Parking assist system

Abstract

The present invention provides a parking assistance device that can clearly present to the driver information regarding the available and unavailable parking assistance functions. [Solution] In a specific scene where the processor determines that the first automatic parking process and the second automatic parking process cannot be started, and that the registration process can be executed, the processor displays an image G1 on the image display device indicating that the first automatic parking process and the second automatic parking process cannot be started, and an image G2 indicating that the registration process can be started.

Description

Technical Field

[0001] The present invention relates to a parking assistance device having a parking assistance function for assisting a driving operation of parking a host vehicle in a parking spot.

Background Art

[0002] There has been proposed a parking assistance device having a parking assistance function for assisting a driving operation of parking a host vehicle in a parking spot (see, for example, Patent Document 1 below). When a driver of the host vehicle performs an operation to request parking assistance, a processor of this parking assistance device determines (identifies) a target parking area (parking spot) based on information acquired from an in-vehicle sensor (camera). Further, the processor acquires (determines) as a target route a route that can reach the parking spot while avoiding obstacles based on information acquired from the in-vehicle sensor. Then, while sequentially acquiring various information from the in-vehicle sensor, the processor can execute an automatic parking process for controlling a driving device, a braking device, a steering device, etc. of the host vehicle so that the host vehicle travels along the target route (automatic parking function).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] A parking assistance device has also been proposed that includes a function (registration function) that performs a registration process to store information about the vehicle's movement (changes in speed, steering angle, etc.) during the period from the start to the completion of parking by manual operation as parking information in a storage device when the vehicle is parked by manual operation (see, for example, Japanese Patent Application Publication No. 2023-125795). The processor of this type of parking assistance device determines a target route based on the parking information, in addition to real-time information, when parking the vehicle at a parking spot related to registered parking information, and controls the vehicle so that it moves along the target route. This provides advanced parking assistance.

[0005] The processor of a parking assistance system equipped with the above registration function may be unable to start the automatic parking process. For example, if the processor cannot detect (or set) the parking spot lines (the outer frame of the space in which the vehicle will be parked), the processor will be unable to start the automatic parking process. In this case, the processor will display an image on the image display device indicating that the automatic parking process cannot be started.

[0006] In this scenario, even if the parking assist device is unable to initiate automatic parking, it may still be able to initiate registration. In this specific scenario, the image shown above indicates that automatic parking cannot be initiated, but no image is explicitly displayed indicating that registration can be initiated. Therefore, a driver viewing the image display screen may mistakenly believe that all parking assist functions (i.e., automatic parking and registration functions) are unavailable, even though the registration function is available.

[0007] One of the objectives of the present invention is to provide a parking assistance device that can clearly present to the driver information regarding the available and unavailable functions of the parking assistance system.

[0008] To achieve the above objective, the parking assistance device (1) of the present invention is: An on-board sensor (20) for acquiring information about targets located around the vehicle (V0) and information about the vehicle's position, An image display device (60) that displays images (G0, G1, G2), A processor (10) is capable of performing a registration process to store parking information, which is information related to parking at a parking spot (PS), in a storage device (10b) when the driver of the vehicle parks the vehicle at the parking spot (PS) by manual driving operation. Furthermore, it is capable of performing a first automatic parking process that controls predetermined devices of the vehicle so that the vehicle enters the parking spot from outside and parks there, while sequentially acquiring real-time information, which is various information at the present time, from the on-board sensors, and based on the real-time information, and based on the parking information pre-stored in the storage device, controls predetermined devices of the vehicle so that the vehicle enters the parking spot from outside and parks there. It is equipped with. The processor is configured to display a first image (G1) indicating that the automatic parking process cannot be performed and a second image (G2) indicating that the registration process can be performed on the image display device in a specific scene in which the first automatic parking process and the second automatic parking process cannot be performed and the registration process can be performed.

[0009] In the parking assistance device according to the present invention, in a specific scene in which the processor is unable to start the first automatic parking process and the second automatic parking process, but is able to start the registration process, a first image indicating that the first automatic parking process and the second automatic parking process cannot be started, and a second image indicating that the registration process can be started are displayed. In other words, in a specific scene, information regarding the available functions and information regarding the unavailable functions of the parking assistance device are clearly presented to the driver. According to the present invention, it is possible to prevent the driver from mistakenly believing that the registration process cannot be started when the processor is unable to start the first automatic parking process and the second automatic parking process.

[0010] In a parking assistance device according to one aspect of the present invention, The processor displays the first image and the second image alternately in the specific scene.

[0011] The parking assistance device according to this embodiment is suitable when the display area of ​​the image display device is relatively narrow, and by using the entire display area to alternately display the first image and the second image, it is possible to clearly indicate that the automatic parking function is unavailable but the registration function is available.

[0012] In another embodiment of the present invention, a parking assistance device, The processor causes the first image and the second image to be displayed simultaneously within the display area of ​​the image display device.

[0013] This embodiment is suitable when the display area of ​​the image display device is relatively large, and since the first and second images are displayed simultaneously, it is immediately clear that the automatic parking function is unavailable, but the registration function is available. [Brief explanation of the drawing]

[0014] [Figure 1] Figure 1 is a block diagram of a parking assist device according to one embodiment of the present invention. [Figure 2] Figure 2 shows an example of an image displayed when the parking assist function is activated. [Figure 3] Figure 3 is an example of an image displayed in a scenario where the ECU is unable to perform automatic parking operations. [Figure 4] Figure 4 is an example of an image displayed in a scenario where the ECU is unable to perform automatic parking processing but is able to perform registration processing. [Figure 5] Figure 5 is a flowchart showing the processes that the CPU executes when the automatic parking start operation is performed. [Modes for carrying out the invention]

[0015] (Summary) Referring to FIG. 1, the outline of the parking support device 1 according to an embodiment of the present invention will be described. The parking support device 1 is applied to a vehicle V0 (hereinafter referred to as the "host vehicle") equipped with an automatic driving function. The parking support device 1 has a parking support function for assisting the driving operation of parking the host vehicle in a parking spot in a state where the automatic driving function is disabled. Note that as one function of the automatic driving function, such control may be executed.

[0016] (Specific Configuration) As shown in FIG. 1, the parking support device 1 includes an ECU 10, an in-vehicle sensor 20, a driving device 30, a braking device 40, a steering device 50, and a notification device 60.

[0017] The ECU 10 includes a microcomputer including a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, etc. The ECU 10 is connected to other ECUs provided in the host vehicle via a CAN (Controller Area Network).

[0018] The in-vehicle sensor 20 includes a peripheral sensor that acquires information about objects located around the host vehicle. Specifically, the in-vehicle sensor 20 includes a sonar 21 and a camera 22 as peripheral sensors.

[0019] The sonar 21 includes a transmission / reception unit and a signal processing unit (not shown). The transmission / reception unit emits ultrasonic waves around the host vehicle and receives the ultrasonic waves (reflected waves) reflected by a three-dimensional object (for example, a structure (wall, fence, etc.) around the parking spot PS, a curb, a wheel stopper, etc.) located within the radiation range. The signal processing unit calculates the distance, direction, etc. between the host vehicle and the three-dimensional object based on the time required from when the transmission / reception unit emits ultrasonic waves until it receives the reflected waves, the phase difference between the transmitted ultrasonic waves and the received reflected waves, the attenuation level of the reflected waves, etc. The signal processing unit provides these calculation results to the ECU 10.

[0020] The camera 22 includes an imaging device and an image analysis device. The imaging device incorporates a lens and an imaging element such as a CCD (charge coupled device) or a CIS (CMOS image sensor). The imaging device is installed, for example, at the front, right, left, and rear of the host vehicle. Each imaging device captures the surrounding area of the host vehicle at a predetermined frame rate to obtain image data. Each imaging device transmits the image data to the image analysis device. The image analysis device analyzes the acquired image data to obtain information on the target located around the host vehicle from the image. For example, the image analysis device identifies (recognizes) the type of the target located around the host vehicle (e.g., structures around the parking spot PS, curbs, wheel stops, frame lines drawn on the road surface, etc.) and obtains (calculates) the position (direction) of the target relative to the host vehicle. The image analysis device provides the calculation result to the ECU 10.

[0021] In addition, the in-vehicle sensor 20 includes sensors that acquire information on the driving state of the host vehicle. Specifically, the in-vehicle sensor 20 includes a speed sensor 23 and a steering angle sensor 24.

[0022] The speed sensor 23 detects the rotational speed (wheel speed) of each wheel and calculates the speed sp0 (measured value) of the host vehicle based on each wheel speed. The speed sensor 23 provides the calculation result to the ECU 10. The steering angle sensor 24 detects the steering angle θ of the steering wheel and provides it to the ECU 10.

[0023] In addition, the in-vehicle sensor 20 includes a driving operation sensor 25 that acquires information on the operation of the driving operation devices (accelerator pedal, brake pedal, steering wheel, and shift lever) of the host vehicle.

[0024] Furthermore, the in-vehicle sensor 20 includes a navigation system 26 that receives GPS signals from a plurality of GPS satellites and obtains the position (latitude and longitude) of the host vehicle based on the GPS signals.

[0025] The drive unit 30 applies driving force to the drive wheels. The drive unit 30 includes an engine ECU, an internal combustion engine, and a power transmission mechanism (transmission) that transmits driving force to the drive wheels. The engine ECU obtains information indicating the target shift position from other ECUs and controls the transmission based on this information. The engine ECU also obtains a target value for driving force from other ECUs. The engine ECU controls the throttle valve of the internal combustion engine to match the driving force applied to the drive wheels to the target value.

[0026] Furthermore, if the vehicle to which the parking assist system 1 is applied is a hybrid electric vehicle (HEV), the engine ECU can control the driving force generated by either or both of the "internal combustion engine and electric motor" as the vehicle's power source. Also, if the vehicle to which the parking assist system 1 is applied is an electric vehicle (BEV), an electric motor ECU is used instead of the engine ECU to control the driving force generated by the "electric motor" as the vehicle's power source.

[0027] The braking system 40 applies braking force to the wheel (brake disc). The braking system 40 includes a brake ECU, a brake caliper, and the like. The brake caliper includes an actuator that presses the brake pads against the brake disc. The brake ECU obtains a target value for the braking force from another ECU. The brake ECU drives the actuator of the brake caliper to match the braking force applied to the wheel (brake disc) to the target value.

[0028] The steering device 50 adjusts the steering angle θ of the vehicle's steering wheels. The steering device 50 includes a steering mechanism, an electric actuator, a steering ECU, etc. The steering mechanism includes a mechanism that converts the rotational motion of the steering wheel into lateral linear motion to rotate the knuckle arm around an axis. The electric actuator includes an electric motor that drives the steering mechanism. The steering ECU obtains a target value for the steering angle θ from another ECU. The steering ECU drives the electric actuator to match the steering angle θ to the target value.

[0029] The notification device 60 includes an audio device and an image display device. The audio device plays a predetermined sound (warning sound) in response to a command received from the ECU 10. The image display device displays a predetermined image (message, graphic, etc.) in response to a command received from the ECU 10. The image display device is equipped with a touch panel and functions as an input device for the driver to input various information. For example, when the parking assist function described later is activated, the ECU 10 controls the image display device of the notification device 60 so that icons (activation buttons) corresponding to the various functions of the parking assist device 1 are displayed (see Figure 2). When the ECU 10 detects that these icons have been tapped, it executes the process corresponding to that icon. The audio device and image display device of the navigation system 26 may also be used as the notification device 60.

[0030] (Parking assistance function) The parking assistance function includes a registration function and an automatic parking function.

[0031] (Registration function) The ECU 10 can perform a registration process to register (record) information related to parking performed by manual driving when the vehicle is parked at a parking spot PS (for example, a frequently used parking spot PS such as home or work) by manual driving operation. Specifically, when the ECU 10 detects that the driver has performed a predetermined registration start operation (for example, tapping the registration start icon G0b (see Figure 2) displayed on the image display device of the notification device 60) while the parking spot PS to be registered (the short side of the parking spot PS) is located to the side of the vehicle, the ECU 10 sequentially acquires various information from the on-board sensors 20 during the process of the driver parking the vehicle by manual driving operation. For example, the ECU 10 sequentially acquires the current location of the vehicle from the navigation system 26. The ECU 10 also sequentially acquires the speed sp0 from the speed sensor 23. The ECU 10 also sequentially acquires the steering angle θ from the steering angle sensor 24. Furthermore, the ECU 10 sequentially acquires various information from the sonar 21 and camera 22, and based on this information, sequentially acquires the relative position (distance and direction) of the vehicle and targets located around the vehicle. The ECU 10 also sequentially acquires information related to the operation of the vehicle's driving controls (accelerator pedal, brake pedal, steering wheel, shift lever, etc.) from the driving operation sensor 25 (pedal depression depth, steering wheel rotation angle position, shift position, etc.). When the ECU 10 detects that the shift lever has moved to the parking position, it determines that the vehicle has been parked at the parking spot PS and terminates the process of acquiring various information from the on-board sensors 20. Then, based on this information (time-series data), the ECU 10 generates a plan view (map M) showing the position of the parking spot PS and surrounding three-dimensional objects. The map M includes location information of the parking spot PS (for example, the latitude and longitude of the center of the parking spot PS). Furthermore, the ECU 10 acquires the area (path R) that the vehicle has traversed from the start to the end of the manual driving operation. The ECU 10 stores the map M and path R as parking information in the storage device (ROM 10b). The parking assistance device 1 can record (register) parking information related to multiple parking spots PS. The upper limit of the number of parking information entries that can be registered is, for example, three.If, at the time of attempting to register new parking information (when the registration start operation is performed), the number of parking information entries stored in ROM 10b has already reached its upper limit, the parking assist device 1 will be able to register new parking information if the driver performs an operation to delete one or more of the already registered parking information entries.

[0032] (Automatic parking function) When the ECU 10 detects that the driver has performed a predetermined automatic parking request operation (for example, tapping the automatic parking start icon G0a), it acquires various information from the on-board sensors 20 (sonar 21 and camera 22) and, based on this information, determines whether it is possible to detect (or set) the outline of a parking spot PS, which is a space capable of accommodating the vehicle, around (to the side of) the vehicle. If the ECU 10 is able to detect (or set) the outline of a parking spot PS, it determines whether parking information related to that parking spot PS is registered. Specifically, the ECU 10 acquires various information from the sonar 21, camera 22 and navigation system 26. Based on this information, the ECU 10 acquires location information P0 indicating the position of the center of the parking spot PS. The ECU 10 compares this location information P0 with the location information included in each piece of parking information.

[0033] If no parking information containing location information matching location information P0 exists, the ECU 10 determines that no parking information pertaining to parking spot PS exists. In this case, the ECU 10 acquires various information from the sonar 21 and camera 22, and based on this information, acquires (determines) a route (target route Rt) that allows the vehicle to reach the parking spot PS from its current location while avoiding obstacles.

[0034] The ECU 10 sequentially acquires various information from the on-board sensors 20 and controls the drive unit 30, braking unit 40, and steering unit 50 (hereinafter referred to as "drive unit, etc.") based on this information (real-time information) so that the vehicle proceeds along the target path Rt (first automatic parking process). Based on the real-time information acquired during the process of the vehicle proceeding along the target path Rt, the ECU 10 corrects the target path Rt based on the same real-time information if it detects a new obstacle. If the ECU 10 cannot correct the target path Rt (cannot avoid the obstacle), it interrupts the first automatic parking process. The ECU 10 terminates the first automatic parking process when it detects that the vehicle has reached the target position (end of the target path Rt). Alternatively, the ECU 10 may terminate the first automatic parking process when it detects that the entire vehicle is within the parking spot PS based on information acquired from the sonar 21 and camera 22.

[0035] On the other hand, if parking information exists that includes location information matching location information P0, the ECU 10 determines that parking information related to the parking spot PS exists. In this case, the ECU 10 acquires various information from the sonar 21 and camera 22, and in addition to this information, acquires (determines) the target route Rt based on the parking information related to the parking spot PS (the route R when the vehicle was parked by manual driving operation).

[0036] The ECU 10 controls the drive system and other components to ensure the vehicle moves along the target path Rt based on real-time information and parking information (second automatic parking process). If the ECU 10 detects a new obstacle based on real-time information while the vehicle is moving along the target path Rt, it corrects the target path Rt based on the same real-time information and parking information. If the ECU 10 cannot correct the target path Rt (cannot avoid the obstacle), it interrupts the second automatic parking process. The ECU 10 terminates the second automatic parking process when it detects that the vehicle has reached the target position (end of the target path Rt). Alternatively, the ECU 10 may terminate the second automatic parking process when it detects, based on information acquired from the sonar 21 and camera 22, that the entire vehicle is within the parking spot PS.

[0037] Incidentally, there are scenarios in which the ECU 10 cannot start the first automatic parking process and the second automatic parking process (the process of automatically parking the vehicle). One example of such a scenario is when the outer frame (or part thereof) of the parking spot PS is covered by snow, and the ECU 10 (camera 22) is unable to detect the outline of the parking spot PS. Another example is when the image acquired by the camera 22 is unclear due to nighttime or bad weather conditions, and the outer frame of the parking spot PS cannot be detected. Yet another example is when an obstacle exists inside or near the parking spot PS, making it impossible to set the target path Rt. In such cases, when the ECU 10 is unable to start the first automatic parking process and the second automatic parking process, it controls the notification device 60 (image display device) to display the image G1 shown in Figure 3. Image G1 includes image G1a, which indicates that the ECU 10 is unable to start the automatic parking process (the automatic parking function cannot be used), and image G1b, which indicates the reason (for example, a message and graphic indicating that the parking spot PS (outline) cannot be detected). Image G1 also includes a cancel icon G1c used to cancel an automatic parking request.

[0038] Even if the ECU 10 is unable to detect the outline of the parking spot PS, the driver may still be able to recognize the parking spot PS and park their vehicle there through manual driving operations. Furthermore, even if the ECU 10 is unable to acquire (determine) the target path Rt due to an obstacle within or near the parking spot PS, the driver may still be able to avoid the obstacle and park their vehicle there through manual driving operations. In these scenarios, unless the on-board sensor 20 is malfunctioning or abnormal, parking information related to the manual driving operation can be registered (or existing parking information related to the parking spot PS can be updated).

[0039] Therefore, if the ECU 10 is unable to start the first automatic parking process and the second automatic parking process, and uses the well-known self-diagnostic function (OBD) of each device of the on-board sensor 20 to detect that each device is operating normally, it controls the notification device 60 (image display device) so that the image G2 shown in Figure 4 (an image indicating that the ECU 10 can start the registration process) and the aforementioned image G1 are displayed alternately. For example, the ECU 10 first (preferentially) displays image G1, and after a predetermined time has elapsed, it erases image G1 and displays image G2. After a predetermined time has elapsed since displaying image G2, it erases image G2 and displays image G1 again. The ECU 10 repeats this process thereafter. Image G2 includes image G2a (message) indicating that the ECU 10 can execute the registration process (the registration function is available). Image G2 also includes an image (registration start icon G2b) used to request the start of the registration process. ECU10 starts the registration process when it detects that the registration start icon G2b has been tapped.

[0040] Furthermore, if the ECU 10 is unable to start the first automatic parking process and the second automatic parking process (the process of automatically parking the vehicle), and is also unable to start the registration process, it controls the notification device 60 (image display device) so that only image G1 is displayed. Alternatively, the ECU 10 may control the notification device 60 (image display device) so that image G1 and an image indicating that the registration process cannot be started are displayed alternately. In addition, if a predetermined cancellation condition is met during the period in which image G1 or image G2 is displayed, the ECU 10 terminates all processes related to the parking assistance function. For example, the cancellation condition is met when the cancel icon G1c or the cancel icon G2c is tapped. Alternatively, the system may be configured so that the cancellation condition is met when the driver starts driving the vehicle manually and the distance between the parking spot PS and the vehicle exceeds a threshold (when the vehicle has driven to a point where the driver can determine that they have given up on parking the vehicle at the parking spot PS).

[0041] As described above, the parking assistance device 1 has a function to determine the display image according to whether or not the first automatic parking process, the second automatic parking process, and the registration process can be started.

[0042] Next, referring to Figure 5, we will explain the program PR1 executed by the CPU 10a (hereinafter simply referred to as "CPU") in order to realize the function of the ECU 10 to determine the display image according to whether or not the first automatic parking process, the second automatic parking process, and the registration process can be started (can or cannot be started).

[0043] When the CPU detects that the automatic parking start icon G0a has been tapped, it executes program PR1 as shown in Figure 5.

[0044] In step 100, the CPU begins executing program PR1 and proceeds to step 101.

[0045] In step 101, the CPU determines whether it is possible to start the automatic parking process (either the first automatic parking process or the second parking process (a process that automatically parks the vehicle)). The CPU determines that it is possible to start the automatic parking process if it can detect a parking spot PS and set a target path Rt based on the information obtained from the on-board sensor 20 (and parking information (if registered)). If the CPU determines that it is possible to start the automatic parking process (101: Yes), it proceeds to step 102. On the other hand, if the CPU does not determine that it is possible to start the automatic parking process (101: No), it proceeds to step 103. In other words, if the CPU is able to start either the first automatic parking process or the second automatic parking process, it proceeds to step 102. On the other hand, if the CPU is unable to start either the first or second automatic parking process, it proceeds to step 103.

[0046] In step 102, the CPU executes an automatic parking process (either the first or second automatic parking process). Specifically, if parking information related to the detected parking spot PS is not registered, the CPU starts the first automatic parking process; if the parking information is already registered, it starts the second automatic parking process. When the vehicle reaches the target position, the CPU terminates the automatic parking process and proceeds to step 110. If the CPU is unable to avoid an obstacle before the vehicle reaches the target position, it displays a message on the notification device 60 (image display device) indicating that the automatic parking process cannot be continued, and forcibly terminates (interrupts) program PR1.

[0047] In step 103, the CPU determines whether or not the registration process can be started. The CPU determines that the registration process can be started if all the devices constituting the in-vehicle sensor 20 are operating normally. If the CPU determines that the registration process can be started (103: Yes), it proceeds to step 104. On the other hand, if the CPU does not determine that the registration process can be started (103: No), it proceeds to step 108.

[0048] In step 104, the CPU controls the notification device 60 (image display device) so that image G1 and image G2 are displayed alternately. Next, the CPU proceeds to step 105.

[0049] In step 105, the CPU determines whether the registration start icon G2b was tapped. If the CPU determines that the registration start icon G2b was tapped (105: Yes), it proceeds to step 106. On the other hand, if the CPU does not determine that the registration start icon G2b was tapped (105: No), it proceeds to step 107.

[0050] In step 106, the CPU executes the registration process. While the CPU is executing the registration process, it displays the image acquired by camera 22 on the image display device. Once the registration process is complete, the CPU proceeds to step 110.

[0051] In step 107, the CPU determines whether the cancel icon G1c or the cancel icon G2c has been tapped. If the CPU determines that the cancel icon G1c or the cancel icon G2c has been tapped (107: Yes), it proceeds to step 110. On the other hand, if the CPU does not determine that the cancel icon G1c or the cancel icon G2c has been tapped (107: No), it returns to step 104. That is, the CPU continues the process of alternately displaying image G1 and image G2 on the notification device 60 (image display device). Furthermore, if, while the CPU is repeatedly executing the process consisting of steps 104 to 107, the driver starts moving their vehicle and the distance between the parking spot PS and the vehicle exceeds a threshold (when the vehicle has moved to a extent that it can be determined that the driver has given up on parking at the parking spot PS), it proceeds to step 110.

[0052] In step 108, the CPU controls the notification device 60 (image display device) so that image G1 is displayed. In this case, the CPU does not display image G2. Next, the CPU proceeds to step 109.

[0053] In step 109, the CPU determines whether the cancel icon G1c was tapped. If the CPU determines that the cancel icon G1c was tapped (109: Yes), it proceeds to step 110. On the other hand, if the CPU does not determine that the cancel icon G1c was tapped (109: No), it returns to step 108. That is, the CPU continues the process of displaying image G1 on the image display device. While the CPU is repeatedly executing the process consisting of steps 108 and 109, if the driver starts moving their vehicle and the distance between the parking spot PS and the vehicle exceeds a threshold, it proceeds to step 110.

[0054] In step 110, the CPU controls the notification device 60 (image display device) so that a predetermined image (image G0 or the home screen of the navigation system 26 (e.g., a map)) is displayed, and then terminates the execution of program PR1.

[0055] (effect) In the parking assist device 1, in a specific scene where the ECU 10 is unable to start the first automatic parking process and the second automatic parking process, but can start the registration process, an image G1 indicating that the automatic parking process (first automatic parking process and second automatic parking process) cannot be started and an image G2 indicating that the registration process can be started are displayed alternately. In other words, in a specific scene, information regarding the available and unavailable functions of the parking assist function is clearly presented to the driver. This prevents the driver from mistakenly believing that the registration process cannot be started when the ECU 10 is unable to start the first and second automatic parking processes.

[0056] (modified version) In the above embodiment, in a scene (specific scene) where the ECU 10 is unable to start the first automatic parking process and the second automatic parking process, but can start the registration process, the ECU 10 controls the notification device 60 (image display device) so that image G1 and image G2 are displayed alternately. Alternatively, the ECU may control the notification device 60 (image display device) so that in the specific scene, image G1 and image G2 are displayed simultaneously within the display area of ​​the notification device 60 (image display device). [Explanation of Symbols]

[0057] 1...Parking assist system, 10...ECU, 20...On-board sensor, 30...Drive system, 40...Braking system, 50...Steering system, 60...Notification system

Claims

1. An on-board sensor for acquiring information about targets located around the vehicle and information about the vehicle's position, An image display device that displays images, A processor capable of executing a registration process to store parking information, which is information related to parking in a parking spot, in a storage device when the driver of the vehicle parks the vehicle in a parking spot by manual driving operation, and further capable of executing a first automatic parking process that controls predetermined devices of the vehicle so that the vehicle enters the parking spot from outside and parks based on the real-time information obtained sequentially from the on-board sensors, and a second automatic parking process that controls predetermined devices of the vehicle so that the vehicle enters the parking spot from outside and parks based on the parking information stored in the storage device in addition to the real-time information. A parking assist device equipped with, Parking assistance device configured such that, in a specific scene in which the processor determines that the first automatic parking process and the second automatic parking process cannot be started and the registration process can be started, the processor causes the image display device to display a first image indicating that the first automatic parking process and the second automatic parking process cannot be started and a second image indicating that the registration process can be started.

2. In the parking assistance device according to claim 1, The processor is configured to alternately display the first image and the second image in the specific scene, as a parking assistance device.

3. In the parking assistance device according to claim 1, The aforementioned processor is configured to simultaneously display the first image and the second image within the display area of ​​the image display device, in a parking assistance device.

Images