Parking support device

Abstract

To provide a parking support device which can park in a desired parking space even when a parking space on a depth side is not detected when starting parking support.SOLUTION: A parking support device performs parking support of a vehicle on the basis of peripheral information collected by a plurality of sensors provided in the vehicle. The parking support device includes: a detection section which detects a parking area where the vehicle can be parked on the basis of the peripheral information from the plurality of sensors; a path calculation section which calculates a movement path of the vehicle up to the parking area on the basis of the peripheral information from the plurality of sensors; and a movement control section which moves the vehicle along the movement path. The detection section presents a second parking area as a second candidate of a parking target of the vehicle to a user of the vehicle when the movement control of the vehicle to a first parking area is started after detecting the first parking area and the second parking area is detected after starting the movement control.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a parking assistance device. [Background technology]

[0002] There is a parking assistance device that automatically parks a vehicle. In the technology of Patent Document 1, when multiple parking spaces are detected, the system presents the driver with a parking space that meets the driver's desire according to criteria specified by the driver in advance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-065455 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in a parking lot where multiple parking spaces are arranged vertically, such as a flagpole lot, or an L-shaped parking lot where multiple parking spaces are arranged in a crank shape, the parking space at the back may not be detected when parking assistance is started. If the driver wishes to park at the back of the flagpole lot or at the end of an L-shaped crank, it is difficult to use the technology of the above-mentioned Patent Document 1.

[0005] The present invention has been made in consideration of the above, and provides a parking assistance device that can park in a desired parking space even if a parking space at the rear is not detected when starting parking assistance. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, a parking assistance device of an embodiment is a parking assistance device that provides parking assistance to a vehicle based on surrounding information collected by a plurality of sensors provided in the vehicle, and includes a detection unit that detects a parking area in which the vehicle can be parked based on the surrounding information from the plurality of sensors, a path calculation unit that calculates a movement path of the vehicle to the parking area based on the surrounding information from the plurality of sensors, and a movement control unit that moves the vehicle along the movement path, and when the detection unit detects a first parking area, a movement control unit starts movement control of the vehicle to the first parking area, and when the detection unit detects a second parking area after the start of the movement control, the detection unit presents the second parking area to a user of the vehicle as a second candidate parking target for the vehicle. Effect of the Invention

[0007] The parking assistance device of the embodiment is capable of parking in a desired parking space even if a parking space at the rear is not detected when starting parking assistance. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a top view of a vehicle equipped with a parking assistance device according to an embodiment. [Diagram 2] FIG. 2 is a block diagram illustrating an example of an overall configuration of the parking assistance system according to the embodiment. [Diagram 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of the parking assistance device according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram illustrating an example of a parking assist operation when parking a vehicle on a flagpole lot by the parking assist device according to the embodiment. [Diagram 5] FIG. 5 is an example of a screen displayed during the parking assist operation by the parking assist device according to the embodiment. [Figure 6] FIG. 6 is a schematic diagram illustrating an example of a parking assist operation when parking a vehicle on a flagpole lot by the parking assist device according to the embodiment. [Figure 7] FIG. 7 is a schematic diagram illustrating an example of a parking assist operation when parking a vehicle on a flagpole lot by the parking assist device according to the embodiment. [Figure 8] FIG. 8 is an example of a screen displayed during the parking assist operation by the parking assist device according to the embodiment. [Figure 9] FIG. 9 is a schematic diagram illustrating an example of a parking assist operation when parking a vehicle on a flagpole lot by the parking assist device according to the embodiment. [Figure 10] FIG. 10 is a schematic diagram for explaining an example of the parking assist operation when parking a vehicle on a flagpole lot by the parking assist device according to the embodiment. [Figure 11] FIG. 11 is a schematic diagram illustrating an example of a parking assist operation when parking a vehicle on a curved lot by the parking assist device according to the embodiment. [Figure 12] FIG. 12 is a schematic diagram illustrating an example of the parking assist operation when parking a vehicle on a curved lot by the parking assist device according to the embodiment. [Figure 13] FIG. 13 is a flowchart illustrating an example of a procedure of the parking assistance process performed by the parking assistance device according to the embodiment. [Figure 14] FIG. 14 is a schematic diagram for explaining an example of the parking assist operation at a flagpole lot of the parking assist device according to the first modification of the embodiment. [Figure 15] FIG. 15 is a schematic diagram illustrating an example of the parking assist operation at a curved area by the parking assist device according to the first modification of the embodiment. [Figure 16] FIG. 16 is a schematic diagram illustrating an example of the parking assist operation at a curved area by the parking assist device according to the first modification of the embodiment. [Figure 17] FIG. 17 is a schematic diagram illustrating an example of the parking assist operation at a curved area by the parking assist device according to the first modification of the embodiment. [Figure 18] FIG. 18 is a schematic diagram for explaining an example of the parking assist operation when parking a vehicle on a flagpole lot by the parking assist device according to the second modification of the embodiment. [Figure 19] FIG. 19 is an example of a screen displayed during the parking assist operation by the parking assist device according to the second modification of the embodiment. [Figure 20] FIG. 20 is a schematic diagram showing an example of a setting screen for setting a control method of a parking assistance device according to the third modification of the embodiment. [Figure 21] FIG. 21 is a schematic diagram showing an example of a setting screen for setting a control method of a parking assistance device according to the third modification of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Similar components in the following exemplary embodiments are given the same reference numerals, and duplicated descriptions will be omitted as appropriate.

[0010] (Vehicle configuration example) Fig. 1 is a top view of a vehicle 10 equipped with a parking assistance device 20 according to an embodiment. The front, rear, left and right of the vehicle 10 in Fig. 1 indicate the directions when viewed from the driver's seat of the vehicle 10.

[0011] The vehicle 10 of the embodiment may be, for example, an internal combustion engine vehicle using an internal combustion engine as a power source, an electric vehicle or a fuel cell vehicle using an electric motor as a power source, or a hybrid vehicle using both of these as a power source.

[0012] The vehicle 10 can be equipped with various transmissions and various systems, parts, and other devices required to drive the internal combustion engine or electric motor. The type, number, layout, and other aspects of the devices related to the drive of the wheels 13 of the vehicle 10 can be set in various ways.

[0013] 1, the vehicle 10 includes a vehicle body 12, a plurality of wheels 13, a plurality of distance measuring units 14a-14l, and a plurality of imaging units 16a-16d. When it is not necessary to distinguish between the distance measuring units 14a-14l, they will be simply referred to as distance measuring unit 14. When it is not necessary to distinguish between the imaging units 16a-16d, they will be simply referred to as imaging unit 16. The distance measuring units 14a-14l and imaging units 16a-16d are examples of sensors that collect information about the surroundings of the vehicle 10.

[0014] The vehicle body 12 constitutes a vehicle cabin in which passengers ride. A plurality of wheels 13, a plurality of distance measuring units 14, and a plurality of imaging units 16 are attached to the vehicle body 12. In the example of Fig. 1, the vehicle body 12 includes four wheels 13, twelve distance measuring units 14, and four imaging units 16. However, the number of distance measuring units 14 and imaging units 16 attached to the vehicle body 12 is arbitrary.

[0015] The four wheels 13 are provided on the front, rear, left and right sides of the vehicle body 12. The two front wheels 13 function, for example, as steering wheels, and the two rear wheels 13 function, for example, as driving wheels.

[0016] The distance measuring unit 14 is, for example, a sonar provided on the outer periphery of the vehicle 10, which transmits sound waves such as ultrasonic waves as detection waves and captures the detection waves reflected by objects such as obstacles present around the vehicle 10. The distance measuring unit 14 may be a radar that transmits detection waves such as laser light, a millimeter wave radar, or the like.

[0017] The distance measuring unit 14 collects surrounding information indicating the situation around the vehicle 10 and outputs it to the parking assistance device 20. The distance measuring unit 14 collects, for example, a response time, which is the time from when a detection wave is transmitted to when it is received, as surrounding information for identifying the distance between an object and the vehicle 10. Based on the surrounding information collected by the distance measuring unit 14, the parking assistance device 20 can detect the presence or absence of an obstacle or the like around the vehicle 10 and the distance to the obstacle.

[0018] In addition, when the distance measuring unit 14 receives multiple detection waves reflected from multiple points on the object in response to a single transmission of a detection wave, the distance measuring unit 14 may include only the response time of the earliest received detection wave in the surrounding information.

[0019] The distance measuring units 14a to 14d are provided at the front of the vehicle body 12. Of these distance measuring units 14a to 14d, the distance measuring units 14b and 14c are also called front sonars, and are provided at the front end of the vehicle 10. The distance measuring units 14b and 14c detect objects in front of the vehicle 10 and collect peripheral information in front of the vehicle 10. The distance measuring units 14a and 14d are also called corner sonars, and are provided at the corners of the front of the vehicle 10. The distance measuring units 14a and 14d detect objects on the outside in front of the vehicle 10 and collect peripheral information on the outside in front of the vehicle 10.

[0020] The distance measuring units 14e to 14h are provided at the rear of the vehicle body 12. Of these distance measuring units 14e to 14h, the distance measuring units 14f and 14g are also called rear sonars, and are provided at the rear end of the vehicle 10. The distance measuring units 14f and 14g detect objects behind the vehicle 10 and collect peripheral information behind the vehicle 10. The distance measuring units 14e and 14h are also called corner sonars, and are provided at the corners of the rear of the vehicle 10. The distance measuring units 14e and 14h detect objects on the outside behind the vehicle 10 and collect peripheral information behind the vehicle 10.

[0021] The distance measuring units 14i to 14l are also called side sonars, and are provided on the sides of the vehicle body 12. Of the distance measuring units 14i to 14l, the distance measuring units 14i and 14j are provided on the front sides of the vehicle 10. The distance measuring units 14k and 14l are provided on the rear sides of the vehicle 10. The distance measuring units 14i to 14l detect objects on the sides of the vehicle 10 and collect peripheral information on the sides of the vehicle 10.

[0022] The imaging unit 16 is a digital camera incorporating an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor), etc. The imaging unit 16 generates a moving image including a plurality of frame images captured at a predetermined frame rate, or a still image.

[0023] The imaging units 16 are provided on the outer periphery of the vehicle body 12, each having a wide-angle lens or a fisheye lens, and can capture an image in a horizontal range of, for example, 140° to 190°. The optical axis of the imaging unit 16 is set to face diagonally downward.

[0024] As a result, the imaging unit 16 collects surrounding information by capturing an image of the surroundings of the vehicle 10, including the road surface, and outputs the collected information to the parking assistance device 20. The parking assistance device 20 can detect the presence or absence of obstacles, etc., around the vehicle 10 and the positions of the obstacles, based on the surrounding information collected by the imaging unit 16. The parking assistance device 20 can also detect the parking area around the vehicle 10 and the position of the parking area, based on the surrounding information collected by the imaging unit 16.

[0025] The imaging unit 16a is provided in the center in the front-rear direction of the left end of the vehicle body 12, for example, on the underside of the left side mirror. The imaging unit 16a collects captured images of the area to the left below the vehicle 10 as peripheral information. The imaging unit 16b is provided in the center in the front-rear direction of the right end of the vehicle body 12, for example, on the underside of the right side mirror. The imaging unit 16b collects captured images of the area to the right below the vehicle 10 as peripheral information.

[0026] The imaging unit 16c is provided in the center in the left-right direction of the front end of the vehicle body 12, for example, on the front bumper. The imaging unit 16c collects captured images of the area in front of the vehicle 10 as peripheral information. The imaging unit 16d is provided in the center in the left-right direction of the rear end of the vehicle body 12, for example, on the rear bumper. The imaging unit 16d collects captured images of the area behind the vehicle 10 as peripheral information.

[0027] (Example of parking assistance system configuration) 2 is a block diagram showing an example of an overall configuration of a parking assistance system 200 according to an embodiment. The parking assistance system 200 is mounted on, for example, a vehicle 10, and assists in parking the vehicle 10 in a parking area.

[0028] 2, the parking assistance system 200 includes a parking assistance device 20, a monitor device 30, a braking system 40, an acceleration system 50, a steering system 60, a gear shift system 70, a vehicle speed sensor 83, a distance measurement unit 14, and an imaging unit 16. These components are connected to each other via an in-vehicle network NT so that they can transmit and receive information to each other.

[0029] The in-vehicle network NT includes, for example, a Controller Area Network (CAN) and a Local Interconnect Network (LIN), etc. The in-vehicle network NT may be included as a part of the parking assistance system 200.

[0030] The parking assistance device 20 is configured as a microcomputer such as an ECU (Electronic Control Unit), and performs parking assistance for the vehicle 10.

[0031] The parking assistance device 20 includes a CPU (Central Processing Unit) 21, a display control circuit 23, a Solid State Drive (SSD) 24, a ROM (Read Only Memory) 25, and a RAM (Random Access Memory) 26. The CPU 21, the ROM 25, and the RAM 26 may be integrated in the same package.

[0032] The CPU 21 is an example of a hardware processor, which reads out a program stored in a non-volatile storage device such as the ROM 25, and executes various types of arithmetic processing and control in accordance with the program.

[0033] The ROM 25 stores various programs and parameters necessary for executing the programs. The RAM 26 temporarily stores various data used in the calculations by the CPU 21. The SSD 24 is a rewritable non-volatile storage device, and maintains data even when the power of the parking assistance device 20 is turned off.

[0034] Among the computational processes performed by the parking assistance device 20, the display control circuit 23 mainly performs image processing of images obtained by the imaging unit 16 and data conversion of images to be displayed on a display unit 31 (described later) provided in the monitor device 30.

[0035] The braking system 40 has a braking unit 41 , a braking control unit 42 , and a braking unit sensor 43 , and controls the deceleration of the vehicle 10 .

[0036] The braking unit 41 is a device including, for example, a brake and a brake pedal, and decelerates the vehicle 10. The braking control unit 42 is a microcomputer having a hardware processor such as a CPU. The braking control unit 42 controls the braking unit 41 based on an instruction from the parking assistance device 20 to control the deceleration of the vehicle 10. The braking unit sensor 43 is, for example, a position sensor, and detects the position of a brake pedal included in the braking unit 41. The braking unit sensor 43 outputs the detected brake pedal position to the in-vehicle network NT.

[0037] The acceleration system 50 has an acceleration unit 51 , an acceleration control unit 52 , and an acceleration sensor 53 , and controls the acceleration of the vehicle 10 .

[0038] The acceleration unit 51 is a device including, for example, an accelerator pedal and the like, and accelerates the vehicle 10. The acceleration control unit 52 is a microcomputer having a hardware processor such as a CPU. The acceleration control unit 52 controls the acceleration unit 51 based on an instruction from the parking assistance device 20 to control the acceleration of the vehicle 10. The acceleration sensor 53 is, for example, a position sensor, and detects the position of the accelerator pedal included in the acceleration unit 51. The acceleration sensor 53 outputs the detected position of the accelerator pedal to the in-vehicle network NT.

[0039] The steering system 60 has a steering section 61, a steering control section 62, and a steering section sensor 63, and controls the direction of travel of the vehicle 10.

[0040] The steering unit 61 is a device including, for example, a steering wheel, and steers the steered wheels of the vehicle 10 to steer the traveling direction of the vehicle 10. The steering control unit 62 is a microcomputer including, for example, a hardware processor such as a CPU. The steering control unit 62 controls the steering unit 61 based on instructions from the parking assistance device 20 to control the traveling direction of the vehicle 10. The steering unit sensor 63 is an angle sensor including, for example, a Hall element, and detects the steering angle, which is the rotation angle of the steering unit 61. The steering unit sensor 63 outputs the detected steering angle of the steering unit 61 to the in-vehicle network NT.

[0041] The transmission system 70 has a transmission section 71, a transmission control section 72, and a transmission section sensor 73, and controls the gear ratio of the vehicle 10.

[0042] The transmission unit 71 is a device including, for example, a shift lever and the like, and changes the gear ratio of the vehicle 10. The transmission control unit 72 is a microcomputer having a hardware processor such as a CPU. The transmission control unit 72 controls the transmission unit 71 based on instructions from the parking assistance device 20 to control the gear ratio of the vehicle 10. The transmission unit sensor 73 is, for example, a position sensor, and detects the position of a shift lever included in the transmission unit 71. The transmission sensor 73 outputs the detected position of the shift lever to the in-vehicle network NT.

[0043] The vehicle speed sensor 83 has, for example, a Hall element provided near the wheels 13 of the vehicle 10, and detects the amount of rotation or the number of rotations per unit time of the wheels 13. The vehicle speed sensor 83 outputs the number of wheel speed pulses indicating the detected amount of rotation or number of rotations to the in-vehicle network NT as a sensor value for calculating the speed (vehicle speed) of the vehicle 10. The parking assistance device 20 can calculate the speed, amount of movement, etc. of the vehicle 10 based on the sensor value acquired from the vehicle speed sensor 83.

[0044] The monitor device 30 is provided on a dashboard or the like inside the passenger compartment of the vehicle 10 , and has a display unit 31 and an input unit 32 .

[0045] The display unit 31 is a display device such as a liquid crystal display (LCD) or an organic electroluminescent display (OLED). The display unit 31 displays, for example, an image based on image data transmitted by the parking assistance device 20, an image for receiving an operation instruction for switching between automatic driving and manual driving, and the like.

[0046] The input unit 32 is, for example, a touch panel provided on the display screen of the display unit 31. The input unit 32 is configured to be transparent to the contents displayed on the display screen of the display unit 31. This allows the input unit 32 to allow the occupant to visually recognize the display contents of the display unit 31.

[0047] The input unit 32 receives instructions input by the occupant touching a position corresponding to the display content of the display unit 31, and transmits the instructions to the parking assistance device 20 via the in-vehicle network NT. Note that the input unit 32 is not limited to a touch panel, and may be a hard switch such as a push button.

[0048] Fig. 3 is a block diagram showing an example of a functional configuration of the parking assistance device 20 according to the embodiment. As shown in Fig. 3, the parking assistance device 20 includes a display control unit 201, an acquisition unit 202, a detection unit 203, a path calculation unit 204, a movement control unit 205, and a storage unit 206 as functional units.

[0049] These functional units are realized, for example, by the above-mentioned CPU 21 reading and executing a program stored in a storage device such as the ROM 25. Alternatively, they are realized by the display control circuit 23, the SSD 24, the ROM 25, the RAM 26, and the like operating under the control of the CPU 21 according to the program.

[0050] Some or all of these functional units may be configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit).

[0051] The display control unit 201 generates contents to be displayed on the display unit 31 of the monitor device 30, and causes the contents to be displayed on the display unit 31. That is, the display control unit 201 causes the display unit 31 to display, for example, a notification screen that a parking area in which the vehicle 10 can be parked has been detected, a selection screen for starting, pausing, or canceling parking assistance, an image of the surroundings of the vehicle 10 during parking assistance, and the like.

[0052] The acquisition unit 202 acquires, as information about the surroundings of the vehicle 10, information about transmitted and received sound waves from the distance measurement unit 14 and captured images of the surroundings of the vehicle 10 from the imaging unit 16.

[0053] The detection unit 203 detects obstacles, parking areas, and the like around the vehicle 10 based on the surrounding information acquired by the acquisition unit 202 .

[0054] The obstacle may be, for example, a variety of objects such as other vehicles, walls, pillars, fences, projections, steps, wheel stops, etc. Furthermore, the obstacle may be, for example, a person walking in the parking lot.

[0055] Furthermore, parking spaces such as parking lots are often divided by, for example, demarcation lines, frame lines, straight lines, stripes, steps, etc. The detection unit 203 detects, as a parking area, a parking space that is divided by these demarcation lines, frame lines, straight lines, stripes, steps, etc. and further in which the vehicle 10 can be parked, that is, a parking space that does not contain obstacles such as other vehicles that would impede parking of the vehicle 10.

[0056] In this way, the above-mentioned dividing lines, frame lines, straight lines, stripes, steps, etc. become landmarks when the parking assistance device 20 assists the vehicle 10 in parking the vehicle 10 in the parking area and causes the vehicle 10 to enter the parking area.

[0057] When a parking assistance start command is received from the driver of the vehicle 10, the detection unit 203 detects the presence or absence of an obstacle, the distance from the vehicle 10 to the obstacle, and the like, based on, for example, the detection result of the distance measuring unit 14. In addition, the detection unit 203 detects the presence or absence of an obstacle, as well as the position (direction) of the obstacle relative to the vehicle 10, and the shape, size, height, and the like, by, for example, image processing based on an image captured by the imaging unit 16.

[0058] By combining these detection results, the detection unit 203 extracts information such as whether there is an obstacle around the vehicle 10, whether the obstacle may interfere with the driving of the vehicle 10, whether it is possible to park the vehicle 10 in a parking space around the vehicle 10, i.e., whether it can be used as a parking area.

[0059] The route calculation unit 204 calculates a target position to which the vehicle 10 is to be guided based on the detection result by the detection unit 203, and calculates a movement route along which the vehicle 10 is to be moved to the target position within the parking area.

[0060] In addition, the path calculation unit 204 may calculate a turning position as necessary. One or more turning positions are set when parking is difficult after one back or forward movement, etc.

[0061] The route calculation unit 204 calculates a travel route of the vehicle 10 from the current position of the vehicle 10 to the target position so as to guide the vehicle 10 to the target position calculated as described above. The travel route may include a turning point as described above. In this case, the route calculation unit 204 calculates a travel route from the current position of the vehicle 10 to the target position via the turning point.

[0062] In this manner, the route calculation unit 204 calculates a movement route for parking, such as reverse parking or forward parking.

[0063] When assisting in parking the vehicle 10, the movement control unit 205 controls each unit of the vehicle 10 to move the vehicle 10. Specifically, the movement control unit 205 controls all or part of the braking system 40, the acceleration system 50, the steering system 60, and the gear shifting system 70 to move the vehicle 10 to the target position according to the above-mentioned movement path. At this time, the movement control unit 205 moves the vehicle 10 while receiving feedback from each sensor such as the braking unit sensor 43, the acceleration unit sensor 53, the steering unit sensor 63, the gear shifting unit sensor 73, and the vehicle speed sensor 83.

[0064] Even after the movement control unit 205 starts moving the vehicle 10, the detection unit 203 continues to acquire surrounding information from the distance measurement unit 14 and the imaging unit 16. The above-mentioned route calculation unit 204 appropriately recalculates the movement route based on the detection result by the detection unit 203. When the movement route is recalculated, the movement control unit 205 continues the movement of the vehicle 10 so as to finely adjust the position of the vehicle 10 accordingly.

[0065] The storage unit 206 stores, for example, a program executed by the CPU 21 of the parking assistance device 20, various control parameters required for the operation of the parking assistance device 20, and the like.

[0066] (Parking assistance system operation example) Next, an example of the operation of the parking assistance device 20 of the embodiment will be described with reference to FIGS.

[0067] 4 to 10, except for Fig. 5 and Fig. 8, are schematic diagrams for explaining an example of a parking assist operation when parking the vehicle 10 at a flagpole lot FL by the parking assist device 20 according to the embodiment. Fig. 5 and Fig. 8 are examples of screens displayed during the parking assist operation by the parking assist device 20 according to the embodiment.

[0068] 4 to 10, an example in which the vehicle 10 is parked in reverse will be described.

[0069] As shown in Fig. 4, the flagpole lot FL is a parking lot in which multiple parking spaces PAs are arranged vertically. In the example shown in Fig. 4, the flagpole lot FL is provided with two parking spaces PAs for vehicles, one at the front and one at the back. To start parking assistance at such a flagpole lot FL, the vehicle 10 is parked next to the flagpole lot FL near the entrance.

[0070] At this time, the parking assistance device 20 may recognize, for example, only the near parking space PAs among the near and far parking spaces PAs as the parking area to be subjected to parking assistance. This is because the parking area is recognized within a range that can be detected with high accuracy from the stopping position of the vehicle 10 at the entrance of the flagpole lot FL from the viewpoint of the angle of view and resolution of the imaging unit 16 and the sensing distance of the distance measuring unit 14. Also, at the flagpole lot FL, the surrounding scenery may not change much from the near side to the far side, and this may limit the range in which the target position can be specified to the near side.

[0071] In the example shown in Fig. 4, the detection unit 203 of the parking assistance device 20 recognizes the parking space PAs in front of the vehicle 10 as the parking area PAa out of the two parking spaces PAs. In this case, the display control unit 201 of the parking assistance device 20 causes the display unit 31 of the monitor device 30 to display, for example, an image of the detected parking area PAa and a selection screen on which the start of parking assistance can be selected. Fig. 5 shows an example of such a selection screen.

[0072] 5, on the display unit 31 of the monitor device 30, a line LNa indicating the parking area PAa detected by the detection unit 203 and a button for selecting to start parking assistance are displayed superimposed on the image of the flagpole ground FL captured by the imaging unit 16. Here, it is assumed that the driver has selected to start parking assistance.

[0073] In addition, in the above-mentioned flagpole lot FL, the parking space PAs on the front side of the vehicle 10 is an example of the first parking space. Also, the parking area PAa detected at the beginning of the parking assistance is, for example, an example of the first parking area.

[0074] 6, the route calculation unit 204 of the parking assistance device 20 calculates a moving route TRa. The moving route TRa starts from the current position PPa of the vehicle 10 parked next to the entrance of the flagpole lot FL, passes through a turning position SPa in the forward direction of the vehicle 10, and reaches a target position DPa located in the parking area PAa in the backward direction of the vehicle 10 at the turning position SPa.

[0075] The movement control unit 205 of the parking assistance device 20 starts moving the vehicle 10 on the movement route TRa according to the calculation result of the route calculation unit 204. Initially, the movement control unit 205 moves the vehicle 10 forward from the current position PPa toward the turning position SPa. During this time, the display control unit 201 may cause the display unit 31 of the monitor device 30 to display information such as "Parking assistance in progress" that indicates that the vehicle 10 is currently receiving parking assistance.

[0076] 7, the movement control unit 205 is still in the process of moving the vehicle 10 backward toward the target position DPa. At this time, the vehicle 10 has entered the area on the near side of the flagpole site FL, so that the rear parking space PAs is included within the detection range of the imaging unit 16 and the distance measurement unit 14. Therefore, it is assumed that the detection unit 203 has detected the rear parking space PAs as the second candidate parking area PAb.

[0077] The display control unit 201 causes the display unit 31 of the monitor device 30 to display, for example, an image of a newly detected parking area PAb and a change screen that allows the target position to be changed from the parking area PAa to the parking area PAb. An example of such a selection screen is shown in FIG. 8.

[0078] 8, the display unit 31 of the monitor device 30 displays a line LNb indicating the parking area PAb detected by the detection unit 203 and a button for selecting a change of the target position, superimposed on the image of the flagpole ground FL captured by the imaging unit 16. Here, it is assumed that the driver selects a change of the target position.

[0079] In addition, in the above-mentioned flagpole lot FL, the parking space PAs on the rear side of the vehicle 10 is an example of the second parking space. Also, the parking area PAb newly detected after the parking assistance starts is, for example, an example of the second parking area.

[0080] As shown in FIG. 9, the route calculation unit 204 calculates a movement route TRb from the current position PPb of the vehicle 10 at the time the target position to the parking area PAb is changed to a target position DPb that is a predetermined position within the parking area PAb that can be reached by backing up the vehicle 10.

[0081] The movement control unit 205 starts the movement of the vehicle 10 on the movement route TRb in accordance with the new calculation result of the route calculation unit 204.

[0082] 10, the movement control unit 205 causes the vehicle 10 to move further backward toward the target position DPb. As a result, the vehicle 10 is parked at the target position DPb in the parking area PAb, and the parking assistance ends. At this time, the display control unit 201 may cause the display unit 31 of the monitor device 30 to display information such as "Parking assistance ended," which indicates that the parking assistance for the vehicle 10 has ended.

[0083] This ends the parking assistance at the flagpole site FL by the parking assistance device 20 of the embodiment.

[0084] 11 and 12 are schematic diagrams illustrating an example of the parking assistance operation when parking the vehicle 10 at a curved ground CL by the parking assistance device 20 according to the embodiment. In Fig. 11 and Fig. 12, an example in which the vehicle 10 is parked in reverse will be described.

[0085] Another example of a parking lot that is likely to not recognize all of the parking spaces PAs at the same time when there are multiple parking spaces PAs is an L-shaped crank-shaped parking lot, as shown in Figure 11. Here, such a crank-shaped parking lot is called a curved lot CL.

[0086] In the example shown in Fig. 11, the curved area CL is provided with parking spaces PAs for two vehicles in total, one at the front and one at the back after turning a curve. In order to start parking assistance at such a curved area CL, the vehicle 10 is parked alongside the curved area CL near the entrance. In this case, for example, from the vicinity of the entrance of the curved area CL, the back side after turning a curve is likely to be outside the detection range of the imaging unit 16 and the distance measurement unit 14.

[0087] 11, the detection unit 203 recognizes the parking space PAs on the front side of the vehicle 10 as the parking area PAc out of the two parking spaces PAs. In this case, the display control unit 201 causes the display unit 31 of the monitor device 30 to display, for example, an image of the detected parking area PAc and a selection screen on which the start of parking assistance can be selected.

[0088] In addition, in the curved area CL described above, the parking space PAs on the front side of the vehicle 10 is an example of the first parking space. Also, the parking area PAc detected at the beginning of the parking assistance is, for example, an example of the first parking area.

[0089] As shown in FIG. 12, when the driver issues a command to start parking assistance, the movement control unit 205 moves the vehicle 10 along the movement route TRc calculated by the route calculation unit 204 and leading to the target position DPc within the parking area PAc.

[0090] At this time, the vehicle 10 enters the area on the near side of the curved area CL, so that the parking space PAs on the far side after turning the crank is included within the detection range of the imaging unit 16 and the distance measuring unit 14. Therefore, it is assumed that the detection unit 203 detects the parking space PAs on the far side as the second candidate parking area PAd.

[0091] As a result, the parking area PAd is presented to the driver as a new target position by, for example, the display control unit 201. The driver can select whether or not to change the target position from the parking area PAc to the parking area PAd.

[0092] In addition, in the curved area CL described above, the parking space PAs at the rear side of the vehicle 10 is an example of the second parking space. Also, the parking area PAd newly detected after the parking assistance starts is, for example, an example of the second parking area.

[0093] 4 to 12, an example of parking the vehicle 10 in reverse on a flagpole lot FL or a curved lot CL has been described. However, the parking assistance device 20 controls the vehicle 10 not only in reverse parking but also in forward parking and the like.

[0094] (Parking assistance system processing example) Next, an example of parking assistance processing by the parking assistance device 20 of the embodiment will be described with reference to Fig. 13. Fig. 13 is a flow diagram showing an example of the procedure of the parking assistance processing by the parking assistance device 20 according to the embodiment.

[0095] 13, when the detection unit 203 of the parking assistance device 20 detects a parking area PA where the vehicle 10 can be parked (step S101), the display control unit 201 displays a selection screen on the display unit 31 of the monitor device 30, for example, and waits for an instruction to start parking assistance from the driver (step S102). If the driver does not select to start parking assistance (step S102: No), the parking assistance process is canceled and terminated (step S103).

[0096] When the driver issues a command to start parking assistance (step S102: Yes), the route calculation unit 204 calculates a movement route TR (step S104), and the movement control unit 205 starts movement control of the vehicle 10 (step S105).

[0097] During the movement control of the vehicle 10, the detection unit 203 continues searching for other parking areas PA (step S106). If the detection unit 203 newly detects another parking area PA (step S106: Yes), the display control unit 201 presents the driver with a change screen that allows the driver to change the target position to the newly detected parking area PA (step S107).

[0098] If the driver instructs to change the target position (step S107: Yes), the route calculation unit 204 recalculates a movement route TR to the changed target position (step S104), and the movement control unit 205 starts movement control of the vehicle 10 to the changed target position (step S105). The detection unit 203 continues to search for other parking areas PA (step S106).

[0099] If no other parking area PA is detected (step S106: No), the process of step S107 is skipped. Also, if the driver does not select to change the target position to the newly detected parking area PA (step S107: No), the process from step S104 onward is not repeated.

[0100] Thereafter, the movement control unit 205 determines whether the parking assistance process has ended, for example, when the vehicle 10 reaches a target position (step S108). If the parking assistance process is ongoing (step S108: No), the process from step S105 is repeated until the parking assistance process ends (step S108: Yes).

[0101] This completes the parking assistance process by the parking assistance device 20 of the embodiment.

[0102] (Overview) The parking assistance device assists the vehicle in parking based on information about the surroundings of the vehicle from various sensors such as a distance measuring unit and an image capturing unit. When parking assistance begins, a parking area in which the vehicle can be parked is detected based on information from the various sensors.

[0103] In parking lots with flagpoles or curved ground, the rear parking space may not be detected at the beginning of the parking assistance. Therefore, a problem arises as to how to enable parking in a parking space that is not detected at the beginning.

[0104] For example, by using a satellite positioning system (GNSS: Global Navigation Satellite System), it is possible to simultaneously detect all parking spaces for multiple vehicles. However, even in this case, it is difficult to determine whether the detected parking spaces are vacant spaces or not.

[0105] Furthermore, even if multiple parking areas are recognizable at the same time in a parking lot such as a flagpole lot or a curved lot, which of these parking areas the driver wishes to park in may change from time to time.

[0106] According to the parking assistance device 20 of the embodiment, after a specific parking area PA is detected, movement control of the vehicle 10 to the parking area PA is started, and when another parking area PA is detected after the start of movement control of the vehicle 10, the newly detected parking area PA is presented to the driver of the vehicle 10 as a second candidate for the parking target of the vehicle 10. This allows parking in a desired parking space PAs even if no parking space PAs at the rear is detected when parking assistance is started.

[0107] According to the parking assistance device 20 of the embodiment, the parking area PA detected initially and the other parking areas PA detected after the start of the movement control of the vehicle 10 correspond to the parking spaces PAs on the near side and the parking spaces PAs on the far side arranged vertically, respectively, or correspond to the parking spaces PAs on the near side arranged in a crank shape and the parking spaces PAs at the end of the crank, respectively. In this way, even in the case of a so-called flagpole lot FL or a curved lot CL, for example, the parking spaces PAs on the far side can be presented as candidates for parking targets.

[0108] (Variation 1) In the above embodiment, a very simple control example for the flagpole ground FL or the curved ground CL has been described. In the following Modification 1, several examples of the case where a plurality of parking areas PA are detected at the same time will be shown.

[0109] Fig. 14 is a schematic diagram for explaining an example of the parking assist operation at a flagpole site FL of the parking assist device 20 according to the first modified embodiment of the embodiment. More specifically, Fig. 14 shows an example in which a plurality of parking areas PAa, PAb are simultaneously detected at the flagpole site FL.

[0110] In the example shown in Fig. 14, both the near side and the far side parking spaces PAs are simultaneously detected as parking areas PAa and PAb at the above-mentioned flagpole site FL. The display control unit 201 of the parking assistance device 20 causes the display unit 31 of the monitor device 30 to display at least a selection screen on which the start of parking assistance can be selected together with, for example, images of the detected parking areas PAa and PAb, as in the case of Fig. 4 and Fig. 5 described above.

[0111] In addition, there are several possible methods for determining which of the multiple parking areas PAa, PAb detected simultaneously should be set as the parking target.

[0112] That is, for example, a button or the like for selecting either the parking area PAa or PAb may be displayed on the above-mentioned selection screen, so that the driver can select from the screen. Alternatively, rules that stipulate a control method when multiple parking areas are detected may be set in advance in the above-mentioned storage unit 206 (see FIG. 3) or the like. In this case, for example, it is possible to set the side of the multiple parking areas that is closest to the vehicle 10 to be automatically selected as the parking target. Alternatively, it is also possible to set the side that is easier to park on to be automatically selected as the parking target.

[0113] Fig. 15 is a schematic diagram illustrating an example of the parking assist operation at a curved area CL2 of the parking assist device 20 according to the first modified embodiment of the embodiment. More specifically, Fig. 15 illustrates an example in which a plurality of parking areas PAd, PAe are simultaneously detected at the curved area CL2.

[0114] As shown in Fig. 15, the curved area CL2 is, for example, a T-shaped parking lot. That is, the curved area CL2 shown in Fig. 15 has parking spaces PAs for a total of three cars, one at the front and one at the back after turning left and right.

[0115] In such a curved area CL2, when the vehicle 10 is pulled up to the entrance of the curved area CL2 to start parking assistance, the parking space PAs for one vehicle on the near side is detected as the parking area PAc. After that, when parking assistance is started and the vehicle 10 is controlled to move to the target position DPc in the parking area PAc, the parking spaces PAs for two vehicles on the far side are detected as the parking areas PAd and PAe at the same time, for example.

[0116] The display control unit 201 causes the display unit 31 of the monitor device 30 to display at least a change screen, for example, together with images of the detected parking areas PAd, PAe, asking whether or not to change the parking target from the initial parking area PAc to one of the parking areas PAd, PAe, as in the case of Figures 7 and 8 described above.

[0117] In the above case, there are several methods for determining which of the multiple parking areas PAd, PAe detected at the same time should be used as the parking target. That is, as described above, the driver may select one of the parking areas PAd, PAe, or the parking assistance device 20 may automatically select one of the parking areas PAd, PAe according to a preset rule.

[0118] 16 and 17 are schematic diagrams for explaining an example of the parking assist operation at a curved area CL3 of the parking assist device 20 according to the first modified embodiment of the embodiment. More specifically, Fig. 16 and Fig. 17 show an example in which a plurality of parking areas PAf, PAg are simultaneously detected at the curved area CL3, and then a parking area PAh is detected.

[0119] As shown in Fig. 16, the curved area CL3 has parking spaces PAs for multiple vehicles, for example, at the end of a curve. That is, the curved area CL3 shown in Fig. 16 has parking spaces PAs for one vehicle on the near side and three vehicles on the far side of the curve, for a total of four vehicles. The three parking spaces PAs on the far side are arranged horizontally, that is, parallel to each other.

[0120] In such a curved area CL3, when the vehicle 10 is pulled up to the entrance of the curved area CL3 to start parking assistance, the parking space PAs for one vehicle on the near side is detected as the parking area PAc. After that, when parking assistance is started and the vehicle 10 is controlled to move to the target position DPc in the parking area PAc, the two parking spaces PAs for three vehicles on the near side of the curved area CL3 are detected as the parking areas PAf and PAg at the same time, for example. That is, of these three parking spaces PAs, the parking space PAs on the farthest side is outside the detection range of the imaging unit 16 and the distance measurement unit 14 at this point.

[0121] The display control unit 201 causes the display unit 31 of the monitor device 30 to display, for example, at least an image of the detected parking areas PAf, PAg, along with a change screen indicating that multiple parking areas PAf, PAg have been newly detected and asking whether or not to change the parking target from the initial parking area Pac to one of the parking areas PAf, PAg.

[0122] In the above case, the driver may select one of the multiple parking areas PAf, PAg detected at the same time, or the parking assistance device 20 may automatically select one of the parking areas PAf, PAg according to a preset rule. In the example of Fig. 16, it is assumed that the parking area PAf on the near side is selected as a new parking target among the parking areas PAf, PAg by a predetermined method.

[0123] As shown in FIG. 17, a movement path TRf leading to a target position DPf within the parking area PAf is calculated anew, and while controlling the movement of the vehicle 10 along the movement path TRf, the innermost parking space PAs for one vehicle is detected as the parking area PAh.

[0124] 7 and 8, the display control unit 201 displays, on the display unit 31 of the monitor device 30, for example, an image of the detected parking area PAh and a change screen asking whether or not to change the parking target from the parking area PAf to the parking area PAh. This allows the driver to select whether or not to further change the parking target on the change screen.

[0125] In this way, the parking assistance device 20 may be capable of presenting multiple candidates for parking targets at multiple times, such as presenting one or more parking areas PA as first candidates, then presenting one or more parking areas PA as second candidates, and then presenting one or more parking areas PA as third candidates.

[0126] According to the parking assist operation of the parking assist device 20 of the first modification, when multiple parking areas PA are detected at the same time, the driver can select one of the multiple parking areas PA as a parking target, or the driver can select one of the multiple parking areas PA as a parking target based on a preset rule. This allows the parking assist to be controlled appropriately even when multiple parking areas PA are detected at the same time.

[0127] (Variation 2) Next, a description will be given of a parking assistance device according to Modification 2 of the embodiment. The parking assistance device according to Modification 2 differs from the above-described embodiment in the timing at which a newly detected parking area PA is presented to the driver.

[0128] In the following description, the configurations of Modification 2 corresponding to the respective configurations of the above-described embodiment will be denoted by the same reference numerals with reference to FIGS. 1 to 3.

[0129] FIG. 18 is a schematic diagram for explaining an example of a parking assist operation when parking the vehicle 10 at a flagpole lot FL by the parking assist device according to the second modification of the embodiment.

[0130] 18, in order to start parking assistance, the vehicle 10 is parked next to the entrance of the flagpole lot FL, and the parking space PAs on the near side is initially detected as the parking area PAa. Also, during the movement control of the vehicle 10 toward the target position DPa in the parking area PAa, the parking space PAs on the far side is newly detected as the parking area PAb at a predetermined timing.

[0131] In this case, the parking assistance device of the second modification continues parking assistance to the initial target position DPa. After parking in the parking area PAa is completed, the display control unit 201 causes the display unit 31 of the monitor device 30 to display, for example, an image of the newly detected parking area PAb and a change screen that allows the parking position of the vehicle 10 to be changed. An example of such a change screen is shown in FIG. 19.

[0132] Fig. 19 is an example of a screen displayed during parking assistance operation by the parking assistance device according to the modified example 2 of the embodiment. As shown in Fig. 19, the display unit 31 of the monitor device 30 displays a line LNb indicating the parking area PAb detected by the detection unit 203 and a button for selecting whether or not to resume parking assistance control in order to change the target position, superimposed on an image of the flagpole site FL captured by the imaging unit 16.

[0133] The driver can press either button to end the parking assistance with the parking area PAa as the parking target, or to resume the parking assistance with the parking area PAb as the new parking target.

[0134] The parking assistance device of the second modification provides the same effects as the parking assistance device 20 of the embodiment.

[0135] (Variation 3) Next, a parking assistance device according to Modification 3 of the embodiment will be described. The parking assistance device according to Modification 3 differs from the above-described embodiment in that the driver can customize the control method during parking assistance.

[0136] In the following description, the configurations of Modification 3 corresponding to the respective configurations of the above-described embodiment will be denoted by the same reference numerals with reference to FIGS. 1 to 3.

[0137] 20 and 21 are schematic diagrams showing an example of a setting screen for setting a control method of a parking assistance device according to the third modification of the embodiment.

[0138] In the above embodiment, during the movement control of the vehicle 10 to a predetermined parking area PA, the new parking area PA is presented to the driver at the timing when the parking area PA is detected. In the above modification 2, the new parking area PA is presented to the driver at the timing when the movement control that is already being executed ends.

[0139] As shown in FIG. 20, in the parking assistance device of the third modification, the timing for presenting such a new parking area PA can be set in advance by, for example, the driver.

[0140] That is, in the third variant, the display control unit 201 displays a setting screen in response to an instruction from the driver, and the setting screen can be set to accept suggestions for changing the target during control at any time, or to accept them once parking in the specified parking area PA is completed.

[0141] In addition, the setting screen may enable various settings such as setting an audio mode that notifies various information by voice, or setting the speed during parking assistance.

[0142] In the above-mentioned first modification, several methods for selecting a parking target when a plurality of parking areas PA are detected simultaneously have been described.

[0143] As shown in Fig. 21, in the parking assistance device of the third modification, for example, the driver can set in advance which of the multiple parking areas PA to select. In the example of Fig. 21, it is possible to always select the parking area PA on the near side or the far side, or to allow the driver to select as appropriate. Also, for frequently used parking lots A, B, C, etc., such as a home parking lot or a workplace parking lot, it may be possible to set the parking lot to always select the near side or the far side.

[0144] According to the parking assistance device of the third modification, when multiple parking areas PA are detected at the same time, one of the multiple parking areas PA is selected as a parking target based on a rule set by the driver in advance. This allows the vehicle 10 to be parked in a parking area PA that more closely matches the driver's desire.

[0145] Other than that, the parking assistance device of the third modification provides the same effects as the parking assistance device 20 of the embodiment.

[0146] In the above embodiment, the parking assistance device 20 is mounted on the vehicle 10, but the parking assistance device 20 does not necessarily have to be mounted on the vehicle 10. For example, the parking assistance device may be located at a position away from the vehicle, acquire information about the surroundings of the vehicle from various sensors, and perform parking assistance for the vehicle by remote control. [Explanation of symbols]

[0147] 10. Vehicle 14...Distance measurement section 16…Imaging unit 20...Parking assistance device 200...Parking assistance system 201...Display control unit 202…Acquisition Department 203…Detection unit 204...Route calculation unit 205...Movement control unit 206...Storage section CL, CL2, CL3…Bending ground FL…Flagpole site PA…Parking area PAs: Parking spaces

Claims

1. A parking assistance device that performs parking assistance for a vehicle based on surrounding information collected by a plurality of sensors provided in the vehicle, a detection unit that detects a parking area in which the vehicle can be parked based on the peripheral information from the plurality of sensors; a route calculation unit that calculates a movement route of the vehicle to the parking area based on the peripheral information from the plurality of sensors; a movement control unit that moves the vehicle along the movement path, The detection unit is After detecting a first parking area, a movement control of the vehicle to the first parking area is started, and when a second parking area is detected after the start of the movement control, the second parking area is presented to a user of the vehicle as a second candidate for a parking target of the vehicle. Parking assistance device.

2. The first and second parking areas are: Corresponding to a first parking space on the front side and a second parking space on the back side arranged vertically, respectively, or The parking spaces correspond to a first parking space on the near side arranged in a crank shape and a second parking space on the other side of the crank, 2. The parking assistance device according to claim 1.

3. When the detection unit detects a plurality of parking areas simultaneously, The user is configured to select one of the plurality of parking areas as a parking target, or The parking target vehicle is configured to be able to select one of the plurality of parking areas as a parking target based on a preset rule.

2. The parking assistance device according to claim 1.

4. The said rules are: can be pre-set by the user; 4. The parking assistance device according to claim 3.

Images