Parking assist device

Abstract

To provide a parking assist device capable of parking a vehicle without troubling a user, even when the vehicle cannot be parked in a designated space.SOLUTION: A parking assist device performs an automatic parking control that automatically drives the vehicle toward a designated space designated by a user to automatically park the vehicle in the designated space. The parking assist device terminates the automatic parking control when a predetermined termination condition is satisfied. When determining that the vehicle cannot be parked in the designated space while the vehicle travels toward the designated space, the parking assist device makes the vehicle travel automatically to search for an available space. When finding the available space, the parking assist device automatically parks the vehicle in the available space. When finding no available space by a time at which the termination condition is satisfied, the parking assist device informs the user that there is no available space.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a parking assistance device that performs automatic parking control to automatically park a vehicle in a designated space specified by a user.

Background Art

[0002] Conventionally, parking assistance devices that perform automatic parking control have been known. For example, the parking assistance device described in Patent Document 1 (hereinafter referred to as the "conventional device") is a management device for an automatic valet parking lot and is configured to be communicable with a plurality of vehicles existing in or around the parking lot. When the parking priority of a first vehicle attempting to park is higher than the parking priority of a second vehicle already parked, the conventional device instructs the second vehicle to automatically drive out of the parked parking space and instructs the first vehicle to park in that parking space.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] The conventional device is premised on being able to control a plurality of vehicles by instructing a plurality of vehicles. The conventional device cannot be applied to a parking assistance device that controls only one vehicle. That is, a parking assistance device that controls only one vehicle cannot make a second vehicle drive out of a designated space even if a second vehicle is already parked in the designated space where a first vehicle designated by a user attempts to park.

[0005] The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to provide a parking assistance device that can park a vehicle without disturbing the user even when the vehicle cannot park in a designated space.

[0006] The parking support device of the present invention (hereinafter referred to as "the device of the present invention") performs automatic parking control to automatically drive the vehicle toward a designated space (DS) specified by the user and automatically park the vehicle in the designated space (Steps 600 to 695). The parking support device When a predetermined end condition is satisfied (Step 530 "Yes"), the automatic parking control is terminated (Steps 560, 565), When it is determined that the vehicle cannot be parked in the designated space while the vehicle is traveling toward the designated space (Step 635 "Yes"), the vehicle is automatically driven while searching for a possible space where the vehicle can be parked (Steps 664, 670, 672), When the possible space is found (Step 672 "Yes"), the vehicle is automatically parked in the possible space (Steps 676, 678, 680), When the possible space cannot be found before the end condition is satisfied (Step 530 "Yes", Step 548 "Yes", Step 550 "No"), the user is notified that the possible space could not be found (Step 570), and is configured as described above.

[0007] According to the device of the present invention, when the vehicle cannot be parked in the designated space, the vehicle searches for a possible space and automatically parks in the possible space. For this reason, the vehicle can be parked without bothering the user. Further, when the possible space cannot be found before the end condition is satisfied, the user is notified to that effect, so that the user can take measures such as specifying a new parking space.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

MODE FOR CARRYING OUT THE INVENTION

[0009] As shown in FIG. 1, the parking assistance system according to the present embodiment includes a parking assistance device 10, a remote operation device 50, and a parking lot management server 60 applied to the vehicle VA. The parking assistance device 10, the remote operation device 50, and the parking lot management server 60 are communicably connected via a network NW.

[0010] The parking assistance device 10 includes the components shown in FIG. 1. In this specification, "ECU 20" is an electronic control device mainly including a microcomputer. The ECU 20 is also referred to as a control unit, a controller, and a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, an interface, and the like. The functions realized by the ECU 20 may be realized by a plurality of ECUs.

[0011] The camera 22 acquires image data by photographing the scenery around the vehicle VA. The ECU 20 acquires image data from the camera 22.

[0012] The sonar 24 acquires sonar data regarding the position of an object existing around the vehicle VA with respect to the vehicle VA. The ECU 20 acquires the sonar data from the sonar 24. The wheel speed sensor 26 measures the wheel speed of the wheels. The ECU 20 acquires the detected value of the wheel speed sensor 26. The communication interface (I / F) 28 is an interface for connecting to the network NW.

[0013] The power train actuator 30 changes the driving force generated by the drive device (e.g., internal combustion engine and / or electric motor) of the vehicle VA. The brake actuator 32 controls the braking force applied to the vehicle VA. The steering motor 34 is incorporated in the steering mechanism 36. The steering mechanism 36 is a mechanism for steering the steered wheels in response to the operation of the steering wheel. The steering motor 34 generates an automatic steering torque for changing the steering angle of the steered wheels in the steering mechanism 36 in accordance with an instruction from the ECU 20.

[0014] The PKB actuator 38 applies a parking brake force to the wheels. The ECU 20 can apply a parking brake force to the wheels using the PKB actuator 38 and maintain the vehicle VA in a stopped state. The shift actuator 40 changes the shift range. The shift range includes a parking range (P), a drive range (D), a reverse range (R), and the like.

[0015] The remote operation device 50 is a device that can be operated by a user outside the vehicle, and as an example, it is a smartphone. The remote operation device 50 includes a display device 52. The display device 52 is a touch panel type display device that allows the user to input to the remote operation device 50 by touching the display device 52. When the display device 52 is not of the touch panel type, the remote operation device 50 includes an input device.

[0016] The parking lot management server 60 is a server that manages the availability status of parking spaces in a parking lot. The parking lot management server 60 includes a CPU, a ROM, a RAM, and an I / F. Further, the parking lot management server 60 includes a storage device 62. In the storage device 62, parking lot floor plan data 64, availability status data 66, and parking lot route data 68 are stored. The parking lot floor plan data 64 is data of a floor plan of the parking lot. The availability status data 66 is data regarding the availability status of parking spaces in the parking lot. The parking lot management server 60 identifies the availability status of a parking space based on an image captured by a camera provided in the parking lot and capturing the parking space, and updates the availability status data 66 based on the identified availability status. The parking lot route data 68 is data regarding a route along which the vehicle VA can travel within the parking lot.

[0017] (Outline of operation) The parking assistance device 10 according to the present embodiment performs automatic parking control to automatically drive the vehicle VA toward a designated space DS (see FIG. 3), which is a parking space designated by a user operating the remote control device 50, and automatically park the vehicle VA in the designated space DS. As an example of such automatic parking control, there is reverse summon control, which is a type of automatic driving. In reverse summon control, a user who has gotten out of the vehicle outside the parking lot entrance or the like operates the remote control device 50, and the vehicle VA automatically travels (drives autonomously) to the designated space DS and parks in the designated space DS.

[0018] When the user designates a parking space in which another vehicle is already parked as the designated space DS, or when another vehicle parks in the designated space DS while the vehicle VA is traveling toward the designated space DS, there is a possibility that the vehicle VA may not be able to park in the designated space DS. If the user needs to designate a new designated space DS when the vehicle VA cannot park in the designated space DS, the user may find it troublesome to designate a new designated space DS.

[0019] Therefore, when the parking support device 10 determines that the vehicle VA cannot park in the designated space DS, it searches for a parking space where parking is possible (hereinafter referred to as the "possible space PS"). Specifically, the parking support device 10 automatically drives the vehicle VA to search for the possible space PS. When the parking support device 10 discovers the possible space PS, it automatically parks the vehicle VA in that possible space PS.

[0020] As a result, even when the vehicle VA cannot park in the designated space DS, the user does not need to specify a new designated space DS, so the possibility that the user feels bothered can be reduced.

[0021] (Operation) The operation of the parking support system will be described with reference to FIG. 2. The user activates the parking support application with the remote control device 50 (202). When the parking support application is activated, the remote control device 50 causes the display device 52 to display a start screen including a start button 520 (204). When the user touches the start button 520 (206), the remote control device 50 identifies the parking lot management server 60 of the parking lot closest to the current position of the vehicle VA and transmits an acquisition request to the parking lot management server 60 (208). Note that the remote control device 50 stores position data in which the correspondence between the positions of the parking lots managed by the parking lot management server 60 and the identifiers of the parking lot management server 60 is registered. The current position of the vehicle VA is identified based on the signal received by a GNSS (Global Navigation Satellite System) receiver (not shown) provided in the parking support device 10.

[0022] When the parking lot management server 60 receives an acquisition request, it transmits parking lot data including parking lot plane data 64, vacancy status data 66, and parking lot route data 68 to the remote operation device 50 (210). When the parking support device 10 receives the parking lot data, it causes the display device 52 to display a specified screen based on the parking lot plane data 64 and the vacancy status data 66 (212). The specified screen is a screen for allowing the user to specify a specified space DS. On the specified screen, a plan view of the parking lot and the vacancy status of each parking space in the parking lot are displayed.

[0023] When the user specifies the specified space DS on the specified screen (214), the remote operation device 50 transmits a start signal to the parking support device 10 (216), and causes the display device 52 to display a control screen including a travel button 522 (218). The start signal includes data regarding the position of the specified space in the parking information plane and the parking lot route data 68. While the user is touching the travel button 522 (220), the remote operation device 50 transmits a permission signal to the parking support device 10 every time a predetermined time elapses (222).

[0024] When the parking support device 10 receives the start signal, it starts reverse summons control (224). Specifically, the parking support device 10 generates a first route RT1 (see FIG. 3) from the current position of the vehicle VA to the specified space DS for the vehicle VA to park in the specified space DS. When the parking support device 10 receives the permission signal, it automatically runs the vehicle VA along the first route RT1 (226). Specifically, the parking support device 10 controls the power train actuator 30, the brake actuator 32, and the steering motor 34 so that the vehicle VA runs along the first route. When the time during which the permission signal is not received becomes a certain time or more, the parking support device 10 interrupts the autonomous driving of the vehicle VA and stops the vehicle VA.

[0025] While the vehicle VA is automatically traveling on the first route RT1, the parking support device 10 determines whether the designated space DS is parkable based on the image data and the sonar data. When the vehicle VA reaches near the designated space DS, it becomes possible to determine whether the designated space is parkable. Similarly, the parking support device 10 searches for the possible space PS based on the image data and the sonar data, and when the possible space PS is found, stores the position of the possible space PS.

[0026] When the vehicle VA reaches near the designated space DS and it is determined that the designated space DS is parkable, the parking support device 10 causes the vehicle VA to continue traveling on the first route RT1 and parks the vehicle VA in the designated space DS (228). Specifically, the parking support device 10 controls the power train actuator 30, the brake actuator 32, and the steering motor 34 so that the vehicle VA stops in the designated space DS. When the parking is completed, the parking support device 10 activates the PKB actuator 38 to maintain the vehicle VA in a stopped state and controls the shift actuator 40 to change the shift range to the parking range (P). When the parking of the vehicle VA in the designated space DS is completed, the parking support device 10 transmits a first completion signal to the remote control device 50 (230). When the remote control device 50 receives the first completion signal, it causes the first completion screen to be displayed on the display device 52 (232). The first completion screen is a screen for notifying the user that the vehicle VA has parked in the designated space DS.

[0027] On the other hand, when the vehicle VA reaches near the designated space DS and it is determined that the designated space DS is not available for parking, if no available space PS has been found so far, the parking support device 10 creates a second route RT2 (see FIG. 3) along which the vehicle VA travels to search for the available space PS based on the parking lot route data 68. The parking support device 10 causes the vehicle VA to travel along the second route RT2 to search for the available space PS (234). Specifically, the parking support device 10 controls the power train actuator 30, the brake actuator 32, and the steering motor 34 so that the vehicle VA travels along the second route.

[0028] When the parking support device 10 finds an available space PS before the end condition is satisfied, it creates a third route PT3 (see FIG. 3) from the current position of the vehicle VA to the available space PS for the vehicle VA to park in the available space PS. The end condition is that the travel distance D traveled by the vehicle VA since the start of the reverse summon control is equal to or greater than the threshold distance Dth. The parking support device 10 causes the vehicle VA to travel along the third route RT3 (236) and parks the vehicle VA in the available space PS (238). When the parking of the vehicle VA in the available space PS is completed, the parking support device 10 transmits a second completion signal to the remote operation device 50 (240). When the remote operation device 50 receives the second completion signal, it causes the display device 52 to display a second completion screen (242). The second completion screen is a screen for notifying the user that the vehicle VA could not park in the designated space DS and thus parked in the available space PS, and the position of the available space PS where the vehicle VA parked.

[0029] When the parking support device 10 fails to find an available space PS before the end condition is satisfied, it transmits a non-available signal to the remote operation device 50 (244) and stops the vehicle VA (246). When the remote operation device 50 receives the non-available signal (the second non-available signal described later), it causes the display device 52 to display a non-available screen (the second non-available screen described later) (248). This non-available screen is a screen for notifying the user that the vehicle could not park in the designated space DS and no available space PS could be found either.

[0030] (Operation example) Referring to FIG. 3, an operation example of the parking support device 10 will be described. As shown in FIG. 3, there are parking spaces numbered 1 to 16 in the parking lot.

[0031] At time t1, the user gets out of the vehicle VA, operates the remote control device 50 to start the parking support application, and designates the second parking space as the designated space DS. When the designated space DS is designated, the parking support device 10 starts reverse summons control and creates a first route RT1 (see the solid line RT1 in FIG. 3) from the current position of the vehicle VA to the designated space DS.

[0032] The parking support device 10 runs the vehicle VA along the first route RT1, and at time t2, the vehicle VA reaches in front of the designated space DS. At time t2, since another vehicle is parked in the designated space DS, the parking support device 10 determines that the vehicle VA cannot be parked in the designated space DS. In this case, the parking support device 10 creates a second route RT2 (see the dashed-dotted line RT2 in FIG. 3) for searching for the possible space PS.

[0033] The parking support device 10 runs the vehicle VA along the second route RT2, and at time t3, the vehicle VA reaches in front of the fourth parking space. In this case, the parking support device 10 determines that the fourth parking space is the possible space PS, and creates a third route RT3 (see the dotted line RT3 in FIG. 3) for parking the vehicle VA in the possible space PS.

[0034] The parking support device 10 can park the vehicle VA in the fourth parking space, which is the possible space PS, by running the vehicle VA along the third route RT3.

[0035] (Specific operation) The CPU of the ECU 20 executes the routine shown by the flowchart in FIGS. 4 to 6 every time a predetermined time elapses.

[0036] <Start determination routine> When an appropriate time arrives, the CPU starts processing from step 400 in FIG. 4, and determines whether the value of the execution flag Xexe is "0" at step 405. The value of the execution flag Xexe is set to "1" when starting the reverse summon control, and set to "0" when ending the reverse summon control. Note that the value of the execution flag Xexe is set to "0" in the initial routine. The initial routine is executed by the CPU when an ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0037] When the value of the execution flag Xexe is "0", the CPU determines "Yes" at step 405, and the process proceeds to step 410. At step 410, the CPU determines whether the parking support device 10 has received a start signal from the remote operation device 50.

[0038] When the parking support device 10 has not received the start signal, the CPU determines "No" at step 410, and the process proceeds to step 495 where the CPU temporarily ends this routine. On the other hand, when the parking support device 10 has received the start signal, the CPU sequentially executes steps 415 to 430.

[0039] Step 415: The CPU creates the first route RT1. Step 420: The CPU sets the value of the execution flag Xexe to "1". Step 425: The CPU sets the values of the stop flag Xst, the possible flag Xpo, the impossible flag Xim, and the discovery flag Xfd to "0". The stop flag Xst is set to "1" when the time during which the permission signal has not been received exceeds a certain time, and is set to "0" when the permission signal is received. The possible flag Xpo is set to "1" when the designated space DS is parkable, and is set to "0" when the designated space DS is not parkable. The impossible flag Xim is set to "1" when the designated space DS is not parkable, and is set to "0" when the designated space DS is parkable. The discovery flag Xfd is set to "1" when the designated space DS is not parkable and a possible space PS is discovered. Note that these flags are set to "0" in the initial routine.

[0040] Step 430: The CPU sets the timer T and the travel distance D to "0". The timer T is a timer for measuring the time during which the permission signal has not been received. The travel distance D represents the distance traveled by the vehicle VA since the start of the reverse summon control. Thereafter, the process proceeds to step 495 and the CPU temporarily ends this routine.

[0041] When the value of the execution flag Xexe is "1" when the process proceeds to step 405, the CPU determines "No" at step 405. In this case, the process proceeds to step 495 and the CPU temporarily ends this routine.

[0042] <Stop determination routine> When an appropriate time point arrives, the CPU starts the process from step 500 in FIG. 5 and determines whether the value of the execution flag Xexe is "1" at step 505.

[0043] When the value of the execution flag Xexe is "0", the CPU determines "No" at step 505. In this case, the process proceeds to step 595 and the CPU temporarily ends this routine. When the value of the execution flag Xexe is "1", the CPU determines "Yes" at step 505 and the process proceeds to step 510. At step 510, the CPU determines whether the permission signal has been received.

[0044] When a permission signal is received, the CPU determines "Yes" at step 510 and executes steps 515 to 530. Step 515: The CPU sets the timer T to "0". Step 520: The CPU sets the value of the stop flag Xst to "0". Step 525: The CPU adds the travel distance Dtr that the vehicle VA has traveled from the previous routine to the current point to the travel distance D. Note that the travel distance Dtr is specified based on the detection value of the wheel speed sensor 26. Step 530: The CPU determines whether the travel distance D is equal to or greater than the threshold distance Dth.

[0045] If the travel distance D is less than the threshold distance Dth, the CPU determines "No" at step 530, and the process proceeds to step 595 where the CPU temporarily ends this routine.

[0046] When a permission signal is received when the process proceeds to step 510, the CPU determines "No" at step 510 and executes steps 535 and 540. Step 535: The CPU adds "1" to the timer T. Step 540: The CPU determines whether the timer T is equal to or greater than the threshold Tth.

[0047] If the timer T is less than the threshold Tth, the CPU determines "No" at step 540, and the process proceeds to step 525. If the timer T is equal to or greater than the threshold Tth, the CPU determines "Yes" at step 540, and the process proceeds to step 545. At step 545, the CPU sets the value of the stop flag Xst to "1", and the process proceeds to step 525.

[0048] When the processing advances to step 530 and the travel distance D is equal to or greater than the threshold distance Dth, the CPU determines "Yes" in step 530, and the processing advances to step 548. In step 548, the CPU determines whether the value of the discovery flag Xfd is "0".

[0049] If the value of the discovery flag Xfd is "0", the CPU determines "Yes" in step 548, and the processing advances to step 550. In step 550, the CPU determines whether the value of the non - available flag Xim is "0".

[0050] If the value of the non - available flag Xim is "0", the CPU determines "Yes" in step 550 and executes steps 555 to 565. Step 555: The CPU transmits a first non - available signal to the remote control device 50. When the remote control device 50 receives the first non - available signal, it causes the first non - available screen to be displayed on the display device 52. The first non - available screen is a screen for notifying the user that parking in the designated space DS could not be completed. Step 560: The CPU sets the value of the execution flag Xexe to "0". Step 565: The CPU decelerates and stops the vehicle VA. When the vehicle VA has stopped, it operates the PKB actuator 38 to maintain the vehicle VA in a stopped state and controls the shift actuator 40 to change the shift range to the parking range (P). Thereafter, the processing advances to step 595, and the CPU temporarily ends this routine.

[0051] When the value of the disable flag Xim is "1" when the process proceeds to step 550, the CPU determines "No" at step 550, and the process proceeds to step 570. At step 570, the CPU transmits a second disable signal to the remote control device 50. Thereafter, the process proceeds to step 560. When the remote control device 50 receives the second disable signal, it causes the display device 52 to display a second disable screen. The second disable screen is a screen for notifying the user that parking is not possible in the designated space DS and that there is no available space PS.

[0052] When the value of the discovery flag Xfd is "1" when the process proceeds to step 548, the CPU determines "No" at step 548, and the process proceeds to step 595 where the CPU temporarily ends this routine. When the designated space DS is not available for parking and an available space PS is discovered, the value of the discovery flag Xfd is set to "1". In this case, even if the end condition is satisfied after the value of the discovery flag Xfd is set to "1" (after the available space PS is discovered) (step 530 "Yes"), the value of the execution flag Xexe is not set to "0" (remote summon control does not end), and the vehicle VA is parked in the available space PS. Thereby, the possibility that the vehicle VA stops on the drivable path in the parking lot can be reduced.

[0053] <Reverse Summon Control Routine> When an appropriate time point arrives, the CPU starts processing from step 600 in FIG. 6 and determines whether the value of the execution flag Xexe is "1" at step 605.

[0054] When the value of the execution flag Xexe is "0", the CPU determines "No" at step 605, and the process proceeds to step 695 to temporarily end this routine. When the value of the execution flag Xexe is "1", the CPU determines "Yes" at step 605, and the process proceeds to step 610. At step 610, the CPU determines whether the value of the stop flag Xst is "1".

[0055] When the value of the stop flag Xst is "0", the CPU determines "No" in step 610, and the process proceeds to step 615. In step 615, the CPU determines whether the values of the possible flag Xpo and the impossible flag Xim are both "0".

[0056] When the values of the possible flag Xpo and the impossible flag Xim are both "0", the CPU determines "Yes" in step 615 and executes steps 620 and 625. Step 620: The CPU controls the vehicle VA to travel along the first route RT1. Step 625: The CPU determines whether there is a possible space PS based on the image data and the sonar data.

[0057] When there is no possible space PS, the CPU determines "No" in step 625, and the process proceeds to step 630. In step 630, the CPU determines whether the designated space DS is parkable based on the image data and the sonar data.

[0058] When the designated space DS is not parkable or it cannot be determined whether the designated space DS is parkable or not, the CPU determines "No" in step 630, and the process proceeds to step 635. In step 635, the CPU determines whether the designated space DS is not parkable.

[0059] When it cannot be determined whether the designated space DS is parkable or not, the CPU determines "No" in step 635, and the process proceeds to step 695 where the CPU temporarily terminates this routine.

[0060] When the process advances to step 630 and the designated space DS is parkable, the CPU determines "Yes" at step 630, and the process advances to step 640. At step 640, the CPU sets the value of the possible flag Xpo to "1" and sets the value of the impossible flag Xim to "0". Thereafter, the process advances to step 695 and the CPU temporarily ends this routine.

[0061] When the process advances to step 615 and the value of the possible flag Xpo is "1" and the value of the impossible flag Xim is "0", the CPU determines "No" at step 615, and the process advances to step 645 shown in FIG. 7. At step 645, the CPU determines whether the value of the possible flag Xpo is "1" and the value of the impossible flag Xim is "0". Since the value of the possible flag Xpo is "1" and the value of the impossible flag Xim is "0", the CPU determines "Yes" at step 645 and executes steps 645 and 650.

[0062] Step 645: The CPU controls the vehicle VA to travel along the first route RT1. Step 650: The CPU determines whether parking in the designated space DS is completed.

[0063] When parking in the designated space DS is not completed, the CPU determines "No" at step 650, and the process advances to step 695 shown in FIG. 6 and the CPU temporarily ends this routine.

[0064] When parking in the designated space DS is completed, the CPU determines "Yes" at step 650 shown in FIG. 7 and executes steps 655 and 660. Step 655: The CPU transmits the first completion signal to the remote control device 50. Step 660: The CPU sets the value of the execution flag Xexe to "0". Thereafter, the process advances to step 695 shown in FIG. 6 and the CPU temporarily ends this routine.

[0065] When the designated space DS is not available when the process advances to step 635 shown in FIG. 6, the CPU determines "Yes" at step 635, and the process advances to step 662. At step 662, the CPU determines whether a possible space PS is stored.

[0066] If the possible space PS is not stored, the CPU determines "No" at step 662 and executes steps 664 and 666. Step 664: The CPU creates a second route RT2. Step 666: The CPU sets the value of the possible flag Xpo to "0" and sets the value of the unavailable flag Xim to "1". Thereafter, the process advances to step 695 and the CPU temporarily ends this routine.

[0067] When the process advances to step 645 shown in FIG. 7 and the value of the possible flag Xpo is "0" and the value of the unavailable flag Xim is "1", the CPU determines "No" at step 645, and the process advances to step 668. At step 668, the CPU determines whether the value of the discovery flag Xfd is "0".

[0068] If the value of the discovery flag Xfd is "0", the CPU determines "Yes" at step 668 and executes steps 670 and 672. Step 670: The CPU controls the vehicle VA to travel along the second route RT2. Step 672: The CPU determines whether a possible space PS exists based on the image data and the sonar data.

[0069] If the possible space PS does not exist, the CPU determines "No" at step 672, and the process advances to step 695 shown in FIG. 6 and the CPU temporarily ends this routine. If the possible space PS exists, the CPU determines "Yes" at step 672 shown in FIG. 7 and executes steps 674 and 676. Step 674: The CPU sets the value of the discovery flag Xfd to "1". Step 676: The CPU creates the third route RT3. Thereafter, the process proceeds to step 695 shown in FIG. 6, and the CPU temporarily ends this routine.

[0070] When the value of the discovery flag Xfd is "1" when the process proceeds to step 668 shown in FIG. 7, the CPU determines "No" at step 668 and executes steps 678 and 680. Step 678: The CPU controls the vehicle VA to travel along the third route RT3. Step 680: The CPU determines whether the parking in the possible space PS is completed.

[0071] If the parking in the possible space PS is not completed, the CPU determines "No" at step 680, and the process proceeds to step 695 shown in FIG. 6, and the CPU temporarily ends this routine.

[0072] If the parking in the possible space PS is completed, the CPU determines "Yes" at step 680 shown in FIG. 7 and executes steps 682 and 684. Step 682: The CPU transmits the second completion signal to the remote control device 50. Step 684: The CPU sets the value of the execution flag Xexe to "0". Thereafter, the process proceeds to step 695 shown in FIG. 6, and the CPU temporarily ends this routine.

[0073] Even before it is determined that the designated space DS is not available for parking, the CPU determines whether there is a possible space PS (see step 625). When there is a possible space PS when the process proceeds to step 625, the CPU determines "Yes" at step 625, and the process proceeds to step 686. At step 686, the CPU stores the possible space PS. Thereafter, the process proceeds to step 630. When the designated space DS is not available for parking when the process advances to step 635, the CPU determines "Yes" in step 635, and the process advances to step 662. If the possible space PS is stored, the CPU determines "Yes" in step 662, and the process advances to step 688. In step 688, the CPU sets the value of the possible flag Xpo to "0" and sets the value of the unavailable flag Xim to "1". Thereafter, the process advances to step 674 and subsequent steps shown in FIG. 7, and the CPU sets the value of the discovery flag Xfd to "1" and creates the third route RT3.

[0074] According to the present embodiment, when the designated space DS is not available for parking (step 635 "Yes" shown in FIG. 6), the vehicle VA searches for the possible space PS while traveling along the second route RT2 (steps 670 and 672). If the possible space PS exists (step 668 "Yes"), the vehicle VA parks in the possible space PS while traveling along the third route RT3 (step 678). Thereby, even when the designated space DS is not available for parking, the vehicle VA can be parked in another space without disturbing the user.

[0075] If the possible space PS cannot be found when the end condition is satisfied, a second unavailable screen is displayed on the display device 52 of the remote operation device 50 (step 570). Thereby, the user can know that the designated space DS is not available for parking and the possible space PS does not exist.

[0076] Furthermore, since the end condition is satisfied when the travel distance D becomes equal to or greater than the threshold distance Dth and the vehicle VA stops, it is possible to reduce the possibility that the vehicle VA autonomously travels to a position where the user cannot see.

[0077] Furthermore, when the parking support device 10 finds a possible space PS while the vehicle VA is traveling toward the designated space DS, it stores the position of the possible space PS. If the designated space DS is not available for parking, the vehicle VA is parked in the possible space PS. This can increase the possibility that the vehicle VA can be parked in the possible space PS when the designated space DS is not available for parking.

[0078] In the above embodiment, the reverse summon control has been described as an example. However, the present invention is applicable to any parking support control in which the user gets out of the vehicle and parks the vehicle VA in the designated space DS.

[0079] The parking support device 10 is applicable to vehicles such as engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles.

Explanation of Reference Numerals

[0080] 10…Parking support device, 20…ECU, 22…Camera, 24…Sonar, 30…Steering motor, 50…Remote operation device, 52…Display device.

Claims

1. In a parking assistance device that performs automatic parking control to automatically drive a vehicle toward a designated space specified by a user and automatically park the vehicle in the designated space, the parking assistance device: ends the automatic parking control when a predetermined end condition is satisfied; when it is determined that the vehicle cannot be parked in the designated space while the vehicle is traveling toward the designated space, searches for a possible space where the vehicle can be parked while automatically driving the vehicle; when the possible space is found, automatically parks the vehicle in the possible space; when the possible space cannot be found before the end condition is satisfied, notifies the user that the possible space could not be found. A parking assistance device configured as described above.

2. In the parking assistance device according to Claim 1, the parking assistance device: searches for the possible space even before it is determined that the vehicle cannot be parked in the designated space; when it is determined that the vehicle cannot be parked in the designated space and the possible space has been found, automatically parks the vehicle in the possible space. A parking assistance device configured as described above.

3. In the parking assistance device according to Claim 1, the parking assistance device: is configured to determine that the end condition is satisfied when the travel distance traveled by the vehicle from the start point of the automatic parking control is equal to or greater than a threshold distance. A parking assistance device.

4. In the parking assistance device according to Claim 3, the parking assistance device is configured to park the vehicle in the possible space without ending the automatic parking control when the end condition is satisfied during the period from the time the possible space is found until parking of the vehicle in the possible space is completed. A parking assistance device.

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