Parking support device, parking support method, and parking support program

Abstract

To provide a parking support device, a parking support method, and a parking support program that more appropriately support parking of a vehicle.SOLUTION: A parking support device comprises an input device, an output device, and a controller. The input device is a device for enabling a user of a vehicle 1 to specify a space securing direction. The space securing direction is a right-left direction relative to a travel direction of the vehicle 1 that should secure a get on / off space. The output device is a device for outputting information. The controller executes parking support control for supporting parking by automatically moving the vehicle 1. The controller recognizes a parking frame through sensors mounted to the vehicle 1, and preferentially proposes a parking frame that can secure a get on / off space in the specified space securing direction, via the output device.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Conventionally, there are parking assistance devices that automatically park the vehicle or assist the driver in parking. For example, the parking assistance device disclosed in Patent Document 1 detects the seating positions of passengers, including the driver, and determines a target parking position in the vehicle width direction based on the detected seating positions. In other words, the vehicle is parked in a parking space so that boarding and disembarking space is secured on the right or left side of the vehicle, taking into consideration passengers getting in and out. This makes it easier for passengers to get in and out before and after parking. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-124802 Summary of the Invention [Problem to be solved by the invention]

[0004] The parking assistance device of Patent Document 1 has the following concerns: There is a limit to the amount of space that can be secured on the left and right sides of the vehicle within a parking space. For example, if the parking space is narrow, it may be difficult to secure sufficient space on the right or left side of the vehicle for getting on and off. [Means for solving the problem]

[0005] A parking assistance device according to one aspect of the present disclosure includes a control device configured to execute parking assistance control for automatically moving a vehicle to assist parking. The parking assistance device includes an input device for specifying a space securing direction, which is a direction to the left or right of the vehicle's direction of travel in which a user of the vehicle should secure a boarding / exiting space, and an output device configured to output information. The control device is configured to recognize parking spaces through a sensor mounted on the vehicle and to preferentially suggest parking spaces that can secure the boarding / exiting space in the specified space securing direction via the output device.

[0006] According to this configuration, the output device proposes to the vehicle user parking spaces that can secure boarding and disembarking spaces in the space securing direction specified by the user via the input device. This allows the vehicle user to easily park the vehicle in a parking space that can secure boarding and disembarking spaces in the desired space securing direction. This provides more appropriate assistance in parking the vehicle.

[0007] A parking assistance method according to one aspect of the present disclosure is a method for assisting parking by automatically moving a vehicle, the parking assistance method including: acquiring a space securing direction designated by a user of the vehicle via an input device mounted on the vehicle, the space securing direction being a left or right direction with respect to a traveling direction of the vehicle in which a boarding / exiting space should be secured; recognizing a parking space for the vehicle via a sensor mounted on the vehicle; and preferentially suggesting, via an output device mounted on the vehicle, the parking space that can secure the boarding / exiting space in the designated space securing direction.

[0008] According to this method, a parking space that can secure boarding and disembarking space in the space securing direction specified by the user via the input device is suggested to the vehicle user via the output device. Therefore, the vehicle user can easily park the vehicle in a parking space that can secure boarding and disembarking space in the desired space securing direction. Therefore, more appropriate vehicle parking assistance can be provided.

[0009] A parking assistance program according to one aspect of the present disclosure is a program that causes a computer to execute a process for automatically moving a vehicle to assist in parking, the process including: acquiring a space securing direction designated by a user of the vehicle via an input device mounted on the vehicle, the space securing direction being a left-right direction relative to the vehicle's traveling direction in which a boarding / exiting space should be secured; recognizing parking spaces for the vehicle via a sensor mounted on the vehicle; and preferentially suggesting parking spaces that can secure the boarding / exiting space in the designated space securing direction via an output device mounted on the vehicle.

[0010] By executing this program on a computer, the output device will suggest to the vehicle user parking spaces that can secure boarding and disembarking space in the space securing direction specified by the user via the input device. This allows the vehicle user to easily park the vehicle in a parking space that can secure boarding and disembarking space in the desired space securing direction. This provides more appropriate assistance in parking the vehicle. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a configuration of an embodiment of a driving assistance device; [Figure 2] 4 is a flowchart showing a processing procedure for parking assist control according to an embodiment. [Figure 3] 1 is a conceptual diagram showing a first proposed pattern of a parking frame according to an embodiment. FIG. [Figure 4] FIG. 10 is a conceptual diagram showing a second proposed pattern of parking spaces according to an embodiment. [Figure 5] FIG. 10 is a conceptual diagram showing a third proposed pattern of parking spaces according to an embodiment. [Figure 6] FIG. 2 is a front view of a display screen of a display according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of a parking assistance device will be described below. 1, the parking assistance device 10 is mounted on a vehicle 1. The parking assistance device 10 has a periphery monitoring sensor 11, a status monitoring sensor 12, an HMI (Human Machine Interface) 13, and a control device 14.

[0013] The perimeter monitoring sensor 11 monitors the perimeter of the vehicle 1. The perimeter includes, for example, the front, rear, and sides of the vehicle 1. The perimeter monitoring sensor 11 includes, for example, a LiDAR (Light Detection and Ranging), a laser radar, a millimeter-wave radar, a sonar sensor, or a camera. The perimeter monitoring sensor 11 can also detect the distance between the vehicle 1 and other vehicles or obstacles located immediately in front of, immediately behind, and to the sides of the vehicle 1. The perimeter monitoring sensor 11 can also detect vacant parking spaces around the vehicle 1 and parked vehicles. A parked vehicle is a vehicle parked in a parking space.

[0014] The state monitoring sensor 12 monitors the state of the vehicle 1. The state of the vehicle 1 includes, for example, the running state of the vehicle 1 and the steering state of the steering wheel. The state monitoring sensor 12 includes, for example, a vehicle speed sensor, a steering angle sensor, and a shift position sensor. The vehicle speed sensor detects the vehicle speed of the vehicle 1. The steering angle sensor detects the steering angle, which is the rotation angle of the steering wheel. The shift position sensor detects the shift range of the transmission.

[0015] The HMI 13 mediates the exchange of information between the user of the vehicle 1 and the control device 14. The HMI 13 includes an input device for inputting information and an output device for outputting information. The input device includes, for example, buttons, knobs, and touch panels for performing various input operations. The output device includes, for example, a display for displaying various types of information and a speaker for generating various types of sounds.

[0016] The control device 14 has a processing circuit that includes one of the following three components A1, A2, A3. A1. One or more processors that operate according to a computer program, which is software. The processor includes a CPU (Central Processing Unit) and memory.

[0017] A2. One or more dedicated hardware circuits, such as an application specific integrated circuit (ASIC), that perform at least some of the processing. The ASIC includes a CPU and memory.

[0018] A3. A hardware circuit that combines configurations A1 and A2. The memory is a computer-readable medium that stores a program that describes processes or instructions for the computer. In this embodiment, the computer is a CPU. The memory includes RAM (Random Access Memory) and ROM (Read Only Memory). The CPU executes various controls by executing the programs stored in the memory at a predetermined calculation cycle. The programs include, for example, a parking assistance program.

[0019] The control device 14 controls the entire vehicle 1. The vehicle 1 has, for example, a driving source 31 for traveling, a braking device 32, and a steering device 33. The driving source 31 for traveling is, for example, at least one of an engine and a traveling motor. The braking device 32 generates a braking force for slowing down or stopping the traveling vehicle 1. The steering device 33 steers the steerable wheels of the vehicle 1 by moving a steering shaft in the axial direction. The steerable wheels are, for example, the left and right wheels. The control device 14 controls the output of the driving source 31 for traveling. The control device 14 controls the braking force of the vehicle 1 via the braking device 32. The control device 14 controls the steering angle of the vehicle 1 via the steering device 33.

[0020] The control device 14 has a parking assistance function. The parking assistance function is a function that assists the user of the vehicle 1 with steering operations when parking, such as when parking in a garage. However, the parking assistance function includes an automatic parking function and a parking space suggestion function. The automatic parking function is a function in which the control device 14 assists parking by automatically controlling all operations required for parking the vehicle 1. When executing the parking assistance function, the control device 14 controls the operations required for parking based on the driving state of the vehicle 1 and the surrounding conditions of the vehicle 1. The parking space suggestion function is a function that preferentially suggests to the user of the vehicle 1 parking spaces that meet the parking conditions set by the user of the vehicle 1. The users include the driver of the vehicle 1 and passengers other than the driver. A parking space is a parking space required to park one vehicle 1, and is indicated, for example, by a white line.

[0021] The control device 14 switches the parking assistance function between on and off, for example, by operating a switch provided at the driver's seat. The switch may be a virtual switch displayed on the display of the HMI 13, or a physical switch provided at the driver's seat. By operating the HMI 13, the user of the vehicle 1 can input various information and give various instructions to the control device 14.

[0022] <How to set parking conditions> A user of the vehicle 1 can set desired parking conditions through the HMI 13. The parking conditions are stored in a non-volatile memory. The parking conditions include, for example, a first parking condition B1 and a second parking condition B2.

[0023] B1. Space securing direction The space securing direction is the direction in which the boarding and disembarking space is secured, and can be set to the right or left side of the traveling direction of the vehicle 1. B2. Parking direction of vehicle 1. The parking direction can be set to forward parking or reverse parking. Forward parking means parking the vehicle while moving forward into a parking space. Reverse parking means parking the vehicle while moving backward into a parking space.

[0024] The user of the vehicle 1 sets the space securing direction and the parking direction of the vehicle 1 based on, for example, the installation position of a child seat or a lift-up seat. For example, if a child seat or a lift-up seat is installed in the left rear seat of the vehicle 1, it is necessary to secure a boarding and disembarking space on the left side of the vehicle 1 in the direction of travel. Also, if a child seat or a lift-up seat is installed in the right rear seat of the vehicle 1, it is necessary to secure a boarding and disembarking space on the right side of the vehicle 1 in the direction of travel.

[0025] <Parking assist control processing procedure> Next, a description will be given of the procedure of parking assist control executed by the control device 14. The control device 14 can recognize a parking lot through the perimeter monitoring sensor 11.

[0026] 2, the control device 14 recognizes vacant parking spaces in the parking lot through the periphery monitoring sensor 11 (step S101). The control device 14 also recognizes parked vehicles in the parking lot through the periphery monitoring sensor 11 (step S102). A parked vehicle is a vehicle parked in a parking space in the parking lot.

[0027] Next, the control device 14 evaluates the vacant parking space (step S103). For example, when a plurality of vacant parking spaces are recognized, the control device 14 scores each vacant parking space based on whether or not a vehicle is parked in a parking space adjacent to each vacant parking space.

[0028] The scores are highest for the first parking space C1, followed by the second parking space C2 and the third parking space C3. The higher the score, the more convenient the parking space is for the user of the vehicle 1. C1. A parking space that satisfies both the first parking condition B1, which is the space securing direction, and the second parking condition B2, which is the parking direction. In other words, a parking space that can secure boarding and disembarking space in the space securing direction set by the user of vehicle 1 when parked in the parking direction set by the user of vehicle 1.

[0029] C2. A parking space that satisfies only the first parking condition B1 of the first parking condition B1 (space securing direction) and the second parking condition B2 (parking direction). In other words, a parking space that can secure boarding and disembarking space in the space securing direction set by the user of vehicle 1 when parking in the opposite direction to the parking direction set by the user of vehicle 1.

[0030] C3. A parking space that does not satisfy either the first parking condition B1, which is the space securing direction, or the second parking condition B2, which is the parking direction. In other words, a parking space that cannot secure boarding and disembarking space in the space securing direction set by the user of vehicle 1, whether the vehicle is parked in the parking direction set by the user of vehicle 1 or in the opposite direction to the parking direction set by the user of vehicle 1.

[0031] When there are a plurality of each of the first to third parking spaces C1 to C3, the closer the parking space is to the vehicle 1, the higher the score. Next, the control device 14 proposes vacant parking spaces to the user of the vehicle 1 (step S104). For example, the control device 14 ranks each vacant parking space in descending order of score, and preferentially proposes the vacant parking space with the highest score to the user of the vehicle 1 as the target parking space for automatic parking. For example, the control device 14 displays the vacant parking space on the display of the HMI 13. The user of the vehicle 1 can select the target parking space by operating the HMI 13.

[0032] The control device 14 may not suggest the third parking space C3 to the user of the vehicle 1. Furthermore, the control device 14 suggests to the user of the vehicle 1, among the recognized vacant parking spaces, parking spaces that the vehicle 1 can reach, i.e., parking spaces for which a driving route can be generated from the current position of the vehicle 1. For the first parking space C1 and the second parking space C2, the control device 14 determines whether the vehicle 1 can reach them, taking into account the parking direction.

[0033] The control device 14 retrieves the selection result of the target parking frame by the user of the vehicle 1 from the HMI 13 (step S105). The control device 14 automatically parks the vehicle 1 in the target parking frame indicated by the retrieved selection result (step S106). The control device 14 generates a driving route from the current position of the vehicle 1 to the target parking frame, and controls the driving source 31 for driving, the braking device 32, and the steering device 33 so that the vehicle 1 moves according to the generated driving route. When the vehicle 1 moves to the target parking frame, the processing related to the parking assist control is completed.

[0034] <First proposed parking space pattern> Next, a first parking space suggestion pattern will be described. The first suggestion pattern is to suggest a vacant parking space adjacent to another vacant parking space to the user of the vehicle 1.

[0035] As shown in FIG. 3, for example, the space securing direction, which is the first parking condition B1, is set to the left side of the traveling direction of the vehicle 1. The parking direction, which is the second parking condition B2, is set to backward parking. When there are two adjacent vacant parking frames, one of the two vacant parking frames corresponds to the first parking frame C1, and the other corresponds to the second parking frame C2. The control device 14 preferentially suggests the vacant parking frame corresponding to the first parking frame C1 to the user of the vehicle 1. By backward parking the vehicle 1 into the vacant parking frame corresponding to the first parking frame C1, a boarding and alighting space is secured on the left side of the vehicle 1. The boarding and alighting space is the vacant parking frame adjacent to the vacant parking frame corresponding to the first parking frame C1, i.e., the vacant parking frame corresponding to the second parking frame C2.

[0036] After vehicle 1 is parked, there is a risk that another vehicle will be parked in the vacant parking space corresponding to second parking space C2. However, the vacant parking space corresponding to second parking space C2 can be used as a drop-off space at least immediately after vehicle 1 is parked.

[0037] <Second proposed parking space pattern> Next, a second proposed pattern of parking spaces will be described. The second proposed pattern is to propose to the user of the vehicle 1 the vacant parking space at the end of a plurality of parking spaces lined up in a row.

[0038] As shown in FIG. 4, for example, the space securing direction, which is the first parking condition B1, is set to the right of the vehicle 1's direction of travel. The parking direction, which is the second parking condition B2, is set to reverse parking. When the vacant parking space at the end of a row of parking spaces corresponds to the first parking space C1, which satisfies both the first parking space B1 and the second parking space B2, the control device 14 suggests the vacant parking space at the end of the row of parking spaces that corresponds to the first parking space C1 to the user of the vehicle 1. By backing the vehicle 1 into the vacant parking space that corresponds to the first parking space C1, a boarding and disembarking space is secured on the right side of the vehicle 1. This is because there are no parked vehicles on the right side of the vehicle 1.

[0039] Note that an empty parking space with parked vehicles on both sides corresponds to the third parking space C3, which does not satisfy either the first parking condition B1 or the second parking condition B2. In other words, whether the vehicle 1 is parked forward or backward, it is difficult to secure a boarding / exiting space on the right side of the vehicle 1. The control device 14 does not need to suggest an empty parking space corresponding to the third parking space C3 to the user of the vehicle 1.

[0040] <Third proposed parking space pattern> Next, a third proposed pattern of parking spaces will be described. The third proposed pattern proposes to the user of vehicle 1 the vacant parking space at the end of a row of parking spaces. However, in the third proposed pattern, the user of vehicle 1 is also suggested to change the parking direction of vehicle 1 in order to secure space for getting on and off.

[0041] As shown in FIG. 5, for example, the space securing direction, which is the first parking condition B1, is set to the left side of the vehicle 1's direction of travel. The parking direction, which is the second parking condition B2, is set to backward parking. If the vacant parking space at the end of the multiple parking spaces lined up in a row corresponds to the second parking space C2, which satisfies only the first parking space B1 of the first parking condition B1 and the second parking condition B2, the control device 14 suggests to the user of the vehicle 1 the vacant parking space at the end of the multiple parking spaces lined up in a row that corresponds to the second parking space C2. However, the control device 14 also suggests to the user of the vehicle 1 that the parking direction of the vehicle 1 be switched from backward parking to forward parking. By forward parking the vehicle 1 in the vacant parking space that corresponds to the second parking space C2, a boarding and disembarking space is secured on the left side of the vehicle 1. This is because there are no parked vehicles on the left side of the vehicle 1.

[0042] Note that an empty parking space with parked vehicles on both sides corresponds to the third parking space C3, which does not satisfy either the first parking condition B1 or the second parking condition B2. In other words, whether the vehicle 1 is parked forward or backward, it is difficult to secure a space for getting on and off on the left side of the vehicle 1. The control device 14 does not need to suggest an empty parking space corresponding to the third parking space C3 to the user of the vehicle 1.

[0043] <How to propose parking spaces> Next, a method for proposing a parking space to the user of the vehicle 1 will be described. The control device 14 proposes a target parking frame for automatic parking to the user of the vehicle 1 via the display of the HMI 13. For example, when the space securing direction, which is the first parking condition B1, is set to the left side of the traveling direction of the vehicle 1 and the parking direction, which is the second parking condition B2, is set to forward parking, an example of what is displayed on the screen of the display is as follows.

[0044] As shown in Fig. 6, the display screen is rectangular. The control device 14 generates a bird's-eye view image of the surroundings of the vehicle 1 based on images from the cameras constituting the perimeter monitoring sensor 11, and displays the generated bird's-eye view image on the display screen. The control device 14 suggests available parking spaces to the user of the vehicle 1, for example, by displaying a rectangular cursor 41 superimposed on the bird's-eye view image. In Fig. 6, the cursor 41 is represented by a number of dots.

[0045] The control device 14 proposes parking spaces to the user of the vehicle 1 based on the ranking based on the score. For example, if there are multiple vacant parking spaces, the control device 14 displays numbers indicating the ranking, such as "1," "2," and "3," superimposed on the parking spaces. In FIG. 6, three vacant parking spaces ranked 1st to 3rd are displayed. The initial display position of the cursor 41 is the top-ranked parking space.

[0046] The control device 14 highlights parking spaces that can secure boarding and disembarking space in the space securing direction set by the user of the vehicle 1. The highlighting is performed, for example, by superimposing a red rectangular frame 42 on the parking space. In FIG. 6, the red rectangular frame 42 used for highlighting is shown by a thick solid line. Also, in FIG. 6, the first and second parking spaces are highlighted.

[0047] The first and second ranked parking frames are adjacent to each other. The first ranked parking frame is a parking frame corresponding to the first parking frame C1 that satisfies both the first parking condition B1 and the second parking condition B2. In other words, the first ranked parking frame is a parking frame that can secure boarding and disembarking space in the space securing direction set by the user of the vehicle 1 when the vehicle is parked in the parking direction set by the user of the vehicle 1.

[0048] The second-placed parking space is a parking space corresponding to the second parking space C2 that satisfies only the first parking condition B1 of the first parking condition B1 and the second parking condition B2. That is, the second-placed parking space is a parking space that can secure boarding and disembarking space in the space securing direction set by the user of the vehicle 1 when parked in the opposite direction to the parking direction set by the user of the vehicle 1. The control device 14 displays an icon 43 superimposed on the second-placed parking space, which suggests to the user of the vehicle 1 to switch the parking direction of the vehicle 1 from forward parking to backward parking. Forward parking is the parking direction set by the user of the vehicle 1. The icon 43 is a graphic displayed on the display screen, for example, an arrow pointing in a clockwise direction.

[0049] The control device 14 de-highlights parking spaces for which boarding and disembarking space cannot be secured in the space securing direction set by the user of the vehicle 1. The de-highlighting is achieved, for example, by superimposing a gray rectangular frame 44 on the parking space. In FIG. 6, the gray rectangular frame 44 for the de-highlighting is indicated by a dashed line. Also, in FIG. 6, the third-place parking space is de-highlighted. The third-place parking space is a parking space corresponding to the third parking space C3 that does not satisfy either the first parking condition B1 or the second parking condition B2. That is, the third-place parking space is a parking space for which boarding and disembarking space cannot be secured in the space securing direction set by the user of the vehicle 1, whether the parking space is secured in the parking direction set by the user of the vehicle 1 or in the opposite direction to the parking direction set by the user of the vehicle 1.

[0050] When the user performs a predetermined confirmation operation after selecting a parking space, the control device 14 starts automatic parking of the vehicle 1 into the selected parking space. The user of the vehicle 1 can select a parking space by, for example, touching the screen of the display. The cursor 41 moves to the selected parking space. The user of the vehicle 1 can also select a parking space by, for example, rotating a knob provided at the driver's seat. When the knob is turned, the cursor 41 moves in order from the top parking space. The confirmation operation is, for example, operating a confirmation switch. The confirmation switch may be a virtual switch displayed on the screen of the display, or a physical switch provided at the driver's seat.

[0051] The control device 14 may display a virtual switch 45 on the display screen for switching the parking assist function on and off. Each time the user of the vehicle 1 touches the switch 45, the parking assist function is alternately switched on and off. The user of the vehicle 1 may turn the parking assist function on or off depending on, for example, whether or not there is an occupant in a child seat or a lift-up seat.

[0052] <Effects of the embodiment> According to this embodiment, the following effects are achieved. (1) The parking assistance device 10 includes a control device 14 and an HMI 13. The HMI 13 includes an input device and an output device. The input device is a device for the user of the vehicle 1 to specify a space securing direction in which boarding and disembarking space should be secured. The space securing direction is a direction to the left or right of the traveling direction of the vehicle 1. The output device outputs information. The control device 14 executes parking assistance control that automatically moves the vehicle 1 to assist in parking. The control device 14 recognizes parking spaces through a sensor mounted on the vehicle 1, and preferentially suggests parking spaces that can secure boarding and disembarking space in the specified space securing direction via the output device. The sensor is, for example, a perimeter monitoring sensor 11.

[0053] According to this configuration, the output device suggests to the user of the vehicle 1 a parking space that can secure boarding and disembarking space in the space-securing direction specified by the user via the input device. This allows the user of the vehicle 1 to easily park the vehicle 1 in a parking space that can secure boarding and disembarking space in the desired space-securing direction. This provides more appropriate assistance in parking the vehicle 1. This is particularly effective when a user of a vehicle 1 equipped with a child car seat or a user of a welfare vehicle 1 with a lift-up seat needs space to the side of the vehicle 1 to get in and out of the vehicle 1.

[0054] (2) When a specific parking space is selected as a target parking space for automatic parking via the input device and a predetermined decision operation is performed, the control device 14 starts automatic parking of the vehicle 1 into the target parking space. According to this configuration, when parking the vehicle 1, the user of the vehicle 1 simply selects a specific parking space as a target parking space for automatic parking via the input device and performs a predetermined decision operation. This is convenient because the vehicle 1 is automatically parked in the target parking space as a result of the decision operation.

[0055] (3) The input device is for the user of the vehicle 1 to specify not only the space securing direction but also the parking direction of the vehicle 1. The control device 14 evaluates parking spaces recognized through the sensor based on the specified space securing direction and parking direction. The sensor is, for example, the perimeter monitoring sensor 11. The control device 14 preferentially suggests parking spaces with high ratings via the output device. According to this configuration, parking spaces with high ratings are preferentially suggested to the user of the vehicle 1. Therefore, the user of the vehicle 1 can park the vehicle 1 in a parking space with a higher rating. Therefore, parking of the vehicle 1 can be more appropriately assisted.

[0056] (4) When there are multiple parking spaces with the same evaluation, the control device 14 preferentially suggests a parking space that is closer to the vehicle via the output device. According to this configuration, the user of the vehicle 1 is preferentially suggested a parking space that is closer to the vehicle among multiple parking spaces with the same evaluation. This is convenient because the user of the vehicle 1 can park in a parking space that is closer to the vehicle.

[0057] (5) The control device 14 evaluates the first parking stall C1, the second parking stall C2, and the third parking stall C3 in this order. The first parking stall C1 is a parking stall that can secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1 when the vehicle 1 is parked in the parking direction specified by the user of the vehicle 1. The second parking stall C2 is a parking stall that can secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1 when the vehicle 1 is parked in the opposite direction to the parking direction specified by the user of the vehicle 1. The third parking stall C3 is a parking stall that cannot secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1, regardless of the parking direction of the vehicle 1. This configuration allows the parking stalls to be appropriately evaluated based on the parking conditions specified by the user of the vehicle 1. This allows for more appropriate assistance in parking the vehicle 1.

[0058] (6) The control device 14 does not propose the third parking space C3 via the output device. According to this configuration, the third parking space C3 is not proposed to the user of the vehicle 1. The third parking space C3 is a parking space that cannot secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1, regardless of the parking direction of the vehicle 1. Since useless information is not proposed to the user of the vehicle 1, it becomes easier for the user to select the desired parking space.

[0059] (7) The output device includes a display. The control device 14 generates a bird's-eye image of the surroundings of the vehicle based on the detection results of the sensor, and displays the generated bird's-eye image with the parking space superimposed on it on the display. The sensor is, for example, the periphery monitoring sensor 11. According to this configuration, the display displays the parking space superimposed on the bird's-eye image of the surroundings of the vehicle. This makes it easy for the vehicle user to recognize the parking space.

[0060] (8) The control device 14 highlights parking spaces that can secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1. The control device 14 also does not highlight parking spaces that cannot secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1. With this configuration, the user of the vehicle 1 can easily recognize parking spaces that can secure boarding and disembarking space in the specified space securing direction.

[0061] (9) The control device 14 displays a cursor 41 on the display for selecting a specific parking space as a target parking space for automatic parking. The initial display position of the cursor 41 is the parking space with the highest evaluation. According to this configuration, when parking the vehicle 1 in the parking space with the highest evaluation, the user of the vehicle 1 can start automatic parking of the vehicle 1 in the target parking space by simply performing a predetermined confirmation operation without moving the cursor 41.

[0062] (10) When there are multiple parking spaces that can secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1, the control device 14 displays on the display a number indicating the evaluation ranking of the parking space superimposed on the parking space. According to this configuration, the number indicating the evaluation ranking of the parking space is displayed on the display. Therefore, the user of the vehicle 1 can visually check the evaluation of the parking space. Therefore, the user of the vehicle 1 can easily select a parking space with a high evaluation.

[0063] (11) When a parking space is available that can secure boarding and disembarking space in the space securing direction specified by the user of vehicle 1 by parking in the opposite direction to the parking direction specified by the user of vehicle 1, the control device 14 displays an icon 43 on the display superimposed on the parking space. The icon 43 is a graphic that suggests to the user of vehicle 1 that the parking direction of vehicle 1 should be changed to the opposite direction from the parking direction specified by the user of vehicle 1. With this configuration, the user of vehicle 1 can easily visually identify, via the icon 43, a parking space for which the parking direction needs to be changed to the opposite direction from the specified parking direction. This makes it easier for the user of vehicle 1 to select a parking space.

[0064] (12) The control device 14 moves the cursor 41 in order from the parking space with the highest evaluation in response to, for example, the rotation operation of a knob provided at the driver's seat of the vehicle 1. According to this configuration, the cursor 41 moves in order from the parking space with the highest evaluation in response to the rotation operation of the knob. This makes it easier for the user of the vehicle 1 to select a parking space.

[0065] (13) The parking assistance method is a method of automatically moving the vehicle 1 to assist parking. The parking assistance method includes the following three steps. The first step is to acquire a space securing direction, which is specified by the user of the vehicle 1 via an input device mounted on the vehicle 1, and which is the left or right direction with respect to the traveling direction of the vehicle 1 in which boarding and disembarking space should be secured. The second step is to recognize a parking space for the vehicle 1 via a sensor mounted on the vehicle 1. The sensor is, for example, a perimeter monitoring sensor 11. The third step is to preferentially suggest, via an output device mounted on the vehicle 1, a parking space that can secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1.

[0066] According to this parking assistance method, a parking frame that can secure boarding and disembarking space in a space securing direction specified by the user via the input device is suggested to the user of the vehicle 1 via the output device. This allows the user of the vehicle 1 to easily park the vehicle 1 in a parking frame that can secure boarding and disembarking space in the desired space securing direction. This allows for more appropriate assistance in parking the vehicle 1.

[0067] (14) The parking assistance program is a program that causes a computer to execute processing to automatically move the vehicle 1 and assist in parking. The processing includes the following three processes. Specifically, the first process is a process of acquiring a space securing direction, which is a space securing direction specified by the user of the vehicle 1 via an input device mounted on the vehicle 1, and which is a direction to the left or right of the traveling direction of the vehicle 1 in which boarding and disembarking space should be secured. The second process is a process of recognizing a parking space for the vehicle 1 via a sensor mounted on the vehicle 1. The sensor is, for example, the perimeter monitoring sensor 11. The third process is a process of preferentially suggesting, via an output device mounted on the vehicle 1, parking spaces that can secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1.

[0068] By executing this program on a computer, the output device will suggest to the vehicle user parking spaces that can secure boarding and disembarking space in the space securing direction specified by the user via the input device. This allows the vehicle user to easily park the vehicle in a parking space that can secure boarding and disembarking space in the desired space securing direction. This provides more appropriate assistance in parking the vehicle.

[0069] <Other embodiments> This embodiment may be modified as follows. The control device 14 may not move the cursor 41 in response to the rotation of a knob provided at the driver's seat of the vehicle 1. For example, the control device 14 may move the cursor 41 only in response to a touch operation on the screen of the display.

[0070] The control device 14 may be configured not to display the icon 43. The control device 14 may not superimpose the number indicating the ranking of the evaluation of the parking space on the parking space.

[0071] The initial display position of the cursor 41 does not have to be the parking space with the highest evaluation. The initial display position of the cursor 41 may be set appropriately according to product specifications, etc. The control device 14 may not highlight parking spaces that can secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1. The control device 14 may also not highlight parking spaces that cannot secure boarding and disembarking space in the space securing direction specified by the user of the vehicle 1.

[0072] The control device 14 may not generate a bird's-eye view image of the area around the vehicle. The control device 14 may display the parking space in an appropriate display format according to product specifications, etc. When there are multiple parking spaces with the same evaluation, the control device 14 may not prioritize suggesting parking spaces that are closer to the vehicle. For example, the control device 14 may suggest multiple parking spaces with the same evaluation in an appropriate order depending on the product specifications, etc. Furthermore, the control device 14 may simultaneously suggest multiple parking spaces with the same evaluation depending on the product specifications, etc.

[0073] The control device 14 may not score parking spaces, i.e., may not evaluate parking spaces. In this case, the control device 14 may suggest a parking space via the HMI 13 regardless of the parking direction specified by the user, if a boarding / exiting space can be secured in the space securing direction specified by the user of the vehicle 1. The parking space suggested by the control device 14 is the first parking space C1 or the second parking space C2. Furthermore, if there are multiple parking spaces that can secure a boarding / exiting space in the space securing direction specified by the user, the control device 14 may suggest the multiple parking spaces via the HMI 13 in an appropriate order. For example, the control device 14 may preferentially suggest parking spaces that are close to the vehicle.

[0074] The parking condition may be only the first parking condition B1. The first parking condition B1 is the space securing direction. The user of the vehicle 1 sets only the first parking condition B1 through the HMI 13. In this case, the control device 14 may propose a parking space via the HMI 13 regardless of the parking direction of the vehicle 1, as long as a boarding / exiting space can be secured in the space securing direction specified by the user of the vehicle 1. A parking space that can secure a boarding / exiting space in the space securing direction specified by the user is a parking space that can secure a boarding / exiting space in the space securing direction specified by the user when the vehicle 1 is forward parked, or a parking space that can secure a boarding / exiting space in the space securing direction specified by the user when the vehicle 1 is reverse parked. If there are multiple parking spaces that can secure a boarding / exiting space in the space securing direction specified by the user, the control device 14 may propose the multiple parking spaces in an appropriate order via the HMI 13. For example, the control device 14 may preferentially propose parking spaces that are close to the vehicle.

[0075] The control device 14 may be configured to start automatic parking of the vehicle into the target parking space when a specific parking space is selected as the target parking space for automatic parking, even if a predetermined decision operation is not performed. For example, the control device 14 may be configured to start automatic parking of the vehicle into the target parking space when a specific parking space is selected as the target parking space for automatic parking, in response to the release of the brake operation.

[0076] <Additional Notes> Next, the technical ideas that can be understood from the above-described embodiment will be additionally described below. [1] A parking assistance device (10) comprising a control device (14) configured to execute parking assistance control for automatically moving a vehicle (1) to assist in parking, the parking assistance device having an input device (13) for specifying a space securing direction, which is a direction to the left or right of the vehicle's traveling direction in which a user of the vehicle should secure a boarding / exiting space, and an output device (13) configured to output information, wherein the control device recognizes parking spaces through a sensor (11) mounted on the vehicle, and is configured to preferentially suggest, via the output device, parking spaces that can secure the boarding / exiting space in the specified space securing direction.

[0077] [2] The parking assistance device described in [1] above, wherein the control device is configured to start automatic parking of the vehicle into the target parking space when a predetermined decision operation is performed via the input device with the specific parking space selected as the target parking space for automatic parking.

[0078] [3] The parking assistance device according to [1] or [2] above, wherein the input device is for the user of the vehicle to specify not only the space securing direction but also the parking direction of the vehicle, and the control device is configured to evaluate the parking spaces recognized through the sensor based on the specified space securing direction and the parking direction, and to preferentially suggest the parking spaces with higher evaluations via the output device.

[0079] [4] The parking assistance device described in [3] above, wherein the control device is configured to preferentially suggest the parking space closest to the vehicle via the output device when there are multiple parking spaces with the same evaluation.

[0080] [5] The parking assistance device described in [3] or [4] above, wherein the control device is configured to evaluate in order of increasing importance: a. a first parking frame that can secure the boarding and alighting space in the space-securing direction when parked in the specified parking direction; b. a second parking frame that can secure the boarding and alighting space in the space-securing direction when parked in the opposite direction to the specified parking direction; and c. a third parking frame that cannot secure the boarding and alighting space in the space-securing direction regardless of the parking direction of the vehicle.

[0081] [6] The parking assistance device according to [5] above, wherein the control device is configured not to suggest the third parking space via the output device. [7] The parking assistance device according to any one of [1] to [6], wherein the output device includes a display, and the control device is configured to generate a bird's-eye image of the surroundings of the vehicle based on the detection result of the sensor, and to superimpose the parking space on the generated bird's-eye image and display it on the display.

[0082] [8] The parking assistance device described in [7] above, wherein the control device is configured to highlight (42) the parking space where the boarding / exiting space can be secured in the specified space securing direction, and not highlight (44) the parking space where the boarding / exiting space cannot be secured in the specified space securing direction.

[0083] [9] The input device is for a user of the vehicle to specify not only the space securing direction but also the parking direction of the vehicle, and the control device is configured to, when a predetermined decision operation is performed via the input device with a specific parking space selected as a target parking space for automatic parking, start automatic parking of the vehicle into the target parking space, evaluate the parking space recognized through the sensor based on the specified space securing direction and the parking direction, and display a cursor (41) on the display for selecting the specific parking space as the target parking space for automatic parking, and the initial display position of the cursor is the parking space with the highest evaluation. The parking assistance device described in [7] or [8] above.

[0084]

[10] The parking assistance device described in [9] above, wherein the control device is configured to superimpose a number indicating the evaluation ranking of the parking space on the display when there are multiple parking spaces that can secure the boarding and disembarking space in the specified space securing direction.

[0085]

[11] The parking assistance device according to [9] or

[10] above, wherein when there is a parking space where the boarding / exiting space can be secured in the designated space securing direction by parking in the opposite direction to the designated parking direction, the control device is configured to display on the display an icon (43) superimposed on the parking space, which suggests to the user of the vehicle to switch the parking direction to the opposite direction to the designated parking direction.

[0086]

[12] The parking assistance device according to any one of [9] to

[11] , wherein the control device is configured to move the cursor in order from the parking space with the highest evaluation in response to a rotation operation of a knob provided at the driver's seat of the vehicle.

[0087]

[13] The input device is for the user of the vehicle to specify not only the space securing direction but also the parking direction of the vehicle, and the parking slot that can secure the boarding and alighting space in the space securing direction is a. a first parking slot that can secure the boarding and alighting space in the space securing direction when parked in the specified parking direction, or b. a second parking slot that can secure the boarding and alighting space in the space securing direction when parked in the direction opposite to the specified parking direction. The parking assistance device described in [1] or [2] above. [Explanation of symbols]

[0088] 1...Vehicle 10...Parking assistance device 11...Perimeter monitoring sensor (sensor) 13...HMI (input device, output device, display) 14...Control device 41...Cursor 42...Rectangular frame (highlighted) 43...Icon 44...Rectangular frame (unhighlighted)

Claims

1. A parking assistance device including a control device configured to perform parking assistance control to automatically move a vehicle and assist parking, an input device for a user of the vehicle to specify a space securing direction, which is a left or right direction with respect to a traveling direction of the vehicle in which a boarding / exiting space should be secured; an output device configured to output information; The control device is configured to recognize parking spaces through a sensor mounted on the vehicle, and to preferentially suggest parking spaces that can secure the boarding and disembarking space in the specified space securing direction through the output device.

2. 2. The parking assistance device according to claim 1, wherein the control device is configured to start automatic parking of the vehicle into the target parking space when a predetermined decision operation is performed via the input device with the specific parking space selected as the target parking space for automatic parking.

3. the input device is for a user of the vehicle to specify not only the space securing direction but also the parking direction of the vehicle, 3. The parking assistance device according to claim 1, wherein the control device is configured to evaluate the parking spaces recognized through the sensor based on the specified space securing direction and the parking direction, and to preferentially suggest the parking spaces with high evaluations via the output device.

4. The parking assistance device according to claim 3, wherein when there are a plurality of parking spaces with the same evaluation, the control device is configured to preferentially suggest the parking space that is closest to the vehicle via the output device.

5. The control device a. A first parking frame that can secure the boarding and disembarking space in the space securing direction when parked in the designated parking direction; b. A second parking frame that can secure the boarding and disembarking space in the space securing direction when parking in the opposite direction to the designated parking direction; c. A third parking frame in which the boarding / exiting space cannot be secured in the space securing direction regardless of the parking direction of the vehicle; 4. The parking assistance device according to claim 3, wherein the evaluation is given in the order of increasing.

6. The parking assistance device according to claim 5 , wherein the control device is configured not to suggest the third parking space via the output device.

7. the output device includes a display; 2. The parking assistance device according to claim 1, wherein the control device is configured to generate a bird's-eye image of a periphery of the host vehicle based on a detection result of the sensor, and to superimpose the parking space on the generated bird's-eye image and display it on the display.

8. 8. The parking assistance device according to claim 7, wherein the control device is configured to highlight the parking frames that can secure the boarding / exiting space in the specified space securing direction, and not highlight the parking frames that cannot secure the boarding / exiting space in the specified space securing direction.

9. the input device is for a user of the vehicle to specify not only the space securing direction but also the parking direction of the vehicle, The control device When a predetermined decision operation is performed through the input device with the specific parking frame selected as the target parking frame for automatic parking, automatic parking of the vehicle into the target parking frame is started; and Evaluate the parking space recognized by the sensor based on the designated space securing direction and the designated parking direction; and The display is configured to display a cursor for selecting a specific parking space as the target parking space for automatic parking, 9. The parking assistance device according to claim 7, wherein the initial display position of the cursor is the parking space with the highest evaluation.

10. 10. The parking assistance device according to claim 9, wherein when there are a plurality of parking spaces in the specified space securing direction that can secure the boarding / exiting space, the control device is configured to superimpose a number indicating the evaluation ranking of the parking space on the parking space and display it on the display.

11. 10. The parking assistance device according to claim 9, wherein, when there is a parking space that can secure the boarding / exiting space in the specified space securing direction by parking in a direction opposite to the specified parking direction, the control device is configured to display on the display an icon superimposed on the parking space, which suggests to the user of the vehicle to switch the parking direction to the direction opposite to the specified parking direction.

12. The parking assistance device according to claim 9, wherein the control device is configured to move the cursor in descending order of the parking spaces with higher evaluations in response to a rotation operation of a knob provided at a driver's seat of the vehicle.

13. the input device is for a user of the vehicle to specify not only the space securing direction but also the parking direction of the vehicle, The parking frame that can secure the boarding and disembarking space in the space securing direction is a. A first parking frame that can secure the boarding and disembarking space in the space securing direction when parked in the specified parking direction, or b. A second parking frame that can secure the boarding and disembarking space in the space securing direction when parking in the opposite direction to the designated parking direction; 3. The parking assistance device according to claim 1, wherein:

14. A parking assistance method for automatically moving a vehicle to assist in parking, comprising: Acquiring a space securing direction designated by a user of the vehicle via an input device mounted on the vehicle, the space securing direction being a left or right direction with respect to a traveling direction of the vehicle in which a boarding / exiting space should be secured; Recognizing a parking space for the vehicle through a sensor mounted on the vehicle; and preferentially suggesting, via an output device mounted on the vehicle, the parking frame that can secure the boarding and disembarking space in the specified space securing direction.

15. A parking assistance program that causes a computer to execute a process for automatically moving a vehicle to assist in parking, The process comprises: A process of acquiring a space securing direction designated by a user of the vehicle via an input device mounted on the vehicle, the space securing direction being a left or right direction with respect to a traveling direction of the vehicle in which a boarding / exiting space should be secured; A process of recognizing a parking space of the vehicle through a sensor mounted on the vehicle; and a process of preferentially suggesting, via an output device mounted on the vehicle, the parking frame that can secure the boarding and disembarking space in the specified space securing direction.

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