Parking assisting method, parking assisting device and parking assisting program

Abstract

To provide a parking assisting method, a parking assisting device and a parking assisting program that do not require a user to see a target parking frame change screen or to perform an operation on the screen and are capable of automatic parking in a changed target parking frame without stopping in the middle.SOLUTION: A parking assisting method comprises: receiving an operation made by an occupant on a vehicle; detecting a parking frame; setting a parking route for the vehicle; setting a branch route branched from the parking route; and automatically parking the vehicle along the parking route. When a plurality of parking frames are detected in the detection step, a parking route for parking the vehicle in a first parking frame is set in route setting, a branch point is set on the parking route in branch setting, and the branch passage for parking the vehicle in a second parking frame from the branch point is set. In the automatic parking, when a change specifying operation for changing the target parking frame is received and the change specifying operation is detected during automatically parking the vehicle along the first parking route, the vehicle is automatically parked along the branch route.SELECTED DRAWING: Figure 4

Description

[Technical field]

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

[0002] Conventionally, a parking assistance device is known that displays a detected parking space on an image while a vehicle is autonomously driving toward a target parking space, and changes the target parking space based on the driver's selection of the parking space (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 058781 Summary of the Invention [Problem to be solved by the invention]

[0004] However, since pedestrians may jump out from the shadow of the vehicle in a parking lot, the driver should visually check the surroundings of the vehicle to ensure safety and make efforts to prevent accidents even during autonomous driving. The configuration described in Patent Document 1 shows the driver an image and has him or her perform an operation to change the target parking frame, which may hinder the driver's safety confirmation. In addition, if the vehicle is stopped to accept the change operation, safety is improved, but the time required for parking is increased and convenience is reduced.

[0005] The object of the present disclosure is to provide a parking assistance method, a parking assistance device, and a parking assistance program that are capable of automatically parking into a changed target parking space without stopping along the way, without the need to visually check a target parking space change screen or perform operations on the screen. [Means for solving the problem]

[0006] The parking assistance method according to the present disclosure includes: A receiving step of receiving an operation by a vehicle occupant; A detection step of detecting a parking space; A route setting step of setting a parking route for the vehicle; A branch setting step of setting a branch road branching off from the parking route; an automatic parking step of automatically parking the vehicle along the parking path; having When a plurality of parking frames are detected in the detection step, The route setting step includes: A step of setting a parking route for parking the vehicle in a first parking frame, The branch setting step includes: A step of setting a branch point on the parking route and setting a branch path for parking the vehicle from the branch point to a second parking frame; In the automatic parking step, When the vehicle is automatically parked along a first parking path, A step of receiving a change instruction operation for changing the target parking frame; a step of automatically parking the vehicle along the branch road when the change instruction operation is detected in the step of receiving the change instruction operation; Further includes:

[0007] The parking assistance device according to the present disclosure is an operation reception unit that receives an operation by a vehicle occupant; A parking space detection unit that detects a parking space; A route setting unit that sets a parking route for the vehicle; A driving control unit that automatically parks the vehicle along the parking path; Equipped with The route setting unit sets a branch road branching off from the parking route, When the parking frame detection unit detects a plurality of parking frames, The route setting unit sets a parking route for parking the vehicle in a first parking frame, The route setting unit sets a branch point on the parking route and sets a branch road for parking the vehicle from the branch point to a second parking frame, When the traveling control unit is automatically parking the vehicle along a first parking path, The operation reception unit receives a change instruction operation for changing the target parking frame, When the operation reception unit detects the change instruction operation, The driving control unit automatically parks the vehicle along the branch road.

[0008] The parking assistance program according to the present disclosure includes: The vehicle's computer A reception process for receiving an operation by a vehicle occupant; A detection process for detecting a parking space; A route setting process for setting a parking route for the vehicle; A branch setting process for setting a branch road branching off from the parking route; an automatic parking process for automatically parking the vehicle along the parking path; Run the command, When a plurality of parking frames are detected in the detection process, The route setting process includes: A process of setting a parking route for parking the vehicle in a first parking frame is included; The branch setting process includes a process of setting a branch point on the parking route and setting a branch path for parking the vehicle from the branch point to a second parking frame, In the automatic parking process, When the vehicle is automatically parked along a first parking path, A process of receiving a change instruction operation for changing the target parking frame; In the process of receiving the change instruction operation, when the change instruction operation is detected, automatically parking the vehicle along the branch road; The computer is caused to execute the following. Effect of the Invention

[0009] According to the present disclosure, the target parking frame can be changed without the need to visually check the screen or perform operations on the screen, and the vehicle can be automatically parked in the changed target parking frame without stopping along the way. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing a vehicle to which a parking assistance device according to an embodiment of the present invention can be applied. [Diagram 2] FIG. 2 is a diagram showing a network configuration of a system to which a parking assistance device is applied. [Diagram 3] FIG. 2 is a block diagram showing hardware that implements the functions of the parking assistance device. [Figure 4] FIG. 2 is a block diagram showing a parking assistance device. [Diagram 5] FIG. 1 is a diagram for explaining an example of forward parking using the parking assistance device. [Figure 6] FIG. 2 is a diagram for explaining an example of parking by reverse parking in the parking assistance device. [Figure 7] FIG. 2 is a diagram for explaining an example of parking by reverse parking in the parking assistance device. [Figure 8] FIG. 1 is a diagram for explaining an example of forward parking using the parking assistance device. [Figure 9] FIG. 1 is a diagram for explaining an example of forward parking using the parking assistance device. [Figure 10] FIG. 2 is a diagram for explaining an example of parking by reverse parking in the parking assistance device. [Figure 11] FIG. 1 is a diagram for explaining an example of forward parking using the parking assistance device. [Figure 12] FIG. 1 is a diagram for explaining an example of forward parking using the parking assistance device. [Figure 13] 4 is a flowchart showing an example of the operation of parking assistance control in the parking assistance device. [Figure 14] 4 is a flowchart showing an example of the operation of parking assistance control in the parking assistance device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (Embodiment) Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings. Fig. 1 is a diagram for explaining automatic parking by a vehicle 1 to which a parking assistance device 100 according to an embodiment of the present disclosure is applied. Fig. 2 is a diagram showing a vehicle 1 to which the parking assistance device 100 according to the present embodiment can be applied.

[0012] As shown in Fig. 1, a vehicle 1 is equipped with a camera 2 (see Fig. 2, etc.) that monitors the periphery of the vehicle, and is configured to be able to perform automatic parking in a parking lot with one or more parking spaces by a parking assistance device 100 shown in Fig. 3. A parking space is an area sandwiched between two approximately parallel parking frame lines. Each parking frame line is arranged at an interval greater than the width of the vehicle 1.

[0013] As shown in Fig. 1, cameras 2 are provided at four locations on the front, rear, left and right sides of the body of a vehicle 1. Each camera 2 is equipped with a fisheye lens and has a horizontal viewing range of 180 degrees or more (see dashed lines). Each camera 2 is mounted at a depression angle in order to capture the road surface, so when the range in which the road surface is captured is converted into a horizontal viewing range, a range of about 240 degrees of the road surface is captured by each camera 2. For example, the front and rear wheels and the side of the vehicle body are captured in an image captured by side cameras 2A provided on the left and right of the vehicle body.

[0014] As shown in FIG. 2, the vehicle 1 includes, in addition to the four cameras 2, an operation device 10, an HMI (human machine interface) device 20, a vehicle control device 30, and a parking assistance device 100. The operation device 10 is for a driver (passenger) to manually operate, and includes a physical switch on a panel at the driver's seat, a software switch displayed on a touch panel, and other devices for driving operations such as a steering wheel, pedals, and gears. The HMI device 20 is used as an HMI for an occupant to input operations to the parking assistance device 100, such as a touch panel attached to a navigation device 40 provided in the vehicle 1. The touch panel may be included in the operation device 10, and various switches installed at the driver's seat may also be included in the operation device 10, so the operation device 10 and the HMI device 20 may be overlapping.

[0015] The vehicle control device 30 includes a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an input / output circuit (not shown). When an occupant operates the operation device 10, the vehicle control device 30 accepts the operation. In a normal driving mode, the vehicle control device 30 drives a motor (not shown) in response to operation information to control the steering angle and vehicle speed, and simultaneously outputs the operation information and vehicle information such as the steering angle and vehicle speed to a local area network (LAN: in-vehicle LAN, etc.). In a parking assistance mode, the vehicle control device 30 receives commands for speed and steering angle from the parking assistance device 100 via the LAN, and controls the speed and steering angle in response to the commands.

[0016] The parking assistance device 100 obtains operation information of the operation device 10 via the LAN because the vehicle control device 30 monitors the operation of the operation device 10. The occupant can operate the parking assistance device 100 via the HMI device 20. The parking assistance device 100 may receive the position information of the vehicle 1 output by the navigation device 40 via the LAN, or may obtain the position information directly from the navigation device 40. The camera 2 always outputs the captured image to the parking assistance device 100, and even when parking assistance is not performed, the parking assistance device 100 generates and outputs a display image showing the surroundings of the vehicle from the captured image. In addition, the above-mentioned touch panel also functions as a display that outputs the display image generated by the parking assistance device 100, so the parking assistance device 100 and the HMI device 20 are directly connected. The parking assistance device 100 may directly receive information on the operation performed on the touch panel, or may receive the information via the LAN. In addition, the parking assistance device 100 can receive the position information of the vehicle 1 output by the navigation device 40 via the LAN.

[0017] The functions of the parking assistance device 100 may be implemented in the hardware shown in FIG. 3. The parking assistance device 100 includes a CPU 101, a ROM 102, a RAM 103, an I / O (input / output interface) 104, and an IMP (Image Processor) 105. The parking assistance device 100 may be a computer in which each element is connected by a bus. Furthermore, a plurality of elements may be accommodated in one chip, or one element may be composed of a plurality of chips. The bus may not be a single one, but may be a combination of a plurality of types of buses. For example, the CPU 101, the ROM 102, the RAM 103, and the IMP 105 accommodated in one chip may be connected by a parallel bus, and the I / O 104 composed of a plurality of chips may be connected to the chip accommodating the CPU 101, etc., by a serial bus.

[0018] The CPU 101 controls the entire parking assistance device 100. The ROM 102 is an electrically rewritable memory that stores the programs executed by the CPU 101 and also functions as a non-volatile data storage area, and retains data and the like even when the parking assistance device 100 is turned off. The RAM 103 is used for temporary storage as a working area for the CPU 101. For example, data that only needs to be temporarily stored, such as the latest surrounding image, is stored in the RAM 103. The RAM 103 has a capacity that can store multiple surrounding images. The IMP 105 is a processor with improved processing performance specialized for image processing, and executes the processing of the image acquisition unit 130, the parking frame detection unit 140, and the notification unit 180 shown in FIG. 4.

[0019] The above-mentioned camera 2 constantly outputs the captured camera image to the parking assistance device 100. Even when parking assistance is not being performed, the parking assistance device 100 generates and outputs a display image showing the periphery of the vehicle 1 from the camera image. As shown in FIG. 4, the parking assistance device 100 has an operation reception unit 110, a state management unit 120, an image acquisition unit 130, a parking space detection unit 140, a route setting unit 150, a driving control unit 160, a storage unit 170, and a notification unit 180.

[0020] The operation receiving unit 110 receives operation information indicating operations by a driver, including a driving operation.

[0021] The state management unit 120 manages the parking assistance state (state) according to the operation information and the state of the vehicle. The control from the start of the parking assistance device 100 to the completion of automatic parking is performed by transitioning the state according to a transition condition predetermined for each state managed by the state management unit 120 and executing a process determined for each state. The parking assistance state may be set, for example, as shown below in state 0 to state 9.

[0022] State 0 is a stopped state, in which vehicle 1 is stopped. State 1 is a driving state, in which vehicle 1 is driving and has not detected a parking space. State 2 is a detection state, in which vehicle 1 is driving and has detected a parking space. State 3 is a detection state, in which a parking space is detected. State 4 is a setting state, in which a route is set. State 5 is a reception state, in which a parking instruction is received.

[0023] State 6 is a query state, which is a state for accepting an approval action to approve automatic parking. State 7 is a self-driving state, which is a state in which automatic parking is being performed. State 8 is a response state, which is a state for changing the route. State 9 is a completion state, which is a state in which automatic parking is completed.

[0024] The above states are examples. In the above example, a parking space is detected while the vehicle 1 is traveling, but parking space detection may be started while the vehicle 1 is stopped, and the operation of the occupant may be accepted in state 0 (stopped state), and the operations from route setting (state 4) to approval of automatic parking (state 6) may be executed while the vehicle remains stopped. Since the present application is characterized by the operations after the start of automatic parking, the operations and state configurations before the start of automatic parking may be arbitrary.

[0025] The image acquisition unit 130 acquires a camera image and generates a surrounding image showing the surroundings of the vehicle 1. The surrounding image may be an overhead image in which the camera image is projected onto the road surface, may be an image in another format, or may be the camera image as it is. In this embodiment, the surrounding image is assumed to be an overhead image.

[0026] The parking space detection unit 140 extracts white lines from the peripheral image. Next, the parking space detection unit 140 generates pairs of white lines from the extracted white lines, evaluates the pairs of white lines, and determines whether they meet the conditions of a parking space. For example, when the parking space detection unit 140 detects a pair of white lines from the peripheral image, if the following three conditions are met: the two white lines are parallel on the road surface, the two white lines are longer than the vehicle length, and the distance between the two white lines is greater than the vehicle width, the parking space detection unit 140 determines that a parking space in which the vehicle 1 can be parked has been detected. The parking space detection unit 140 outputs the coordinates of the four corners of a rectangle (i.e., a parking space) whose long sides are the pairs of white lines. These coordinates are relative coordinates based on the host vehicle when the peripheral image was captured. When the vehicle 1 moves, the absolute coordinates of the parking space can be obtained by correcting the amount of movement of the vehicle 1.

[0027] When a parking space where a parked vehicle is parked is viewed from the aisle side, a part of the white line is hidden by the parked vehicle, so the parking space detection unit 140 does not detect this parking space. In other words, all parking spaces detected by the parking space detection unit 140 are vacant parking spaces. Since a parking space where a parked vehicle exists is not subject to automatic parking and is not detected, in the following description, the parking space detected by the parking space detection unit 140 is simply referred to as a parking space.

[0028] In addition, the parking frame detection unit 140 may detect multiple parking frames at once. In this case, the parking frame selected by the occupant or the state management unit 120 according to a predetermined criterion among the multiple parking frames is set as the target parking frame.

[0029] The route setting unit 150 sets a target parking position in the center of the target parking frame, and sets a parking path from the current position to the target parking position so that the vehicle body is parallel to the long side of the target parking frame when parked at the target parking position. Specifically, the route setting unit 150 configures a parking path by combining straight sections and curved sections. The curved section is configured by an arc or a combination of arcs. When the set value of the turning radius or steering angle of the arc is determined, the curvature of the curved section is determined, and when the length of the arc or the central angle of the arc is determined, the distance traveled through the curved section is determined. Furthermore, when the length of the straight section is determined, the set value of the entire route is determined. In other words, the process of route setting can be said to be a process of breaking down the route into sections and setting the set value of each section.

[0030] The driving control unit 160 controls the steering angle and the vehicle speed so that the vehicle 1 drives along the set parking path. More specifically, if the section in which the vehicle is driving is a straight section, the driving control unit 160 sets the target value of the steering angle to 0 degrees, and if the section in which the vehicle is driving is a straight section, the steering angle corresponding to the turning radius is set as the target value of the steering angle. The target value of the vehicle speed may be a constant value, for example, 5 km / h may be set as the target value of the vehicle speed. The driving control unit 160 outputs the instruction values ​​of the steering angle and the vehicle speed to the vehicle control device 30 based on the target values ​​of the steering angle and the vehicle speed. The instruction value is a value obtained by multiplying the target value by feedback correction. The driving control unit 160 calculates the actual values ​​of the steering angle and the vehicle speed based on the measurement values ​​output by the vehicle control device 30. For example, the actual value of the vehicle speed is calculated from the measurement value of the rotation speed of the wheels and data on the outer circumference of the wheels. The actual value of the steering angle may be a measurement value obtained from the steering device, or may be calculated based on the inner wheel difference calculated from the difference in the rotation speed of a plurality of wheels. When there is a difference between the target values ​​and the actual measured values, the cruise control unit 160 corrects the command values ​​of the steering angle and the vehicle speed so that the actual measured values ​​of the steering angle and the vehicle speed become equal to the target values ​​of the steering angle and the vehicle speed. In other words, the cruise control unit 160 feedback controls the steering angle and the vehicle speed of the vehicle 1.

[0031] The driving control unit 160 tracks the position and direction of the vehicle 1 while it is traveling based on the calculated actual measurement values ​​of the steering angle and vehicle speed, and changes the target values ​​of the steering angle and vehicle speed accordingly. For example, when the vehicle travels a curved section and travels a set distance, it determines that the curved section is over, and changes the target value of the steering angle to 0 degrees. In addition, the driving control unit 160 calculates the traveling trajectory of the vehicle 1 based on the actual measurement values ​​of the steering angle and vehicle speed during automatic traveling or manual traveling. The traveling trajectory may be calculated in the form of movement information in which the travel distance, the travel direction, and the angle of the vehicle body are recorded for each unit time. The form of the movement information is not limited to this, and may be, for example, in the form of coordinate information recorded for each unit time.

[0032] During automatic driving, the driving control unit 160 compares the parking route set by the route setting unit 150 with the driving trajectory represented by the movement information, and corrects the steering angle so that the driving trajectory follows the parking route. For example, when the vehicle 1 reverses while turning with a steering angle, if the driving trajectory passes outside the parking route as viewed from the center point of the turn, the driving control unit 160 increases the instruction value of the steering angle to reduce the turning radius. This causes the driving trajectory of the vehicle 1 to be pulled back toward the parking route.

[0033] In automatic parking, since it is sufficient to drive along an automatically set parking route with the steering angle automatically controlled, the driving control unit 160 may automatically control only the steering and let the occupant control the vehicle speed. For example, the driving control unit 160 may suppress the acceleration of the vehicle 1 only when the vehicle speed exceeds 5 km / h, and allow the occupant to park at a vehicle speed preferred by the occupant when the vehicle speed is 5 km / h or less. In this embodiment, automatic parking is performed by automatic driving (automatic control of the steering angle and vehicle speed), but it may also be performed by automatic steering.

[0034] The storage unit 170 temporarily stores input data and output data of the processing performed by each part of the parking assistance device 100, and supports the processing of each part. For example, the storage unit 170 stores the data of the front camera image acquired by the image acquisition unit 130, and allows the parking space detection unit 140 to refer to it. The storage unit 170 also stores the position information of the parking space detected by the parking space detection unit 140, and allows the path setting unit 150 to refer to it. The storage unit 170 also stores the parking path set by the path setting unit 150, and allows the driving control unit 160 to refer to it. The storage unit 170 also stores the time when the front camera image was captured, the time when the vehicle 1 turned, the time when the vehicle 1 got on the center line of the parking space and started to travel straight, and the like, and stores how far the vehicle 1 has moved since that time. This makes it possible to always specify where the vehicle 1 is located with respect to the parking space, even if the vehicle 1 changes its position from moment to moment. In other words, the processing performed by each part of the parking assistance device 100 is organically combined in the storage unit 170.

[0035] The notification unit 180 generates a display image based on a camera image or a surrounding image. The display image may be an overhead image that overlooks the surroundings of the vehicle 1 from above. In other words, the notification unit 180 may output the overhead image as the display image.

[0036] The notification unit 180 displays a message or a figure by superimposing it on the display image in response to a request from the state management unit 120. For example, when starting automatic parking, the notification unit 180 may display a semi-transparent rectangle indicating the position of the parking space detected by the parking space detection unit 140 by superimposing it on the overhead image, and may display the route from the vehicle to the target parking position calculated by the route setting unit 150 with a dotted line.

[0037] The message may not only be displayed on the image, but may also be read aloud. Alternatively, the message may be output only as a voice. Specifically, the state management unit 120 issues a command to specify one of the preset texts and output it, and in response, the notification unit 180 generates an image of a character string corresponding to the specified text, superimposes it on the display image, and outputs it to the HMI device 20. At the same time, the notification unit 180 outputs the voice data that was saved together with the text to the HMI device 20 together with the display image. This allows the occupant to receive the message even if he or she is not looking at the HMI device 20.

[0038] Next, the details of automatic parking in the parking assistance device 100 will be described. Fig. 5 is a diagram for explaining an example of parking by forward parking in the parking assistance device 100 according to this embodiment. Note that an orthogonal coordinate system (X, Y) is used in the explanation of Fig. 5 etc., and the same orthogonal coordinate system (X, Y) is also used in the drawings described later. In the orthogonal coordinate system, the X direction indicates the left-right direction, and the Y direction indicates the up-down direction.

[0039] In the example shown in FIG. 5, a parking lot is shown in which four parking frames S1 to S4 are arranged in order from the negative side of the X direction. The parking frame S1 is a parking frame sandwiched between the parking frame lines L1 and L2, the parking frame S2 is a parking frame sandwiched between the parking frame lines L2 and L3, the parking frame S3 is a parking frame sandwiched between the parking frame lines L3 and L4, and the parking frame S4 ​​is a parking frame sandwiched between the parking frame lines L4 and L5. In the example shown in FIG. 5, the vacant parking frames are S2 and S3, and the vehicle 1 is proceeding from the negative side of the X direction to the positive side of the X direction through a passage facing the four parking frames S1 to S4. In addition, each parking frame line is inclined at about 60 degrees with respect to the course toward the positive side of the X direction.

[0040] In FIG. 5, the trajectory of the representative point of the vehicle 1 is shown as the driving path. Here, the midpoint of the two rear wheels of the vehicle 1 is set as the point representing the position of the vehicle 1 (the representative point of the vehicle 1). In the path shown in FIG. 5, when the vehicle 1 is moving straight along the passage, automatic parking with the parking space S2 as the target parking space is started, and turning toward the parking space S2 is started at the position of P1, but the target parking space is changed from the parking space S2 to the parking space S3 at the position of P2, and automatic parking is continued. P1 is the position corresponding to the parking space S1, and is the turning start position when parking in the parking space S2 by automatic parking by forward parking. P2 is the position on the path of automatic parking to the parking space S2, and the vehicle 1 changes its course from here in a direction parallel to the passage. A point where the course changes to another path from the middle of the parking path, such as P2, is called a branch point. For example, P2 is a branch point where the path toward the parking space S2 branches into the path toward the parking space S3.

[0041] When the vehicle 1 is moving straight along the passage, the parking assistance device 100 automatically selects a target parking frame and starts automatic parking. For example, among the parking frames for which a parking path can be set, the parking frame S2, which is the parking frame with the shortest parking path, is selected. Then, the vehicle 1 soon starts turning from the turning start position P1 toward the parking frame S2, but the parking frame intended by the occupant may be S3, not S2.

[0042] In this way, examples of cases where the occupant intends to park in the next parking space instead of the nearest parking space include a case where there is a guide in the passage and instructs the occupant to park closer to parking space S3, which is further back than parking space S2, or a case where there is a following vehicle behind the vehicle 1 and the occupant considers that the following vehicle can park in parking space S2. Other examples include a case where the passenger in the front passenger seat thinks that S3 is more convenient than S2 when getting off the vehicle, or a case where there is a fallen object or a puddle in parking space S2.

[0043] If the occupant thinks that the parking position is better at S3 and notices that the target parking frame selected by the parking assistance device 100 is S2 before the start of automatic parking, it may be possible to change the target parking frame before the start of automatic parking. However, since the vehicle 1 moves straight until it starts turning at the turning start position P1 after the start of automatic parking, it is impossible to notice that the target parking frame is S2 from the behavior of the vehicle 1 before the start of automatic parking, so this possibility is low. Therefore, in order to be able to change to the automatic parking intended by the occupant even after the start of automatic parking, the following means are used to make it possible to change the target parking frame after the start of automatic parking.

[0044] For example, when automatic parking is started by a left turn signal lever operation as a trigger when parking frames S2 and S3 are detected by the parking frame detection function activated while the vehicle 1 is traveling, the turn signal lever operation, which is the same means as the instruction to start automatic parking, may be accepted as an instruction to change the target parking frame. For example, the target parking frame may be changed when an operation in the opposite direction to the instruction to start automatic parking is detected. Specifically, if automatic parking is started when a left turn signal lever operation is detected, the parking assistance device 100 may change the target parking frame from S2 to S3 when a right turn signal lever operation is detected during the execution of automatic parking.

[0045] In addition, when automatic parking is started by a leftward steering operation as a trigger, the steering operation, which is the same means as the instruction to start automatic parking, may be accepted as an instruction to change the target parking frame. For example, when a rightward steering operation is detected during the execution of automatic parking, the parking assistance device 100 may change the target parking frame from S2 to S3.

[0046] Such operation of the turn signal lever or steering wheel is preferable because it allows the occupant to operate the touch panel while keeping an eye on the surroundings, and does not interfere with monitoring the surroundings of the vehicle 1, as compared to having the occupant operate a touch panel while the vehicle 1 is moving. However, there are cases where the passenger in the front passenger seat decides the parking position, or where the passenger in the front passenger seat notices a problem with the parking space. Therefore, as a means for changing the parking position, the operation of the turn signal lever or steering wheel is the basic method, and a touch panel operation that can be performed by the passenger in the front passenger seat may also be included.

[0047] For example, when the vehicle 1 is stopped and automatic parking is started by operating the touch panel, the operation of the touch panel during the execution of automatic parking may be an operation of changing the target parking frame. Specifically, when the touch operation to the parking frame S2 displayed on the screen of the touch panel is detected, the parking assistance device 100 may start automatic parking, and when the touch operation to the parking frame S3 on the screen is detected during the execution of automatic parking, the parking assistance device 100 may change the target parking frame from S2 to S3.

[0048] Fig. 6 is a diagram for explaining an example of automatic parking by reverse parking in the parking assistance device 100 according to the present embodiment. In the example shown in Fig. 6, a parking lot in which four parking spaces S1 to S4 are arranged is shown, similar to Fig. 5, but each parking space in Fig. 6 is perpendicular to the X direction.

[0049] Also, K0 to K3 in FIG. 6 are examples of routes for automatic parking. Route K0 is a route to the parking frame S3, and is a route in the case where the target parking frame is not changed on the way. Route K1 is a route to the parking frame S2, and branches off from the route K0 at a branch point B1. Route K1 is a route in the case where the target parking frame is changed at an early point. Route K2 is a route to the parking frame S2, and is a route branched off from the route K0 at a branch point B2. The position of the branch point B2 is closer to the parking frame S3 than the branch point B1, and the route K2 is a route in the case where the target parking frame is changed at a slightly later point. Route K3 is a route to the parking frame S2, and is a route branched off from the route K0 at a branch point B3. Route K3 is a route in the case where the target parking frame is changed at a later point than the case of route K2, and therefore the position of the branch point B3 is even closer to the parking frame S3 than the branch point B2. The paths K1 to K3 are paths branched off from the path K0, and may be called branch paths.

[0050] For example, when performing automatic parking in the parking space S2, the route setting unit 150 of the parking assistance device 100 sets a route K0 to the parking space S2 before starting reverse movement. Then, after starting reverse movement, the driving control unit 160 of the parking assistance device 100 controls the steering angle and the vehicle speed so that the vehicle 1 follows the route K0. Then, consider a case where the target parking space is changed while the vehicle 1 is driving on the route K0. Here, assuming that the route setting unit 150 sets a route for parking in the parking space S2 with the current position of the vehicle 1 as the starting point, the vehicle 1 continues to drive while the route setting is being processed, so that the vehicle 1 passes the starting point of the route before the route setting is completed. In other words, in the conventional route setting process in which a route for parking in a parking space with the current position of the vehicle 1 as the starting point is set, it is not possible to set a branch road while continuing driving.

[0051] If the vehicle 1 is stopped when the target parking frame is changed and a route is set to park in another parking frame starting from the stopping position, a branch route can be set even with the conventional route setting process. However, if the vehicle 1 stops during automatic parking, the time required for parking increases, which reduces convenience. In addition, since route setting starts after the vehicle stops and the starting point of the route is determined, the time required for automatic parking increases for the route setting.

[0052] As a means for avoiding this problem, a branch processing function for setting a branch is implemented in the route setting unit 150, and a branch route is set by the branch processing function. This process for setting a branch route is called branch setting or branch processing. The branch processing is the following process. For example, when the target parking frame is changed when the vehicle is at the position of point B1, the route setting unit 150 of the parking assistance device 100 sets a point on the route K0 that is in the traveling direction from the current position of the vehicle 1, for example, point B3, as a branch point, and sets a route K3 that branches from the branch point B3 and parks in the parking frame S2. The distance from the current position of the vehicle 1 to the branch point B3 may be, for example, 3 m. While the route setting unit 150 is setting the route K2, the driving control unit 160 causes the vehicle 1 to drive along the route K0. Since the setting of route K2 needs to be completed by the time vehicle 1 reaches branch point B3, the distance from the current position of vehicle 1 to branch point B3 may be determined according to the time required for route setting, or the vehicle speed of vehicle 1 may be controlled so that vehicle 1 does not reach branch point B3 until the setting of route K2 is completed.

[0053] In this way, the problem of passengers having to wait while the vehicle stops and reroutes is avoided, but some problems remain.

[0054] First, if the driver starts the branching process after instructing the driver to change the target parking frame, the driver may misunderstand that the driver's instruction to change the target parking frame has not been accepted because the vehicle 1 does not change course until the branching process is completed, and may perform unnecessary or excessive operations. In particular, if the driver instructs the driver to change the target parking frame by operating the steering wheel, the driver may turn the steering wheel excessively, causing the vehicle 1 to deviate significantly from the route K0.

[0055] In addition, if the branch point is located near the parking frame, the time required for parking may be longer. For example, if the target parking frame is changed when the vehicle 1 is located at point B2, the branch point set by the route setting unit 150 is located closer to the parking frame S3 than point B3. Then, the vehicle 1 cannot park in the parking frame S2 without turning from that position, and the route has to stop once, move forward, stop again, and move backward toward the parking frame S2, which may take longer than the route set by stopping at point B2.

[0056] Therefore, it is preferable to perform a branching process to set a branching route before starting automatic parking, and to set branching points B1 to B3 discretely on the route K0 to set the route in advance. When the target parking frame is changed, the parking assistance device 100 branches at any of the branching points B1 to B3 (i.e., follows any of the routes K1 to K3) to automatically park the vehicle 1 in the parking frame S2. If the starting point (i.e., the branching point) of the branching route is set in advance, the route setting unit 150 of the parking assistance device 100 can set the route in advance, so there is no need to stop the vehicle for route setting.

[0057] When the target parking frame is changed, the parking assistance device 100 may select which of the routes K1 to K3 to follow depending on the position of the vehicle 1 when the target parking frame is changed. For example, when the target parking frame is changed before the branch point B1, the parking assistance device 100 selects the route K1. Also, when the target parking frame is changed beyond the branch point B1 and before the branch point B2, the parking assistance device 100 selects the route K2. Also, when the target parking frame is changed beyond the branch point B2 and before the branch point B3, the parking assistance device 100 selects the route K3. When the target parking frame is changed beyond the branch point B3, the parking assistance device 100 may reverse the vehicle 1 to the branch point B3 of the route K0, for example, and run the route K3 from the branch point B3.

[0058] In this way, by setting branch points discretely and changing course at the nearest branch point in the traveling direction when a target parking frame change instruction is given, the upper limit of the time from when the driver gives an instruction to change the target parking frame to when the vehicle 1 changes course can be reduced. In the illustrated example, the number of branch points is three, but by increasing the number of branch points and shortening the intervals, it becomes possible to branch at a closer branch point, so the time from when a target parking frame change instruction is given to when the course is changed can be shortened.

[0059] Also, Fig. 7 shows another example of automatic parking by reverse parking in the parking assistance device 100. In Fig. 7, the target parking frame at the start of automatic parking is S2, and the target parking frame after the change is S3. That is, while the target parking frame is changed to the side closer to the starting position in Fig. 6, the target parking frame is changed to the side farther from the starting position in Fig. 7.

[0060] K4 to K7 in FIG. 7 are examples of routes for automatic parking. Route K4 is a route to the parking frame S2, and is a route when the target parking frame is not changed on the way. Route K5 is a route to the parking frame S3, and is a route branching off from the route K4 at the branch point B5 when the target parking frame is changed at an early time. Route K6 is a route to the parking frame S3, and is a route branching off from the route K4 at the branch point B6 when the target parking frame is changed at a slightly later time. Route K6 is a route when the target parking frame is changed at a later time than the route K5, so the position of the branch point B6 is closer to the parking frame S2 than the branch point B5. Route K7 is a route to the parking frame S3, and is a route branching off from the route K4 at the branch point B7 when the target parking frame is changed at an even later time. Route K7 is a route when the target parking frame is changed at a later time than the route K6, so the position of the branch point B7 is closer to the parking frame S2 than the branch point B6. The routes K5 to K7 are routes branching off from the route K4, and may be called branch routes.

[0061] When two adjacent parking spaces are detected, the parking assistance device 100 may optimize the initial parking path (path K0 in FIG. 6, path K4 in FIG. 7) so that the driver can easily recognize the target parking space. For example, the path K0 in FIG. 6 is a path that makes the vehicle 1 go straight from the starting position of the automatic parking to the vicinity of the entrance of the parking space S3, whereas the path K4 in FIG. 7 is a path that makes the vehicle 1 turn immediately from the starting position of the automatic parking.

[0062] In this way, if the parking route is set so that the movement of the vehicle 1 is different immediately after the start of automatic parking, the occupant can recognize whether the target parking frame is S2 or S3 at an early stage. In other words, even if the occupant does not check the target parking frame or has a mistaken impression of the target parking frame, the occupant can be made aware that the target parking frame is S2 or S3 by the movement of the vehicle 1 immediately after the start of automatic parking. For example, if the occupant is late in noticing that the target parking frame is an unintended parking frame and the time to change the target parking frame is delayed, a turnaround may be required, which may lengthen the time required from the start of automatic parking to the completion of parking. In other words, by setting the route so that the target parking frame is known from the start of the movement of the vehicle 1, the occurrence of time loss may be avoided.

[0063] The initial parking route (route K0 in FIG. 6, route K4 in FIG. 7) may be optimized so that the straight section is longer. In the example of FIG. 6, branch points B1 to B3 are located in the straight section of route K0, making it easier to set the starting point of the route. Also, in the example of FIG. 7, branch points B6 and B7 are located in the straight section of route K4, and the curved section of route K6 and the curved section of route K7 are in a parallel movement relationship, so the setting values ​​(turning radius and central angle) of the curved section of route K6 can be used to set route K7.

[0064] Next, a case will be described in which the driver operates the turn signal lever while the vehicle 1 is moving to park forward into a parking space on the left side, and the target parking space is changed after automatic parking starts. The parking lots shown in Fig. 8 and Fig. 9 have an angle of about 60 degrees between the parking space and the direction of the passage (X direction), similar to the parking lot shown in Fig. 5. Fig. 8 shows an example in which the only available parking space is S2, and Fig. 9 shows an example in which the available parking spaces are S2 and S3.

[0065] In the case of forward parking, when there are a plurality of vacant parking spaces, it is better to devise a parking route so that the target parking space can be found quickly. In FIG. 8, when only the parking space S2 is detected, the path setting unit 150 of the parking assistance device 100 sets the turning radius of the turning section where the vehicle 1 turns to the standard turning radius R1. On the other hand, as shown in FIG. 9, when the parking spaces S2 and S3 are detected and the parking space S2 is set as the target parking space, the path setting unit 150 may set the turning radius R2 of the turning section where the vehicle 1 turns to be larger than the turning radius R1 when only the parking space S2 is detected. This makes it possible to start turning the vehicle 1 to the parking space S2 quickly.

[0066] In this way, the occupant can be made aware at an early stage that the target parking frame is S2 and not S3, so that the occupant can have more time to give an instruction to change the parking frame. In addition, when the turning radius is large, the acceleration felt by the occupant is small, so that it is easier to give an instruction to change the parking frame. Furthermore, when the turning radius is large, the approach of the vehicle 1 to the parking frame is slow, so that it is more likely that the branch point of the route can be set at a safer position farther away from the parking frame.

[0067] In addition, the notification to inform the occupant of the parking operation may be devised to make the occupant aware of the target parking frame early. For example, as shown in FIG. 11, when there are multiple vacant parking frames, the notification including the location of the target parking frame may be made, such as "Parking in the parking frame in front." Or, the timing of the notification of the parking operation may be made earlier. For example, the notification "Turning left" may be made earlier than the timing of steering. The timing of the message or notification may be changed depending on whether there is one vacant parking frame or multiple vacant parking frames. For example, when there is one vacant parking frame, the voice message "Turning left" may be output one second before the start of turning, and when there are multiple vacant parking frames, the voice message "Turning left toward the parking frame in front" may be output three seconds before the start of turning.

[0068] In this way, it is possible to determine early that the target parking frame is S2, and if the parking frame the driver intends to park is S3, the driver can instruct the driver to change the parking frame early. For example, if the driver instructs the driver to change the parking frame before the steering point A, the vehicle will head toward the parking frame S3 without turning at the steering point A, and the driver can automatically park more smoothly.

[0069] Returning to FIG. 6 and FIG. 7, the timing of route setting by the route setting unit 150 of the parking assistance device 100 will be described. The route setting of the initial route of automatic parking (route K0 in FIG. 6, route K4 in FIG. 7) must be completed before the start of automatic parking, but the timing of route setting of the branch roads starting from the branch points set in the middle of the initial route (routes K1 to K3 in FIG. 6, routes K5 to K7 in FIG. 7) may be changed as necessary. If many routes are set in advance and the intervals between the branch points are shortened, the route can be changed in a short time in response to a change instruction of the target parking frame, which provides a good usability, but this requires high processing power. Therefore, all the branch roads may be set before the start of automatic parking, but if this is not possible, some of the branch roads may be set before the start of automatic parking, and the setting of the remaining branch roads may be continued even after the start of automatic parking.

[0070] For example, in Fig. 6, if the target parking frame is changed before the vehicle 1 reaches the branch point B1, the route for automatic parking changes from the branch point B1 to the route K1, so the routes K2 and K3 may not be set until the vehicle 1 reaches the branch point B1. If a target parking frame change instruction is given before the vehicle 1 reaches the branch point B2 after passing the branch point B1, the route for automatic parking changes from the branch point B2 to the route K2, so the setting of the route K2 may be completed before the vehicle 1 reaches the branch point B2. In this case, the parking assistance device 100 may control the vehicle speed so that the setting of the route K2 is completed before the vehicle 1 reaches the branch point B2, or may set the interval between the branch points based on the time required for the route setting and the vehicle speed.

[0071] Also, the route setting unit 150 of the parking assistance device 100 may set only one branch point and set a branch path after the start of automatic parking. For example, in FIG. 6, the route setting unit 150 sets only the branch point B3 and sets only the route K3 after the start of automatic parking. In this case, when the target parking frame is changed, the route branches from the branch point B3 to the route K3 regardless of the time when the target parking frame is changed. Since the route K3 only needs to be set before the vehicle 1 reaches the branch point B3, the processing performance of the processing circuit can be kept lower than when the routes K1 to K3 are set one after another. In other words, if the branch points and routes are reduced, the hardware cost may be reduced.

[0072] In addition, if the number of branch points is reduced, the time from when the occupant instructs the change of the target parking frame to when the behavior of the vehicle 1 changes becomes longer on average. Also, as described above, even if the branch points and branch paths are not set in advance and the branch points and branch paths are set when the change of the target parking frame is instructed, the time until the branch is similarly long, so the reaction may be evaluated as slow. Therefore, when the parking assistance device 100 accepts the change of the target parking frame, it may immediately notify the acceptance of the instruction and subsequently notify the driver that the course will change soon. This can improve the impression of the occupant.

[0073] Also, from the viewpoint of placing importance on power efficiency, it is most efficient not to set a branch point or a branch route in advance, but to set a branch point when the parking assistance device 100 accepts a change in the target parking frame, and to set only one route. However, if the position of the branch point is determined at the time of changing the target parking frame, it may not be possible to determine whether parking can be performed without turning from that position until the route is set, and it may not be possible to properly notify the occupant. In other words, although there are cases where turning (stopping) is required, it is not possible to notify the presence or absence of turning at the time the change in the target parking frame is accepted. Therefore, the route setting unit 150 may set only the branch point B3 in advance, for example, and start route setting at the latest when automatic parking starts, so that the setting of the route K3 is completed when the vehicle 1 reaches the branch point B3. Then, if the target parking frame is changed before the vehicle 1 reaches the branch point B3, it is sufficient to notify that the vehicle will branch when the vehicle 1 reaches the branch point B3, and if the target parking frame is changed after the vehicle 1 reaches the branch point B3, it is sufficient to notify that the vehicle will branch after returning to the branch point B3. In other words, if a branch point is set in advance, even if the calculation of the branch route is not completed, the driver can be notified of the presence or absence of a stop at the time when the target parking frame is changed.

[0074] The parking space for which the path setting unit 150 of the parking assistance device 100 sets the path may be a parking space up to the second candidate among the parking spaces that can be parked without stopping during automatic parking. In other words, the path setting unit 150 sets a parking route for parking in the first candidate parking space and a branch road for parking in the second candidate parking space. Hereinafter, the description will be given with reference to FIG. 10.

[0075] For example, in the case of FIG. 10, the vehicle 1 in the solid line can park in the parking stalls S2, S3, and S4 without stopping on the way, but cannot park in the parking stall S1 without stopping on the way. This is because the turning radius of the vehicle 1 has a lower limit, and the turning motion of the vehicle 1 is restricted. For example, even if the vehicle 1 turns with the minimum turning radius from the position of the vehicle 1 in the solid line of FIG. 10, the vehicle 1 reaches the far end of the parking stall S1 before the left and right rear wheels enter the parking stall S1, so the vehicle cannot move back further to make the vehicle body parallel to the parking stall line. In order for the vehicle 1 in the solid line to park in the parking stall S1, it is necessary to move forward once and then start reverse parking.

[0076] Changing the target parking frame after the start of automatic parking is characterized by the fact that parking can be completed in a short time without stopping along the way, so there is no need to expand the scope to include parking frames that require stopping along the way. This is because if the number of parking frames to be processed increases, the cost associated with the amount of processing and processing time increases, and if the vehicle stops along the way, the time required for parking does not change much even if the route is set while the vehicle is stopped.

[0077] In the case of Fig. 10, if there is no instruction from the occupant, the parking assistance device 100 may set the parking frame S2 as the first candidate and the parking frame S3 as the second candidate. If the instruction from the occupant is the parking frame S3, the parking assistance device 100 may set the parking frame S3 as the first candidate and set the parking frame S2, which is closer to the vehicle 1, as the second candidate among S2 and S4. There are cases where the occupant wishes to park in the parking frame S4, but even if it corresponds to the case where the occurrence probability is low, the expected value of the effect is small, so it is better to avoid an increase in costs.

[0078] In addition, even in the case of forward parking, the movement of the vehicle 1 is restricted by the minimum turning radius. For example, as shown in Fig. 11, steering points A, B, and C can be set corresponding to the parking spaces S2, S3, and S4, so that the vehicle body fits into the center of the parking space when the vehicle 1 is turned from the point with the minimum turning radius. For example, the steering point A is the position where the vehicle 1 can enter the center of the parking space S2 when the vehicle 1 is turned from the point with the minimum turning radius.

[0079] In this case, if the vehicle 1 does not turn at the steering point A and drives straight ahead before entering the parking space S2, the vehicle body will not fit into the parking space S2 due to the constraints of the minimum turning radius unless the vehicle turns back on the way to the parking path. Similarly, for other parking spaces such as parking space S3 and parking space S4, the vehicle cannot be parked correctly unless the vehicle turns back from a position beyond the steering point B or the steering point C. In reverse parking, the final stroke is started after the vehicle stops once, whereas in forward parking, the vehicle usually enters the parking space without stopping temporarily, so that speedy parking without stopping is also required in automatic parking. In other words, in automatic parking for forward parking, turning back is not permitted, so the vehicle will not be automatically parked in a parking space beyond the corresponding steering point.

[0080] For example, when the driver passes the steering point A in a straight line and instructs automatic parking before the steering point B, the parking assistance device 100 starts automatic parking with the parking frame S3 as the target parking frame, and follows a parking path that drives straight to the steering point B and starts turning the vehicle 1 at the steering point B. If the driver instructs the vehicle 1 to change the target parking frame to the parking frame S4 ​​while driving straight to the steering point B, the parking assistance device 100 switches the automatic parking path to a parking path that drives straight to the steering point C, starts turning at the steering point C, and enters the parking frame S4. However, if the driver instructs the vehicle 1 to change the target parking frame to the parking frame S2 while driving straight to the same steering point B, the vehicle 1 passes the steering point A while driving straight, so even if the vehicle 1 is instructed to change the target parking frame to the parking frame S2 after passing the steering point A, the vehicle 1 cannot park in the parking frame S2 without turning (non-stop). That is, in forward parking, changing the target parking frame to the preceding parking frame is not effective, and only changing the target parking frame to the next parking frame is effective.

[0081] In this way, in forward parking, the target parking frame can be changed to the next parking frame, but the target parking frame cannot be changed to the previous parking frame. To accommodate this, the parking assistance device 100 may automatically select the target parking frame. For example, when automatic parking is instructed at a point beyond the steering point A and before the steering point B, the parking assistance device 100 automatically selects the parking frame S3 as the target parking frame and starts automatic parking. Then, when an operation is performed to instruct the target parking frame to be changed to the parking frame S4, the parking assistance device 100 accepts the change of the target parking frame, but when an operation is performed to instruct the target parking frame to be changed to the parking frame S2, the parking assistance device 100 does not accept the change of the target parking frame.

[0082] For example, when the occupant turns the steering wheel lightly to the left at a position beyond steering point A but before steering point B, and the operation reception unit 110 of the parking assistance device 100 receives this as an instruction for automatic parking, the notification unit 180 of the parking assistance device 100 announces, "Parking to the left. Please release the steering wheel." When the occupant releases the steering wheel in response, the parking assistance device 100 starts automatic parking of the vehicle 1.

[0083] Having the occupant release the steering wheel is a procedure for preventing the automatic steering from being hindered, and may be performed at the necessary timing as necessary. For example, when the occupant presses the parking space detection button while the vehicle 1 is moving straight through an aisle in a parking lot, the parking assistance device 100 may have the occupant release the steering wheel and start automatic steering. In this way, if the occupant is not steered to maintain the course, when the occupant operates the steering wheel, it can be accepted as an instruction to start automatic parking or an instruction to change the target parking space. For example, when automatic steering is started, if the operation of turning the steering wheel lightly to the left is detected, this is determined to be an instruction to start automatic parking, and automatic parking is started, and the notification unit 180 may notify "Parking to the left" and turn the vehicle 1 to the left at the steering point B.

[0084] After starting turning at steering point B, if the driver's intended parking frame is S4, when the driver turns the steering wheel lightly to the right, this is accepted as an instruction to change the target parking frame, and the target parking frame can be changed to the next parking frame, S4. As described above, in forward parking, the target parking frame can be changed to the next parking frame, but it cannot be changed to the parking frame in front, so when the steering wheel is lightly turned to the right, the driver is notified that "the target will be changed to the right frame," whereas when the steering wheel is lightly turned to the left, the driver is notified that "parking in the left frame is not possible," and the driver continues entering the parking frame S3.

[0085] In addition, the means for instructing the start of automatic parking or the means for changing the target parking frame may be the operation of a turn signal lever or a predetermined button operation. For example, when the turn signal lever is tilted to the left, a message "Parking to the left" may be announced, and when the turn signal lever is tilted to the right during automatic parking, a message "The target will be changed to the right frame" may be announced. In the case of the turn signal lever, since the turn signal lever cannot be tilted further to the left from the state in which it is tilted to the left, it is intuitively understood that the target parking frame cannot be changed to the frame on the left (i.e., the frame in front).

[0086] In forward parking, in addition to steering angle control such as automatic steering, speed control may be added. For example, automatic forward parking tends to have a faster vehicle speed than reverse parking, in which the vehicle is stopped once and then reversed toward a parking space. Therefore, the parking assistance device 100 may decelerate the vehicle 1 at the time of receiving a change instruction so that the occupant can have time to check announcements, etc., the acceleration felt by the occupant due to the steering angle change, and the time margin for setting a branch road can be increased. This control has a certain effect even in reverse parking, so the parking assistance device 100 may decelerate the vehicle 1 on the condition that a change instruction is received.

[0087] In forward parking, a branch point may be set on the way of the parking route, as in the case of reverse parking. Specifically, the parking assistance device 100 may set a branch road for parking in the next parking space, starting from the set branch point, before starting automatic parking. For example, the branch road may be divided into a first curved section, a first straight section, a last curved section, and a last straight section, and the turning radius of the curved section and the inclination of the straight section may be determined in advance, or the branch road may be determined when a change instruction is received.

[0088] For example, as shown in FIG. 12, the inclination of the last straight section (straight section toward the parking position) of the branch road toward the parking stall S3 with respect to the direction of the passage (the path of the vehicle to the steering point A) is the same as the inclination of the center line of the parking stall S3, and since the parking stall S3 is parallel to the parking stall S2, the inclination of the last straight section of the branch road can be the same as the inclination of the last straight section of the parking path to the parking stall S2. In other words, it is not necessary to newly calculate some of the setting values ​​of the branch road, and the setting values ​​of the existing parking path can be reused. In addition, if it is previously determined that the first straight section of the branch road is parallel to the direction of the passage (the path of the vehicle to the steering point A), it is not necessary to calculate the inclination of the first straight section. Then, the central angle of the arc that the vehicle 1 turns between the first straight section and the last straight section of the branch road is the same as the central angle of the arc on the parking path to the parking stall S2, so the turning radius is also the same, and all the setting values ​​of the calculated curved section can be reused. In order to make the first straight section of the branch road parallel to the passage, the arc from the steering point A to the branch road is rotated 180 degrees around the branch road, and the first curved section of the branch road is made to be the first curved section of the branch road. In other words, the inclination of the straight section of the branch road for parking in the parking space S3, the turning radius of the curved section and the length of the arc are determined at the time of the change instruction, so there is no need to calculate them. In this way, most of the setting values ​​of the branch road can be reused as the setting values ​​of the parking path to the parking space S2.

[0089] The initial parking route setting value cannot be reused, and the setting value of the branch road to be newly set is only the length of the two straight sections, but since the amount of processing is small, it is possible to process it after receiving the change instruction, or to set several branch points in advance and set the branch road before the change instruction. Since the length of this straight section depends on the length of the arc from the steering point A to the branch point, it is better to assume the length of multiple arcs discretely and set it in advance.

[0090] Also, if the timing of the change instruction is early and the position where the change instruction is received is close to the aisle, the vehicle may be returned to the aisle. For example, if the change instruction is given immediately after starting to turn at the steering point A in FIG. 11, the vehicle will return to the aisle, go straight on the aisle, start turning at the steering point B, and park in the parking space S3. If the vehicle is returned to the aisle, the vehicle can continue to run on the aisle, so it can also be used when the occupant gives a change instruction in succession. If the occupant gives a successive instruction to change the target parking space and the vehicle continues to run at a position close to the parking space, as in the first straight section of the branch road in FIG. 12, it is dangerous when the vehicle approaches a parking space with a parked vehicle. Therefore, for example, when the vehicle is in the first straight section of the branch road in FIG. 12, if the occupant further gives an instruction to change the target parking space and indicates an intention not to park in the parking space S3, the vehicle may be returned to the aisle. If the vehicle is returned to the aisle, the above-mentioned danger will be eliminated, so if the vehicle can be returned to the aisle, it may be returned to the aisle as much as possible.

[0091] In addition, if the timing of the change instruction is late and the vehicle receives the change instruction when it is close to the parking space, it may be necessary to turn around in order to park correctly in the next parking space. In such a case, the vehicle may be automatically parked along a route that includes turning around, but as described above, turning around goes against the request for forward parking (speedy parking), so it may be possible to notify the driver that "change is not possible" and continue parking in the original parking space. In other words, the change instruction may not be accepted depending on the vehicle's position when the change instruction is received.

[0092] Also, the timing of receiving the change instruction may be before the start of turning. For example, the notification unit 180 of the parking assistance device 100 may announce "parking in the space in front" before starting turning to enter a parking space, and if the occupant does not agree, the target parking space may be changed to the next space. If the change instruction is received before starting turning, the vehicle heads to the next space without starting turning, so the operation of changing to the next space without approaching the parking space may be called a skip. It may be said that automatic parking starts when an automatic parking instruction is issued, but since it does not appear that automatic parking is being executed while driving in the passage from the outside, automatic parking may be considered to start when turning is started and the parking space is approached, and the driving after starting turning to enter the parking space may be called automatic parking. In this case, this skip can be called a change of the target parking space before the start of automatic parking. Here, if the means for instructing skip (changing the target parking frame before the start of automatic parking) is set to be the same as the means for changing the target parking frame after the start of automatic parking, the driver can change the target parking frame without considering whether it is before or after the start of automatic parking. Also, since the change instruction is accepted even after the start of turning, the driver can instruct the change as soon as he or she notices it, and there is no need to change the instruction method depending on the timing.

[0093] For example, if the driver turns the turn signal lever to the left before the steering point A to indicate automatic parking, and when the vehicle 1 approaches the steering point of the parking space S2, an announcement is made saying "We will park in this parking space." If the driver decides not to park in the parking space S2 and returns the turn signal lever to neutral, an announcement is made saying "We will skip," and the vehicle 1 continues to move straight without steering. Alternatively, if the driver decides not to park after the vehicle 1 starts to turn left and returns the turn signal lever to neutral, an announcement is made saying "We will skip," and the vehicle 1 returns to the original passage.

[0094] In this way, the same result is obtained for the same operation, and even if the timing is delayed, the vehicle can be parked in the intended parking space, allowing the occupants to use automatic parking with peace of mind.

[0095] In addition, the operation of instructing the change of the parking frame may be a predetermined button operation, and the occupant who instructs the change of the parking frame may be a passenger in the passenger seat, not a driver. For example, after automatic parking with the parking frame S2 as the target parking frame is started in response to the passenger in the passenger seat pressing the hazard lamp button before the steering point A, the passenger in the passenger seat may notice that there is a problem with the parking frame S2. In addition, the passenger in the passenger seat may press the hazard lamp button with the intention of parking the vehicle in the parking frame S3, but may press the button too early, and may notice that the vehicle 1 is heading toward an unintended parking frame when the vehicle 1 starts turning toward the parking frame S2. In such a case, the parking assistance device 100 may accept the re-pressing of the hazard lamp button as an instruction to change the parking frame.

[0096] In addition, the parking assistance device 100 may inquire about the intention to change the target parking frame using the HMI device 20 when a predetermined button such as a hazard lamp button is operated. This is because an occupant may operate a button even if he or she does not intend to change the target parking frame. When an inquiry is made, the parking assistance device 100 may accept the intention to change the target parking frame through a touch panel of the HMI device 20 so that the passenger in the passenger seat can operate it, or may accept it through the driver's operation such as the operation of the steering wheel or the turn signal lever. In addition, the predetermined button is not limited to a physical button such as a hazard lamp button, and may be a software button displayed on a touch panel.

[0097] In addition, the parking assistance device 100 may decelerate or stop the vehicle 1 when inquiring about the intention to change the target parking frame. For example, if the vehicle 1 stops temporarily, the progress of automatic parking stops, so the occupant can take enough time to check the message inquiring about the intention and to operate to change the target parking frame, and if the vehicle is stopped, the occupant does not need to visually check the surroundings of the vehicle. In addition, since the occupant may turn on the hazard lamp when there is some kind of problem, the parking assistance device 100 may decelerate the vehicle 1 in parallel with the inquiry of the intention on the condition that the hazard lamp has been operated.

[0098] From here, we will explain the problem when the operation to instruct the change of the parking frame is steering. For example, when steering is the means to instruct the start of automatic parking, if the target parking frame can be changed by steering, which is the same means as the instruction to start automatic parking, it will be easily accepted as a means to change the target parking frame. In addition, since the steering is used as a means to change the course, it is easy to imagine as a means to change the target parking frame, so even if the instruction means for automatic parking is not steering, steering is easily accepted as a means to change the target parking frame.

[0099] However, when the steering wheel is used as the means for changing the target parking frame, problems arise associated with this.

[0100] For example, when the steering wheel is operated to instruct a change in the target parking frame, the course of the vehicle 1 may change and deviate from the set parking path. In automatic parking, the vehicle 1 drives while feedback-controlling the steering angle so that the vehicle 1 drives along the set path. If the deviation from the path is small, the vehicle 1 will return to the set path through feedback control, but if the deviation is large, the return will be delayed or may not return at all.

[0101] Therefore, the parking assistance device 100 may control the deviation from the path that occurs when the steering wheel is operated as a means for changing the target parking frame to be smaller. For example, when the parking assistance device 100 detects steering wheel operation during automatic parking, it may immediately notify the driver that a target parking frame change instruction has been received and prompt the driver to release the steering wheel so that the steering angle quickly returns to the state before the steering wheel operation. For example, the parking assistance device 100 may prompt the driver to release the steering wheel by notifying the driver that "Please release the steering wheel" or vibrating the steering wheel.

[0102] Furthermore, when the parking assistance device 100 detects steering wheel operation during automatic parking, the driving control unit 160 instructs the electric power steering (EPS: Electric Power Steering Systems) to generate a reaction force against the steering wheel operation (torque in the opposite direction to the steering direction) to suppress a change in the steering angle caused by the steering wheel operation. However, if the EPS generates a reaction force, there is a possibility that the driver may be prevented from avoiding danger when steering the vehicle for the purpose of avoiding danger.

[0103] Therefore, for example, when the rate of change of the steering torque or the steering angle exceeds a predetermined threshold value, or when the steering continues despite the above-mentioned notification or vibration of the steering wheel, the parking assistance device 100 may determine that the steering is being performed for the purpose of avoiding danger. When it is determined that the steering is being performed for the purpose of avoiding danger, the parking assistance device 100 may generate torque in the forward direction relative to the steering direction of the occupant to assist the steering. Conversely, when the rate of change of the steering torque or the steering angle is small, the parking assistance device 100 may assume that the steering is not for the purpose of avoiding danger and generate a reaction force until the vibration of the steering wheel ends.

[0104] Specifically, the parking assistance device 100 controls the EPS in the following manner. If the steering torque is less than the first threshold, it is judged as noise and ignored (it is not judged as an avoidance operation or a change instruction). If the steering torque is equal to or greater than a second threshold value that is greater than the first threshold value, a forward torque is generated to assist the steering (the steering is determined to be an avoidance maneuver). When the steering torque is equal to or greater than the first threshold and less than the second threshold, a reverse torque is generated to vibrate the steering wheel. If the steering torque is equal to or greater than the first threshold value even after a predetermined time has elapsed since the start of vibration, it is determined to be an avoidance maneuver, vibration is stopped, and forward torque is generated to assist steering. If the steering torque falls below the first threshold within a specified time from the start of vibration, it is determined that a change command has been issued, vibration is stopped, and automatic steering is initiated to join the route or a branching road.

[0105] When the parking assistance device 100 controls in this way, the driver can either turn the steering wheel hard or ignore the vibration and continue to turn the steering wheel when steering to avoid danger, and can receive steering assistance. Also, when instructing a parking space change, the driver can reduce the amount of change in the course (deviation width) caused by steering intervention by turning the steering wheel lightly and for a short period of time. If the steering wheel operation is too weak, it will be ignored, so the driver can turn the steering wheel until it vibrates, and then release it.

[0106] In addition, if the driver finds a problem during automatic parking, the brakes may be applied. For example, if the driver finds a pedestrian in the parking space, the brakes are applied. If an adjacent parking space is available at this time, the driver may wait until the pedestrian leaves the parking space, or may change the parking space and continue automatic parking.

[0107] Therefore, when the parking assistance device 100 detects the operation of the brake during automatic parking in a place where there are consecutive vacant parking spaces, it may inquire whether there is an intention to change the target parking space. The intention to change may be accepted by any of the above-mentioned parking space change instruction means. In other words, the intention to change may be accepted by the operation of the steering wheel or the turn signal lever, or by the operation of the touch panel. After the vehicle 1 is stopped by the operation of the brake, there is no problem if the driver looks at or operates the touch panel.

[0108] If the driver releases the brake without performing any operation in response to the inquiry, the parking assistance device 100 may continue automatic parking without changing the parking space, or may keep the vehicle 1 stopped until an operation indicating the driver's intention is performed.

[0109] In addition, when both the steering wheel and the brake are operated during automatic parking, there is a higher probability that the operation is for avoiding danger than when only the steering wheel is operated. Therefore, the parking assistance device 100 may lower the second threshold value for determining torque when both the steering wheel and the brake are operated compared to when only the steering wheel is operated, so that the EPS is more likely to generate torque that assists the steering operation rather than torque that opposes the steering operation. Alternatively, the parking assistance device 100 may prohibit the EPS from generating torque that opposes the steering operation or generate forward torque that assists the steering operation, on the condition that both the steering wheel and the brake are operated.

[0110] Next, an operation example of the parking assistance device 100 will be described. Figures 13 and 14 are flowcharts showing an operation example of parking assistance control in the parking assistance device 100. The parking assistance device 100 is activated when the parking space detection button is pressed by the occupant. This control, that is, the control shown in the flowchart, starts when the parking assistance device 100 and its parking space detection unit 140 are activated and the parking space detection is turned ON.

[0111] In the initial state at the start, the vehicle 1 may be stopped or may be traveling. The parking assistance device 100 according to the present embodiment may support both automatic parking in forward parking and automatic parking in reverse parking, or may support only one of them. Here, it is assumed that whether the automatic parking is forward parking or reverse parking has already been determined at the start. For example, if the parking space detection button is pressed when the gear of the vehicle 1 is in the forward position, forward parking may be determined at that time. Also, if the parking space detection button is pressed when the gear is in the reverse position after the vehicle 1 turns from a straight state and stops, reverse parking may be determined at that time. In the parking assistance device 100, the operation of the button and the gear is received by the operation reception unit 110, and the judgment and the management of the judgment result are performed by the state management unit 120. In other words, it is assumed that the state management unit 120 has determined by the start time whether the automatic parking is to be performed in forward parking or reverse parking.

[0112] 13, the state management unit 120 of the parking assistance device 100 judges whether the number of detected parking spaces is 0 based on the detection result of the parking space detection unit 140 (step S101). If the number of detected parking spaces is 0 (step S101, YES), the process returns to step S101. That is, the process of step S101 is repeated until the parking space detection unit 140 detects a parking space.

[0113] On the other hand, if the number of detected parking spaces is not 0 (step S101, NO), the state management unit 120 judges whether the number of detected parking spaces is 1 (step S102). If the result of the judgment is that the number of detected parking spaces is 1 (step S102, YES), the parking space detection unit 140 sets a parking path (step S103). In step S103, a parking path corresponding to one detected parking space is set, and the parking path set by the parking space detection unit 140 is stored in the storage unit 170.

[0114] On the other hand, if the number of detected parking spaces is two or more (step S102, NO), the route setting unit 150 of the parking assistance device 100 sets a parking path and a branch road branching from the parking path (step S104). In step S104, a parking path for parking in a first candidate parking space among the detected parking spaces, and a branch road for parking in a second candidate parking space from a branch point on the way of the parking path are set. The first candidate parking space and the second candidate parking space are parking spaces selected from the multiple parking spaces based on the conditions for parking the vehicle 1. For example, in the case of forward parking, among the parking spaces having a steering point in the traveling direction of the vehicle 1, the parking space closest to the vehicle 1 may be set as the first candidate parking space, and the parking space second closest to the vehicle 1 may be set as the second candidate parking space. In addition, in the case of backward parking, among the multiple parking spaces, the parking space with the shortest distance from the rear end of the vehicle may be set as the first candidate parking space, and the parking space with the second shortest distance may be set as the second candidate parking space.

[0115] After step S103 or step S104, the notification unit 180 notifies the start of automatic parking and inquires whether to approve the automatic parking (step S105). In step S105, for example, an announcement such as "Automatic parking will start, so please release the steering wheel" may be made.

[0116] Next, the state management unit 120 judges whether or not an approval action (for example, an action corresponding to the inquiry, such as releasing the steering wheel) has been detected (step S106). If the result of the judgment is that the approval action has not been detected (step S106, NO), the state management unit 120 repeats the process of step S106. On the other hand, if the approval action has been detected (step S106, YES), the driving control unit 160 of the parking assistance device 100 starts automatic driving, and the state management unit 120 sets the initial value of the variable m to 1 (step S107). m is the number of the branch road, and the branch road that has been set is the m-th branch road, and the branch road to be set next is the m+1-th branch road. In the process of step S107, m is set to 1 in response to the case where the second candidate parking route (the first branch road) has been set in the process of step S104. If the number of detected parking spaces is 1, there is no branch road that has been set, so m and the number of set branch roads do not match, but if the number of detected parking spaces is 1, there is no problem because m is not referenced.

[0117] Next, the state management unit 120 judges whether the number of detected parking frames is 1 (step S108). This is a step for dividing the process into a case where there is no change in the target parking frame and a case where there is a change in the target parking frame. If the number of detected frames is 1 (step S108, YES), the process branches to B and transitions to step S119. The process from step S119 is a process of normal automatic parking without a change in the target parking frame, and does not refer to the number m of the branch road. On the other hand, if the number of detected frames is 2 or more (step S108, NO), the process from step S109 onwards when there is a change in the target parking frame is started. First, in step S109, the route setting unit 150 sets the m+1-th branch road (step S109). The m+1-th branch road is the next branch road that branches at a branch point beyond the branch point of the nearest branch road (the m-th branch road), and the vehicle sets the next branch road while automatically parking.

[0118] At the time when automatic parking starts, m is 1, and since branch road 1 (the first of the parking routes for parking in the second candidate parking frame) branching off at the first branch point (branch point 1) has already been set, the branch road set in step S109 is branch road 2 branching off at the next branch point 2. In other words, by setting branch road m+1 branching off at the next (m+1)th branch point before the mth branch point, a branch road branching off at a branch point in the traveling direction is always set.

[0119] Next, the state management unit 120 judges whether or not the steering wheel is operated (step S110). The steering wheel operation is an example of an operation to instruct the target parking frame change. If the result of the judgment is that the steering wheel operation is not detected (step S110, NO), as shown in FIG. 14, the state management unit 120 judges whether or not the vehicle 1 has passed the m-th branch point (step S111).

[0120] If the result of the determination is that the vehicle 1 has passed the m-th branch point (step S111, YES), the state management unit 120 updates m to m+1 (step S112). After step S112, or if the vehicle 1 has not passed the m-th branch point in step S111 (step S111, NO), the parking assistance device 100 evaluates the distance traveled by the vehicle 1 and determines whether the vehicle 1 has arrived at the end point of the parking route (target parking position) (step S113).

[0121] If the result of the determination is that the vehicle 1 has not arrived at the end point (step S113, NO), the process returns to step S109. That is, the process returns to setting of the branching road again, and the next branching road is set every time the vehicle 1 passes a branching point. On the other hand, if the vehicle 1 has arrived at the end point (step S113, YES), the process proceeds to step S120, where the vehicle stop sequence is executed to end the automatic parking. That is, if multiple parking spaces are detected, automatic parking is executed while setting the branching road, and if no steering operation instructing a change in the target parking space is detected during that time, the vehicle is parked in the original parking space and the process ends.

[0122] Returning to the judgment of step S110, if a steering operation is detected (step S110, YES), the process proceeds to D. After D, the process corresponds to the instruction to change the target parking frame. As shown in FIG. 14, the process proceeds from D to step S114, the notification unit 180 turns on the vibrator, and the state management unit 120 sets the timer to 0 (step S114). In this step S114, the process of accepting the change of the target parking position is started. Specifically, the vibrator vibrates the steering wheel, and the timer measures the duration of the vibration. That is, the steering wheel is vibrated to notify that an instruction to change the target parking position has been detected. Also, while the steering wheel is vibrating, a control to maintain the course may be added by simultaneously generating a torque against the steering with the EPS.

[0123] Note that an evaluation of steering torque may be added to step S110. For example, the state management unit 120 of the parking assistance device 100 may evaluate the steering torque when detecting the steering operation, and may set YES only when the steering torque is equal to or greater than a first threshold value and less than a second threshold value, that is, when the condition for determining that the steering is for avoiding danger is not met. If the steering torque is evaluated to be equal to or greater than the second threshold value, it may be determined that the steering is for avoiding danger, and the process may branch to step S117 via a transition not shown in the figure, and the automatic parking may be terminated.

[0124] If it is determined that the instruction is to change the target parking frame (step S110, YES), the state management unit 120 vibrates the steering wheel in step S114, and then determines whether or not the steering wheel is released (step S115). If the result of the determination is that the steering wheel is not released (step S115, NO), the state management unit 120 determines whether or not the timer is counting for one second or more (step S116).

[0125] As a result of the determination, if the timer count is not 1 second or more (step S116, NO), the process returns to step S115. That is, if the vibration time of the steering wheel is less than 1 second, the detection of steering wheel release is continued. On the other hand, if the timer count is 1 second or more (step S116, YES), the parking assistance device 100 turns off the vibrator, notifies the end of automatic parking (step S117), and ends this control after step S117. The reason for ending automatic parking is to deal with the case where the occupant continues to operate the steering wheel to avoid danger, and because steering control is not possible if the occupant continues to hold the steering wheel. In other words, if the steering wheel continues to be steered for 1 second or more, it is determined that the occupant needs to manually control the steering wheel, or that it is difficult to continue automatic steering, and the automatic parking is ended. In addition, after step S117, a control to assist steering by generating a torque in the forward direction with the EPS may be added.

[0126] Returning to the judgment of step S115, if the release of the steering wheel is detected (step S115, YES), the notification unit 180 of the parking assistance device 100 turns off the vibrator, and the driving control unit 160 changes the parking route (step S118). In step S118, the parking route is changed to a route that passes through the mth branch road. In other words, if the steering wheel is steered for only a short time, it is determined that the instruction is to change the target parking frame, and the route is changed from the nearest branch point in the traveling direction to the branch road m.

[0127] Next, the state management unit 120 determines whether the vehicle 1 has arrived at the end point (target parking position) of the parking route (step S119). Since the information on the parking route includes information on the distance to the end point of the parking route, in step S119, it is determined whether the vehicle 1 has traveled the distance to the end point.

[0128] If the result of the determination is that the vehicle 1 has not reached the end point (step S119, NO), the process of step S119 is repeated. On the other hand, if the vehicle 1 has reached the end point (step S119, YES), the parking assistance device 100 executes a stopping sequence (step S120). The stopping sequence includes a notification that automatic parking has ended and turning on the parking brake. After step S120, this control ends.

[0129] According to the present embodiment configured as above, when a plurality of parking frames are detected, the parking assistance device 100 sets a parking route for parking the vehicle in a first parking frame, sets a branch point on the parking route, and sets a branch road for parking the vehicle from the branch point to a second parking frame. Then, when the parking assistance device 100 detects a change instruction operation for changing the target parking frame while the vehicle is being automatically parked along the first parking route, the parking assistance device 100 automatically parks the vehicle along the branch road.

[0130] This allows the parking position of the automatic parking to be changed from the first parking frame to the second parking frame by the change instruction operation. When the parking position is changed, the branch road for parking in the second parking frame has already been set, so automatic parking can be performed without stopping along the way. In other words, the time required for parking can be shortened when the parking position is changed to another parking frame.

[0131] In addition, since the setting related to the branch road is performed before the start of automatic parking, when a change instruction operation is made to change the parking position to the second parking frame, it is not necessary to temporarily stop the vehicle in order to set the branch road. Therefore, even if the parking position is changed to another parking frame, the vehicle 1 can be smoothly parked automatically.

[0132] In addition, at least one of the turning radius of the turning section of the branch road, the arc length of the turning section, or the angle of the straight section of the branch road is set based on the setting value of the first parking route, which makes it possible to simplify setting of the second parking route.

[0133] Furthermore, when the parking assistance device 100 detects a change instruction operation, it selects the nearest branch point from among the multiple branch points, drives along the first parking route to the nearest branch point, and automatically parks the vehicle along the branch path from the nearest branch point. This makes the driver feel that the vehicle is responsive because the time from when the driver issues a change instruction to when the vehicle changes course is short, improving usability.

[0134] In addition, the parking assistance device 100 sets the intervals between multiple branch points based on the time required to set a branch road, and sets the next branch road each time a branch point is passed. In this way, by dispersing the timing of setting the branch road, it is possible to set a branch road even if the processing performance is low. Therefore, the cost of the parking assistance device 100 can be reduced.

[0135] In addition, the parking assistance device 100 accepts operations that can be performed while monitoring the surroundings, such as the operation of the steering wheel or the turn signal lever, as change instruction operations, and does not require visual confirmation of the display screen or operation on the screen to change the target parking frame. Therefore, the parking position can be changed to another parking frame without impeding the safety confirmation of the surroundings of the vehicle. In addition, when a specific button operation is detected, it is accepted as a change instruction operation, so the passenger in the passenger seat can also give a change instruction.

[0136] Also, when any one of the steering force, steering time, and angular velocity of the steering operation exceeds a first threshold value and does not exceed a second threshold value, it is determined that a change instruction operation has been detected. This makes it possible to prevent erroneous determination that the steering operation is a change instruction operation when the steering operation is not a change instruction operation but a steering operation for avoiding danger.

[0137] Furthermore, if the steering operation does not exceed the second threshold, a torque that opposes the steering operation is generated by the electric power steering of the vehicle. This makes it possible to prevent the vehicle from deviating from the automatic parking route due to the influence of the change instruction operation. Furthermore, if the steering operation exceeds the second threshold, a torque that opposes the steering operation is not generated by the electric power steering. This makes it possible to prevent danger avoidance from being hindered when the steering operation is not a change instruction operation but an operation for danger avoidance.

[0138] Also, when both steering and braking operations are detected during automatic parking, the electric power steering is prevented from generating torque that opposes the steering operation, or the electric power steering is made less likely to generate torque that opposes the steering operation compared to when steering operation is detected but braking operation is not detected. This is because when both the steering wheel and the brake are operated during automatic parking, there is a higher probability that the operation is for avoiding danger than when only the steering wheel is operated, and this makes it possible to control steering for avoiding danger without interfering with it.

[0139] In addition, when a steering operation is detected, the steering wheel is vibrated, and when the force or torque applied to the steering wheel falls below a third threshold, it is determined that a change instruction operation has been detected. This notifies the occupant that a change instruction operation has been detected, and by having the occupant release the steering wheel, it is possible to prevent the vehicle from deviating from the parking path.

[0140] In addition, when multiple parking spaces are detected, the parking route is set by making the turning start time earlier, increasing the turning radius of the turning section, and lengthening the straight section, compared to the parking route set when only one parking space is detected. This allows the driver to sense the target parking position at an earlier point in time, and makes it easier to set the branch route.

[0141] In addition, when notifying the occupant of the vehicle's operation, the occupant is notified including the target parking position, or is notified at a timing earlier than the turning timing, so that the occupant can quickly recognize the target parking position.

[0142] In addition, when the vehicle is automatically parked along the first parking path, if any of the steering operation, the brake pedal operation, and the operation of a predetermined button is detected, a notification is issued to inquire about the intention to change the target parking frame. This allows the occupant to confirm whether the occupant's operation is an instruction to change the target parking frame, so that the vehicle can be automatically parked reliably in the parking frame desired by the occupant.

[0143] In addition, when a change instruction operation is detected, the vehicle speed is controlled to decelerate the vehicle, which allows the occupants time to check announcements, etc., reduces the acceleration felt by the occupants due to the steering angle change, and increases the time to set a branch route.

[0144] In addition, when a notification is made to inquire about the intention to change the target parking frame, the vehicle speed is controlled to decelerate the vehicle, so that time can be secured for the occupant to confirm the intention to change the target parking frame.

[0145] In addition, since the second parking frame is selected from the parking frame adjacent to the first parking frame, it is easy to set the parking path to the second parking frame branched from the parking path to the first parking frame. Also, the method of selecting the second parking frame can be simplified.

[0146] In addition, the above-mentioned embodiments are merely examples of the embodiment of the present disclosure, and the technical scope of the present disclosure should not be interpreted as being limited by them. In other words, the present disclosure can be embodied in various forms without departing from the gist or main features thereof. [Industrial Applicability]

[0147] The parking assistance device disclosed herein is useful as a parking assistance method, parking assistance device, and parking assistance program that can automatically park at the changed target parking space without stopping along the way, without the need to visually check the target parking space change screen or perform operations on the screen. [Explanation of symbols]

[0148] 1 vehicle 2 Camera 10 Operating device 20 HMI device 30 Vehicle control device 40 Navigation devices 100 Parking assistance device 101 CPU 102 ROM 103 RAM 104 I / O 105 IMP 110 Operation reception section 120 Status Management Unit 130 Image acquisition unit 140 Parking space detection unit 150 Route setting section 160 Driving control unit 170 Storage section 180 Notification Department

Claims

1. A receiving step of receiving an operation by a vehicle occupant; A detection step of detecting a parking space; A route setting step of setting a parking route for the vehicle; A branch setting step of setting a branch road branching off from the parking route; an automatic parking step of automatically parking the vehicle along the parking path; having When a plurality of parking frames are detected in the detection step, The route setting step includes: A step of setting a parking route for parking the vehicle in a first parking frame, The branch setting step includes a step of setting a branch point on the parking route and setting a branch path for parking the vehicle from the branch point to a second parking frame, In the automatic parking step, When the vehicle is automatically parked along a first parking path, A step of receiving a change instruction operation for changing the target parking frame; a step of automatically parking the vehicle along the branch road when the change instruction operation is detected in the step of receiving the change instruction operation; Further comprising: Parking assistance methods.

2. The branch setting step includes: A step of performing a part or all of the settings related to the branch road before starting the automatic parking, The parking assistance method according to claim 1 .

3. The branch setting step includes: The turning radius of the turning section of the branch road, Or, the arc length of the turning section, Or, the angle of the straight section of the branch path, At least one of Setting the first parking path based on a set value; The parking assistance method according to claim 1 .

4. The branch setting step includes a step of setting a plurality of branch points on the first parking route, In the automatic parking step, when the change instruction operation is detected, a nearest branch point is selected from a plurality of branch points; Travel along the first parking route to the nearest branch point; From the nearest branch point, the vehicle automatically parks along a branch road. The parking assistance method according to claim 1 .

5. The branch setting step includes: setting intervals between the plurality of branch points based on a time required to set the branch path, The branch setting step includes a step of setting the branch route when automatic parking is performed along the first parking path. The parking assistance method according to claim 4.

6. In the automatic parking step, when a steering operation, a turn signal lever operation, or a predetermined button operation is detected while the vehicle is being automatically parked along the first parking path, it is determined that the change instruction operation has been detected. The parking assistance method according to claim 1 .

7. In the automatic parking step, when any one of a steering force, a steering time, and an angular velocity of the steering operation exceeds a first threshold value and does not exceed a second threshold value, it is determined that the change instruction operation has been detected. The parking assistance method according to claim 6.

8. In the automatic parking step, generating a torque opposing the steering operation by an electric power steering of the vehicle when the value of the steering operation does not exceed the second threshold; When the value of the steering operation exceeds the second threshold, the electric power steering is not caused to generate a torque opposing the steering operation. The parking assistance method according to claim 7.

9. In the automatic parking step, when both the steering operation and the brake operation are detected, The electric power steering of the vehicle does not generate a torque counteracting the steering operation, or The electric power steering is made less likely to generate a torque counter to the steering operation, compared with a case where the steering operation is detected but the brake operation is not detected. The parking assistance method according to claim 7 or 8.

10. The vehicle has a function of vibrating the steering wheel, In the automatic parking step, vibrating the steering wheel when an operation of the steering wheel is detected; When the force or torque applied to the steering wheel becomes less than a third threshold value, it is determined that the change instruction operation has been detected. The parking assistance method according to claim 6.

11. In the step of setting the parking path, the parking path set when a plurality of parking frames are detected is compared with the parking path set when only one parking frame is detected, When parking forward or backward, the vehicle starts turning earlier, and In the case of forward parking, the turning radius of the turning section is larger, and In the case of the reverse parking, the distance of the straight line from the fulcrum of the route is longer. It corresponds to any of the following: The parking assistance method according to claim 1 .

12. The method further includes the step of notifying the occupant of the operation of the vehicle, and when a plurality of parking frames are detected, The step of notifying includes notifying a target parking position, or notifying the vehicle of the operation at a timing earlier than the timing of the operation of the vehicle; The parking assistance method according to claim 1 .

13. The method further includes a step of notifying the occupant of an intention to change the target parking frame, In the automatic parking step, when the vehicle is automatically parked along the first parking path, if any of a steering operation, a brake pedal operation, and a predetermined button operation is detected, a notification is made to inquire about an intention to change the target parking frame. The parking assistance method according to claim 1 .

14. In the automatic parking step, when the change instruction operation is detected, a speed of the vehicle is controlled so as to decelerate the vehicle. The parking assistance method according to claim 1 .

15. In the automatic parking step, when a notification is made to inquire about an intention to change the target parking frame, a speed of the vehicle is controlled so as to decelerate the vehicle.

14. The parking assistance method according to claim 13.

16. In the automatic parking step, the second parking frame is selected from the parking frames adjacent to the first parking frame. The parking assistance method according to claim 1 .

17. an operation reception unit that receives an operation by a vehicle occupant; A parking space detection unit that detects a parking space; A route setting unit that sets a parking route for the vehicle; A driving control unit that automatically parks the vehicle along the parking path; Equipped with The route setting unit sets a branch road branching off from the parking route, When the parking frame detection unit detects a plurality of parking frames, The route setting unit sets a parking route for parking the vehicle in a first parking frame, The route setting unit sets a branch point on the parking route and sets a branch road for parking the vehicle from the branch point to a second parking frame, When the traveling control unit is automatically parking the vehicle along a first parking path, The operation reception unit receives a change instruction operation for changing the target parking frame, When the operation reception unit detects the change instruction operation, The driving control unit automatically parks the vehicle along the branch road. Parking assistance device.

18. The vehicle's computer A reception process for receiving an operation by a vehicle occupant; A detection process for detecting a parking space; A route setting process for setting a parking route for the vehicle; A branch setting process for setting a branch road branching off from the parking route; an automatic parking process for automatically parking the vehicle along the parking path; Run the command, When a plurality of parking frames are detected in the detection process, The route setting process includes: A process of setting a parking route for parking the vehicle in a first parking frame is included; The branch setting process includes a process of setting a branch point on the parking route and setting a branch path for parking the vehicle from the branch point to a second parking frame, In the automatic parking process, When the vehicle is automatically parked along a first parking path, A process of receiving a change instruction operation for changing the target parking frame; In the process of receiving the change instruction operation, when the change instruction operation is detected, automatically parking the vehicle along the branch road; causing the computer to execute Parking assistance program.

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