Parking assistance device

Abstract

To provide a parking assistance device that can adjust a position of an own vehicle laterally during parallel parking to avoid blocking pedestrian traffic.SOLUTION: A parking assistance device comprises: a surrounding sensor which acquires object information on surrounding objects; and a processor which assists driving operation to allow an own vehicle to perform parallel parking based on the object information. When detecting that the own vehicle is positioned posterior or anterior to another vehicle V1 and parallel to each other and the own vehicle is protruded into a sidewalk with respect to the other vehicle V1, the processor executes a parking position correction process to reduce a protrusion amount Δda of the own vehicle with respect to the other vehicle V1 by controlling a driving device of the own vehicle to parallelly move the own vehicle diagonally forward or backward while controlling a steering device of the own vehicle to perform same direction steering between front and rear wheels.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a parking assistance device that assists a driver in parallel parking a vehicle. [Background technology]

[0002] A parking assistance device that assists a driver in parking a vehicle has been proposed (see, for example, Patent Document 1 below). This parking assistance device (hereinafter referred to as the "conventional device") includes an on-board sensor, a drive device, a braking device, a steering device, and a processor. The steering device includes a mechanism for independently changing the steering angles of the front and rear wheels of the vehicle. When the processor detects, based on information acquired from the on-board sensor, that the center line passing through the center of the vehicle in the vehicle width direction in a plan view is parallel to the long side of the frame line of the parking spot, the processor acquires, based on the information, the distance between the left side of the vehicle and the long side on the left side of the frame line (left margin) and the distance between the right side of the vehicle and the long side on the right side of the frame line (right margin). When the left margin and the right margin are different (when the vehicle is biased to the left or right side of the parking spot), the processor controls the steering device so that the steering directions of all the wheels are the same (in-phase) and the steering angles of all the wheels are the same (in-phase steering). This allows the vehicle to move diagonally forward or backward in parallel. In other words, with the conventional device, the vehicle can be moved to the center of the parking spot in the width direction while maintaining the state in which the center line of the vehicle and the long side of the frame line are parallel. This allows the driver to easily correct the position of the vehicle (lateral position) so that the left margin and the right margin are the same. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-225019 A Summary of the Invention

[0004] The conventional device executes parking assistance control (all-wheel steering angle control) based on the position and attitude of the side of the vehicle relative to the frame line of the parking spot. However, there are cases where it is preferable to execute parking assistance control based on the position and attitude of the vehicle relative to the other vehicle parked, rather than the frame line of the parking spot. One example of this is a scene where the vehicle is parallel parked. For example, when the vehicle is parallel parked in an area immediately behind another vehicle parked along the left edge of an aisle (road), if the right side of the vehicle is positioned (protruding) to the right from the right side of the other vehicle, there is a risk of blocking the passage of others (pedestrians, vehicles, etc.). Therefore, in this case, it is preferable to correct the position (lateral position) of the vehicle relative to the other vehicle so that the amount of protrusion of the right side of the vehicle relative to the right side of the other vehicle is as small as possible. The conventional device does not have a function of automatically correcting the lateral position of the vehicle relative to the lateral position of the other vehicle in a scene where the vehicle is parallel parked behind or in front of the other vehicle parked at the left or right edge of the aisle.

[0005] One object of the present invention is to provide a parking assistance device that can correct the lateral position of a vehicle when the vehicle is parallel parked behind or in front of another vehicle parked along the left or right edge of an aisle (road) so as to prevent obstruction to the passage of others.

[0006] In order to solve the above problems, the parking assistance device (1) of the present invention comprises: a surroundings sensor (20) for acquiring target information relating to targets present around a host vehicle (V); a processor (10) that supports a driving operation for parallel parking a vehicle behind or in front of another vehicle (V1) parked along one end of the passage in a width direction based on the target information; Equipped with. The processor is configured to execute a parking position correction process for reducing the protrusion of the host vehicle relative to the other vehicle by controlling the steering device of the host vehicle so that the front and rear wheels of the host vehicle are steered in phase while controlling the drive device of the host vehicle to translate the host vehicle diagonally forward or backward when the host vehicle is located behind or in front of the other vehicle in a plan view (M1), is parallel to the other vehicle, and protrudes toward the other end of the passage relative to the other vehicle. Note that in the present invention, "parallel" is a concept that includes "coincidence."

[0007] When a vehicle is parked in parallel behind or in front of another vehicle parked along the left end (right end) of a passage, the vehicle and the other vehicle are parallel, but the lateral position of the vehicle relative to the other vehicle may not be favorable. That is, the right side (left side) of the vehicle may protrude to the right (left) relative to the right side (left side) of the other vehicle. In this case, the parking assistance device according to the present invention controls the drive unit while steering all wheels of the vehicle in phase, and moves the vehicle diagonally forward or backward in parallel to automatically correct the lateral position of the vehicle. That is, in this process, the vehicle and the other vehicle are maintained in a parallel state. Therefore, according to the present invention, the lateral position of the vehicle can be corrected more efficiently than when the vehicle is turned around and the vehicle is repeatedly moved forward and backward to correct the lateral position of the vehicle. This prevents other people from passing through.

[0008] In one aspect of the present invention, a parking assistance device includes: The parking position correction process includes: a target line setting process for setting a predetermined line that is parallel to the first line and the second line and is located on one end side of the passage with respect to the first line, when it is detected that a first line (L1) that passes through a predetermined point on one side portion of the host vehicle at the other end side of the passage in the width direction and is parallel to the front-rear direction of the host vehicle and a second line (L2) that passes through a predetermined point on one side portion of the host vehicle at the other end side of the passage and is parallel to the front-rear direction of the other vehicle in a plan view (M1) and the first line is located on the other end side of the passage with respect to the second line; a parallel movement process for causing the host vehicle to translate diagonally forward or backward by controlling a steering device of the host vehicle so that the front wheels and the rear wheels of the host vehicle are steered in the same phase while controlling a drive device of the host vehicle, thereby causing the first line to coincide with the target line; Includes.

[0009] According to this, for example, in a scene where the vehicle is parallel parked at the left end of an aisle, if the right side of the vehicle protrudes to the right relative to the right side of the other vehicle, the line at the right end of the vehicle (first line) is moved parallel to the left.

[0010] In one aspect of the present invention, a parking assistance device includes: The processor is configured to set the second line of the other vehicle as the target line.

[0011] This makes it possible to correct the parking position of the vehicle so that one side of the vehicle and one side of the other vehicle are positioned on a straight line.

[0012] In a parking assistance device according to another aspect of the present invention, The processor is configured to set the first line of the vehicle as the target line when the vehicle is parked in a position where the distance (Δdb) between the other side of the vehicle and an obstacle (OB) matches a threshold value.

[0013] This allows the vehicle to move as close as possible to one end of the passage.

[0014] In a parking assistance device according to another aspect of the present invention, The processor is configured to set a line located midway between the second line of the first other vehicle and the second line of the second other vehicle as the target line when the first line (L1) is parallel to the second line (L2) of a first other vehicle (V1) parked in front of the host vehicle and parallel to the second line of a second other vehicle (V2) parked behind the host vehicle, and the first line is located on the other end side of the passage relative to the second line (L4) of the first other vehicle and the second other vehicle.

[0015] This provides a good balance in appearance with respect to the lateral position of the host vehicle relative to the first other vehicle and the second other vehicle. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a block diagram of a parking assistance device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view (map M1) showing the process of the automatic parallel parking process. [Diagram 3] FIG. 3 is a plan view (map M1) showing the process of the parking position correction process. [Figure 4] FIG. 4 is a flowchart of a program for implementing the parking position correction function. [Diagram 5] FIG. 5 is a plan view (map M1) showing an example in which the target line is set as far to the left as possible. [Figure 6] FIG. 6 is a plan view (map M1) showing an example in which a line passing through the center between the right edge of the vehicle ahead of the host vehicle and the right edge of the vehicle behind the host vehicle is set as the target line. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] (Summary) A parking assistance device 1 according to one embodiment of the present invention is applied to a vehicle V (hereinafter referred to as "the vehicle itself") equipped with an automatic driving function. The vehicle itself (steering device 50 described later) is equipped with a mechanism for independently changing the steering angle of the vehicle's front wheels and the steering angle of the rear wheels. The parking assistance device 1 is equipped with a function (automatic parallel parking function) for automatically parallel parking the vehicle itself behind or in front of another vehicle parked along the left or right edge of an aisle (road). Furthermore, the parking assistance device 1 is equipped with a function (parking position correction function) for automatically reducing the amount of protrusion of the side of the vehicle itself relative to the side of the other vehicle.

[0018] (Specific configuration) As shown in FIG. 1, the parking assistance device 1 includes a parking assistance ECU 10, an on-vehicle sensor 20, a drive device 30, a braking device 40, and a steering device 50.

[0019] The parking assist ECU 10 includes a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, etc. The parking assist ECU 10 is connected to other ECUs (for example, ECUs for a drive device 30, a braking device 40, and a steering device 50, which will be described later) via a CAN.

[0020] The on-board sensor 20 includes a surrounding sensor that acquires information about targets existing around the vehicle. The on-board sensor 20 includes, for example, a millimeter wave radar 21, a sonar 22, and a camera 23 as surrounding sensors.

[0021] The millimeter wave radar 21 includes a transmission / reception unit and a signal processing unit. The transmission / reception unit emits millimeter wave band radio waves (hereinafter referred to as "millimeter waves") forward of the vehicle and receives millimeter waves (reflected waves) reflected by a three-dimensional object located within the emission range. The signal processing unit recognizes the distance between the vehicle and the three-dimensional object (another parked vehicle, a curb, a pole, or other obstacle), the position (direction) of the three-dimensional object relative to the vehicle, and the like based on the time from when the transmission / reception unit emits the millimeter wave to when it receives the reflected wave, the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation of the reflected wave, and the like, and transmits the recognition result to the parking assistance ECU 10.

[0022] The sonar 22 intermittently emits ultrasonic waves to the area around the vehicle and receives ultrasonic waves (reflected waves) reflected by a three-dimensional object. The sonar 22 recognizes the distance between the vehicle and the three-dimensional object, the position (direction) of the three-dimensional object relative to the vehicle, etc. based on the time from when the ultrasonic waves are transmitted to when the reflected waves are received, and transmits the recognition result to the parking assistance ECU 10.

[0023] The camera 23 includes an imaging device and an image analysis device. The imaging device has, for example, a built-in CCD. The imaging devices are installed at the front, rear, left side, and right side of the vehicle. The imaging devices capture images of the surrounding area of ​​the vehicle at a predetermined frame rate and acquire image data. Each imaging device transmits the image data to the image analysis device. The image analysis device analyzes the acquired image data and recognizes targets present around the vehicle from the images. For example, the image analysis device recognizes other vehicles, curbs, poles, etc., and transmits the recognition results to the parking assistance ECU 10.

[0024] Furthermore, the on-vehicle sensor 20 includes a switch 24. The switch 24 includes an operation device for the driver to request the parking assistance device 1 to execute various processes. Specifically, the switch 24 includes, for example, a push-button type parking start switch 24a that is used to request the start of an automatic parallel parking control, which will be described later.

[0025] The drive unit 30 applies driving force to the drive wheels of the vehicle. The drive unit 30 includes an engine ECU, an internal combustion engine, a transmission, a driving force transmission mechanism that transmits the driving force to the wheels, and the like. The engine ECU acquires information (target value) representing a target driving force from another ECU (parking assistance ECU 10), and based on the information, drives the throttle valve of the internal combustion engine to make the driving force applied to the drive wheels coincide with the target value. The driving force generated by the internal combustion engine is transmitted to the drive wheels via the transmission and the driving force transmission mechanism. In addition, the engine ECU acquires information (target position) representing a shift position of the transmission equipped in the vehicle, and based on the information, makes the shift position coincide with the target position.

[0026] If the vehicle to which the parking assistance device 1 is applied is a hybrid vehicle (HEV), the engine ECU can control the driving force of the vehicle generated by either or both of an "internal combustion engine and an electric motor" as a vehicle driving source. Also, if the vehicle to which the parking assistance device 1 is applied is an electric vehicle (BEV), an electric motor ECU that controls the driving force of the vehicle generated by an "electric motor" as a vehicle driving source may be used instead of the engine ECU.

[0027] The braking device 40 applies braking force to the wheels (brake discs). The braking device 40 includes a brake ECU, a brake caliper, etc. The brake ECU acquires information (target value) indicating a target braking force, and controls the brake caliper based on the information to make the braking force applied to the brake discs coincide with the target value.

[0028] The steering device 50 includes a steering ECU and a steering mechanism. The steering mechanism includes a link mechanism for independently changing the steering angles of the front wheels (left front wheel and right front wheel) and the rear wheels (left rear wheel and right rear wheel), and an actuator for driving the link mechanism. The steering ECU acquires information (target value) representing the target steering angles of the front wheels and the rear wheels, and drives the actuator based on the information to make the steering angles of the front wheels and the rear wheels coincide with the target values. The parking assist ECU 10 can execute in-phase steering via the steering ECU, which controls the actuator so that the steering directions of the front wheels and the rear wheels are the same. The parking assist ECU 10 can also execute out-of-phase control via the steering ECU, which controls the actuator so that the steering directions of the front wheels and the rear wheels are opposite to each other.

[0029] <Automatic parallel parking function> Next, the automatic parallel parking function of the parking assistance device 1 will be described. Hereinafter, with reference to Fig. 2 and Fig. 3, the automatic parallel parking process executed in scene S1 where the driver attempts to parallel park the vehicle in area A immediately behind (or immediately before) another vehicle V1 parked along the left end of the passage will be described. Note that the aspect of the automatic parallel parking process executed in scene S2 where the driver attempts to parallel park the vehicle in area A immediately behind (or immediately before) another vehicle parked along the right end of the passage is symmetrical to the aspect of the process in scene S1. Therefore, a detailed description of scene S2 will be omitted.

[0030] The driver stops the vehicle to the side (right side) of the area A and presses the parking start switch 24a. When the parking assist ECU 10 detects that the parking start switch 24a has been pressed (transitioned from the OFF state to the ON state), it starts the automatic parallel parking process (execution of an automatic parallel parking program, not shown).

[0031] Specifically, the parking assist ECU 10 acquires information (target information) on the recognition results of targets existing around the vehicle from the millimeter wave radar 21, the sonar 22, and the camera 23. Then, the parking assist ECU 10 generates a map M1 (plan view) that represents the arrangement of targets located around the vehicle based on the target information. Next, the parking assist ECU 10 sets a target parking spot TP (rectangular area) where the vehicle is to be parked in the map M1. The long side of the target parking spot TP is parallel to the central axis (a straight line passing through the center in the vehicle width direction) of the other vehicle V1. In addition, the width of the target parking spot TP is larger than the width of the vehicle, and the length of the target parking spot TP is larger than the overall length of the vehicle. For example, the width of the target parking spot TP is 1.5 times the width of the vehicle. In addition, the length of the target parking spot TP is 1.5 times the overall length of the vehicle. The parking assist ECU 10 sets the target parking spot TP so that a predetermined margin is provided between the other vehicle V1 and the target parking spot TP. If the parking assist ECU 10 detects the presence of an obstacle OB (such as a curb or a pole) within the area A, it sets the target parking spot TP so that a predetermined margin is provided between the obstacle OB and the outer edge of the target parking spot TP. If the parking assist ECU 10 cannot set a target parking spot TP that satisfies the above conditions, it notifies the driver that the automatic parallel parking function is not available.

[0032] Next, the parking assist ECU 10 sets (calculates) a route R (a target trajectory of the center of gravity of the vehicle) that can move the vehicle into the target parking spot TP (transition to a state in which the vehicle is within the target parking spot TP in the map M1) while avoiding contact with the obstacle OB. Next, the parking assist ECU 10 generates a control signal pattern (time-series data of control signals supplied to the driving device 30, the braking device 40, and the steering device 50, respectively) for moving the vehicle along the route R. Note that the parking assist ECU 10 sets the route R on the premise that, in principle, the front wheels and the rear wheels are controlled in opposite phases in the section where the vehicle is turned during the process of moving the vehicle toward the target parking spot TP. If the parking assist ECU 10 cannot set a route R that can move the vehicle to the target parking spot TP while avoiding contact with all obstacles OB, it notifies the driver that the automatic parallel parking function is not available.

[0033] When the parking assist ECU 10 has successfully set the target parking spot TP and route R, it reflects this information in the map M1 and displays the map M1 on the in-vehicle display. When the driver checks that there are no problems with the displayed route R and the target parking spot TP, and presses the parking start switch 24a again, the parking assist ECU 10 controls the drive device and the like according to the control signal pattern to move the vehicle to the target parking spot TP.

[0034] The parking assist ECU 10 sequentially acquires various information from the on-board sensor 20 during the process of moving the vehicle to the target parking spot TP. When the parking assist ECU 10 detects a new obstacle based on this information, the parking assist ECU 10 corrects the position of the target parking spot TP and the route R so that a predetermined margin is provided between all obstacles detected after the automatic parallel parking process is started and the target parking spot TP. If the parking assist ECU 10 is unable to correct the target parking spot TP and the route R, it interrupts the automatic parallel parking process.

[0035] When the vehicle reaches the target parking spot TP (detects in map M1 that the vehicle is within the target parking spot TP and that the fore-and-aft direction of the vehicle is parallel to the fore-and-aft direction of the other vehicle V1), the parking assistance ECU 10 stops the vehicle and ends the automatic parallel parking process.

[0036] Incidentally, the parking assist ECU 10 makes the vehicle reach the target parking spot TP as described above, but the accuracy of the position of the vehicle in the target parking spot TP at the time of completing the automatic parallel parking process is not so high. For example, the automatic parallel parking process may end with the vehicle leaning to the right side in the target parking spot TP. In this case, the right side of the vehicle may be located to the right of the right side of the other vehicle V1. That is, in a plan view, the right end line L1 of the vehicle (parallel to the front-rear direction of the vehicle and the most protruding part of the right side (for example, a line passing through the right end of the right side mirror) is parallel to the right end line L2 of the other vehicle V1), but the right end line L1 may be located to the right of the right end line L2. Therefore, there is a risk of blocking the passage of others (pedestrians, vehicles, etc.). Therefore, the parking assist ECU 10 can execute a parking position correction process that corrects the lateral position of the vehicle so that the protruding amount Δd of the side of the vehicle relative to the side of the other vehicle V1 is reduced. When the parking assist ECU 10 finishes the automatic parallel parking process, it acquires the distance (protrusion amount Δd) between the right end line L1 and the right end line L2 based on the information acquired from the in-vehicle sensor 20. If the protrusion amount Δda exceeds the threshold value Δdath, the parking assist ECU 10 starts the parking position correction process described below.

[0037] <Parking position correction function> Based on the information acquired from the on-board sensor 20, the parking assist ECU 10 judges whether or not the host vehicle can be moved (the lateral position can be corrected) so that the protrusion amount Δda becomes "0" (the state in which the right end line L1 and the right end line L2 overlap in the map M1). Here, as described above, a predetermined margin is provided between the target parking spot TP and the obstacle OB. Therefore, even if the host vehicle is moved to the left side of the target parking spot TP, a predetermined margin is provided between the host vehicle and the obstacle OB (e.g., a curb, a wall, etc.) located to the left. Therefore, when the distance Δdb between the left side of the target parking spot TP and the left end line L3 of the host vehicle is less than the protrusion amount Δda in the map M1, the parking assist ECU 10 judges that the lateral position of the host vehicle cannot be corrected (the protrusion amount Δda cannot be corrected to "0") and notifies the driver of that fact.

[0038] On the other hand, if the distance Δdb is equal to or greater than the protrusion amount Δda, the parking assist ECU 10 determines that the lateral position of the host vehicle can be corrected. Next, the parking assist ECU 10 sets the right end line L2 as the target line Ld of the right end line L1 of the host vehicle. Then, as shown in FIG. 3, the parking assist ECU 10 controls the steering device 50 so that the steering directions of all the wheels are the same (in-phase steering), while controlling the drive device 30 and / or the brake device 40 to move the host vehicle in parallel diagonally backward to the left (or diagonally forward to the left). Then, the parking assist ECU 10 stops the host vehicle when the right end line L1 and the target line Ld overlap in the map M1. As a result, the protrusion amount Δda becomes "0". During the process of translating the host vehicle, the parking assist ECU 10 alternately repeats a parallel movement diagonally backward and a parallel movement diagonally forward so that the host vehicle does not deviate from the target parking spot TP, thereby gradually moving the host vehicle to the left within the target parking spot TP. Also, during the same process, the parking assist ECU 10 may gradually move the host vehicle to the left by repeating a parallel movement diagonally backward (or forward) and a straight movement forward (or backward) so that the host vehicle does not deviate from the target parking spot TP.

[0039] Next, with reference to FIG. 4, a program PR1 executed by the CPU 10a (hereinafter simply referred to as "CPU") to realize the parking position correction function will be described.

[0040] <Program PR1> When the protrusion amount Δda exceeds the threshold value Δdath at the time when the automatic parallel parking process is completed, the CPU starts the execution of the program PR1. The CPU starts the execution of the program PR1 from step 100 and proceeds to step 101.

[0041] In step 101, the CPU determines whether the distance Δdb is equal to or greater than the protrusion amount Δda (whether the lateral position of the vehicle can be corrected). If the CPU determines that the distance Δdb is equal to or greater than the protrusion amount Δda (100: Yes), the CPU proceeds to processing in step 103. On the other hand, if the CPU does not determine that the distance Δdb is equal to or greater than the protrusion amount Δda (100: No), the CPU proceeds to processing in step 102, which will be described later.

[0042] In step 102, the CPU notifies the driver that the lateral position of the vehicle cannot be corrected. Specifically, the CPU causes the in-vehicle display to display a predetermined image. Next, the CPU proceeds to step 106 and ends the execution of the program PR1.

[0043] The CPU sets the right end line L2 as the target line Ld for the right end line L1 in step 103. Next, the CPU advances the process to step 103.

[0044] In step 104, the CPU controls the steering device 50 so that the steering direction of all the wheels is the same (in-phase steering), while controlling the drive device 30 and the brake device 40 to move the host vehicle in a parallel direction diagonally backward left (or diagonally forward left). Next, the CPU proceeds to the process of step 104.

[0045] In step 105, the CPU determines whether the right end line L1 of the vehicle coincides with the target line Ld (right end line L2). If the CPU determines that the right end line L1 coincides with the target line Ld (104: Yes), the CPU proceeds to step 106 and ends execution of the program PR1. On the other hand, if the CPU does not determine that the right end line L1 coincides with the target line Ld (105: No), the CPU returns to step 104.

[0046] (effect) As described above, when the vehicle is parked in parallel behind or in front of the other vehicle V1 parked along the left end (right end) of the passage, the vehicle and the other vehicle V1 are parallel, but the lateral position of the vehicle relative to the other vehicle V1 may not be favorable. That is, the right side (left side) of the vehicle may protrude to the right (left) relative to the right side (left side) of the other vehicle V1. In this case, the parking assistant 1 controls the drive unit 30 (and the brake unit 40) while steering all the wheels of the vehicle in phase, and moves the vehicle diagonally forward or backward in parallel to automatically correct the lateral position of the vehicle. That is, in this process, the vehicle and the other vehicle V1 are maintained in a parallel state. Therefore, the parking assistant 1 can correct the position of the vehicle more efficiently than when the vehicle is turned around and the vehicle is repeatedly moved forward and backward to correct the lateral position of the vehicle. This prevents other people from being obstructed.

[0047] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0048] <Variation 1> In the above embodiment, the parking assist ECU 10 is configured to move (translate) the host vehicle so that the protrusion amount Δda becomes "0". Here, for example, when the host vehicle is a large vehicle (vehicle with a relatively large vehicle width) and the other vehicle V1 is a small vehicle (vehicle with a relatively small vehicle width), it tends to be difficult to move the host vehicle so that the protrusion amount Δda becomes "0". That is, the distance Δdb is often smaller than the protrusion amount Δda. Also, even if the vehicle width of the host vehicle is equal to or smaller than the vehicle width of the other vehicle V1, it tends to be difficult to move the host vehicle so that the protrusion amount Δda becomes "0" when a relatively large obstacle is located between the host vehicle and one end of the passage in the width direction. Therefore, the parking assist device 1 may be configured to move (translate) the host vehicle as far left as possible (toward the end in the width direction of the passage). That is, the parking assist ECU 10 may set a line that is parallel to the current right end line L1 and is located to the left of the current right end line L1 in the map M1 as the target line Ld.

[0049] For example, the parking assist ECU 10 selects the leftmost target line Ld among the target lines Ld that can provide a predetermined margin between the obstacle OB and the vehicle while the right end line L1 is aligned with the target line Ld. More specifically, as shown in Fig. 5, the parking assist ECU 10 may set the right end line L1 in a state where the left end line L3 overlaps with the left side of the target parking spot TP as the target line Ld.

[0050] <Variation 2> As shown in Fig. 6, when the parking assist ECU 10 sets the target parking spot TP between the other vehicle V1 and the other vehicle V2, the parking position correction control may acquire (set) a line located midway between the right end line L2 of the other vehicle V1 and the right end line L4 of the other vehicle V2 (a line passing through the center between the right end line L2 and the right end line L4 in the example shown in Fig. 6) as the target line Ld. This provides a good balance in appearance regarding the lateral position of the host vehicle relative to the other vehicles V1 and V2. [Explanation of symbols]

[0051] 1... parking assistance device, 10... parking assistance ECU, 20... vehicle-mounted sensor, 30... drive circuit, 40... braking device, 50... steering device

Claims

1. A surrounding sensor that acquires target information regarding targets present around the host vehicle; a processor that supports a driving operation for parallel parking a vehicle behind or in front of another vehicle parked along one end of the passage in a width direction based on the target information; A parking assistance device comprising: The parking assistance device is configured so that when the processor detects that the host vehicle is located behind or in front of the other vehicle in a plan view, that the host vehicle and the other vehicle are parallel, and that the host vehicle is protruding toward the other end of the passage relative to the other vehicle, the processor executes a parking position correction process to reduce the amount of protrusion of the host vehicle relative to the other vehicle by controlling the steering device of the host vehicle so that the front and rear wheels of the host vehicle are steered in phase, while controlling the drive device of the host vehicle to move the host vehicle in parallel diagonally forward or diagonally backward.

2. 2. The parking assistance device according to claim 1, The parking position correction process includes: a target line setting process for setting a predetermined line that is parallel to the first line and the second line and is located on one end side of the passage relative to the first line when it is detected that a first line that passes through a predetermined point on one side portion of the host vehicle at the other end side of the passage in a plan view and is parallel to a second line that passes through a predetermined point on one side portion of the host vehicle at the other end side of the passage and is parallel to the front-rear direction of the other vehicle, and the first line is located on the other end side of the passage relative to the second line, as a target line; a parallel movement process for causing the host vehicle to translate diagonally forward or backward by controlling a steering device of the host vehicle so that the front wheels and the rear wheels of the host vehicle are steered in the same phase while controlling a drive device of the host vehicle, thereby causing the first line to coincide with the target line; A parking assistance device comprising:

3. 3. The parking assistance device according to claim 2, The parking assistance device is configured such that the processor sets the second line of the other vehicle as the target line.

4. 3. The parking assistance device according to claim 2, The processor is configured to set the first line of the vehicle as the target line when the vehicle is parked in a position where the distance between the other side of the vehicle and an obstacle matches a threshold value.

5. 3. The parking assistance device according to claim 2, A parking assistance device configured such that, when the first line is parallel to the second line of a first other vehicle parked in front of the host vehicle and parallel to the second line of a second other vehicle parked behind the host vehicle, and the first line is located on the other end side of the passage relative to the second lines of the first other vehicle and the second other vehicle, the processor sets a line located halfway between the second line of the first other vehicle and the second line of the second other vehicle as the target line.

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