Parking assistance system

Abstract

Parking assistance system with: an electronic control unit (14) that is configured, to determine at least one candidate position (C) based on a detected obstacle (B) and / or a detected parking boundary (D), which is a candidate for a target position of a movement path of a vehicle (1), each of the at least one candidate position (C) to be classified on the basis of the candidate position (C) and a position and orientation of a host vehicle, and to identify at least one of the ranked candidate positions (C) as the target position, characterized by the fact that the electronic control unit (14) is further configured to define a plurality of areas (R1, R2, R3) in accordance with each of the at least one candidate position (C), to define a rank for each of the areas, and to classify each of the at least one candidate position (C) in accordance with the area (R1, R2, R3) in which the host vehicle is located and to set a rank level lower than a rank level set for a first area (R1) for a second area (R2) located on a rear side of the first area (R1) in a direction of travel of the host vehicle, and to set a rank level lower than the rank level set for the second area (R2) for a third area (R3) located on the front side of the first area (R1) in the direction of travel of the host vehicle.

Description

BACKGROUND OF THE INVENTION 1. Field of the invention

[0001] The invention relates to a parking assistance system. 2. Description of the relevant state of the art

[0002] In general, a parking assistance system is known which selects a parking space on a side opposite to a vehicle's direction of rotation from right and left parking spaces as a target position for parking assistance (for example, Japanese patent application publication JP 2007-302065 A).

[0003] DE 10 2010 049 586 A1 discloses a method for assisting a vehicle driver in approaching a target position by providing the driver with haptic feedback indicating whether they are moving along a pre-determined target trajectory from a current initial position to reach the target position. This involves determining possible target positions in the vehicle's vicinity and identifying trajectories along which these potential target positions can be approached without collisions.In this process, if it is determined based on a driving condition, an orientation and / or a position of the vehicle relative to the trajectories that the driver intends to drive along one of the trajectories, this trajectory is selected as the target trajectory and an additional steering torque acting on the steering of the vehicle is generated in such a way that steering movements along the target trajectory are supported and steering movements deviating from the target trajectory are counteracted.

[0004] DE 10 2009 005 554 A1 discloses a method for selecting a parking space in a complex parking situation determined by a camera-based method, with at least one possible parking space. The possible parking spaces are evaluated according to predefined selection criteria. Each selection criterion is assigned a priority, which is then assigned to the corresponding possible parking space; and the possible parking space with the highest priority is selected as the optimal parking space.

[0005] JP 2009 - 101 989 A discloses a parking assistance system comprising a camera mounted on a host vehicle that captures an image of the road surface around the host vehicle; a control unit for generating a bird's-eye view image from a viewing position above the host vehicle; a parking position unit for setting the parking position of the host vehicle in the bird's-eye view image; an obstacle detection unit for detecting an obstacle around the parking position; an intermediate target position setting unit that sets an intermediate target position that is not in contact with the obstacle detected by the obstacle detection unit on a route to the parking position; a parking area setting unit that sets a predetermined area within the bird's-eye view image as the parking area; and an image generation unit that generates an image.The image, in which the intermediate target position and the parking position for which the possible parking area is defined are superimposed on the bird's-eye view image, is displayed.

[0006] Patents JP 2011 - 046 335 A, US 2012 / 0 200 430 A1,

[0007] DE 10 2010 043 742 A1 and DE 10 2011 077 173 A1 disclose further parking assistance systems from the relevant prior art. SUMMARY OF THE INVENTION

[0008] For example, it is significant that a parking assistance system has a new configuration and is able to determine a candidate position to which parking assistance can be performed more smoothly and less inconveniently than a target position of a vehicle's movement path from at least one candidate position.

[0009] The problem is solved by a parking assistance system with the features of claim 1. One embodiment of the invention provides a parking assistance system. The parking assistance system comprises an electronic control unit. The electronic control unit is configured to determine, based on at least one detected obstacle or parking boundary, at least one candidate position that is a candidate for a target position of a vehicle's movement path, to classify each of the at least one candidate position based on the candidate position and the position and orientation of a host vehicle, and to determine one of the classified at least one candidate position as the target position.Thus, according to the above definition, for example, a candidate position to which more consistent or less inconvenient parking assistance can be provided than the target position can be determined based on the rank assigned to each candidate position based on the candidate position and the position and orientation of the host vehicle.

[0010] In the parking assistance system as described above, the electronic control unit can be configured to determine the orientation of a vehicle at each of the at least one candidate position based on at least one detected obstacle or parking boundary, and to classify each of the at least one candidate position based on the candidate position, the orientation of a vehicle at the candidate position, and the position and orientation of the host vehicle. Thus, for example, a candidate position at which more consistent or less inconvenient parking assistance can be performed than the target position can be determined based on the ranking assigned to each candidate position based on the candidate position, the orientation of the candidate position, and the position and orientation of the host vehicle.

[0011] In the parking assistance system as described above, the electronic control unit can be configured to define multiple areas in accordance with each of the at least one candidate position, to assign a ranking to each of the areas, and to classify each of the at least one candidate position in accordance with the area in which the host vehicle is located. Thus, for example, the electronic control unit classifies each candidate position as easier.

[0012] In the parking assistance system as described above, the electronic control unit can be configured to assign a lower priority than that assigned to a first area to a second area located behind the first area in the direction of travel of the host vehicle, and a lower priority than that assigned to a third area located in front of the first area in the direction of travel of the host vehicle. Thus, for example, there is a tendency to assign a priority corresponding to the positional ratio relative to the host vehicle to each candidate position.

[0013] In the parking assistance system as described above, the electronic control unit can be configured to output at least one of the candidate positions based on its ranking, to receive an input specifying the selected candidate position, and to determine the candidate position selected based on this input as the target position. Thus, for example, an occupant such as a driver tends to determine the target position from candidate positions based on the output information. FIGURE DESCRIPTION

[0014] Features, advantages and a technical and industrial significance of the exemplary embodiments of the invention will be described below with reference to the accompanying figures, in which the same numbers denote the same elements and wherein: Fig. Figure 1 is an exemplary perspective view of a vehicle according to an embodiment in a state in which part of a passenger compartment is transparent. Fig. Figure 2 is an exemplary top view (bird's-eye view) of the vehicle according to the embodiment, Fig. Figure 3 is a view of an example of a vehicle dashboard according to the embodiment, when viewed from the rear of the vehicle. Fig. Figure 4 is an exemplary block diagram of the configuration of a parking assistance system according to the embodiment, Fig. Figure 5 is an exemplary block diagram of the configuration of a part of an ESG of the parking assistance system according to the embodiment, Fig. Figure 6 is a flowchart showing an example of the sequence of a process performed by the parking assistance system according to the embodiment. Fig. Figure 7 is a schematic and exemplary top view showing an example of a parking space to which the parking assistance system according to the embodiment is applicable. Fig. Figure 8 is a schematic and exemplary top view showing an example of a defined candidate position as well as obstacles and parking boundaries detected by the parking assistance system according to the embodiment. Fig. Figure 9 is a schematic and exemplary top view showing another example of a defined candidate position as well as obstacles and parking boundaries detected by the parking assistance system according to the embodiment. Fig. Figure 10 is a schematic and exemplary top view of classification areas that are defined in the parking assistance system according to the embodiment corresponding to a candidate position, Fig. Figure 11 is a schematic and exemplary top view of classification areas which are defined in the parking support system according to the embodiment corresponding to each of a plurality of candidate positions, Fig. Figure 12 is a view showing an example of an image displayed on a display device by means of a control system executed by the parking assistance system according to the embodiment. Fig. 13 is a view showing another example of an image displayed on the display device by means of a control carried out by the parking assistance system according to the embodiment, Fig. 14 is a view showing another example of an image displayed on the display device by means of a control system implemented by the parking assistance system according to the embodiment, Fig. Figure 15 is a schematic and exemplary top view showing a plurality of candidate positions and the ranking levels assigned to each candidate position in the parking support system according to the embodiment. Fig. 16 is a view showing yet another example of an image displayed on the display device by means of a control which is executed by the parking assistance system according to the embodiment, Fig. 17 is a view showing another example of an image displayed on the display device by means of a control carried out by the parking assistance system according to the embodiment, Fig. Figure 18 is a schematic top view to illustrate an example of classification based on the position of the vehicle within areas corresponding to a candidate position for classifying ranks in the parking assistance system according to the embodiment, Fig. Figure 19 is a schematic top view to illustrate another example of classification based on the position of the vehicle within areas corresponding to a candidate position for classifying ranks in the parking assistance system according to the embodiment, Fig. Figure 20 is a schematic top view to illustrate another example, wherein a plurality of candidate positions are classified by the parking assistance system according to the embodiment, and Fig. Figure 21 is a schematic top view to illustrate another example, wherein a plurality of candidate positions are classified by the parking assistance system according to the embodiment. DETAILED DESCRIPTION OF EXECUTION FORMS

[0015] An exemplary embodiment of the invention will be described below. The configuration of the embodiment described below, as well as the operation, results, and advantageous effects obtained from the configuration, are for illustrative purposes only. The invention can be realized by a configuration different from the one described in the following embodiment and can achieve at least one of several advantageous effects based on a basic configuration, or secondary advantageous effects.

[0016] A vehicle 1 according to the present embodiment can, for example, be a motor vehicle that uses an internal combustion engine (not shown) as a power source, i.e., an internal combustion engine vehicle; it can be a motor vehicle that uses an electric motor (not shown) as a power source, i.e., an electric vehicle, a fuel cell vehicle, or the like; it can be a hybrid vehicle that uses both the internal combustion engine and the electric motor as power sources; or it can be a motor vehicle having a different power source. Various transmissions can be installed in the vehicle 1. Various devices, such as a system and components required to operate an internal combustion engine or an electric motor, can be installed on the vehicle 1.The system, number, structure and the like of a device related to the drive of wheels 3 in the vehicle 1 can be specified in various ways.

[0017] As in Fig. As shown in Figure 1, a vehicle body 2 forms a passenger compartment 2a in which an occupant (not shown) is seated. A steering unit 4, an accelerator actuation unit 5, a brake actuation unit 6, a shift actuation unit 7, and the like are provided near a seat 2b of a driver as an occupant within the passenger compartment 2a. The steering unit 4 is, for example, a steering wheel projecting from a dashboard 24. The accelerator actuation unit 5 is, for example, an accelerator pedal located near a driver's foot. The brake actuation unit 6 is, for example, a brake pedal located near a driver's foot. The shift actuation unit 7 is, for example, a gearshift lever projecting from a center console. The steering unit 4, the accelerator actuation unit 5, the brake actuation unit 6, the shift actuation unit 7 and the like are not limited to these components.

[0018] A display device 8 and an audio output device 9 are provided within the passenger compartment 2a. The display device 8 serves as a display output unit. The audio output device 9 serves as an audio output unit. The display device 8 is, for example, a liquid crystal display (LCD), an organic electroluminescent display (OELD), or the like. The audio output device 9 is, for example, a loudspeaker. The display device 8 is, for example, covered with a translucent control input unit 10, such as a touchscreen keypad. An occupant is able to visually perceive an image displayed on the display screen of the display device 8 via the control input unit 10.An occupant is enabled to perform an operating input by operating the control input unit 10 by touching, pressing, or moving the control input unit 10 with a finger or the like at a position corresponding to an image displayed on the screen of the display device 8. This display device 8, audio output device 9, control input unit 10, and the like are, for example, provided in a monitoring device 11 located centrally in the vehicle's width direction, that is, in a transverse direction of the dashboard 24. The monitoring device 11 may include a control input unit (not shown) such as a switch, a keypad, a joystick, or a push button. An audio output device (not shown) may be provided at a different position within the passenger compartment 2a than the monitoring device 11.Sound can be output by the audio output device 9, the monitoring device 11, and another audio output device. The monitoring device 11 is used, for example, in conjunction with a navigation system or an audio system.

[0019] A display device 12, which differs from the display device 8, is provided in passenger compartment 2a. As in Fig. As shown in Figure 3, the display device 12 is provided, for example, in an instrument panel unit 25 in the dashboard 24 and is located essentially in the center of the instrument panel unit 25 between a speedometer unit 25a and a tachometer unit 25b. The size of the screen 12a of the display device 12 is smaller than the size of the screen 8a ( Fig. 3) Display device 8. An image showing information to assist with parking vehicle 1 can be displayed primarily on display device 12. The amount of information displayed on display device 12 can be less than the amount of information displayed on display device 8. Display device 12 is, for example, an LCD, an OLED, or the like. Information displayed on display device 12 can also be displayed on display device 8.

[0020] As in Fig. 1 and Fig. As shown in Figure 2, vehicle 1, for example, is a four-wheeled vehicle and has two right and left front wheels 3F and two right and left rear wheels 3R. Each of these four wheels 3 can be configured to be steerable. As shown in Figure 2, vehicle 1 is, for example, a four-wheeled vehicle and has two right and left front wheels 3F and two right and left rear wheels 3R. Each of these four wheels 3 can be configured to be steerable. Fig. As shown in Figure 4, the vehicle 1 has a steering system that steers at least two of the wheels 3. The steering system 13 includes an actuator 13a and a torque sensor 13b. The steering system 13 is electrically controlled by an electronic control unit (ECU) 14 or the like to actuate the actuator 13a. The steering system 13 is, for example, an electric drive steering system, a steer-by-wire system (SBW), or the like. The steering system 13 adds torque, i.e., assist torque, to the steering unit 4 using the actuator 13a to compensate for a steering force, or steers the wheels 3 using the actuator 13a. In this case, the actuator 13a can steer one of the wheels 3 or it can steer a plurality of the wheels 3. The torque sensor 13b, for example, detects a torque applied to the steering unit 4 by a driver.

[0021] As in Fig. As shown in Figure 2, for example, four imaging units 15a to 15d are provided on the vehicle body 2 as a plurality of imaging units 15. Each of the imaging units 15 is, for example, a digital camera containing an imaging device such as a charge-coupled device (CCD) and a CMOS image sensor (CIS). Each of the imaging units 15 can output motion image data at a predetermined frame rate. Each of the imaging units 15 has a wide-angle lens or a fisheye lens and can capture an image in, for example, the range from 140° to 190° in the horizontal direction. The optical axis of each of the imaging units 15 is set so that it is oriented obliquely downwards.Thus, each of the imaging units 15 sequentially captures a road surface on which the vehicle 1 can move and an external environment around the vehicle body 2, including an area in which the vehicle 1 is able to be parked, and outputs the captured image as capture image data.

[0022] Imaging unit 15a is located, for example, at a rear end 2e of the vehicle body 2 and is provided on a lower wall section of a flap 2h of a rear cargo compartment. Imaging unit 15b is located, for example, at a right-side end 2f of the vehicle body 2 and is provided on a right-side exterior mirror 2g. Imaging unit 15c is located, for example, at the front of the vehicle body 2, that is, at a front end 2c in the longitudinal direction of the vehicle, and is provided on a front bumper or the like. Imaging unit 15d is located, for example, on the left side of the vehicle body 2, that is, at a left-side end 2d in the transverse direction of the vehicle, and is provided on an exterior mirror 2g, which functions as a left-side projection section.The ESG 14 is capable of generating an image with a wider viewing angle or an imaginary bird's-eye view of the vehicle 1 from above by executing operational processing and image processing based on the image data acquired by the imaging units 15. A bird's-eye view can be described as a top-down view.

[0023] The ESG 14 identifies dividing lines or the like on a road surface around the vehicle 1 from the images of the imaging units 15 and detects (extracts) parking spaces marked by the dividing lines or the like.

[0024] As in Fig. 1 and Fig. As shown in Figure 2, for example, four distance measuring units 16a to 16d and eight distance measuring units 17a to 17h are provided on the vehicle body 2 as a plurality of distance measuring units 16, 17. Each of the distance measuring units 16, 17 is, for example, a sonar that emits an ultrasonic wave and detects the reflected wave. The sonar can also be referred to as a sonar sensor or an ultrasonic detector. The ESG 14 is able to detect whether there is an object, such as an obstacle, around the vehicle 1, or to measure a distance to the object based on the detection results of the distance measuring units 16, 17. That is, each of the distance measuring units 16, 17 is an example of a detection unit that detects an object. Each of the distance measuring units 17 can, for example, be used to detect an object at a relatively short distance.Each of the distance measurement units 16 can, for example, be used to detect an object at a relatively long distance from an object detected by each of the distance measurement units 17. The distance measurement units 17 can, for example, be used to detect an object in front of or behind the vehicle 1. The distance measurement units 16 can, for example, be used to detect an object at the side of the vehicle 1.

[0025] As in Fig. As shown in Figure 4, in a parking assistance system 100, in addition to the ESG 14, the monitoring device 11, the steering system 13, the distance measuring units 16, 17 and the like, a brake system 18, a steering angle sensor 19, an accelerator sensor 20, a shift sensor 21, a wheel speed sensor 22 and the like are electrically interconnected via an internal vehicle network 23, which serves as an electrical communication line. The internal vehicle network 23 is, for example, a Controller Area Network (CAN). The ESG 14 is able to control the steering system 13, the brake system 18 and the like by transmitting control signals through the internal vehicle network 23.The ESG 14 is able to receive, via the vehicle's internal network 23, the following: recording results from the torque sensor 13b, a brake sensor 18b, the steering angle sensor 19, the distance measuring units 16, the distance measuring units 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22 and the like, and operating signals from the control input unit 10 and the like.

[0026] The ESG 14 comprises, for example, a central processing unit (CPU) 14a, a read-only memory (ROM) 14b, a random access memory (RAM) 14c, a display control unit 14d, an audio control unit 14e, a solid-state drive or flash memory (SSD) 14f, and the like. The CPU 14a can, for example, perform various operational processing and control operations, such as image processing related to images displayed on the display devices 8 and 12, determining a target position of the vehicle 1, calculating a motion path of the vehicle 1, determining whether there is an overlap with an object, automatic control of the vehicle 1, and aborting the automatic control.The CPU 14a can read a program installed and stored in a non-volatile memory device, such as the ROM 14b, and execute operational processing in accordance with the program. The RAM 14c temporarily stores various data segments used for processing in the CPU 14a. The display control unit 14d primarily performs image processing using image data acquired by the imaging units 15, synthesizing image data displayed on the display device 8, and similar operations within the operational processing of the ESG 14. The audio control unit 14e primarily processes audio data output by the audio output device 9 within the operational processing of the ESG 14. The SSD 14f is a rewritable non-volatile memory device and can retain data even when the power to the ESG 14 is switched off.The CPU 14a, ROM 14b, RAM 14c, and similar components can be integrated into the same package. The ESG 14 can be formed by a different logical operating processor instead of the CPU 14a, such as a digital signal processor (DSP), a logic circuit, or the like. A hard disk drive (HDD) can be used instead of the SSD 14f. The SSD 14f or the HDD can be separate from the ESG 14. The ESG 14 is an example of an electronic control unit for a parking assistance system.

[0027] The braking system 18 is, for example, an anti-lock braking system (ABS), which prevents the brakes from locking the wheels; a lateral slip prevention device (electronic stability control (ESC)), which prevents the vehicle 1 from sliding laterally while cornering; an electric braking system, which increases braking force (provides brake assist); a cable-controlled braking system (BBW - brake-by-wire); or the like. The braking system 18 transmits braking force to the wheels 3 and, by extension, to the vehicle 1 via the actuator 18a. The braking system 18 can perform various control actions by detecting wheel lock-up due to the brakes, wheel spin, an indication of lateral slippage, and the like, for example, from a rotational difference between the right and left wheels 3.The brake sensor 18b, for example, is a sensor that detects the position of a movable unit of the brake actuation unit 6. The brake sensor 18b can detect the position of the brake pedal, which functions as the movable unit. The brake sensor 18b includes a displacement sensor.

[0028] The steering angle sensor 19, for example, is a sensor that detects the steering angle of the steering unit 4, such as the steering wheel. The steering angle sensor 19 is implemented, for example, using a Hall effect sensor or similar device. The ESG 14 receives the steering angle of the steering unit 4 from the steering angle sensor 19, as well as the steering angle of each wheel 3 during automatic steering, and executes various control functions. The steering angle sensor 19 detects the rotation angle of a rotating section within the steering unit 4. The steering angle sensor 19 is an example of an angle sensor.

[0029] The accelerator sensor 20, for example, is a sensor that detects the position of a movable unit of the accelerator actuation unit 5. The accelerator sensor 20 can detect the position of the accelerator pedal, which functions as the movable unit. The accelerator sensor 20 includes a displacement sensor.

[0030] The switching sensor 21, for example, is a sensor that detects the position of a movable unit of the switching actuation unit 7. The switching sensor 21 can detect the position of a lever, an arm, a push button, or the like, which functions as the movable unit. The switching sensor 21 can include a displacement sensor or can be designed as a switch.

[0031] The wheel speed sensor 22 is a sensor that detects the degree of rotation or rotational speed of each wheel 3 per unit of time. The wheel speed sensor 22 outputs a wheel speed pulse count, which indicates the detected rotational speed, as a sensor value. The wheel speed sensor 22 can be implemented, for example, using a Hall effect sensor or the like. The ESG 14 calculates the degree of movement and other parameters of the vehicle 1 based on the sensor value obtained from the wheel speed sensor 22 and executes various control actions. There is a case in which the wheel speed sensor 22 is integrated into the brake system 18. In this case, the ESG 14 receives the detection result from the wheel speed sensor 22 via the brake system 18.

[0032] The configurations, arrangement, electrical connection modes and the like of the various sensors and actuators described above are for illustrative purposes only and can be set (changed) in different ways.

[0033] As in Fig. As shown in Figure 5, the ESG 14 includes an acquisition unit 141, an obstacle detection unit 142, a parking space detection unit 143, a candidate position determination unit 144, a target position determination unit 145, an output information control unit 146, a path calculation unit 147, a guidance control unit 148, an orientation determination unit 150, a classification unit 151, a storage unit 149 and the like. The CPU 14a functions as the acquisition unit 141, the obstacle detection unit 142, the parking space detection unit 143, the candidate position determination unit 144, the target position determination unit 145, the output information control unit 146, the path calculation unit 147, the guidance control unit 148, the orientation determination unit 150, the classification unit 151 or the like by executing a process in accordance with a corresponding program.Data used in the operational processes of the units, data from the results of operational processes, and the like are stored in storage unit 149. At least some of the functions of the units described above can be implemented using hardware.

[0034] The acquisition unit 141 acquires various pieces of data, signals, and the like. For example, the acquisition unit 141 acquires data, signals, and the like, such as sensor readings, operator inputs, input commands, and image data. The acquisition unit 141 is capable of acquiring a signal resulting from an operator input from the control unit 14g. The control unit 14g is, for example, a push button, a switch, or the like.

[0035] The obstacle detection unit 142 detects an obstacle that impedes the movement of vehicle 1. The obstacle could be, for example, another vehicle, a wall, a post, a fence, a ledge, a step, a roll-back protection device, an object, or the like. The obstacle detection unit 142 uses various techniques to determine whether an obstacle exists, its height, its size, and other relevant information. For example, the obstacle detection unit 142 can detect an obstacle based on the detection results from the distance measurement units 16 and 17. Each of the distance measurement units 16 and 17 is capable of detecting an object according to the height of its beam and is not capable of detecting an object lower than the height of its beam.Thus, the obstacle detection unit 142 can detect the height of an obstacle based on the detection results from the distance measurement units 16, 17 and the heights of the beams of the distance measurement units 16, 17. The obstacle detection unit 142 can detect whether an obstacle exists or its height based on a detection result from the wheel speed sensor 22 or an accelerometer (not shown) and on detection results from the distance measurement units 16, 17. For example, the obstacle detection unit 142 can detect the height of an obstacle by means of image processing based on images acquired by the imaging units 15.

[0036] The parking space detection unit 143 detects a parking space provided as a marker or object. The parking space is a space that is a target or reference, defined such that vehicle 1 is parked in that space. A parking boundary is a limit or outer edge of the parking space and is, for example, a dividing line, a frame line, a straight line, a band, a step, an edge of any of these, or the like. That is, the parking boundary is a marker, an object, or the like. The parking space detection unit 143 is able to detect a parking space and a parking boundary, for example, through image processing based on images acquired by the imaging units 15. The parking space detection unit 143 is an example of a parking boundary detection unit.

[0037] The candidate position determination unit 144 determines at least one candidate position that is a candidate for a target position, that is, an end position of a movement path of the vehicle 1. The candidate position determination unit 144 determines a candidate position, for example, on the basis of at least one detection result from the obstacle detection unit 142 or a detection result from the parking space detection unit 143.

[0038] The orientation determination unit 150 determines the orientation of vehicle 1 at each candidate position. For example, the orientation determination unit 150 determines the orientation of vehicle 1 at a candidate position based on at least one detection result from the obstacle detection unit 142 and one detection result from the parking space detection unit 143. If a parking space has been detected, the orientation determination unit 150 determines the orientation based on the parking space.

[0039] The classification unit 151 classifies each candidate position. For example, classification unit 151 classifies each candidate position based on the current position and orientation of vehicle 1 (the host vehicle), the candidate position, and the candidate position's orientation. Classification refers to establishing a ranking, and assigning a number or similar identifier indicating a rank to each candidate position is not essential. Classification unit 151 can assign a numerical value to each candidate position and can enable the identification of a rank based on the magnitude of this numerical value.

[0040] The target position determination unit 145 determines a target position from at least one candidate position. For example, the target position determination unit 145 is able to determine a high-level candidate position, i.e., an upper-level candidate position, as a target position from at least one candidate position classified by the classification unit 151. The target position determination unit 145 is also able to determine a candidate position corresponding to an inmate input, i.e., a candidate position selected by the inmate, as a target position from at least one candidate position.

[0041] The output information control unit 146, for example, controls the display control unit 14d or the audio control unit 14e and, by extension, the display device 8, the display device 12 or the audio output device 9, so that the display device 8, the display device 12 or the audio output device 9 outputs intended information in an intended mode in each of the steps, such as a parking assistance start, a parking assistance end, a target position determination, a path calculation and a guidance control.

[0042] The path calculation unit 147, for example, calculates a movement path from the current position of vehicle 1 to the target position based on the current position of vehicle 1, i.e., the host vehicle, the specified target position, the detected obstacle, and the like.

[0043] The guidance control unit 148 controls the sections so that the vehicle 1 moves along the calculated path of motion. In the case of vehicle 1, which moves without the accelerator pedal being pressed, using creep or similar mechanisms, the guidance control unit 148 is able, for example, to move the vehicle 1 along the path of motion by controlling the steering system 13 in response to the position of the vehicle 1. The guidance control unit 148 can control not only the steering system 13, but also a drive mechanism such as a drive motor and engine, the braking system 18, which functions as a braking mechanism, or the like.The guidance control unit 148 can, for example, by controlling the output information control unit 146, the display control unit 14d or the audio control unit 14e and, in extension, the display device 8, the display device 12 or the audio output device 9, inform the driver about a movement of the vehicle 1 along the movement path by means of a display output or an audio output according to the position of the vehicle 1.

[0044] The storage unit 149 stores data that is used in processing in the ESG 14, or data that is calculated in processing in the ESG 14.

[0045] The parking assistance system 100 uses a process in accordance with the one described in Fig. The sequence shown in Figure 6 is executed. Initially, the obstacle detection unit 142 detects an obstacle (S1), and the parking space detection unit 143 detects a parking space and a parking boundary (S2). Subsequently, the candidate position determination unit 144, based on the detection results of S1 and S2, determines at least one candidate position, which is a candidate for a target position, i.e., an end position, of the vehicle 1's movement path (S3). The classification unit 151 then classifies each candidate position (S4). The acquisition unit 141 then receives an operator input that issues a command to start parking assistance (S5). That is, in the present embodiment, S1 to S4 are executed, for example, before an operator command is entered. Finally, the target position determination unit 145 determines a target position from at least one candidate position (S6).In S6, the target position determination unit 145 can designate the highest-ranking candidate position as the target position. Alternatively, the target position determination unit 145 can designate a candidate position selected based on an occupant control input as the target position. Subsequently, the path calculation unit 147 calculates a motion path from the current position of vehicle 1 to the designated target position (S7). The guidance control unit 148 then controls the segments so that vehicle 1 moves along the calculated motion path (S8). The target position, the motion path, or similar parameters can be corrected or updated as needed while the vehicle is moving along the motion path.

[0046] Next, with reference to Fig. 7 and Fig. 8 An example of a method for determining a candidate position C by the candidate position determination unit 144 according to the present embodiment is described. Fig. Figure 7 is a top view of an example of a parking lot in which two rows LR, LL of parking spaces PD are provided for double-row parking. In this example, vehicle 1 enters an empty parking space PD from a passage PS between the two rows LR, LL. Each of the parking spaces PD of the two rows LR, LL and its entrance face the passage PS. Vehicle 1 is parked in one of the parking spaces PD in a position where it is oriented in a direction that intersects with one of the vehicle's directions of travel V. The parking assistance system 100 assists in reversing the vehicle to a target position defined within an empty parking space PD. The target position is determined from at least one candidate position. To simplify the determination of the target position, each candidate position is categorized. Each parking space PD is defined by parking boundaries D, which are markings or objects.Obstacles B are, for example, vehicles or the like that are parked in the corresponding parking spaces PD.

[0047] As in Fig. As shown in Figure 7, while the vehicle 1 is passing through a passage PS, the ESG 14 can detect obstacles B, parking boundaries D and the like, located on the side or rear of the vehicle 1, based on image data acquired by the imaging units 15 and detection results from the distance measurement units 16, 17. Fig. Figure 7 shows the acquisition areas of the imaging units 15 and the detection areas of the range-measuring units 16, 17 by means of alternating long and two short dashed lines; however, these are for illustrative purposes only. The imaging units 15, the acquisition areas, the range-measuring units 16, 17, and the detection areas are not to be applied to the Fig. The example shown is limited to 7. In the drawings in Fig. 7 and Fig. 10 is the arrow indicating the front in the longitudinal direction of the vehicle attached to vehicle 1. However, the arrow does not always indicate the direction of travel. The distance measuring units 17 are able to obtain detection results at the time when vehicle 1 is turning or reversing. Vehicle 1 can be referred to as the host vehicle.

[0048] Fig. Figure 8 shows a detection result of the parking assistance system 100 of vehicle 1, which is traveling in direction V. In a space S, two obstacles B and two parking boundaries D, arranged at a mutual distance, are detected. A boundary line L for each obstacle is set essentially along the outer edge of the corresponding obstacle B at a position that is arranged a predetermined distance d from the outer edge of the corresponding obstacle B. In this case, the candidate position determination unit 144 determines, based on the obstacles B and the parking boundaries D detected in space S, for example, whether it is possible to determine a candidate position C in an area A3 in which an area A1 overlaps on one side across each boundary line L of the corresponding obstacle B and an area A2 outside the parking boundaries D.By defining a candidate position C in area A1, at least the predetermined distance d, i.e., one clearance, between each obstacle B and the vehicle 1 located at candidate position C is ensured. By defining a candidate position C in area A2, a situation in which the vehicle 1 overlaps with one of the parking boundaries D is avoided. Thus, according to this example, the candidate position defining unit 144 can define a candidate position C at a position that is arranged at a distance from the obstacle B and that falls within the parking space PD.

[0049] Fig. Figure 9 shows an example of how the orientation determination unit 150 sets an orientation Cv for the candidate position C in the case where two obstacles B and two parking boundaries D, also spaced apart, have been detected. The orientation Cv is, for example, the front of the vehicle 1 located at candidate position C. A direction Dv in which each parking boundary D extends is determined for each detected parking boundary D, for example, by means of regression analysis, such as a least squares method. The boundary lines L and the parking boundaries D extend in a direction that intersects the direction of travel of the moving vehicle 1. In this case, the orientation determination unit 150 sets the orientation Cv, for example, to an orientation between the directions Dv in which the two parking boundaries D extend.For example, if the angles of directions Dv with respect to a reference direction α1, α2 are , an angle β of the orientation Cv with respect to the reference direction is set to (α1 + α2) / 2. If a parking boundary D has been detected, the orientation setting unit 150 sets the orientation Cv to a direction parallel to the direction Dv in which the parking boundary D extends. If no parking boundary D has been detected, the orientation setting unit 150 sets the orientation Cv to a direction between directions Lv of two boundary lines L or a direction parallel to a direction Lv of a boundary line L.

[0050] Fig. Figure 10 shows a plurality of classification ranges R1 to R3, which correspond to each candidate position C. In the Fig. In the example shown, classification area R2 is set so that it faces the front of candidate position C, i.e., the entrance to parking space PD. The rank of classification area R2 is set to "2". Classification area R1 is set at the front of classification area R2 in the direction of travel of vehicle 1. The rank of classification area R1 is higher than the rank of classification area R2, set to "1". Classification area R3 is set so that it is farther from candidate position C than classification area R1. The rank of classification area R3 is lower than the rank of classification area R1, or the rank of classification area R2 is set to "3". Classification area R1 is an example of a first area. Classification area R2 is an example of a second area. Classification area R3 is an example of a third area.

[0051] Such determinations change the ranking of candidate position C as vehicle 1 moves in direction V along passage PS forward of candidate position C. That is to say, in the Fig. In the example shown, vehicle 1 is in a state where it is at position P1, and is therefore in ranking range R2 of candidate position C. Thus, at the time when vehicle 1 is at position P1, the ranking of candidate position C is set to "2". When vehicle 1 moves forward from position P1 and is in a state where it is at position P2, it is in ranking range R1 of candidate position C. Thus, at the time when vehicle 1 is at position P2, the ranking of candidate position C is set to "1". When vehicle 1 continues moving forward from position P2 and is in a state where it is at position P3, it is in ranking range R3 of candidate position C.Thus, when vehicle 1 is at position P3, the rank of candidate position C is set to "3". This means the rank changes in the sequence "2", "1", and "3" while vehicle 1 is traveling in front of candidate position C. That is, when vehicle 1 is in an area facing candidate position C, the rank is the second rank. When vehicle 1 is in an area entering from the area facing candidate position C, the rank is the first rank. When vehicle 1 is in an area entering from the area facing candidate position C, the rank is the third rank.Such stipulations assign a higher rank to each candidate position C at a time when vehicle 1 is positioned at a suitable distance from candidate position C than at a time when the vehicle is closest to candidate position C. When vehicle 1 moves from its closest position to candidate position C towards that position, the likelihood of the vehicle needing to move forward and backward increases. If vehicle 1 is too far from candidate position C, the distance to reach that position becomes greater, which can, for example, be time-consuming and costly. Thus, such stipulations for ranking ranges R1 to R3 tend to identify a less problematic or less inconvenient candidate position C than the target position.

[0052] The classification ranges R1 to R3 are determined based on candidate position C and the orientation Cv of candidate position C. Further details are provided in the Fig. In the example shown, a reference point O is set at a position located a predetermined distance δ in the direction of travel V from one end Ck of an entry section Ce in the direction of travel V of vehicle 1. The entry section Ce faces the passage PS from the candidate position C. A dividing line M1, passing through the reference point O and parallel to the orientation Cv, is defined, and an area on the back side of dividing line M1 in the direction of travel V is defined for classification area R2. A dividing line M2, with a semicircular or D shape and a radius r around the reference point O, is defined on the front side of dividing line M1 in the direction of travel V. An area on the front side of dividing line M1 and dividing line M2 in the direction of travel V is defined for classification area R3.An area bypassing dividing lines M1 and M2 is designated for classification area R1. In passage PS, classification area R1 is located ahead of classification area R2 in the direction of travel V, and classification area R3 is located ahead of classification area R1 in the direction of travel V. Classification area R3 is positioned at a greater distance from candidate position C than classification area R1. Classification area R1, for which a high rank is designated, is placed in an area where a distance from reference point O, that is, a distance from the entry section Ce of candidate position C, is substantially less than or equal to a predetermined distance. Fig. Figure 10 shows the case in which vehicle 1 travels to the left when viewed from candidate position C in the direction of passage PS, that is, when in Fig. 10 upwards. In contrast, if vehicle 1 travels to the right, when viewed from candidate position C in the direction of passage PS, classification ranges R1 to R3 are used, which are the opposite of those in Fig. 10 are defined. That is, the classification ranges R1 to R3 are defined in response to the direction of travel V of vehicle 1 or the orientation of vehicle 1. Definitions of the classification ranges R1 to R3 are not based on the in Fig. The example shown is limited to 10. A classification based on classification ranges R1 to R3 is an example of a classification based on candidate position C, the position of vehicle 1, and the orientation of vehicle 1. The classification ranges R1 to R3, which are shown in Fig. Figures 10 are for illustrative purposes only, and the classification ranges are not limited to this example. The classification unit 151 does not need to calculate the value of a rank for each classification range, but can calculate the value for each candidate position C, which is derived from a condition, a mathematical expression, or the like, based on candidate position C, the position of vehicle 1, and the orientation of vehicle 1, and a rank is determined based on the magnitude of this value.

[0053] In the Fig. In the example shown, at a time when vehicle 1 is at position P, based on the position P of vehicle 1 with respect to the classification ranges R1 to R3, the rank of a candidate position Ca, which is closest to vehicle 1, is set to “2”, the rank of a candidate position Cb, which is behind candidate position Ca in the direction of travel V of vehicle 1, is set to “1”, and the rank of a candidate position Cc, which is behind candidate position Cb in the direction of travel V of vehicle 1, is set to “3”.

[0054] Out of Fig. It is understandable that a position into which each of the classification areas R1 to R3 is placed corresponds to the orientation Cv of a corresponding candidate position C. Through such stipulations, the established classification areas R1 to R3 tend to reflect the ease and difficulty of moving vehicle 1 into candidate position C. A classification based on the classification areas R1 to R3 is an example of a classification based on candidate position C, the orientation of candidate position C, the position of vehicle 1, and the orientation of vehicle 1. The in Fig. The 11 classification ranges R1 to R3 shown are for illustrative purposes only, and the classification ranges are not limited to this example. The classification unit 151 does not need to calculate the value for a rank in each classification range, but can calculate the value for each candidate position C, which is derived from a condition, a mathematical expression, or the like, based on candidate position C, the orientation Cv of candidate position C, the position of vehicle 1, and the orientation of vehicle 1, and a rank is determined based on the magnitude of this value.

[0055] Fig. 12 to Fig. Figure 14 shows changes to an image Im displayed on the display device 12 at any time the candidate position setting unit 144 is performing a process of setting a candidate position C while the vehicle 1 is moving. The output information control unit 146 and the display control unit 14d of the ESG 14 control the display device 12 so that the image Im, as shown in Fig. 12 to Fig. Figure 14 is shown in response to a processing status of the candidate position determination unit 144. The image contains a text image Im1, a text image Im2, a symbol Im3, and the like. Text image Im1 shows the basic outline of the processing status. Text image Im2 shows more specific details of the processing status. Symbol Im3 indicates the processing status through a design, figure, marker, or the like. Fig. Image 12 shows Im in a situation before candidate position C is determined. Fig. Figure 13 shows the image in a situation in which, although a candidate position C is specified, the rank of candidate position C is “2”, or in a situation in which only a candidate position C has been found. Fig. Figure 14 shows the image in a situation where a candidate position C has been found whose rank is "1". Following the example of Fig. 14, when parking assistance is started based on a driver input or the like, the target position determination unit 145 can determine candidate position C, whose rank is “1”, as the target position. In the present embodiment, due to the determination of the classification ranges R1 to R3 described above, it is highly likely that the rank of candidate position C, whose rank is “2”, will change to “1” while the vehicle 1 is moving. In a situation where the Fig. As shown in image 13, the ESG 14 prompts the driver, using text image Im2, to move vehicle 1, and prompts the driver, using the text as shown in Fig. The text shown in image 14, Im2, indicates the need to stop vehicle 1. This tends to achieve a more even or less uncomfortable lead to candidate position C.

[0056] As in Fig. 12 to Fig. As shown in Figure 14, the symbol Im3 contains a simulation image Im31 of vehicle 1, a plurality of partitioned display sections Im32 surrounding the simulation image Im31, and the like. In the symbol Im3, the top of each figure shows the front of vehicle 1. In a situation where candidate position C is fixed and the image Im of Fig. 13 or Fig. As shown in Figure 14, for example, display section Im32 is selected and illuminated in approximately the direction in which candidate position C is located relative to vehicle 1. Fig. 13 and Fig. 14 The illuminated display section Im32 is hatched. This allows an occupant, such as a driver, to recognize in which direction the candidate position C, and consequently the target position, is set in relation to vehicle 1. The image Im is not shown in Fig. 12 to Fig. The 14 examples shown are limited. Fig. 12 to Fig. 14 displayed images can be shown on the display device 8.

[0057] As in Fig. As shown in Figure 15, the classification unit can classify candidate positions C in right and left rows LR, LL on both sides of passage PS for vehicle 1. Thus, according to the classification based on the classification ranges R1 to R3 described above, as shown in Figure 15, the classification can be performed in accordance with the classifications described above. Fig. Figure 15 shows that, at a time when vehicle 1 is at position P, the following situation occurs. The rank of candidate position Cra in row LR is set to "2", the rank of candidate position Crb in row LR is set to "1", the rank of candidate position Crc in row LR is set to "3", the rank of candidate position Cla in row LL is set to "2", the rank of candidate position Clb in row LL is set to "1", and the rank of candidate position Clic in row LL is set to "3". That is, the rank of each of the majority of candidate positions C, that is, candidate position Crb and candidate position Clb in this example, is set to "1".

[0058] Even in such a case, the target position determination unit 145, for example, is able to determine the target position from at least one candidate position C based on an operator input from an occupant such as a driver. Fig. 16 and Fig. Figure 17 shows an image ImA displayed on the display device 8, which shows a plurality of candidate positions C in accordance with the one in Fig. Figure 15 illustrates this case. The image ImA is an image containing a road surface outside the vehicle. The image ImA provides specified candidate positions C, high-ranking candidate positions C, a candidate position C permitted to be designated as the target position, and the like, and furthermore prompts the driver to select a candidate position C. The image ImA contains corresponding images Imc and Ims for the candidate positions C. The image ImA changes as the vehicle 1 moves, and the corresponding images Imc and Ims also change. The output information control unit 146 and the display control unit 14d of the ESG 14 control the display device 8 such that the image is displayed as shown in Figure 15. Fig. 16 or Fig. The image shown in Figure 17, ImA, is displayed. The output information control unit 146 and the display control unit 14d are an example of an output control unit. An occupant, such as a driver, performs a predetermined operating input based on the image ImA, which contains the images Imc and Ims, displayed on the display device 8. The target position determination unit 145 is able to determine the target position from at least one candidate position C based on an input signal corresponding to the operating input. Each of the images Imc is an example of a first image, and the image Ims is an example of a second image.

[0059] In the Fig. 16 and Fig. In the 17 examples shown, the image ImA can be generated, for example, based on a rear view of vehicle 1, taken from the [images shown in the original text]. Fig. 1 and Fig. The image is captured by the imaging units 15a shown in Figure 2. In this case, the image ImA is generated based on a horizontally mirrored image of the image captured by the imaging unit 15a, such that the image corresponds to the orientation of the vehicle 1 in the position of the driver, who is observing the display device 8 located at the front, that is, the left side of the viewing angle is the left side of the vehicle 1, and the right side of the viewing angle is the right side of the vehicle 1.

[0060] Image ImA contains an image Imc that shows at least one specified candidate position C in a position and shape corresponding to that candidate position C. In this example, image ImA contains the images Imc that correspond to the three candidate positions Cra to Crc in the right-hand row LR, and the images Imc that correspond to the three candidate positions Cla to Clc in the left-hand row LL. Each of the images Imc has, for example, a frame shape, such as a parallelogram or a rhombus. In this case, the frame of each image Imc can, for example, be arranged along the outer edge of the corresponding candidate position C.

[0061] In addition to the images Imc, the image ImA contains the image Ims corresponding to candidate position C, in a position and shape that correspond to candidate position C. In the Fig. In example 16, the image ImA contains the image Ims corresponding to the highest-ranking candidate position Clb. In the example shown in Fig. In example 17, image ImA contains image Ims, which corresponds to the highest-ranking candidate position Crb. Image Ims is provided in such a way that it fills the frame of image Imc. Image Ims is distinguished from images Imc, and it is provided with features such as a different color, higher brightness, wider display area, and wider display areas for both images Imc and Ims than those seen with only images Imc, making image Ims stand out.

[0062] The images Imc and Ims can be additional images added to base images, partially illuminated highlight images, or transparent images that allow base images to be transmitted through them. For example, image ImA comprises images captured by Imaging Units 15, such as images Imd, which show parking spaces not designated for candidate positions C.

[0063] In the Fig. In example 15, there are the candidate positions Crb and Clb, whose rank is "1". In contrast, in the example shown... Fig. In example 16, the image Ims, which corresponds only to candidate position Clb of these candidate positions Crb, Clb, is displayed and is shown in the Fig. In example 17, the image Ims, which corresponds only to candidate position Crb, is displayed. That is to say, in Fig. 16 and Fig. 17. Based on another condition, for example, the image Ims is displayed in accordance with a selected candidate from the majority of candidate positions C, whose rank is "1". In this case, for example, the classification unit 151 can further classify the candidate positions Crb, Clb, whose rank is "1", and the output information control unit 146 and the display control unit 14d can control the display device 8 so that the image Ims is displayed, which corresponds to the higher-ranked candidate position C resulting from the classification. Alternatively, regardless of the ranks, the output information control unit 146 and the display control unit 14d can control the display device 8 so that, by means of an initial setting or the like, the image Ims, which corresponds to one of the candidate positions C, is displayed.An occupant, such as a driver, is enabled to perform a predetermined input to specify the candidate position C at which the image Ims is displayed as the target position. In this case, with the specifications that the image Ims corresponding to a plurality of the high-ranking candidate positions C is displayed, an occupant, such as a driver, can determine the target position through a relatively simple operation. This is described in... Fig. 16 or Fig. Image 17 shown in ImA is updated to reflect how vehicle 1 is moving.

[0064] The acquisition unit 141 receives input signals from the operator input unit 10, the operator unit 14g, the steering angle sensor 19, and the like. The output information control unit 146 and the display control unit 14d are able to change the display mode for the image ImA in response to the input signals. For example, the output information control unit 146 and the display control unit 14d are able to change the candidate position C associated with the image Ims in response to the direction and angle of rotation of the steering unit 4, which are obtained from the acquisition result of the steering angle sensor 19. In this case, the output information control unit 146 and the display control unit 14d, for example, control the display device 8 in an initial setting state such that the image Ims is displayed in accordance with only the left-hand candidate position Clb among the candidate positions Crb, Clb, whose rank is "1", as shown in Fig. 16 is shown. When the steering unit 4 is rotated by a predetermined angle or more in the clockwise direction, the output information control unit 146 and the display control unit 14d can control the display device 8 so that the image Ims is displayed in accordance with only the right-hand candidate position Crb, which is located on the right side in Fig. 17 is located, as in Fig. 17 is shown. If the steering unit 4 is turned by a predetermined angle or more in the counterclockwise direction in the Fig. When the state shown in 17 is rotated, the output information control unit 146 and the display control unit 14d can control the display device 8 so that the image Ims is in accordance with only the left-hand candidate position Clb, which is located on the left side in Fig. 16 is located, as in Fig. 16 is shown. With the above configuration, an occupant, such as a driver, is able to change the candidate position C associated with image Ims among the majority of candidate positions C in image ImA by operating the steering unit 4. The output information control unit 146 and the display control unit 14d can control the display device 8 so that image Ims is displayed in accordance with a candidate position whose rank is "2" or "3". In this case, the output information control unit 146 and the display control unit 14d can control the display device 8 so that image Ims is displayed among all the candidate positions C at which images Imc are shown in Fig. 16 or Fig. The image displayed changes in response to a rotation of the steering unit 4. However, even in this case, the output information control unit 146 and the display control unit 14d can control the display device 8 so that the image Ims is displayed in accordance with one of the highest-ranking candidate positions Crb, Clb before an input is made to select the candidate position C. That is, the image Ims serves as an image that provides a higher-ranking candidate position C and also serves as a so-called cursor or pointer that indicates a selectable candidate position C.

[0065] The acquisition unit 141 is capable of receiving input signals from the operating input unit 10, the control unit 14g, the steering angle sensor 19, the shift sensor 21 and the like in response to the display mode of the in Fig. 16, Fig. to obtain the target position from at least one of the candidate positions C shown in 17, or the like. Thus, the target position determination unit 145 can select the target position from at least one candidate position C, that is, determine it, based on an input signal obtained from the acquisition unit 141, which is based on an operator input from an occupant such as a driver. More precisely, determined, for example, in a state in which the Fig. The image shown in 16 is displayed on the display device 8 when the acquisition unit 141 has received a predetermined input signal, the target position determination unit 145 selects the candidate position Clb corresponding to the image Ims as the target position and determines it in a state in which the Fig. When the image ImA shown in Figure 17 is displayed on the display device 8, and the acquisition unit 141 has received a predetermined input signal, the target position determination unit 145 selects the candidate position Crb corresponding to the image Ims as the target position. In a state where the image Ims is displayed in accordance with a candidate position C from among all the candidate positions C, including those with a rank of "2" or "3", when the acquisition unit 141 has received a predetermined input signal, the target position determination unit 145 can select the candidate position C corresponding to the image Ims as the target position.

[0066] An output mode based on the rank of candidate position C is not available in Fig. 16 or Fig. The example shown in Figure 17 is limited and can be set or changed in various ways. For example, an image with a different color, shape, design, or the like can be displayed for each rank of candidate position C. The images Imc corresponding to the candidate positions C, the image Ims corresponding to the rank, and an image (not shown) displaying a selected candidate position C can be different images. By operating a control unit other than the steering unit 4, a selected candidate position C can be changed, or the candidate position C at which the image Ims is displayed can be selected. The image ImA can be an image from another of the imaging units 15, can be a synthesis of images acquired by the majority of imaging units 15, or can be an image subjected to coordinate transformation, image processing, or the like.The output information control unit 146 and the display control unit 14d can control the display device 12 to display an image based on the rank of candidate position C. If a predetermined area within candidate position C is not displayed in the image ImA, the grading unit 151 can assign a low rank to candidate position C or place candidate position C outside the grading range. The predetermined area in this case can be, for example, the entire area including four corners of candidate position C, or half, three-quarters, or the like from the front of candidate position C. The output information control unit 146 and the audio control unit 14e can control the audio output device 9 to emit a tone based on the rank of candidate position C. The audio control unit 14e is an example of the output control unit.

[0067] The target position determination unit 145 can, for example, determine the target position from at least one defined candidate position C based on a predetermined condition, independently of any operator input from an occupant such as a driver. Even if the target position determination unit 145 automatically determines the target position, the target position can be configured so that it can be changed by an operator input from an occupant such as a driver. The classification unit 151 can classify each candidate position C based on a different condition, thus achieving a highest-ranking candidate position C.In this case, the output information control unit 146 and the display control unit 14d control the display device 8 so that the image ImA, from which the highest-ranking candidate position C can be identified, is displayed, and the target position determination unit 145 determines the one highest-ranking candidate position C as the target position by means of a predetermined operating input from an occupant such as a driver, which is associated with the image ImA.

[0068] The following describes a procedure in which the Ranking Unit 151 determines the highest-ranking candidate position C. The Ranking Unit 151 initially ranks the candidate positions C for each of the series LR and LL in accordance with the procedure described above, using the rank ranges R1 to R3. At this time, if there is only one candidate position C with the highest rank (i.e., rank "1"), the Target Position Determination Unit 145 can designate this highest-ranking candidate position C as the target position.

[0069] If there are multiple highest-ranking candidate positions C, for example, if there is the highest-ranking candidate position C in each of the ranks LR, LL, the grading unit 151 may rank the candidate positions C on the basis of another condition described below.

[0070] The classification unit 151 can classify candidate positions C based on the position of vehicle 1 within classification area R1. If vehicle 1 is too close to candidate position C, the likelihood of maneuvering a steering unit to change the vehicle's direction of movement between forward and reverse to move the vehicle to candidate position C increases. Thus, classification unit 151 assigns a higher rank to candidate position C with respect to vehicle 1 as the position of vehicle 1 gets closer to the curved dividing line M2, which is spaced a predetermined distance from candidate position C or the reference point O defined in accordance with candidate position C. Fig. In the example shown in Figure 18, the rank of candidate position C is higher when vehicle 1 is at position P11 than when vehicle 1 is at position P12. Through this process, the target position determination unit 145 can preferentially determine a candidate position C to which the vehicle is most likely to move more easily than the target position. The dividing line M2 is an example of a reference line. In this example, dividing line M2 has a circular arc shape. However, dividing line M2 could have a shape other than a circular arc. In other words, the ranking unit 151 assigns a higher rank to candidate position C the further vehicle 1 is from the reference point O or the candidate position C in the ranking area R1.

[0071] As in Fig. As shown in Figure 19, the classification unit 151 can define a circular arc or strip-shaped classification area R11 with a predetermined width along the dividing line M2 and can assign a higher rank to a candidate position C if the vehicle 1 is located within classification area R11. In this case as well, the target position determination unit can preferentially determine a candidate position C to which the vehicle 1 is most likely to move more easily than the target position. Classification area R11 is an example of a strip-shaped or curved area positioned at a predetermined distance from the candidate position C or the reference point O defined in accordance with the candidate position C.

[0072] The classification unit 151 can classify any candidate position C based on the position of vehicle 1, a minimum turning radius of vehicle 1, and the candidate position C. In this as in Fig. In the case shown in Figure 20, the classification unit 151 calculates, for example, a circular arc Cvr, which has a curvature and corresponds to a candidate position CR, and a circular arc Cvl, which also has a curvature and corresponds to a candidate position CL. The circular arc Cvr has a tangent along the longitudinal direction of vehicle 1 at position P of vehicle 1 and curves, that is, approaches, in the direction of candidate position CR. The circular arc Cvl has a tangent along the longitudinal direction of vehicle 1 at position P of vehicle 1 and curves, that is, approaches, in the direction of candidate position CL. Each of the circular arcs Cvr and Cvl can also be referred to as a path or track.If a candidate position C is located on the circular arcs Cvr, Cvl with the minimum turning radius or radially outside the circular arcs Cvr, Cvl, it is highly likely that vehicle 1 can move from position P of vehicle 1 to candidate position CR or candidate position CL without maneuvering a steering unit to change the vehicle's direction of movement between forward and reverse. Thus, the classification unit 151 establishes ranks such that the rank of a candidate position C located on the circular arcs Cvr, Cvl with the minimum turning radius or radially outside the circular arcs Cvr, Cvl is higher than the rank of a candidate position C located radially inside the circular arcs Cvr, Cvl. In the section in... Fig. In the example shown, candidate position CR is located on the circular arc Cvr, and candidate position CL is located radially inside the circular arc Cvl. Thus, the classification unit 151 assigns ranks such that the rank of candidate position CR is higher than the rank of candidate position CL. Therefore, the target position determination unit 145 can preferentially determine a candidate position C, to which vehicle 1 is most likely to move more smoothly, than the target position.

[0073] The classification unit 151 can classify any candidate position C based on a path from the position of vehicle 1 to candidate position C. In this as in Fig.In the case shown in Figure 21, the path calculation unit 147 calculates, for example, a path RTr from position P of vehicle 1 to candidate position CR and a path RTI from position P of vehicle 1 to candidate position CL. The ranking unit 151 sets ranks such that the rank of candidate position CR, for which path RTr is calculated without maneuvering a steering unit to change the vehicle's direction of movement between forward and reverse, is higher than the rank of candidate position CL, for which path RTI is not calculated without maneuvering a steering unit to change the vehicle's direction of movement between forward and reverse, with respect to the behavior of vehicle 1. Thus, the target position determination unit 145 can preferentially determine a candidate position C, to which vehicle 1 is most likely to move more easily, than the target position.

[0074] The classification unit 151 may, in addition to the ranks obtained using the classification ranges R1 to R3, assign the ranks described above that were established for candidate positions C without using the classification ranges R1 to R3, or may assign new ranks that represent a plurality of the ranks obtained using the classification ranges R1 to R3.

[0075] As described above, in the present embodiment, for example, the classification unit 151 classifies each of the candidate positions C based on the candidate position C and the position and orientation of vehicle 1 (host vehicle). Thus, according to the present embodiment, for example, a candidate position C to which more consistent or less inconvenient parking assistance can be performed can be determined as the target position based on the ranking levels.

[0076] In the present embodiment, the classification unit 151, for example, classifies each of the candidate positions C based on the candidate position C, the orientation Cv of the candidate position C, and the position and orientation of vehicle 1 (host vehicle). Thus, for example, a candidate position C to which more consistent or less inconvenient parking assistance can be performed can be determined as the target position based on the ranking levels.

[0077] In the present embodiment, for example, a plurality of classification ranges R1 to R3 are defined in accordance with each of the candidate positions C, a rank is defined for each of the classification ranges R1 to R3, and the classification unit 151 classifies each of the candidate positions C in accordance with one of the classification ranges R1 to R3 in which the vehicle 1 (host vehicle) is located. Thus, for example, the classification unit 151 classifies each candidate position C more easily. Therefore, for example, an operating load on the classification unit 151 tends to be reduced.

[0078] In the present embodiment, for example, a rank lower than that assigned to classification area R1 is assigned to classification area R2, which is located at the rear of classification area R1 in the direction of travel V of vehicle 1 (host vehicle), and a rank lower than that assigned to classification area R2 is assigned to classification area R3, which is located at the front of classification area R1 in the direction of travel V of vehicle 1 (host vehicle). Thus, for example, there is a tendency to assign a rank corresponding to a positional ratio with respect to vehicle 1 (host vehicle) to each candidate position C. Therefore, there is a tendency to determine a candidate position C to which more consistent or less inconvenient parking assistance can be provided than the target position.

[0079] In the present embodiment, for example, the classification range R1 is defined within a predetermined distance from at least one reference point O corresponding to candidate position C or to candidate position C. Thus, for example, the ranking of a candidate position C located farther from vehicle 1 will be lower and is unlikely to be determined as the target position. Therefore, there is a tendency to determine a candidate position C, to which more consistent or less inconvenient parking assistance can be provided, as the target position.

[0080] In the present embodiment, for example, the classification area R1 is located on the front side of the area facing candidate position C, in the direction of travel of vehicle 1. Thus, for example, the ranking of a candidate position C that is closest to vehicle 1 will be lower and will hardly be determined as the target position. Therefore, there is a tendency, for example, to determine a candidate position C to which more consistent or less inconvenient parking assistance can be provided as the target position.

[0081] In the present embodiment, for example, the output information control unit 146 and the display control unit 14d (output control unit) control the display device 8 such that an image Imc or an image Ims, based on the ranking of at least one candidate position C, is displayed. The acquisition unit 141 receives an operator input from an occupant, such as a driver, in accordance with the selected candidate position C, that is, the determined candidate position C. Thus, an occupant, such as a driver, can further easily or reliably determine a candidate position C to which more consistent or less inconvenient parking assistance can be performed than the target position.

[0082] In the present embodiment, for example, the output information control unit 146 and the display control unit 14d (output control unit) can display an image ImA of the exterior of the vehicle, which contains first images Imc corresponding to candidate positions C and a second image Ims, which identifies a selectable candidate position C. They can control the display device 8 or the display device 12 such that the second image Ims changes among a plurality of candidate positions in response to a first input signal received by the acquisition unit 141. The target position determination unit 145 can determine a candidate position C corresponding to the second image Ims, which is displayed at the time the acquisition unit 141 has received a second input signal, as a target position. Thus, for example, an occupant such as a driver can easily select the target position.

[0083] In the present embodiment, for example, the output information control unit 146 and the display control unit 14d (output control unit) can control the display device 8 or the display device 12 such that the second image Ims, which identifies a selectable candidate position C, is displayed in accordance with a high-ranking candidate position C before the first input signal is received. Thus, for example, an occupant such as a driver can more easily or reliably determine a candidate position C to which more consistent or less inconvenient parking assistance can be performed than the target position.

[0084] In the present embodiment, for example, when the candidate position C corresponding to the image Ims displayed before the first input signal is received has changed from a state in which the image Ims is located on one side of the right and left sides of vehicle 1 (host vehicle) to a state in which the image Ims is located on the other side, the output information control unit 146 and the display control unit 14d (output control unit) control the display device 8 so that the image Ims is temporarily displayed on the other side in accordance with the high-level candidate position C. Thus, for example, frequent changes in the display position of the image Ims between the right and left sides on the display device 8 can be suppressed.

[0085] The embodiment of the invention has been explained above. However, the embodiment described above is for illustrative purposes only and is not intended to limit the scope of the invention. The embodiment can be realized in various other forms and can be omitted, exchanged, combined, or modified in various ways without deviating from the purpose of the invention. The components and forms of each embodiment can be partially interchanged. The specifications (structure, type, orientation, shape, size, length, width, height, number, arrangement, position, and the like) of each component or the like can be changed as needed. For example, the invention is also applicable to parking other than so-called double-row parking, such as parallel parking. The invention is applicable to parking assistance in parking lots and parking areas of various forms.The method of recording or determining the position and orientation of the vehicle and the candidate, the basis for determining the position and orientation of the vehicle and the candidate, or the like, can be defined or changed in various ways. An input signal can be based on audio input into a microphone.

Claims

[1] Parking assistance system with: an electronic control unit (14) that is configured, to determine at least one candidate position (C) based on a detected obstacle (B) and / or a detected parking boundary (D), which is a candidate for a target position of a movement path of a vehicle (1), each of the at least one candidate position (C) to be classified on the basis of the candidate position (C) and a position and orientation of a host vehicle, and to identify at least one of the ranked candidate positions (C) as the target position, characterized by , that the electronic control unit (14) is further configured to define a plurality of areas (R1, R2, R3) in accordance with each of the at least one candidate position (C), to define a rank for each of the areas, and to classify each of the at least one candidate position (C) in accordance with the area (R1, R2, R3) in which the host vehicle is located and to set a rank level lower than a rank level set for a first area (R1) for a second area (R2) located on a rear side of the first area (R1) in a direction of travel of the host vehicle, and to set a rank level lower than the rank level set for the second area (R2) for a third area (R3) located on the front side of the first area (R1) in the direction of travel of the host vehicle. [2] Parking assistance system according to claim 1, wherein the electronic control unit (14) is configured, to determine the orientation of a vehicle (1) based on at least one of the detected obstacle (B) or parking boundary (D) at each of the at least one candidate position (C), and each of the at least one candidate position (C) is to be classified on the basis of the candidate position (C), the orientation of a vehicle (1) to the candidate position (C) and the position and orientation of the host vehicle. [3] Parking assistance system according to one of claims 1 to 2, wherein the electronic control unit (14) is configured, to issue at least one of the candidate positions (C) based on the ranking level, to obtain an input specifying the selected candidate position (C), and to determine the candidate position (C) selected on the basis of the input as the target position.

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