space PS (refer to step 625). When there is available space PS when the process proceeds to step 625, the CPU determines "Yes" in step 625, and the process proceeds to step 686. In step 686, the CPU stores the available space PS. After that, the process proceeds to step 630.

[0128] When it is determined in step 635 that the designated space DS is not available for parking during the process entry, the CPU determines "Yes" in step 635, and the process proceeds to step 662. When the available space PS is stored, the CPU determines "Yes" in step 662, and the process proceeds to step 688. In step 688, the CPU sets the possible flag Xpo to "0" and the impossible flag Xim to "1". After that, the process proceeds to Figure 7 Step 674 and subsequent steps as shown, the CPU sets the discovery flag Xfd to "1" and creates the third route RT3.

[0129] According to this embodiment, when the designated space DS is not available for parking ( Figure 6 "Yes" in step 635 as shown), the vehicle VA searches for the available space PS while traveling along the second route RT2 (steps 670 and 672). When there is an available space PS (step 668 "Yes"), the vehicle VA travels along the third route RT3 and parks in the available space PS (step 678). Thus, even when the designated space DS is not available for parking, the vehicle VA can be parked in another space without causing trouble to the user.

[0130] In addition, when no available space PS is found even when the end condition is satisfied, the display device 52 of the remote operation device 50 displays the second unavailable screen (step 570). Thus, the user can know that the designated space DS is not available for parking and there is no available space PS either.

[0131] Furthermore, since the end condition is satisfied when the traveling distance D reaches the threshold distance Dth or more and the vehicle VA stops, the possibility that the vehicle VA autonomously travels to a position where the user cannot see can be reduced.

[0132] Furthermore, when the parking assistance device 10 finds an available space PS during the vehicle VA traveling to the designated space DS, it stores the position of the available space PS in advance. When the designated space DS is not available for parking, the vehicle VA is parked in the available space PS. Thus, the possibility that the vehicle VA can be parked in the available space PS when the designated space DS is not available for parking can be increased.

[0133] In the above embodiment, the reverse summons control is taken as an example for explanation, but as long as it is a parking assistance control in which the user gets out of the vehicle and parks the vehicle VA in the designated space DS, the present invention can be applied.

[0134] The parking assistance device 10 can be applied to vehicles such as engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles.

Claims

1. A parking assistance device that performs automatic parking control for causing a vehicle to automatically drive to a designated space designated by a user so that the vehicle is automatically parked in the designated space, the parking assistance device comprising: When a predetermined end condition is satisfied, the automatic parking control is ended. When it is determined that the vehicle cannot be parked in the designated space while the vehicle is traveling toward the designated space, searching for an available space where the vehicle can be parked while the vehicle is automatically traveling. When the available space is found, the vehicle is automatically parked in the available space. If the available space cannot be found before the termination condition is satisfied, the user is notified of the fact that the available space cannot be found.

2. The parking assistance device according to claim 1, comprising: Even before determining that the vehicle cannot be parked in the designated space, the available space is searched, When it is determined that the vehicle cannot be parked in the designated space, if the available space is found, the vehicle is automatically parked in the available space.

3. The parking assistance device according to claim 1, comprising: When the travel distance traveled by the vehicle from the start time of the automatic parking control reaches a threshold distance or more, it is determined that the end condition is satisfied.

4. The parking assistance device according to claim 3, comprising: If the termination condition is satisfied during a period from when the available space is found to when the parking of the vehicle in the available space is completed, the vehicle is parked in the available space without terminating the automatic parking control.

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