Parking support device, parking support method, and parking support program

Abstract

To provide a parking support device and a parking support method enabling smooth automatic parking without needing stopping a vehicle.SOLUTION: A parking support device includes: a parking frame detection part detecting a parking frame; an operation reception part receiving a parking instruction operation by a passenger of a vehicle; and a travel control part making the vehicle automatically park in the parking frame matching the parking instruction operation. The parking support device determines that the parking frame matches the parking instruction operation in either of the case where the parking frame is only in either of right and left directions of a vehicle traveling direction or the parking frame is in the direction instructed by the parking instruction operation while the parking instruction operation is such one as to include a direction instruction, and also the case where the parking frame is within a prescribed range in the vehicle traveling direction.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present disclosure relates to a parking assistance device, a parking assistance method, and a parking assistance program. [Background technology]

[0002] Conventionally, a parking assistance device is known that detects parking spaces written around a vehicle, displays them on an image, and automatically parks the vehicle in the parking space when the driver selects a parking space and a parking direction. For example, Patent Document 1 discloses a configuration in which, when multiple parking spaces are detected, the parking spaces are displayed on a display device, and a target parking position is selected from the displayed parking spaces. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-94927 Summary of the Invention [Problem to be solved by the invention]

[0004] However, since the driver is required to keep his / her eyes on the road while driving, the conventional technology requires the driver to stop the vehicle before viewing the image and operating the vehicle. On the other hand, smooth automatic parking is sometimes required. For example, in a scene where a line of cars waiting to park are parking one after another in forward parking, it is a nuisance to park the car on the passage and operate the parking assistance device, and the car behind may honk the horn.

[0005] An object of the present disclosure is to provide a parking assistance device, a parking assistance method, and a parking assistance program that are capable of smoothly performing automatic parking without the need to stop the vehicle. [Means for solving the problem]

[0006] In order to solve the above problems, one aspect of the parking assistance device according to the present disclosure includes a parking space detection unit that detects a parking space, an operation reception unit that receives a parking instruction operation from a vehicle occupant, and a driving control unit that automatically parks the vehicle in a parking space that matches the parking instruction operation. When the parking space is located only in one of the left and right directions of the vehicle's travel direction, or when the parking instruction operation is a parking instruction operation that includes a direction instruction and the parking space is located in the direction indicated by the parking instruction operation, and when the parking space is within a predetermined range of the vehicle's travel direction, it is determined that the parking space matches the parking instruction operation.

[0007] In addition, one aspect of the parking assistance method according to the present disclosure includes the steps of: detecting a parking space; receiving a parking instruction operation from a vehicle occupant; determining that the parking space matches the parking instruction operation when the parking space is located in only one of the left and right directions of the vehicle's travel direction, or when the parking instruction operation is a parking instruction operation including a direction instruction and the parking space is located in the direction indicated by the parking instruction operation, and the parking space is located within a predetermined range of the vehicle's travel direction; and automatically parking the vehicle in the parking space that matches the parking instruction operation.

[0008] In addition, one aspect of the parking assistance program according to the present disclosure has a computer execute the following steps: detect a parking space; receive a parking instruction operation from an occupant of the vehicle; determine that the parking space matches the parking instruction operation when the parking space is located in only one of the left and right directions of the vehicle's travel direction, or when the parking instruction operation is a parking instruction operation including a direction instruction and the parking space is located in the direction indicated by the parking instruction operation, and when the parking space is within a predetermined range of the vehicle's travel direction, automatically park the vehicle in the parking space that matches the parking instruction operation. Effect of the Invention

[0009] According to the present disclosure, automatic parking can be performed smoothly without the need to stop the vehicle. [Brief description of the drawings]

[0010] [Figure 1A] FIG. 1A is a diagram showing front quick parking in this embodiment. [Figure 1B] FIG. 1B is a diagram showing front quick parking in this embodiment. [Figure 2A] FIG. 2A is a diagram showing the steering limit points in this embodiment. [Figure 2B] FIG. 2B is a diagram showing the steering limit points in this embodiment. [Figure 2C] FIG. 2C is a diagram showing the steering limit points in this embodiment. [Figure 3A] FIG. 3A is a diagram showing a mathematical explanation of the steering limit point in this embodiment. [Figure 3B] FIG. 3B is a diagram showing a mathematical explanation of the steering limit point in this embodiment. [Figure 4A] FIG. 4A is a diagram showing another mathematical explanation of the steering limit point in the present embodiment. [Figure 4B] FIG. 4B is a diagram showing another mathematical explanation of the steering limit point in this embodiment. [Figure 5A] FIG. 5A is a diagram showing points that are important in vehicle control. [Figure 5B] FIG. 5B is a diagram showing points that are important in vehicle control. [Figure 5C] FIG. 5C is a diagram showing points that are important in vehicle control. [Figure 6] FIG. 6 is a diagram showing a vehicle to which the parking assistance device can be applied. [Figure 7] FIG. 7 is a diagram showing a network configuration of a system to which a parking assistance device is applied. [Figure 8] FIG. 8 is a block diagram showing hardware that implements the functions of the parking assistance device. [Figure 9] FIG. 9 is a block diagram showing a parking assistance device. [Figure 10]FIG. 10 is a diagram showing an example of setting the parking space detection area. [Figure 11] FIG. 11 is a diagram showing a parking route. [Figure 12] FIG. 12 is a diagram showing a control flow for automatic parking in this embodiment. [Figure 13] FIG. 13 is a diagram showing a control flow for automatic parking in this embodiment. [Figure 14] FIG. 14 is a diagram showing a control flow for automatic parking in this embodiment. [Figure 15] FIG. 15 is a diagram showing a control flow for automatic parking in this embodiment. [Figure 16] FIG. 16 is a diagram showing a state before the parking frame detection. [Figure 17A] FIG. 17A is a diagram showing a check point. [Figure 17B] FIG. 17B is a diagram showing a confirmation point. [Figure 18] FIG. 18 is a diagram showing a device for detecting the next parking space. [Figure 19] FIG. 19 is a diagram for explaining message output when there are consecutive vacant parking spaces. [Figure 20] FIG. 20 is a diagram for explaining the start of deceleration when a parking frame is detected. [Figure 21] FIG. 21 is a diagram showing a device for decelerating the vehicle so as not to exceed the steering limit point. [Figure 22] FIG. 22 is another diagram showing a device for decelerating the vehicle so as not to exceed the steering limit point. [Diagram 23] FIG. 23 is a diagram showing how to respond when issuing a parking instruction by operating the steering wheel. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that each embodiment described below shows a specific example of the present disclosure. Therefore, each component, the arrangement position and connection form of each component, each step and the order of each step shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, components that are not described in the independent claims will be described as optional components.

[0012] In addition, each drawing is a schematic diagram and is not necessarily a precise illustration. In each drawing, the same reference numerals are used for substantially the same configurations, and duplicated explanations are omitted or simplified.

[0013] 1A and 1B are diagrams illustrating front quick parking according to the present embodiment. A parking frame S1 is a parking frame sandwiched between parking frame lines L1 and L2.

[0014] Front quick parking is based on the following six steps (see symbols a to f in Figures 1A and 1B). a. When the parking space detection function is activated while the vehicle 1 is moving, the vehicle 1 explains the operation procedure for forward parking. b. When vehicle 1 detects an available parking space, it notifies the driver and prompts the driver to slow down or automatically slows down. c. The driver visually checks the inside of the parking space S1 and performs a parking instruction operation to specify the parking position using a steering wheel or the like. d. When vehicle 1 accepts the parking instruction operation, it vibrates the steering wheel (acceptance response). e. When the driver takes his / her hands off the steering wheel (approval action), vehicle 1 starts autonomous driving. f. Vehicle 1 automatically drives to the target parking position and then stops.

[0015] The features of the front quick parking are as follows. First, the driver does not need to look at the detected parking space S1 on the screen. Also, the driver does not need to specify the target parking position on the screen. Therefore, the driver does not need to stop the vehicle to check or operate the screen, so the automatic parking function can be activated nonstop to perform automatic parking. Note that here, the driver or the passenger in the passenger seat may be simply called the passenger.

[0016] 2A to 2C are diagrams showing the steering limit point in this embodiment. As shown in FIG. 2A, when the vehicle 1 is traveling in the passage, if the vehicle 1 turns from that point with the minimum turning radius, the point where the vehicle 1 fits into the parking space S1 is called the steering limit point P1. The steering limit point P1 is a reference for setting the steering position (steering point P2). When the vacant parking space S1 is detected, as shown in FIG. 2C, a position (steering point P2) where the vehicle 1 turns toward the parking space S1 is set on the path of the vehicle 1, and the vehicle 1 is controlled so that it can be steered at the steering point P2.

[0017] As shown in Fig. 2B, if the steering limit point P1 is exceeded, even if the vehicle 1 turns with the minimum turning radius, it may not be correctly accommodated in the parking stall S1, or it may come into contact with a parked vehicle, so the parking instruction operation cannot be accepted at a position beyond the steering limit point P1. Therefore, the steering point P2 is set within a range that does not exceed the steering limit point P1, and the acceptance of the parking instruction operation is terminated before the steering point P2 is exceeded. In other words, the end point of the acceptance range of the parking instruction operation is set within a range that does not exceed the steering limit point P1.

[0018] The acceptance range of the parking instruction operation is a predetermined range on the path of the vehicle, and the entrance of the parking space is located when the vehicle moves forward from the acceptance range in the direction of travel. Therefore, when the vehicle is within the acceptance range of the parking instruction operation, it is said that the parking space is within a predetermined range in the direction of travel of the vehicle. This is another way of saying that the position of the parking space is detected based on the position of the vehicle, and the steering limit point P1 is determined based on the position of the parking space. Since the steering point P2 and the steering limit point P1 are examples of the predetermined steering points, it may be said that the end of the predetermined range is set based on the predetermined steering points.

[0019] As shown in Fig. 2C, if the steering point P2 is set before the steering limit point P1, the vehicle 1 can turn with a turning radius larger than the minimum turning radius, and the parking path can be set so that the vehicle 1 can fit correctly into the parking space S1. If the parking path includes an arc that turns with a minimum turning radius, the steering angle cannot be increased when the vehicle deviates outside the arc, so the vehicle cannot be pulled back into the parking path. Therefore, it is better to set the steering point P2 before the steering limit point P1 so that the turning radius is larger than the minimum turning radius.

[0020] 3A and 3B are diagrams showing a mathematical explanation of the steering limit point P1 in this embodiment. When the vehicle 1 turns at the maximum steering angle, the radius of the circle drawn by the midpoints of the two rear wheels is set as the minimum turning radius, and when a circle of the minimum turning radius is drawn that is tangent to both the center line of the parking space (a line that is parallel to the parking space lines L1 and L2 of the parking space S1 and is equidistant from the parking space lines L1 and L2) and a straight line showing the path of the vehicle (for example, a line that may pass through the center of the passage) is drawn, the tangent point of the circle and the straight line showing the path of the vehicle is the steering limit point P1.

[0021] When the torque of the EPS (Electric Power Steering) is small, the turning radius may be larger than when turning manually. Also, since the turning radius may be larger depending on the vehicle speed and road surface conditions, an effective turning limit point P1' may be set by adding a distance margin before the theoretical turning limit point P1.

[0022] 4A and 4B are diagrams showing another mathematical explanation of the steering limit point P1 in this embodiment. The radius of the circle drawn by the corner on the side farther from the turning center when the vehicle 1 turns at the maximum steering angle is called the outer minimum turning radius. If there is a parked vehicle in the parking space S2 next to the vacant parking space S1, the steering limit point P1 may be determined based on the outer minimum turning radius.

[0023] When parking, it is necessary to avoid approaching the parked vehicle, which takes priority over parking in the center of the parking space S1. In this case, if the steering limit point P1 is set so that the turning center is a position that is the outer minimum turning radius away from the parked vehicle, parking can be performed without the risk of contact. In other words, it is better to change the setting of the steering limit point P1 depending on whether or not there is a parked vehicle.

[0024] In addition, since the occupants may be startled if the corner of the vehicle body approaches a parked vehicle, an effective steering limit point P1' may be set with a distance margin in front of the theoretical steering limit point P1.

[0025] 5A to 5C are diagrams showing points that are used for vehicle control. In this example, a representative point that represents the position of the vehicle 1 is the midpoint between the ground contact points of the left and right rear wheels, and the position of the representative point is the position of the vehicle 1.

[0026] FIG. 5A is a diagram showing a scene where a vehicle 1 detects an empty parking space S1 while driving along a passage facing the parking space, and point A (detection point P3) is the position of the vehicle 1 when the empty parking space S1 is detected. When the camera installed on the vehicle 1 reaches the extension line of the parking space line L1 on the front side of the empty parking space S1, even if there is a parked vehicle, a parking space that is not blocked on the camera image can be detected. When there is no parked vehicle, the detection point P3 may be set based on the detection range of the parking space detection. In other words, the detection point P3 is affected by the presence or absence of a parked vehicle.

[0027] Point B (check point P4) in FIG. 5B is a check point where the driver can check the inside of the vacant parking frame S1, and when the driver reaches the extension line of the parking frame line L1 on the front side of the vacant parking frame S1, the driver can check the inside of the vacant parking frame S1. Check point P4 may be a point where the driver can check the inside of the vacant parking frame S1 on the camera image. In other words, check point P4 and detection point P3 may be the same.

[0028] That is, the confirmation point may be set based on the positional relationship between the head of a passenger such as a driver, or a camera installed in the vehicle 1, and the extension line of the parking frame line L1, which is the long side of the parking frame. In addition, since the confirmation point P4 is also affected by the presence or absence of a parked vehicle, the confirmation point P4 may be set based on the detection point P3. For example, when the parking frame S1 is detected in front of the extension line of the parking frame line L1, it is presumed that there is no parked vehicle in the frame in front and the parking frame S1 can be confirmed by visual inspection, and it may be determined that the confirmation point P4 has been exceeded at the time of detection. Alternatively, when there is no parked vehicle in the frame in front, the reference position for setting the confirmation point P4 may be set forward by a predetermined distance (for example, 4 m).

[0029] As shown in Fig. 5C, point C (steered point P2) is a position where the vehicle starts to steer. The steering point P2 is set before the steering limit point P1.

[0030] If a parking instruction operation is accepted before the occupant can check the vacant parking space S1, inconvenience may occur when automatic parking starts. Therefore, it is advisable to limit the range for accepting parking instruction operations to a range starting from point B (check point P4) and ending at steering point P2. Point B (check point P4) is an example of a predetermined check point, so it may be said that the start of the predetermined range is set based on the predetermined check point.

[0031] In addition, the specified range is determined based on the position information of the parking space, but the position information of the parking space is detected based on the position of the vehicle at the time of detection, and accordingly, starting automatic parking when a parking instruction operation is received within the specified range can be rephrased as "when the parking space is within a specified range in the traveling direction of the vehicle, it is determined that the parking space matches the parking instruction operation, and when it is determined that they match, automatic parking is started."

[0032] The parking command operation is performed on a device provided in the vehicle, which will be described later, and information on the detection of the parking command operation is provided to the parking assistance device, which determines whether or not it matches. The parking command operation may be any one of the following operations: turning the steering wheel, pushing down the turn signal lever, turning on the hazard lights, operating the brake pedal, and operating a specified button, or a combination of multiple operations. For example, if the brake pedal operation and the turn signal lever operation are performed simultaneously or within a specified time, it may be determined that a parking command operation has been performed.

[0033] Among these, the operation of turning the steering wheel, the operation of pushing down the turn signal lever, and the operation of the button indicating the direction may be said to be parking instruction operations including direction instruction. The button indicating the direction displayed on the touch panel is an example of a predetermined button. For example, when a semi-transparent rectangle indicating the detected parking space is superimposed on the image displayed on the touch panel, if there is an operation of touching the rectangle, it may be determined that there has been a predetermined button operation including a direction instruction.

[0034] When the parking space is located only on one side of the vehicle's travel direction, or when the parking instruction operation is a parking instruction operation including a direction instruction and the parking space is located in the direction indicated by the parking instruction operation, and when the parking space is located within a predetermined range of the vehicle's travel direction, it is determined that the parking space matches the parking instruction operation. In other words, when the parking space is located only on one side of the vehicle's travel direction, the parking instruction operation without a direction instruction is acceptable, but when the parking space is located on both sides of the vehicle's travel direction, the parking instruction operation including a direction instruction is necessary.

[0035] In addition, when the parking space is only on the left or right side of the vehicle's travel direction and the parking instruction operation does not include a direction instruction, the direction is not evaluated, and if the parking space is within a predetermined range of the vehicle's travel direction, it may be determined to match. For example, when the parking space is only detected on the left side of the passage, if there is a braking operation to decelerate to a slow speed before the steering point, the braking operation may be regarded as a parking instruction operation, and automatic parking may be started.

[0036] Fig. 6 is a diagram showing a vehicle to which the parking assistance device can be applied. As shown in Fig. 6, cameras 2 are provided at four locations on the front, rear, left and right sides of the body of vehicle 1. Each camera 2 is equipped with a fisheye lens and has a horizontal viewing range of 180 degrees or more (see dashed lines).

[0037] Since each camera 2 is mounted at a depression angle to capture the road surface, when the range of the road surface captured is converted into a horizontal field of view, a range of about 240 degrees of the road surface is captured by each camera 2. For example, the front and rear wheels and the side of the vehicle are captured in the image captured by the side cameras 2A installed on the left and right of the vehicle body.

[0038] 7 is a diagram showing a network configuration of a system to which the parking assistance device is applied. As shown in FIG. 7, a vehicle 1 includes four cameras 2, an operation device 10, an HMI (human machine interface) device 20, a vehicle control device 30, and a parking assistance device 100.

[0039] The operating device 10 is for manual operation by the driver (passenger) and includes physical switches on a panel at the driver's seat, software switches displayed on a touch panel, as well as devices for driving operations such as a steering wheel, pedals, and gears.

[0040] The HMI device 20 is used as an HMI for an occupant to input operations to the parking assistance device 100, such as a touch panel attached to a navigation device 40 provided in the vehicle 1. The touch panel may be included in the operation device 10, and various switches grounded to the driver's seat may also be included in the operation device 10, so the operation device 10 and the HMI device 20 may be overlapping.

[0041] As shown in Fig. 8, the parking assistance device 100 and the vehicle control device 30 each include a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an input / output circuit (I / O). For example, when an occupant operates the operation device 10, the input / output circuit (I / O) of the vehicle control device 30 receives the operation, and the CPU determines an operation corresponding to the operation. The same is true for the parking assistance device 100.

[0042] In the normal driving mode, the vehicle control device 30 drives a motor (not shown) in response to operation information to control the steering angle and vehicle speed, and simultaneously outputs the operation information and vehicle information such as the steering angle and vehicle speed to a LAN (Local Area Network: in-vehicle LAN, etc.). In the automatic driving mode, the vehicle control device 30 receives commands for the speed and steering angle from the parking assistance device 100 via the LAN, and controls the speed and steering angle in response to the commands.

[0043] Since the vehicle control device 30 monitors the operation of the operating device 10 for driving, the parking assistance device 100 can obtain operation information of the operating device 10 via the LAN. The parking assistance device 100 can obtain information on operations performed by the occupant via the HMI device 20. The parking assistance device 100 may receive the position information of the vehicle 1 output by the navigation device 40 via the LAN, or may obtain the position information directly from the navigation device 40.

[0044] The camera 2 constantly outputs captured images to the parking assistance device 100. Even when parking assistance is not being performed, the parking assistance device 100 generates and outputs a display image showing the surroundings of the vehicle from the captured images.

[0045] In addition, since the above-mentioned touch panel also functions as a display that outputs a display image generated by the parking assistance device 100, the parking assistance device 100 and the HMI device 20 may be directly connected.

[0046] The parking assistance device 100 may directly sense information of operations performed on the touch panel, or may receive information via a LAN. The parking assistance device 100 can also receive position information of the vehicle 1 output by the navigation device 40 via a LAN.

[0047] The functions of the parking assistance device 100 may be implemented in hardware as shown in Fig. 8. The parking assistance device 100 includes a CPU 101, a ROM 102, a RAM 103, an I / O (input / output interface) 104, and an IMP (Image Processor) 105. The parking assistance device 100 may be a computer in which each element is connected by a bus.

[0048] In addition, multiple elements may be housed in one chip, or one element may be composed of multiple chips. The bus does not have to be a single bus, but may be a combination of multiple types of buses.

[0049] For example, CPU 101, ROM 102, RAM 103, and IMP 105 housed in one chip may be connected by a parallel bus, and I / O 104 made up of multiple chips may be connected to the chip housing CPU 101 etc. by a serial bus.

[0050] The CPU 101 controls the entire parking assistance device 100. The ROM 102 is an electrically rewritable memory that stores the programs executed by the CPU 101 and also functions as a non-volatile data storage area, and retains data etc. even when the parking assistance device 100 is turned off.

[0051] The RAM 103 is used for temporary storage as a working area for the CPU 101. For example, data that only needs to be stored temporarily, such as the latest surrounding image, is stored in the RAM 103. The RAM 103 has a capacity capable of storing a plurality of surrounding images.

[0052] The IMP 105 is a processor with enhanced processing performance specialized for image processing, and executes image processing in the image acquisition unit 130, the parking space detection unit 140, and the display image output unit 180 shown in FIG.

[0053] The above-mentioned camera 2 constantly outputs the captured camera images to the parking assistance device 100. The parking assistance device 100 generates and outputs a display image showing the periphery of the vehicle 1 from the camera images even when parking assistance is not being performed.

[0054] 9 is a block diagram showing a parking assistance device. As shown in FIG. 9, the parking assistance device 100 includes an operation reception unit 110, a state management unit 120, an image acquisition unit 130, a parking frame detection unit 140, a route calculation unit 150, a travel control unit 160, a storage unit 170, and a display image output unit 180.

[0055] The operation reception unit 110 receives operation information indicating the driver's operation including the driving operation. The state management unit 120 manages the parking assistance state (state) according to the operation information and the state of the vehicle, receives the driver's operation for each state, and functions as a whole for automatic parking. Details of each parking assistance state (state) will be described later.

[0056] The image acquisition unit 130 acquires a camera image and generates a surrounding image showing the surroundings of the vehicle 1. The surrounding image may be an overhead image in which the camera image is projected onto the road surface, may be an image in another format, or may be the camera image as it is. In this embodiment, the surrounding image is assumed to be an overhead image.

[0057] 10 is a diagram showing an example of setting a parking space detection area. The parking space detection unit 140 sets a parking space detection area for detecting a parking space in the peripheral image, and extracts a white line from the peripheral image in the parking space detection area. The parking space detection area may be the entire peripheral image, or may be a limited area in the peripheral image where a parking space is expected.

[0058] By limiting the parking space detection area to an area where a parking space is expected, the processing time required for detection can be shortened. Also, by limiting the size of the parking space detection area to a size that can accommodate one parking space but not two parking spaces, the processing when two parking spaces are detected at the same time can be omitted.

[0059] An example of setting the parking space detection area when parking forward is shown in Fig. 10. It is assumed that the front camera 2 is attached to the center of the front end of the vehicle 1, the vehicle 1 travels in the center of the passage, and can park in the parking space on the left and right.

[0060] The assumed parking space width is 2.5m, the length of the long side of the parking space is 5m, the width of the aisle is 5m, and the angle of the parking space (frame line) with respect to the traveling direction is 45 degrees to 90 degrees. If the angle of the parking space is an obtuse angle with respect to the traveling direction (for example, 105 degrees or more), backward parking is required, so even if there is a vacant parking space with an obtuse angle with respect to the traveling direction, it is not determined that it has been detected in the case of forward parking.

[0061] The setting of the parking space detection area may be changed according to the detection result or the situation. For example, when white lines roughly parallel to the traveling direction of the vehicle 1 are detected on the left and right sides of the vehicle, the white lines can be recognized as indicating an aisle, so the reference direction of the parking space detection area may be changed to the direction of the white lines. In addition, since the vehicle 1 may run close to one side of the aisle, it is preferable to offset the parking space detection area to the left and right so that the left and right white lines are included in the left and right parking space detection areas.

[0062] The parking space detection unit 140 further generates pairs of the extracted white lines, and searches for pairs of white lines that meet the conditions of a parking space. For example, when the parking space detection unit 140 detects a pair of white lines from the peripheral image, if the following three conditions are met: the two white lines are parallel on the road surface, the two white lines are longer than the vehicle length, and the distance between the two white lines is greater than the vehicle width, the parking space detection unit 140 determines that the area between the two white lines is an area where the vehicle 1 can be parked (i.e., a parking space).

[0063] In general, detection is performed with the aim of obtaining information about a specific object, and if the specific object is present as a result of the detection, it is determined that the object has been "detected," and information about the detected object is output. The results of detection are divided into cases where the object is detected and cases where the object is not detected, and in cases where the object is not detected, the purpose of the detection is not achieved. In cases where the object is detected, the purpose of the detection is achieved, and so the detection can be rephrased as a successful detection. For example, when a parking space is successfully detected, the position information of the parking space is obtained as the detection result.

[0064] When a parking space is detected, the white lines constituting the parking space can be said to be parking space lines, so the parking space detection unit 140 outputs the coordinates of the end points of the two parking space lines, that is, the coordinates of the four corners of the parking space, as a detection result. These coordinates are relative coordinates based on the vehicle itself. If another vehicle is parked in the parking space, at least one of the parking space lines is hidden, so the parking space is not detected. In other words, the detected parking space is an empty parking space, but may be simply called a parking space.

[0065] 11 is a diagram showing a parking path. The path calculation unit 150 sets a target parking position so that the center of the vehicle body 1 is located in the center of the coordinates of the four corners of the parking available area S1 output by the parking space detection unit 140, and sets a target parking angle (the orientation of the vehicle body when parked at the target parking position) so that the vehicle is parallel to the long sides L1 and L2 of the parking available area, and calculates a parking path to the target parking position.

[0066] If the parking route is calculated with the position P6 where automatic parking is approved as the steering point, the route changes depending on the time of approval of automatic parking, so it is difficult to complete the route calculation within the time constraints. Therefore, the route calculation unit 150 sets the steering point P7 at the end of the half line extending in the traveling direction of the vehicle 1 (P6), and sets a circle with a radius slightly larger than the minimum turning radius that is tangent to both the half line (P6-P7) and the center line of the parking stall S1.

[0067] For example, the path calculation unit 150 sets the tangency of the circle and the half line as the steering point P7 and the tangency of the circle and the center line as the turning end point P8, and sets a path that goes straight from the current position of the vehicle 1 to the steering point P7, a path that travels on the circumference from the steering point P7 to the turning end point P8 at a constant steering angle, and a path that goes straight from the turning end point P8 to the parking target position. In other words, regardless of the time of approval of automatic parking, the parking path is calculated assuming that the vehicle travels straight to the steering point P7.

[0068] If the radius of the circle is made larger than the minimum turning radius, even if the route traveled by vehicle 1 deviates outside the circular orbit (P7-P8), it is possible to bring it back to the calculated route by controlling the steering angle, so this can be said to be a good route.

[0069] This route cannot be applied if the vehicle 1 passes the steering point P7 before the automatic parking is approved, so the timing for accepting the parking instruction can be calculated backwards and set so that the automatic parking is approved by the steering point P7. For example, if it takes one second from accepting the parking instruction to determining whether the automatic parking is approved, the acceptance end point can be set one second before the vehicle 1 reaches the steering point P7, and after the acceptance end point has passed, a message such as "Skipped" can be displayed to inform the driver that the automatic parking will not start.

[0070] The driving control unit 160 controls the steering angle and the vehicle speed so that the vehicle 1 drives along the calculated parking path. More specifically, the driving control unit 160 outputs instruction values ​​of the steering angle and the vehicle speed to the vehicle control device 30 based on the target values ​​of the steering angle and the vehicle speed.

[0071] The driving control unit 160 controls the steering angle and vehicle speed based on the instruction values ​​output by the vehicle control device 30, and simultaneously outputs the actual measured values ​​of the steering angle and vehicle speed every moment. For example, the actual measured value of the vehicle speed is calculated from data on the number of rotations of the wheels and data on the outer circumference of the wheels. The actual measured value of the steering angle may be data obtained from the steering device, or may be calculated from an inner wheel difference calculated from the difference in the number of rotations of the wheels.

[0072] When there is a difference between the target value and the actual measured value, the traveling control unit 160 corrects the command values ​​of the steering angle and the vehicle speed so that the actual measured values ​​of the steering angle and the vehicle speed become equal to the target values ​​of the steering angle and the vehicle speed. For example, if the actual measured value of the vehicle speed is higher than the target value of the vehicle speed, the command value of the vehicle speed is made lower than the target value of the vehicle speed, and if the actual measured value of the inner wheel difference is smaller than the inner wheel difference corresponding to the target value of the steering angle, the command value of the steering angle is made larger than the target value of the steering angle.

[0073] The driving control unit 160 tracks the position and orientation of the vehicle 1 while it is traveling, based on the actual measured values ​​of the steering angle and vehicle speed. That is, the driving control unit 160 calculates the traveling trajectory of the vehicle 1 during automatic traveling or manual traveling. The traveling trajectory may be calculated in the form of movement information in which the travel distance, the travel direction, and the angle of the vehicle body are added to the time for each unit time. The form of the movement information is not limited to this, and may be, for example, a form using coordinate information.

[0074] During automatic driving, the driving control unit 160 compares the parking route calculated by the route calculation unit 150 with the driving trajectory represented by the movement information, and corrects the steering angle so that the driving trajectory follows the parking route. For example, when the vehicle 1 reverses while turning with a steering angle, if the driving trajectory passes outside the parking route as viewed from the center point of the turn, the driving control unit 160 increases the steering angle to reduce the turning radius. This causes the driving trajectory of the vehicle 1 to be pulled back toward the parking route.

[0075] In automatic parking, it is sufficient to control the steering angle so that the vehicle 1 travels along the calculated route, so the vehicle speed may be controlled by the driver. For example, acceleration may be suppressed only when the vehicle speed exceeds 5 km / h, and parking may be performed at a vehicle speed preferred by the driver if the vehicle speed is below 5 km / h. In this embodiment, automatic parking is basically described as being performed by automatic driving (steering angle and vehicle speed are automatically controlled), but an example of automatic parking using automatic steering will also be mentioned.

[0076] The storage unit 170 temporarily stores input data and output data of the processes performed by each unit of the parking assistance device 100, and assists the processes of each unit. For example, the storage unit 170 stores the data of the front camera image acquired by the image acquisition unit 130, so that the parking space detection unit 140 can refer to it.

[0077] In addition, the storage unit 170 stores the position information of the parking space detected by the parking space detection unit 140, so that the route calculation unit 150 can refer to it. Furthermore, the storage unit 140 stores the parking route calculated by the route calculation unit 150, so that the driving control unit 160 can refer to it.

[0078] In addition, the memory unit 170 stores the time when the front camera image was taken, the time when the steering wheel was turned, and the time when the vehicle started to move straight ahead by getting on the center line of the parking space, and stores how far the vehicle has moved since those times, so that the location of the vehicle 1 relative to the parking space can be always specified even if the vehicle 1 changes its position every moment. In other words, the processes performed by each part of the parking assistance device 100 are organically combined in the memory unit 170.

[0079] The display image output unit 180 generates a display image based on a camera image or a surrounding image. The display image may be an overhead image that overlooks the surroundings of the vehicle 1 from above. In other words, the display image output unit 180 may output the overhead image as the display image.

[0080] The display image output unit 180 displays a message or a figure by superimposing it on the display image in response to a request from the state management unit 120. For example, when starting automatic parking, the display image output unit 180 may display a semi-transparent rectangle indicating the position of the parking space detected by the parking space detection unit 140 by superimposing it on the overhead image, and may display the route from the vehicle to the target parking position calculated by the route calculation unit 150 with a dotted line.

[0081] The message may be read aloud as well as displayed on the image, or the message may be output only as audio.

[0082] Specifically, the state management unit 120 issues an instruction to specify one of the preset texts and output it. In response to the instruction, the display image output unit 180 generates an image of a character string corresponding to the specified text, superimposes it on the display image, and outputs it to the HMI device 20. At the same time, the display image is output to the HMI device 20 together with the voice data that was saved together with the text. This allows the occupant to receive the message even if he or she is not looking at the HMI device 20.

[0083] The flow of control from the start of the parking assistance device 100 to the completion of automatic parking can be roughly explained by the state transitions and the processing for each state managed by the state management unit 120. The states may be set as follows.

[0084] State 0 is a stopped state, that is, a state in which the vehicle is stopped. When the vehicle 1 starts moving, the process proceeds to state 1. If there is a parking space detection instruction, the parking assistance device 100 inquires of the driver about the parking method. If the driver selects forward parking, the process proceeds to state 2. If the driver selects reverse parking, the process proceeds to another routine.

[0085] State 1 is a driving state, and if there is a parking space detection command, it proceeds to state 2, and if the vehicle 1 stops, it returns to state 0. State 2 is an explanation state, and the parking assistance device 100 explains the startup procedure of forward automatic parking, and proceeds to state 3. State 3 is a detection state, and the parking assistance device 100 performs parking space detection, and proceeds to the next state if a parking space is detected.

[0086] State 4 is a detection state, in which the parking assistance device 100 notifies the detection of a parking space and proceeds to the next state. State 5 is an acceptance state, in which the parking assistance device 100 waits for a parking instruction from the driver while inquiring about a parking instruction and notifying the countdown of the time margin. The driver may either perform a parking instruction operation or a denial action in response to the notification, or may do nothing. A denial action is an action in which the driver expresses his or her intention not to park in the detected parking space, and if a denial action is detected, the detected parking space is skipped and the parking assistance device 100 proceeds to the next state when a parking instruction is detected, and returns to state 3 when a denial action is accepted or the deadline expires.

[0087] State 6 is a query state, in which the parking assistance device 100 executes an acceptance response (steering wheel vibration), and proceeds to the next state 7 if there is an approval action (steering wheel release). If a denial action is detected in state 6, or if the time runs out, the state returns to state 3. In other words, if the driver wants to skip the parking space, he or she may either deny the action or do nothing. State 7 is a self-driving state, in which the vehicle 1 automatically drives along a parking path consisting of straight lines and arcs, and proceeds to the next state when the state is finished. State 8 is an end state, in which the parking assistance device 100 ends by announcing the end of automatic parking.

[0088] The denial action by which the driver indicates his / her intention not to park in the detected parking space may be any of the following: returning the steering wheel or the turn signal lever to the neutral direction, turning the steering wheel beyond a predetermined angle, turning off the hazard lamps, operating the accelerator pedal, or operating a button to cancel the parking instruction. When at least one of these is detected, it is determined that a denial action has occurred. The timing of the denial action may be earlier or later. If a denial action occurs before a parking instruction inquiry, the parking instruction inquiry may not be made and the parking instruction operation may not be accepted. If a parking instruction operation occurs before a denial action, the acceptance of the parking instruction operation may be cancelled and the situation may be the same as when there was no parking instruction. For example, if a brake operation to decelerate to a slow speed before a steering point is accepted as a parking instruction operation, the driver can instruct skip by depressing the accelerator pedal to accelerate.

[0089] It is not necessary that the denial operation is the opposite operation to the parking instruction operation, and it is not essential to cancel the acceptance of the parking instruction operation when a denial operation is performed. For example, if there are two vacant parking spaces on the left side in front and the vehicle is parked in the second parking space from the front, the driver may tilt the blinker to the left to instruct automatic parking to the left, and lightly step on the accelerator to instruct skip in response to the first acceptance response (steering wheel vibration). The parking assistance device 100 accepts the accelerator operation as a denial operation, but since the blinker is tilted to the left, it determines that the instruction to park to the left is continuing, and outputs an acceptance response even at the confirmation point for the second parking space. In this way, if the driver wants to park in the second parking space, he or she can release the hand at the second vibration, so that the vehicle can automatically park in the desired parking space even when there are consecutive vacant parking spaces.

[0090] The parking assistance device 100 can also perform reverse parking by processing a separate routine, but the description of the reverse parking processing (separate routine) is omitted in this embodiment. Below, the control flow including detailed explanations of the states will be explained step by step with reference to Figures 12 to 15.

[0091] The operation reception unit 110 of the parking assistance device 100 determines whether the ignition is turned on (step S1). If the ignition is not turned on (step S1, NO), the process returns to step S1.

[0092] When the ignition is turned on (step S1, YES), the state management unit 120 receives information on the driver's operation and the vehicle state, and manages the parking assistance state (state). For example, the state management unit 120 determines whether the vehicle 1 is stopped (state 0) or moving (state 1) by determining whether the vehicle speed exceeds 1 km / h (step S2). In this example, a vehicle speed of 1 km / h or less is also included in the stopped state (state 0).

[0093] Next, when the vehicle speed is 1 km / h or less and the vehicle 1 is in a stopped state (state 0) (step S2, NO), the operation reception unit 110 determines whether the parking space detection button is pressed and the parking space detection function is turned on (step S3). If the parking space detection function is not turned on (step S3, NO), the operation returns to the process of step S2.

[0094] When the parking space detection function is turned on in a stopped state (state 0) (step S3, YES), the display image output unit 180 displays the "forward" and "reverse" buttons on the screen (step S4) and asks the driver whether to park forward or backward (step S5).

[0095] If the driver has not input a command to specify forward parking or backward parking (step S5, no input), the process returns to step S4. If the driver has input a command to specify backward parking (step S5, backward parking), the state management unit 120 executes the process of the backward parking routine. The parking assistance device 100 of this embodiment is characterized by a function that allows forward parking without stopping, so a description of the process when the vehicle is stopped and backward parking is omitted.

[0096] If the driver inputs a command specifying forward parking (step S5, forward parking), the state management unit 120 transitions to an explanation state (state 2) and notifies the driver of the start-up procedure for forward automatic parking (step S7).

[0097] In step S2, if the vehicle is in a running state (state 1), the process proceeds to step S6. In step S6, if the parking space detection function is turned on (step S6, YES), the process also transitions to an explanation state (state 2) in which the driver is informed of the start-up procedure of forward automatic parking (step S7).

[0098] That is, in step S2, if the vehicle speed exceeds 1 km / h and the vehicle 1 is in a traveling state (state 1), when the parking space detection function is turned on, it is determined that forward parking is specified without consulting the driver.

[0099] This is an optimization that corresponds to the fact that reverse parking always requires stopping the vehicle, so if the driver selects reverse parking, they can simply operate the function while the vehicle is stopped, but forward parking does not require stopping, so it is difficult to select the function while driving.

[0100] In step S6, if the parking space detection function is not turned on (step S6, NO), the process proceeds to step S2 and returns to the determination of the vehicle speed.

[0101] In the explanation state (state 2) of step S7, the display image output unit 180 notifies the automatic parking procedure. Specifically, the procedure for the driver to activate automatic parking is notified by a voice message, and the procedure for activating automatic parking from the passenger seat is notified by a display image. If there is no means for issuing parking instructions from the passenger seat, the display image output unit 180 may notify the driver of the procedure for automatic parking by a display image. Note that the transition to the next step occurs without waiting for completion of the message output.

[0102] Then, the parking space detection unit 140 executes parking space detection to search for a parking space from the front camera image, and transitions to a detection state (State 3) (from this, FIG. 13, Step S8).

[0103] Next, the parking space detection unit 140 judges whether or not a parking space is detected (step S9). If a parking space is not detected (step S9, NO), the process returns to step S8. If a parking space is detected (step S9, YES), the process proceeds to the detection state of state 4, and the display image output unit 180 notifies the detection of the parking space with a voice message (step S10). Note that the message depends on the position where the parking space is detected, and the parking space may be detected on both the left and right sides. Therefore, it is better not to notify when the search of one of the left and right detection ranges is completed, but to wait for the search of both sides to be completed before judging whether or not the parking space is detected.

[0104] In step S10, the length of the voice message may be selected according to the time to accept the parking instruction. The time depends on the vehicle speed, so the length may be selected according to the vehicle speed. For example, if the vehicle speed is slow, the message may say "A parking space has been detected on the right. Would you like to park?", and if the vehicle speed is fast, the message may say "Would you like to park on the right?".

[0105] Steps S11 to S15 are processes corresponding to the reception state of State 5, and accept a parking instruction while notifying the user of the time margin. That is, the process repeats a loop of steps S11 to S15 multiple times while the message notifying the user of the time margin is being output.

[0106] First, the display image output unit 180 notifies the driver of the time margin with one of simple numbers, such as "3, 2, 1, 0." For example, the time margin is counted down by counting down "3" in the first loop and "2" in the next loop (step S11). The time margin notification may be made by changing the time interval at which each number is notified according to the vehicle speed. The time from detecting a parking space to closing the parking instruction is determined by the distance to the detected parking space and the vehicle speed, and is therefore indefinite. If the time margin notification starts with an indefinite number, it is difficult to explain the operation procedure and to understand it.

[0107] So, for example, if you want to announce the time margin as "3, 2, 1, 0," you can set the interval of announcement as "interval of announcement = initial value of time margin ÷ 4." This way, you can know that "you should give the command while counting to three."

[0108] Next, the state management unit 120 judges whether or not "0" has been reported as the time margin (step S12). If "0" has been reported as the time margin (step S12, YES), the period for accepting parking instructions has ended, so the process returns to step S8 to detect the next parking space and transitions to the detection state (state 3). If parking is not performed due to the time limit, a process of notifying the user that a parking space will be skipped, such as "Parking space skipped", may be executed before returning to step S8.

[0109] If 0 has not been notified as the time margin (step S12, NO), the operation receiving unit 110 determines whether or not the driver has performed an operation to disapprove parking (for example, an accelerator operation) (step S13).

[0110] If there is a denial operation (step S13, YES), it is determined that the parking space skip is instructed, and the process returns to step S8. As in the case of step S12, a process of notifying the skip, such as "Parking space skipped", may be executed before returning to step S8.

[0111] If there is no denial action (step S13, NO), the operation reception unit 110 judges whether or not a parking instruction (e.g., a turn signal operation) has been detected (step S14). If a parking instruction has not been detected (step S14, NO), the state management unit 120 subtracts the time margin (step S15), returns to step S11, and notifies the updated time margin.

[0112] That is, if there is no time limit (step S12, NO), no denial action (step S13, NO), and no parking instruction (step S14, NO), the state management unit 120 updates (subtracts) the time margin in step S15 and returns to the time margin notification process of step S11.

[0113] When a parking instruction is detected (step S14, YES), the state management unit 120 judges whether the parking instruction is valid or not (step S16). For example, if there is no parking space detected in the direction of the turn signal, the parking instruction is judged to be invalid and a denial operation is performed (step S16, NO), and the process returns to step S8. That is, the driver may denial by indicating the opposite direction to the vacant parking space.

[0114] For example, if there is a parking space detected in the direction in which the blinker is activated, the state management unit 120 determines that the parking instruction is valid (FIG. 14, step S16, YES), accepts the parking instruction, and proceeds to the process of step S17.

[0115] The processes from step S17 to step S22 correspond to the inquiry state of state 6, and are processes for outputting an inquiry signal (eg, vibration of the steering wheel) for a certain period of time and requesting an approval action (eg, release of the steering wheel or reduction of steering torque).

[0116] First, when the state management unit 120 determines that the parking frame matches the parking instruction operation, it outputs a query signal for querying an approval action. The query signal includes any one of the vibration, voice, and message of the steering system. For example, when the steering wheel vibrates, the driver can take his / her hands off the steering wheel as an approval action. In order to manage the acceptance period of the approval action, the output period of the query signal is counted by a timer (step S17). Then, the state management unit 120 determines whether or not a disapproval action for parking is detected (step S18).

[0117] If no denial action has been detected (step S18, NO), the state management unit 120 determines whether or not an approval action for parking has been detected while the inquiry signal is being output (step S19).

[0118] In the steps up to this point, it is determined that the parking frame matches the parking instruction operation, a reference signal is output, and automatic parking is started if an approval action is detected. The approval action is either the release of the steering wheel, or a decrease in steering torque of the steering wheel, the release of the brake pedal, or a decrease in pressure of the brake pedal, and it is determined that an approval action has been detected when at least one of them is detected. In other words, it may be determined that an approval action has been detected when both the release of the steering wheel and the release of the brake pedal are detected. In this way, when automatic parking is started in step S23 and thereafter, automatic steering and vehicle speed control can be performed without interference from the driver's hands and feet.

[0119] If the approval action is not detected (step S19, NO), the state management unit 120 decrements the timer (step S20). Then, the state management unit 120 determines whether the count value of the timer is greater than 0 (step S21).

[0120] If the timer count value is greater than 0 (step S21, YES), the process returns to step S18 and continues looping. If the timer count value becomes 0 (step S21, NO), the state management unit 120 stops outputting the inquiry signal (step S22), returns to the process of step S8, and detects the next parking space.

[0121] In step S18, when a denial operation is detected (step S18, YES), the state management unit 120 immediately determines that an instruction to skip the parking space has been received, stops the inquiry signal (step S22), and returns to detecting the next parking space (step S8). Note that the process performed in step S22 may include a notification of the skip, such as "skipped."

[0122] The denial action may be the same as the denial action in the acceptance state of state 5 (e.g., operating the accelerator), or it may be an operation in the opposite direction to the parking instruction (e.g., turning the steering wheel in the opposite direction), or it may be a cancellation of the parking instruction (e.g., turning off the hazard lights). Also, if no approval action is performed while the inquiry signal is being output (e.g., not taking your hands off the steering wheel even when it vibrates), the result will be the same as if a denial action was performed (step S21, NO), so if you do not want to park, you can do either of these.

[0123] If there is no denial action (step S18, NO) and an approval action is performed while the inquiry signal is being output (step S19, YES), the display image output unit 180 notifies the start of automatic parking (FIG. 15, step S23). The reason for limiting the acceptance period of the approval action while the inquiry signal is being output is to start automatic parking before the vehicle passes a specified steering point. In other words, automatic parking starts only if an approval action is performed before the vehicle passes a specified steering point.

[0124] The processes from step S23 to step S26 correspond to the free-running state of state 7.

[0125] First, the display image output unit 180 notifies the driver of the start of automatic parking, for example, "Automatic parking will start" (step S23). After that, the driving control unit 160 causes the vehicle 1 to automatically drive along the parking path (step S24).

[0126] In automatic driving (self-driving state of state 7), the steering angle and vehicle speed are automatically controlled, and the vehicle 1 drives along the parking path calculated by the path calculation unit 150. The parking path consists of three partial paths: a straight line portion that runs straight to a steering point on the path of the vehicle 1, a curved line portion that runs on a circumference from the steering point to the turning end point, and a straight line portion that runs straight from the turning end point to the target parking position.

[0127] The steering angle and travel distance are calculated for each partial route, so after traveling a predetermined distance at a predetermined steering angle, the steering angle is changed and the vehicle moves on to traveling the next partial route.

[0128] After that, the vehicle 1 travels a predetermined distance along the final partial route, which travels in a straight line along the center line of the parking space, to reach the target parking position. The travel control unit 160 determines whether the vehicle 1 has reached the target parking position (step S25).

[0129] When the vehicle 1 reaches the target parking position (step S25, YES), the driving control unit 160 stops the vehicle 1 (step S26). After that, the display image output unit 180 notifies the driver that "automatic parking is now complete" (step S27). Then, when the driver puts the gear into park and the EPS (electric power steering) is turned off, the process ends (end state of state 8).

[0130] The flow of this embodiment is premised on the premise that a parking instruction is given after an empty parking space is detected, but the following describes the case where a parking instruction is given before an empty parking space is detected. Figure 16 is a diagram showing the state before the detection of a parking space.

[0131] In Fig. 16, the parking frame line L1 of the vacant parking frame S1 is partially hidden by the parked vehicle 3, so the parking frame is not detected. When the vehicle 1 advances from this state, the parking frame S1 can be detected by the front camera image first, and then the driver can check the inside of the parking frame S1. However, at the time of Fig. 16 when the parking frame S1 cannot be detected, the driver may presume that the parking frame S1 is available for parking, and may perform parking instruction operation.

[0132] Therefore, even when the parking frame S1 is not detected, the parking instruction operation may be accepted. Accordingly, when the parking frame that corresponds to the parking instruction operation is not detected when the parking instruction operation is accepted, the judgment of whether the parking frame corresponds to the parking instruction operation may be reserved, and the judgment may be made when the parking frame that corresponds to the parking instruction operation is detected. This is because if the judgment is made when the parking frame is not detected, the parking frame is judged not to correspond to the parking instruction operation. This may be rephrased as the judgment of whether the match is postponed until the parking frame that corresponds to the parking instruction operation is detected.

[0133] When the parking frame that corresponds to the parking instruction operation is not detected, the following cases may be included: when the parking frame is not detected at all, when the parking frame is detected but is not in the direction indicated by the parking instruction operation, and when the parking frame is detected but the confirmation point of the parking frame is not reached. When the parking frame is not detected yet, it may wait until it is detected, or when the parking instruction operation is too early, it may wait until the confirmation point is reached.

[0134] A time limit may be set for the reservation of the judgment. If the reservation of the judgment is continued indefinitely, the judgment may be made when the driver forgets that he or she performed the parking instruction operation, which may result in the driver performing an unintended operation. Therefore, if a predetermined time has passed during the reservation of the judgment, or if the vehicle has traveled a predetermined distance during the reservation of the judgment, the acceptance of the parking instruction operation is cancelled and automatic parking is not performed.

[0135] As an example, the standard may be determined assuming that the vehicle is instructed to park 10 m before the desired parking space when traveling at 3 km / h. Since the standard width of a parking space is 2.5 m, 10 m corresponds to four spaces. Since it takes 12 seconds to travel 10 m at 3 km / h, it may be determined that the vehicle will not continue to be held and that the acceptance of the parking instruction operation is cancelled and that automatic parking is not performed if a predetermined time (for example, 12 seconds) has elapsed during the holding period. Alternatively, it may be determined that the vehicle has traveled a predetermined distance (for example, 10 m) during the holding period and that the acceptance of the parking instruction operation is cancelled and that automatic parking is not performed. In this way, it is possible to deal with the case where the driver issues a parking instruction operation with the intention of parking the vehicle in a parking space three spaces ahead. If the parking space three spaces ahead is vacant, automatic parking is performed, and if no vacant parking space is detected even after moving forward four spaces, it is sufficient to notify that the parking instruction operation has been cancelled at that point.

[0136] When a parking instruction operation is received and a parking frame corresponding to the parking instruction operation is not detected, this includes cases where the driver's operation was not a parking instruction, so if it is determined that a denial operation to cancel the parking instruction operation has occurred during the suspension, the acceptance of the parking instruction operation may be cancelled and automatic parking may not be performed. For example, if it is determined that a parking instruction operation has occurred when the steering wheel is turned and the steering angle exceeds a first threshold value (e.g., 10 degrees), if a parking frame is not detected in the direction in which the steering wheel is turned and the steering angle exceeds a second threshold value (e.g., 30 degrees), it may be presumed that the steering wheel operation was for turning right or left, the suspension of the determination may be cancelled, and it may be determined that there was no parking instruction. Operations to cancel the parking instruction operation, such as returning the steering wheel or the turn signal lever to neutral or turning off the hazard lamps, may also be determined as denial operations and processed in the same manner. When parking is started from a straight driving state, the vehicle may decelerate but not accelerate, so that when the accelerator operation exceeds a predetermined threshold value, it may also be determined as a denial operation.

[0137] The criterion for the denial action for the suspension of the judgment (for example, a threshold value) may be the same as the criterion for the denial action for the inquiry signal, but may be made easier to determine that the denial action has occurred. In other words, when a parking space corresponding to the parking instruction operation is not detected, it may be made easier to determine that a denial action has occurred than when a parking space corresponding to the parking instruction operation is detected. This is because, when a parking space is not detected, the probability that parking is intended is low, so the probability that a denial judgment is contrary to the driver's intention is low, and when parking is intended but the parking instruction is too early, it is possible to make the driver give an instruction again when a parking space is detected, so the disadvantage of a denial judgment is small.

[0138] For example, it is unsafe to start automatic parking in a state where the inside of the parking space S1 cannot be confirmed, and a parking route cannot be determined in a state where the parking space S1 is not detected, so when state 3 (detection state), that is, parking space detection is activated but the parking space S1 is not detected, the parking instruction operation may not be detected as shown in the control flow of FIG. 13. Also, in the control flow of FIG. 13, a step of detecting a parking instruction may be inserted on the way back from step S9 to step S8, and if a parking instruction is detected there, confirmation and a re-instruction operation may be requested, such as "For safety, please check inside the parking space and give a parking instruction." In this way, even if a parking instruction is not accepted too early, it will be easier to accept it.

[0139] Also, when the instruction operation is accepted and put on hold, it is preferable to notify at the same time. As described above, a step of detecting a parking instruction operation is inserted on the way back to step S8 in a state where the parking frame S1 is not detected (step S9, NO), and when a parking instruction is detected there, it is preferable to notify that the parking instruction operation has been accepted. If the driver is not informed that the parking instruction operation has been accepted, unnecessary and excessive operation may be caused, so for example, a message such as "Detecting. Please wait" is output to notify that the parking instruction has been accepted. After that, the flow may be changed so that the detection of the parking frame S1 is awaited and the state proceeds to the inquiry state of state 6 (step S17) without passing through states 4 and 5. Even if the timing of the detection of the parking frame S1 and the detection of the parking instruction operation are before or after each other, the control after the inquiry state of state 6 may be the same.

[0140] While the driver needs to keep his / her eyes on the road during manual driving, the passenger in the passenger seat can see and operate the HMI device 20, so the automatic parking function may be operated from the passenger seat. For example, in the explanation state of State 2, an explanatory diagram or text may be displayed on the screen of the HMI device 20 at the same time as the voice explanation to the driver to explain the procedure for the passenger instructing automatic parking.

[0141] The front camera image is displayed on the screen of the HMI device 20, and when the parking space S1 is detected (state 5 acceptance state), an image showing the detected parking space S1 is superimposed, and when the superimposed image (i.e., the detected parking space S1) is touched, it may be accepted as a parking instruction. Since the detected parking space S1 is on either the left or right side of the vehicle travel direction, or on both sides, the operation of touching the screen is an example of a parking instruction operation including a direction instruction.

[0142] The parking instruction operation from the passenger seat may be, for example, turning on the hazard lamps. The hazard lamps are arranged in a position where they can be operated from the passenger seat, so the turning on of the hazard lamps may be accepted as a parking instruction. Turning on the hazard lamps is an example of a parking instruction operation that does not include a direction instruction. When a parking instruction operation is performed using the hazard lamps, if the detected parking space S1 is on both the left and right, the driver may select the right or left on the screen of the HMI device 20.

[0143] Even if the passenger in the front seat gives a parking command, automatic parking will not begin unless the driver approves the inquiry in State 6, so it can be said that the final decision-making power lies with the driver.

[0144] The vehicle may be decelerated in response to a parking instruction operation. For example, when parking frames are present on both the left and right sides of the vehicle 1's travel direction, or when the parking instruction operation is a parking instruction operation that does not include a direction instruction, the travel control unit 160 may control the vehicle speed so that the vehicle 1 does not pass a predetermined steering point until a parking instruction operation including a direction instruction is performed. For example, when a parking instruction operation is performed using a hazard lamp, if the detected parking frame S1 is present on both the left and right sides, the vehicle continues to decelerate until an operation to select right or left on the screen of the HMI device 20, or an operation to select left or right with the steering wheel or the turn signal lever is performed. If the deceleration rate (speed change per time = acceleration) at this time is set so that the vehicle speed becomes zero before the predetermined steering point, the vehicle 1 will not pass the predetermined steering point until an operation to select left or right is performed.

[0145] Also, it may be possible to cope with the fact that the passenger in the passenger seat and the driver have different check points. FIG. 17A is a diagram showing the check points of the passenger in the passenger seat, and FIG. 17B is a diagram showing the check points of the driver. Since the driver needs to look ahead during manual driving, it is preferable to accept the parking instruction operation from position B (P4) where the inside of the parking space S1 can be visually observed as shown in FIG. 17B. In contrast, if the front camera image is displayed on the HMI device 20, the passenger in the passenger seat can see the camera image on the HMI device 20 and confirm the safety inside the parking space S1, so the parking instruction operation may be accepted from position A (P3).

[0146] For safety reasons, even if the driver issues a parking instruction before the confirmation point, the parking instruction may not be accepted or the response to the acceptance may be postponed, but for the passenger in the front seat, the parking instruction may be accepted by setting a point that can be confirmed on the camera image as the confirmation point. In other words, the start point of accepting parking instructions may be different between parking instructions by the HMI device 20 and parking instructions by the steering wheel, blinkers, etc.

[0147] The fact that the inside of the parking space S1 can be confirmed by the front camera image is known by detecting the parking space S1, so the parking instruction operation after the detection of the parking space S1 can be accepted. In other words, for the parking instruction operation from the passenger seat, the detection point can be regarded as the confirmation point.

[0148] For example, parking instruction operations possible from the passenger seat, such as turning on the hazard lamps or operating a dedicated button or a button on the screen of the HMI device 20, may be accepted as parking instruction operations from the time the parking space S1 is detected. If the parking space S1 is not detected at the time of the operation, an announcement "Please wait" may be made to make the driver wait, and when the parking space S1 is detected, an inquiry may be made as to "Do you want to park on the left?"

[0149] In addition, even if the driver performs a parking instruction operation, such as an operation of a turn signal, the parking instruction operation may be accepted as a parking instruction operation from the time when the parking frame S1 is detected, provided that the vehicle speed is sufficiently low.

[0150] In forward parking, if the steering limit point P1 is exceeded, the vehicle will not be able to park correctly in the detected parking space S1. Therefore, in the reception state, the vehicle may be notified of the time to park, such as "Do you want to park on the left? 3, 2, 1", and if no parking instruction is given within the time, the vehicle may be notified of not parking, such as "0, skip parking space", and the vehicle may return to parking space detection.

[0151] If the driver does not want to park in the detected parking space for some reason, such as being far from the entrance of a store, the driver may instruct the driver to skip the space by a denial action without waiting for the time to expire. For example, if the driver depresses the accelerator pedal in response to the inquiry "Do you want to park on the left?", this is determined as a denial action. If the driver operates the screen of the HMI device 20 from the passenger seat, pressing the "NO" button displayed on the screen is determined as a denial action.

[0152] In addition, parking space skipping can also be performed in the inquiry state. For example, if the driver operates the turn signal lever when a parking space detection notification is received, but the intention is not to park, but to indicate the intention to turn toward the passage beyond the parking space, the driver does not need to release the steering wheel when the steering wheel vibrates. In this case, the vehicle 1 judges the gripping of the steering wheel as a denial operation, notifies the driver that automatic parking will not be performed, such as "skipping the parking space," and returns to parking space detection.

[0153] Also, in the inquiry state, denial may be performed by stepping on the accelerator pedal, as in the acceptance state. The denial operation in the inquiry state may be an operation to cancel the parking instruction. For example, if a parking instruction is given using the turn signal lever, returning the turn signal lever to the neutral position is a denial operation. If a passenger in the passenger seat gives a parking instruction by turning on the hazard lights, turning off the hazard lights is a denial operation. The denial operation may also be an operation other than the parking instruction. For example, pressing the "NO" button on the screen of the HMI device 20 may be determined as a denial operation regardless of the means of the parking instruction. In other words, the passenger in the passenger seat may have the right to veto.

[0154] Fig. 18 is a diagram showing a scheme for detecting the next parking space. In the control flow, the next parking space is not detected until the skip is selected, but the next parking space may be detected without waiting for the skip. For example, when the parking space 11 is detected, the range 12 in which the parking space ahead is expected may be set as the parking space detection area to detect the parking space.

[0155] When the parking space 11 is detected, it is preferable to predict the position 13 where the next parking space line is located, as shown in FIG. 18. Specifically, it is preferable to predict the position 13 where the next parking space line is located based on the position and interval of the detected parking space 11 frame line, and set the parking space detection area so as to include the position. Alternatively, parking space detection may be repeated, for example, every 1 m forward in accordance with the forward movement of the vehicle. If parking space detection is continuously performed, the next parking space may be detected before the parking space is skipped. If the next parking space is detected in advance, the processing can be optimized according to the presence or absence of the next parking space when one parking space is skipped.

[0156] For example, if the next parking space is detected, a different message may be output than if the next parking space is not detected. Specifically, if the next parking space is detected, the message notifying the skip may be shortened. In this way, the output of the message notifying the skip can be completed before the message proposing automatic parking in the next parking space is output. In other words, it is possible to avoid a situation in which the output of the message proposing automatic parking in the next parking space is delayed or the message notifying the skip is cut off midway and becomes incomplete because the previous message is being output.

[0157] 19 is a diagram for explaining the message output when the vacant parking spaces are consecutive. When the parking space S1 and the parking space S2 are consecutively vacant, the steering limit point P1a of the parking space S1 and the steering limit point P1b of the parking space S2 are set, and an announcement is made to ask for parking instructions corresponding to each of the steering limit points.

[0158] When the parking space S2 is not detected and the parking space S1 is skipped, the announcement "Do you want to park? 3, 2, 1, 0, skipped" is made, but when the next parking space S2 is detected during the announcement of "Skipped", it is necessary to interrupt "Skipped" and ask "Do you want to park?" so that the driver can operate in time for the steering limit point P1b. Therefore, if the next parking space is detected in advance and the parking space S2 is detected, the skip announcement may be shortened or omitted, and for example, the announcement may be made as "Do you want to park? 3, 2, 1, 0, Do you want to park? 3, 2...".

[0159] As an example, assume that the interval between steering limit points is 2.5 m and the vehicle speed is 3 km / h. In this case, the steering limit points are passed every 2.5 m ÷ (3 km / 3600 sec) = 3 seconds, so for example, a message "Do you want to park? 3, 2, 1, 0" that goes around in a minimum of 3 seconds may be created, and "Skipped" may be inserted if there are no consecutive vacant parking spaces. In addition, the length of the message to be output may be changed depending on the vehicle speed, or the vehicle speed may be controlled to be 3 km / h or less in response to the fact that it takes a minimum of 3 seconds to output the message.

[0160] Although the control to request approval for automatic parking in the inquiry state of State 6 has been introduced, approval for automatic parking is not necessarily required, and automatic parking may be started immediately in response to a parking instruction. For example, when the parking space detection function is activated while driving, if white lines roughly parallel to the direction of travel are detected on both sides of the direction of travel, the function to recognize the space between the left and right white lines as an aisle and to drive the vehicle in the center of the aisle with automatic steering may be activated. In other words, automatic steering may be started at the stage of driving in the aisle while detecting a parking space. Automatic driving that automatically controls the vehicle speed may also be started. If automatic driving has already started, approval does not need to be requested again when starting automatic parking.

[0161] Automatic steering is based on the premise that the driver releases the steering wheel (no steering force is applied to the steering wheel), so when automatic steering begins, it is a good idea to notify the driver of automatic steering and confirm the approval action (releasing the steering wheel).If the driver uses the turn signal lever to indicate parking while driving down an aisle with automatic steering, the steering wheel has already been released, so there is no need to request approval action (releasing the steering wheel) to start automatic parking.

[0162] If the driver is to control the vehicle speed during passageway driving and the vehicle speed is to be automatically controlled during automatic parking, the pedal must be released when automatic parking begins, but if the vehicle speed is not to be automatically controlled during automatic parking, the pedal does not need to be released. Also, if passageway driving is automatic driving (both steering angle and vehicle speed are automatically controlled), the pedal does not need to be released. If approval is not required, when it is determined that a parking instruction has been accepted in the acceptance state of State 5, the vehicle may transition to the self-driving state of State 7 without passing through the inquiry state of State 6.

[0163] Of course, it is not desirable to change the vehicle's behavior without notifying the driver, and even if approval for automatic parking is not required, it is better to notify the driver that automatic parking is about to begin. Therefore, the vehicle may be configured to notify the driver that automatic parking is about to begin in State 6 and then transition to the self-driving state in State 7.

[0164] Generally, notifications can be considered annoying by drivers, and in particular, notifications of time margins can be disliked because they take away a sense of mental ease. Therefore, some effort may be made to increase the sense of mental ease.

[0165] In forward parking, there is a steering limit point in front of the detected parking frame, and if the steering limit point is exceeded, the vehicle cannot park correctly in the detected parking frame, so the time margin until the approval operation is limited. Therefore, when a parking instruction operation is performed, it is good to decelerate the vehicle to extend the time until the steering limit point is exceeded. This increases the time margin, and therefore increases the psychological margin. For example, when the hazard lamp is turned on, if the detected parking frame is on the left or right, it is necessary to select the right or left, so the vehicle may be automatically decelerated according to the lighting of the hazard lamp so that the selection of the left or right can be made in time.

[0166] Automatically slowing down or instructing deceleration in response to a parking instruction operation is also effective when the driver performs a parking instruction operation using a turn signal or a steering wheel. When performing a parking instruction operation using a turn signal or a steering wheel, the driver's deceleration by braking may be set as a condition for accepting the parking instruction operation, or the vehicle may automatically decelerate in response to the parking instruction operation.

[0167] Alternatively, since it is necessary to suppress the lateral acceleration felt by the occupant when steering, the condition for detecting the parking instruction operation may be added to the condition for accepting the parking instruction operation, that the vehicle speed is equal to or lower than a predetermined threshold. For example, it may be determined that the parking instruction operation has been detected when both the vehicle decelerates to a slow speed and the blinker operation is performed. In this way, the vehicle is sufficiently decelerated when the parking instruction operation is detected. Alternatively, the driver may be instructed to decelerate. When the parking instruction operation is performed, if the vehicle speed exceeds a predetermined threshold, an announcement may be made that "Please decelerate," and if the vehicle speed does not become equal to or lower than the predetermined threshold, an announcement may be made that "The speed was too fast," and automatic parking may not be started. Also, when a parking frame is detected or when a parking instruction operation is detected, if the vehicle speed of the vehicle exceeds a predetermined value (for example, 10 km per hour), the driving control unit may automatically decelerate the vehicle so that the vehicle speed becomes equal to or lower than the predetermined threshold.

[0168] Fig. 20 is a diagram for explaining the start of deceleration when a parking space is detected. When searching for an empty parking space and driving in a parking lot at a relatively high speed (for example, 15 km / h), even if deceleration starts when a parking instruction operation is made, the vehicle may not be able to decelerate sufficiently before steering starts, or the deceleration before steering starts may be too rapid, which may make the occupants feel uncomfortable.

[0169] Therefore, when the parking space S1 is detected, the vehicle speed is compared with a predetermined threshold value, and if the vehicle speed exceeds the predetermined threshold value, the vehicle may be automatically decelerated. If the vehicle speed is too fast, the driver may be notified that automatic parking cannot be started and may be requested to decelerate.

[0170] When deceleration is started at the position where the parking space is detected (detection point P3), the vehicle only needs to decelerate while traveling the distance to the steering point P2, so the deceleration rate (acceleration) can be suppressed, and by suppressing the vehicle speed at the start of turning, the centrifugal force (acceleration) felt by the occupants can be reduced.

[0171] The deceleration when a vacant parking space is detected and the deceleration when a parking instruction is given may be used together. For example, deceleration may start when a vacant parking space is detected or when a parking instruction is given, whichever comes first, or when a vacant parking space is detected, the vehicle may decelerate to a speed of 10 km / h or less, and when a parking instruction is given, the vehicle may decelerate to a speed of 5 km / h or less.

[0172] Also, the vehicle speed may be monitored while the parking space detection function is operating, and if the vehicle speed exceeds a predetermined value, the driver may be notified that automatic parking will not be performed and requested to slow down. For example, if the vehicle is notified that "parking space detection will not be performed at speeds of 10 km / h or more" when the vehicle is traveling at a speed exceeding 10 km / h, and if the vehicle speed drops below 10 km / h, the driver may be notified that "parking space detection will begin" so that the driver will slow down to less than 10 km / h when approaching the parking space he or she wishes to park in.

[0173] In forward parking, there is a steering point P2 in front of the detected parking space S1, and if the steering point P2 is passed, the vehicle will not be able to park in the detected parking space. Therefore, in the reception state of state 5, an example is shown in which a countdown is displayed to notify the driver of the time to park, such as "Do you want to park on the left? 3, 2, 1." However, many people feel uncomfortable with such a notification that gives a sense of urgency, thinking, "I don't like it because it seems like I'm being rushed."

[0174] Therefore, the vehicle speed may be controlled so that the vehicle does not pass a predetermined steering point until the parking instruction operation is received. The notification of the time margin may be made unnecessary by decelerating the vehicle so as not to pass the steering point P2. Specifically, the vehicle is automatically decelerated from the time when the parking frame S1 is detected, and the deceleration rate is set so that the vehicle speed becomes zero (stops) before the steering point P2. Then, if the driver's decision is delayed and the state in which neither the parking instruction nor the denial operation is performed continues, the vehicle will stop before the steering point P2. In other words, if the vehicle is decelerated so as not to pass the steering point P2, the time margin becomes infinite, and there is no need to notify the time margin.

[0175] Fig. 21 is a diagram showing a device for decelerating so as not to pass the steering point P2. For example, when the parking space S1 is detected, the steering point P2 is set before the steering limit point P1, and the deceleration rate is set so that the speed becomes zero before the steering point P2 when the vehicle is decelerated at a constant deceleration rate as shown in the graph below. When the vehicle is decelerating at a constant deceleration rate as shown in the graph below, the distance traveled by the vehicle becomes a quadratic curve as shown in the graph above, and the vehicle speed becomes zero before the steering point P2 and the vehicle stops. Once the vehicle stops, there is no time restriction, and the driver can check the screen of the HMI device 20 without any problem, so parking instructions can be issued safely.

[0176] Even with this type of control, the vehicle does not necessarily have to stop temporarily; if a parking command is given before the vehicle comes to a stop, the vehicle will transition to automatic parking without stopping. Therefore, if the driver operates the vehicle quickly, automatic parking will begin non-stop.

[0177] Fig. 22 is another diagram showing a method of decelerating so as not to exceed the steering point P2. This diagram shows a graph in which a parking frame skip is instructed before the vehicle stops, and when a skip is instructed, the vehicle accelerates again and moves to the next parking frame, so the vehicle does not stop temporarily. This speed control makes it possible to obtain a good usability while avoiding discomfort caused by a notice of time margin.

[0178] Such a device for decelerating so as not to cross the steering point P2 may be applied to the inquiry state of state 6. In other words, the vehicle speed is controlled so that the vehicle does not cross a predetermined steering point until the steering system is released. In the flow diagram of FIG. 14, the parking frame is skipped when a predetermined time (e.g., 1 second) has elapsed since the inquiry signal output, so that an approval action (e.g., release of the steering wheel) must be performed immediately. However, if the vehicle decelerates so as not to cross the steering point P2 until an approval action or a denial action is detected, there may be no upper limit on the time to wait for the driver's action.

[0179] For example, if you feel uneasy about releasing the steering wheel while the vehicle is moving, you can release the steering wheel when the vehicle stops before the steering point P2, and if you are accustomed to it, you can release the steering wheel quickly when the steering wheel vibrates and start automatic parking without stopping with minimal deceleration. Also, if you want to skip, you can just depress the accelerator and move to the next parking space without waiting for the vehicle to stop.

[0180] The speed may also be controlled according to the situation of the parking lot. In parking lots where forward parking is the premise, parking spaces are often set so that the direction of travel of the vehicle 1 and the central axis of the parking space form an acute angle, and parking spaces available for parking may be set only on one side of the aisle. For example, a parking space whose central axis forms an obtuse angle with the direction of travel of the vehicle is a parking space set to be entered from another aisle.

[0181] Therefore, in the case of forward parking, the angle between the vehicle's travel direction and the central axis of the parking space is evaluated, and if the angle is obtuse, the parking space is not detected. Also, since parking spaces tend to be filled first on the side that is convenient for use, the probability that there is a parking space available on both sides of the aisle is smaller than the probability that there is a parking space on only one side of the aisle.

[0182] Therefore, only when the detected parking frame is on both sides, even if the vehicle is decelerated strongly or stopped so that the driver can have time to select the left or right side, the decrease in convenience can be suppressed to a relatively small extent. For example, when the hazard lamp is turned on, if the detected parking frame is on both sides, the driver needs to select the left or right side further, so the vehicle can be decelerated to a lower speed than when the detected parking frame is on only the left or right side, or can be stopped, or can be decelerated at a deceleration rate that does not exceed the steering limit point.

[0183] In addition, the deceleration control may be changed depending on whether the parking instruction operation is performed by the driver (operation of the steering wheel or blinker) or by the passenger in the passenger seat (operation of the hazard lamp or HMI device 20).

[0184] While the driver can support his / her body with the steering wheel, for example, if the passenger in the passenger seat decelerates while operating on the screen of the HMI device 20, the acceleration may make the body unstable and the passenger may not be able to press the button on the screen correctly. Therefore, if there are detected parking spaces on the left and right and the parking instruction does not include a direction instruction, the deceleration rate may be suppressed until a parking instruction with a direction instruction is received so that the body does not become unstable due to the acceleration, or the driver may be allowed to select left or right after stopping the vehicle.

[0185] For example, if the parking instruction is the hazard lamp, the vehicle is stopped unconditionally, and after the vehicle is stopped, a button to select left or right is displayed on the screen, and all operations up to the start of automatic parking can be performed while the vehicle is stopped. If the vehicle is stopped, the driver can also look at the screen and operate it as desired. Since the passenger in the passenger seat performs parking instruction operations less frequently than the driver, the decrease in convenience is relatively small even if the vehicle is stopped definitively.

[0186] FIG. 23 is a diagram showing a response when a driver issues a parking instruction by steering. When a parking instruction operation is performed by steering, if the point where the driver turns the steering wheel is within a range that is appropriate as a steering point, the point may be used as the steering point to transition to automatic parking. However, since the point where the driver turns the steering wheel cannot be predicted, it is assumed that the parking path can be calculated at the time of turning the steering wheel. In other words, if the parking path cannot be calculated at the time of turning the steering wheel, the point cannot be used as the steering point to transition to automatic parking. In addition, there are cases where the point where the driver turns the steering wheel is not appropriate as a steering point.

[0187] As shown in Fig. 23, if the parking instruction operation is performed by steering wheel operation far in front of the parking space S1, if the driver turns the steering wheel at the point where the driver turns the steering wheel, the parking path to park correctly in the parking space S1 cannot be set. In such a case, it is necessary to maintain the course without turning the steering wheel. In other words, if the parking path cannot be set, it is necessary to warn "You cannot park from here" or to generate a reaction force against the steering by the EPS to maintain the course.

[0188] As described above, when the steering points are determined in advance and the route is calculated, the driver's steering operation should be accepted only as a parking instruction. In other words, since it is assumed that the vehicle will be steered at the planned steering points, the vehicle will maintain its course against the driver's steering operation.

[0189] However, because the steering wheel may be operated to avoid danger or to turn right or left in an aisle, care must be taken with the control to ensure safety. For example, when the steering wheel is turned slightly with a small steering force, the EPS generates a reaction force against the steering to maintain the vehicle's course, but when the steering force exceeds a threshold, the reaction force may be controlled not to be generated.

[0190] When the steering wheel is turned, the course may change even if the driver resists the reaction force, so there is a risk that the vehicle will not be able to travel along the calculated course. Therefore, the necessary conditions for parking instructions by the steering wheel may be set to "turn left to return to neutral" or "turn right to return to neutral." In this way, the parking instruction will be accepted when the steering wheel is in neutral and the course has returned to the original state, so route calculation will be easier while the steering wheel is turned. In addition, the "turn back" operation is preferable because it can be distinguished from operations for avoiding danger or turning right or left.

[0191] In addition, the present disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art may conceive, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the spirit of the present disclosure. [Industrial Applicability]

[0192] The present disclosure can be used in a parking assistance device and a parking assistance method. [Explanation of symbols]

[0193] 1 vehicle 2 Camera 10 Operating device 20 HMI device 30 Vehicle control device 40 Navigation devices 100 Parking assistance device 101 CPU 102 ROM 103 RAM 104 I / O 105 IMP 110 Operation reception section 120 Status Management Unit 130 Image acquisition unit 140 Parking space detection unit 150 Route Calculation Unit 160 Driving control unit 170 Storage section 180 Display image output unit

Claims

1. A parking space detection unit that detects a parking space; an operation receiving unit that receives a parking instruction operation from a vehicle occupant; A driving control unit that automatically parks the vehicle in a parking space corresponding to the parking instruction operation; Equipped with The parking assistance device determines that the parking space corresponds to the parking instruction operation when the parking space is located in only one of the left and right directions of the vehicle's travel direction, or the parking instruction operation is a parking instruction operation including a direction instruction, and the parking space is located in the direction indicated by the parking instruction operation, and the parking space is located within a predetermined range of the vehicle's travel direction.

2. The parking instruction operation includes at least one of an operation of turning a steering wheel, an operation of pushing down a winker lever, an operation of turning on a hazard lamp, an operation of a brake pedal, and an operation of a predetermined button, 2. The parking assistance device according to claim 1, wherein the parking instruction operation including the direction instruction includes at least one of an operation of turning a steering wheel, an operation of pushing down a winker lever, and an operation of a predetermined button.

3. 2. The parking assistance device according to claim 1, wherein when the parking instruction operation is received, if a parking space corresponding to the parking instruction operation is not detected, the parking assistance device reserves the determination of whether the parking space corresponds to the parking instruction operation.

4. 4. The parking assistance device according to claim 3, wherein if a predetermined time has elapsed while the judgment is pending, or if a predetermined distance has been driven while the judgment is pending, acceptance of the parking instruction operation is cancelled and the automatic parking is not performed.

5. 4. The parking assistance device according to claim 1, wherein when at least one of the following is detected: an operation of returning a steering wheel or a turn signal lever to a neutral position, an operation of turning the steering wheel beyond a predetermined angle, an operation of turning off a hazard lamp, an operation of an accelerator pedal, or an operation of a button to cancel the parking instruction, it is determined that a denial operation has occurred, and when the denial operation has occurred, the automatic parking is not performed.

6. 6. The parking assistance device according to claim 5, wherein when a parking space corresponding to the parking instruction operation is not detected, it is easier to determine that the denial operation has occurred than when a parking space corresponding to the parking instruction operation is detected.

7. 2. The parking assistance device according to claim 1, further comprising: a predetermined steering point corresponding to the parking space detected by the parking space detection unit; the predetermined steering point is a turning start position of a path along which the vehicle fits into the parking space; and the end of the predetermined range is set based on the predetermined steering point.

8. The parking assistance device according to claim 7 , wherein the driving control unit controls a vehicle speed so that the vehicle does not pass the predetermined steering point until the parking instruction operation is performed.

9. 2. The parking assistance device according to claim 1, further comprising: a predetermined confirmation point corresponding to the parking space detected by the parking space detection unit; the predetermined confirmation point is a point where an occupant of the vehicle can confirm inside the parking space; and a start point of the predetermined range is set based on the predetermined confirmation point.

10. 9. The parking assistance device according to claim 8, wherein the point at which the occupant can check the inside of the parking space is set based on a positional relationship between the head of the occupant or a camera provided in the vehicle and an extension line of a long side of the parking space.

11. 2. The parking assistance device according to claim 1, wherein the automatic parking is not performed when the vehicle speed of the vehicle exceeds a first predetermined value.

12. 2. The parking assistance device according to claim 1, wherein when the parking frame is detected or when the parking instruction operation is detected and a vehicle speed of the vehicle exceeds a second predetermined value, the traveling control unit decelerates the vehicle.

13. 2. The parking assistance device according to claim 1, wherein the parking frame is determined to match the parking instruction operation, and the automatic parking is started when an approval operation is performed, and the operation receiving unit detects at least one of the following: a release of a steering wheel, or a reduction in steering torque of the steering wheel, a release of a brake pedal, or a reduction in pressure of the brake pedal.

14. 14. The parking assistance device according to claim 13, wherein when it is determined that the parking frame corresponds to the parking instruction operation, it outputs a query signal to query the approval operation, and the query signal includes any one of vibration, sound, and message of a steering system.

15. The parking assistance device according to claim 13, wherein the automatic parking is started if the approval action is performed before the vehicle passes a predetermined steering point.

16. The parking assistance device according to claim 13, further comprising: a vehicle speed control unit that controls the vehicle so that the vehicle does not exceed a predetermined steering point until the approval action is performed.

17. Detecting a parking space; receiving a parking instruction operation from a vehicle occupant; When the parking space is located in only one of the left and right directions of the vehicle's travel direction, or the parking instruction operation is a parking instruction operation including a direction instruction, and the parking space is located in the direction indicated by the parking instruction operation, and the parking space is located in a predetermined range of the vehicle's travel direction, the parking space is determined to be in accordance with the parking instruction operation; automatically parking the vehicle in a parking space corresponding to the parking instruction operation; A parking assistance method comprising:

18. Detecting a parking space; receiving a parking instruction operation from a vehicle occupant; When the parking space is located in only one of the left and right directions of the vehicle's travel direction, or the parking instruction operation is a parking instruction operation including a direction instruction, and the parking space is located in the direction indicated by the parking instruction operation, and the parking space is located in a predetermined range of the vehicle's travel direction, the parking space is determined to be in accordance with the parking instruction operation; automatically parking the vehicle in a parking space corresponding to the parking instruction operation; A parking assistance program that causes a computer to execute the above.

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