PARKING AID DEVICE AND PARKING AID PROCEDURES

Abstract

Parking aid device, characterized in that it comprises the following: an input / output interface (110) that is connected to an external device; a condition acquisition unit (132) configured to acquire an environmental condition around a vehicle (1A) via the input / output interface (110), wherein the environmental condition is acquired by a sensing device (20); a parking position determination unit (134) configured to determine a parking position (P) at which the vehicle (1A) is to be parked, based on the obtained environmental conditions around the vehicle (1A); a track generation unit (135) configured to generate a parking track along which the vehicle is to be moved to the parking position (P) from an initial position (S); a range setting unit (136) configured to calculate a movement range of the vehicle (1A) for a case in which the vehicle (1A) is moved along the parking track, with respect to a first direction and a second direction orthogonal to the first direction, and which sets a search range (W) for searching for an obstacle based on the calculated movement range in the first direction and the second direction; and wherein the range setting unit (136) sets a large number of division points (D) on the park track (R1); a coordinate system is set up with an X-axis corresponding to the first direction and parallel to the vehicle width direction, and a Y-axis corresponding to the second direction and parallel to the vehicle length direction (1A) when the vehicle is in the park position (P); calculated using coordinate values ​​of the coordinate system coordinates of four vertices of the rectangular shape (Q1) that define the area of ​​the vehicle (1A) at the time when the vehicle (1A) is at the starting position (S), the parking position (P) and the plurality of division point(s) (D); selects the maximum and minimum values ​​of the X-coordinate values ​​and the maximum and minimum values ​​of the Y-coordinate values ​​from the coordinates of the four vertices of the rectangular shapes (Q1, Q2, Q3, Q4) at the starting position (S), the multitude of division points (D) and the parking position (P); Based on the selected maximum and minimum values ​​of the X-coordinate values ​​and the selected maximum and minimum values ​​of the Y-coordinate values, a search range (W) is set; wherein an assessment unit (137) which is configured, to detect an object that may interfere with the movement of the vehicle (1A), based on the obtained environmental conditions around the vehicle (1A) as the vehicle (1A) travels along the parking track (R1), in a case where the detected object is positioned within the search area, to assess whether the detected object is an obstacle interfering with the movement of the vehicle (1A) along the parking route, and In a case where the detected object is positioned outside the search area, it is not possible to assess whether the detected object is the obstacle.

Description

BACKGROUND OF THE INVENTION Area of ​​the invention

[0001] The present invention relates to parking aid devices and parking aid methods. Description of the state of the art

[0002] There is a known device that, in the case of an automatically driving vehicle, detects obstacles on the driving path and issues a notification.

[0003] For example, Japanese patent disclosure no. includes a moving obstacle detector that detects a moving obstacle within a given monitoring area; a first computer that calculates an expected path of movement of the moving obstacle; a second computer that calculates an expected path of movement of the host vehicle; a setter that sets an alarm zone within the monitoring area according to the expected path of movement of the host vehicle, the alarm zone being used to issue an alarm; an exclusion device that excludes from the list of moving alarming obstacles the moving obstacle that is unlikely to reach the alarm zone, according to the expected path of movement of the moving obstacle and the expected path of movement of the host vehicle; and an alarm that issues an alarm against the alarming moving obstacles.

[0004] DE 10 2017 215 519 A1 discloses a method and a device for collision detection for a vehicle, in which a multi-stage collision check is carried out along a section of a movement path of the vehicle, wherein in the individual stages area regions are considered which are gradually approximated to the actual vehicle tail.

[0005] DE 11 2018 002 071 T5 relates to a parking assistance device in which the parking possibility is determined based on a parking space frame and the obstacle situation in the surroundings. SUMMARY OF THE INVENTION

[0006] However, if the monitoring area is not set appropriately, obstacles that do not interfere with the vehicle's movement will also be detected, and since it is necessary to predict whether the vehicle will come into contact with or collide with each of the detected obstacles, this causes a problem of increasing the processing load.

[0007] The aim of the present invention is to provide a parking aid device and a parking aid method that require less processing load for assessing obstacles.

[0008] To achieve the above objective, a parking aid device according to claim 1 includes.

[0009] The present invention makes it possible to reduce the processing load for obstacle assessment. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram illustrating the configuration of an on-board device; Fig. 2 is a diagram illustrating an example of a parking route; Fig. Figure 3 is a diagram illustrating a variety of division points on the park route; Fig. Figure 4 is a diagram illustrating the area covered by a host vehicle at the time when the host vehicle is in a starting position; Fig. Figure 5 is a diagram illustrating the area of ​​the host vehicle at the time when the host vehicle is at a split point; Fig. Figure 6 is a diagram illustrating the area of ​​the host vehicle at the time when the host vehicle is at a split point; Fig. Figure 7 is a diagram illustrating the area of ​​the host vehicle at the time when the host vehicle is at a split point; Fig. Figure 8 is a diagram illustrating the area of ​​the host vehicle at the time when the host vehicle is in a parked position; Fig. Figure 9 is a diagram illustrating the coordinates that specify the area of ​​the host vehicle at each of the starting position, the division points, and the parking position; Fig. 10 is a flowchart illustrating the operation of a parking aid device; Fig. Figure 11 is a diagram illustrating a search area for the case where the parking mode is parallel parking; Fig. Figure 12 is a diagram illustrating a search area for the case where the parking mode is angled parking; Fig. Figure 13 is a diagram illustrating a notification area; Fig. 14 is a diagram illustrating an example of a guide indicator displayed on a display device; and Fig. Figure 15 is a diagram showing a search area for the case where an X-axis and a Y-axis are rotated 45 degrees clockwise. DETAILED DESCRIPTION OF PREFERRED EXECUTION FORMS

[0010] The following describes embodiments of the present invention with reference to the attached drawings. [First embodiment]

[0011] Fig. Figure 1 is a diagram showing the configuration of an on-board device 3 mounted in a vehicle. Hereinafter, the vehicle in which the on-board device 3 is mounted is referred to as host vehicle 1A.

[0012] The on-board device 3 includes a position detection unit 10, a detection device 20, a wireless communication device 50, a display device 60, a vehicle control unit 70, a drive unit 80 and a parking aid device 100.

[0013] The position acquisition unit 10 acquires the current position of the host vehicle 1A. The position acquisition unit 10 includes a Global Navigation Satellite System (GNSS) receiver and a processor (both not shown). The GNSS receiver receives signals transmitted by the satellites. The processor calculates the latitude and longitude from the signals received by the GNSS receiver, which are position information about the host vehicle 1A, and the azimuth of the host vehicle 1A from the difference between the calculated position information. The position acquisition unit 10 outputs the calculated position and azimuth information about the host vehicle 1A to the parking aid device 100.

[0014] The detection device 20 includes a plurality of sensors. The detection device 20 of the present embodiment includes as sensors sonar units 40 and an image acquisition unit 30, which includes a plurality of cameras.

[0015] Although the description in the present embodiment is based on a case in which the detection device 20 includes cameras and sonar, the sensors of the detection device 20 are not limited to cameras and sonar. The detection device 20 can, for example, include a radar or a laser imaging detection and ranging (LiDAR) system capable of measuring the distance to objects using radio waves, light, or the like. The detection device 20 outputs the images acquired by the image acquisition unit 30 and the sensor data from the sonar units 40 as environmental area information, indicating environmental conditions, to the parking assistance device 100.

[0016] The image acquisition unit 30 includes a front camera 31, which captures images of the area in front of the host vehicle 1A; a rear camera 32, which captures images of the area behind the host vehicle 1A; a left-side camera 33, which captures images of the area on the left side of the host vehicle 1A; and a right-side camera 34, which captures images of the area on the right side of the host vehicle 1A. Each of these cameras includes an image sensor, such as a charge-coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS), and a data processing circuit that generates an image from the light-receiving state of the image sensor. The image acquisition unit 30 adjusts the viewing angles of the four cameras so that the 360-degree area around the host vehicle 1A can be captured by the four cameras.The front camera 31, the rear camera 32, the left-side camera 33, and the right-side camera 34 each capture images of their respective image capture areas at a specific frame rate to generate recorded images. The front camera 31, the rear camera 32, the left-side camera 33, and the right-side camera 34 output the generated recorded images to the parking aid device 100.

[0017] The Sonar Units 40 are mounted at several locations, e.g., on the front, rear, right side, left side, etc., of the Host Vehicle 1A and detect objects around the Host Vehicle 1A using ultrasound. Specifically, the Sonar Units 40 determine the positions of objects and their distances.

[0018] The wireless communication device 50 follows control by the parking aid device 100 and performs wireless communication in accordance with a wireless communication standard, such as Wi-Fi (registered trademark).

[0019] The display device 60 includes a touch panel 65. The touch panel 65 includes a display board 61 and a touch sensor 63. The display board 61 uses, for example, a liquid crystal display, an organic EL display, or the like. The touch sensor 63 is a sensor of a generally known type, e.g., a resistive or capacitive type. The touch sensor 63 detects touches made on the display board 61 and generates position signals that indicate the actuation positions of the detected touch actions. The touch sensor 63 outputs actuation information, including generated position signals, to the parking aid device 100.

[0020] The vehicle control unit 70 is, for example, a computer device, such as an electronic control unit (ECU), and is a unit that controls the drive system 80, which is mounted on the host vehicle 1A. The drive system 80 includes a steering device 81, a drive unit 83, a brake device 85, and a transmission device 87. The vehicle control unit 70 is connected to the steering device 81, the drive unit 83, the brake device 85, the transmission device 87, and the parking aid device 100 via a communication bus 5, which conforms to a standard such as Ethernet (registered trademark), Controller Area Network (CAN), or Local Interconnect Network (LIN). The vehicle control unit 70 controls the steering device 81, the drive unit 83, the brake device 85, and the transmission device 87 according to the control information input from the parking aid device 100.

[0021] Steering device 81 includes an actuator that steers the steering wheel of the host vehicle 1A.

[0022] The drive device 83 includes an actuator that adjusts the driving force of the drive wheels of the host vehicle 1A. In the case where the power source of the host vehicle 1A is a jet engine, this actuator corresponds to the throttle actuator, and in the case where the power source is a motor, this actuator corresponds to the motor.

[0023] The braking device 85 includes an actuator that controls the braking system provided in the host vehicle 1A based on information from the parking aid device 100 and controls the braking force applied to the wheels of the host vehicle 1A.

[0024] The transmission device 87 includes a gearbox and an actuator. The transmission device 87 drives the actuator and controls the shift position of the gearbox to change the gear ratio and the forward and reverse movement of the host vehicle 1A.

[0025] The parking aid device 100 is a computing device that includes an input / output interface 110, a memory 120, and a processor 130. In addition to these components, the parking aid device 100 may also include a storage device, such as a hard disk drive (HDD) or a solid-state drive (SSD).

[0026] The input / output interface 110 is connected to the communication bus 5 and performs data communication with external devices connected to the communication bus 5. These external devices include the position sensing unit 10, the sensing device 20, the wireless communication device 50, the display device 60, and the vehicle control unit 70.

[0027] Memory 120 includes read-only memory (ROM) and random-access memory (RAM). Memory 120 can be a non-volatile semiconductor memory, such as flash memory. Memory 120 stores computer programs executed by processor 130, data to be processed at the time the processor executes the computer programs, and data about the processing results. Memory 120 also stores images captured by image acquisition unit 30 and sensor data output by sonar units 40.

[0028] The 130 processor includes a central processing unit (CPU), a microprocessor unit (MPU), or the like.

[0029] The parking aid device 100 includes as functional components a position acquisition unit 131, a condition acquisition unit 132, an ambient area map generation unit 133, a parking position determination unit 134, a distance generation unit 135, an area setting unit 136, an evaluation unit 137, a display control unit 138, and a control information generation unit 139. These functional components are the functions implemented by the processor 130, which executes computer programs and performs calculations.

[0030] The position acquisition unit 131 receives input position and azimuth information from the host vehicle 1A, which is calculated by the position acquisition unit 10. The position acquisition unit 131 corrects the position and azimuth data input from the position acquisition unit 10 using a known calculation method. The position acquisition unit 131 outputs the corrected position and azimuth information to the area map generation unit 133 and the route generation unit 135.

[0031] The condition acquisition unit 132 instructs the image acquisition unit 30 to take pictures and obtains the captured images, which are generated by the image acquisition unit 30 as environmental information. The condition acquisition unit 132 temporarily stores the acquired captured images in the memory 120.

[0032] The condition acquisition unit 132 also causes the sonar units 40 to perform a scan in order to obtain sensor data, which are the acquisition results of the sonar units 40, as environmental information. The condition acquisition unit 132 temporarily stores the acquired sensor data in memory 120.

[0033] The environmental map generation unit 133 generates an environmental map that specifies the conditions around the host vehicle 1A, based on the position and azimuth information input from the position acquisition unit 131 and the captured images and sensor data stored in memory 120. The environmental map records the positions and distances of objects around the host vehicle 1A, the locations of parking spaces indicated by white lines or similar markings on the road surface of a parking lot, and other information. Examples of objects recorded on the environmental map include other vehicles parked in parking spaces and structures within the parking lot, such as poles. These objects are subsequently referred to as target objects.Parking spaces are marked with lines of a specified thickness painted on the road surface, and thus the intervals corresponding to the thickness of the white lines are captured as a cyclic feature.

[0034] The parking position determination unit 134 refers to the area map generated by the area map generation unit 133 and determines a parking space for the host vehicle 1A. For example, the parking position determination unit 134 selects a parking space from those recorded on the area map in which no target object is detected and whose distance to the host vehicle 1A is less than or equal to a preset target distance. The parking position determination unit 134 determines the position and angle of the host vehicle 1A at the time the host vehicle 1A is parked in the selected parking space and defines a parking position P.

[0035] The track generation unit 135 generates a plurality of parking tracks R1 for parking the host vehicle 1A, based on the parking position P determined by the parking position determination unit 134. A parking track R1 is a track for moving the host vehicle 1A from its current position to the parking position P. The current position of the host vehicle 1A is the position indicated by the position information obtained from the position acquisition unit 131. The process for generating the parking tracks R1 employs a publicly known method.

[0036] The range setting unit 136 calculates the movement range of the host vehicle 1A when it is moved along the parking track R1. The range setting unit 136 calculates the movement range defined in two directions, an X-axis direction and a Y-axis direction, as the movement range of the host vehicle 1A. The range setting unit 136 calculates the maximum and minimum values ​​in these two directions as the movement range. Based on the calculated maximum and minimum values ​​in these two directions, the range setting unit 136 sets a search range W. The X-axis corresponds to the first direction and is the direction parallel to the width of the host vehicle 1A at the time when the host vehicle 1A is at parking position P.The Y-axis corresponds to the second direction and is parallel to the longitudinal direction of the host vehicle 1A at the time when the host vehicle 1A is at parking position P. It should be noted that this does not mean that the host vehicle 1A is actually parked at parking position P, but the vehicle width and longitudinal directions of the host vehicle 1A described above are based on the assumption that the host vehicle 1A is moved to parking position P along a parking path generated by the parking aid device 100, and that the host vehicle 1A is parked at parking position P.

[0037] The procedure by which the range setting unit 136 sets a search range W is described here with reference to Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. 9 described. Fig. 2 is a diagram showing an example of a parking track R1. The section is represented by a dashed line in Fig. The second route mentioned is the R1 parking route. The one in Fig. 2. Illustrated parking track R1 is a track generated by the track generation unit 135 and is a track for moving the host vehicle 1A from the current position of the host vehicle 1A to the parking position P. Hereinafter, the current position of the host vehicle 1A is referred to as an initial position S.

[0038] Fig. Figure 3 is a diagram illustrating a variety of division points D set on the park track R1.

[0039] When the parking section R1 is generated by the track generation unit 135, the area setting unit 136 sets a plurality of division points D on this parking section R1. The number of division points D set on the parking section R1 can be arbitrary. For example, the area setting unit 136 sets the division points D at intervals with a preset spacing. Fig. Figure 3 shows an example in which three division points D, i.e. D1, D2 and D3, are set on the park track R1.

[0040] After setting the plurality of division points D, the range setting unit 136, assuming that the host vehicle 1A is at each of the starting position S, the parking position P and the division points D1, D2 and D3, calculates the range of the host vehicle 1A at the time when the host vehicle 1A is at each of these positions.

[0041] The range setting unit 136 first sets a coordinate system. The range setting unit 136 sets a coordinate system whose origin is at the position of a preset reference position of the host vehicle 1A when the host vehicle 1A is at parking position P. The coordinate system also has the X-axis along the width direction of the host vehicle 1A and the Y-axis along the length direction of the host vehicle 1A. The coordinate system thus set is referred to in the following description as the parking coordinate system. The preset reference position of the host vehicle 1A is a position preset on the host vehicle 1A and can, for example, be the midpoint in the vehicle's length and width directions, or it can be the position of the host vehicle 1A's center of gravity.

[0042] Fig. Figure 4 is a diagram illustrating the area of ​​host vehicle 1A at the time when host vehicle 1A is in the starting position S.

[0043] Next, based on the position and azimuth information obtained from the position acquisition unit 131 about the host vehicle 1A, the range of the host vehicle 1A at the time when the host vehicle 1A is at the initial position S, using coordinate values ​​of the parking coordinate system.

[0044] A rectangular shape Q1, which is in Fig. The shape shown with dashed lines in Figure 4 represents the area of ​​the host vehicle 1A at the time when the host vehicle 1A is in the initial position S. The length of the rectangular shape Q1 corresponds to the length of the host vehicle 1A in the longitudinal direction, and the width of the rectangular shape Q1 corresponds to the length of the host vehicle 1A in the transverse direction, including the exterior mirrors. The area setting unit 136 calculates the coordinates of the four vertices of the rectangular shape Q1 as the area of ​​the host vehicle 1A.

[0045] The range setting unit 136 first converts the latitude and longitude, representing the position information obtained by the position acquisition unit 131, into coordinate values ​​of the parking coordinate system. After converting the latitude and longitude into coordinate values ​​of the parking coordinate system, the position acquisition unit 131 calculates the coordinate values ​​that specify the positions of the four vertices of the rectangle Q1, based on the coordinate values ​​of the initial position S obtained through the conversion, the azimuth information about the host vehicle 1A, and preset setpoints. The preset setpoints are values ​​for converting the reference position of the host vehicle 1A into the four vertices of the rectangle Q1 in the case where the azimuth angle of the host vehicle 1A is 0 degrees, i.e.,In the event that the host vehicle 1A is oriented to the north, there are four values ​​corresponding to the four vertices of the rectangular shape Q1. Therefore, the range setting unit 136 corrects the four preset setpoints based on the azimuth information about the host vehicle 1A, which is obtained by the position acquisition unit 131.

[0046] After correcting the four setpoints, the range setting unit 136 adds or subtracts the corrected setpoints to or from the coordinate values ​​of the initial position S and calculates the coordinates of the four vertices of the rectangle Q1 at the time when the host vehicle 1A is in the initial position S. The four vertices of the rectangle are represented by T1, T2, T3, and T4, and the coordinates of the four vertices calculated by the range setting unit 136 are assumed to be T1(X1, Y1), T2(X2, Y2), T3(X3, Y3), and T4(X4, Y4).

[0047] Fig. Figure 5 is a diagram illustrating the area of ​​host vehicle 1A at the time when host vehicle 1A is at division point D1, and Fig. Figure 6 is a diagram illustrating the area of ​​host vehicle 1A at the time when host vehicle 1A is at division point D2.

[0048] Fig. Figure 7 is a diagram illustrating the area of ​​host vehicle 1A at the time when host vehicle 1A is at division point D3, and Fig. Figure 8 is a diagram illustrating the area of ​​host vehicle 1A at the time when host vehicle 1A is at parking position P.

[0049] The range setting unit 136 calculates the range of the host vehicle 1A at the time when the host vehicle 1A is at each of the division points D1, D2 and D3 and the parking position P, in the same way as it calculated the range of the host vehicle 1A at the time when the host vehicle 1A is at the starting position S.

[0050] The range setting unit 136 converts the azimuth angle of host vehicle 1A at the initial position S into the azimuth angle of host vehicle 1A at the time when host vehicle 1A is at division point D1. The range setting unit 136 then corrects the four preset values ​​based on the azimuth angle of host vehicle 1A obtained through the conversion and calculates the coordinates of the four vertices of the rectangle Q2, which define the range of host vehicle 1A at the time when host vehicle 1A is at division point D1. The four vertices of the rectangular shape Q2 are represented by T11, T12, T13 and T14, and the coordinates of the four vertices calculated by the range setting unit 136 are represented by T11(X11, Y11), T12(X12, Y12), T13(X13, Y13) and T14(X14, Y14).

[0051] The range setting unit 136 then calculates in the same way the coordinates of the four vertices of each of the rectangular shape Q3, which specifies the area of ​​the host vehicle 1A at the time when the host vehicle 1A is at the division point D2, the rectangular shape Q4, which specifies the area of ​​the host vehicle 1A at the time when the host vehicle 1A is at the division point D3, and the rectangular shape Q5, which specifies the area of ​​the host vehicle 1A at the time when the host vehicle 1A is at the parking position P.

[0052] The four vertices of the rectangular shape Q3 are represented by T21, T22, T23 and T24, and the coordinates of the four vertices calculated by the range setting unit 136 are represented by T21(X21, Y21), T22(X22, Y22), T23(X23, Y23) and T24(X24, Y24).

[0053] The four vertices of the rectangular shape Q4 are represented by T31, T32, T33 and T34, and the coordinates of the four vertices calculated by the range setting unit 136 are represented by T31(X31, Y31), T32(X32, Y32), T33(X33, Y33) and T34(X34, Y34).

[0054] The four vertices of the rectangular shape Q5 are represented by T41, T42, T43 and T44, and the coordinates of the four vertices calculated by the range setting unit 136 are represented by T41(X41, Y41), T42(X42, Y42), T43(X43, Y43) and T44(X44, Y44).

[0055] Fig. Figure 9 is a diagram illustrating the coordinates that specify the area of ​​the host vehicle 1A at each of the starting position S, the division points D1, D2 and D3 and the parking position P.

[0056] Next, the range setting unit 136 selects the maximum and minimum values ​​of the X-coordinate values ​​and the maximum and minimum values ​​of the Y-coordinate values ​​from the coordinates that specify the ranges of the host vehicle 1A at the starting position S, the division point D1, the division point D2, the division point D3 and the parking position P.

[0057] In the Fig. In the illustrated example 9, the maximum X-coordinate value is X34 at T34, and the minimum X-coordinate values ​​are X1 and X2 at T1 and T2. The maximum Y-coordinate value is Y12 at T12, and the minimum Y-coordinate values ​​are Y43 and Y44 at T43 and T44. In the following, the maximum X-coordinate value is represented by Xmax and the minimum value by Xmin. The maximum Y-coordinate value is represented by Ymax and the minimum value by Ymin.

[0058] The range setting unit 136 sets the search range W to the area defined by the selected maximum value Xmax and minimum value Xmin of the X-coordinate values ​​and the selected maximum value Ymax and minimum value Ymin of the Y-coordinate values. The range setting unit 136 sets the search range W to the rectangular area defined by the first and second sides E1 and E2 parallel to the X-axis and the third and fourth sides E3 and E4 parallel to the Y-axis.

[0059] The first side, E1, has a Y-coordinate value of Ymax and is parallel to the X-axis. The second side, E2, has a Y-coordinate value of Ymin and is parallel to the X-axis. The third side, E3, has an X-coordinate value of Xmax and is parallel to the Y-axis. The fourth side, E4, has an X-coordinate value of Xmin and is parallel to the Y-axis.

[0060] The evaluation unit 137 receives an input of information specifying the search area W calculated by the range setting unit 136. The evaluation unit 137 reads the environment area information obtained by the condition acquisition unit 132 from the memory 120.

[0061] When the host vehicle 1A begins moving along the parking lane, the assessment unit 137 detects target objects around the host vehicle 1A based on the ambient area information it has read. Specifically, the assessment unit 137 detects target objects that may be obstacles based on the images captured by the image acquisition unit 30 and the detection results from the sonar units 40. Target objects detected by the assessment unit 137 include not only structures such as walls and posts of the parking lot, but also other vehicles, people, and shopping carts.

[0062] When the assessment unit 137 detects a target object from the environment information, the assessment unit 137 assesses whether the detected target object lies within the search area W.

[0063] In the case where the target object is outside the search area W, the assessment unit 137 does not make an assessment as to whether the target object is an obstacle to the movement of the host vehicle 1A. Since there is no possibility of the host vehicle 1A colliding with a target object outside the search area W, the assessment unit 137 does not make an assessment as to whether the target object is an obstacle.

[0064] If the target object is located within the search area W, the assessment unit 137 evaluates whether the target object could be an obstacle with which the host vehicle 1A will come into contact or collide when the host vehicle 1A travels along the parking track R1. The assessment unit 137 repeats this evaluation while the host vehicle 1A travels along the parking track R1.

[0065] In the event that the assessment unit 137 determines that the host vehicle 1A will come into contact with or collide with the target object, the assessment unit 137 determines that this target object is an obstacle and calculates an evasive route to avoid contact or collision with the obstacle and to park the host vehicle 1A at parking position P. This evasive route may include a portion of the parking route R1 that the route generation unit 135 initially generated, or it may be a route that is entirely different from the parking route R1.

[0066] The display control unit 138 generates display data, which is displayed by the display device 60, and outputs the generated display data to the display device 60. Based on the input display data, the display device 60 displays images on the touch panel 65.

[0067] The control information generation unit 139 receives input information about the parking track R1, or a portion thereof, and the bypass track, generated by the track generation unit 135. Based on this input information, the control information generation unit 139 generates control information that is executed by the vehicle control unit 70. This control information is used by the vehicle control unit 70 to control the steering device 81, the drive device 83, the braking device 85, and the transmission device 87, enabling the host vehicle 1A to automatically move to parking position P. The control information generation unit 139 outputs the generated control information to the vehicle control unit 70 via the input / output interface 110.

[0068] Fig. Figure 10 is a flowchart illustrating the operation of the parking aid device 100.

[0069] The operation of the parking aid device 100 is governed by reference to the [document / section] in [document / section]. Fig. The flowchart shown in the diagram is described.

[0070] First, the parking aid device 100 assesses whether it has received a parking aid start command (step S1). For example, the parking aid device 100 assesses that it has received a start command if a parking aid start button, displayed on the touch panel 65, is touched and pressed. If the parking aid device 100 has not received a parking aid start command (NO in step S1), it waits until it receives one to initiate the next operation.

[0071] Once the parking aid device 100 has received a parking aid start activation (YES in step S1), it receives environmental information from the detection device 20, i.e., information about the area surrounding the host vehicle 1A (step S2). Step S2 corresponds to the acquisition step. Based on the received environmental information, the parking aid device 100 detects a parking space where the host vehicle 1A can be parked (step S3).

[0072] The parking aid device 100 sets the angle and position of the host vehicle 1A at the detected parking space at the time of parking and determines a parking position P for parking the host vehicle 1A (step S4). Step S4 corresponds to the determination step. The parking aid device 100 generates a parking path R1 for moving the host vehicle 1A from the starting position S, where the host vehicle 1A is positioned, to the set parking position P (step S5). Step S5 corresponds to the generation step.

[0073] Next, the parking aid device 100 sets a plurality of division points D on the generated parking track R1 (step S6). The parking aid device 100 sets the division points D at intervals of a preset distance on the parking track R1. After setting the plurality of division points D, the parking aid device 100, assuming that the host vehicle 1A is at the initial position S, the multiple division points D, and the parking position P, determines the coordinate values ​​of the four vertices of the rectangular shapes Q1 to Q4, each of which specifies the area of ​​the host vehicle 1A at the time when the host vehicle 1A is at each position (step S7).

[0074] Next, the parking aid device 100 selects the maximum value Xmax and the minimum value Xmin of the X-coordinate values ​​and the maximum value Ymax and the minimum value Ymin of the Y-coordinate values ​​from the coordinates of the four vertices of the rectangular shapes Q1 to Q4 at the starting position S, the plurality of division points D and the parking position P (step S8).

[0075] Next, the parking assist device 100 sets a search area W for obstacle detection based on the selected maximum value Xmax and minimum value Xmin of the X-coordinate values ​​and the selected maximum value Ymax and minimum value Ymin of the Y-coordinate values ​​(step S9). Each of the steps S6 to S9 corresponds to the setup step.

[0076] Next, the parking aid device 100 generates control information to cause the host vehicle 1A to drive along the parking path R1 generated in step S5 (step S10). The parking aid device 100 outputs the generated control information to the vehicle control unit 70 (step S11). The vehicle control unit 70 controls the steering device 81, the drive device 83, the braking device 85, and the transmission device 87 according to the input control information to cause the host vehicle 1A to drive to the parking position P.

[0077] Next, the parking aid device 100 assesses whether the host vehicle 1A has started moving (step S10). The parking aid device 100 queries the vehicle control unit 70 to ask whether the vehicle control unit 70 has initiated the movement of the host vehicle 1A. If the parking aid device 100 does not receive a response from the vehicle control unit 70 indicating that the vehicle control unit 70 has begun to cause the host vehicle 1A to move (NO in step S12), the parking aid device 100 waits to begin the process. If the host vehicle 1A has started moving (YES in step S12), the parking aid device 100 obtains environmental information (step S13) and detects target objects from this environmental information (step S14). Step S14 corresponds to the detection step.

[0078] If the parking aid device 100 cannot detect any target objects from the surrounding area information (NO in step S14), the parking aid device 100 performs a position assessment of the host vehicle 1A based on the position information input from the position detection unit 10, to determine whether the host vehicle 1A has arrived at parking position P (step S15). If the host vehicle 1A has arrived at parking position P (YES in step S15), the parking aid device 100 terminates this process. If the host vehicle 1A has not arrived at parking position P (NO in step S15), the parking aid device 100 returns to the process in step S13 and obtains surrounding area information again.

[0079] If the parking aid device 100 was able to detect a target object from the surrounding area information (YES in step S14), the parking aid device 100 assesses whether the detected target object is within the search area W (step S16). If the parking aid device 100 was unable to detect any target objects within the search area W (NO in step S16), the parking aid device 100 proceeds to the assessment in step S15 and determines whether the host vehicle 1A has arrived at parking position P.

[0080] If the parking aid device 100 has detected a target object within the search area W (YES in step S16), the parking aid device 100 assesses whether this target object is an obstacle with which the host vehicle 1A will collide or come into contact when the host vehicle 1A travels along the parking path R1 (step S17). Steps S16 and S17 correspond to the determination step. If the parking aid device 100 assesses that the target object is not an obstacle with which the host vehicle 1A will collide or come into contact (NO in step S17), the parking aid device 100 proceeds to the assessment in step S15 and assesses whether the host vehicle 1A has arrived at the parking position P.

[0081] If the parking aid device 100 assesses that the detected target object is an obstacle with which the host vehicle 1A will collide or come into contact (YES in step S17), the parking aid device 100 causes the vehicle control unit 70 to stop the movement of the host vehicle 1A (step S18). The parking aid device 100 then generates an evasive path that makes it possible to avoid contact or collision with the detected obstacle (step S19).

[0082] After generating the evasive route, the parking aid device 100 generates control information to cause the host vehicle 1A to drive according to the generated evasive route (step S20). After generating the control information, it outputs the generated control information to the vehicle control unit 70 (step S21).

[0083] As described above, the parking aid device 100 of the present embodiment calculates the movement range of the host vehicle 1A in the case in which the host vehicle 1A moves along the generated parking path R1, with respect to the two directions, the X-axis and Y-axis directions, which are orthogonal to each other, and the parking aid device 100 sets a search area W for searching for obstacles based on the calculated movement range, which is defined in the X-axis and Y-axis directions.

[0084] The parking aid device 100 then detects objects that could be obstacles to the movement of the host vehicle 1A, and if a detected object is within the search area W, the parking aid device 100 assesses whether the detected object is an obstacle that interferes with the movement of the host vehicle 1A along the parking path R1. If the detected object is outside the search area W, the assessment unit 137 does not make a decision as to whether the detected object is an obstacle.

[0085] Since objects outside the search area W are not classified as obstacles interfering with the movement of the host vehicle 1A, it is possible to reduce the processing load for assessing whether detected objects are obstacles to the vehicle.

[0086] Since the search area W is set based on the movement range of the host vehicle 1A defined in the direction of the X-axis and the Y-axis, it is also possible to easily set a search area W so that an optimal search area W can be set for objects that interfere with the movement along the parking track R1.

[0087] The range setting unit 136 sets the X-axis to the width direction of the host vehicle 1A when the host vehicle 1A is parked at parking position P, and sets the Y-axis to the length direction of the host vehicle 1A in the same state. The range setting unit 136 sets the search area W to a rectangular area defined by the movement range of the host vehicle 1A in the X-axis direction and the movement range of the host vehicle 1A in the Y-axis direction.

[0088] This facilitates the setting of a search area W and allows the setting of another optimal search area W for searching for objects that interfere with movement along the parking track R1.

[0089] The range setting unit 136 sets a plurality of division points D at intervals of a specified distance along the parking track R1. Assuming the vehicle is at the current position of the host vehicle 1A, at the plurality of set division points D, and at the parking position, the range setting unit 136 calculates the coordinate values ​​that define the vehicle's range at each point with respect to the X-axis and Y-axis directions. The range setting unit 136 establishes a search range W based on the maximum and minimum coordinate values ​​in the X-axis direction and the maximum and minimum coordinate values ​​in the Y-axis direction from the coordinate values ​​calculated at all positions.

[0090] Since the positions at which the position of the host vehicle 1A is calculated are limited to the current position of the host vehicle 1A, the positions of the division points D and the parking position, it is possible to reduce the processing load for calculating the movement range of the host vehicle 1A, which is defined in the direction of the X-axis and the Y-axis.

[0091] In the case where the assessment unit 137 assesses that an object is an obstacle interfering with the movement of the host vehicle 1A along the parking track R1, the track generation unit 135 generates a new parking track R1 to move the host vehicle 1A to the parking position P while avoiding contact between the host vehicle 1A and the obstacle.

[0092] Thus, it is possible to arrange for the host vehicle 1A to drive along the parking route, which makes it possible to avoid contact with the detected obstacle, and to park the host vehicle 1A at parking position P. [Example of a change]

[0093] The preceding embodiment was described for the case where the parking mode selected by the parking aid device 100 at parking position P is perpendicular parking. The parking mode of the parking space where the host vehicle 1A is to be parked is not limited to perpendicular parking, but can also be parallel parking or angled parking.

[0094] Parallel parking is a parking mode in which the host vehicle 1A is parked so that the host vehicle 1A and other vehicles are aligned along the longitudinal axis of the host vehicle 1A. Angled parking is a parking mode in which one of the provided parking spaces is parked at an angle to a path in front of or behind the parking spaces.

[0095] Fig. 11 is a diagram illustrating a search area W for the case where the parking mode is parallel parking; The curved line R2, which is in Fig. 11, which is indicated by a solid line, specifies a parking distance R2 that is generated by the parking aid device 100 in the case of parallel parking. Fig. Figure 11 shows the coordinates of the four vertices of the rectangular shape that define the area of ​​the host vehicle 1A at each of the three division points D1, D2 and D3 from the starting position S, which is the current position of the host vehicle 1A, and the parking position P.

[0096] As in the case which refers to the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. As described in section 8, the four vertices of the rectangular shape at the time when the host vehicle 1A is at the initial position S are represented by T1(X1, Y1), T2(X2, Y2), T3(X3, Y3) and T4(X4, Y4), and the four vertices of the rectangular shape at the time when the host vehicle 1A is at the division point D1 are represented by T11(X11, Y11), T12(X12, Y12), T13(X13, Y13) and T14(X14, Y14). The four vertices of the rectangular shape at the time when the host vehicle 1A is at the division point D2 are represented by T21(X21, Y21), T22(X22, Y22), T23(X23, Y23) and T24(X24, Y24), and the four vertices of the rectangular shape at the time when the host vehicle 1A is at the division point D3 are represented by T31(X31, Y31), T32(X32, Y32), T33(X33, Y33) and T34(X34, Y34).The four vertices of the rectangular shape at the time when the host vehicle 1A is at parking position P are represented by T41(X41, Y41), T42(X42, Y42), T43(X43, Y43) and T44(X44, Y44).

[0097] As with vertical parking, the parking aid device 100 selects the maximum value Xmax and the minimum value Xmin of the X-coordinate values ​​and the maximum value Ymax and the minimum value Ymin of the Y-coordinate values.

[0098] In the Fig. In the illustrated example 11, the maximum X-coordinate value is X12 at T12, and the minimum X-coordinate values ​​are X41 and X43 at T41 and T43. The maximum Y-coordinate value is Y1 at T1, and the minimum Y-coordinate values ​​are Y43 and Y44 at T43 and T44.

[0099] After selecting the maximum value Xmax and the minimum value Xmin of the X-coordinate values ​​and the maximum value Ymax and the minimum value Ymin of the Y-coordinate values, the parking aid 100 sets a search area W based on the selected four coordinate values. As described in Fig. As shown in Figure 11, the search area W is a rectangular area defined by the four sides E1, E2, E3 and E4.

[0100] E1 is a line segment that is parallel to the X-axis and whose intersection with the Y-axis has the Y-coordinate value Y11.

[0101] E2 is a line segment that is parallel to the X-axis and whose intersection with the Y-axis has the Y-coordinate value Y43 or Y44.

[0102] E3 is a line segment that is parallel to the Y-axis and whose intersection with the X-axis has the X-coordinate value X12.

[0103] E4 is a line segment that is parallel to the Y-axis and whose intersection with the X-axis has the X-coordinate value X41 or X43.

[0104] Fig. Figure 12 is a diagram illustrating a search area W for the case where the parking mode is angled parking.

[0105] The curved line R3, which is in Fig. 12, indicated by a solid line, specifies a parking distance R3 generated by the parking aid device 100 in the case of angled parking. Fig. Figure 12 shows the coordinates of the four vertices of the rectangular shape that define the area of ​​the host vehicle 1A at each of the three points D1, D2 and D3 from the starting position S, which is the current position of the host vehicle 1A, and the parking position P.

[0106] The coordinate values ​​of the four vertices of the rectangle at each position are represented in the same way as in the case referred to Fig. 11 is described.

[0107] As with parallel parking, the parking aid device 100 selects the maximum value Xmax and the minimum value Xmin of the X-coordinate values ​​and the maximum value Ymax and the minimum value Ymin of the Y-coordinate values.

[0108] In the Fig. In the example shown, the maximum X-coordinate value is X4 at T4, and the minimum X-coordinate values ​​are X21, X31, X23, X33, X41, and X43 at T21, T31, T23, T33, T41, and T43. The maximum Y-coordinate value is Y21 and Y22 at T21 and T22, and the minimum Y-coordinate value is Y43 and Y44 at T43 and T44.

[0109] After selecting the maximum value Xmax and the minimum value Xmin of the X-coordinate values ​​and the maximum value Ymax and the minimum value Ymin of the Y-coordinate values, the parking aid 100 sets a search area W based on the selected four coordinate values. As described in Fig. As shown in Figure 12, the search area W is a rectangular area defined by the four sides E1, E2, E3 and E4.

[0110] E1 is a line segment that is parallel to the X-axis and whose intersection with the Y-axis has the Y-coordinate value Y21 or Y22.

[0111] E2 is a line segment that is parallel to the X-axis and whose intersection with the Y-axis has the Y-coordinate value Y43 or Y44.

[0112] E3 is a line segment that is parallel to the Y-axis and whose intersection with the X-axis has the X-coordinate value X4.

[0113] E4 is a line segment that is parallel to the Y-axis and whose intersection with the X-axis has the X-coordinate value T21, T31, T23, T33, T41 or T43. [Second embodiment]

[0114] A second embodiment of the present invention is described with reference to Fig. 13 and Fig. 14 described.

[0115] A parking aid device 100 of the second embodiment has the same configuration as that of the first embodiment, so a detailed description of the configuration of the parking aid device 100 is omitted.

[0116] The parking aid device 100 of the second embodiment establishes a notification area H outside the search area W. Fig. 13 is a diagram representing a notification area H. The hatched area in Fig. 13 is the notification area H.

[0117] After setting the search range W, the parking assist device 100 sets the notification range H outside of the search range W. The notification range H is set by adding a preset target value to the maximum Xmax and minimum Xmin values ​​of the X-coordinates and the maximum Ymax and minimum Ymin values ​​of the Y-coordinates selected when setting the search range W. In the following description, this target value is represented by α (α being any natural number).

[0118] The inside of the notification area H is defined by the four pages E1, E2, E3 and E4 of the search area W, and the outside of the notification area H is defined by four pages: a first page F1, a second page F2, a third page F3 and a fourth page F4.

[0119] The first side F1 has a Y-coordinate value of Ymax + α and is parallel to the X-axis.

[0120] The second side F2 has a Y-coordinate value of Ymin - α and is parallel to the X-axis.

[0121] The third side F3 has an X-coordinate value of Xmax + α and is parallel to the Y-axis.

[0122] The fourth side F4 has an X-coordinate value of Xmin - α and is parallel to the Y-axis.

[0123] In the notification area H, the range X1 on the +X-axis side is expressed as Xmax < X1 ≤ Xmax + α, and the range X2 on the -X-axis side as Xmin - α ≤ X2 < Xmin. In the notification area H, the range Y1 on the +Y-axis side is expressed as Ymax < Y1 ≤ Ymax + α, and the range Y2 on the -Y-axis side as Ymin - α ≤ Y2 < Ymin.

[0124] Fig. Figure 14 is a diagram illustrating an example of a guide indicator displayed on the display device 60.

[0125] When an obstacle is detected within the notification area H, the parking aid device 100 does not assess whether the host vehicle 1A will make contact with or collide with this obstacle, but instead displays the guidance information 67 on the display device 60. This guidance information 67 includes the direction of the detected obstacle as seen from the driver's seat of the host vehicle 1A and guidance 67a, which indicates that there is no possibility that the host vehicle 1A will not make contact with or collide with this detected obstacle, as well as other information. Additionally, the guidance information 67 may include an image 67b of the obstacle detected within the notification area H and captured by the image acquisition unit 30.

[0126] The parking aid device 100 of the second embodiment includes the display control unit 138, which causes the display device 60 to display images, the display device 60 being connected to the parking aid device 100 via the input / output interface 110.

[0127] The area setting unit 136 sets the notification area H outside the search area W.

[0128] In a case where a detected object is positioned outside the search area W and within the notification area H, the display control unit 138 causes the display device 60 to display guidance information 67 showing that the detected object does not interfere with the movement of the host vehicle 1A.

[0129] In this way, it is possible to give the occupants a sense of security by informing them that the object has been detected and that the object will not affect the host vehicle 1A when the host vehicle 1A moves to parking position P.

[0130] The foregoing embodiments are only examples of some aspects of the present invention, and therefore the embodiments can be modified or applied arbitrarily within the scope of application without departing from the spirit of the present invention.

[0131] For example, in the first and second embodiments described above, the vehicle width direction of the host vehicle 1A parked at parking position P is set as the X-axis, the vehicle length direction of the host vehicle 1A in the same state is set as the Y-axis, and the movement range of the host vehicle 1A in these two directions is calculated. Fig. Figure 15 illustrates a case in which the X-axis and Y-axis are rotated 45 degrees clockwise from the one in Fig. The X-axis shown in Figure 9 is rotated in the vehicle width direction and the Y-axis in the vehicle length direction. As in this example, the two directions for calculating the movement range of the host vehicle 1A are not limited to the vehicle width and vehicle length direction of the host vehicle 1A parked at parking position P, but the two directions can be set in any direction.

[0132] Even if in the Fig. 9, Fig. 11, Fig. 12 and Fig. In the search area W illustrated in Figure 15, if the parking position P is set as the origin of the X-coordinate and the Y-coordinate, the position of the origin is not limited to the parking position P. For example, the origin can be set to the starting position S or to one of the division points D.

[0133] Although in Fig. 9, Fig. 11, Fig. 12 and Fig. 15. If the search area W is set using a coordinate system with two mutually orthogonal axes, the X-axis and the Y-axis, the coordinate system does not have to be an orthogonal coordinate system.

[0134] Additionally, the block diagram, which shows the configuration of the parking aid device 100 in Fig. Figure 1 illustrates a schematic diagram in which the components are defined by classification according to the main processes to facilitate understanding of the invention in the present application. Therefore, the configuration of the parking aid device 100 can be classified into a larger number of components according to the processes. Alternatively, the configuration can also be classified such that one component performs several processes.

[0135] Additionally, the parking aid device can be set to 100 in Fig. 1 be configured to include the position detection unit 10 and / or the detection device 20.

[0136] In the implementation of the parking assistance method of the present invention using a computer, the program executed by the computer can be stored on a recording medium or provided via a transmission medium that transmits this program. The recording medium can be a magnetic or optical recording medium or a semiconductor storage device. Examples of recording media include portable or fixed recording media such as a floppy disk, a hard disk drive (HDD), a compact disc read-only storage device (CD-ROM), a DVD, a Blu-ray disc (registered trademark), a magneto-optical disk, flash memory, and a card-like recording medium. The above-mentioned recording medium can be a non-volatile storage medium, such as ROM and a hard disk, which is included in the parking assistance device 100.

[0137] The process units in the Fig.The illustrated flowcharts are defined by subdivision according to the main processes to facilitate understanding of the processes of the parking aid device 100, and thus the method of subdivision of the processes into process units and the names of the process units do not limit the present invention. The processes of the parking aid device 100 can be subdivided into a larger number of process units according to the processes. The processes of the parking aid device 100 can be further subdivided such that one process unit contains several processes. LIST OF REFERENCE MARKS 1A vehicle 3 On-board equipment 5 Communication bus 10 Position detection unit 20 Detection device 30 image capture units 31 Front camera 32 Rear camera 33 left-side camera 34 right-side camera 40 sonar units 50 Wireless communication device 60 Display device 63 Touch sensor 65" Touch Panel 67 Key Information 70 Vehicle control unit 80 Drive unit 81 Steering device 83 Drive device 85 Brake device 87 Transmission device 100 Parking Assistance 110 Input / Output Interface 120 storage 130 processor 131 Position Acquisition Unit 132 Condition attainment unit 133 Environmental map - generation unit 134 Parking position determination unit 135 Route generation unit 136 Range setting unit 137 Assessment Unit 139 Tax Information Generation Unit H Notification area P Parking position Q1 to Q5 Rectangular shape R1, R2, R3 Parking Track S Starting position W search area

Claims

[1] Parking aid device, characterized by that it includes the following: an input / output interface (110) that is connected to an external device; a condition acquisition unit (132) configured to acquire an environmental condition around a vehicle (1A) via the input / output interface (110), wherein the environmental condition is acquired by a sensing device (20); a parking position determination unit (134) configured to determine a parking position (P) at which the vehicle (1A) is to be parked, based on the obtained environmental conditions around the vehicle (1A); a track generation unit (135) configured to generate a parking track along which the vehicle is to be moved to the parking position (P) from an initial position (S); a range setting unit (136) configured to calculate a movement range of the vehicle (1A) for a case in which the vehicle (1A) is moved along the parking track, with respect to a first direction and a second direction orthogonal to the first direction, and which sets a search range (W) for searching for an obstacle based on the calculated movement range in the first direction and the second direction; and wherein the range setting unit (136) sets a large number of division points (D) on the park track (R1); a coordinate system is set up with an X-axis corresponding to the first direction and parallel to the vehicle width direction, and a Y-axis corresponding to the second direction and parallel to the vehicle length direction (1A) when the vehicle is in the park position (P); calculated using coordinate values ​​of the coordinate system coordinates of four vertices of the rectangular shape (Q1) that define the area of ​​the vehicle (1A) at the time when the vehicle (1A) is at the starting position (S), the parking position (P) and the plurality of division point(s) (D); selects the maximum and minimum values ​​of the X-coordinate values ​​and the maximum and minimum values ​​of the Y-coordinate values ​​from the coordinates of the four vertices of the rectangular shapes (Q1, Q2, Q3, Q4) at the starting position (S), the multitude of division points (D) and the parking position (P); Based on the selected maximum and minimum values ​​of the X-coordinate values ​​and the selected maximum and minimum values ​​of the Y-coordinate values, a search range (W) is set; wherein an assessment unit (137) which is configured, to detect an object that may interfere with the movement of the vehicle (1A), based on the obtained environmental conditions around the vehicle (1A) as the vehicle (1A) travels along the parking track (R1), in a case where the detected object is positioned within the search area, to assess whether the detected object is an obstacle interfering with the movement of the vehicle (1A) along the parking route, and In a case where the detected object is positioned outside the search area, it is not possible to assess whether the detected object is the obstacle. [2] Parking aid device according to claim 1, wherein the range setting unit (136) sets a vehicle width direction of the vehicle (1A) in a state in which the vehicle is in the park position (P) as the first direction and sets a vehicle length direction of the vehicle (1A) in the state in which the vehicle (1A) is in the park position (P) as the second direction, and the range setting unit (136) defines as the search range an area defined by the vehicle's range of movement in the first direction and the vehicle's range of movement in the second direction. [3] Parking aid device according to claim 1 or 2, wherein the range setting unit (136) sets a plurality of division points (D) at intervals of a certain distance on the parking track, the range setting unit (136) calculates the coordinate values ​​that specify the area of ​​the vehicle with respect to the first direction and the second direction, assuming a case in which the vehicle is at each of the current position of the vehicle (1A), the positions of the plurality of set division points and the parking position (P), and The range setting unit (136) sets a rectangular area as the search range, defined by the maximum and minimum values ​​of the coordinates of the first direction and the maximum and minimum values ​​of the coordinates of the second direction, from the coordinate values ​​calculated at all positions. [4] Parking aid device according to one of claims 1 to 3, wherein in a case where the assessment unit (137) assesses that the object is an obstacle interfering with the movement of the vehicle (1A) along the parking path, the path generation unit (135) generates a new parking path along which the vehicle is to be moved to the parking position (P), avoiding contact with the obstacle. [5] Parking aid device according to any one of claims 1 to 4, further comprising a display control unit (138) configured to cause a display device (60) to display an image, wherein the display device (60) is connected to the parking aid device (100) via the input / output interface (110), wherein the range setting unit (136) sets a notification area (H) outside the search area (W), and In a case where the detected object is positioned outside the search area and within the notification area, the display control unit causes the display device (60) to display a guide indicator stating that the detected object is not interfering with the movement of the vehicle (1A). [6] Parking assistance procedures, characterized by , that it includes the following: a acquisition step to obtain a detected environmental condition around a vehicle (1A); a determination step to determine a parking position (P) where the vehicle (1A) is to be parked, based on the obtained environmental condition around the vehicle (1A); a generation step to create a parking path along which the vehicle is to be moved to the parking position from the initial position (S); a setting step for calculating a movement range of the vehicle (1A) for a case in which the vehicle (1A) is moved along the parking track, with respect to a first direction and a second direction orthogonal to the first direction, and for setting a search range (W) for searching for an obstacle based on the calculated movement range in the first direction and the second direction; wherein the setting step further comprises Setting a large number of division points (D) on the parking track (R1); Setting up a coordinate system with an X-axis corresponding to the first direction and parallel to the vehicle width direction, and a Y-axis corresponding to the second direction and parallel to the vehicle length direction (1A) when the vehicle is in the park position (P); Calculate using coordinate values ​​of the coordinate system of the coordinates of four vertices of the rectangular shape (Q1) that defines the area of ​​the vehicle (1A) at the time when the vehicle (1A) is at the initial position (S), the parking position (P) and the plurality of division point(s) (D); Selecting the maximum and minimum values ​​of the X-coordinate values ​​and the maximum and minimum values ​​of the Y-coordinate values ​​from the coordinates of the four vertices of the rectangular shapes (Q1, Q2, Q3, Q4) at the starting position (S), the multitude of division points (D) and the parking position (P); Setting based on the selected maximum and minimum values ​​of the X-coordinate values ​​and the selected maximum and minimum values ​​of the Y-coordinate values ​​of a search area (W), a detection step to detect an object that has a possibility of interfering with the movement of the vehicle (1A), based on the obtained environmental condition around the vehicle (1A) as the vehicle (1A) travels along the parking track (R1); and an assessment step, in a case where the detected object is positioned within the search area, to assess whether the detected object is an obstacle interfering with the movement of the vehicle (1A) along the parking route, and in a case where the detected object is positioned outside the search area, to not assess whether the detected object is the obstacle.

Images