Parking support system

Abstract

To provide a parking support system that can guide a vehicle so that a selectable parking space can be detected surely.SOLUTION: A parking support system, which performs automatic parking control of parking a vehicle 1 on a target parking position, comprises: a compartment line detecting part that detects a compartment line C1 defining a parking compartment B on the basis of a situation around the vehicle 1; a parkable space detecting part that detects a parkable space that can be selected as the target parking position, on the basis of the situation around the vehicle 1 and information on an obstacle; a recommended route setting part that sets a recommended route R on which the vehicle 1 runs in order to search the parkable space; and a display control part that makes a display device display the recommend route R set by the recommended route setting part and the parkable space. The recommended route setting part changes a method for setting the recommended route R on the basis of whether the compartment line detecting part can detect the compartment line C1 or not and / or a road width W of a road A on which the vehicle 1 is running.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a parking assistance system for a vehicle. [Background technology]

[0002] In a parking assistance system that performs automatic parking control to park a vehicle in a target parking position, before starting automatic parking control, the driver performs driving operations himself and travels near the parking space to search for an available parking space that will serve as the target parking position. For example, Patent Document 1 discloses a parking assistance system that displays a guidance display based on the effective detection range of an ultrasonic sensor, superimposed on the view ahead of the vehicle, in order to properly detect obstacles that are the target of detection in parking assistance. In the system disclosed in Patent Document 1, a guidance display is displayed so that the vehicle can be guided so that obstacles present in front of the vehicle are within the effective detection range. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6366881 Summary of the Invention [Problem to be solved by the invention]

[0004] Typically, parking spaces are defined by demarcation lines, but some parking lots with multiple parking spaces have unclear demarcation lines or no demarcation lines at all. Furthermore, the layout and shape of parking spaces, as well as the width and shape of roads within the parking lot, vary depending on the parking lot. Therefore, it is desirable to improve the method of guiding a vehicle so that it can reliably detect available parking spaces according to the situation around the vehicle when the driver drives to select a target parking position before the start of automatic parking control.

[0005] The present invention has been made in consideration of the above-described circumstances, and its purpose is to guide the vehicle so that it can reliably detect available parking spaces when the driver drives to select a target parking position before the start of automatic parking control. [Means for solving the problem]

[0006] According to one aspect of the present invention, a parking assistance system is provided which includes a surrounding condition detection device configured to detect the surrounding conditions of a vehicle, and an obstacle detection device configured to detect obstacles in the vicinity of the vehicle, and which is configured to perform automatic parking control to park the vehicle at a target parking position based on information about the surrounding conditions of the vehicle detected by the surrounding condition detection device and the obstacle detected by the obstacle detection device. The parking assistance system is provided with: a demarcation line detection unit which detects demarcation lines that define parking spaces based on the surrounding conditions of the vehicle; an available parking space detection unit which detects available parking spaces that can be selected as the target parking position based on information about the surrounding conditions of the vehicle and the obstacle; a recommended route setting unit which sets a recommended route for the vehicle to travel in order to search for the available parking space; and a display control unit which displays the recommended route set by the recommended route setting unit and the available parking spaces on a display device, and the recommended route setting unit changes the setting method of the recommended route based on whether the demarcation line detection unit can detect the demarcation lines and / or the width of the road on which the vehicle is traveling. [Effects of the Invention]

[0007] According to the present invention, when the driver drives to select a target parking position before the start of automatic parking control, the vehicle can be guided so as to reliably detect a selectable parking space. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a parking assistance system for a vehicle according to an embodiment of the present invention. [Figure 2]FIG. 2 is a plan view schematically showing a vehicle equipped with a parking assistance system according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a recommended route set on a road whose width is smaller than a predetermined width. [Figure 4] FIG. 4 is a diagram showing an example of a recommended route set based on a lane marking. [Figure 5] FIG. 5 is a diagram showing an example of a recommended route that is set based on parked vehicles. [Figure 6] FIG. 6 is a diagram showing an example in which a recommended route set to the left of the center of the road is changed to a recommended route set to the right. [Figure 7] FIG. 7 shows an example of a recommended route displayed superimposed on an overhead image displayed on a display device. [Figure 8] FIG. 8 is a flowchart showing the flow of the process for setting a recommended route in one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] An automatic parking control system according to an embodiment of the present invention will be described in detail below with reference to the drawings. Fig. 1 is a block diagram showing a schematic configuration of the parking assistance system according to this embodiment. Fig. 2 is a plan view showing a vehicle equipped with the parking assistance system according to this embodiment. In Fig. 2, the front side of the vehicle is indicated by arrow F, the rear side of the vehicle is indicated by arrow B, the right side of the vehicle is indicated by arrow R, and the left side of the vehicle is indicated by arrow L.

[0010] As shown in FIG. 1, a vehicle 1 equipped with a parking assistance system 100 according to this embodiment includes a drive device 101, a brake device 102, a steering device 103, and a shift device 104.

[0011] The drive device 101 is configured to generate a drive force for driving the vehicle 1, and includes an engine controller (not shown) that controls the drive force in response to the amount of depression of an accelerator pedal (not shown) by the driver or in response to a control command from the control device 20, which will be described later. Note that the drive device 101 of the vehicle 1 can be, for example, an internal combustion engine, a motor, or the like.

[0012] The brake device 102 is a brake device that generates a braking force according to the amount of depression of the brake pedal (not shown) by the driver, and is equipped with a brake controller and a brake actuator for generating a braking force according to a braking command from the vehicle system or the control device 20.

[0013] The steering device 103 is configured as an electric power steering device (EPS) and is configured to give a steering angle to the steered wheels in response to a steering operation by the driver. The steering device 103 can also control the steering angle in response to a steering command from the control device 20 to change the traveling direction of the vehicle 1.

[0014] The shift device 104 is configured to be switchable among a D range for moving the vehicle 1 forward, an R range for moving the vehicle 1 backward, and a P range for fixing the gear of a transmission (not shown). The shift device 104 is equipped with an actuator (not shown), and in response to a control command from the control device 20, sets the shift device 104 to the D range when moving the vehicle 1 forward, sets the shift device 104 to the R range when moving the vehicle 1 backward, and sets the shift device 104 to the P range when temporarily stopping the vehicle 1 at a turning position or the like.

[0015] The parking assistance system 100 mounted on the vehicle 1 includes an obstacle detection device 10, an imaging device 11, a control device 20, etc. The parking assistance system 100 may further optionally include an illuminance sensor 12, a steering angle sensor 13, a direction indicator 14, an operation input device 15, and a display device 30.

[0016] The obstacle detection device 10 is configured to detect objects present around the vehicle 1, i.e., obstacles to the vehicle 1, by transmitting and receiving laser light, ultrasonic waves, millimeter waves, etc., and to detect the distance between the obstacle and the vehicle 1. Information about the obstacles detected by the obstacle detection device 10 is input to the control device 20. Here, the obstacles include stationary objects present around the vehicle 1, such as parked vehicles, side walls, and pillars. Note that moving objects, such as other vehicles, motorcycles, bicycles, and pedestrians present behind or in front of the vehicle 1, may also be detected as obstacles.

[0017] In this embodiment, the obstacle detection device 10 is configured to detect obstacles close to the vehicle 1. The obstacle detection device 10 has, for example, a rear sonar sensor 10a that detects obstacles in the rear area of ​​the vehicle 1, a rear-side sonar sensor 10b that detects obstacles in the rear-side areas, a front sonar sensor 10c that detects obstacles in the front area, and a front-side sonar sensor 10d that detects obstacles in the front-side areas.

[0018] The sonar sensors can accurately measure three-dimensional information about obstacles approaching the vehicle 1. As shown in FIG. 2, the rear sonar sensor 10a has, for example, four sonar sensors arranged spaced apart in the rear portion 100a of the vehicle 1, and the front sonar sensor 10b has, for example, four sonar sensors arranged spaced apart in the front portion 100b of the vehicle 1. The rear side sonar sensors 10b are arranged one on each side of the rear portion 100a of the vehicle 1, and the front side sonar sensors 10d are arranged one on each side of the front portion 100b of the vehicle 1. Note that the number and arrangement of the sonar sensors are not limited to those shown in FIG. 2.

[0019] The imaging device (surrounding condition detection device) 11 is configured to capture images of the area surrounding the vehicle 1, including obstacles present around the vehicle 1, and detect the surrounding conditions of the vehicle 1. In this embodiment, the imaging device 11 has, for example, a rear imaging unit 11a arranged in a rear portion 100a of the vehicle 1 and capable of capturing images of the rear area, a front imaging unit 11b arranged in a front portion 100b of the vehicle 1 and capable of capturing images of the front area, a left side imaging unit 11c arranged in a left side mirror of the vehicle 1 and capable of capturing images of the left side area, and a right side imaging unit 11d arranged in a right side mirror of the vehicle 1 and capable of capturing images of the right side area. The imaging device 11 is configured to be able to capture images of a 360-degree area around the vehicle 1 using these imaging units 11a to 11d.

[0020] The imaging units 11a to 11d each have a digital camera with an imaging element such as a CCD or CMOS, and are configured to output information about the area around the vehicle 1 as still images and / or video. Image data of the area around the vehicle 1 captured by the imaging device 11 is input to the control device 20. The image data captured by the imaging device 11 can be used to form an around-view image of the vehicle 1 as if looking down from directly above. The imaging device 11 can also be configured as a single omnidirectional camera.

[0021] The illuminance sensor 12 is an illuminance detection device that detects the brightness around the vehicle 1. Signals from the illuminance sensor 12, the steering angle sensor 13, and the direction indicator 14 are input to the control device 20.

[0022] The operation input device 15 is configured to accept various operation inputs to the vehicle 1 from a user, for example, the driver. The operation input device 15 includes an automatic parking control switch that is operated by the driver to switch automatic parking control on and off. The display device 30 is configured, for example, as a liquid crystal display, and is configured to display images on the display screen in response to commands from the control device 20. The operation input device 15 may be configured, for example, as a touch panel integrated with the display screen of the display device 30. Note that, for example, a display monitor of a navigation system (not shown) can also be used as the display device 30.

[0023] The control device 20 is implemented as a computer (ECU) that includes a CPU (Central Processing Unit) that performs calculations, a RAM (Random Access Memory) that serves as the CPU's working area and a temporary storage area for calculation results, a ROM (Read Only Memory) that stores operating programs for executing automatic parking control, various control constants, maps, etc., an input interface, an output interface, etc.

[0024] The control device 20 is configured to execute the functions of an obstacle recognition unit 21, a route calculation unit 22, a parking control unit 23, a partition line detection unit 24, a parking space detection unit 25, a driving operation detection unit 26, a recommended route setting unit 27, and a display control unit 28 by executing an operating program stored in the ROM, and to control the overall operation of the parking assistance system 100.

[0025] The parking assistance system 100 in this embodiment is configured to assist the driver in driving the vehicle 1 and perform automatic parking control to park the vehicle 1 at a target parking position, based on the surrounding conditions of the vehicle 1 detected by the imaging device 11 and information on obstacles close to the vehicle 1 detected by the obstacle detection device 10. First, the flow of operation of the automatic parking control will be described.

[0026] (1) System startup When the driver operates the automatic parking control switch of the operation input device 15, the control device 20 activates the parking assistance system 100. This turns on the automatic parking control.

[0027] (2) Driving in a parking lot In order to search for an available parking space, the driver performs a driving operation to drive the vehicle in the parking lot at a low speed (for example, about 10 km / h).

[0028] (3) Search for available parking spaces The parking space detection unit 25 of the control device 20 searches for a space where the vehicle 1 can be parked based on information about obstacles present around the vehicle 1 detected by the obstacle detection device 10 and image data of the area around the vehicle 1 acquired by the imaging device 11.

[0029] (4) Parking space availability display The route calculation unit 22 of the control device 20 calculates a route from the current position of the vehicle 1 to the searched section. The control device 20 determines whether there is a possible route from the current position of the vehicle 1 to the searched section, and displays sections with a possible route as available parking spaces on the display device 30.

[0030] (5) Start of automatic parking control When the available parking space where the driver wants to park is displayed on the display device 30, the driver depresses the brake pedal to stop the vehicle 1 and selects the available parking space displayed on the display device 30. This starts automatic parking control with the selected available parking space as the target parking position.

[0031] (6) Automatic parking control execution The parking control unit 23 of the control device 20 controls the drive device 101, the brake device 102, the steering device 103, and the shift device 104, and automatically drives the vehicle 1 along the parking path generated by the path calculation unit 22 to move it to the target parking position.

[0032] (7) Automatic parking control completed When the control device 20 recognizes that the current position of the vehicle 1 has reached the target parking position, it sets the shift device 104 to the P range and ends the automatic parking control.

[0033] Of the operations (1) to (7) described above, during the period (1) to (5) until the automatic parking control starts, the driver must manually drive the vehicle and drive near the parking space in order to search for a parking space that will be the target parking position for the automatic parking control.

[0034] Here, the obstacle detection device 10 and the imaging device 11, which are provided in the parking assistance system 100 and detect obstacles close to the vehicle 1, and detect the surrounding conditions of the vehicle 1, each have a defined effective detection range. For example, the detectable range of the sonar sensor constituting the obstacle detection device 10 is approximately 0.3 m to approximately 3.5 m, and the effective detection range is approximately 0.5 m to approximately 2.5 m. Within the effective detection ranges of the obstacle detection device 10 and the imaging device 11, detection targets can be detected with high accuracy, but outside the effective detection ranges, the detection accuracy of the detection targets decreases or the detection targets may not be detected at all. Furthermore, detection accuracy tends to decrease for detection targets that exist at an angle to the detection direction of the obstacle detection device 10 and the imaging device 11.

[0035] If the obstacle detection device 10 cannot accurately detect the detection target, even if a parking space exists, the system cannot recognize the space as a parking space. A space that is not recognized as a parking space cannot be selected as a target parking position, and therefore automatic parking control for parking in that space cannot be executed, reducing the convenience of the automatic parking control.

[0036] To reliably detect available parking spaces, it is desirable to drive as close to the parking space as possible, taking into account the effective detection ranges of the obstacle detection device 10 and the imaging device 11. However, if the vehicle gets too close to a parking space, there is a possibility of contact with a parked vehicle. Also, as described above, the obstacle detection device 10 and the imaging device 11 can detect the areas on the right and left sides of the vehicle 1, but if the road width in the parking lot is wide, if the vehicle is driving close to a parking space on one side, the parking space on the opposite side on the right or left side may not be included in the effective detection ranges of the obstacle detection device 10 and the imaging device 11, and the parking space may not be detected.

[0037] Therefore, parking assistance system 100 in this embodiment guides vehicle 1 so that it can reliably detect a selectable available parking space. Specifically, parking assistance system 100 is configured to present a recommended route for vehicle 1 to travel when a driver intending to park using automatic parking control is traveling near a parking space while searching for an available parking space. Parking assistance system 100 sets a travel route that is considered optimal for safely and reliably detecting an available parking space as a recommended route, and displays the recommended route to encourage vehicle 1 to travel along the recommended route.

[0038] A method for setting a recommended route in the control device 20 will be described in detail below with reference to Figures 3 to 6. Figures 3 to 6 show examples of recommended routes for searching for available parking spaces in a parking lot that includes multiple parking stalls in a traffic zone where vehicles keep to the left.

[0039] The obstacle recognition unit 21 of the control device 20 is configured to recognize obstacles, including parked vehicles, present around the vehicle 1 based on the surrounding conditions of the vehicle 1 detected by the imaging device 11 and information on obstacles close to the vehicle 1 detected by the obstacle detection device 10.

[0040] The lane line detection unit 24 of the control device 20 is configured to detect lane lines that define parking spaces based on the surrounding conditions of the vehicle 1 detected by the imaging device 11. The lane line detection unit 24 can detect white lines (lane lines) based on, for example, image data of the surroundings of the vehicle 1 acquired by the imaging device 11, and recognize an area demarcated by the white lines and having a size equivalent to a parking space as a parking space. The size of a standard parking space for double parking for passenger cars is a parking width of approximately 2.5 m to 3 m and a parking depth (depth) of approximately 5 m to 5.8 m. The control device 20 can also obtain the width of the roads (aisles) within the parking lot based on, for example, image data input from the imaging device 11 or information on road shapes acquired from a map information database (not shown).

[0041] The recommended route setting unit 27 sets a recommended route for the vehicle 1 to travel in order to search for an available parking space. The recommended route is set appropriately depending on the surrounding conditions of the vehicle 1 and obstacles present around the vehicle 1 so that an available parking space can be detected by the vehicle 1 traveling along the recommended route. Specifically, the recommended route setting unit 27 changes the method for setting the recommended route based on whether the lane marking detection unit 24 can detect lane marks and / or the width of the road on which the vehicle 1 is traveling.

[0042] Methods for setting a recommended route include, for example, setting the road width as a reference, setting the demarcation lines that define parking spaces as a reference, and setting the parked vehicles as a reference. If demarcation lines are detected, the recommended route setting unit 27 sets the recommended route based on the demarcation lines, and if no demarcation lines are detected, sets the recommended route based on parked vehicles around the vehicle 1. If no demarcation lines are detected and no parked vehicles are detected, the recommended route is set not to be displayed. Furthermore, if the road width is small, the recommended route setting unit 27 sets the recommended route based on the center of the road. Each setting method is described below.

[0043] A: Setting based on road width A method for setting a recommended route based on road width will be described with reference to FIG. 3. In FIG. 3, multiple parking stalls B are arranged side by side along both sides of road A on which vehicle 1 is traveling. The parking stalls B shown in FIG. 3 are parking spaces for parallel parking, and each parking stall B is defined by a demarcation line C1. The demarcation line C1 corresponds to both sides of parking stall B and defines the width and depth of parking stall B. The end of parking stall B facing road A is defined by demarcation line C2, which corresponds to the end of demarcation line C1 that defines parking stall B. Parked vehicles 2 are parked in some parking stalls B. Note that demarcation line C1 shown in FIG. 3 is an example, and for example, depending on the parking stall B, demarcation line C2 at the end of parking stall B may not be drawn.

[0044] As described above, the obstacle detection device 10 and the imaging device 11 have defined effective detection ranges, and in particular, the obstacle detection device 10, such as a sonar sensor, has a small effective detection range because it is designed to detect nearby obstacles. However, if the road width in the parking lot is narrow, the obstacle detection device 10 installed in the vehicle 1 can include parked vehicles 2 on both the right (R direction) and left (L direction) of the vehicle 1 within its effective detection range.

[0045] Therefore, the recommended route setting unit 27 acquires the road width W of the road A on which the vehicle 1 is traveling, for example, from image data input from the imaging device 11 or a map information database (not shown), and if the road width W is smaller than a predetermined width, sets the recommended route R so that the center A1 of the road A is the center R1 of the recommended route R. The predetermined width of the road width W can be set to an appropriate value (for example, approximately 5.5 m) taking into consideration the effective detection range of the obstacle detection device 10, the width of the vehicle 1, and the like. Hereinafter, the recommended route R set by setting method A may also be referred to as the recommended route R_A.

[0046] 3, the recommended route R is shown as a strip-shaped route that extends linearly forward, which is the current traveling direction of the vehicle 1. The width L of the recommended route R is set to be slightly wider than the width of the vehicle 1. The width L of the recommended route R indicates that if the left and right ends of the vehicle 1 are within the width L of the recommended route R, that is, if the left end of the vehicle 1 does not extend beyond the left end of the recommended route R or if the right end of the vehicle 1 does not extend beyond the right end of the recommended route R, then the parked vehicles 2 on both the left and right sides of the vehicle 1 can be included within the effective detection range of the obstacle detection device 10.

[0047] B: How to set the lot line as the reference point A method for setting a recommended route based on demarcation lines will be described with reference to Fig. 4. Fig. 4 shows an example in which multiple parking sections B are arranged side by side along the left side of road A on which vehicle 1 is traveling. Parking sections B shown in Fig. 4 are parking spaces for parallel parking. When road width W of road A is equal to or greater than a predetermined width and demarcation line C1 has been detected by demarcation line detection unit 24, recommended route setting unit 27 sets recommended route R based on demarcation line C1.

[0048] If the road width W is equal to or greater than a predetermined width and the vehicle 1 is traveling in the center of the road A, the parked vehicles 2 on either side of the vehicle 1 cannot be included within the effective detection range of the obstacle detection device 10, and even if a parking space exists, the system may not recognize the space as a parking space. Also, there is a possibility that a space that is too narrow or a space where a parked vehicle 2 is already parked may be mistakenly recognized as a parking space.

[0049] Generally, drivers more frequently select a parking space located on the opposite side of the vehicle width direction from the driver's seat than on the side where the driver's seat is located as a target parking position. Therefore, the recommended route setting unit 27 sets the recommended route R so that, of the parking space B located on the right side (R direction) and left side (L direction) of the vehicle 1, the parking space B located on the opposite side from the driver's seat can be reliably detected. In a traffic zone where vehicles keep to the left, the recommended route R is set based on the left-side demarcation line C1 so that the parking space B on the left side (other side) opposite the right side (one side) where the driver's seat is located in the vehicle width direction is included within the effective detection range of the obstacle detection device 10.

[0050] In the example shown in FIG. 4 , the recommended route setting unit 27 sets a strip-shaped recommended route R having a width L so as to be a first distance D1 away from the leading end C2 of the left parking section B's demarcation line C1. Specifically, the recommended route R is set so that the left end of the recommended route R is located the first distance D1 away from the leading end C2 of the left parking section C1. The first distance D1 is set to an appropriate distance so that the parking section B and the parked vehicle 2 can be stably detected, an available parking space can be reliably detected, and contact with the parked vehicle 2 can be avoided even if the parked vehicle 2 is parked outside the parking section B. For example, the first distance D1 can be set to approximately 1.0 m. The recommended route setting unit 27 also sets the center R1 of the recommended route R so that it is located to the left (the other side) of the center A1 of the road A. Hereinafter, the recommended route R set by setting method B may also be referred to as recommended route R_B.

[0051] In a traffic section for right-hand traffic, the recommended route R is set based on the right-side demarcation line C1 so that the parking space B on the right side (other side) opposite the left side (one side) where the driver's seat is located in the vehicle width direction is included within the effective detection range of the obstacle detection device 10. In addition, the center R1 of the recommended route R is set to be located to the right of the center A1 of the road A.

[0052] Although not shown in the figure, the recommended route R can also be set for parallel parking spaces using the dividing line as a reference, specifically, the tip of the dividing line facing road A as a reference.

[0053] C: How to set a parked vehicle as the reference A method for setting a recommended route based on a parked vehicle will be described with reference to Fig. 5. Fig. 5 shows an example in which a plurality of parked vehicles 2 are parked in parallel along the left side of a road A on which a vehicle 1 is traveling. When the road width W of road A is equal to or greater than a predetermined width and the demarcation line detection unit 24 cannot detect the demarcation line, the recommended route setting unit 27 sets a recommended route R based on the parked vehicle 2 recognized by the obstacle recognition unit 21.

[0054] Similar to the method of setting using the dividing line as a reference B described above, the recommended route setting unit 27 sets the recommended route R using the parked vehicle 2 on the left as a reference so that, in a traffic section where vehicles are driven on the left side, the parked vehicle 2 parked on the right side (one side, R direction) and left side (the other side, L direction) of the vehicle 1 can be stably detected.

[0055] In the example shown in FIG. 5 , the recommended route setting unit 27 sets a strip-shaped recommended route R having a width L so as to be a second distance D2 away from the leading edge 2a of the left-side parked vehicle 2. Specifically, the recommended route R is set so that the left end of the recommended route R is located the second distance D2 away from the leading edge 2a of the left-side parked vehicle 2. Note that when the parked vehicle 2 is parked in a parallel reverse parking mode, the front end of the parked vehicle 2 is set as the leading edge 2a, and when the parked vehicle 2 is parked in a parallel forward parking mode, the rear end of the parked vehicle 2 is set as the leading edge 2a, and the second distance D2 is set. Furthermore, although not shown in the figure, when the parked vehicle 2 is parallel parked, the recommended route R is set so as to be the second distance D2 away from the side edge of the parked vehicle 2 facing the road A. In other words, the recommended route R is set using the part of the parked vehicle 2 facing the road A (front edge, rear edge, or side edge) as a reference.

[0056] The second distance D2 is set to an appropriate distance so that parked vehicles 2 can be stably detected and available parking spaces can be reliably detected, and contact with the parked vehicles 2 can be avoided even when a parked vehicle 2 among multiple parked vehicles 2 protrudes into the parking space. The second distance D2 may be set to, for example, the same value as the first distance D1 described above, or a different value. When the second distance D2 is set to a value different from the first distance D1, it is preferable to set the second distance D2 to a value greater than the first distance D1, taking into consideration the possibility that a vehicle protrudes from other parked vehicles 2 and is parked outside the parking space when no demarcation lines are drawn. Alternatively, the second distance D2 may be set to a value smaller than the first distance D1, taking into consideration the possibility that a vehicle may be parked recessed from other parked vehicles 2. The recommended route setting unit 27 sets the center R1 of the recommended route R to be located to the left (the other side) of the center A1 of the road A. Hereinafter, the recommended route R set by setting method C may also be referred to as recommended route R_C.

[0057] In a traffic section for keeping to the right, the recommended route R is set based on the parked vehicle 2 on the right side so that the parked vehicle 2 on the right side (the other side) opposite the left side (one side) where the driver's seat is located in the vehicle width direction is included within the effective detection range of the obstacle detection device 10. In addition, the center R1 of the recommended route R is set to be located to the right of the center A1 of the road A.

[0058] D: Setting based on one side of the lot line or parked vehicle If the road width W of road A is equal to or greater than a predetermined width and the left-hand traffic section allows vehicles to drive on the left, and the left-hand side (the other side in the vehicle width direction, in the L direction) demarcation line C1 and the left-hand side parked vehicle 2 cannot be detected, a recommended route R is set based on the right-hand side (one side in the vehicle width direction, in the R direction) demarcation line C1 or the parked vehicle 2.

[0059] In this case, the recommended route R can be set so that its center R1 is located to the right of the center A1 of the road A. If the right-hand dividing line C1 can be detected, the recommended route R is set so that it is a first distance D1 away from the dividing line C1. If the right-hand dividing line C1 cannot be detected but a parked vehicle 2 on the right side can be detected, the recommended route R is set so that it is a second distance D2 away from the front end 2a of the parked vehicle 2. In traffic zones where people keep to the right, the settings are opposite to those for left-hand traffic.

[0060] In this way, the recommended route setting unit 27 basically sets the recommended route R based on the demarcation line C1, the parked vehicle 2, or the road width W of the road A. In this embodiment, the recommended route R can also be adjusted taking into consideration the surrounding conditions of the vehicle 1 or the driver's intention. Adjustment of the recommended route R will be described below.

[0061] E: Adjustment of recommended route taking into account the illumination around the vehicle In dark conditions around the vehicle 1, such as at night, it is difficult to see the surroundings. In such cases, if a vehicle is parked further out into the road than other parked vehicles, the driver may misjudge the distance and end up colliding with the parked vehicle. Therefore, the recommended route setting unit 27 is configured to adjust the first distance D1 and the second distance D2 described above according to the illuminance around the vehicle 1 detected by the illuminance sensor 12.

[0062] Specifically, when the illuminance is below a predetermined value and the surroundings of the vehicle 1 are dark, the first distance D1 and the second distance D2 can be increased to the first adjusted distance E1 and the second adjusted distance E2. The recommended route setting unit 27 can set the first adjusted distance E1 and the second adjusted distance E2 to values ​​obtained by increasing the first distance D1 and the second distance D2 by, for example, about 20% to 60%. The first adjusted distance E1 and the second adjusted distance E2 are each set to a distance that allows an obstacle such as a parked vehicle 2 to be included within the effective detection range of the sonar sensor. The predetermined illuminance value is set to an appropriate value (e.g., about 150 lx) for determining whether the surroundings of the vehicle 1 are dark enough to make it difficult to visually recognize the surrounding conditions. Hereinafter, the recommended route R adjusted by the setting method E may also be referred to as the recommended route R_E.

[0063] F: Adjustment of recommended route based on driving intention As described above, when the road width W of road A is equal to or greater than a predetermined width, the recommended route R is set based on the partition line C1 or parked vehicle 2 on the other side, taking into consideration that the parking space B located on the opposite side (other side) of the driver's seat will be selected frequently. However, depending on the surrounding conditions of vehicle 1, such as the shape of the parking lot and the availability of parking space B, the driver may wish to park in parking space B on the driver's seat side (one side). Therefore, when the driver performs a driving operation to approach parking space B on the driver's seat side, the recommended route R is adjusted to use the partition line C1 or parked vehicle 2 on the driver's seat side (one side) as the basis.

[0064] The driving operation detection unit 26 of the control device 20 is configured to detect a driving operation by the driver toward the driver's seat (one side) or the opposite side from the driver's seat (the other side). The driving operation detection unit 26 can determine whether or not a driving operation by the driver has been performed based on, for example, the steering angle detected by the steering angle sensor 13 or a signal from the turn signal 14 operated by the driver.

[0065] FIG. 6 shows an example in which the recommended route R is changed from a recommended route Ra set to the left of the center A1 of road A to a recommended route Rb set to the right in a traffic zone where vehicles keep to the left. As shown in FIG. 6, when the recommended route R is set to a recommended route (first recommended route) Ra in which the center R1 of the route is located to the left (the other side) of the center A1 of road A, and a driving operation by the driver to the right (one side) is detected, the recommended route setting unit 27 changes the recommended route Ra to a recommended route (second recommended route) Rb in which the center R1 of the route is located to the right (one side) of the center A1 of road A. As shown in FIG. 6, if a right-side demarcation line C1 is detected, the recommended route Rb is set to be a first distance D1 away from the right-side demarcation line C1. Note that if the right-side demarcation line C1 cannot be detected but a parked vehicle 2 on the right side can be detected, the recommended route Rb is set to be a second distance D2 away from the parked vehicle 2 on the right side. Here, although not shown in the figures, a connecting route may be set that smoothly connects the first recommended route Ra and the second recommended route Rb so that the vehicle can move from the first recommended route Ra to the second recommended route Rb with a natural steering operation.

[0066] When the recommended route Rb is set and the driving operation detection unit 26 detects that the driver has driven to the left, the recommended route setting unit 27 can switch the recommended route R from the recommended route Rb based on the right-side dividing line C1 or the parked vehicle 2 to the recommended route Ra based on the left-side dividing line C1 or the parked vehicle 2.

[0067] 7 shows an example of the display of the recommended route R set by the recommended route setting unit 27. As shown in Fig. 7, a 360-degree bird's-eye view image 31a of the area around the vehicle 1 is displayed on the display screen 31 of the display device 30. The bird's-eye view image 31a includes a plurality of parked vehicles 2 lined up in parallel on the left side of the vehicle 1 and demarcation lines C1 arranged on the left and right sides of the vehicle 1.

[0068] The display control unit 28 of the control device 20 displays the recommended route R set by the recommended route setting unit 27 superimposed on the overhead image 31a in the traveling direction of the vehicle 1 indicated by the arrow T, i.e., forward. Also, in the overhead image 31a, a parking frame P indicating that the parking space is available is superimposed on the available parking space detected by the available parking space detection unit 25. The parking frame P can be, for example, a frame-shaped image corresponding to the parking section B.

[0069] The recommended route R is displayed as a strip-shaped image having a width L, but it is preferable that the displayed image does not interfere with the driver's safety confirmation. For example, the recommended route R can be displayed as a transparent image that allows the overhead image 31a to be seen through, or as an image that shows only the outline of the recommended route R, so as not to reduce the visibility of the overhead image 31a.

[0070] The flow of the process for setting a recommended route for searching for an available parking space in the automatic parking control according to this embodiment will be described below with reference to the flowchart in Fig. 8. The process shown in Fig. 8 is an example of the process for setting a recommended route, and is periodically executed by the control device 20. The process shown in Fig. 8 starts when the driver operates the operation input device 15 and selects ON for the automatic parking control.

[0071] In step S101, the demarcation line detection unit 24 detects the demarcation line C1 based on information about obstacles present around the vehicle 1 detected by the obstacle detection device 10 and image data of the area around the vehicle 1 acquired by the imaging device 11. If the demarcation line C1 defining the parking space B can be detected around the vehicle 1, the process proceeds to step S102; if the demarcation line C1 cannot be detected, the process proceeds to step S111.

[0072] In step S102, the control device 20 acquires the width W of the road A in the parking lot on which the vehicle 1 is traveling, based on image data input from the imaging device 11 or information on the road shape acquired from a map information database (not shown). If the width W of the road A is smaller than the predetermined width, the process proceeds to step S103. If the width W of the road A is equal to or greater than the predetermined width, the process proceeds to step S104.

[0073] In step S103, the recommended route setting unit 27 sets the recommended route R_A according to the setting method A described above so that the center A1 of the road A becomes the center R1 of the recommended route R. The display control unit 28 displays the recommended route R_A set by the recommended route setting unit 27 on the display device 30 by superimposing it on the overhead image 31a.

[0074] In step S104, the control device 20 determines the brightness of the surroundings of the vehicle 1 detected by the illuminance sensor 12. If it is determined that the illuminance of the surroundings of the vehicle 1 is equal to or greater than a predetermined value and is therefore bright, the process proceeds to step S105, and if it is determined that the illuminance is less than the predetermined value and is therefore dark, the process proceeds to step S106.

[0075] In step S105, recommended route setting unit 27 sets recommended route R_B using the demarcation line C1 of parking space B on the opposite side (other side) from the driver's seat as a reference, according to setting method B described above. At this time, recommended route R_B is set so that the other side end of recommended route R_B is a first distance D1 away from tip end C2 of demarcation line C1, and so that center R1 of recommended route R_B is located on the other side of center A1 of road A. Display control unit 28 displays recommended route R_B set by recommended route setting unit 27 on display device 30, superimposed on overhead image 31a.

[0076] In step S106, the recommended route setting unit 27 sets a recommended route R_B_E adjusted according to the illuminance, using the demarcation line C1 of the parking space B on the opposite side (other side) from the driver's seat as a reference, in accordance with the setting methods B and E. At this time, the recommended route R_B_E is set so that the other-side end of the recommended route R_B_E is a first adjustment distance E1 away from the tip C2 of the demarcation line C1, and so that the center R1 of the recommended route R_B_E is located on the other side of the center A1 of the road A. The display control unit 28 displays the recommended route R_B_E set by the recommended route setting unit 27 on the display device 30, superimposed on the overhead image 31a.

[0077] After the recommended route R is set and displayed in step S105 or step S106, the driving operation detection unit 26 determines in step S107 whether a driving operation by the driver toward the driver's seat (one side) has been detected. If a driving operation toward the driver's seat is detected, the process proceeds to step S108, where the recommended routes R_B, R_B_E are changed to recommended routes R_B, R_B_E based on the driver's seat side lane marking C1 according to the setting method F described above. The changed recommended routes R_B, R_B_E are set so that one end of the recommended routes R_B, R_B_E is spaced a first distance D1 or a first adjustment distance E1 from the tip C2 of the lane marking C1 and the center R1 is located to one side of the center A1 of the road A. The display control unit 28 displays the changed recommended routes R_B, R_B_E on the display device 30 by superimposing them on the overhead image 31a. If no driving operation toward the driver's seat is detected, the process proceeds to step S109, and the recommended routes R_B, R_B_E set in step S105 or step S106 are maintained.

[0078] In step S111, the obstacle recognition unit 21 detects parked vehicles 2 present around the vehicle 1 based on information about obstacles present around the vehicle 1 detected by the obstacle detection device 10 and image data of the area surrounding the vehicle 1 acquired by the imaging device 11. If parked vehicles 2 present around the vehicle 1 can be detected, the process proceeds to step S112, and if parked vehicles 2 cannot be detected, the process proceeds to step S121.

[0079] In step S112, the width W of road A in the parking lot is determined. If the width W of road A is smaller than a predetermined width, the process proceeds to step S113. If the width W of road A is equal to or larger than the predetermined width, the process proceeds to step S114.

[0080] In step S113, the recommended route setting unit 27 sets the recommended route R_A according to the setting method A described above so that the center A1 of the road A becomes the center R1 of the recommended route R. The display control unit 28 displays the recommended route R_A set by the recommended route setting unit 27 on the display device 30 by superimposing it on the overhead image 31a.

[0081] In step S114, the control device 20 determines the brightness of the surroundings of the vehicle 1 detected by the illuminance sensor 12. If it is determined that the illuminance of the surroundings of the vehicle 1 is equal to or greater than a predetermined value and is therefore bright, the process proceeds to step S115, and if it is determined that the illuminance is less than the predetermined value and is therefore dark, the process proceeds to step S116.

[0082] In step S115, the recommended route setting unit 27 sets the recommended route R_C using the parked vehicle 2 on the opposite side (other side) from the driver's seat as a reference, according to the setting method C described above. At this time, the recommended route R_C is set so that the other side end of the recommended route R_C is a second distance D2 away from the front end 2a of the parked vehicle 2, and the center R1 of the recommended route R_C is located on the other side of the center A1 of the road A. The display control unit 28 displays the recommended route R_C set by the recommended route setting unit 27 on the display device 30, superimposed on the overhead image 31a.

[0083] In step S116, the recommended route setting unit 27 sets a recommended route R_C_E adjusted according to the illuminance, using the parked vehicle 2 on the opposite side (other side) from the driver's seat as a reference, in accordance with the setting methods C and E. At this time, the recommended route R_C_E is set so that the other-side end of the recommended route R_C_E is a second adjustment distance E2 away from the front end 2a of the parked vehicle 2, and so that the center R1 of the recommended route R_C_E is located on the other side of the center A1 of the road A. The display control unit 28 displays the recommended route R_C_E set by the recommended route setting unit 27 on the display device 30, superimposed on the overhead image 31a.

[0084] After the recommended route R is set and displayed in step S115 or step S116, the driving operation detection unit 26 determines in step S117 whether a driving operation by the driver toward the driver's seat (one side) is detected. If a driving operation toward the driver's seat is detected, the process proceeds to step S118, where the recommended route R is changed to one based on the parked vehicle 2 on the driver's seat side according to the setting method F described above. The changed recommended routes R_C, R_C_E are set so that one side end of the recommended routes R_C, R_C_E is separated from the front end 2a of the parked vehicle 2 by the second distance D2 or the second adjustment distance E2, and the center R1 is positioned to one side of the center A1 of the road A. The display control unit 28 displays the changed recommended routes R_C, R_C_E on the display device 30 by superimposing them on the overhead image 31a. If a driving operation toward the driver's seat is not detected, the process proceeds to step S119, where the recommended route R set in step S115 or step S116 is maintained.

[0085] In step S121, it is determined that the demarcation line C1 is not detected and the parked vehicle 2 is not detected, and the recommended route setting unit 27 sets the recommended route R not to be displayed.

[0086] After the recommended route R is displayed on the display device 30 in steps S103, S108, S109, S113, S118, and S119, or after it is determined in step S121 that the recommended route R will not be displayed, when the driver selects a parking space displayed on the display device 30, automatic parking control begins and the processing shown in Figure 8 ends.

[0087] The parking assistance system 100 for the vehicle 1 according to the present embodiment described above can achieve the following advantageous effects.

[0088] (1) Parking assistance system 100 includes an imaging device 11 configured to detect the surrounding conditions of vehicle 1 and an obstacle detection device 10 configured to detect obstacles in the vicinity of vehicle 1, and is configured to perform automatic parking control to park vehicle 1 at a target parking position based on information about the surrounding conditions of vehicle 1 detected by imaging device 11 and the obstacles detected by obstacle detection device 10. Control device 20 of parking assistance system 1 includes: a partition line detection unit 24 that detects partition lines C1 that define parking spaces B based on the surrounding conditions of vehicle 1; an available parking space detection unit 25 that detects available parking spaces that can be selected as target parking positions based on the surrounding conditions of vehicle 1 and information about obstacles; a recommended route setting unit 27 that sets a recommended route R along which vehicle 1 travels to search for available parking spaces; and a display control unit 28 that displays the recommended route R set by recommended route setting unit 27 and the available parking spaces on display device 30. The recommended route setting unit 27 changes the setting method of the recommended route R based on whether the lane marking C1 has been detected by the lane marking detection unit 24 and / or the road width W of the road A on which the vehicle 1 is traveling.

[0089] Among parking lots with multiple parking spaces, some have unclearly drawn demarcation lines and some have no demarcation lines at all. Furthermore, the layout and shape of the parking spaces, as well as the width and shape of the roads within the parking lot, vary depending on the parking lot. Therefore, the parking assistance system 100 according to this embodiment is configured to set a recommended route R along which the driver travels to select a target parking position before the automatic parking control begins, using an appropriate method based on whether or not the demarcation lines C1 are detected and / or the road width W of the road A on which the vehicle 1 is traveling. This allows the system to reliably detect selectable parking spaces by prompting the vehicle 1 to travel along the recommended route R. As a result, it is possible to prevent the system from recognizing an available parking space even though it exists, or from erroneously recognizing a space that is inaccessible due to an obstacle as an available parking space, thereby improving the convenience of the automatic parking control. Furthermore, the driver only needs to drive the vehicle to follow the recommended route R displayed on the display device 30, thereby reducing the burden on the driver in finding an available parking space before the automatic parking control begins.

[0090] (2) When the demarcation line C1 is detected by the demarcation line detection unit 24, the recommended route setting unit 27 sets the recommended route R based on the demarcation line C1. When the demarcation line detection unit 24 does not detect the demarcation line C1, the recommended route setting unit 27 sets the recommended route R based on the parked vehicles 2 around the vehicle 1 detected by the image capture device 11. When the demarcation line C1 is not detected and the parked vehicles 2 are not detected, the recommended route setting unit 27 sets the recommended route R not to be displayed. This allows the recommended route R to be set according to the surrounding conditions of the vehicle 1. For example, the recommended route R can be displayed on the display device 30 even in parking lots where the demarcation lines are not clearly drawn or where there are no demarcation lines, thereby reducing the burden on the driver when searching for an available parking space. Furthermore, when neither the demarcation line C1 nor the parked vehicles 2 can be detected, the recommended route R is not displayed on the display device 30, which allows the driver to recognize that the system has not detected either the demarcation line C1 or the parked vehicles 2.

[0091] (3) When the road width W is smaller than a predetermined width, the recommended route setting unit 27 sets the recommended route R so that the center A1 of the road A is the center R1 of the recommended route R. When the road width W is equal to or greater than the predetermined width and a dividing line C1 is detected on the other side opposite the side on which the driver's seat is located in the width direction of the vehicle 1, the recommended route setting unit 27 sets the recommended route R so that the recommended route R is a first distance D1 away from the dividing line C1 on the other side and the center R1 of the recommended route R is located on the other side of the center A1 of road A. When the road width W is equal to or greater than the predetermined width and a dividing line C1 on the other side is not detected, the recommended route R is set so that the recommended route R is a second distance D2 away from the parked vehicle 2 on the other side detected by the imaging device 11 and the center R1 of the recommended route R is located on the other side of the center A1 of road A.

[0092] When the width W of the road A is smaller than a predetermined width, the recommended route R is set so that the center R1 of the recommended route R coincides with the center A1 of the road A, thereby enabling the obstacle detection device 10 and the imaging device 11 to reliably detect parking spaces B and parked vehicles 2 on both the left and right sides of the vehicle 1. This allows available parking spaces on both the left and right sides of the vehicle 1 to be accurately detected, providing the driver with more options for available parking spaces. When the width W of the road A is equal to or greater than the predetermined width, the recommended route R is set based on the division line C1 or parked vehicle 2 on the other side opposite the side where the driver's seat is located, thereby reliably detecting available parking spaces on the side that the driver frequently selects as a target parking location. Furthermore, for example, in a left-hand traffic zone, the left side of the road A, which is the other side of the driver's seat, is the side on which the vehicle 1 normally travels. Therefore, if there is another vehicle traveling on the right side of the road A opposite the vehicle 1, the left side of the road A will not interfere with the travel of the other vehicle. If the demarcation line C1 is detected, the recommended route R can be set to be a first distance D1 away from the demarcation line C1, thereby enabling the obstacle detection device 10 and the imaging device 11 to reliably detect the demarcation line C1. If the demarcation line C1 is not detected, the recommended route R can be set to be a second distance D2 away from the parked vehicle 2, thereby enabling the obstacle detection device 10 and the imaging device 11 to detect an available parking space. By setting the second distance D2 to an appropriate value, it becomes possible to detect an available parking space while avoiding contact with the parked vehicle 2, for example, even if there is a vehicle parked protruding or recessed from other parked vehicles.

[0093] (4) When the road width W is equal to or greater than a predetermined width and the demarcation line C1 on the other side and the parked vehicle 2 on the other side are not detected, the recommended route setting unit 27 sets the recommended route R so that the center R1 of the recommended route R is located to one side of the center A1 of the road A, and the recommended route R is set to be a first distance D1 away from the demarcation line C1 on one side or a second distance D2 away from the parked vehicle 2 on one side. When the demarcation line C1 on the other side of the driver's seat and the parked vehicle 2 are not detected, it is possible that a parking space B is not located on the other side. Therefore, by switching to set the recommended route R based on the demarcation line C1 or the parked vehicle 2 on one side of the driver's seat, it is possible to detect all available parking spaces around the vehicle 1.

[0094] (5) The parking assistance system 1 further includes an illuminance sensor 12 that detects the brightness around the vehicle 1. The recommended path setting unit 27 is configured to adjust the first distance D1 and the second distance D2 according to the illuminance detected by the illuminance sensor 12, and increases the first distance D1 and the second distance D2 when the illuminance is below a predetermined value. When the illuminance is below the predetermined value and the area around the vehicle 1 is dark, the first distance D1 and the second distance D2 are increased to set the first adjustment distance E1 and the second adjustment distance E2, respectively, thereby making it possible to detect an available parking space while preventing contact with an obstacle such as a parked vehicle 2.

[0095] (6) When the road width W is equal to or greater than a predetermined width and the recommended route R is set to a first recommended route Ra in which the center R1 of the route R is located to the other side of the center A1 of the road A, if a driving operation by the driver to one side is detected, the recommended route setting unit 27 changes the first recommended route Ra to a second recommended route Rb in which the center R1 of the route R is located to one side of the center A1 of the road A. The second recommended route Rb is set to be a first distance D1 away from the demarcation line C1 on one side or a second distance D2 away from the parked vehicle 2 on one side. The driving operation by the driver can be detected, for example, by the steering angle detected by the steering angle sensor 13 or a signal from the turn signal 14 operated by the driver. If the driver drives to one side of the driver's seat, it is considered that the driver intends to park in the parking space B located on one side. Therefore, by setting the recommended route R based on the demarcation line C1 on one side or the parked vehicle 2 on one side, an available parking space can be detected in accordance with the driver's intention.

[0096] (7) When the second recommended route Rb is set and a driving operation by the driver to the other side is detected, the recommended route setting unit 27 switches from the second recommended route Rb to the first recommended route Ra. As a result, if the driver performs a driving operation from one side to the other for some reason, such as the presence of another vehicle, the recommended route setting unit 27 can detect an available parking space in accordance with the driver's intention by returning to the first recommended route Ra, which is set based on the demarcation line C1 or the parked vehicle 2 on the other side.

[0097] (8) The display control unit 28 displays the recommended route R on the display device 30 during the period from when the automatic parking control is turned on until the automatic parking control starts. By displaying the recommended route R while the driver is driving the vehicle 1 and operating the vehicle himself before the automatic parking control by the parking assistance system 100 starts, the driver can be guided to drive the vehicle 1 so that an available parking space can be reliably detected. Because an available parking space can be reliably detected, it is possible to avoid a situation where an available parking space cannot be detected and automatic parking control cannot be started, thereby improving the convenience of the automatic parking control.

[0098] (9) The recommended route setting unit 27 sets the recommended route R in the shape of a strip that has a width in the vehicle width direction and extends in the traveling direction of the vehicle 1. This can improve the visibility of the image of the recommended route R on the display device 30 and can also make it easier to guide the driver in driving operations.

[0099] -Variations- (1) In the above-described embodiment, the first distance D1 when setting the recommended route R is the distance in the vehicle width direction from the leading end C2 of the lane marking C1 to the left and right ends of the recommended route R. However, this is not limited to this, and the recommended route setting unit 27 may set the first distance D1 as the distance in the vehicle width direction from the leading end C2 of the lane marking C1 to the center R1 of the recommended route R. The same applies to the second distance D2.

[0100] (2) In the above-described embodiment, the recommended route setting unit 27 sets the recommended route R in the shape of a strip having a width in the vehicle width direction and extending in the traveling direction of the vehicle 1. However, this is not limited to this, and the recommended route R may be set, for example, in the shape of a line along which the vehicle 1 travels.

[0101] (3) In the above-described embodiment, the display control unit 28 is configured to display the recommended route R superimposed on the bird's-eye view image 31a of the surroundings of the vehicle 1 on the display screen 31 of the display device 30. However, this is not limited to this, and the recommended route R may be displayed superimposed on an image of the area ahead or the area behind the vehicle 1. Alternatively, the display device 30 may be configured as a HUD (Head-Up Display) and the recommended route R may be displayed on the HUD.

[0102] (4) In the above-described embodiment, when the width W of the road A is equal to or greater than a predetermined width, the recommended route R is set based on the demarcation line C1 or the parked vehicle 2 on the other side opposite the driver's seat. However, this is not limited to this, and when the width W of the road A is equal to or greater than a predetermined width, the driver may be able to select, for example, which demarcation line C1 or parked vehicle 2 on one side or the other side of the driver's seat to use as the reference for setting the recommended route R.

[0103] Although several embodiments of the present invention have been described above, it should be noted that the present invention is not limited to the above-described embodiments, and various modifications and variations are possible within the scope of the present invention. [Explanation of symbols]

[0104] 1 vehicle 2. Parked vehicles 10 Obstacle detection device 11 Imaging device 12 Illuminance sensor 13 Steering angle sensor 14 Turn signal 15 Operation input device 20 control device, 21 obstacle recognition unit, 22 route calculation unit, 23 parking control unit, 24 lane marking detection unit, 25 available parking space detection unit, 26 driving operation detection unit, 27 recommended route setting unit, 28 display control unit 30 Display device 100 Parking Assist System A road, A1 road center Parking space B C1, C2 lane lines D1 1st distance, D2 2nd distance E1 1st adjustment distance, E2 2nd adjustment distance R Recommended route, R1 Recommended route center, Ra First recommended route, Rb Second recommended route

Claims

1. an ambient condition detection device configured to detect ambient conditions of a vehicle; an obstacle detection device configured to detect obstacles in proximity to the vehicle; Equipped with A parking assistance system configured to perform automatic parking control to park the vehicle at a target parking position based on information about the surrounding conditions of the vehicle detected by the surrounding conditions detection device and the obstacle detected by the obstacle detection device, a parking space detection unit that detects parking space demarcation lines based on the surrounding conditions of the vehicle; an available parking space detection unit that detects an available parking space that can be selected as the target parking position based on information about the surroundings of the vehicle and the obstacle; a recommended route setting unit that sets a recommended route along which the vehicle will travel in order to search for the available parking space; a display control unit that causes a display device to display the recommended route set by the recommended route setting unit and the available parking spaces; Equipped with The recommended route setting unit changes the method of setting the recommended route based on whether the lane marking detection unit can detect the lane marking and / or the width of the road on which the vehicle is traveling.

2. The recommended route setting unit When the lane markings are detected by the lane marking detection unit, the recommended route is set based on the lane markings; When the lane marking detection unit does not detect the lane marking, the recommended route is set based on parked vehicles around the vehicle detected by the surrounding situation detection device. The parking assistance system according to claim 1 , wherein the recommended route is not displayed if the dividing line and the parked vehicle are not detected.

3. The recommended route setting unit If the road width is smaller than a predetermined width, the recommended route is set so that the center of the road is the center of the recommended route; when the road width is equal to or greater than the predetermined width and a lane marking on the other side opposite to the side on which the driver's seat is located in the width direction of the vehicle is detected, the recommended route is set so that the recommended route is a first distance away from the lane marking on the other side and the center of the recommended route is located on the other side of the center of the road; 2. The parking assistance system according to claim 1, wherein, when the road width is equal to or greater than the predetermined width and no dividing line on the other side is detected, the recommended route is set so as to be a second distance away from a parked vehicle on the other side detected by the surrounding condition detection device and so that a center of the recommended route is located on the other side of the center of the road.

4. 4. The parking assistance system according to claim 3, wherein, when the road width is equal to or greater than the predetermined width and the dividing line on the other side and the parked vehicle on the other side are not detected, the recommended route setting unit sets the recommended route so that a center of the recommended route is located on the one side of a center of the road, and the recommended route is set so as to be the first distance away from the dividing line on the one side or the second distance away from the parked vehicle on the one side.

5. An illumination detection device for detecting the brightness of the surroundings of the vehicle is further provided, 5. The parking assistance system according to claim 3, wherein the recommended route setting unit is configured to adjust the first distance and the second distance in accordance with the illuminance detected by the illuminance detection device, and to increase the first distance and the second distance when the illuminance is less than a predetermined value.

6. 4. The parking assistance system according to claim 3, wherein, when a driving operation by the driver to one side is detected in a state in which the road width is equal to or greater than the predetermined width and the recommended route is set to a first recommended route whose center is located on the other side of the center of the road, the recommended route setting unit changes the first recommended route to a second recommended route whose center is located on the one side of the center of the road, and the second recommended route is set to be the first distance away from the dividing line on the one side or the second distance away from the parked vehicle on the one side.

7. 7. The parking assistance system according to claim 6, wherein when a driving operation to the other side by the driver is detected while the second recommended route is set, the recommended route setting unit switches from the second recommended route to the first recommended route.

8. The parking assistance system according to claim 1 , wherein the display control unit displays the recommended route on the display device during a period from when the automatic parking control is turned on until when the automatic parking control is started.

9. The parking assistance system according to claim 1 , wherein the recommended route setting unit sets the recommended route in the shape of a strip having a width in a vehicle width direction and extending in a traveling direction of the vehicle.

Images