Parking support device and parking support method

Abstract

To set vehicular behavior to a state suited for travel by automatic operation, when a vehicle travels automatically on a travel route based on teacher travel.SOLUTION: A parking support device performs automatic travel of a vehicle based on teacher travel by a driver. The parking support device comprises a learning part, a change part, a vehicle control part, and an output control part. The learning part learns a travel route, the speed, the steering angle of the vehicle, and a brake operation for parking the vehicle at a parking position, based on teacher travel by a driver. The change part changes the speed or brake operation in automatic travel from the speed or brake operation in the teacher travel, based on either regulations related to automatic travel or geographical information. The change part changes the speed or the brake operation of automatic travel on the travel route learned in the teacher travel. The vehicle control part moves the vehicle by automatic operation based on the travel route. The output control part notifies a vehicle occupant when the speed or the brake operation has been changed.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] Conventionally, parking assistance technologies that move a vehicle by automatic driving when parking a vehicle are known. One such parking assistance technology is a technology that learns a driving route based on a teacher driving by a driver and performs parking assistance using the learning results. This technology is used when the driver repeatedly parks in a fixed parking position, such as a parking lot at the driver's home or workplace. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6022447 Summary of the Invention [Problem to be solved by the invention]

[0004] However, since teacher driving is performed manually by the driver, the vehicle speed and steering operation during teacher driving are not necessarily suitable for automatic driving.

[0005] The present disclosure provides a parking assistance device and a parking assistance method that can make the behavior of a vehicle suitable for autonomous driving when the vehicle is autonomously driving along a driving route based on teacher driving. [Means for solving the problem]

[0006] The parking assistance device according to the present disclosure performs automatic driving of a vehicle based on teacher driving by a driver. The parking assistance device includes a learning unit, a change unit, a vehicle control unit, and an output control unit. The learning unit learns a driving route for parking the vehicle in a parking position and a speed, a steering angle, and a braking operation of the vehicle during teacher driving based on the teacher driving by the driver. The change unit changes the speed or braking operation of the vehicle during automatic driving from the speed or braking operation during teacher driving based on either a regulation regarding automatic driving of the vehicle or geographic information regarding the road conditions around the vehicle. In addition, the change unit changes the speed of the vehicle during automatic driving on the driving route learned in teacher driving, or changes the braking operation of the vehicle so that the vehicle stops temporarily. The vehicle control unit moves the vehicle by automatic driving based on the driving route. When the change unit changes the speed or the braking operation, the output control unit notifies a vehicle occupant of the vehicle that the vehicle will behave differently from the teacher driving. Effect of the Invention

[0007] According to the parking assistance device and parking assistance method disclosed herein, when a vehicle automatically drives along a driving route based on teacher driving, the behavior of the vehicle can be made suitable for automatic driving. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of a vehicle equipped with a parking assistance device according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of a configuration in the vicinity of a driver's seat of a vehicle according to the first embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of a hardware configuration of the parking assistance device according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of parking assistance according to the first embodiment. [Diagram 5] FIG. 5 is a block diagram showing an example of functions provided in the parking assistance device according to the first embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of a notification according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of the flow of the parking assistance process executed by the parking assistance device according to the first embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of the flow of the driving route correction and automatic driving process executed by the parking assistance device according to the first embodiment. [Figure 9] FIG. 9 is a flowchart showing an example of the flow of the driving route information change process according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of a parking assistance device and a parking assistance method according to the present disclosure will be described with reference to the drawings.

[0010] (First embodiment) Fig. 1 is a diagram showing an example of a vehicle 1 equipped with a parking assistance device 100 according to the first embodiment. As shown in Fig. 1, the vehicle 1 includes a vehicle body 12 and two pairs of wheels 13 arranged along a predetermined direction on the vehicle body 12. The two pairs of wheels 13 include a pair of front tires 13f and a pair of rear tires 13r.

[0011] The front tire 13f shown in Fig. 1 is an example of a first wheel in this embodiment. The rear tire 13r is an example of a second wheel in this embodiment. Although the vehicle 1 shown in Fig. 1 has four wheels 13, the number of wheels 13 is not limited to this. For example, the vehicle 1 may be a two-wheeled vehicle.

[0012] The vehicle body 12 is coupled to wheels 13 and can move by the wheels 13. In this case, the predetermined direction in which the two pairs of wheels 13 are arranged is the running direction (movement direction) of the vehicle 1. The vehicle 1 can move forward or backward by switching gears (not shown) or the like. The vehicle 1 can also turn right or left by steering.

[0013] The vehicle body 12 has a front end F, which is an end on the front tire 13f side, and a rear end R, which is an end on the rear tire 13r side. The vehicle body 12 has a substantially rectangular shape when viewed from above, and the four corners of the substantially rectangular shape may be called ends. The vehicle 1 also includes a display device, a speaker, and an operation unit, which are not shown in FIG.

[0014] A pair of bumpers 14 are provided at the front and rear ends F, R of the vehicle body 12 near the lower end of the vehicle body 12. Of the pair of bumpers 14, the front bumper 14f covers the entire front surface and part of the side surface near the lower end of the vehicle body 12. Of the pair of bumpers 14, the rear bumper 14r covers the entire rear surface and part of the side surface near the lower end of the vehicle body 12.

[0015] At predetermined ends of the vehicle body 12, wave transmitting / receiving units 15f, 15r for transmitting and receiving sound waves such as ultrasonic waves are disposed. For example, one or more wave transmitting / receiving units 15f are disposed at the front bumper 14f, and one or more wave transmitting / receiving units 15r are disposed at the rear bumper 14r. Hereinafter, when the wave transmitting / receiving units 15f, 15r are not particularly limited, they are simply referred to as the wave transmitting / receiving unit 15. In addition, the number and positions of the wave transmitting / receiving units 15 are not limited to the example shown in FIG. 1. For example, the vehicle 1 may be provided with wave transmitting / receiving units 15 on the left and right sides.

[0016] In this embodiment, a sonar using ultrasonic waves will be described as an example of the wave transmitting and receiving unit 15, but the wave transmitting and receiving unit 15 may be a radar that transmits and receives electromagnetic waves. Alternatively, the vehicle 1 may be equipped with both a sonar and a radar. Also, the wave transmitting and receiving unit 15 may simply be called a sensor.

[0017] More specifically, the wave transmitting / receiving unit 15 includes a wave transmitting unit that transmits sound waves such as ultrasonic waves or electromagnetic waves, and a wave receiving unit that receives reflected sound waves that are the sound waves or electromagnetic waves transmitted from the wave transmitting unit and reflected by an object. The wave transmitting / receiving unit 15 detects obstacles around the vehicle 1 based on the results of transmitting and receiving the sound waves or electromagnetic waves. The wave transmitting / receiving unit 15 also measures the distance between the vehicle 1 and obstacles around the vehicle 1 based on the results of transmitting and receiving the sound waves or electromagnetic waves.

[0018] The vehicle 1 also includes a first imaging device 16a that images the area in front of the vehicle 1, a second imaging device 16b that images the area behind the vehicle 1, a third imaging device 16c that images the area to the left of the vehicle 1, and a fourth imaging device that images the area to the right of the vehicle 1. The fourth imaging device is not shown in the figure.

[0019] Hereinafter, when the first imaging device 16a, the second imaging device 16b, the third imaging device 16c, and the fourth imaging device are not particularly distinguished from each other, they will be simply referred to as imaging device 16. The positions and the number of imaging devices are not limited to the example shown in FIG. 1. For example, the vehicle 1 may also be equipped with only two imaging devices, the first imaging device 16a and the second imaging device 16b. Alternatively, the vehicle 1 may have other imaging devices in addition to the above examples.

[0020] The imaging device 16 is capable of capturing images of the surroundings of the vehicle 1, and is, for example, a camera that captures color images. The captured images captured by the imaging device 16 may be moving images or still images. The imaging device 16 may be a camera built into the vehicle 1, or may be a camera of a drive recorder that is attached to the vehicle 1 later.

[0021] The vehicle 1 is also equipped with a parking assistance device 100. The parking assistance device 100 performs automatic driving of the vehicle 1 based on supervised driving by the driver. The parking assistance device 100 is an information processing device that can be mounted on the vehicle 1, and is, for example, an ECU (Electronic Control Unit) or an OBU (On Board Unit) provided inside the vehicle 1. Alternatively, the parking assistance device 100 may be an external device installed near the dashboard of the vehicle 1. The parking assistance device 100 may also function as a car navigation device or the like.

[0022] Next, a configuration of the vicinity of the driver's seat of the vehicle 1 according to this embodiment will be described. Fig. 2 is a diagram showing an example of a configuration of the vicinity of the driver's seat 130a of the vehicle 1 according to the first embodiment.

[0023] 2, the vehicle 1 includes a driver's seat 130a and a passenger seat 130b. In front of the driver's seat 130a, a windshield 180, a dashboard 190, a steering wheel 140, a display device 120, and operation buttons 141 are provided.

[0024] The display device 120 is a display provided on a dashboard 190 of the vehicle 1. As an example, the display device 120 is located in the center of the dashboard 190 as shown in FIG. 2. The display device 120 is, for example, a liquid crystal display or an organic EL (Electro Luminescence) display. The display device 120 may also function as a touch panel.

[0025] Further, the windshield 180 becomes a head-up display capable of displaying an image by projecting an image by a projection device (not shown). The display device 120 and the head-up display are examples of a display unit in this embodiment.

[0026] The steering wheel 140 is provided in front of the driver's seat 130a and can be operated by the driver. The rotation angle of the steering wheel 140, i.e., the steering angle, is electrically or mechanically linked to the change in the direction of the front tires 13f, which are the steered wheels. The steered wheels may be the rear tires 13r, or both the front tires 13f and the rear tires 13r may be steered wheels.

[0027] The operation button 141 is a button that can accept an operation by a user. In this embodiment, the user is, for example, the driver of the vehicle 1. The operation button 141 accepts an operation from the driver to start parking assistance, for example, by accepting a press from the driver. The position of the operation button 141 is not limited to the example shown in FIG. 2, and may be provided on the steering wheel 140, for example. The operation button 141 is an example of an operation unit in this embodiment. In addition, when the display device 120 also serves as a touch panel, the display device 120 may be an example of an operation unit. In addition, an operation terminal that can transmit a signal to the vehicle 1 from outside the vehicle 1, such as a remote controller or an electronic key (not shown), may be an example of an operation unit.

[0028] Next, a hardware configuration of the parking assistance device 100 will be described. Fig. 3 is a diagram showing an example of a hardware configuration of the parking assistance device 100 according to the first embodiment. As shown in Fig. 3, the parking assistance device 100 has a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM (Random Access Memory) 11C, an I / F (Interface) 11D, a HDD (Hard Disk Drive) 11E, etc., which are connected to each other via a bus 11F, and has a hardware configuration using a normal computer.

[0029] The CPU 11A is a calculation device that controls the entire ECU. The CPU 11A is an example of a processor in the parking assistance device 100 of this embodiment, and another processor or processing circuit may be provided instead of the CPU 11A. The ROM 11B stores programs and the like that realize various processes by the CPU 11A. The RAM 11C is, for example, a main storage device of the parking assistance device 100, and stores data required for various processes by the CPU 11A. The I / F 11D is an interface for transmitting and receiving data. The I / F 11D may also transmit and receive information to and from other ECUs mounted on the vehicle 1 via a CAN (Controller Area Network) or the like in the vehicle 1.

[0030] Next, functions of the vehicle 1 of this embodiment will be described. The vehicle 1 of this embodiment learns a driving route based on teacher driving by the driver, and performs parking assistance using the learning result. This type of parking assistance is effective for reducing the driver's parking effort when repeatedly parking in a fixed parking position, such as the garage of the driver's home, a contracted parking position in an apartment building, or a specified parking position in a parking lot at the driver's workplace. For this reason, this type of parking assistance is called home zone parking.

[0031] 4 is a diagram illustrating an example of parking assistance according to the first embodiment. A travel route 80 shown in FIG.

[0032] The parking position 910 is, for example, located in a garage 920 at the home 7 of the driver of the vehicle 1, but is not limited to this. In the example shown in FIG. 4, the travel start position 900 is on the roadway 40. The roadway 40 is assumed to be a public road. The entrance to the garage 920 faces the sidewalk 41. There is a step 45 at the boundary between the roadway 40 and the sidewalk 41. When the vehicle 1 moves from the roadway 40 to the garage 920, it passes over the step 45 and the sidewalk 41.

[0033] The parking assistance device 100 of this embodiment learns a driving route 80 and executes home zone parking, which parks the vehicle 1 at a parking position 910 based on the learned driving route 80. The parking position 910 is the goal of the driving route in home zone parking, and is also called a target position. Note that the driving route 80 shown in FIG. 4 is an example, and the environment in which the home zone parking of this embodiment can be applied is not limited to this.

[0034] Next, a detailed description will be given of the functions of the parking assistance device 100 of this embodiment. Fig. 5 is a block diagram showing an example of functions provided in the parking assistance device 100 according to the first embodiment.

[0035] As shown in FIG. 5, the parking assistance device 100 of this embodiment includes an acquisition unit 101, an extraction unit 102, a learning unit 103, an estimation unit 104, a determination unit 105, a change unit 106, an output control unit 107, a vehicle control unit 108, a reception unit 109, and a memory unit 110.

[0036] The storage unit 110 is configured with, for example, a ROM 11B, a RAM 11C, or a HDD 11E. Although one storage unit 110 is included in the parking assistance device 100 in FIG. 5, a plurality of storage media may function as the storage unit 110.

[0037] The storage unit 110 stores programs and data used in various processes executed by the parking assistance device 100. For example, the program executed by the parking assistance device 100 of this embodiment has a modular configuration including the above-mentioned units (acquisition unit 101, extraction unit 102, learning unit 103, estimation unit 104, judgment unit 105, change unit 106, output control unit 107, vehicle control unit 108, and reception unit 109), and as actual hardware, the CPU 11A reads out and executes the program from the storage unit 110, whereby the above-mentioned units are loaded onto the RAM 11C, and the acquisition unit 101, extraction unit 102, learning unit 103, estimation unit 104, judgment unit 105, change unit 106, output control unit 107, vehicle control unit 108, and reception unit 109 are generated on the RAM 11C.

[0038] The program executed by the parking assistance device 100 of this embodiment is provided as a file in an installable or executable format recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk).

[0039] The program executed by the parking assistance device 100 of this embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The program executed by the parking assistance device 100 of this embodiment may be provided or distributed via a network such as the Internet. The program executed by the parking assistance device 100 of this embodiment may be provided by being pre-installed in ROM 11B or the like.

[0040] The storage unit 110 also stores regulations regarding the automatic driving of the vehicle 1 and map information.

[0041] The regulations regarding the automated driving of the vehicle 1 are regulations regarding the speed, steering angle, or whether or not to stop of the vehicle 1 that are applied when the vehicle 1 is driven automatically. The regulations regarding the automated driving of the vehicle 1 are determined, for example, by laws and regulations or standards. More specifically, the regulations regarding the automated driving of the vehicle 1 are determined by international standards such as ISO20900 (2019 Intelligent transport systems--Partially automated parking systems:PAPS) or the laws and regulations of each country. As an example, PAPS specifies that the vehicle speed during partially automated parking is approximately 10 km / h or less.

[0042] Furthermore, the regulations regarding the automatic driving of the vehicle 1 are not limited to regulations specific to automatic driving, but may be regulations regarding the general driving of the vehicle 1. For example, the regulations regarding the general driving of the vehicle 1 include the positions of stop signs defined by the Road Traffic Act.

[0043] Furthermore, the regulations regarding the autonomous driving of the vehicle 1 may not only be laws or regulations, but may also be regulations determined based on the riding comfort of the passengers during autonomous driving of the vehicle 1 or the impact on those around the vehicle 1. For example, even if the vehicle speed is below the speed determined by laws or regulations or standards, the vehicle speed may be too fast in terms of the riding comfort of the passengers in the vehicle 1. The impact on those around the vehicle 1 may be, for example, surprising those around the vehicle 1 when the vehicle 1 is driving autonomously, or giving those around the vehicle the impression that the vehicle is dangerous.

[0044] In this embodiment, the storage unit 110 stores a speed slower than a speed stipulated by laws, regulations or standards as a threshold value for the vehicle speed during automatic driving in order to improve the riding comfort of the passengers in the vehicle 1 and the sense of security of people around the vehicle 1. The threshold value may be registered in advance when the parking assistance device 100 is shipped, or may be set by the user.

[0045] Even if the speed is equal to or less than the threshold, the ride quality may be degraded depending on the magnitude or frequency of change of the steering angle. For example, if a large steering operation is performed while the speed is reduced by the automatic driving, the shaking of the vehicle body 12 may increase, and the ride quality may deteriorate. For this reason, in this embodiment, the storage unit 110 stores the condition of the combination of the speed and the steering angle as one of the rules for the automatic driving of the vehicle 1.

[0046] In addition, since laws and regulations may be revised, the regulations regarding the autonomous driving of the vehicle 1 stored in the storage unit 110 are to be updated periodically.

[0047] The map information is a digital map including information on roads around the vehicle 1. The map information does not have to be stored in the parking assistance device 100, and may be acquired from the Internet when in use. The map information is an example of geographic information related to road conditions around the vehicle 1 in this embodiment.

[0048] The acquisition unit 101 acquires vehicle information and environmental information from the imaging device 16, the wave transmitting / receiving unit 15, various sensors, or other ECUs mounted on the vehicle 1.

[0049] The vehicle information is information related to the behavior of the vehicle 1. The vehicle information includes, for example, information related to the speed, steering angle, and braking operation of the vehicle 1. The information related to the braking operation is, for example, information related to the time when the brakes were applied on the vehicle 1 and the strength of the brakes.

[0050] The environmental information is information about the environment around the vehicle 1. For example, the environmental information includes the presence or absence of an obstacle around the vehicle 1 and the distance between the vehicle 1 and the obstacle. More specifically, the acquisition unit 101 acquires the presence or absence of an obstacle detected by the wave transmitting and receiving unit 15 and the distance between the vehicle 1 and the obstacle around the vehicle 1 measured by the wave transmitting and receiving unit 15.

[0051] The environmental information may further include other information. For example, an image of the surroundings of the vehicle 1 may also be included in the environmental information. The acquisition unit 101 acquires an image of the surroundings of the vehicle 1 from the imaging device 16. Hereinafter, the image is referred to as a surrounding image. More specifically, the acquisition unit 101 acquires a plurality of surrounding images when the vehicle 1 learns a driving route based on teacher driving and when the vehicle 1 performs automatic driving based on the learned driving route.

[0052] Furthermore, the acquisition unit 101 acquires regulations regarding the autonomous driving of the vehicle 1 via a network such as the Internet, and stores the regulations in the storage unit 110. This process may be executed periodically, for example, or may be executed when the acquisition unit 101 acquires a notification of a law amendment or the like.

[0053] The extraction unit 102 extracts feature points from the surrounding image. The method of extracting feature points by the extraction unit 102 is not particularly limited, and a known method may be applied. For example, the extraction unit 102 extracts feature points by a method such as FAST (Features from Accelerated Segment Test) or ORB (Oriented FAST and Rotated BRIEF). Furthermore, when learning the travel route 80, the extraction unit 102 may preferentially record feature points that satisfy a specified condition among the extracted feature points. For example, among a plurality of surrounding images consecutive in time series, feature points extracted from an image in which the vehicle 1 has traveled a longer distance during image capture may be preferentially selected as feature points.

[0054] The learning unit 103 learns the driving route 80 for parking the vehicle 1 at the parking position 910 and the speed, steering angle, and braking operation of the vehicle 1 during the teacher driving, based on the teacher driving by the driver. In addition, when learning the driving route 80, the learning unit 103 learns the change in the position of the vehicle 1 based on the change in the feature points extracted from the multiple surrounding images captured during the teacher driving. In addition, the learning unit 103 learns the speed, steering angle, and braking operation of the vehicle 1 during the teacher driving.

[0055] The teacher driving in this embodiment is a driving in which the driver manually drives the vehicle 1 to move from a driving start position 900 outside the parking position to the parking position 910. In this embodiment, the learning unit 103 learns the driving start position 900 in the teacher driving as the start position of the driving route 80. Note that the distance from the driving start position 900 to the parking position 910 is, for example, about 50 m, but is not limited to this.

[0056] For example, the driver starts teacher driving from a state in which the vehicle 1 is stopped at a position different from the parking position 910, for example, a desired position outside the garage 920, and drives the vehicle 1 in reverse to the parking position 910 in the garage 920. Note that teacher driving is not limited to reverse driving, and may also be forward driving.

[0057] During the teacher driving, the above-mentioned acquisition unit 101 acquires a surrounding image and vehicle information. During the teacher driving, the above-mentioned extraction unit 102 extracts feature points from the surrounding image acquired by the acquisition unit 101. The learning unit 103 records the route traveled by the vehicle 1 by manual driving as the driving route 80 based on the extracted feature points and the vehicle information at the time when the surrounding image from which the feature points are extracted is captured. Specifically, when the driver performs teacher driving in which the vehicle 1 is parked in the parking position 910 by driving backward, the driving route 80 also becomes a route in which the vehicle 1 is parked in the parking position 910 by driving backward. In addition, in this embodiment, the position where the teacher driving is started becomes the driving start position 900 of the driving route 80. The learning unit 103 stores the driving route information defining the recorded driving route 80 in the storage unit 110.

[0058] The travel route information is stored in the storage unit 110 as information in which, for example, the speed, steering angle, braking operation, and feature points extracted from a plurality of surrounding images captured along with the movement of the vehicle 1 during the teacher-driving are associated in time series. Note that the method of learning the travel route 80 and the manner of defining the travel route are not limited to this example.

[0059] The estimation unit 104 estimates the position of the vehicle 1 based on the surrounding image.

[0060] More specifically, when an operation to start home zone parking is received by the driver via the receiving unit 109 described below, the estimation unit 104 reads out the travel route 80 from the storage unit 110. Then, the estimation unit 104 estimates the position of the vehicle 1 and a travel start position 900 of the travel route 80 based on the travel route 80 and the feature points extracted from the surrounding image by the extraction unit 102.

[0061] The estimation unit 104 compares the feature points of the surrounding image when the driving route 80 is learned with the feature points of the surrounding image at the time when the operation to start home zone parking is accepted. Based on the difference between these feature points, the estimation unit 104 estimates the position and orientation of the vehicle 1 at the time when the operation to start home zone parking is accepted. Note that the estimation unit 104 does not need to specify the driving start position 900 and the current position of the vehicle 1 as absolute positions, but only needs to specify the relative positional relationship between the driving start position 900 and the current position of the vehicle 1. Note that the method of estimating the position of the vehicle 1 and the driving start position 900 by the estimation unit 104 is not limited to this example.

[0062] The estimation unit 104 sends the estimated position of the vehicle 1 and the travel start position 900 to the output control unit 107, which will be described later.

[0063] In addition, while the vehicle 1 is being driven automatically by the vehicle control unit 108 described below, the estimation unit 104 estimates the position of the vehicle 1 based on feature points included in the driving route information and feature points extracted from a surrounding image acquired during the automatic driving. The estimation unit 104 sends the estimated position of the vehicle 1 to the vehicle control unit 108.

[0064] The determination unit 105 determines whether the driving route 80 learned by the learning unit 103 and the behavior of the vehicle 1 during teacher driving satisfy the regulations regarding the automatic driving of the vehicle 1 based on any one of the regulations regarding the automatic driving of the vehicle 1, the environmental information, or the geographic information. In this embodiment, the determination unit 105 executes the determination when automatic driving based on the driving route 80 is started. The behavior of the vehicle 1 during teacher driving is the speed, steering angle, and braking operation of the vehicle 1. The determination unit 105 may execute the determination process based on any one or two of the regulations regarding the automatic driving of the vehicle 1, the environmental information, and the geographic information, or may execute the determination process based on all of the regulations regarding the automatic driving of the vehicle 1, the environmental information, and the geographic information.

[0065] More specifically, when an operation to start home zone parking is accepted by the acceptance unit 109, the determination unit 105 reads out driving route information from the storage unit 110. The determination unit 105 judges whether or not the read out driving route information satisfies regulations regarding the autonomous driving of the vehicle 1. When the determination unit 105 judges that the driving route 80 does not satisfy the regulations regarding the autonomous driving of the vehicle 1, it sends out the regulations that the driving route 80 does not satisfy to the change unit 106.

[0066] The change unit 106 changes the speed, steering angle, or braking operation in the automatic driving of the vehicle 1 from the speed, steering angle, or braking operation in the teacher driving based on the regulations regarding the automatic driving of the vehicle 1, the environmental information regarding the environment around the vehicle 1, and the geographic information regarding the road conditions around the vehicle 1. That is, the change unit 106 does not reproduce the recorded teacher driving as it is, but corrects it so as to satisfy the regulations regarding the automatic driving of the vehicle 1. In this embodiment, the change unit 106 executes the change of the speed, steering angle, or braking operation when the automatic driving based on the driving route 80 is started.

[0067] More specifically, when the judgment unit 105 judges that the driving route 80 or the behavior of the vehicle 1 during teacher driving does not satisfy the regulations regarding the automatic driving of the vehicle 1, the change unit 106 changes the driving route 80 or the speed, the steering angle, or the braking operation.

[0068] For example, when the speed during teacher running is equal to or higher than a threshold, the change unit 106 changes the speed so that the speed is equal to or lower than the threshold. In this case, the trajectory of the running route 80 may be the same as that during teacher running.

[0069] Furthermore, if the combination of speed and steering angle during teacher driving does not satisfy regulations regarding the automatic driving of the vehicle 1, the change unit 106 smoothes the driving route 80 by changing the combination of speed and steering angle.

[0070] Furthermore, even if the vehicle does not stop temporarily during teacher driving, if the vehicle 1 is required to stop temporarily due to regulations regarding the automatic driving of the vehicle 1, the change unit 106 changes the braking operation to stop temporarily. A place where the vehicle 1 is required to stop temporarily due to regulations is, for example, the sidewalk 41 between the roadway 40 and the garage 920.

[0071] If the driver does not stop when crossing the sidewalk 41 during teacher driving, the change unit 106 changes the braking operation so that the vehicle stops when crossing the sidewalk 41 during automatic driving. Whether or not the sidewalk 41 is on the driving route 80 may be determined by the above-mentioned determination unit 105 based on the environmental information acquired by the acquisition unit 101 or the map information stored in the storage unit 110. For example, there is a step 45 at the boundary between the roadway 40 and the sidewalk 41. When the step is detected by the wave transmitting / receiving unit 15 or the surrounding image, the determination unit 105 identifies the position where the driving route 80 enters the sidewalk 41, and determines whether or not a braking operation is performed at that position in the behavior of the vehicle 1 recorded during teacher driving.

[0072] Furthermore, the change unit 106 may change the behavior of the vehicle 1 recorded during teacher driving based on the environmental information. As described above, the environmental information includes the presence or absence of surroundings of the vehicle 1 and the distance between the vehicle 1 and obstacles around the vehicle 1. For example, when an obstacle such as another vehicle is present near the driving route 80, the change unit 106 may temporarily stop the vehicle 1 or change the driving route 80 to move away from the obstacle.

[0073] In this embodiment, the determination unit 105 and the change unit 106 are described separately, but these functions may be provided in a single functional unit.

[0074] When the change unit 106 changes the speed, steering angle, or braking operation, the output control unit 107 notifies the passengers of the vehicle 1 that the vehicle will behave differently from the teacher driving. In addition, when the vehicle 1 stops during automatic driving, the output control unit 107 may notify the driver to check the surroundings.

[0075] FIG. 6 is a diagram showing an example of a notification according to the first embodiment. As shown in FIG. 6, the output control unit 107 causes the display device 120 to display a message such as "Pausing due to laws and regulations, please check your surroundings." The output control unit 107 may also notify the passengers of the vehicle 1 that the vehicle will behave differently from the teacher driving by displaying a symbol or figure indicating caution on the head-up display. Note that the method of notification by the output control unit 107 is not limited to display, and the output control unit 107 may also output a message by voice from a speaker of the vehicle 1.

[0076] Returning to FIG. 5, the vehicle control unit 108 moves the vehicle 1 to the parking position 910 by automatic driving based on the travel route 80. The vehicle control unit 108 controls the steering, braking, and acceleration / deceleration of the vehicle 1 to cause the vehicle 1 to automatically travel. In this embodiment, the vehicle control unit 108 causes the vehicle 1 to automatically travel along the learned travel route 80. Such a travel control method is also referred to as reproducing the travel route 80.

[0077] In addition, when the speed, steering angle, or braking operation is changed by the change unit 106, the vehicle control unit 108 moves the vehicle 1 to the parking position 910 by automatic driving based on the changed speed, steering angle, or braking operation.

[0078] In this embodiment, the driver may be seated in the driver's seat 130a of the vehicle 1 or may be alight from the vehicle 1 while the vehicle control unit 108 is performing automatic driving.

[0079] Furthermore, when the vehicle 1 deviates from the travel route 80, the vehicle control unit 108 uses feedback control to move the vehicle 1 back to the travel route 80. For example, the vehicle control unit 108 estimates a difference between the position of the vehicle 1 and the travel route 80 based on the position of the vehicle 1 estimated by the estimation unit 104, and drives the vehicle 1 so as to reduce the difference.

[0080] In addition, while FIG. 5 illustrates the parking assistance device 100 as including the vehicle control unit 108, the vehicle control unit 108 may be realized by another ECU outside the parking assistance device 100.

[0081] The reception unit 109 receives various operations from the driver. For example, the reception unit 109 receives an operation to start parking assistance when the operation button 141 is pressed. In addition, when the display device 120 is a touch panel, the reception unit 109 may receive an operation to start parking assistance when an image button on the touch panel is pressed.

[0082] Next, a flow of the parking assistance process executed by the parking assistance device 100 of this embodiment configured as above will be described.

[0083] Fig. 7 is a flowchart showing an example of the flow of parking assistance processing executed by the parking assistance device 100 according to the first embodiment. In Fig. 7, processing up to the start of automatic driving will be described. The processing of this flowchart starts, for example, when a parking assistance start operation is accepted by the acceptance unit 109. Note that it is assumed that a driving route 80 based on teacher driving has been learned by the learning unit 103 before the processing of this flowchart is executed.

[0084] First, the acquisition unit 101 acquires a surrounding image from the imaging device 16 (S1).

[0085] Then, the extraction unit 102 extracts feature points from the surrounding image acquired by the acquisition unit 101 (S2).

[0086] Next, the estimation unit 104 reads out the driving route information from the memory unit 110, and estimates the position of the vehicle 1 based on the driving route 80 defined in the driving route information and the feature points extracted from the surrounding image by the extraction unit 102 (S3).

[0087] Furthermore, the estimation unit 104 estimates a driving start position 900 for automatic parking based on the driving route 80 and the feature points extracted from the surrounding image by the extraction unit 102 (S4).

[0088] Furthermore, while the vehicle 1 moves to the travel start position 900, the acquisition unit 101 continues to acquire surrounding images from the imaging device 16. Furthermore, the extraction unit 102 extracts feature points from the acquired surrounding images. Furthermore, the acquisition unit 101 acquires vehicle information, the presence or absence of obstacles around the vehicle 1, and the distance to the obstacles. The estimation unit 104 estimates the position of the vehicle 1 that changes as the vehicle 1 travels, based on the movement of the feature points extracted from the surrounding images or the vehicle information.

[0089] Then, the vehicle control unit 108 determines whether the vehicle 1 has stopped at the travel start position 900 (S7). If the vehicle 1 has not reached the travel start position 900 (S5 "No"), the vehicle control unit 108 waits for the vehicle 1 to reach the travel start position 900 and stop.

[0090] Then, when the vehicle 1 reaches the travel start position 900 and stops there (S5 "Yes"), the travel route is corrected and the automatic driving process is started (S6).

[0091] FIG. 8 is a flowchart showing an example of the flow of the driving route correction and automatic driving process executed by the parking assistance device 100 according to the first embodiment.

[0092] First, the determination unit 105 reads out the driving route information from the storage unit 110 (S601). In addition, the determination unit 105 may further read out the map information from the storage unit 110.

[0093] Furthermore, the acquisition unit 101 acquires environmental information from the wave transmitting / receiving unit 15 mounted on the vehicle 1 (S602).

[0094] Furthermore, the acquisition unit 101 acquires vehicle information from various sensors mounted on the vehicle 1 or from other ECUs (S603).

[0095] Next, the determination unit 105 determines whether or not the driving route information satisfies regulations regarding the autonomous driving of the vehicle 1.

[0096] Specifically, the determination unit 105 determines whether the travel route information complies with laws and regulations or standards (S604). For example, the determination unit 105 identifies a position where the travel route 80 defined in the travel route information passes over the sidewalk 41 based on map information. Then, the determination unit 105 compares the record of the braking operation included in the travel route information with the position where the travel route 80 passes over the sidewalk 41 to determine whether the braking operation included in the travel route information complies with the temporary stop prescribed by law. In addition to the presence or absence of a temporary stop, the determination unit 105 determines whether the travel route information complies with various regulations related to the automatic travel of the vehicle 1 stored in the storage unit 110.

[0097] If the determination unit 105 determines that the driving route information does not comply with the regulations regarding the automatic driving of the vehicle 1 (S604 "No"), it sends to the change unit 106 the regulations that the driving route 80 does not satisfy.

[0098] In this case, the change unit 106 changes the travel route information so as to satisfy the regulation determined not to be satisfied by the determination unit 105 (S605). For example, the change unit 106 adds a braking operation to make a temporary stop before the travel route 80 crosses the sidewalk 41.

[0099] In addition, if the determination unit 105 determines that the driving route information complies with regulations regarding the automatic driving of the vehicle 1 (S604 "Yes"), it determines whether the speed included in the driving route information is equal to or lower than a threshold value (S606).

[0100] Then, when the determination unit 105 determines that the speed included in the travel route information is faster than the threshold value (S606 "No"), it notifies the change unit 106 that the speed is faster than the threshold value.

[0101] In this case, the change unit 106 changes the speed included in the travel route information to a value equal to or lower than the threshold value (S607).

[0102] In addition, if the judgment unit 105 judges that the speed included in the driving route information is equal to or lower than the threshold value (S606 "Yes"), it judges whether or not the combination of the speed and steering angle included in the driving route information satisfies a specified condition (S608).

[0103] Then, if the judgment unit 105 determines that the combination of speed and steering angle included in the driving route information does not satisfy the specified condition (S608 "No"), it notifies the change unit 106 of the range on the driving route 80 where the combination of speed and steering angle does not satisfy the specified condition.

[0104] In this case, the change unit 106 changes the speed and steering angle included in the travel route information so as to satisfy the prescribed conditions (S609).

[0105] Then, the change unit 106 sends the changed driving route information to the vehicle control unit 108. Furthermore, if the driving route information based on the teacher driving satisfies all of the regulations, the change unit 106 notifies the vehicle control unit 108 that there are no changes in the driving route information.

[0106] Next, the vehicle control unit 108 starts automatic driving (S610). When the driving route information is changed by the change unit 106, the vehicle control unit 108 controls the vehicle 1 based on the changed driving route information. When there is no change in the driving route information, the vehicle control unit 108 controls the vehicle 1 based on the driving route information stored in the storage unit 110.

[0107] During the automatic driving, the acquisition unit 101 continuously acquires surrounding images (S611). Then, the extraction unit 102 extracts feature points from the surrounding images (S612).

[0108] Then, the estimation unit 104 estimates the position of the vehicle 1 based on the extracted feature points (S613). Furthermore, the acquisition unit 101 may continuously acquire environmental information and vehicle information during autonomous driving.

[0109] The determination unit 105 also determines whether the vehicle 1 needs to stop temporarily (S614). For example, when the current position of the vehicle 1 estimated by the estimation unit 104 is a position of a temporary stop defined in the travel route information, the determination unit 105 determines that the vehicle 1 needs to stop temporarily. The determination unit 105 also determines that the vehicle 1 needs to stop temporarily based on the environmental information and the vehicle information, for example, when there is an obstacle such as another vehicle around the vehicle 1.

[0110] When the determination unit 105 determines that it is necessary to temporarily stop (S614 "Yes"), the vehicle control unit 108 causes the vehicle 1 to temporarily stop (S615).

[0111] Then, the output control unit 107 causes the display device 120 to display a notification screen notifying the user that the vehicle 1 will be temporarily stopped (S616). The output control unit 107 continues to display the notification screen and waits until the temporary stop of the vehicle 1 ends (S617 "No").

[0112] Then, when the vehicle 1 finishes the temporary stop (S617 "Yes"), the vehicle control unit 108 resumes the automatic driving (S618).

[0113] Then, the output control unit 107 determines whether or not the vehicle 1 has reached the parking position 910 based on the position of the vehicle 1 estimated by the estimation unit 104 (S619). If it is determined that the vehicle 1 has not reached the parking position 910 (S619 "No"), the process returns to S160 and continues to move the vehicle 1 to the parking position 910. If it is determined that the vehicle 1 has reached the parking position 910 (S619 "Yes"), the driving route correction and the automatic driving process are terminated.

[0114] Note that, although Figure 8 describes an example in which a notification screen is displayed when the vehicle is temporarily stopped, the timing of displaying the notification screen is not limited to when the vehicle is temporarily stopped, and the notification may be given when the steering angle or vehicle speed during autonomous driving is different from that during teacher driving.

[0115] 7 and 8, the driving route information is changed after the vehicle 1 stops at the driving start position 900 and before starting to move by autonomous driving, but the timing of changing the driving route information is not limited to this. The driving route information may be changed before the vehicle 1 stops at the driving start position 900. In addition, the driving route information may be changed as the vehicle 1 advances after the vehicle 1 starts to move by autonomous driving.

[0116] Also, in the flowchart of FIG. 8, the change unit 106 changes the driving route information every time the determination unit 105 makes a determination, but the change unit 106 may change the driving route information after all determinations are completed.

[0117] Furthermore, dynamic determination processing such as a temporary stop based on detection of the presence of an obstacle or the like around the vehicle 1 may be executed by the vehicle control unit 108 instead of the determination unit 105.

[0118] In this way, the parking assistance device 100 of this embodiment learns the driving route 80 for parking the vehicle 1 at the parking position 910 and the speed, steering angle, and braking operation of the vehicle 1 during the teacher driving based on the teacher driving by the driver, and then changes the speed, steering angle, or braking operation of the vehicle 1 during the automatic driving from the speed, steering angle, or braking operation during the teacher driving based on any of the regulations, environmental information, or geographic information related to the automatic driving of the vehicle 1. Therefore, according to the parking assistance device 100 of this embodiment, when the vehicle 1 automatically drives the driving route 80 based on the teacher driving, the behavior of the vehicle 1 can be made suitable for automatic driving.

[0119] Furthermore, the regulations regarding the automatic driving of the vehicle 1 are regulations regarding the speed, steering angle, or necessity of stopping of the vehicle 1 that are applied when the vehicle 1 is automatically driven. According to the parking assistance device 100 of this embodiment, by changing the speed, steering angle, or braking operation in teacher driving so as to satisfy these regulations, even if the driver does not comply with these regulations during teacher driving, the vehicle 1 can be made to behave in accordance with the regulations during automatic driving. Furthermore, since the parking assistance device 100 has such a correction function, the driver can drive at a speed that is easy to drive manually when performing teacher driving without forcing himself to drive at a low speed that matches the regulations for automatic driving.

[0120] Furthermore, regulations regarding the automatic driving of the vehicle 1 are determined by laws, regulations, or standards. Therefore, the parking assistance device 100 in this embodiment can assist the vehicle 1 in driving in compliance with the laws, regulations, or standards.

[0121] Furthermore, the regulations regarding the automatic driving of the vehicle 1 are determined based on the riding comfort of the passengers during automatic driving of the vehicle 1 or the impact on people around the vehicle 1. Therefore, the parking assistance device 100 in this embodiment can assist in improving the riding comfort of the passengers and the sense of security of people around the vehicle 1 when the vehicle 1 is automatically driven.

[0122] Second embodiment In the first embodiment, the parking assistance device 100 changes the driving route information not only when performing parking assistance by automatic driving, but also when learning the driving route 80 by teacher driving.

[0123] The configuration of the vehicle 1 of this embodiment is similar to the configuration of the first embodiment described in Figures 1 and 2. The hardware configuration and functional blocks of the parking assistance device 100 of this embodiment are similar to those of the first embodiment described in Figures 3 and 5. The parking assistance device 100 of this embodiment includes an acquisition unit 101, an extraction unit 102, a learning unit 103, an estimation unit 104, a determination unit 105, a change unit 106, an output control unit 107, a vehicle control unit 108, a reception unit 109, and a storage unit 110, similar to the first embodiment.

[0124] In addition to being configured similarly to the first embodiment, the judgment unit 105 of this embodiment judges whether or not driving route information including a driving route 80 is generated by the learning unit 103 based on teacher driving, the driving route information satisfies regulations regarding the automatic driving of the vehicle 1.

[0125] In addition to being configured similarly to the first embodiment, the modification unit 106 of this embodiment performs modifications to the speed, steering angle, or braking operation when driving route information including a driving route 80 is generated by the learning unit 103 based on teacher driving.

[0126] 9 is a flowchart showing an example of the flow of a process for changing driving route information according to the second embodiment. The process of this flowchart is started, for example, when the driver performs an operation to start registering driving route information.

[0127] First, the acquisition unit 101 acquires a surrounding image from the imaging device 16 (S101).

[0128] Then, the extraction unit 102 extracts feature points from the surrounding image acquired by the acquisition unit 101 (S102).

[0129] Furthermore, the acquisition unit 101 acquires vehicle information (S103).

[0130] The reception unit 109 also determines whether or not an instruction to end teacher driving has been received from the steering button 141 or the like (S104). Until an instruction to end teacher driving is received (S104 "No"), the processing of S101 to S104 is repeated.

[0131] When an operation to end the teacher driving is accepted (S104 "Yes"), the learning unit 103 stores the recorded driving route 80 of the teacher driving, the speed, the operation angle, and the braking operation in the memory unit 110 as driving route information (S105).

[0132] Next, the determination unit 105 determines whether or not the driving route information satisfies regulations regarding the autonomous driving of the vehicle 1.

[0133] The processes from determining whether the driving route information complies with laws, regulations or standards in S106 to the process of changing the speed and steering angle of the driving route information in S111 are similar to the processes from S604 to S609 in the flowchart of the first embodiment described in Figure 8.

[0134] In this embodiment, the driving route information has already been corrected during learning so as to satisfy the regulations regarding the automatic driving of the vehicle 1, but when parking assistance by automatic driving is performed, the determination unit 105 determines again whether or not the driving route information satisfies the latest regulations regarding the automatic driving of the vehicle 1. The flow of this process is the same as that of the first embodiment.

[0135] In this way, when the driving route 80 is generated based on the teacher driving, the parking assistance device 100 of this embodiment changes the speed, steering angle, or braking operation recorded in the teacher driving based on the regulations, environmental information, and geographic information related to the automatic driving of the vehicle 1. Therefore, according to the parking assistance device 100 of this embodiment, in addition to having the same functions as the first embodiment, the driving route information updated in advance to a state that satisfies the regulations is stored in the storage unit 110, so that the amount of change when parking assistance by automatic driving is performed is reduced, and accordingly, the processing load for updating the driving route information when parking assistance is performed is reduced.

[0136] (Variation 1) In the above-described embodiments, the change unit 106 is capable of changing the speed, steering, and braking operations learned from the teacher driving, but it is not necessary for the change unit 106 to be capable of changing all of these. It is sufficient for the change unit 106 to change at least the speed.

[0137] (Variation 2) In the above-described second embodiment, an example of changing the driving route information during learning based on teacher driving has been described, but the timing of changing the driving record information is not limited to this. For example, after the driving route information is stored in the storage unit 110, the determination unit 105 may determine whether the driving route information satisfies the latest regulations regarding the automatic driving of the vehicle 1. In this case, the change unit 106 updates the driving route information stored in the storage unit 110 according to the determination result of the determination unit 105.

[0138] (Variation 3) Furthermore, when the driver gets off the vehicle 1 during automatic driving by the vehicle control unit 108, a screen provided on an operation terminal such as a remote controller or an electronic key may be an example of the display unit. In this case, the output control unit 107 may display on a screen provided on the operation terminal that the vehicle 1 behaves differently from the teacher driving during automatic driving.

[0139] (Variation 4) The change unit 106 may change the speed, steering angle, or braking operation of the vehicle 1 during autonomous driving from the speed, steering angle, or braking operation during teacher driving, based on a trained model in which map information and stopping positions are learned. The trained model is generated, for example, by deep learning or other machine learning.

[0140] (Variation 5) Furthermore, when the travel route information based on the teacher travel includes an unnecessary temporary stop, the change unit 106 may change the braking operation of the travel route information so as not to include the unnecessary temporary stop.

[0141] (Variation 6) In addition, in each of the above-described embodiments, the parking assistance device 100 uses the driving route in the teacher driving during learning as the driving route 80 for automatic driving in the home zone parking. However, the learning method is not limited to this.

[0142] For example, the teacher driving may be a driving in which the driver manually drives the vehicle 1 from the parking position 910 to a teacher driving end position outside the parking position. In this case, the learning unit 103 generates the driving route 80 for home zone parking by reproducing the route of the teacher driving in the reverse direction.

[0143] For example, the driver starts the teacher driving from a state where the vehicle 1 is stopped at a parking position 910 in the garage 920, and drives the vehicle 1 forward to leave the garage 920. Then, the driver drives the vehicle 1 that has left the garage 920 further forward to a desired teacher driving end position, and stops the vehicle 1. Then, the learning unit 103 records the teacher driving based on the steering, braking, acceleration and deceleration during the teacher driving, and feature points extracted from the surrounding image. Based on the recorded teacher driving, the learning unit 103 generates a driving route 80 in which the vehicle 1 travels backward from the teacher driving end position to the parking position 910 in the garage 920. In this method, the teacher driving end position becomes the driving start position 900 of the automatic driving. Such a method is also called reverse playback of the driving route.

[0144] In general, in manual driving, it is easier to have the vehicle 1 leave the garage 920 than to have the vehicle 1 enter the garage 920. If such a learning method is used, even if the driver is not adept at moving the vehicle 1 in reverse to enter the garage 920, the driving route 80 for home zone parking can be generated by teacher driving in which the driver moves the vehicle 1 forward to leave the garage 920. Note that, although the present modified example has been described as an example in which the driver moves the vehicle 1 forward in teacher driving, the driver may also move the vehicle 1 in reverse in teacher driving.

[0145] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0146] 1 vehicle 40 Roadway 41 Sidewalk 45 steps 80 Travel Route 100 Parking assistance device 101 Acquisition Department 102 Extraction part 103 Learning Department 104 Estimation part 105 Judgment section 106 Changes 107 Output control section 108 Vehicle control unit 109 Reception 110 Storage section 120 Display device 900 Running start position 910 Parking Position 920 Garage

Claims

1. A parking assistance device that automatically drives a vehicle based on a teacher driving by a driver, a learning unit that learns a driving route for parking the vehicle in a parking position based on the teacher driving, and a speed, a steering angle, and a braking operation of the vehicle during the teacher driving; a change unit that changes the speed or the braking operation during the automatic driving of the vehicle from the speed or the braking operation during the teacher driving, based on either a regulation regarding the automatic driving of the vehicle or geographic information regarding a road condition around the vehicle; A vehicle control unit that moves the vehicle by automatic driving based on the travel route; Equipped with the change unit changes the speed of the automatic driving of the vehicle on the driving route learned in the teacher driving, or changes a braking operation of the vehicle so that the vehicle stops temporarily; and an output control unit that notifies a passenger of the vehicle that the vehicle will behave differently from the instructor driving when the change unit changes the speed or the braking operation. Parking assistance device.

2. The provision regarding the automatic driving of the vehicle is a provision regarding the speed of the vehicle or the necessity of stopping the vehicle when the vehicle is automatically driven.

2. The parking assistance device according to claim 1.

3. The provisions regarding the automated driving of the vehicle are determined by laws, regulations or standards.

3. A parking assistance device according to claim 1 or 2.

4. The regulations regarding the automatic driving of the vehicle are regulations established based on the riding comfort of the passengers or the impact on people around the vehicle during automatic driving of the vehicle, 3. A parking assistance device according to claim 1 or 2.

5. The vehicle control unit moves the vehicle to the parking position by automatic driving based on the speed changed by the change unit or the braking operation. A parking assistance device according to any one of claims 1 to 4.

6. The change unit changes the speed or the braking operation when automatic driving based on the travel route is started. A parking assistance device according to any one of claims 1 to 5.

7. the change unit executes a change in the speed or the change in the braking operation when the travel path is generated based on the teacher travel. A parking assistance device according to any one of claims 1 to 6.

8. The change unit changes the speed or the braking operation in the autonomous driving of the vehicle from the speed or the braking operation in the teacher driving based on a learned model in which map information and a stop position are learned. A parking assistance device according to any one of claims 1 to 7.

9. The teacher driving is a driving in which the driver manually drives the vehicle from a driving start position outside the parking position to the parking position, The learning unit learns a travel start position in the teacher travel as a start position of the travel route. A parking assistance device according to any one of claims 1 to 8.

10. The teacher driving is a driving in which the driver manually drives the vehicle from the parking position to a teacher driving end position outside the parking position, the learning unit sets the teacher travel end position as a start position of the travel route, and learns a route along which the vehicle travels in a direction opposite to the teacher travel direction as the travel route. A parking assistance device according to any one of claims 1 to 8.

11. the speed of the vehicle during automatic driving of the vehicle changed by the change unit is slower than the speed of the vehicle during teacher driving, The vehicle speed during automatic driving of the vehicle is slower than 10 km / h. A parking assistance device according to any one of claims 1 to 10.

12. the change unit changes a braking operation of the vehicle so that the vehicle stops temporarily at a location on the travel route learned during the teacher travel, where the vehicle did not stop temporarily during the teacher travel. A parking assistance device according to any one of claims 1 to 11.

13. the change unit changes a braking operation of the vehicle on the travel route learned during the teacher travel so that the vehicle does not stop temporarily at a location where the vehicle stopped temporarily during the teacher travel.

13. A parking aid according to claim 12.

14. a learning step of learning a driving route for parking the vehicle in a parking position based on a teacher driving, and a speed, a steering angle, and a braking operation of the vehicle during the teacher driving; a changing step of changing the speed or the braking operation during the automatic driving of the vehicle from the speed or the braking operation during the teacher driving based on either a regulation regarding the automatic driving of the vehicle or geographic information regarding a road condition around the vehicle; A vehicle control step of moving the vehicle by automatic driving based on the travel route; an output step of notifying a passenger of the vehicle that a behavior different from the instructor driving behavior will be performed when the speed or the braking operation is changed in the change step; Including, The changing step changes the speed of the vehicle during automatic driving on the driving route learned during the teacher driving, or changes a braking operation of the vehicle so that the vehicle stops temporarily. Parking assistance methods.

15. A parking assistance device that automatically drives a vehicle based on a teacher driving by a driver, a learning unit that learns a driving route for parking the vehicle at a parking position based on the teacher driving; A vehicle control unit that moves the vehicle by automatic driving based on the travel route; A change unit that changes a braking operation during the automatic driving of the vehicle from the braking operation during the teacher driving, the change unit changes a braking operation of the vehicle on the travel route learned during the teacher travel so that the vehicle will stop temporarily at a location where the vehicle did not stop temporarily during the teacher travel, or changes a braking operation of the vehicle so that the vehicle will not stop temporarily at a location where the vehicle stopped temporarily during the teacher travel. Parking assistance device.

16. A parking assistance device that automatically drives a vehicle based on a teacher driving by a driver, a learning unit that learns a driving route for parking the vehicle in a parking position based on the teacher driving, and a speed, a steering angle, and a braking operation of the vehicle during the teacher driving; a change unit that changes the speed or the braking operation during the automatic driving of the vehicle from the speed or the braking operation during the teacher driving, based on either a regulation regarding the automatic driving of the vehicle or geographic information regarding a road condition around the vehicle; A vehicle control unit that moves the vehicle by automatic driving based on the travel route; Equipped with the change unit changes the speed of the automatic driving of the vehicle on the driving route learned in the teacher driving, or changes a braking operation of the vehicle so that the vehicle stops temporarily; The provisions regarding the automated driving of the vehicle are determined by laws, regulations or standards. Parking assistance device.

17. A parking assistance device that automatically drives a vehicle based on a teacher driving by a driver, a learning unit that learns a driving route for parking the vehicle in a parking position based on the teacher driving, and a speed, a steering angle, and a braking operation of the vehicle during the teacher driving; A vehicle control unit that moves the vehicle by automatic driving based on the travel route; a change unit that changes the speed or the braking operation during the automatic driving of the vehicle from the speed or the braking operation during the teacher driving, based on either a regulation regarding the automatic driving of the vehicle or geographic information regarding a road condition around the vehicle; Equipped with the change unit changes the speed of the automatic driving of the vehicle on the driving route learned in the teacher driving, or changes a braking operation of the vehicle so that the vehicle stops temporarily; The change unit changes the speed or the braking operation in the autonomous driving of the vehicle from the speed or the braking operation in the teacher driving based on a learned model in which map information and a stop position are learned. Parking assistance device.

18. A parking assistance method for automatically driving a vehicle based on a teacher driving by a driver, comprising: a learning unit learning a driving route for parking the vehicle at a parking position based on the teacher driving; a vehicle control unit that moves the vehicle by automatic driving based on the travel route; a change unit changes a braking operation during the automatic driving of the vehicle from the braking operation during the teacher driving, the vehicle control unit causes the vehicle to temporarily stop at a location on the travel route learned during the teacher travel, where the vehicle did not temporarily stop during the teacher travel, or causes the vehicle not to temporarily stop at a location where the vehicle did temporarily stop during the teacher travel. Parking assistance methods.

19. A parking assistance method for automatically driving a vehicle based on a teacher driving by a driver, comprising: a learning unit learning a driving route for parking the vehicle at a parking position based on the teacher driving; a vehicle control unit that moves the vehicle by automatic driving based on the travel route; determining whether the speed during the teacher running is faster than a threshold value; When the speed during the teacher driving is faster than the threshold, the speed of the automatic driving of the vehicle on the driving route learned during the teacher driving is changed to a speed equal to or lower than the threshold. Parking assistance methods.

20. A parking assistance method for automatically driving a vehicle based on a teacher driving by a driver, comprising: a learning unit learning a driving route for parking the vehicle at a parking position based on the teacher driving; a vehicle control unit that moves the vehicle by automatic driving based on the travel route; When the speed in the teacher driving is faster than 10 km / h, the speed of the automatic driving of the vehicle on the driving route learned in the teacher driving is set to a speed of 10 km / h or less. Parking assistance methods.

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