Parking support method and parking support apparatus

Abstract

To appropriately support a route memory-type automatic parking.SOLUTION: A parking support method according to the disclosure, which performs automatic running of a vehicle on the basis of parking operation executed in the past, includes steps of: obtaining a teacher-route on the basis of a running route in the parking operation executed in the past; obtaining vehicle operation information concerning operation of a vehicle outfit of at least any one of a winker and a side mirror equipped in the vehicle, when performing the parking operation executed in the past; memorizing teaching data including the teacher-route and the vehicle operation information; and reproducing operation of the vehicle outfit due to the operation obtained when performing the parking operation executed in the past, on the basis of the teacher data, in automatic parking that makes the vehicle move along the teacher-route.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Conventionally, parking assistance technologies that move a vehicle by automatic driving when parking the vehicle are known. One of such parking assistance technologies is a regenerative driving technology that learns a driving route based on teacher driving by the driver and moves the vehicle along the driving route learned based on the teacher driving. Such route memory type automatic parking technology is used when parking in a fixed parking position repeatedly, such as a parking lot at a user'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, there is room for improvement in the parking assistance that performs route memory type automatic parking. For example, there is room for improvement from the viewpoint of safety, such as the fact that it is difficult for people and vehicles around to understand the behavior of the vehicle during regenerative driving. Also, there is room for improvement from the viewpoint of convenience, such as the fact that the surrounding conditions of the vehicle during regenerative driving are different from those during teacher driving, and therefore the driver may be required to operate the vehicle.

[0005] One of the problems that the present disclosure aims to solve is to provide appropriate support for route-memory type automatic parking. [Means for solving the problem]

[0006] A parking assistance method according to the present disclosure performs automatic driving of a vehicle based on a parking operation performed in the past. The parking assistance method includes: acquiring a teacher route based on a driving route in the parking operation performed in the past; acquiring vehicle operation information related to an operation of at least one of vehicle equipment of the vehicle, a turn signal and a side mirror, during the parking operation performed in the past; storing teacher data including the teacher route and the vehicle operation information; and reproducing the operation of the vehicle equipment caused by the operation acquired during the parking operation performed in the past based on the teacher data in automatic parking in which the vehicle is moved along the teacher route. Effect of the Invention

[0007] According to the present disclosure, it is possible to appropriately assist route memory type automatic parking. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a vehicle equipped with a parking assistance device according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of a configuration in the vicinity of the driver's seat of the vehicle shown in FIG. [Diagram 3] FIG. 3 is a diagram illustrating an example of a hardware configuration of the parking assistance device of FIG. [Figure 4] FIG. 4 is a diagram illustrating an example of a functional configuration of the parking assistance device of FIG. [Diagram 5] FIG. 5 is a flowchart showing an example of the flow of the teacher driving process executed by the parking assistance device of FIG. [Figure 6] FIG. 6 is a flowchart showing an example of the flow of the regeneration driving process executed by the parking assistance device of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0010] In the description of the present disclosure, components having the same or substantially the same functions as those described above with respect to the previously-mentioned drawings may be given the same reference numerals, and the description may be omitted as appropriate. In addition, even when the same or substantially the same parts are shown, the dimensions and ratios of the components may be different depending on the drawing. In addition, for example, from the viewpoint of ensuring the visibility of the drawings, reference numerals may be given only to the main components in the description of each drawing, and reference numerals may not be given to components having the same or substantially the same functions as those described above with respect to the previously-mentioned drawings.

[0011] In the description of the present disclosure, components having the same or substantially the same functions may be distinguished by adding an alphanumeric character to the end of the reference symbol. Alternatively, when multiple components having the same or substantially the same functions are not distinguished, they may be collectively described by omitting the alphanumeric character at the end of the reference symbol.

[0012] Fig. 1 is a diagram illustrating an example of a vehicle 1 equipped with a parking assistance device 3 according to an embodiment. As shown in Fig. 1, the vehicle 1 has 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.

[0013] Here, the front tire 13f according to the embodiment is an example of a first wheel. Also, the rear tire 13r according to the embodiment is an example of a second wheel. Note that, although FIG. 1 illustrates a vehicle 1 having four wheels 13, the present invention is not limited to this. The vehicle 1 may have at least one front tire 13f and at least one rear tire 13r. The number of wheels 13 of the vehicle 1 may be two, three, five or more.

[0014] The orientation of at least one of the wheels 13 of the vehicle 1 (steered wheel) is electrically or mechanically linked to the rotation angle, i.e., steering angle, of a steering wheel disposed in front of the driver's seat 130a. In other words, the vehicle 1 can turn right or left by steering. The steered wheel may be the rear tire 13r, or both the front tire 13f and the rear tire 13r.

[0015] The vehicle body 12 is supported by wheels 13. The vehicle 1 has a driving machine (not shown) and can move by driving at least one wheel (driving wheel) of the wheels 13 of the vehicle 1 with the power of the driving machine. Any driving machine can be used as the driving machine, such as an engine fueled by gasoline or hydrogen, a motor using power from a battery, or a combination of an engine and a motor. In this case, the predetermined direction in which the two pairs of wheels 13 are arranged is the traveling direction of the vehicle 1. The vehicle 1 can move forward or backward by switching gears (not shown) or the like.

[0016] The vehicle body 12 has a front end portion F which is an end portion on the front tire 13f side, and a rear end portion R which is an end portion 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 are sometimes referred to as ends.

[0017] 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, a 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, a rear bumper 14r covers the entire rear surface and part of the side surface near the lower end of the vehicle body 12.

[0018] Here, a configuration in 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 in the vicinity of the driver's seat 130a of the vehicle 1 according to this embodiment.

[0019] The vehicle 1 has at least one seat 130, as illustrated in Fig. 2. Fig. 2 illustrates a driver's seat 130a and a passenger seat 130b as the seat 130. In addition, in front of the driver's seat 130a, a steering wheel 140, a windshield 180, a dashboard 190, a display device 221, and operation buttons 222a and 222b are provided.

[0020] 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, and the change in the direction of the front tires 13f, which are the steered wheels, are electrically or mechanically linked. The steered wheels may be the rear tires 13r, or both the front tires 13f and the rear tires 13r.

[0021] As illustrated in FIG. 1, the vehicle 1 is equipped with a parking assistance device 3. The parking assistance device 3 is an information processing device that can be installed in the vehicle 1, and is realized by, for example, an ECU (Electronic Control Unit) or an OBU (On Board Unit) provided inside the vehicle 1. The parking assistance device 3 may be realized by a DCU (Domain Control Unit) such as a CDC (Cockpit Domain Controller) that integrates multiple ECUs. The CDC is configured to be capable of executing various processes such as in-vehicle infotainment (IVI), meter control, display device control such as a HUD (Head Up Display) and an electronic mirror, and ADAS (Advanced Driver-Assistance Systems). Alternatively, the parking assistance device 3 may be an external computer installed near the dashboard 190 of the vehicle 1, or may also serve as another device such as a car navigation device. The parking assistance device 3 may be integrated with the HMI 22 (see FIG. 3) or configured to be able to communicate with the HMI 22, and may be realized as an information presentation device that can be installed in the vehicle 1.

[0022] Fig. 3 is a diagram showing an example of a hardware configuration of the parking assistance device 3 according to the embodiment. As shown in Fig. 3, the parking assistance device 3 has a CPU (Central Processing Unit) 31, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 33, a HDD (Hard Disk Drive) 34, and an I / F (Interface) 35. The CPU 31, the ROM 32, the RAM 33, the HDD 34, and the I / F 35 are interconnected by a bus 39 or the like, and have a hardware configuration using a normal computer.

[0023] The CPU 31 is a calculation device that controls the entire parking assistance device 3. The CPU 31 loads programs stored in the ROM 32 or the HDD 34 into the RAM 33 and executes them to realize various processes that will be described later.

[0024] The CPU 31 according to the embodiment is an example of at least one processor in the parking assistance device 3. As the at least one processor, another processor may be provided instead of the CPU 31 or in addition to the CPU 31. As the other processor, various processors such as a CPU, a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), a dedicated arithmetic circuit realized by an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. can be appropriately used.

[0025] The ROM 32 stores programs, parameters, and the like for implementing various processes by the CPU 31. The ROM 32 according to the embodiment is an example of at least one memory in the parking assistance device 3.

[0026] The RAM 33 is, for example, a main storage device of the parking assistance device 3, and temporarily stores data necessary for various processes by the CPU 31. The RAM 33 according to the embodiment is an example of at least one memory in the parking assistance device 3.

[0027] The HDD 34 stores various data, programs, and the like used in the parking assistance device 3. As an example, the HDD 34 stores information obtained from various on-board sensors mounted on the vehicle 1, such as the sonar 211, the all-around camera 212, the orientation sensor 213, and the GNSS sensor 214. Note that instead of the HDD 34 or in addition to the HDD 34, various storage media and storage devices, such as an SSD (Solid State Drive) and a Flash memory, can be appropriately used. The various storage media and storage devices, such as the HDD 34 according to the embodiment, are an example of at least one memory in the parking assistance device 3.

[0028] The I / F 35 is an interface for transmitting and receiving data. The I / F 35 receives data from other devices provided in the vehicle 1, such as an on-board sensor of the vehicle 1 and the HMI 22. The I / F 35 also transmits data to other devices provided in the vehicle 1, such as the HMI 22, the steering control device 23, and the drive / brake control device 24.

[0029] The I / F 35 may transmit and receive information to and from other ECUs mounted on the vehicle 1 via an in-vehicle network including a Controller Area Network (CAN), Ethernet (registered trademark), or Universal Serial Bus (USB (registered trademark)) in the vehicle 1, or may communicate with an information processing device outside the vehicle 1 via a network such as the Internet. For example, the parking assistance device 3 is connected to the sonar 211, the all-around camera 212, the orientation sensor 213, the GNSS sensor 214, the HMI 22, the steering control device 23, and the drive / brake control device 24 of the vehicle 1, respectively, via the in-vehicle network.

[0030] As an example, the I / F 35 may acquire information about the state of the vehicle 1, such as vehicle speed pulses, various speeds including yaw rate, acceleration, position information, and shift information, from another ECU or an in-vehicle sensor via, for example, an in-vehicle network.

[0031] As an example, the I / F 35 may acquire information about the surrounding conditions of the vehicle 1, such as detection results of surrounding obstacles and images of the surroundings, from another ECU or an in-vehicle sensor via an in-vehicle network, for example. The obstacles are, for example, objects around the vehicle 1, and include moving objects such as people and vehicles, or structures.

[0032] As an example, the I / F 35 may acquire information on vehicle operation for the vehicle 1 (vehicle operation information) from another ECU, the HMI 22, or an in-vehicle sensor via, for example, an in-vehicle network. The vehicle operation information will be described later.

[0033] The vehicle 1 is equipped with a number of on-board sensors. Figures 1 and 3 illustrate a sonar 211 and an all-around camera 212. Figure 3 further illustrates an orientation sensor 213 and a GNSS sensor 214.

[0034] The sonar 211 is provided, for example, at a predetermined end of the vehicle body 12, and transmits and receives sound waves such as ultrasonic waves. The sonar 211 includes wave transmitting and receiving units 211f, 211r. For example, one or more wave transmitting and receiving units 211f are disposed on the front bumper 14f, and one or more wave transmitting and receiving units 211r are disposed on the rear bumper 14r. The number and / or positions of the wave transmitting and receiving units 211f, 211r are not limited to the example shown in FIG. 1 and can be changed as appropriate. For example, the vehicle 1 may be provided with the wave transmitting and receiving units 211f, 211r on the left and right sides.

[0035] Based on the results of transmitting and receiving sound waves, the sonar 211 detects obstacles around the vehicle 1. Also, based on the results of transmitting and receiving sound waves, the sonar 211 measures the distance between the vehicle 1 and obstacles around the vehicle 1.

[0036] In the present embodiment, the sonar 211 uses sound waves such as ultrasonic waves, but is not limited to this. For example, the vehicle 1 may have a radar that transmits and receives electromagnetic waves instead of or in addition to the sonar 211.

[0037] The all-around camera 212 is provided on the vehicle 1 so as to be able to capture images of the surroundings of the vehicle 1. As an example, the vehicle 1 has, as the all-around camera 212, a front camera 212a that captures images in front, a rear camera 212b that captures images in the rear, a left side camera 212c that captures images on the left side, and a right side camera (not shown) that captures images on the right side.

[0038] The all-around camera 212 captures images of the surroundings of the vehicle 1. The all-around camera 212 is, for example, a camera that captures images based on visible light and / or infrared light. Note that the images captured by the all-around camera 212 may be moving images or still images.

[0039] The position and / or number of the all-around camera 212 is not limited to the example shown in FIG. 1 and can be changed as appropriate. For example, the vehicle 1 may have only two cameras, the front camera 212a and the rear camera 212b. Alternatively, the vehicle 1 may have other cameras in addition to the above-mentioned examples. For example, a part or all of the all-around camera 212 may be provided in the vehicle cabin space (inside the vehicle) of the vehicle 1. Furthermore, the all-around camera 212 may be a camera built into the vehicle 1, or may be a camera of a drive recorder attached to the vehicle 1.

[0040] The orientation sensor 213 detects the heading of the traveling direction of the vehicle 1. The orientation sensor 213 is a sensor that measures the heading of the traveling direction of the vehicle 1 from, for example, a rotation difference between the left and right wheels 13 of the vehicle 1, geomagnetism, a gas rate gyro, an optical fiber gyro, or the like. Note that the method for determining the heading of the traveling direction of the vehicle 1 can be any known method as appropriate and is not particularly limited.

[0041] The GNSS sensor 214 detects position information indicating the current position of the vehicle 1. As an example, the GNSS sensor 214 is a Global Navigation Satellite System (GNSS) sensor such as a Global Positioning System (GPS) sensor that outputs position information of the vehicle 1. The GNSS sensor 214 includes a GNSS antenna that receives radio waves (GNSS signals) from satellites, and a GNSS circuit that obtains position information (GNSS coordinates) based on the radio waves from at least two satellites received by the GNSS antenna.

[0042] The vehicle 1 may have other on-board sensors not shown. As an example, the vehicle 1 may have a steering angle sensor that outputs a signal corresponding to the amount of operation of the steering wheel 140 by the driver, i.e., the steering angle. As an example, the vehicle 1 may have a wheel speed sensor that outputs a signal corresponding to the rotation speed and rotation direction of the wheels 13. As an example, the vehicle 1 may have a brake sensor that detects the amount of operation of the brake pedal by the driver. As an example, the vehicle 1 may have an accelerator sensor that detects the amount of operation of the accelerator pedal by the driver. As an example, the vehicle 1 may have an acceleration sensor that outputs a signal corresponding to the acceleration applied to the vehicle 1. As an example, the vehicle 1 may have a gyro sensor that outputs a signal corresponding to the angular velocity applied to the vehicle 1.

[0043] The HMI 22 is an interface for outputting various types of information, such as notifications and warnings, to the driver of the vehicle 1. The HMI 22 is also an interface for accepting vehicle operations and input of various types of information by the driver of the vehicle 1. The HMI 22 only needs to be able to output notifications and warnings recognizable by the driver of the vehicle 1 and accept various operations by the driver of the vehicle 1, and is provided, for example, around the driver's seat of the vehicle 1, but may also be provided in another portion around the driver's seat, such as the back seat.

[0044] The HMI 22 includes a display device that outputs various types of information, such as notifications and warnings, to the driver of the vehicle 1. As an example, the HMI 22 includes a display device 221 that is provided on the dashboard 190 or console of the vehicle 1 and is configured to be able to output video. FIG. 2 illustrates the display device 221 arranged in the center of the dashboard 190. The display device 221 is, for example, a liquid crystal display (LCD) or an organic EL (Electro Luminescence) display. Here, the HMI 22 as a display device according to the embodiment is an example of a display unit. The HMI 22 as a display unit displays various screens based on various types of display information from an output control unit 310, which will be described later.

[0045] The display device 221 may be configured as a touch panel display. The display device 221 may be a part of a car navigation device mounted on the vehicle 1. The display device may be a projection-type display device such as a Head Up Display (HUD) that projects an image (virtual image) onto a display area provided in front of the driver, for example, on the windshield or dashboard (console).

[0046] The HMI 22 is not limited to a display device, and may include other output devices such as a speaker configured to output notification sounds, warning sounds, and audio.

[0047] The HMI 22 also includes an input device that accepts vehicle operations and various information input by the driver of the vehicle 1. As an example, the HMI 22 includes, as an input device, a touch panel of the display device 221 configured as a touch panel display. As an example, the HMI 22 includes operation buttons 222a and 222b as input devices. FIG. 2 illustrates an operation button 222a arranged on an instrument panel and an operation button 222b provided on a console. Note that the operation buttons 222a and 222b may be provided in other positions such as the steering wheel 140 or the dashboard 190. Furthermore, in the case where another input device is present, such as when the touch panel of the display device 221 can be used as an input device of the HMI 22, the operation buttons 222a and 222b may not be provided. Here, the HMI 22 as an input device according to the embodiment is an example of an operation unit. The HMI 22 as an operation unit outputs signals corresponding to various operations from the user to an acquisition unit 301 or a reception unit 302 described later in response to various operations on the touch panel or operation buttons 222a, 222b of the display device 221 from the user.

[0048] The HMI 22 may include other input devices such as other buttons, dials, switches, a microphone, etc. These input devices are arranged, for example, on the dashboard 190, the instrument panel, the steering wheel 140, or a console of the vehicle 1.

[0049] In addition, the output device, input device or input / output device of HMI22 may be an operating terminal capable of receiving, transmitting or transmitting signals to vehicle 1 from outside vehicle 1, such as a tablet terminal, smartphone, remote controller, or electronic key.

[0050] The steering control device 23 controls the steering of the vehicle 1. For example, the steering control device 23 deflects the wheels 13 in a direction according to a control signal according to an amount of operation of the steering wheel 140 by the driver or a control signal from the parking assistance device 3. The steering control device 23 may have a steering actuator (not shown) that changes the rotation angle of the steering wheel 140 according to a control signal from the parking assistance device 3.

[0051] The drive / brake control device 24 controls the acceleration / deceleration of the vehicle 1. The drive / brake control device 24 has, for example, a brake actuator (not shown) and an engine controller (not shown). The brake actuator applies brakes, changes a shift (gear ratio), and controls the output of a drive machine such as an engine or a motor based on the detection result of a brake sensor (not shown) that detects the amount of operation of the brake pedal by the driver or a control signal from the parking assistance device 3, thereby braking the vehicle 1 or decelerating the vehicle 1. The accelerator controller accelerates the vehicle 1 by controlling the output of a drive machine such as an engine or a motor based on the detection result of an accelerator sensor (not shown) that detects the amount of operation of the accelerator pedal by the driver or a control signal from the parking assistance device 3.

[0052] 3 illustrates a case where the sonar 211, the all-around camera 212, the orientation sensor 213, the GNSS sensor 214, the HMI 22, the steering control device 23, and the drive / brake control device 24 are not included in the parking assistance device 3, but this is not limiting. Some or all of these may be included in the parking assistance device 3.

[0053] 4 is a diagram showing an example of a functional configuration of the parking assistance device 3 according to the embodiment. The parking assistance device 3 realizes functions as an acquisition unit 301, a reception unit 302, a map information generation unit 303, a driving route detection unit 304, a vehicle operation detection unit 305, a storage unit 306, a self-position estimation unit 307, a route following calculation unit 308, a vehicle operation reproduction unit 309, an output control unit 310, and a vehicle control unit 311 by executing a program loaded in the RAM 33 by the CPU 31.

[0054] Here, the acquisition unit 301 and the reception unit 302 according to the embodiment are each an example of a reception unit. Also, the acquisition unit 301, the map information generation unit 303, the driving route detection unit 304, and the vehicle operation detection unit 305 according to the embodiment are each an example of a learning unit. Also, the self-position estimation unit 307, the route following calculation unit 308, the vehicle operation reproduction unit 309, and the vehicle control unit 311 according to the embodiment are each an example of a reproduction unit. Also, the output control unit 310 according to the embodiment is an example of a display control unit.

[0055] The acquisition unit 301 acquires data from at least one on-board sensor including other devices provided in the vehicle 1, such as a sonar 211, a panoramic camera 212, a direction sensor 213, and a GNSS sensor 214, via, for example, the I / F 35.

[0056] As an example, the acquisition unit 301 acquires outputs from external sensors (on-board sensors) that detect spatial information around the vehicle 1, such as the sonar 211 and the omnidirectional camera 212.

[0057] As an example, the acquisition unit 301 acquires outputs from vehicle sensors (on-board sensors) such as the direction sensor 213 and the GNSS sensor 214 that detect the distance, speed, and direction of travel of the vehicle 1.

[0058] As an example, the acquisition unit 301 acquires an output from a turn signal lever or a switch on a steering wheel (HMI 22) that accepts vehicle operations to instruct turning on / off a turn signal (directional indicator, vehicle equipment). The acquisition unit 301 may acquire information indicating an operating state from the turn signal.

[0059] The reception unit 302 receives various operations from a user, such as a driver, based on the output of the HMI 22 in response to various operations from the user.

[0060] As an example, when the operation button 222a is pressed while the vehicle 1 is stopped, the reception unit 302 receives the operation button 222a as an instruction to call a parking assistance function, which is a menu display on a display such as the display device 120. Note that, instead of pressing the operation button 222a, pressing the operation button 222b or touching an icon on the touch panel of the display device 221 configured as a touch panel display may be received as an instruction to call a parking assistance function.

[0061] As an example, when a touch operation is performed on an operation icon on the display screen of the assistance information or operation buttons 222a, 222b are pressed after an instruction to call the parking assistance function is received, the reception unit 302 receives the operation as an instruction to start the teacher driving mode or an instruction to start the automatic driving (regenerative driving) mode depending on the operation.

[0062] In the present disclosure, the parking assistance function is a function of the parking assistance device 3 that realizes a parking assistance method for automatically driving a vehicle based on parking operations performed in the past. The parking assistance function includes a teacher driving mode that acquires a teacher route by teacher driving, and a replay driving mode that moves the vehicle 1 along the teacher route. The teacher driving mode is realized by a control process (teacher driving process) that is executed in response to an instruction to start the teacher driving mode. The autonomous driving mode is realized by a control process (replay driving process) that is executed in response to an instruction to start the autonomous driving mode.

[0063] In the present disclosure, the teacher driving is a manual driving or automatic driving in which the driver moves the vehicle 1 from the parking start position (teacher driving start position) to the parking completion position (teacher driving end position) and parks the vehicle 1 in a desired parking manner. Here, the parking manner is at least one of the parking position and the parking posture (orientation) of the vehicle 1. The teacher route is the driving route of the vehicle 1 detected in the teacher driving, that is, the driving trajectory of the vehicle 1 in the teacher driving. In other words, the teacher route includes information indicating the parking manner. The regenerative driving is an automatic driving in which the vehicle 1 moves along the driving route (teacher route) in the parking operation performed in the past. In other words, the regenerative driving is a route memory type automatic parking in which the vehicle 1 moves from the parking start position to the parking completion position by automatic driving.

[0064] The teacher driving may be manual driving or automatic driving in which the vehicle 1 is moved from a parking completion position (teacher driving start position) to a parking start position (teacher driving end position) and parked in a desired parking manner. In other words, the playback driving according to the embodiment may be a forward playback or a reverse playback of the teacher driving.

[0065] During teacher driving, the map information generating unit 303 acquires a surrounding environment map that defines the environment around the vehicle 1, i.e., the surrounding environment, which is a space that spreads along the driving route of the vehicle 1, as a map. For example, the map information generating unit 303 extracts feature points from each of the captured images of the front, rear, left, and right of the vehicle 1, i.e., the surrounding images. The map information generating unit 303 defines the surrounding environment of the vehicle 1 based on the extracted feature points, and acquires it as a surrounding environment map. Here, the surrounding environment map is an example of information about the driving route. The surrounding environment map is also information about the surrounding environment, which is a space that spreads along the driving route, and is an example of spatial information.

[0066] The method for extracting the feature points is not particularly limited, and any known method may be applied. For example, the map information generating unit 303 extracts feature points from the surrounding image using a method such as FAST (Features from Accelerated Segment Test) or ORB (Oriented FAST and Rotated BRIEF). The map information generating unit 303 may preferentially record feature points that satisfy a specified condition among the feature points extracted from the surrounding image. For example, among a plurality of surrounding images consecutive in time series, the feature points extracted from the image in which the vehicle 1 traveled a longer distance during shooting may be preferentially selected as feature points.

[0067] For example, the map information generating unit 303 uses a Simultaneous Localization and Mapping (SLAM) technique for the extracted feature points to detect coordinates indicating the position of each feature point and create a surrounding environment map (local map).

[0068] When detecting the position coordinates of each feature point, the position of the vehicle 1 is detected in parallel, but the position detection of the vehicle 1 may be performed by combining the SLAM technology with the Dead-Reckoning (DR) technology. The position, speed, and moving direction of the vehicle 1 may be calculated using an Intelligent Transport Systems (ITS).

[0069] The surrounding environment map may be defined by spatial information based on the output of the sonar 15, in addition to spatial information based on the captured images.

[0070] The driving route detection unit 304 detects the driving route of the vehicle 1 during teacher driving based on the self-position estimation result detected by, for example, SLAM technology and dead reckoning technology, and acquires it as a teacher route. When detecting the driving route, the driving route is represented by a set of points (waypoints) that exist at approximately equal distance intervals, and each point is detected as route point cloud data that holds, as parameters, coordinates indicating the position, a direction indicating the direction of the vehicle 1 at that position, and the driving speed.

[0071] As an example, the travel route detection unit 304 detects the teacher route of the vehicle 1 based on the outputs of the orientation sensor 213 and the GNSS sensor 214 acquired by the acquisition unit 301. As an example, the travel route detection unit 304 detects the teacher route of the vehicle 1 based on the rotation direction and rotation speed of each wheel 13 acquired by the acquisition unit 301. Note that the speed and moving direction of the vehicle 1 may be acquired using vehicle speed pulses and shift information flowing through an in-vehicle network such as CAN.

[0072] The vehicle operation detection unit 305 detects the operation of vehicle equipment other than the operation of vehicle equipment (vehicle-mounted parts) for driving the vehicle 1, and acquires it as vehicle operation information.

[0073] Here, the vehicle operation information is, for example, information regarding a vehicle operation performed by a driver on the vehicle 1, indicating the presence or absence, operation timing, target, content, type, and amount of operation. Note that the vehicle operation information may be information regarding control of the vehicle 1 according to the operation, indicating the presence or absence, control timing, target, content, type, and amount of control. Also, the vehicle operation information may be information regarding a change in behavior of the vehicle 1 accompanying the control, indicating the presence or absence, operation timing, target, content, type, and amount of change. Note that the vehicle operation information is not limited to information regarding the driver, but may be information regarding an operation performed by a passenger in the vehicle 1 or an operator who operates the vehicle 1 from outside the vehicle.

[0074] As an example, the vehicle operation detection unit 305 detects vehicle operation related to the turn signal while driving as a teacher based on information from the HMI 22 or the turn signal of the vehicle 1 acquired by the acquisition unit 301, and acquires this as vehicle operation information related to the turn signal operation.

[0075] The detection of vehicle operation information is not limited to the driving period in which the driver moves the vehicle 1 from the teacher driving start position to the teacher driving end position and parks the vehicle 1 in the desired parking manner, but may be performed during the period before and after that. In this disclosure, teacher driving time refers to the period including the driving period of teacher driving and the periods before and after it.

[0076] The detection of vehicle operation information may be performed during playback driving. In this case, the vehicle operation information detected during playback driving can be used in subsequent playback driving. In other words, in the parking assistance according to the embodiment, any playback driving can be treated as a teacher driving (parking operation performed in the past) for subsequent playback driving. In other words, in the parking assistance according to the embodiment, teacher data may be re-learned (updated) based on the playback driving.

[0077] The storage unit 306 is configured by, for example, the ROM 32, the RAM 33, or the HDD 34. The storage unit 306 stores the teacher data generated in the teacher running process.

[0078] As an example, the teacher data includes information indicating the surrounding environment map generated by the map information generating unit 303 and information indicating the driving route during teacher driving (teacher route) detected by the driving route detecting unit 304. When a vehicle operation is detected during teacher driving, the teacher data further includes vehicle operation information detected by the vehicle operation detecting unit 305.

[0079] The self-position estimation unit 307 estimates the position and direction (azimuth) of the vehicle 1 when the vehicle 1 is traveling while reproducing a teacher route based on a teacher route determined by a vehicle control unit 311 (to be described later).

[0080] As an example, the self-position estimation unit 307 reads out feature point information contained in the surrounding environment map of the teacher data stored in the memory unit 306, and estimates the position and orientation of the vehicle 1 by comparing it with feature points extracted from the current surrounding image of the vehicle 1 acquired during playback driving.

[0081] The position and orientation of the vehicle 1 estimated by the self-position estimation unit 307 may be a relative position and relative direction with respect to a reference position and reference direction such as the starting position and starting direction in the acquired driving route, but an absolute position and absolute direction based on the output of the orientation sensor 213 or the GNSS sensor 214 may also be used.

[0082] In addition, in each of the teacher driving and playback driving, the position of vehicle 1 is not limited to being obtained using dead reckoning technology based on the amount of movement of vehicle 1 from a reference position, but may also be obtained using known map matching or GNSS sensor 214.

[0083] In playback driving, the path following calculation unit 308 acquires a driving path (teacher path) in a parking operation (teacher driving) performed in the past from the storage unit 306, and calculates a merging path, which is a driving path from the current position of the vehicle 1 to merging with the teacher path, based on the teacher path and the position of the vehicle 1 estimated by the self-position estimation unit 307. The calculated merging path is stored in the storage unit 306.

[0084] The vehicle operation reproducing unit 309 reproduces the vehicle behavior during teacher driving during playback driving (automatic parking) based on vehicle operation information acquired during a parking operation performed in the past (teacher driving), i.e., vehicle operation information included in information (teacher data) related to the teacher route. Specifically, the vehicle operation reproducing unit 309 reproduces the operation of the vehicle equipment (vehicle behavior) resulting from the operation acquired during teacher driving during playback driving based on the vehicle operation information stored in the storage unit 306 and the position of the vehicle 1 estimated by the self-position estimating unit 307. In other words, the vehicle operation reproducing unit 309 reproduces the vehicle behavior during teacher driving during playback driving, triggered by the position (position coordinates) of the vehicle 1. As an example, the vehicle operation reproducing unit 309 reproduces the vehicle behavior during teacher driving during automatic driving (playback driving) at the timing when the vehicle is located at the same position coordinates as the position coordinates at which the vehicle operation was started during teacher driving.

[0085] As an example, the vehicle operation reproducing unit 309 reproduces the result of the turn signal operation detected by the vehicle operation detection unit 305 during the teacher driving, that is, the vehicle behavior related to the turn signal.

[0086] Note that the reproduction of the vehicle behavior during teacher driving in the regenerative driving may be a reproduction of the vehicle operation of the vehicle 1 itself detected during teacher driving, such as the movement (behavior) of the turn signal lever. Alternatively, the reproduction may be a reproduction of the control of the vehicle 1 according to the vehicle operation, such as simulating a signal from the turn signal lever (HMI 22). Furthermore, the reproduction of the vehicle behavior is not limited to being realized by the same vehicle control as during teacher driving, but may be realized by a different vehicle control, such as generating a control signal to be supplied to the turn signal so that the behavior of the turn signal is reproduced.

[0087] In addition, the vehicle behavior reproduced during playback driving may be the same as the vehicle behavior detected during teacher driving, or may be similar to the vehicle behavior detected during teacher driving. In other words, the vehicle behavior reproduced during playback driving may be changed from the vehicle behavior detected during teacher driving. In other words, reproducing the operation of the vehicle equipment includes changing the vehicle control based on the operation acquired during teacher driving, and then operating the vehicle equipment of the vehicle 1 by vehicle control similar to the vehicle control.

[0088] As an example, if the vehicle operation detected by the vehicle operation detection unit 305 during teacher driving does not satisfy a predetermined criterion stored in the storage unit 306, the vehicle operation reproducing unit 309 may reproduce a different turn signal operation from that during teacher driving. For example, if the time during which the turn signal was turned on during teacher driving, i.e., the operation time based on the turn signal operation acquired during teacher driving, is short enough not to satisfy a predetermined time (criterion), the vehicle operation reproducing unit 309 may extend the operation time of the turn signal so that the turn signal is turned on for a predetermined time or longer. In other words, the vehicle operation reproducing unit 309 extends the operation time of the turn signal during automatic parking longer than the operation time of the turn signal during teacher driving.

[0089] Note that extending the operation time of the turn signal means advancing the timing of the start of operation or delaying the timing of the end of operation with respect to the operation timing of the turn signal. Furthermore, the vehicle operation reproducing unit 309 may shorten the operation time of the turn signal when the time during which the turn signal is turned on during teacher driving, i.e., the operation time based on the operation of the turn signal acquired during teacher driving, is a long time exceeding a predetermined time (reference). In other words, the vehicle operation reproducing unit 309 may shorten the operation time of the turn signal during automatic parking to be shorter than the operation time of the turn signal during teacher driving.

[0090] As an example, the vehicle operation reproduction unit 309 may, based on information regarding the surrounding conditions of the vehicle 1, cause the vehicle operation detected by the vehicle operation detection unit 305 during teacher driving to differ depending on the surrounding conditions of the vehicle 1 during playback driving.

[0091] For example, the vehicle operation reproducing unit 309 may change the presence or absence of blinker operation from when the vehicle 1 is parallel-parked from a driving path (roadway) to a parking space provided along the roadway, based on the width of the roadway. For example, when the width of the roadway is larger than a predetermined standard stored in the storage unit 306, the vehicle operation reproducing unit 309 may change the behavior of the blinker so that the blinker is turned on when a blinker operation is not detected during the teacher's driving, or may change the behavior of the blinker so that the blinker is turned on for a longer period of time or at an earlier timing than when the vehicle 1 is driving as the teacher. Alternatively, the vehicle operation reproducing unit 309 may change the behavior of the blinker so that the blinker is turned on when the width of the roadway is smaller than a predetermined standard stored in the storage unit 306.

[0092] For example, when a person or other vehicle is detected around the vehicle 1 during automatic parking, the vehicle operation reproducing unit 309 may change the operation timing of the vehicle equipment or add an operation of the vehicle equipment. For example, when a person or other vehicle is detected around the vehicle 1, the vehicle operation reproducing unit 309 may change the behavior of the turn signal so that the turn signal is turned on even if a turn signal operation is not detected during teacher driving. For example, when a person or other vehicle is detected around the vehicle 1, the vehicle operation reproducing unit 309 may change the behavior of the turn signal so that the turn signal is turned on for a longer operation time or at an earlier operation timing than during teacher driving.

[0093] The output control unit 310 generates support information related to the parking support function. In addition, the output control unit 310 presents the generated support information to the user via the HMI 22. Specifically, the output control unit 310 outputs, as support information, to the HMI 22, information for displaying, via the HMI 22, the support information related to the parking support function and an operation icon for receiving an operation input by the driver.

[0094] As an example, the output control unit 310 outputs, as assistance information, to the HMI 22, information for displaying a display screen including an operation icon for instructing to call up a parking assistance function.

[0095] As an example, the output control unit 310 outputs information for displaying a menu screen that displays each menu of the parking assistance function as assistance information to the HMI 22. For example, this menu screen includes an operation icon for instructing the start of a teacher driving mode and an operation icon for instructing the start of an automatic driving (regenerative driving) mode.

[0096] As an example, in the teacher driving mode and / or the autonomous driving mode, the output control unit 310 outputs information for displaying a display screen including a top view image as support information to the HMI 22. Here, the top view image is a surround view image showing information of the space around the vehicle 1. As an example, the top view image is an overhead image of the vehicle 1 generated by synthesizing surrounding images of the surroundings (for example, the front, rear, left and right) of the vehicle 1 obtained by the omnidirectional camera 212.

[0097] For example, the display screen including the top view image further includes a display of information indicating the state of the vehicle 1. Here, the display of the information indicating the state of the vehicle 1 is a pseudo display of the vehicle behavior of the vehicle 1. In other words, the support information from the output control unit 310 may include information for pseudo displaying the operation of the vehicle equipment of the vehicle 1. This display allows the driver to easily grasp the reproduced vehicle behavior. For this reason, the driver can take action such as stopping the operation of unnecessary vehicle equipment or manually adding the operation of vehicle equipment that is not reproduced.

[0098] For example, the vehicle behavior of vehicle 1, i.e., the pseudo display of the operation of vehicle equipment, may be realized by superimposing an icon simulating vehicle 1 on a top-view image. That is, in the supervised driving mode and / or the autonomous driving mode, output control unit 310 may output, as support information, to HMI 22, information for displaying a display screen in which an icon simulating vehicle 1 is superimposed on a top-view image of vehicle 1. Here, the icon simulating vehicle 1 may be, for example, a CG image simulating vehicle 1, such as a 3D vehicle model, or may be an icon indicating vehicle equipment mounted on vehicle 1.

[0099] For example, output control unit 310 may change the display of vehicle equipment using an icon simulating vehicle 1 superimposed on the top view image in conjunction with reproduction of the operation of the vehicle equipment based on the teacher data. For example, if the turn signals are turned on based on the vehicle operation information during automatic parking, the turn signals are also turned on on the icon in conjunction with the reproduction. For example, if the side mirrors are stored (folded) based on the vehicle operation information during automatic parking, the side mirrors are also stored on the icon in conjunction with the reproduction.

[0100] The information indicating the state of the vehicle 1 may be information indicating an operation schedule of the vehicle equipment. For example, a display screen in which a pin or flag icon or text is superimposed at a corresponding position on the teacher route is displayed on the HMI 22, so that an event (operation of the vehicle equipment) at that position may be presented to the driver. Also, the operation schedule of the vehicle equipment may be editable on the display screen.

[0101] The information indicating the state of the vehicle 1 is not limited to being superimposed on the top view image. For example, on the display screen, only a CG image or icon simulating the vehicle 1, or an icon or text indicating the operation of the vehicle equipment may be displayed on the HMI 22.

[0102] In addition, in the autonomous driving mode, the display screen including the top view image may further include information about the teacher route, such as the parking start position, the parking completion position, and the driving route (route).

[0103] The vehicle control unit 311 controls the regenerative driving to move the vehicle 1 along the teacher route and stop the vehicle in a predetermined parking mode based on information (teacher data) about the teacher route. Specifically, the vehicle control unit 311 controls the steering, braking, and acceleration / deceleration of the vehicle 1 to follow the teacher route.

[0104] As an example, the vehicle control unit 311 detects a difference between the merging route and teacher route and the position and direction of the vehicle 1 based on the merging route and teacher route stored in the memory unit 306 and the position and direction of the vehicle 1 estimated by the self-position estimation unit 307, and controls at least one of the control amounts of steering, braking, and acceleration / deceleration of the vehicle 1 so as to reduce the detected difference, thereby causing the vehicle 1 to follow the merging route and teacher route and controlling the playback driving.

[0105] Next, a description will be given of the flow of the parking assistance process executed by the parking assistance device 3 configured as above. As described above, the parking assistance process executed by the parking assistance device 3 includes the teacher driving process and the replay driving process.

[0106] Figure 5 is a flowchart showing an example of the flow of the teacher driving process executed by the parking assistance device 3 of Figure 1. The flow of Figure 5 is started, for example, after a parking assistance function call instruction is received in a state where the vehicle 1 is parked at the teacher driving start position (parking start position).

[0107] The parking assistance device 3 judges whether or not the driver has issued an instruction to start the teacher driving mode (S101). If the driver has not issued an instruction to start the teacher driving mode (S101: No), the flow of FIG. 5 returns to the process of S101. For example, the parking assistance device 3 repeatedly executes the process of S101 at a predetermined interval (for example, at 100 ms intervals).

[0108] When an instruction to start the teacher driving mode is given (S101: Yes), the parking assistance device 3 judges whether or not a vehicle operation other than that performed by the driver while driving has been detected. When no vehicle operation has been detected (S102: No), the parking assistance device 3 temporarily stores the position of the vehicle 1 and the surrounding environment map in the storage unit 306 (S103). When a vehicle operation has been detected (S102: Yes), the parking assistance device 3 temporarily stores the vehicle operation information together with the position of the vehicle 1 and the surrounding environment map in the storage unit 306 (S104). This vehicle operation information may be stored in association with the position of the vehicle 1, for example.

[0109] The parking assistant 3 judges whether or not there is an instruction from the driver to end the teacher driving mode (S105). If there is no instruction to end the teacher driving mode (S105: No), the flow of FIG. 5 returns to the process of S102. In this way, the position of the vehicle 1 is stored in chronological order, and this chronologically ordered position data becomes data indicating the travel route during teacher driving. If there is an instruction to end the teacher driving mode (S105: Yes), the parking assistant 3 generates teacher data to be referred to during the automatic driving mode (reproduction driving process) based on the driving route (teacher route) indicated by the position data stored in chronological order during teacher driving, the surrounding environment map along the driving route, and the vehicle operation information, and stores the generated teacher data in the storage unit 306. After that, the flow of FIG. 5 ends.

[0110] Fig. 6 is a flowchart showing an example of the flow of a regenerative driving process executed by the parking assistance device 3 of Fig. 1. The flow of Fig. 6 is started, for example, after a parking assistance function call instruction is received in a state where the vehicle 1 is stopped at a parking start position.

[0111] The parking assistance device 3 determines whether or not the driver has issued an instruction to start the autonomous driving mode (S201). If the driver has not issued an instruction to start the autonomous driving mode (S201: No), the flow of FIG. 6 returns to the process of S201. For example, the parking assistance device 3 repeatedly executes the process of S201 at a predetermined interval (for example, at 100 ms intervals).

[0112] When an instruction to start the autonomous driving mode is given (S201: Yes), the parking assistance device 3 reads out the teacher data from the storage unit 306 (S202). After that, while estimating the vehicle position (S203), the parking assistance device 3 feedback-controls the vehicle 1 to move so as to match the target route (teacher route) of the teacher data (S204), and reproduces the vehicle operation (vehicle behavior) during teacher driving based on the vehicle operation information of the teacher data (S205).

[0113] After that, the parking assistance device 3 judges whether the vehicle 1 has reached the goal position (parking completion position) of the target route indicated by the teacher data (S206). If the vehicle 1 has not reached the parking completion position (S206: No), the flow of FIG. 6 returns to the process of S203. If the vehicle 1 has reached the parking completion position (S206: Yes), the parking assistance device 3 stops the vehicle 1, and the flow of FIG. 6 ends.

[0114] In this way, the parking assistant 3 according to the embodiment is configured to detect vehicle operation information related to the operation of the turn signal (vehicle equipment) of the vehicle 1 together with the turn signal during the teacher driving mode for route memory type automatic parking. Also, the parking assistant 3 is configured to move the vehicle 1 along the driving path (teacher path) in the parking operation performed in the past in the automatic driving mode, and to reproduce the operation of the turn signal caused by the operation detected during the parking operation performed in the past (teacher driving).

[0115] According to this configuration, in route memory type automatic parking where the vehicle 1 automatically drives based on parking operations performed in the past, it is possible to automatically control vehicle equipment such as turn signals, thereby improving safety and convenience for the surroundings. Therefore, according to the above configuration, it is possible to appropriately support route memory type automatic parking.

[0116] In the above embodiment, the turn signal (directional indicator) mounted on the vehicle 1 is exemplified as the vehicle equipment from which the vehicle operation information is obtained, i.e., the operation is reproduced, but the present invention is not limited to this. The vehicle operation to be obtained as the vehicle operation information may be any vehicle operation that can improve the surrounding safety during playback driving, the safety of the vehicle 1 or the driver, or the convenience of the driver by recording and reproducing it. The target vehicle operation is not limited to the turn signal operation, but may be the operation of various vehicle equipment such as side mirror operation, hazard lamp (emergency flashing indicator) operation, headlight (headlight) operation, position lamp (side light) operation, and door operation. By reproducing these operations, the safety around the vehicle 1 and the safety and convenience of the vehicle 1 (driver) can be improved.

[0117] As an example, the vehicle equipment whose operation is reproduced in the parking assistance device 3 according to the above-described embodiment may be a side mirror mounted on the vehicle 1 in addition to or instead of the turn signal.

[0118] For example, the parking assistance device 3 can detect that the side mirrors are folded (stored) during teacher driving, such as when parking in a narrow parking space. For example, the vehicle operation detection unit 305 may detect vehicle operations related to the deployment / storage of the side mirrors during teacher driving, based on information from the HMI 22 and the side mirrors acquired by the acquisition unit 301, for example, and acquire the vehicle operation information related to the side mirror operation.

[0119] For example, the vehicle operation reproducing unit 309 may change the operation of the side mirrors (vehicle behavior) reproduced during playback driving from the vehicle behavior detected during teacher driving, based on information related to the surrounding conditions of the vehicle 1.

[0120] For example, the vehicle operation reproducing unit 309 may change the presence or absence of operation of the side mirrors from the time of teacher driving based on the width of the parking space of the vehicle 1, that is, the size of the space around the vehicle 1 at the parking completion position. For example, if the width of the parking space is smaller than a predetermined width (reference) that is determined in advance and stored in the storage unit 306, the vehicle operation reproducing unit 309 may change the behavior so that the side mirrors are folded even if the operation of the side mirrors is not detected during teacher driving, or may advance the operation timing of the side mirrors so that they are folded at an earlier timing (for example, before the start of automatic parking) than during teacher driving. Note that the predetermined width used as the reference is, for example, the size of the vehicle 1 plus a predetermined margin that takes into account the risk of collision or contact. In this way, according to a configuration in which automatic parking is performed by providing a margin according to the surrounding conditions of the vehicle 1, the risk of collision or contact can be reduced, and safety in automatic parking can be improved.

[0121] For example, when there are people or other vehicles nearby, the vehicle operation reproducing unit 309 may add an operation to fold the side mirrors even if no operation is detected during teacher driving, or may advance the operation timing of the side mirrors so that they fold earlier than during teacher driving.

[0122] As an example, the vehicle equipment whose operation is to be reproduced in the parking assistance device 3 according to the above embodiment may be a hazard lamp mounted on the vehicle 1 in addition to or instead of at least one of the turn signal and the side mirror. The vehicle equipment as the hazard lamp may be the same vehicle equipment as the turn signal, or may be a different vehicle equipment.

[0123] As an example, the vehicle equipment for which the operation is reproduced in the parking assistance device 3 according to the above embodiment may be a light mounted on the vehicle 1 in addition to or instead of at least one of the turn signals and the side mirrors. The light includes at least one of the headlights (headlights) and the position lamps (sidelights), for example.

[0124] For example, the parking assistance device 3 can detect that hazard lamps and lights are turned on / off while the vehicle is driving as a teacher. For example, the vehicle operation detection unit 305 may detect vehicle operations related to turning on / off hazard lamps and lights while the vehicle is driving as a teacher, based on information from the HMI 22 and the hazard lamps and lights acquired by the acquisition unit 301, and acquire the information as vehicle operation information related to hazard lamp operation and light operation.

[0125] For example, the vehicle operation reproducing unit 309 may change the operation of the hazard lamps and lights (vehicle behavior) reproduced during playback driving from the vehicle behavior detected during the teacher driving based on information related to the surrounding conditions of the vehicle 1.

[0126] For example, when there are people or other vehicles in the vicinity, the vehicle operation reproducing unit 309 may add an operation to turn on the hazard lights or headlights even if no operation is detected during teacher driving, or may advance the timing of the operation so that the lights are turned on earlier than when teacher driving, or may delay the timing of the operation so that the lights are turned off later than when teacher driving.

[0127] Also, for example, the parking assistance device 3 may obtain information on weather and illuminance from an in-vehicle sensor such as a raindrop sensor, a sensor for detecting wiper operation, or an illuminance sensor mounted on the vehicle 1. Also, the parking assistance device 3 may obtain information on weather on the Internet by communicating with the outside of the vehicle 1 via the I / F 35, for example. Also, the parking assistance device 3 may obtain information on illuminance around the vehicle 1, such as in a tunnel or a multi-storey parking garage, based on the output and map data from the GNSS sensor 214, or the output from a car navigation device mounted on the vehicle 1.

[0128] For example, the vehicle operation reproducing unit 309 may change the vehicle behavior detected during teacher driving based on at least one of the weather and illuminance at the time of automatic parking. For example, the vehicle operation reproducing unit 309 may change the vehicle behavior detected during teacher driving in the case of weather and illuminance that satisfy a predetermined condition (criteria) that is determined in advance and stored in the storage unit, such as in the case of rainy or cloudy weather, or at night, in a tunnel, or in a multi-story parking lot. For example, the vehicle operation reproducing unit 309 may add an operation so that the hazard lamp operation or light operation is turned on during teacher driving even if it is not detected, or may advance the operation timing so that the hazard lamp operation or light operation is turned on earlier than during teacher driving, or may delay the operation timing so that the light is turned off later than during teacher driving, in the case of weather and illuminance that satisfy the predetermined condition (criteria).

[0129] As an example, the vehicle equipment whose operation is reproduced in the parking assistance device 3 according to the above-described embodiment may be a door mounted on the vehicle 1 in addition to or instead of at least one of the turn signals and the side mirrors.

[0130] For example, the parking assistance device 3 can detect the degree of door opening, such as the opening / closing amount and opening / closing speed, during teacher driving, for example, at the parking completion position. For example, the vehicle operation detection unit 305 may detect vehicle operations related to the degree of door opening during teacher driving, based on information from the HMI 22 and an opening / closing sensor (on-board sensor) provided on the door acquired by the acquisition unit 301, for example, and acquire the vehicle operation information related to the degree of door opening.

[0131] For example, the vehicle operation reproducing unit 309 may limit the operation of the door during playback driving based on vehicle operation information related to at least one of the amount and speed of opening and closing of the door of the vehicle 1. For example, if the door is only half-opened during teacher driving, the vehicle operation reproducing unit 309 may limit the amount of opening and closing of the door during playback driving so that the door opens only to that extent. For example, if the door is opened slowly during teacher driving, the vehicle operation reproducing unit 309 may limit the speed of opening and closing the door during playback driving so that the door opens only at or below that speed.

[0132] For example, the parking assistance device 3 may not accept an instruction to start the teacher driving mode or an instruction to start the automatic driving (regenerative driving) mode when the vehicle 1 is located on a road such as a public road (in other words, other than a parking lot or a private road) based on the output from the GNSS sensor 214 and map data, or the output from the car navigation device mounted on the vehicle 1. For example, the output control unit 310 may change an operation icon for instructing the start of the teacher driving mode or an operation icon for instructing the start of the automatic driving mode to gray out on a menu screen that displays each menu of the parking assistance function, and output it to the HMI 22. Alternatively, the output control unit 310 may notify the user that the vehicle 1 is located on a public road and therefore the start of the teacher driving mode or the start of the regenerative driving mode is not accepted. The output control unit 310 may notify the user on the menu screen, may notify the user by transitioning the screen from the menu screen, may notify the user by a pop-up display, or may notify the user by a voice or a notification sound.

[0133] In the above-mentioned embodiment, "determining whether it is A" may mean "determining that it is A", or "determining that it is not A", or "determining whether it is A or not".

[0134] The program executed by the parking assistance device 3 of the above-described embodiment may be provided by being recorded on a computer-readable recording medium such as a CD-ROM, FD, CD-R, DVD, or SD card in an installable or executable format file.

[0135] The program executed by the parking assistance device 3 of the above 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 3 may be provided or distributed via a network such as the Internet.

[0136] Furthermore, the programs executed by the parking assistance device 3 of the above-described embodiment may be provided by being pre-installed in a ROM or the like.

[0137] In addition, the program executed by the parking assistance device 3 of the above-mentioned embodiment has a modular configuration including each of the above-mentioned functional units (acquisition unit 301, reception unit 302, map information generation unit 303, driving route detection unit 304, vehicle operation detection unit 305, memory unit 306, self-position estimation unit 307, route following calculation unit 308, vehicle operation reproduction unit 309, output control unit 310 and vehicle control unit 311), and in terms of actual hardware, the CPU 31 reads out and executes the program from the ROM 32 or HDD 34, whereby each of the above-mentioned functional units is loaded onto the RAM 33, and each of the above-mentioned functional units is generated on the RAM 33.

[0138] According to at least one of the embodiments described above, route memory type automatic parking can be appropriately supported.

[0139] 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.

[0140] (Additional Note) The above description of the embodiments discloses the following techniques. (1) A parking assistance method for automatically driving a vehicle based on a parking operation performed in the past, comprising: acquiring a training path based on a driving path in a parking operation performed in the past; Acquiring vehicle operation information regarding an operation of at least one of a turn signal and a side mirror of the vehicle during the previously performed parking operation; storing teacher data including the teacher route and the vehicle operation information; In the automatic parking in which the vehicle is moved along the teacher path, reproducing an operation of the vehicle equipment resulting from an operation acquired during the parking operation performed in the past based on the teacher data. Parking assistance methods. (2) Reproducing the operation of the vehicle equipment includes operating the vehicle equipment after changing a vehicle control based on an operation acquired during the parking operation performed in the past. The parking assistance method according to (1) above. (3) The change in the vehicle control includes, when an operation time based on the operation of the turn signal acquired during the parking operation performed in the past is shorter than a predetermined time, extending an operation time of the turn signal to more than the predetermined time. The parking assistance method according to (2) above. (4) The change in the vehicle control includes changing whether or not to operate the turn signal based on a width of a road on which the vehicle was traveling when the parking operation was previously performed. A parking assistance method according to (2) or (3) above. (5) The change in the vehicle control includes changing whether or not to operate the side mirrors based on a width of a parking space of the vehicle when the parking operation was previously performed. A parking assistance method according to any one of (2) to (4) above. (6) The change in the vehicle control includes advancing an operation timing of the side mirror when a width of a parking space of the vehicle during the previously performed parking operation is narrower than a predetermined width. A parking assistance method according to any one of (2) to (5) above. (7) The change in the vehicle control includes changing the operation timing or adding an operation for at least one of the turn signal and the side mirror when a person or another vehicle is detected around the vehicle during the automatic parking. A parking assistance method according to any one of (2) to (6) above. (8) The vehicle equipment of the vehicle further includes at least one of a hazard lamp, a headlight, a position lamp, and a door. A parking assistance method according to any one of claims (1) to (7). (9) Further acquiring the vehicle operation information regarding the operation of the headlights of the vehicle during the previously performed parking operation; In the automatic parking, the method further includes reproducing the operation of the headlights caused by the operation acquired during the parking operation performed in the past based on the teacher data, Reproducing the operation of the headlights includes changing vehicle control based on an operation acquired during the previously performed parking operation based on at least one of weather and illuminance at the time of the automatic parking, and then operating the headlights. A parking assistance method according to any one of (1) to (8) above. (10) Further acquiring the vehicle operation information regarding at least one of an opening / closing amount and an opening / closing speed of the door of the vehicle during the parking operation performed in the past; In the automatic parking, the method further includes restricting the operation of the door based on the teacher data. A parking assistance method according to any one of claims (1) to (9). (11) outputting support information for displaying a display screen in which an icon simulating the vehicle is superimposed on an overhead image of the vehicle generated by synthesizing an image of the surroundings of the vehicle; In the automatic parking, the display of the vehicle equipment of the icon is changed in conjunction with the operation of the vehicle equipment. A parking assistance method according to any one of claims (1) to (10). (12) A parking assistance device that automatically drives a vehicle based on a parking operation performed in the past, a learning unit that acquires a teacher route based on a driving route during the parking operation performed in the past, and acquires vehicle operation information regarding an operation of at least one of a turn signal and a side mirror of the vehicle during the parking operation performed in the past; a storage unit for storing teacher data including the teacher route and the vehicle operation information; and a reproduction unit that reproduces an operation of the vehicle equipment caused by an operation acquired during a parking operation performed in the past based on the teacher data in an automatic parking system that moves the vehicle along the teacher path. Parking assistance device. (13) At least one processor; a memory for storing at least one program executed by the at least one processor; The at least one processor is configured to execute the at least one program to realize the parking assistance method according to any one of (1) to (11). Parking assistance device. (14) A program for causing a computer to execute the parking assistance method according to any one of (1) to (11) above. (15) A recording medium (Computer Program Product) having recorded thereon the program described in (14) above, which is executed by a computer. (16) The parking assistance device according to (12) or (13) above, and an operation unit that accepts an operation of the vehicle equipment by a user. vehicle. (17) The parking assistance device according to (13) above, wherein the at least one processor is configured to implement the parking assistance method according to (11) above; A display device that displays the display screen based on the assistance information from the parking assistance device. vehicle. (18) The parking assistance device according to (12) or (13) above, A control device that controls at least one of a steering angle, a drive, and a brake based on a control signal from the reproducing unit. vehicle. (19) The parking assistance device according to (12) or (13) above, At least one of a sonar, a 360-degree camera, a steering angle sensor, a wheel speed sensor, a direction sensor, and a GNSS sensor is provided. vehicle. [Explanation of symbols]

[0141] 1 vehicle 12 Body 13 wheels 14 Bumper 22 HMI (display section, operation section) 23 Steering control device 24 Drive and brake control device 3. Parking Assistance Device 31 CPU 32 ROM 33 RAM 34 HDD 35 Interfaces 39 Bus 130 seats 140 Steering Wheel 180 Windshield 190 Dashboard 211 Sonar 212 All-around camera 213 Orientation Sensor 214 GNSS Sensor 221 Display device 222a, 222b Operation buttons 301 Acquisition Department (Reception Department, Learning Department) 302 Reception 303 Map information generation unit (learning unit) 304 Driving route detection unit (learning unit) 305 Vehicle operation detection unit (learning unit) 306 Storage section 307 Self-position estimation section (playback section) 308 Path following calculation unit (regeneration unit) 309 Vehicle operation reproduction section (reproduction section) 310 Output control unit (display control unit) 311 Vehicle control unit (regeneration unit)

Claims

1. A parking assistance method for automatically driving a vehicle based on a parking operation performed in the past, comprising: acquiring a training path based on a driving path in a parking operation performed in the past; Acquiring vehicle operation information regarding an operation of at least one of a turn signal and a side mirror of the vehicle during the previously performed parking operation; storing teacher data including the teacher route and the vehicle operation information; In the automatic parking in which the vehicle is moved along the teacher path, reproducing an operation of the vehicle equipment resulting from an operation acquired during the parking operation performed in the past based on the teacher data. Parking assistance methods.

2. Reproducing the operation of the vehicle equipment includes operating the vehicle equipment after changing a vehicle control based on an operation acquired during the parking operation performed in the past. The parking assistance method according to claim 1 .

3. The change in the vehicle control includes, when an operation time based on the operation of the turn signal acquired during the parking operation performed in the past is shorter than a predetermined time, extending an operation time of the turn signal to more than the predetermined time. The parking assistance method according to claim 2 .

4. The change in the vehicle control includes changing whether or not to operate the turn signal based on a width of a road on which the vehicle was traveling when the parking operation was previously performed. The parking assistance method according to claim 2 .

5. The change in the vehicle control includes changing whether or not to operate the side mirrors based on a width of a parking space of the vehicle when the parking operation was previously performed. The parking assistance method according to claim 2 .

6. The change in the vehicle control includes advancing an operation timing of the side mirror when a width of a parking space of the vehicle during the previously performed parking operation is narrower than a predetermined width. The parking assistance method according to claim 2 .

7. The change in the vehicle control includes changing the operation timing or adding an operation for at least one of the turn signal and the side mirror when a person or another vehicle is detected around the vehicle during the automatic parking. The parking assistance method according to claim 2 .

8. The vehicle equipment of the vehicle further includes at least one of a hazard lamp, a headlight, a position lamp, and a door. The parking assistance method according to claim 1 .

9. Further acquiring the vehicle operation information regarding the operation of the headlights of the vehicle during the previously performed parking operation; In the automatic parking, the method further includes reproducing the operation of the headlights caused by the operation acquired during the parking operation performed in the past based on the teacher data, Reproducing the operation of the headlights includes changing vehicle control based on an operation acquired during the previously performed parking operation based on at least one of weather and illuminance at the time of the automatic parking, and then operating the headlights. The parking assistance method according to claim 1 .

10. Further acquiring the vehicle operation information regarding at least one of an opening / closing amount and an opening / closing speed of the door of the vehicle during the parking operation performed in the past; In the automatic parking, the method further includes restricting the operation of the door based on the teacher data. The parking assistance method according to claim 1 .

11. outputting support information for displaying a display screen in which an icon simulating the vehicle is superimposed on an overhead image of the vehicle generated by synthesizing an image of the surroundings of the vehicle; In the automatic parking, the display of the vehicle equipment of the icon is changed in conjunction with the operation of the vehicle equipment. The parking assistance method according to claim 1 .

12. A parking assistance device that automatically drives a vehicle based on a parking operation performed in the past, a learning unit that acquires a teacher route based on a driving route during the parking operation performed in the past, and acquires vehicle operation information regarding an operation of at least one of a turn signal and a side mirror of the vehicle during the parking operation performed in the past; a storage unit for storing teacher data including the teacher route and the vehicle operation information; and a reproduction unit that reproduces an operation of the vehicle equipment caused by an operation acquired during a parking operation performed in the past based on the teacher data in an automatic parking system that moves the vehicle along the teacher path. Parking assistance device.

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