Parking support device

Abstract

To provide a parking support device which is capable of executing adequate automatic parking control.SOLUTION: A parking support device 1 includes parking support ECU 10 which is configured so as to make it possible to execute automatic parking control which parks an own vehicle 100 in prescribed parking position by storing a path on which the own vehicle 100 travels as registration path until the own vehicle 100 is parked in the prescribed parking position by manual parking operation and at the same time by traveling the own vehicle 100 along the registration path. The parking support ECU 10 is configured so as to be able to execute update process which updates the registration path on the basis of information concerning the manual parking operation when the own vehicle 100 is parked in the prescribed parking position by the manual parking operation after storing the registration path.SELECTED DRAWING: Figure 15

Description

Technical Field

[0001] The present disclosure relates to a parking assistance device.

Background Art

[0002] There is known a parking assistance device capable of executing automatic parking control that stores, as a registered route, a route traveled by a host vehicle until it is parked at a predetermined parking position by a parking operation performed manually by a driver (hereinafter referred to as a manual parking operation), and travels the host vehicle along the stored registered route to park the host vehicle at the predetermined parking position (see, for example, Patent Document 1). A conventional parking assistance device (hereinafter sometimes referred to as a conventional device) capable of executing such automatic parking control supports the traveling and parking of the host vehicle so as to reproduce the registered route stored at the time of execution of the automatic parking control. Note that ISO20900 (Partially automated parking systems: PAPS) and ISO16787 (Assisted parking systems: APS), which are standard specifications related to the parking assistance device, define vehicle control related to vehicle parking.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] According to the conventional device, even when the stored registered route is inappropriate, automatic parking control is executed so as to reproduce the inappropriate route. For example, when an inappropriate route is stored as the registered route due to a driver's driving mistake, the host vehicle is always controlled so as to reproduce the inappropriate route due to the driver's driving mistake at the time of execution of the automatic parking control. For this reason, the driver of the host vehicle feels that appropriate automatic parking control is not executed by the device, and there is a problem that the frequency of using the device decreases.

[0005] An object of the present disclosure is to provide a parking assistance device capable of solving the above-described problems. That is, an object of the present disclosure is to provide a parking assistance device capable of executing appropriate automatic parking control.

[0006] A parking assistance device according to the present disclosure stores, as a registered route, a route traveled by the host vehicle (100) until the host vehicle (100) is parked at a predetermined parking position by a manual parking operation, and causes the host vehicle (100) to travel along the registered route, thereby executing automatic parking control for parking the host vehicle (100) at the predetermined parking position. The parking assistance device (1) having a control unit (10) configured to be capable of performing the control unit (10) is configured to be able to execute an update process for updating the registered route based on information regarding the manual parking operation (manual parking operation after storing the registered route) when the host vehicle (100) is parked at the predetermined parking position by the manual parking operation after storing the registered route.

[0007] According to the parking assistance device according to the present disclosure, even when the stored registered route is an inappropriate route, the registered route is updated based on information regarding the manual parking operation after the registered route is stored, so that the registered route can be brought closer to an appropriate route. Thereby, appropriate automatic parking control can be executed.

[0008] In one aspect of the parking assistance device according to the present disclosure, when the host vehicle (100) is parked at a predetermined parking position by a manual parking operation after storing the registered route, the control unit (10) stores, as a post-registration manual parking route, a route traveled by the host vehicle (100) until the host vehicle (100) is parked at the predetermined parking position by the manual parking operation, and updates the registered route using the post-registration manual parking route in the update process.

[0009] In another aspect of the parking assistance device according to the present disclosure, after the control unit (10) stores the registered route, each time the host vehicle (100) is parked at a predetermined parking position by a manual parking operation, the control unit (10) accumulates the post-registration manual parking route by storing the post-registration manual parking route, and in an update process, updates the registered route using the accumulated post-registration manual parking route.

[0010] When a manual parking operation is performed after the registered route is stored, the driver of the host vehicle may recognize that the registered route is inappropriate. Therefore, the post-registration manual parking route, which is the route traveled by the host vehicle until it is parked at a predetermined parking position by the manual parking operation after the registered route is stored, is likely to be a more appropriate route than the registered route. Thus, by updating the registered route using the post-registration manual parking route, the registered route can be brought closer to an appropriate route.

[0011] In another aspect of the parking assistance device according to the present disclosure, in an update process, the control unit (10) calculates an updated route by averaging the registered route and the post-registration manual parking route, and updates the registered route to the calculated updated route. According to this, the registered route can be brought closer to an appropriate route by a relatively simple method.

[0012] In another aspect of the parking assistance device according to the present disclosure, the control unit (10) is configured to be able to execute an exclusion process of deleting abnormal data determined to be inappropriate as data used in the update process from the data representing the post-registration manual parking route. According to this, by updating the registered route using the post-registration manual parking route from which inappropriate data has been excluded, the registered route can be quickly brought closer to an appropriate route.

[0013] In another aspect of the parking assistance device according to the present disclosure, the abnormal data includes data representing a route resulting from a driving operation for avoiding an obstacle. When a driving operation for avoiding an obstacle such as a pedestrian is performed during a manual parking operation, the route deviates significantly from an appropriate route. Therefore, by updating the registered route using the registered post-manual parking route from which the data representing the route obtained in such a situation is excluded, the registered route can be quickly approximated to an appropriate route.

Brief Description of the Drawings

[0014]

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Mode for Carrying Out the Invention

[0015] The parking support device according to the embodiment of the present disclosure is mounted on a vehicle. Hereinafter, the vehicle equipped with the parking support device according to the present embodiment may also be referred to as the host vehicle. As shown in FIG. 1, the parking support device 1 includes a parking support ECU 10, an in-vehicle sensor 20, a drive device 30, a brake device 40, a steering device 50, a shift switching device 60, a display device 70, and a navigation device 80.

[0016] The parking support ECU 10 is a control unit mainly composed of a microcomputer including a CPU 11, a ROM 12, a RAM 13, and an interface 14. The parking support ECU 10 is configured to execute various controls including automatic parking control by the CPU 11 executing instructions, programs, or routines stored in the ROM 12. The automatic parking control is a control for parking the host vehicle 100 at a predetermined parking position by the parking support device 1 controlling at least one of the drive device 30, the brake device 40, and the steering device 50 of the host vehicle 100. Therefore, the control in which the parking support device 1 executes all the controls of the drive device 30, the brake device 40, and the steering device 50 is also automatic parking control, and the control in which the parking support device 1 executes the control of only a part of the devices, for example, only the steering device 50, is also automatic parking control.

[0017] The parking support ECU 10 may be composed of a plurality of ECUs. Also, the parking support ECU 10 is connected to a plurality of other ECUs via a CAN (Controller Area Network). For example, as shown in FIG. 1, the parking support ECU 10 is connected to a drive ECU 31, a brake ECU 41, a steering ECU 51, an SBW-ECU 61, a display ECU 71, and a navigation ECU 81, and can exchange necessary information with each of the ECUs in the connection relationship.

[0018] The drive device 30 generates a driving force and applies the driving force to the drive wheels of the host vehicle 100. The drive device 30 includes a drive ECU 31, a drive actuator 32, a drive source 33, a transmission 34, and a drive force transmission mechanism (not shown) that transmits the driving force to the drive wheels. The drive ECU 31 is electrically connected to the drive actuator 32 so as to be able to control the operation of the drive actuator 32. The drive actuator 32 is configured to be able to adjust the driving force of the drive source 33 by operating.

[0019] The drive ECU 31 controls the driving force generated by the drive source 33 by controlling the operation of the drive actuator 32. The driving force generated by the drive source 33 is transmitted to the drive wheels of the host vehicle 100 via the transmission 34 and the driving force transmission mechanism. Therefore, the drive ECU 31 can control the driving force of the host vehicle 100 by controlling the drive actuator 32. Also, during the execution of the automatic parking control, the parking support ECU 10 can control the drive actuator 32 via the drive ECU 31 so that the driving force matches the target driving force by transmitting a drive control signal including information representing the target driving force to the drive ECU 31. Further, the drive device 30 can also generate a driving force when the driver operates an accelerator pedal provided in the host vehicle 100.

[0020] When the drive source 33 is an internal combustion engine, the drive ECU 31 controls the driving force generated by the internal combustion engine. When the host vehicle 100 is a hybrid electric vehicle (HEV), the drive ECU 31 controls the driving force generated by either one or both of the internal combustion engine and the electric motor as the drive source 33. When the host vehicle 100 is a battery electric vehicle (BEV), the drive ECU 31 controls the driving force generated by the electric motor as the drive source 33.

[0021] The braking device 40 applies a braking force to the wheels of the host vehicle 100. The braking device 40 includes a brake ECU 41, a brake actuator 42, and a braking mechanism 43. The brake ECU 41 is connected to the brake actuator 42 so as to be able to control the operation of the brake actuator 42. The brake actuator 42 includes a known hydraulic circuit and includes a reservoir, an oil pump, and various valve devices (not shown). The braking mechanism 43 includes a brake disk, a caliper, a piston, and brake pads, and generates a frictional braking force when the brake pads are pressed against the brake disk by the hydraulic pressure (i.e., the braking pressure) supplied from the brake actuator 42. The host vehicle 100 is braked by the frictional braking force generated by the braking mechanism 43.

[0022] The braking actuator 42 adjusts the hydraulic pressure (braking pressure) supplied to the braking mechanism 43 in accordance with an instruction from the braking ECU 41. The frictional braking force generated by the braking mechanism 43 changes according to the braking pressure. Therefore, the braking ECU 41 can control the braking force of the host vehicle 100 by controlling the braking actuator 42. Also, during the execution of the automatic parking control, the parking support ECU 10 can control the braking actuator 42 via the braking ECU 41 so that the braking force matches the target braking force by transmitting a braking control signal including information representing the target braking force to the braking ECU 41. Further, the braking device 40 can also apply a braking force to the wheels of the host vehicle 100 when the driver operates a brake pedal provided in the host vehicle 100.

[0023] The steering device 50 is a device for steering the host vehicle 100. The steering device 50 includes a steering ECU 51, a steering actuator 52, and a steering mechanism 53. The steering ECU 51 is electrically connected to the steering actuator 52 so as to be able to control the operation of the steering actuator 52. The steering mechanism 53 includes a steering wheel 53a, a steering shaft 53b, a steering gearbox (not shown), a tie rod (not shown), and the like. The steering mechanism 53 is configured to be able to steer the steered wheels of the host vehicle 100 by a rotational operation of the steering wheel 53a. The steering actuator 52 is, for example, an electric motor and is connected to the steering mechanism 53 so as to be able to apply power for steering the steered wheels to the steering mechanism 53. This steering actuator 52 can also be configured to generate a steering assist force for assisting the operation of the steering wheel 53a by the driver. The steering ECU 51 controls the operation of the steering mechanism 53 by controlling the operation of the steering actuator 52. Therefore, the steering ECU 51 can control the steering angle (actual steering angle) of the steered wheels of the host vehicle 100 by controlling the steering actuator 52. Further, during the execution of the automatic parking control, the parking support ECU 10 can control the steering actuator 52 via the steering ECU 51 so that the actual steering angle matches the target steering angle by transmitting a steering control signal including information representing the target steering angle to the steering ECU 51.

[0024] The shift switching device 60 switches the shift position (gear stage) of the transmission 34. In this example, the shift positions at least include a parking position, a neutral position, a forward position, and a reverse position. When the shift position is the parking position, the shift switching device 60 mechanically locks the wheels so that no driving force is transmitted to the drive wheels and the wheels cannot rotate. Specifically, when the shift position becomes the parking position, the output shaft of the transmission 34 is locked so that it does not rotate. Such a state is also referred to as a parking lock (P-lock) state. When the shift position is the neutral position, the shift switching device 60 does not transmit the driving force to the drive wheels. However, when the shift position is the neutral position, the shift switching device 60 does not mechanically lock the wheels. When the shift position is the forward position, the shift switching device 60 transmits the driving force for moving the host vehicle 100 forward to the drive wheels. When the shift position is the reverse position, the shift switching device 60 transmits the driving force for moving the host vehicle 100 backward to the drive wheels.

[0025] The shift switching device 60 includes an SBW-ECU 61, an SBW actuator 62, a shift switching mechanism 63, etc. Note that SBW is an abbreviation for shift by wire. The SBW-ECU 61 is electrically connected to the SBW actuator 62. The SBW-ECU 61 controls the SBW actuator 62 based on the operation position of a shift lever provided in the host vehicle 100. Note that the shift lever is an operating element for operating the shift position of the transmission 34 and is operated by the driver of the host vehicle 100. The shift lever is configured to be able to move to the operation position corresponding to each shift position. The SBW actuator 62 operates the shift switching mechanism 63 in response to an instruction from the SBW-ECU 61 to switch the shift position of the transmission 34 to one of a plurality of shift positions (parking position, neutral position, forward position, and reverse position). Further, the parking support ECU 10 can control the SBW actuator 62 via the SBW-ECU 61 so that the shift position matches the target shift position by transmitting a shift control signal including information representing the target shift position to the SBW-ECU 61 during the execution of the automatic parking control.

[0026] The display device 70 includes a display ECU 71 and a touch panel type display 72. The display ECU 71 is electrically connected to the display 72 so as to be able to control the display 72. As the display 72, a display attached to an instrument panel provided in front of the driver's seat of the host vehicle 100 can be exemplified. The display 72 may be a navigation display that normally displays a map screen. Further, the parking support ECU 10 can control the display device 70 so that predetermined information is displayed on the display 72 by transmitting a predetermined display control signal to the display ECU 71. The display device 70 has a function as a notification device that notifies predetermined information via the display 72. Further, the display device 70 has a function as an input device into which predetermined information is input via the display 72.

[0027] The navigation device 80 includes a navigation ECU 81 and a GPS receiver 82. The GPS receiver 82 receives a GPS signal for detecting the latitude and longitude of the current position of the host vehicle 100. Further, the navigation device 80 includes a map database storing map information. The navigation ECU 81 performs various arithmetic processes based on the latitude and longitude of the host vehicle 100 obtained from the GPS signal received by the GPS receiver 82 and map information, etc., and specifies the position of the host vehicle 100 on the map. The specified position of the host vehicle 100 is transmitted to the parking support ECU 10 and used for automatic parking control.

[0028] The in-vehicle sensor 20 includes a peripheral information detection sensor 21, a vehicle speed sensor 22, an acceleration sensor 23, a steering torque sensor 24, a steering rotation angle sensor 25, a shift lever sensor 26, an accelerator pedal operation amount sensor 27, and a brake pedal operation amount sensor 28. The peripheral information detection sensor 21 detects peripheral information which is information on the environment around the host vehicle 100. In the present embodiment, the peripheral information detection sensor 21 includes a sonar sensor 211 and a camera sensor 212.

[0029] The sonar sensor 211 is electrically connected to the parking support ECU 10. The sonar sensor 211 intermittently radiates ultrasonic waves into the peripheral area of the host vehicle 100 and receives the ultrasonic waves (reflected waves) reflected by a three-dimensional object (object). The sonar sensor 211 acquires the distance between the host vehicle 100 and the object, the relative positional relationship between the host vehicle 100 and the object, etc., based on the time from when the ultrasonic wave is transmitted until the reflected wave is received. The sonar sensor 211 transmits information representing the acquired distance and positional relationship to the parking support ECU 10. The parking support ECU 10 acquires information regarding the relationship between the object existing around the host vehicle 100 and the host vehicle 100, based on the information received from the sonar sensor 211.

[0030] In this embodiment, a plurality of sonar sensors 211 are provided on the host vehicle 100. The plurality of sonar sensors 211 are provided on the host vehicle 100 so as to be able to emit ultrasonic waves substantially all around the host vehicle 100. For example, as shown in FIG. 2, the plurality of sonar sensors 211 may include front sonar sensors 211a and 211b, rear sonar sensors 211c and 211d, right sonar sensors 211e and 211f, left sonar sensors 211g and 211h, right front sonar sensor 211i, left front sonar sensor 211j, right rear sonar sensor 211k, and left rear sonar sensor 211l. The front sonar sensors 211a and 211b each emit ultrasonic waves forward from the right-side portion and the left-side portion of the front end of the host vehicle 100, respectively. The rear sonar sensors 211c and 211d each emit ultrasonic waves rearward from the right-side portion and the left-side portion of the rear end of the host vehicle 100, respectively. The right sonar sensors 211e and 211f each emit ultrasonic waves rightward from the front-side portion and the rear-side portion of the right end of the host vehicle 100, respectively. The left sonar sensors 211g and 211h each emit ultrasonic waves leftward from the front-side portion and the rear-side portion of the left end of the host vehicle 100, respectively. The right front sonar sensor 211i emits ultrasonic waves obliquely forward to the right from the right front end of the host vehicle 100. The left front sonar sensor 211j emits ultrasonic waves obliquely forward to the left from the left front end of the host vehicle 100. The right rear sonar sensor 211k emits ultrasonic waves obliquely rearward to the right from the right rear end of the host vehicle 100. The left rear sonar sensor 211l emits ultrasonic waves obliquely rearward to the left from the left rear end of the host vehicle 100.

[0031] The camera sensor 212 is electrically connected to the parking assistance ECU 10. The camera sensor 212 includes a camera device and an image analysis device. The camera device is, for example, a digital camera incorporating a lens and an imaging element composed of a CCD (charge coupled device) or a CIS (CMOS image sensor). The camera device captures the peripheral area of the host vehicle 100 at a predetermined frame rate and acquires image data respectively. The camera device transmits each piece of image data to the image analysis device. The image analysis device analyzes the acquired image data and acquires information regarding objects and displays existing around the host vehicle 100. For example, the image analysis device recognizes the display or pattern, shape, color of the wall or fence of the parking space, the parking frame line displayed on the road surface, etc. of the driving road surface, and transmits the image information representing the recognition result to the parking assistance ECU 10. The parking assistance ECU 10 acquires information regarding objects and displays existing around the host vehicle 100 based on the image information received from the image analysis device.

[0032] The camera sensor 212 has a plurality of camera devices so as to be able to capture the entire periphery of the host vehicle 100. For example, as shown in FIG. 3, the plurality of camera devices may include a front camera device 212a, a rear camera device 212b, a right-side camera device 212c, and a left-side camera device 212d. The front camera device 212a captures the front area of the host vehicle 100. The rear camera device 212b captures the rear area of the host vehicle 100. The right-side camera device 212c captures the right-side area of the host vehicle 100. The left-side camera device 212d captures the left-side area of the host vehicle 100. The angle of view of each camera device may be about 180° or more so as to be able to capture the entire periphery of the host vehicle 100. Also, the plurality of camera devices may include an infrared camera device so as to be able to capture the periphery of the host vehicle 100 even at night.

[0033] Note that the surrounding information detection sensor 21 may include a radar sensor. The radar sensor is configured to be able to detect an object existing around the host vehicle 100 by using radio waves in the millimeter wave band. In this case, the radar sensor may include a front radar sensor that radiates radio waves in front of the host vehicle 100, a rear radar sensor that radiates radio waves behind the host vehicle 100, a right-side radar sensor that radiates radio waves to the right side of the host vehicle 100, and a left-side radar sensor that radiates radio waves to the left side of the host vehicle 100.

[0034] The vehicle speed sensor 22 is electrically connected to the parking support ECU 10. The vehicle speed sensor 22 detects information representing the vehicle speed of the host vehicle 100 and transmits the detected information representing the vehicle speed to the parking support ECU 10. The parking support ECU 10 acquires the vehicle speed of the host vehicle 100 based on the information received from the vehicle speed sensor 22. The vehicle speed sensor 22 may be a wheel speed sensor that detects information representing the rotational speed of the wheels of the host vehicle 100.

[0035] The acceleration sensor 23 is electrically connected to the parking support ECU 10. The acceleration sensor 23 detects information representing the acceleration (longitudinal acceleration) acting in the front-rear direction of the host vehicle 100 and transmits the detected information representing the acceleration to the parking support ECU 10. The parking support ECU 10 acquires the acceleration acting in the front-rear direction of the host vehicle 100 based on the information received from the acceleration sensor 23.

[0036] The steering torque sensor 24 detects information representing the torque (steering torque) input when the driver of the host vehicle 100 steers the steering wheel 53a. The steering torque sensor 24 is attached to, for example, a steering shaft 53b that rotates integrally with the steering wheel 53a, and detects the torsional torque generated by the rotation of the steering wheel 53a as the steering torque. The steering torque sensor 24 is electrically connected to the parking support ECU 10 and transmits the detected information representing the steering torque to the parking support ECU 10. The parking support ECU 10 acquires the steering torque based on the information received from the steering torque sensor 24.

[0037] The steering rotation angle sensor 25 detects the rotation angle of the steering shaft 53b with respect to the neutral position. The steering rotation angle sensor 25 can detect the angle by which the steering shaft 53b rotates in one direction (for example, the right direction) from the neutral position as a positive angle, and the angle by which it rotates in the other direction (for example, the left direction) as a negative angle. The steering rotation angle sensor 25 is electrically connected to the parking support ECU 10 and transmits information representing the detected rotation angle of the steering shaft 53b to the parking support ECU 10. The parking support ECU 10 acquires the steering rotation angle based on the information received from the steering rotation angle sensor 25.

[0038] The shift lever sensor 26 detects information representing the operation position of the shift lever. The shift lever sensor 26 is electrically connected to the parking support ECU 10 and transmits information representing the detected operation position of the shift lever to the parking support ECU 10. The parking support ECU 10 acquires the shift position of the transmission 34 based on the information received from the shift lever sensor 26. Note that the information detected by the shift lever sensor 26 is also received by the SBW-ECU 61.

[0039] The accelerator pedal operation amount sensor 27 is electrically connected to the parking support ECU 10 and detects information representing the operation amount (stroke amount) of the accelerator pedal provided in the host vehicle 100. The accelerator pedal operation amount sensor 27 transmits information representing the detected operation amount of the accelerator pedal to the parking support ECU 10. The parking support ECU 10 acquires the operation amount of the accelerator pedal based on the information received from the accelerator pedal operation amount sensor 27.

[0040] The brake pedal operation amount sensor 28 is electrically connected to the parking support ECU 10 and detects information representing the operation amount (stroke amount) of the brake pedal provided in the host vehicle 100. The brake pedal operation amount sensor 28 transmits information representing the detected operation amount of the brake pedal to the parking support ECU 10. The parking support ECU 10 acquires the operation amount of the brake pedal based on the information received from the brake pedal operation amount sensor 28.

[0041] The vehicle-mounted sensor 20 includes sensors other than the sensors described above. For example, the vehicle-mounted sensor 20 includes a yaw rate sensor that detects the yaw rate of the host vehicle 100 and a traveling direction detection sensor that detects the lighting state of a direction indicator (blinker) provided in the host vehicle 100.

[0042] (Outline of operation) 1. Normal storage process When the host vehicle 100 is parked at a predetermined parking position by a manual driving operation of the driver, the parking support device 1 having the above configuration is configured to be able to execute a normal storage process of storing the parking position and the route traveled by the host vehicle 100 until it is parked at the parking position (hereinafter, may also be referred to as a parking route). The parking route includes the route traveled by the host vehicle 100 until it reaches a position near the parking position and the route traveled by the host vehicle 100 by a parking operation executed until the host vehicle 100 that has reached the position near the parking position is parked at the parking position. The manual driving operation performed by the driver until the host vehicle 100 travels the parking route and is parked at the parking position is referred to as a manual parking operation. Therefore, in the normal storage process, the route traveled by the host vehicle 100 until it is parked at a predetermined parking position by the manual parking operation is stored. This normal storage process will be described.

[0043] When the driver of the host vehicle 100 is manually driving the host vehicle 100, the parking support ECU 10 of the parking support device 1 determines whether or not a recording start condition is satisfied. The recording start condition is determined when the registration position and the registration route described later are not set in the vicinity area of the host vehicle 100. The recording start condition is preset as a condition that is satisfied when it is highly likely that the driver of the host vehicle 100 parks the host vehicle 100 by a manual parking operation. For example, when the position of the driver's home of the host vehicle 100 is stored in the parking support ECU 10, if the current position of the host vehicle 100 is in the vicinity of the home position and the speed of the host vehicle 100 is equal to or lower than a predetermined speed, the parking support ECU 10 determines that it is highly likely that the driver of the host vehicle 100 is driving the host vehicle 100 so as to park the host vehicle 100 in the home parking space. The recording start condition is satisfied in such a case.

[0044] When the recording start condition is satisfied, the parking support ECU 10 executes route recording processing. In the route recording processing, the parking support ECU 10 continuously records the driving information of the host vehicle 100 at predetermined short time intervals in a ring buffer area provided in the RAM 13. The driving information continuously recorded at predetermined short time intervals includes information that can identify the driving route of the host vehicle 100 and information representing the driving state of the host vehicle 100. The information that can identify the driving route of the host vehicle 100 includes information related to the display of the road surface, the pattern of the road surface, the shape of the road surface (peripheral image information) continuously acquired by the parking support ECU 10 from the camera sensor 212, and information related to the position of the host vehicle 100 received by the GPS receiver 82. The information representing the driving state of the host vehicle 100 includes information representing the vehicle speed of the host vehicle 100 received from the vehicle speed sensor 22, information representing the acceleration of the host vehicle 100 received from the acceleration sensor 23, information representing the steering torque received from the steering torque sensor 24, information representing the steering rotation angle received from the steering rotation angle sensor 25, information representing the operation position of the shift lever (shift position of the transmission 34) received from the shift lever sensor 26, information representing the operation amount of the accelerator pedal received from the accelerator pedal operation amount sensor 27, information representing the operation amount of the brake pedal received from the brake pedal operation amount sensor 28, information representing the yaw rate of the host vehicle 100 received from the yaw rate sensor, information representing the lighting state of the turn signal received from the traveling direction detection sensor, and the like. The information representing the driving state of the host vehicle 100 is continuously acquired corresponding to the continuously acquired peripheral image information. By executing the route recording processing by the parking support ECU 10, the driving information of the host vehicle 100 from the current time back to a predetermined time is continuously recorded.

[0045] When the host vehicle 100 reaches a position near the parking position, the driver of the host vehicle 100 performs a parking operation to park the host vehicle 100 at the parking position. As a result, the host vehicle 100 is parked at a predetermined parking position by the manual operation of the driver. Even while the parking operation of the host vehicle 100 is being performed, the parking support ECU 10 continues to record the driving information of the host vehicle 100.

[0046] When the parking support ECU 10 determines that the parking of the host vehicle 100 at the parking position has been completed by a manual parking operation, it records in the RAM 13 information that can identify the parking position. In this case, for example, information regarding the shape of the parking position acquired by the camera sensor 212, the position of the parking frame line, feature points, etc., and the position information of the parking position are recorded.

[0047] Also, when the parking support ECU 10 determines that the parking of the host vehicle 100 at the parking position has been completed, it controls the display device 70 so that an image for selecting whether to register the parking position and the parking route is displayed on the display 72. And when it is selected to register the parking position and the parking route, the parking support ECU 10 calculates the parking route. For example, the parking support ECU 10 calculates the coordinate components of a point group representing the parking route on a two-dimensional coordinate plane that expands horizontally from the origin with the position of the host vehicle 100 parked at the parking position as the origin. In this case, the parking route can be calculated using the position of the host vehicle 100 parked at the parking position and information (such as the steering rotation angle, vehicle speed, acceleration, etc.) representing the driving state of the host vehicle 100 until it is parked at the parking position.

[0048] Then, the parking support ECU 10 stores the data representing the calculated parking route, the data representing the parking position, the data of information (peripheral image information) that can identify the parking route, and the data of information regarding the driving state of the host vehicle 100 that has traveled the parking route in a predetermined storage area in the ROM 12. Thereby, the parking position and the parking route are registered. Hereinafter, the parking position stored in the ROM 12 by normal storage processing is referred to as the registered position, and the parking route stored in the ROM 12 is referred to as the registered route.

[0049] According to the above example, the route recording process is executed when the recording start condition is satisfied. However, the recording start condition can be omitted. In this case, the parking support ECU 10 always executes the route recording process while the host vehicle 100 is traveling. Then, when the parking of the host vehicle 100 is completed, an image for selecting whether to register the parking position and the parking route on the display 72 is displayed. When it is selected to register the parking position and the parking route, the parking support ECU 10 stores the information recorded in the RAM 13 in a predetermined storage area in the ROM 12.

[0050] 2. Automatic parking control In addition, the parking support device 1 according to the present embodiment is configured to be able to execute automatic parking control. By executing this automatic parking control, the host vehicle 100 travels automatically or semi-automatically along the stored registered route, and the host vehicle 100 is automatically or semi-automatically parked at the registered position. The parking support ECU 10 may control all devices (such as the drive device 30, the brake device 40, the steering device 50, the shift switching device 60, etc.) for controlling the movement of the host vehicle 100 during the execution of the automatic parking control, or may control only some of the devices. Such automatic parking control will be described below.

[0051] While the host vehicle 100 is being driven manually by the driver, the parking support ECU 10 determines whether the host vehicle 100 is traveling in the vicinity of the registered position or the registered route at a speed equal to or lower than a predetermined speed (for example, 15 km / h or lower) based on the current position of the host vehicle 100. When the host vehicle 100 is traveling in the vicinity of the registered position or the registered route at a speed equal to or lower than the predetermined speed, the parking support ECU 10 controls the display 72 so that a proposal image is displayed on the display 72.

[0052] FIG. 4 is a diagram showing an example of the proposal image. As shown in FIG. 4, the proposal image G10 includes a first character image G11, a second character image G12, and a start icon C11. The first character image G11 indicates that the registered route has been detected. The second character image G12 indicates a proposal to execute automatic parking control.

[0053] When the occupant of the host vehicle 100 wishes to execute automatic parking control, the start icon C11 is tapped. When the start icon C11 is tapped, a control start signal is transmitted from the display ECU 71 to the parking support ECU 10. When the parking support ECU 10 receives the control start signal, it determines that the control start condition is satisfied and starts executing the automatic parking control. On the other hand, when the occupant does not wish to execute the automatic parking control, the occupant of the host vehicle 100 does not tap the start icon C11. When a predetermined time (for example, 5 seconds) has elapsed without the parking support ECU 10 receiving the control start signal after the proposed image G10 is displayed on the display 72, the display device 70 is controlled so that the proposed image G10 is erased from the display 72. In this case, the parking support ECU 10 determines that the control start condition is not satisfied and does not execute the automatic parking control.

[0054] When the execution of the automatic parking control is started, the parking support ECU 10 specifies the current position of the host vehicle 100, and then calculates a merging route, which is a route until the traveling route of the host vehicle 100 merges with the registered route. Here, even when the host vehicle 100 is traveling on a road where the registered route is set, the traveling position of the host vehicle 100 may deviate from the registered route. Therefore, the parking support ECU 10 calculates the merging route as a route until the traveling route of the host vehicle 100 coincides with the registered route.

[0055] After calculating the merging route, the parking support ECU 10 controls one or more of the drive device 30, the braking device 40, and the steering device 50 of the host vehicle 100 so that the host vehicle 100 travels along the merging route. Thereby, the host vehicle 100 automatically travels at a predetermined low speed along the merging route until the merging point of the registered route and the merging route. Then, from the merging point, the host vehicle 100 travels on the registered route. When the host vehicle 100 travels on the registered route, the parking support ECU 10 controls the host vehicle 100 so that the information (surrounding image information) acquired from the camera sensor 212 matches the information stored in the ROM 12 and capable of specifying the registered route (surrounding image information). For example, when the host vehicle 100 is traveling at a point on the registered route by automatic parking control, the parking support ECU 10 controls the host vehicle 100 so that the position of the feature point in the surrounding image acquired from the camera sensor 212 matches the position of the feature point in the surrounding image capable of specifying the point among the stored surrounding images. Thereby, the host vehicle 100 travels along the registered route. Also, when the host vehicle 100 travels on the registered route, the parking support ECU 10 controls the host vehicle 100 so that it assumes a driving state that matches the stored driving state (speed, acceleration, steering angle, etc.). Thereby, the driving route and the driving state until the host vehicle 100 is parked at the registered position by a manual parking operation are reproduced. By such automatic parking control, the host vehicle 100 is automatically parked at the registered position.

[0056] FIG. 5 is a diagram showing an example of a registration route. In FIG. 5, the registration route is indicated by a thick solid line. The registration route shown in FIG. 5 is represented in a two-dimensional X-Y coordinate plane with the origin at the host vehicle 100 parked at a predetermined parking position P2 within the parking space PS, the X-axis extending along the longitudinal direction of the host vehicle 100, and the Y-axis extending along the vehicle width direction of the host vehicle 100. The registration route shown in FIG. 5 is composed of a forward route FR along which the host vehicle 100 travels forward from the start position P0 to the turning position P1, and a reverse route RR along which the host vehicle 100 travels backward from the turning position P1 to the parking position P2 within the parking space PS. According to the example shown in FIG. 5, the forward route FR is a route that gradually moves away from the parking position P2 in the X direction as it goes from the start position P0 toward the turning position P1. Also, the turning position P1 is a position that has gone too far in the Y direction from the parking position P2. Further, the reverse route RR is a route that returns after going too far in the Y direction (negative direction) and reaches the parking position P2.

[0057] FIG. 6 is a diagram showing another example of a registration route. The registration route shown in FIG. 6 is also represented in the two-dimensional X-Y coordinate plane shown in FIG. 5. The registration route shown in FIG. 6 is composed of a forward route FR and a reverse route RR, similar to the registration route shown in FIG. 5. According to the example shown in FIG. 6, the forward route FR meanders from the start position P0 to the turning position P1.

[0058] The registration routes shown in FIGS. 5 and 6 are not appropriate routes because there are many wasted driving routes from the start position P0 to the parking position P2 via the turning position P1 for the host vehicle 100. However, in the conventional device, when stored as a registration route, the host vehicle 100 is controlled to reproduce that registration route during the execution of the automatic parking control, so even the wasted driving routes are reproduced. When the registration route is not an appropriate route in this way, the driver of the host vehicle 100 feels that appropriate automatic parking control is not executed, that is, the host vehicle 100 cannot be parked by traveling along an appropriate route, and in many cases, the use of the automatic parking control is avoided thereafter. Therefore, there is a concern that the automatic parking control is not fully utilized in the conventional device.

[0059] Regarding this point, the parking support ECU 10 of the parking support device 1 according to the present embodiment is configured to be able to execute an update process for the registered route. By executing this update process, the registered route can be made closer to a more appropriate route. The update process is a process of updating the registered route based on information regarding the manual parking operation when the host vehicle 100 is parked at the registered position by a manual parking operation after the registered route is stored. Here, the information regarding the manual parking operation is travel information acquired by the parking support ECU 10 when the host vehicle 100 travels by a manual parking operation and information regarding the parking route calculated based on the travel information. In order to perform such an update process, the parking support ECU 10 executes a background storage process to store the travel information acquired until the host vehicle 100 is parked at the registered position by a manual parking operation after the registered route is stored and the parking route calculated using the travel information. Hereinafter, the background storage process will be described.

[0060] 3. Background Storage Process Assume that the parking support ECU 10 stores the route shown in FIG. 5 as the registered route. While the host vehicle 100 is manually traveling, the parking support ECU 10 determines whether the host vehicle 100 is traveling at a speed equal to or lower than a predetermined speed (for example, 15 km / h or lower) in the vicinity of the registered position or the registered route based on the current position of the host vehicle 100. When the host vehicle 100 is traveling at a speed equal to or lower than a predetermined speed in the vicinity of the registered position or the registered route, the parking support ECU 10 controls the display 72 so that the proposed image G10 shown in FIG. 4 is displayed on the display 72.

[0061] When a predetermined time has elapsed without the start icon C11 in the proposed image G10 displayed on the display 72 being tapped, the parking support ECU 10 determines that the control start condition for the automatic parking control is not satisfied. Here, when the proposed image G10 is displayed on the display 72, the registered route and the registered position have already been stored, and the host vehicle 100 is traveling at a reduced speed in the vicinity of the registered route and the registered position. Therefore, it is highly likely that the driver of the host vehicle 100 intends to park the host vehicle 100 at the registered position. Nevertheless, if the driver of the host vehicle 100 does not select the automatic parking control, it is highly likely that the driver of the host vehicle 100 intends to park the host vehicle 100 at the registered position by a manual parking operation. Therefore, the driving operation of the driver of the host vehicle 100 after a predetermined time has elapsed without the start icon C11 in the proposed image G10 being tapped can be determined to be a manual parking operation for parking the host vehicle 100 at the registered position. Thus, when the parking support ECU 10 determines that the host vehicle 100 has been parked at the registered position by a manual parking operation after storing the registered route, the route recording process is executed.

[0062] In the route recording process, the parking support ECU 10 continuously records the driving information of the host vehicle 100 at predetermined short time intervals in a ring buffer area provided in the RAM 13. Then, when the parking of the host vehicle 100 at the registered position is completed, the parking support ECU 10 calculates the parking route that the host vehicle 100 has traveled until the host vehicle 100 is parked at the registered position by the current manual parking operation. In this case, the parking route may be calculated by the same method as the method for calculating the registered route. Also, the deviation amount between the registered route and the current parking route is calculated by comparing the surrounding image information acquired in the current route recording process with the surrounding image information that can identify the registered route, and the parking route may be calculated based on the deviation amount.

[0063] After that, the parking support ECU 10 stores the calculated parking route in the ROM 12 together with the recorded driving information. During the execution of the background storage process, the passengers of the host vehicle 100 including the driver are not notified of the execution of the route recording process. Hereinafter, the parking route stored by the execution of the background storage process is referred to as a post-registration manual parking route. Therefore, when the host vehicle 100 is parked at the registration position by the manual parking operation after the parking support ECU 10 stores the registered route, the route that the host vehicle 100 has traveled until it is parked at the registration position by the manual parking operation is stored as the post-registration manual parking route.

[0064] In this way, after the parking support ECU 10 stores the registered route by the normal storage process, when it determines that the host vehicle 100 is parked at the registration position by the manual parking operation, it executes the background storage process to store the post-registration manual parking route. Further, every time the parking support ECU 10 determines that the host vehicle 100 is parked at the registration position by the manual parking operation after storing the registered route by the normal storage process, it executes the background storage process to store the post-registration manual parking route. As a result, the post-registration manual parking routes are accumulated in the ROM 12.

[0065] 4. Update Process The update process is executed when the host vehicle 100 is parked at the registration position by the manual parking operation after the registered route is stored. Specifically, the update process is executed when the number of times the host vehicle 100 is parked at the registration position by the manual parking operation after the registered route is stored, that is, the number of executions of the background storage process, or more specifically, the number of post-registration manual parking routes accumulated by the execution of the background storage process reaches a preset number (set number). The set number is an integer of 1 or more, and it may be 1 or 2 or more. The update process will be described below.

[0066] When the update process is executed, the parking support ECU 10 updates the registered route using the registered post-manual parking route stored by executing the background process. Also, when a plurality of registered post-manual parking routes are accumulated by executing the background process a plurality of times, the parking support ECU 10 updates the registered route using the plurality of accumulated registered post-manual parking routes in the update process.

[0067] In the present embodiment, the parking support ECU 10 calculates an updated route based on the registered route and one or a plurality of registered post-manual parking routes, and updates the registered route with the calculated updated route. At this time, the updated route can be calculated as a route that proceeds through the area between the registered route and the registered post-manual parking route. For example, the updated route is calculated by averaging the registered route and the registered post-manual parking route. In other words, the updated route is calculated by performing an averaging process on the registered route and the registered post-manual parking route.

[0068] FIG. 7 shows an example of a registered post-manual parking route stored by executing the background storage process. This registered post-manual parking route is composed of a forward route FR that travels forward from the start position P0 to the turning position P1, and a reverse route RR that travels backward from the turning position P1 to the parking position P2 within the parking space PS.

[0069] FIG. 8 is a diagram showing the registered route shown in FIG. 5 and the registered post-manual parking route shown in FIG. 7 together. As shown in FIG. 8, the start position P01 of the registered route and the start position P02 of the registered post-manual parking route are different positions. Also, the turning position P11 of the registered route and the turning position P12 of the registered post-manual parking route are different positions. On the other hand, the end position of the registered route and the end position of the registered post-manual parking route are substantially the same position P2. When performing the averaging process, the parking support ECU 10 executes each route by dividing it into a forward route and a reverse route.

[0070] FIG. 9 is a diagram showing the forward path of the registration path and the forward path of the post-registration manual parking path together. In FIG. 9, the forward path FR1 of the registration path is indicated by a dashed line, and the forward path FR2 of the post-registration manual parking path is indicated by a one-dot chain line. When the parking support ECU 10 executes the averaging process of the forward path, it extracts m coordinate points from a plurality of point groups constituting the forward path FR1 of the registration path, and extracts m coordinate points from a plurality of point groups constituting the forward path FR2 of the post-registration manual parking path. In FIG. 9, 14 coordinate points constituting each path are extracted. These coordinate points are indicated by black circle points on the X-Y coordinate plane of FIG. 9.

[0071] Then, the parking support ECU 10 calculates the coordinate position of the midpoint of the line segment connecting two coordinate points located at the same number from the start positions P01 and P02 of both paths FR1 and FR2 among the extracted coordinate points. In FIG. 9, the calculated coordinate position is indicated by an open circle point. The path represented by the line segment connecting the coordinate points calculated in this way is the updated path FR3 of the forward path. In FIG. 9, the updated path FR3 of the forward path is indicated by a solid line.

[0072] FIG. 10 is a diagram showing the backward path of the registration path and the backward path of the post-registration manual parking path together. In FIG. 10, the backward path RR1 of the registration path is indicated by a dashed line, and the backward path RR2 of the post-registration manual parking path is indicated by a one-dot chain line. When the parking support ECU 10 executes the averaging process of the backward path, it extracts m coordinate points from a plurality of point groups constituting the backward path RR1 of the registration path, and extracts m coordinate points from a plurality of point groups constituting the backward path RR2 of the post-registration manual parking path. In FIG. 10, 12 coordinate points constituting each path are extracted. These coordinate points are indicated by black circle points on the X-Y coordinate plane of FIG. 10.

[0073] Then, the parking support ECU 10 calculates the coordinate position of the midpoint of the line segment connecting two coordinate points located at the same number from the switching positions P11 and P12 of both routes RR1 and RR2 among the extracted coordinate points. In FIG. 10, the calculated coordinate position is indicated by white dots. The route represented by the line segment connecting the coordinate points calculated in this way is the updated route RR3 of the reverse route. In FIG. 10, the updated route RR3 of the reverse route is shown by a solid line.

[0074] After the parking support ECU 10 calculates the updated route FR3 of the forward route and the updated route RR3 of the reverse route, it combines these routes. Thereby, an updated route is generated. FIG. 11 is a diagram showing the updated route. The updated route S shown in FIG. 11 is a route passing through the central position between the registered route shown in FIG. 5 and the post-registration manual parking route shown in FIG. 7. As described above, the parking support ECU 10 calculates the updated route by averaging the registered route and the post-registration manual parking route.

[0075] By the way, when the driver of the host vehicle 100 parks the host vehicle 100 at the registration position by a manual parking operation despite the registered route being stored, it is highly likely that the driver of the host vehicle 100 considers the registered route to be an inappropriate route with a lot of waste. In this case, it is considered that the driver of the host vehicle 100 operates the host vehicle 100 so that the host vehicle 100 travels along a route without waste by a manual parking operation. That is, the post-registration manual parking route is more likely to be an appropriate route than the registered route. Therefore, the updated route calculated by averaging the registered route and the post-registration manual parking route is a route closer to an optimal route than the registered route.

[0076] The example shown above is an example of calculating an updated route by averaging the registered post-manual parking route and the registration route when there is one accumulated registered post-manual parking route. When n (n is an integer of 2 or more) registered post-manual parking routes are accumulated, for example, the updated route can be calculated by averaging as follows. Let the positions of m coordinate points extracted from the a-th accumulated registered post-manual parking route La among the n registered post-manual parking routes be Ca1(Xa1, Ya1), Ca2(Xa2, Ya2), ···, Cam(Xam, Yam). The position of the coordinate point located at the s-th position from the start position (or turning position) of the registered post-manual parking route La among the extracted coordinate points can be expressed as Cas(Xas, Yas). Also, let the positions of m coordinate points extracted from the registration route be Ct1(Xt1, Yt1), Ct2(Xt2, Yt2), ···, Ctm(Xtm, Ytm). The position of the coordinate point located at the s-th position from the start position (or turning position) of the registration route among the extracted coordinate points can be expressed as Cts(Xts, Yts). In this case, the X component Xavs of the average position of each coordinate point located at the s-th position from the start position (or turning position) of each route can be calculated by the following formula (1), and the Y component Yavs can be calculated by the following formula (2). [Number] [Number]

[0077] The parking support ECU 10 sequentially calculates the coordinate points of the m average positions using formulas (1) and (2). Then, an updated route can be calculated by connecting the calculated coordinate points of the average positions.

[0078] After calculating the updated route, the parking support ECU 10 updates the registration route to the updated route. Therefore, when the update process is performed, automatic parking control is executed using the newly calculated updated route.

[0079] Here, since the updated route is the newly calculated parking route, there is no information for identifying the updated route, such as the surrounding image obtained from the camera sensor 212. Therefore, when the host vehicle 100 first travels along the updated route under automatic parking control, there is no object for comparing the surrounding images obtained from the camera sensor 212. In this regard, the parking support ECU 10 according to the present embodiment calculates how much the updated route (the registered route after update) deviates from the registered route before update based on the comparison between the calculated updated route and the registered route before update. Further, the parking support ECU 10 corrects the position of the feature point (for example, the position of the display drawn on the road surface) in the surrounding image that can identify the registered route before update according to the calculated deviation amount. Then, the parking support ECU 10 controls the host vehicle 100 so that the position of the feature point in the surrounding image obtained from the camera sensor 212 at the time of executing the automatic parking control matches the corrected position. By such control, the host vehicle 100 can travel along the updated route. Incidentally, when the host vehicle 100 has once traveled along the updated route, the updated route can be identified by storing the surrounding image information obtained from the camera sensor 212 at that time. Therefore, when the host vehicle 100 travels along the updated route by automatic parking control for the second and subsequent times, the host vehicle 100 can be controlled to travel along the updated route using the information (surrounding image information) that can identify the stored updated route.

[0080] Also, the parking support ECU 10 calculates the average values of the driving states, for example, the average value of the speed and the average value of the acceleration, by averaging the information representing the driving state (such as speed and acceleration) stored for the registered route before update and the information representing the driving state (such as speed and acceleration) obtained when the host vehicle 100 travels along the registered manual parking route after registration. Then, when executing the automatic parking control so that the host vehicle 100 travels along the updated route, the parking support ECU 10 controls the drive device 30 and the brake device 40 so that the driving state of the host vehicle 100 matches the calculated average values. Thereby, the host vehicle 100 can be controlled so that the host vehicle 100 travels along the updated route at a predetermined speed by the automatic parking control.

[0081] Thus, according to this embodiment, by the parking support ECU 10 executing the background storage process, the post-registration manual parking route, which is the manual parking route after storing the registered route, is stored and accumulated. Then, the parking support ECU 10 executes an update process using the post-registration manual parking route to update the registered route. Specifically, the parking support ECU 10 updates the registered route based on the registered route and the post-registration manual parking route. For example, the parking support ECU 10 calculates an updated route by averaging the registered route and the post-registration manual parking route. Then, the parking support ECU 10 updates the registered route to the calculated updated route. The registered route updated in this way is a route closer to an appropriate route than the registered route before the update. That is, by executing the update process, the registered route can be brought closer to an appropriate route. Therefore, appropriate automatic parking control can be executed. As a result, it is expected that the automatic parking control will be fully utilized.

[0082] (Specific operation) FIG. 12 is a flowchart showing an example of a program executed by the CPU 11 for the parking support ECU 10 to execute the normal storage process. This program is repeatedly executed at predetermined short time intervals while the host vehicle 100 is running. When the execution of this program is started, the CPU 11 first determines, in step 101 of FIG. 12 (hereinafter, steps are abbreviated as S), whether the registered position and the registered route have been detected in the vicinity area of the host vehicle 100. In this case, the CPU 11 can determine whether the registered position and the registered route have been detected in the vicinity area of the host vehicle 100 by comparing the position information of the registered position stored in the ROM 12 with the current position information of the host vehicle 100.

[0083] When the registered position and the registered route are detected in the vicinity area of the host vehicle 100 (S101: Yes), the CPU 11 ends the execution of this program. On the other hand, when the registered parking space and the registered route are not detected in the vicinity area of the host vehicle 100 (S101: No), the process executed by the CPU 11 proceeds to S102.

[0084] In S102, the CPU 11 determines whether the recording start condition is satisfied. If the recording start condition is not satisfied (S102: No), the CPU 11 ends the execution of this program. On the other hand, if the recording start condition is satisfied (S102: Yes), the process proceeds to S103.

[0085] In S103, the CPU 11 starts executing the route recording process. As a result, data of travel information including information for identifying the travel route of the host vehicle 100 and information representing the travel state is recorded in the ring buffer area of the RAM 13. Next, the process proceeds to S104.

[0086] In S104, the CPU 11 determines whether the parking completion condition is satisfied. The parking completion condition is preset as a condition that is satisfied when the host vehicle 100 completes parking at an arbitrary position. For example, when the vehicle speed of the host vehicle 100 is 0, the shift position of the transmission 34 is in the parking position, and the parking brake provided in the host vehicle 100 is actuated, the parking completion condition is satisfied.

[0087] If the parking completion condition is not satisfied (S104: No), the CPU 11 repeats the process of S104. In this case, the route recording process continues. On the other hand, if the parking completion condition is satisfied (S104: Yes), it means that the host vehicle 100 is parked at a predetermined parking position. In this case, the process proceeds to S105. In S105, the CPU 11 ends the route recording process and identifies the current position of the host vehicle 100 as the parking position. Next, the process proceeds to S106. In S106, the CPU 11 outputs a control signal to the display ECU 71 so that a registration screen is displayed on the display 72. This registration screen is a screen for inputting whether or not to register the parking position where the host vehicle 100 is parked and the route (parking route) that the host vehicle 100 has traveled by a manual parking operation until the host vehicle 100 is parked at the parking position. Therefore, on the registration screen, a character string for inquiring whether or not to register the parking position and the parking route, an affirmative icon for inputting the intention to register, and a negative icon for inputting the intention not to register are displayed.

[0088] Next, the CPU 11 determines whether to register the parking position and the parking route (S107). In this case, the CPU 11 determines to register when the positive icon on the registration screen is tapped, and determines not to register when the negative icon is tapped.

[0089] If the parking position and the parking route are not registered (S107: No), the recorded information (data) is deleted (S109), and then this program is terminated. On the other hand, if the parking position and the parking route are to be registered (S107: Yes), the process proceeds to S108. In S108, the CPU 11 calculates the parking route based on the recorded driving information and the parking position. In this case, for example, the CPU 11 sets the host vehicle 100 at the parking position as the origin, with the X-axis extending in the front-rear direction of the host vehicle 100 passing through the origin and the Y-axis extending in the width direction of the host vehicle 100 passing through the origin, and can calculate the coordinate components of the point group representing the parking route in the X-Y coordinate plane. After calculating the parking route, the process proceeds to S109.

[0090] In S109, the CPU 11 stores the information (data) representing the calculated parking route, the information (peripheral image data) that can identify the parking route, the information (data) representing the driving state of the host vehicle 100, and the information (data) representing the parking position in a predetermined location in the ROM 12. As a result, the parking route is stored as the registered route and the parking position is stored as the registered position. Then, the CPU 11 terminates this program.

[0091] By executing the program shown in FIG. 12 by the CPU 11, the parking support ECU 10 executes the normal storage process. As a result, the registered route and the registered position are stored.

[0092] FIG. 13 is a flowchart showing an example of a program executed by the CPU 11 for the parking support ECU 10 to execute automatic parking control. This program is repeatedly executed while the host vehicle 100 is running. When the execution of the program shown in FIG. 13 is started, the CPU 11 determines whether or not the control start condition for automatic parking control is satisfied at S201 in FIG. 13. The control start condition is satisfied, for example, when a control start signal is transmitted from the proposed image displayed on the display 72 as described above. Note that the control start condition is not limited to this, and can be determined by various conditions.

[0093] If the control start condition is not satisfied (S201: No), the CPU 11 ends the execution of this program. On the other hand, if the control start condition is satisfied (S201: Yes), the process proceeds to S202.

[0094] At S202, the CPU 11 reads the registered route detected in the vicinity area of the host vehicle 100. Next, the CPU 11 specifies the current position of the host vehicle 100 (S203). Subsequently, the CPU 11 calculates a merging route until the host vehicle 100 travels along the registered route from the current traveling position (S204).

[0095] After calculating the merging route, the CPU 11 executes merging route travel control (S205). Thereby, the drive device 30, the braking device 40, the steering device 50, etc. of the host vehicle 100 are controlled so that the host vehicle 100 travels along the merging route.

[0096] Next, the CPU 11 determines whether or not the host vehicle 100 has reached the merging point between the merging route and the registered route (S206). If the host vehicle 100 has not reached the merging point (S206: No), the process returns to S205. In this case, the merging route travel control is continued. On the other hand, if the host vehicle 100 has reached the merging point (S206: Yes), the process proceeds to S207.

[0097] When the host vehicle 100 reaches the merging point, thereafter, the host vehicle 100 will travel along the registered route. Therefore, in S207, the CPU 11 executes registered route travel control. As a result, the drive device 30, the brake device 40, the steering device 50, the shift switching device 60, etc. of the host vehicle 100 are controlled so that the host vehicle 100 travels along the registered route and parks at the registered position.

[0098] Subsequently, the CPU 11 determines whether or not the parking of the host vehicle 100 at the registered position has been completed (S208). If the parking at the registered position has not been completed (S208: No), the process returns to S207. In this case, the registered route travel control is continued. On the other hand, if the parking at the registered position has been completed (S208: Yes), the CPU 11 executes a predetermined end process and then ends this program.

[0099] By the CPU 11 executing the program shown in FIG. 13, the parking support ECU 10 executes automatic parking control. As a result, the host vehicle 100 automatically travels along the registered route and parks at the registered position.

[0100] FIG. 14 is a flowchart showing an example of a program executed by the CPU 11 for the parking support ECU 10 to execute background storage processing. The program shown in FIG. 14 is executed, for example, when it is determined in S201 of the program shown in FIG. 13 that the control start condition is not satisfied, but the start condition of this program is not limited to this. This program is executed when it is determined that the host vehicle 100 has been parked at the registered position by a manual parking operation after the registered route has been stored.

[0101] When the execution of this program is started, the CPU 11 starts route recording processing in S301 of FIG. 14. As a result, data of travel information including information for specifying the travel route of the host vehicle 100 and information representing the travel state is recorded in the ring buffer area of the RAM 13.

[0102] Next, the CPU 11 determines whether the parking completion condition is satisfied (S302). The parking completion condition is set in advance as a condition that is satisfied when the host vehicle 100 is parked at the registered position. The parking completion condition is satisfied, for example, when the host vehicle 100 is at the registered position or a position extremely close to the registered position, the vehicle speed of the host vehicle 100 is 0, the shift position of the transmission 34 is in the parking position, and the parking brake provided in the host vehicle 100 is actuated.

[0103] If the parking completion condition is not satisfied (S302: No), the process proceeds to S306. In S306, the CPU 11 determines whether the recording end condition is satisfied. The recording end condition is set in advance as a condition that is satisfied when it can be determined that the traveling state of the host vehicle 100 is not the traveling state for parking the host vehicle 100 at the registered position. For example, the recording end condition is satisfied when the traveling position of the host vehicle 100 is significantly deviated from the registered route.

[0104] If the recording end condition is not satisfied (S306: No), the process returns to S302. In this case, the route recording process is continued. On the other hand, if the recording end condition is satisfied (S306: Yes), the process proceeds to S307. In S307, the CPU 11 ends the route recording. Next, the CPU 11 deletes the data of the traveling information of the host vehicle 100 that has already been stored (S308), and then ends this program.

[0105] Also, when the CPU 11 determines that the parking completion condition is satisfied in S302 (S302: Yes), it ends the route recording process and calculates the parking route (post-registration manual parking route) that the host vehicle 100 has traveled until the host vehicle 100 is parked at the registration position (S303). Next, the CPU 11 stores information (data) representing the calculated parking route, information (peripheral image data) that can identify the parking route, and information (data) representing the driving state of the host vehicle 100 at a predetermined storage position in the ROM 12 (S304). Thereby, the post-registration manual parking route is accumulated. After that, the CPU 11 increments the number of accumulated data (S206). The number of accumulated data is the number of post-registration manual parking routes accumulated for one registration position. Note that the initial value of the number of accumulated data is 0. After that, the CPU 11 ends this program.

[0106] By executing the program shown in FIG. 14 by the CPU 11, the background storage process is executed. Then, data representing the parking route (post-registration manual parking route) until the host vehicle 100 is parked at the registration position by the manual parking operation after the registration route is stored is stored and accumulated.

[0107] FIG. 15 is a flowchart showing an example of a program executed by the CPU 11 for the parking support ECU 10 to execute an update process. This program is executed every time a post-registration manual parking route is stored by the execution of the background storage process. When the execution of this program is started, the CPU 11 determines in S401 of FIG. 15 whether the number of accumulated data, that is, the number of post-registration manual parking routes accumulated by the execution of the background storage process, is equal to or greater than a set number n. The set number n is an integer of 1 or more and may be set in advance, may be set by the driver of the host vehicle 100, or may be set by the CPU 11.

[0108] When the number of accumulated data is less than n (S401: No), the CPU 11 ends this program. On the other hand, when the number of accumulated data is equal to or greater than n (S401: Yes), the process proceeds to S402.

[0109] In S402, the CPU 11 calculates an updated route. As described above, the updated route is calculated based on the registered route and the post-registration manual parking route. In this case, for example, the updated route can be calculated by the averaging process described above.

[0110] After calculating the updated route, the CPU 11 updates the registered route to the updated route (S403). Next, the stored data is erased (S404), and the number of stored data is reset (S303). As a result, the number of stored data becomes 0. Then, the CPU 11 ends this program.

[0111] By executing the above-described update process by the CPU 11, the updated route is calculated every time the number of stored data reaches n. Then, the registered route is updated to the calculated updated route.

[0112] As described above, the embodiments of the present disclosure have been described. However, the parking support device according to the present disclosure should not be limited to the above embodiments. For example, the following modification examples can be shown.

[0113] (Modification Example 1) In the above embodiment, an example in which the updated route is calculated by the averaging process using the registered route and the post-registration manual parking route has been shown. When performing this averaging process, by calculating with weights assigned to the routes, the degree of influence that a predetermined route or a part of a predetermined route has on the calculation of the updated route can be increased. In particular, when a part of a post-registration manual parking route accumulated by executing the background storage process can be determined as an optimal route, the averaging process can be executed with the weight of that part increased so that that part is strongly reflected in the updated route when calculating the updated route.

[0114] (Modification Example 2) The parking support ECU 10 may be configured to execute an exclusion process of excluding abnormal data determined to be inappropriate as data for update processing from the data representing the registered post-manual parking route accumulated by executing the background recording process. Examples of the abnormal data include data representing a route of a portion traveled by a driving operation other than the driving operation for parking the host vehicle 100 at the registered position, and data representing a portion determined to be an obviously wasteful route.

[0115] FIG. 16 is a diagram showing an example of an inappropriate registered post-manual parking route stored by executing the background storage process. The registered post-manual parking route shown in FIG. 16 includes portions (portion A and portion B) traveled by an avoidance operation for avoiding an obstacle (e.g., a pedestrian). In such a case, when the parking support ECU 10 executes the exclusion process, data regarding the route caused by the driving operation for avoiding the obstacle (data representing portion A and portion B) is excluded.

[0116] The data to be excluded is not limited to the route for avoiding an obstacle as shown in FIG. 16. For example, when the route includes a meandering route as a result of the driver repeatedly rotating the steering wheel 53a unnecessarily, the data regarding those routes can also be excluded.

[0117] FIG. 17 is a flowchart showing an example of a program executed by the CPU 11 for the parking support ECU 10 to execute the exclusion process. This program starts when the registered post-manual parking route is stored by the background storage process. When the execution of this program starts, the CPU 11 reads the data of the stored registered post-manual parking route at S501 in FIG. 17, and then searches for abnormal data from the read data of the registered post-manual parking route (S502). The abnormal data can be searched for, for example, based on whether the data representing the traveling state of the host vehicle 100 acquired together with the image data for specifying the registered post-manual parking route, particularly, whether the acceleration, the steering rotation angle, or the change amount of the steering rotation angle exceeds a threshold value.

[0118] After searching for abnormal data at S502, the CPU 11 determines whether abnormal data has been found (S503). If no abnormal data has been found (S503: No), the CPU 11 ends this program. On the other hand, if abnormal data has been found (S503: Yes), the process proceeds to S504. At S504, the CPU 11 deletes the found abnormal data. Thereafter, the CPU 11 ends this program.

[0119] By executing the program shown in FIG. 17 by the CPU 11, abnormal data (outlier values) is excluded from the accumulated data. For this reason, information regarding inappropriate routes is excluded, so that the updated route can be quickly brought closer to a more appropriate route by executing the update process.

[0120] Note that the above example is an example of deleting abnormal data from the data of the post-registration manual parking route, but the weights may be adjusted so that the abnormal data is difficult to be reflected in the update process. For example, by setting the weight of the data representing the route recognized as abnormal low when the update process is executed, the influence of the abnormal data on the updated route can be reduced.

[0121] (Modification Example 4) When the registered route is optimized to a predetermined level by executing the update process, the parking support ECU 10 can execute a notification process for notifying that the registered route has been optimized. FIG. 18 is a flowchart showing an example of a program executed by the CPU 11 for the parking support ECU 10 to execute the notification process. This program is executed each time the update process is executed. When the execution of the program shown in FIG. 18 is started, the CPU 11 reads the updated registered route at S601 in FIG. 18.

[0122] Next, the CPU 11 evaluates the read registration path (S602). Here, the CPU 11 evaluates the length of the path, the maximum radius, etc., and assigns an evaluation score to each item. For example, the shorter the length of the path, the better the path, so the shorter the length of the path, the higher the evaluation score. Also, the larger the maximum radius, the smoother the path, so the larger the maximum radius, the higher the evaluation score. In this way, the registration path is evaluated by calculating an evaluation score for each item.

[0123] Subsequently, the CPU 11 calculates the comprehensive evaluation score Z by adding the evaluation scores calculated for each item (S603). The comprehensive evaluation score Z is higher as the registration path is more optimal.

[0124] After calculating the comprehensive evaluation score Z, the CPU 11 determines whether the comprehensive evaluation score Z is greater than the threshold score Zth (S604). If the comprehensive evaluation score Z is less than or equal to the threshold score Zth (S604: No), the CPU 11 ends this program. On the other hand, if the comprehensive evaluation score Z is greater than the threshold score Zth (S604: Yes), the process proceeds to S605. In S605, the CPU 11 executes a notification process. In this notification process, it is notified that the registration path has been optimized. For example, the display ECU 71 is controlled so that a character string such as "The registration path has been optimized" is displayed on the display 72. Or, the speaker provided in the host vehicle 100 is controlled so that a voice such as "The assistance has improved" flows into the vehicle interior. After executing such notification control, the CPU 11 ends this program.

[0125] When the CPU 11 executes the program shown in FIG. 18 and the registration path is optimized to a predetermined level, this is notified. As a result, the driver of the host vehicle 100 can increase the willingness to automatically park the host vehicle 100 using the parking support device 1, and the utilization of the parking support device is promoted.

[0126] (Modification Example 5) In Modification 4, an example was described in which, when the registration route was optimized to a predetermined level, this was notified. However, it can also be configured to notify when the driving state of the registration route has been optimized to a predetermined level. For example, when the amount of change in vehicle speed and the amount of change in steering rotation angle are equal to or less than a predetermined threshold value, it is possible to notify that the driving state (operation state) of the registration route has improved. Further, it can also be configured to notify when the registration route and the driving state of the registration route have been optimized to a predetermined level. Thus, the technology according to the present disclosure can be modified as long as it does not deviate from the gist thereof.

[0127] In addition, the technology of the present disclosure is a technology applicable to technologies compliant with the standard specifications ISO20900 (Partially automated parking systems: PAPS) and ISO16787 (Assisted parking systems: APS).

Description of Reference Numerals

[0128] 1… Parking support device, 10… Parking support ECU (control unit), 20… In-vehicle sensor, 21… Peripheral information detection sensor, 211… Sonar sensor, 212… Camera sensor, 30… Driving device, 40… Braking device, 50… Steering device, 60… Shift switching device, 70… Display device, 80… Navigation device, 100… Own vehicle

Claims

1. A parking assistance device having a control unit configured to be capable of executing automatic parking control for parking the host vehicle at a predetermined parking position by traveling the host vehicle along a registered route while storing, as the registered route, a route traveled by the host vehicle until it is parked at the predetermined parking position by a manual parking operation, wherein the control unit is configured to be able to execute an update process for updating the registered route based on information regarding the manual parking operation when the host vehicle is parked at the predetermined parking position by a manual parking operation after storing the registered route.

2. The parking assistance device according to claim 1, wherein the control unit when the host vehicle is parked at the predetermined parking position by a manual parking operation after storing the registered route, stores, as a post-registration manual parking route, a route traveled by the host vehicle until it is parked at the predetermined parking position by the manual parking operation, and updates the registered route using the post-registration manual parking route in the update process.

3. The parking assistance device according to claim 2, wherein the control unit accumulates the post-registration manual parking route by storing the post-registration manual parking route each time the host vehicle is parked at the predetermined parking position by a manual parking operation after storing the registered route, and updates the registered route using the accumulated post-registration manual parking route in the update process.

4. The parking assistance device according to claim 3, wherein the control unit calculates an updated route by averaging the registered route and the post-registration manual parking route in the update process, and updates the registered route to the calculated updated route.

5. The parking assistance device according to claim 4, wherein the control unit is configured to be able to execute an exclusion process for deleting abnormal data determined to be inappropriate as data used in the update process from data representing the post-registration manual parking route.

6. The parking assistance device according to claim 5, wherein the abnormal data includes data representing a route resulting from a driving operation for avoiding an obstacle.

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