Parking assistance method and parking assistance device

Abstract

The present invention provides a parking assistance device and a parking assistance method that can suppress errors that occur during route following while automatic parking is being performed. [Solution] The parking assistance method is a parking assistance method that provides parking assistance based on the driving path of a teacher drive performed by a driver, and stores the driving path during the teacher drive, and controls the vehicle to park automatically based on the driving path, and when the steering angle of the vehicle exceeds a predetermined angle due to the driver's operation during the teacher drive, the driver is notified by an audio output device or display device, the predetermined angle includes a first predetermined angle and a second predetermined angle, and in the notification to the driver, if the speed of the teacher drive is a second speed which is faster than the first speed, the driver is notified when the second predetermined angle is smaller than the first predetermined angle at the first speed.

Description

Technical Field

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

Background Art

[0002] Conventionally, a parking assistance device that can park based on a teaching run in a specific parking space is known. Such a parking assistance device stores, as a teaching route, the driving route of a vehicle when parked in a parking space by the driving of a driver, and automatically parks the vehicle in the parking space based on the teaching route (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when performing automatic parking based on the driver's operation during teaching driving, an error may occur in path following during automatic parking. Therefore, when precise path following is required, such as in a narrow parking space, the distance from surrounding obstacles becomes shorter than the distance allowed by the system, resulting in a situation where the system has to interrupt automatic parking, and there is a risk of automatic parking failure.

[0005] An object of the present disclosure is to provide a parking assistance method and a parking assistance device capable of suppressing the occurrence of an error in path following during automatic parking.

Means for Solving the Problems

[0006] The parking assistance method according to the present disclosure is a parking assistance method for performing parking assistance based on the driving route of a teaching run by a driver, The driving route during the aforementioned teacher driving is stored, Based on the aforementioned driving path, the system will automatically control the parking process. During the aforementioned teacher driving, if the steering angle of the vehicle exceeds a predetermined angle due to the driver's operation, the driver is notified via an audio output device or display device. The predetermined angle includes a first predetermined angle and a second predetermined angle. In the notification to the driver, if the speed of the teacher's driving is a second speed that is faster than the first speed, the driver is notified when the second predetermined angle is smaller than the first predetermined angle at the first speed.

[0007] The parking assistance device related to this disclosure is A parking assistance device that provides parking assistance based on the driving path of a trainer driving by the driver, A storage unit that stores the driving route during the aforementioned teacher driving, A control unit that performs automatic parking control based on the aforementioned driving path, During the aforementioned teacher driving, if the steering angle of the vehicle exceeds a predetermined angle due to the driver's operation, the execution unit notifies the driver via an audio output device or display device. Equipped with, The predetermined angle includes a first predetermined angle and a second predetermined angle. In notifying the driver, the execution unit notifies the driver when the second predetermined angle is smaller than the first predetermined angle at the first speed, provided that the speed of the teacher's driving is faster than the first predetermined speed at the first speed. [Effects of the Invention]

[0008] According to this disclosure, it is possible to suppress errors that occur during path following while automatic parking is in operation. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing an example configuration of a vehicle to which the parking assist device according to the embodiment of this disclosure is applied. [Figure 2] It is a diagram showing an example of the route of the teacher's driving. [Figure 3] It is a diagram showing an example of the route reproduced by automatic parking of the teacher's driving route. [Figure 4] It is a diagram showing an example of the display on the display unit before the execution of the predetermined process. [Figure 5] It is a diagram showing an example of the display on the display unit after the execution of the predetermined process. [Figure 6] It is a flowchart showing an example of the operation of the control during the teacher's driving in the parking support device. [Figure 7] It is a block diagram showing a configuration example of a vehicle to which the parking support device according to the modification is applied. [Figure 8] It is a block diagram showing a configuration example of a vehicle to which the parking support device according to the modification is applied. [Figure 9] It is a block diagram showing a configuration example of a vehicle to which the parking support device according to the modification is applied.

MODE FOR CARRYING OUT THE INVENTION

[0010] (Embodiment) Hereinafter, embodiments of the present disclosure will be described in detail based on the drawings. FIG. 1 is a block diagram showing a configuration example of a vehicle 1 to which a parking support device 100 according to an embodiment of the present disclosure is applied.

[0011] As shown in FIG. 1, the vehicle 1 has an automatic parking support (so-called home zone parking support) function for automatically parking in a predetermined parking space, and includes an operation unit 10, a detection unit 20, a display unit 30, and a parking support device 100.

[0012] The operation unit 10 includes a steering wheel, an accelerator pedal, etc. for the driver to perform the driving operation of the vehicle 1. The driving operation of the vehicle 1 is an operation related to the driving of the vehicle 1, such as, for example, the steering operation of the vehicle 1 or the traveling operation of the vehicle 1.

[0013] The detection unit 20 detects the operation amount of the operation unit 10. The detection unit 20 may be a known sensor capable of detecting, for example, the steering angle, the accelerator opening degree, or the like.

[0014] The display unit 30 is, for example, a display unit such as a car navigation device. When the driver performs a teaching run for automatic parking, the display unit 30 displays, for example, a predicted route in the vehicle 1 (see the solid line P in FIG. 4). Note that the display unit may be other than a car navigation device, such as a head-up display (including an augmented reality type head-up display).

[0015] The parking support device 100 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an input / output circuit (not shown), and performs automatic parking control to automatically park in a predetermined parking space. Specifically, when the vehicle 1 parks in a predetermined parking space by the driver's driving operation, the parking support device 100 stores the route when parked in the predetermined parking space and the operation of the operation unit 10 by the driver as teaching run data. Then, when the vehicle 1 parks in a predetermined parking space next time, it performs control (automatic parking control) to automatically park based on the teaching run data.

[0016] In the present embodiment, the parking support device 100 executes a predetermined process for making the driver recognize that the operation amount of the driver during the teaching run is outside the operation range in which automatic parking can be executed, in addition to the automatic parking control. The parking support device 100 includes a determination unit 110 and an execution unit 120.

[0017] The determination unit 110 determines whether the operation amount of the driver during the teaching run of the vehicle 1 exceeds a predetermined range. The operation amount of the driver is, for example, the steering angle. The predetermined range is an operation range in which automatic parking can be executed.

[0018] The operation range in which automatic parking can be executed is, for example, an operation range in which the route of the teaching run can be followed when reproduced by automatic parking based on the operation of the operation unit 10 by the driver during the teaching run.

[0019] For example, a driver may enter a parking space with the steering wheel (control unit 10) at a near-maximum angle during a guided drive. When the route and operation of the control unit 10 during this guided drive are reproduced in automatic parking, it is likely that the automatic parking route will deviate from the guided drive route, failing to follow the guided drive route.

[0020] Let me explain in detail. Generally, the starting position for automatic parking is different from the starting position during the training drive. Therefore, in order to reproduce the training drive path, the vehicle is controlled to cancel out this difference, so that the automatic parking follows (reproduces) the training drive path.

[0021] However, if the steering angle is at its maximum during the teacher's drive, in the region where the steering angle is at its maximum, even if the driver tries to align with the teacher's drive path from a shifted position, the steering cannot turn any further. As a result, the automatic parking path cannot be fully aligned with the teacher's drive path, and the automatic parking path becomes a path that widens relative to the teacher's drive path.

[0022] For example, as shown in Figure 2, suppose there is a parking space that can be accessed by turning towards the negative side of the Y direction from a road extending in the X direction.

[0023] Note that the Cartesian coordinate system (X,Y) is used in the explanations of Figure 2 and other figures. The same Cartesian coordinate system (X,Y) is also used in the figures described later. For example, the X direction represents the left-right direction, and the Y direction represents the front-back direction.

[0024] Assume that when the driver performs a test drive with the steering angle of the control unit 10 set to its maximum angle, the vehicle follows a path that follows the shape of the road, that is, a path that moves towards the + side in the X direction, turns relatively smoothly through corners, and then moves towards the - side in the Y direction to enter the parking space (see arrow T).

[0025] However, as shown in Figure 3, because the steering angle of the control unit 10 is set to the maximum angle during the teacher run, and because the starting position of the automatic parking is different from the starting position during the teacher run, the automatic parking may result in the vehicle entering the parking space via a path that, for example, curves outwards to the +X side in the corner (see arrow R). This is because the path during the teacher run is the path realized with the maximum steering angle, so if the starting position shifts, the steering angle cannot be increased any further, and therefore the shift cannot be corrected.

[0026] Thus, if deviations in the starting position, delays in steering control, or other errors occur during automatic parking and path following, the automatic parking path may deviate significantly from the programmed driving path. Therefore, for example, in situations requiring precise path following, such as in a narrow parking space, vehicle 1 is more likely to collide with surrounding walls, potentially leading to automatic parking failure.

[0027] In contrast, in this embodiment, the determination unit 110 determines, for example, that if the steering angle is greater than or equal to a predetermined angle, the amount of driver operation is outside the operating range in which automatic parking can be performed. The predetermined angle may be set as appropriate, for example, 90% of the maximum steering angle.

[0028] The execution unit 120 performs a predetermined process to notify the driver that the amount of the driver's operation is outside a predetermined range, in accordance with the determination result of the determination unit 110. In other words, the execution unit 120 performs a predetermined process when the amount of the driver's operation exceeds a predetermined range. The predetermined process is, for example, a process to change a predetermined display on the display unit 30 of the vehicle 1 from the display before the execution of the predetermined process.

[0029] For example, as shown in Figure 4, when parking is performed during a guided drive, the predicted route P of the vehicle 1 is displayed on the display unit 30 as a predetermined display. The predicted route P is, for example, the path that the vehicle 1 is predicted to take based on the current steering angle of the vehicle 1. The predicted route P may also be shown by a linear shape indicating the outer edge of the area in which the vehicle 1 will move. As another example, the shape of the predicted route P is not limited to a straight line, but may also be shown by a curved linear shape. As yet another example of a predetermined display, the area enclosed by the predicted route P may be superimposed with a predetermined color and displayed as the predicted route area. When the outer edge of the predicted route area is shown by a linear shape, the predicted route area may be displayed in a different color from the outer edge. By displaying the predicted route area in a different color from the outer edge, the predicted route area can be emphasized.

[0030] Changes from the display before the execution of the prescribed process may include, for example, a change in the color of the predicted route, a change in the line type, or a change from a normal display to a flashing display. Any change is acceptable as long as the driver can recognize that the display has been changed from before the execution of the prescribed process.

[0031] For example, as shown in Figure 5, when the steering angle of the control unit 10 reaches its maximum angle during teacher driving, a predetermined process is performed to change the display from a solid line as shown in Figure 4 to a dashed line.

[0032] In this way, the driver can recognize that the current amount of operation on the control unit 10 is outside the range of operation that enables automatic parking. As a result, by correcting the operation of the control unit 10 during the training drive, the driver can suppress errors that occur in path following during automatic parking.

[0033] Furthermore, the predetermined processing may include, for example, a process that displays a guide related to driving operations, such as an instruction to reduce the steering angle, or a warning notification indicating that the steering angle is too large and automatic parking will not be possible. Such processing may include, for example, displaying text such as "Please reduce the steering angle" or "The steering angle is too large" on the display unit 30.

[0034] Furthermore, the determination unit 110 may change the operating range in which automatic parking can be performed according to the speed of the vehicle 1.

[0035] For example, when the vehicle 1 is moving at a relatively high speed during a guided drive, the driver will turn the steering wheel relatively quickly. Therefore, when this operation is reproduced in automatic parking, the control of the control unit 10 may not be able to keep up, which may cause errors in path following.

[0036] In this case, for example, the determination unit 110 narrows the operating range in which automatic parking can be performed and sets the steering angle determination threshold to an angle smaller than the predetermined angle mentioned above.

[0037] This allows the predetermined process to be executed at a time when the steering angle is not yet large, enabling the driver to recognize relatively early that the amount of steering input is outside the operating range for automatic parking. As a result, it is possible to suppress errors in path following during automatic parking caused by the speed of vehicle 1 during the training run.

[0038] Furthermore, if the driver does not correct the operation of the control unit 10 after the execution unit 120 has performed a predetermined process, or if the driver's correction of the operation of the control unit 10 is insufficient, the execution unit 120 will continue to perform the predetermined process.

[0039] This allows the driver to correct their operation of the control unit 10. Furthermore, at this time, processing to prompt correction of the operation (for example, processing to instruct the driver to reduce the steering angle) may be performed.

[0040] Furthermore, if the training run ends after the execution unit 120 has performed a predetermined process, without the driver correcting the operation of the control unit 10, or if the training run ends without the driver making sufficient corrections to the operation of the control unit 10, the execution unit 120 may perform a process to notify the driver that the training run has failed.

[0041] Processing to notify the driver that the teacher run has failed includes, for example, displaying that information on the display unit 30, or, in the case of a configuration that includes an audio output unit 40 described later, outputting that information by voice.

[0042] In this case, the execution unit 120 may also perform a process to notify that the teacher run needs to be redone, or a process to notify that it will be confirmed whether or not to redo the teacher run.

[0043] Next, an example of the operation of the parking assist device 100 will be described. Figure 6 is a flowchart showing an example of the control operation of the parking assist device 100 during teacher driving. The process in Figure 6 is executed, for example, when teacher driving is started.

[0044] As shown in Figure 6, the parking assist device 100 determines whether the driver's input is outside the operating range (step S101). If the result of the determination is that the input is not outside the operating range (step S101, NO), the process proceeds to step S103.

[0045] On the other hand, if the amount of operation is outside the operating range (step S101, YES), the parking assist device 100 performs a predetermined process (step S102). Next, the parking assist device 100 determines whether or not the teacher driving has finished (step S103).

[0046] If the determination shows that the teacher's run has not finished (step S103, NO), the process returns to step S101. On the other hand, if the teacher's run has finished (step S103, YES), this control terminates.

[0047] According to this embodiment configured as described above, a predetermined process is executed according to the result of determining whether the amount of operation performed by the driver during the training run is outside the operating range in which automatic parking can be performed. As a result, the driver can recognize that the current amount of operation performed by the control unit 10 is outside the operating range in which automatic parking can be performed. Consequently, by the driver correcting the operation of the control unit 10 during the training run, it is possible to suppress errors in path following during automatic parking.

[0048] This also prevents automatic parking failures and the need to restart the driver's driving sequence during automatic parking.

[0049] In the above embodiment, the predetermined process was a process related to the display unit 30, but this disclosure is not limited thereto. For example, as shown in Figure 7, if the vehicle 1 has an audio output unit 40, the predetermined process may be a process that outputs audio from the audio output unit 40 of the vehicle 1.

[0050] The audio output unit 40 is, for example, an in-vehicle device capable of outputting audio, such as a car navigation system.

[0051] Examples of processes that output audio include issuing an audio warning if the current driver input (steering angle) is too large, and providing audio guidance to encourage the driver to reduce the steering angle.

[0052] Through voice processing, the driver can audibly recognize that the current amount of input from the control unit 10 is outside the range of operation required for automatic parking.

[0053] Furthermore, for example, as shown in Figure 8, if the vehicle 1 has a resistance-applying unit 50, the predetermined process may be a process that applies resistance to the driver's operation.

[0054] The resistance force applying unit 50 applies a reaction force (resistance force) to the steering wheel, for example, when the steering angle of the operating unit 10 (handle) exceeds the predetermined angle. Known technologies can be used for the resistance force applying unit 50.

[0055] Through resistance processing, the driver can tactilely recognize that the current amount of operation performed on the control unit 10 is outside the operating range that enables automatic parking.

[0056] Furthermore, for example, as shown in Figure 9, if the vehicle 1 has a vibration-applying unit 60, the predetermined process may be a process that applies vibration to the driver's operation.

[0057] The vibration-applying unit 60 applies vibration to the steering wheel, for example, when the steering angle of the operating unit 10 (steering wheel) exceeds the predetermined angle. Known technologies can be used for the vibration-applying unit 60.

[0058] Through vibration processing, the driver can tactilely recognize that the current amount of input to the control unit 10 is outside the range of operation that enables automatic parking.

[0059] Furthermore, in each of the above embodiments, the predetermined processing was the processing of the display unit 30, the audio output unit 40, the resistance force application unit 50, or the vibration application unit 60. However, the present disclosure is not limited thereto, and the processing may be a combination of two or more of the display unit 30, the audio output unit 40, the resistance force application unit 50, and the vibration application unit 60.

[0060] Furthermore, while the steering angle was given as an example of the driver's operation in the above embodiment, this disclosure is not limited to this, and may also be, for example, the speed at which the operating unit 10 (steering wheel) is turned. Specifically, for example, if the speed at which the operating unit 10 is turned is greater than or equal to a predetermined threshold (which can be set arbitrarily), the determination unit 110 determines that the driver's operation exceeds a predetermined range.

[0061] If the operating unit 10 is rotated at a relatively fast speed (above a predetermined threshold), the control of the parking assist device 100 may not be able to keep up during automatic parking, and errors are likely to occur in path following.

[0062] Therefore, as a predetermined process, the driver is notified by voice or display to slowly rotate the control unit 10, so that the driver can recognize that the current amount of operation of the control unit 10 is outside the operating range that enables automatic parking.

[0063] Furthermore, the driver's input may be, for example, the speed of the vehicle 1 based on the control unit 10 (accelerator pedal). Specifically, for example, if the speed of the vehicle 1 based on the control unit 10 is greater than or equal to a predetermined speed (which can be set arbitrarily), the determination unit 110 determines that the driver's input exceeds a predetermined range.

[0064] For example, if vehicle 1 is moving at a relatively high speed (above a predetermined speed) during a guided drive, the driver's steering speed will be faster, which may cause a delay in steering control during automatic parking, potentially leading to a delay in path following.

[0065] In this case, as a predetermined process, the driver is notified by voice or display that the vehicle 1's speed will be reduced, so that the driver can recognize that the current amount of operation of the control unit 10 is outside the range of operation that enables automatic parking.

[0066] Furthermore, during teacher driving, the driver may turn the steering wheel while vehicle 1 is stopped (vehicle 1's speed is 0). In this case, if the steering wheel operation is controlled while vehicle 1 is moving during automatic parking, the relationship between the steering wheel operation and vehicle 1's speed will differ between teacher driving and automatic parking, which may result in a discrepancy in path following.

[0067] In this case, as a predetermined process, the driver is notified by voice or display that the vehicle 1 will be moved and steering operations will be performed, so that the driver can recognize that the current amount of operation of the control unit 10 is outside the operating range in which automatic parking can be performed.

[0068] Furthermore, the embodiments described above are merely examples of how this disclosure may be implemented, and the technical scope of this disclosure should not be limited by them. In other words, this disclosure can be implemented in various ways without departing from its essence or its main features. [Industrial applicability]

[0069] The parking assistance device and parking assistance method disclosed herein are useful in suppressing errors that occur during path following while automatic parking. [Explanation of Symbols]

[0070] 1 vehicle 10 Control section 20 Detection unit 30 Display section 40 Audio output section 50 Resistance-granting part 60 Vibration-applying section 100 Parking assist system 110 Judgment section 120 Execution Unit

Claims

1. A parking assistance method that provides parking assistance based on the driving path of a trainer driving by the driver, The driving route during the aforementioned teacher driving is stored, Based on the aforementioned driving path, the system will automatically control the parking process. During the aforementioned teacher driving, if the steering angle of the vehicle exceeds a predetermined angle due to the driver's operation, the driver is notified via an audio output device or display device. The predetermined angle includes a first predetermined angle and a second predetermined angle. In the notification to the driver, if the speed of the teacher's driving is a second speed that is faster than the first speed, the driver is notified when the second predetermined angle is smaller than the first predetermined angle at the first speed. Parking assistance methods.

2. In the aforementioned teacher run, the predicted route, which is the path the vehicle is predicted to take, is displayed. The parking assistance method according to claim 1.

3. The predicted path is indicated by a linear shape that shows the outer edge of the area in which the vehicle moves. The parking assistance method according to claim 2.

4. The predicted path region is displayed by superimposing the area enclosed by the aforementioned predicted path with a predetermined color. The parking assistance method according to claim 3.

5. The predicted path region is displayed in a different color from the outer edge. The parking assistance method according to claim 4.

6. The aforementioned notification is a notification to reduce the steering angle. The parking assistance method according to claim 1.

7. The aforementioned notice is a notification that the steering angle will be too large and automatic parking will not be possible. The parking assistance method according to claim 1.

8. If the driver does not reduce the steering angle after the aforementioned notification has been given, the notification to reduce the steering angle will continue. The parking assistance method according to claim 6.

9. If, after the aforementioned notification, the driver completes the training run without reducing the steering angle, the driver is notified that the training run has failed. The parking assistance method according to claim 6.

10. A parking assistance device that provides parking assistance based on the driving path of a trainer driving by the driver, A storage unit that stores the driving route during the aforementioned teacher driving, A control unit that performs automatic parking control based on the aforementioned driving path, During the aforementioned teacher driving, if the steering angle of the vehicle exceeds a predetermined angle due to the driver's operation, the execution unit notifies the driver via an audio output device or display device. Equipped with, The predetermined angle includes a first predetermined angle and a second predetermined angle. The execution unit, in notifying the driver, if the speed of the teacher's driving is a second speed that is faster than the first speed, notifies the driver when the second predetermined angle is smaller than the first predetermined angle at the first speed. Parking assistance methods.

11. The execution unit displays the predicted route, which is the path that the vehicle is predicted to take during the teacher run. Parking assistance device according to claim 10.

12. The predicted path is indicated by a linear shape that shows the outer edge of the area in which the vehicle moves. The parking assistance device according to claim 11.

13. The execution unit displays a predicted path region in which the region enclosed by the predicted path is superimposed with a predetermined color. The parking assistance device according to claim 12.

14. The predicted path region is displayed in a different color from the outer edge. The parking assistance device according to claim 13.

15. The aforementioned notification is a notification to reduce the steering angle. Parking assistance device according to claim 10.

16. The aforementioned notice is a notification that the steering angle will be too large and automatic parking will not be possible. Parking assistance device according to claim 10.

17. If, after issuing the notification, the execution unit continues to issue notifications to the driver to reduce the steering angle, the driver does not reduce the steering angle. The parking assistance device according to claim 15.

18. After the notification is given, if the driver completes the training run without reducing the steering angle, the execution unit notifies the driver that the training run has failed. The parking assistance device according to claim 15.

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