Parking Assistance Device

Abstract

To enhance the possibility that a vehicle can be accurately parked at a target parking position even if the size of a parking space is detected to be narrower than "already detected size".SOLUTION: A parking support device includes a sensor for receiving reflection waves obtained by reflecting transmitted electromagnetic waves or acoustic waves on an object, and thereby detecting the object, and a controller for executing parking support control of parking a vehicle in a parking space set on the basis of the detection result of the sensor. The controller imparts a predetermined margin to the size of a peripheral object that is an object detected by the sensor and exists in the periphery of the parking space in a direction where the parking space is narrow, executes the parking support control using the size of the peripheral object to which the margin is imparted, and executes the parking support control using the size of the peripheral object newly detected by the sensor when the size of the peripheral object newly detected by the sensor after the margin has been imparted thereto becomes larger than the size to which the margin is imparted.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a parking assistance device that performs parking assistance control to automatically perform some or all of the operations required to park a vehicle in a set parking space based on the detection results of a sensor that detects an object by receiving a reflected wave of a transmitted wave. [Background technology]

[0002] Conventionally, parking assistance devices are known that set a parking space based on the detection results of an ultrasonic sensor or the like and execute parking assistance control to park a vehicle in the parking space. For example, the parking assistance device described in Patent Document 1 (hereinafter referred to as the "conventional device") determines whether the following condition is satisfied when the actual space length is detected after the parking space length is detected as shorter than the actual length (i.e., when the actual size of the parking space is detected after the size of the parking space is detected as narrower than the actual size). Condition: The vehicle's deflection angle relative to the longitudinal direction of the parking space is below a threshold.

[0003] When the above condition is met, the conventional device executes parking assistance control using the size of the newly detected parking space. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2014-234057 A Summary of the Invention

[0005] Even if the size of the parking space is detected to be larger than the "already detected size," there is no problem that the vehicle cannot be parked accurately in the target parking position of the parking space. However, if the size of the parking space is detected to be smaller than the "already detected size," the above problem is more likely to occur.

[0006] The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide a parking assistance device that increases the possibility of accurately parking a vehicle in a target parking position even when the size of a parking space is detected to be smaller than the "previously detected size."

[0007] The parking assistance device of the present invention (hereinafter referred to as the "device of the present invention") is sensors (24A-24D, 26A-26D, 28A and 28B, 30A and 30B) for detecting an object by receiving a reflected wave of a transmitted wave reflected by the object; and a controller (20) that executes parking assistance control to automatically execute a part or all of the operations required to park the vehicle in the set parking space based on the detection result of the sensor. The controller: A predetermined margin is added to the size of a surrounding object that is detected by the sensor and exists around the parking space in a direction in which the parking space narrows (step 530), and the parking assistance control is executed using the size of the surrounding object to which the margin is added (step 535, step 630); If the size of the surrounding object newly detected by the sensor after the margin is added becomes larger in the direction in which the parking space becomes narrower than the size of the surrounding object added with the margin (step 635 "Yes"), the addition of the margin is terminated and the parking assistance control is executed using the size of the surrounding object newly detected by the sensor (step 640, step 630). The parking assistance device is configured as follows.

[0008] The device of the present invention adds a margin in the direction in which the parking space narrows relative to the size of the surrounding objects. This makes it possible to reduce the amount of change even if the size of the parking space becomes narrower than the "previously detected size," thereby increasing the possibility of parking the vehicle accurately in the target parking position.

[0009] Furthermore, when the "size of the surrounding object newly detected by the sensor" becomes larger than the "size of the surrounding object with the margin added", the device of the present invention stops adding the margin and executes parking assistance control using the size of the surrounding object newly detected by the sensor. This reduces the possibility of the vehicle coming into contact with a surrounding object while the parking assistance control is being executed, thereby reducing the possibility of the vehicle stopping. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic configuration diagram of a system including a parking assistance device according to an embodiment of the present invention. [Diagram 2] FIG. 4 is an explanatory diagram of a detection range of a sonar of the parking assistance device. [Diagram 3] FIG. 2 is an explanatory diagram of an outline of parking assist control executed by the parking assist device. [Figure 4] 4 is a flowchart of a program executed by a CPU of the parking assistance device. [Diagram 5] 4 is a flowchart of a program executed by a CPU of the parking assistance device. [Figure 6] 4 is a flowchart of a program executed by a CPU of the parking assistance device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] As shown in FIG. 1, a parking assistance device 10 according to this embodiment (hereinafter referred to as "the device 10") is applied to a vehicle VA, and includes the components shown in FIG.

[0012] The vehicle control ECU 20 is an ECU that executes parking assist control, which is a type of automatic driving, and is hereinafter referred to as "ECU 20." The parking assist control is a control that automatically executes some or all of the operations required to park the vehicle in the parking space PS.

[0013] In this specification, an "ECU" is an electronic control device having a microcomputer as a main part. The ECU is also called a controller and a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, an interface, and the like. The ECU 20 and some or all of the multiple ECUs described below may be integrated into one ECU.

[0014] The cameras 22 include a front camera, a left camera, a right camera, and a rear camera. The front camera, the left camera, the right camera, and the rear camera capture images of the front, left, right, and rear of the vehicle VA, respectively, to obtain a front image, a left image, a right image, and a rear image.

[0015] Each sonar included in the device 10 will be described below. The sonar transmits ultrasonic waves and obtains the distance between the sonar and a "reflection point, which is a point on an object that reflects the transmitted ultrasonic waves," based on the time from transmission to reception of the ultrasonic waves. The sonar transmits object information including the distance and the "reflection intensity of the received ultrasonic waves" to the ECU 20.

[0016] As shown in FIG. 2, the front sonars 24A to 24D are disposed on the front end face FR of the vehicle VA, the rear sonars 26A to 26D are disposed on the rear end face RR of the vehicle VA, the left side sonars 28A and 28D are disposed on the left side of the vehicle VA, and the right side sonars 30A and 30B are disposed on the right side of the vehicle VA.

[0017] 2, the front sonars 24A to 24D obtain the distance to objects in front of the vehicle VA, the rear sonars 26A to 26D obtain the distance to objects behind the vehicle VA, the left side sonars 28A and 28B obtain the distance to objects on the left side of the vehicle VA, and the right side sonars 30A and 30B obtain the distance to objects on the right side of the vehicle VA. Note that the side sonars 28A, 28B, 30A, and 30B can detect objects farther away than the front sonars 24A to 24D and the rear sonars 26A to 26D.

[0018] The parking assist switch 32 is a switch that the driver operates for parking assist control. The vehicle speed sensor 34 detects the speed (vehicle speed Vs) of the vehicle VA. The yaw rate sensor 36 detects the yaw rate of the vehicle VA. The steering angle sensor 38 detects the steering angle θ of the vehicle VA. The vehicle control ECU 20 receives detection values ​​from the parking assist switch 32 and these sensors.

[0019] The power management ECU 40 is connected to the power train actuator 42 and controls the power train actuator 42. The power train actuator 42 changes the driving force generated by a drive device (e.g., an internal combustion engine and / or an electric motor) of the vehicle VA. The brake ECU 50 is connected to the brake actuator 52 and controls the brake actuator 52. The brake actuator 52 controls the braking force applied to the vehicle VA. The steering ECU 60 drives a steering assist motor (not shown) by controlling a motor drive circuit 62. As a result, the steering ECU 60 changes the steering angle of the vehicle VA. The display ECU 70 displays, on a display device 72 which is a display device and a touch panel, a scenic image in the traveling direction of the vehicle VA, an overhead image of the vehicle VA and its surroundings, etc.

[0020] A CGW (control gateway) ECU 80 controls the transmission and reception of information between the above-mentioned multiple ECUs via a first communication line C1 and a second communication line C2.

[0021] (Activation) The operation of the ECU 20 of the device 10 will now be described. The ECU 20 searches for a parking space PS where the vehicle VA can be parked, while recognizing objects around the vehicle VA based on the images captured by the camera 22 and object information from the sonar. The ECU 20 gives a predetermined margin d to objects (hereinafter referred to as "surrounding objects PO") that exist around the parking space PS so that the parking space PS becomes narrow. After that, the ECU 20 executes parking assistance control using the "size of the surrounding object PO to which the margin d is given (hereinafter referred to as "margin size"). That is, the ECU 20 generates a parking path PR using the margin size, and controls the vehicle VA so that the vehicle VA travels along the parking path PR. The parking path PR is a path along which the vehicle VA travels to park in the parking space PS.

[0022] After that, the ECU 20 executes parking assistance control while recognizing objects around the vehicle VA until the vehicle VA is completely parked in the parking space PS. When the "size of the currently recognized surrounding object PO (hereinafter referred to as the "current size")" becomes larger than the margin size in the direction in which the parking space PS becomes narrower, the ECU 20 executes parking assistance control using the current size.

[0023] Sonar has a problem in that it cannot accurately obtain the distance to a reflecting point on a non-vertical surface of an object. A non-vertical surface is a surface that is not perpendicular to the sonar. This problem occurs because sonar cannot receive the reflected wave from a reflecting point on a non-vertical surface, or even if it can receive the reflected wave, the received strength of the reflected wave is low.

[0024] Due to the above problem, the ECU 20 may not be able to detect the surface of the peripheral object PO facing the parking space PS, and in this case, the size of the parking space PS may be detected as being too large. If the ECU 20 subsequently detects the size of the parking space PS as being narrower than the detected size, the vehicle VA may not be able to be parked accurately at the target parking position Ptgt of the parking space PS.

[0025] According to this embodiment, the ECU 20 adds a margin d to the size of the surrounding object so that the parking space PS becomes narrower. As a result, even if the ECU 20 detects the size of the parking space PS to be narrower than the detected size, the amount of change can be kept short. Furthermore, when the current size becomes larger than the margin size, the ECU 20 executes parking assistance control using the current size. This makes it possible to prevent the vehicle VA from approaching the surrounding object to such an extent that the possibility of contacting the surrounding object increases and the vehicle must be stopped. As a result, the ECU 20 can increase the possibility of accurately parking the vehicle VA in the parking space PS.

[0026] (Example of operation) An example of the operation of the ECU 20 when executing parking assist control for parallel parking the vehicle VA will be described with reference to FIG.

[0027] First, the ECU 20 searches for the parking space PS while recognizing objects. In the example shown in Fig. 3(A), the ECU 20 recognizes an object POr (hereinafter, also referred to as "rear surrounding object POr"), which is a vehicle located to the right of the vehicle VA, based on the detection results of the right side sonars 30A and 30B. The rear surrounding object POr is an object located behind the vehicle VA when the vehicle VA completes parallel parking.

[0028] However, the ECU 20 recognizes the object POr with the size shown by the dotted line in FIG. 3A (i.e., a size smaller than the actual size) based on the reflection points (black circles shown in FIG. 3A) on the left side of the object POr. This is because the ECU 20 cannot detect the "front and rear sides" of the left side of the object POr and the front end surface and rear end surface. In general, the front and rear sides of the left and right sides of a vehicle are designed to be round, so the reception intensity from the reflection points (thin black circles in FIG. 3) on the front and rear sides of the left side of the object POr is low. For this reason, the ECU 20 determines that the distance accuracy to these reflection points is low, and does not use the distances to these reflection points to recognize the object POr. Furthermore, since the front and rear end surfaces of the object POr are non-perpendicular to the left side sonars 28A and 28, the ECU 20 does not receive reflected waves from these surfaces.

[0029] Thereafter, as the vehicle VA continues to move forward, the ECU 20 detects a parking space PS in front of the object POr. After detecting the parking space PS, the ECU 20 sets a target parking position Ptgt in the parking space PS. The ECU 20 identifies a forward movement completion position FFP at which the vehicle VA completes its forward movement and starts moving backward.

[0030] As shown in FIG. 3B, when the vehicle VA reaches the forward movement completion position FFP, the ECU 20 recognizes an object POf, which is a vehicle located to the right of the vehicle VA. The object POf may also be referred to as a forward surrounding object POf. The forward surrounding object POr is an object that is located in front of the vehicle VA when the vehicle VA completes parallel parking. Note that the ECU 20 recognizes the object POf as "a size smaller than the actual size of the object POf," similar to the object POr.

[0031] Before the vehicle VA starts to move backward, the ECU 20 provides a margin d to the opposing surfaces of the parking space PS of the rear peripheral object POr and the front peripheral object POf so that the parking space PS becomes narrower. More specifically, the ECU 20 provides a margin d to the front end surface of the rear peripheral object POr and the rear end surface of the front peripheral object POf so that the space length L of the parking space PS becomes shorter. The space length L is the length of the parking space PS in the "front-rear axial direction of the vehicle VA parked at the target parking position Ptgt". Note that the margins d provided to the rear peripheral object POr and the front peripheral object POf may be different values.

[0032] The ECU 20 generates a parking path PR using the sizes of the rear surrounding object POr and the front surrounding object POf to which the margin d is added.

[0033] After that, the ECU 20 controls the vehicle VA so as to move the vehicle VA backward along the parking path RP. During this time, the ECU 20 continues to recognize objects, and the rear sonars 26A to 26D start to detect the front end surface of the rear peripheral object POr. When at least one of the following conditions 1 and 2 is satisfied as a result of the vehicle VA traveling, the ECU 20 stops providing the margin d and executes parking assistance control using the size of the recognized peripheral object PO.

[0034] Condition 1: The current size is larger than the margin size in the direction that narrows the parking space PS (shortens the space length L). Condition 2: An opposing surface of the surrounding object PO facing the parking space PS has been detected.

[0035] By the time the vehicle VA reaches the initial reverse position IRP shown in FIG. 3, either condition 1 or condition 2 is satisfied, and the ECU 20 ends the provision of the margin d to the rear surrounding object POr. When condition 1 is satisfied, the ECU 20 recognizes the size of the rear surrounding object POr as the current size, and when condition 2 is satisfied, the ECU 20 recognizes the size of the rear surrounding object POr as the size determined based on the opposing surface. When the vehicle VA reaches the initial reverse position IRP, the ECU 20 starts moving the vehicle VA forward to the turning position. The space length L' at the time when the vehicle VA reaches the initial reverse position IRP is slightly longer than the space length L shown in FIG. 3(B). After that, when the vehicle VA reaches the turning position, the ECU 20 reverses the vehicle VA and parks it in the target parking position. Note that, while the vehicle VA is moving forward toward the turning position, either condition 1 or condition 2 is satisfied for the front surrounding object POf, and the ECU 20 ends the provision of the margin d to the front surrounding object POf.

[0036] Here, when the ECU 20 generates the parking path PR without adding the margin d to the size of the rear surrounding object POr recognized before the vehicle VA reverses, the ECU 20 sets a position behind the initial reverse position IRP' as the initial reverse position IRP. In this case, when the vehicle VA reverses and approaches the rear surrounding object POr, the ECU 20 determines that there is a high possibility that the vehicle VA will contact the rear surrounding object POr if the vehicle VA reverses to the initial reverse position IRP', and starts moving the vehicle VA forward to the turning position before reaching the initial reverse position IRP'. For this reason, there is a high possibility that the vehicle VA cannot be sufficiently reversed and the vehicle VA will be parked at a position shifted to the left from the target parking position Ptgt. In this embodiment, the parking path PR is generated after adding the margin d to the size of the rear surrounding object POr, so that the above possibility can be reduced.

[0037] (Specific operation) The CPU of the ECU 20 executes the routines shown in the flowcharts of FIGS. 4 to 6 every time a predetermined time elapses.

[0038] <Parking Assist Start Judgment Routine> When an appropriate time arrives, the CPU starts the process from step 400 in FIG. 4, and in step 405, the CPU determines whether the start flag Xstr is "0" or not.

[0039] The start flag Xstr is set to "1" when parking assist control is started, and is set to "0" when parking assist control is ended. The start flag Xstr is also set to "0" in the initial routine. The initial routine is a routine executed by the CPU when the ignition key switch (not shown) of the vehicle VA is changed from the OFF position to the ON position.

[0040] If the start flag Xstr is "0" (step 405 "Yes"), the CPU determines whether or not the parking assist switch 32 has been operated in step 410. If the parking assist switch 32 has not been operated (step 410 "No"), the CPU proceeds to step 495 and temporarily ends this routine. If the parking assist switch 32 has been operated (step 410 "Yes"), the CPU executes steps 413 to 420.

[0041] Step 413: The CPU recognizes the object based on the image from the camera 22 and the detection results from the sonar. Step 415: The CPU searches for a parking space PS based on the image from the camera 22 and the object recognition results. Step 420: The CPU determines whether or not a parking space PS exists.

[0042] If the parking space PS does not exist (step 420 “No”), the CPU proceeds to step 495 and ends this routine. If the parking space PS exists (step 420 “Yes”), the CPU executes steps 425 and 430.

[0043] Step 425: The CPU transmits a display instruction for the parking space screen to the display ECU 70. The parking space screen is a screen including an image of the vicinity of the parking space PS and a start switch image (not shown). Upon receiving the display instruction, the display ECU 70 causes the display device 72 to display the parking space screen. Step 430: The CPU determines whether or not the start switch image has been touched.

[0044] If the start switch image has not been touched (step 430 “No”), the CPU proceeds to step 495 and ends this routine. If the start switch image has been touched (step 430 “Yes”), the CPU executes steps 435 and 440.

[0045] Step 435: The CPU determines the forward movement completion position FFP, and generates a parking path PR to the forward movement completion position FFP. Step 440: The CPU sets the start flag Xstr to “1”. Thereafter, the CPU proceeds to step 495 and ends this routine.

[0046] <Forward control routine> When an appropriate time arrives, the CPU starts the process from step 500 in FIG. 5, and in step 505, the CPU determines whether the start flag Xstr is "1" or not.

[0047] If the start flag Xstr is "0" (step 505 "No"), the CPU proceeds to step 595 and temporarily ends this routine. If the start flag Xstr is "1" (step 505 "Yes"), in step 510, the CPU determines whether the reverse flag Xre is "0" or not.

[0048] The reverse flag Xre is set to "1" when the vehicle VA reaches the forward movement completion position FFP and starts reverse movement, and is set to "0" when the vehicle VA completes parking at the target parking position Ptgt. The reverse flag Xre is set to "0" in the initial routine.

[0049] If the reverse flag Xre is “0” (step 510 “Yes”), the CPU executes steps 513 and 515. Step 513: The CPU recognizes the object based on the image from the camera 22 and the detection results from the sonar. Step 515: The CPU determines whether or not the vehicle VA has reached the forward movement completion position FFP based on the vehicle speed Vs and the yaw rate Yr. The CPU may also make the above determination based on an image from the camera 22.

[0050] If the vehicle VA has not reached the forward movement completion position FFP (step 515 "No"), in step 520, a forward movement instruction is sent to the ECUs 40, 50, and 60, and the routine proceeds to step 595 to end the routine. The forward movement instruction includes a target acceleration Gtgt and a target steering angle θtgt. Until the vehicle VA reaches a predetermined position on the parking path PR to the forward movement completion position FFP, the CPU acquires a target acceleration Gtgt for the vehicle VA to travel at a predetermined speed Vpd. During the period from when the vehicle VA reaches the predetermined position to when the vehicle VA reaches the forward movement completion position FFP, the CPU acquires a target acceleration Gtgt for the vehicle VA to stop when the vehicle VA reaches the forward movement completion position FFP. The CPU acquires a target steering angle θtgt for the midpoint (reference point) of the left rear wheel and the right rear wheel of the vehicle VA to move on the parking path PR.

[0051] When the power management ECU 40 and the brake ECU 50 receive a forward movement command, they respectively control the power train actuator 42 and the brake actuator 52 so that the acceleration G of the vehicle VA coincides with the target acceleration Gtgt. When the steering ECU 60 receives a forward movement command, they control the motor drive circuit 62 so that the steering angle θ of the vehicle VA coincides with the target steering angle θtgt.

[0052] If the vehicle VA has reached the forward travel completion position FFP (step 515 “Yes”), the CPU executes steps 525 to 540.

[0053] Step 525: The CPU sets the retraction flag Xre to “1”. Step 530: The CPU adds a margin d to the surrounding object PO so that the parking space PS becomes narrower. Step 535: The CPU generates a path (parking path) PR from the forward movement completion position FFP to the target parking position Ptgt, using the size of the surrounding object PO to which the margin d is added. Step 540: The CPU changes the shift range of the transmission (not shown) to the reverse range via a shift actuator (not shown). Thereafter, the CPU proceeds to step 595 and ends this routine.

[0054] <Parking control routine> When an appropriate time arrives, the CPU starts the process from step 600 in FIG. 6, and in step 605, the CPU determines whether the start flag Xstr is "1" or not.

[0055] If the start flag Xstr is "0" (step 605 "No"), the CPU proceeds to step 695 and ends this routine. If the start flag Xstr is "1" (step 605 "Yes"), in step 610, the CPU determines whether the reverse flag Xre is "1" or not.

[0056] If the reverse flag Xre is "0" (step 610 "No"), the CPU proceeds to step 695 and ends this routine. If the reverse flag Xre is "1" (step 610 "Yes"), the CPU executes steps 615 and 620. Step 615: The CPU recognizes objects based on the images from the camera 22 and the detection results from the sonar. Step 620: The CPU determines whether or not the current size has changed from the size of the surrounding object previously recognized (hereinafter referred to as the "previous size").

[0057] If the current magnitude has not changed from the previous magnitude (step 620 "No"), in step 625, the CPU determines whether or not the vehicle VA has reached the target parking position Ptgt.

[0058] If the vehicle VA has not reached the target parking position Ptgt (step 625 "Yes"), in step 630, the CPU transmits "a parking command including the target acceleration Gtgt and the target steering angle θtgt as well as the forward command" to the ECUs 40, 50, and 60. After that, the CPU proceeds to step 695 and temporarily ends this routine.

[0059] If the current size has changed from the previous size (step 620 "Yes"), in step 635, the CPU determines whether the current size is greater than the margin size.

[0060] If the current size is greater than the margin size (step 635 “Yes”), the CPU generates the parking route PR again using the current size in step 640 and proceeds to step 625.

[0061] If the current size is equal to or smaller than the margin size (step 635 "No"), in step 645, the CPU determines whether or not the opposing surface of the peripheral object PO has been detected based on the detection result of the sonar. As an example, when a reflection point is detected on the rear side of the parking space PS, the CPU determines the reflection point as the opposing surface. As another example, when the angle between the "extension line of the line segment connecting the multiple reflection points on the rear side of the parking space PS" and the "side of the peripheral object PO that has already been detected" is approximately 90 degrees, the CPU determines these reflection points as the opposing surface. In step 645, the CPU may determine whether or not the opposing surface has been detected based on the image captured by the camera 22 when the object with the reflection point is a vehicle.

[0062] If an oncoming surface is detected (step 645 “Yes”), the CPU proceeds to step 640 and generates the parking path PR again using the size of the surrounding object PO determined based on the oncoming surface. On the other hand, if an oncoming surface is not detected (step 645 “No”), the CPU proceeds to step 625.

[0063] When the CPU proceeds to step 625, if the vehicle VA has reached the target parking position Ptgt (step 625 "Yes"), the CPU executes steps 650 and 655. Step 650: The CPU sets the start flag Xstr and the retract flag Xre to “0”. Step 655: The CPU changes the shift range of the transmission (not shown) to the parking range via a gear shift actuator (not shown). Thereafter, the CPU proceeds to step 695 and ends this routine.

[0064] As described above, according to this embodiment, the margin d is provided so that the parking space PS is narrower than the size of the surrounding object PO. This increases the possibility of parking the vehicle VA accurately at the target parking position Ptgt even if the size of the parking space PS is detected to be narrower than the "already detected size."

[0065] (Modification) In the above embodiment, the ECU 20 provides the margin d to both the rear surrounding object POr and the front surrounding object POf when parallel parking the vehicle VA, but the margin d may be provided only to either the rear surrounding object POr or the front surrounding object POf.

[0066] In the above embodiment, the ECU 20 provides the margin d to the surrounding object PO immediately before the vehicle VA starts to reverse, but the margin d may be provided to the surrounding object PO at the time when the surrounding object PO is recognized.

[0067] In the parking assist control of the above embodiment, all of the operations required for parking the vehicle VA at the target parking position Ptgt in the parking space PS are automatically executed, but some of the necessary operations may be executed automatically.

[0068] This embodiment is applicable not only to parallel parking but also to perpendicular parking. When performing perpendicular parking, the ECU 20 provides a margin d to the facing surface of a left peripheral object located to the left of the vehicle VA parked at the target parking position Ptgt and / or a right peripheral object located to the right of the vehicle VA so that the parking space PS becomes narrower.

[0069] In the above embodiment, a sonar that detects an object using ultrasonic waves has been exemplified as a sensor for detecting an object, but any sensor that detects an object using waves (for example, electromagnetic waves, sound waves, etc.) may be used.

[0070] The present device 10 is applicable to vehicles such as internal combustion engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. [Explanation of symbols]

[0071] 10...parking assistance device, 20...vehicle control ECU, 24A-24D...front sonar, 26A-26D...rear sonar, 28A and 28B...left side sonar, 30A and 30B...right side sonar.

Claims

1. a sensor for detecting an object by receiving a reflected wave of a transmitted wave reflected by the object; and a controller for executing parking assistance control that automatically executes a part or all of the operations required to park the vehicle in the set parking space based on the detection result of the sensor. The controller: A predetermined margin is added to the size of a surrounding object that is an object detected by the sensor and exists around the parking space in a direction in which the parking space becomes narrower; Executing the parking assist control using the size of the surrounding object to which the margin is added; when the size of the surrounding object detected by the sensor after the margin is provided becomes larger in a direction in which the parking space becomes narrower than the size of the surrounding object to which the margin is provided, the provision of the margin is terminated and the parking assistance control is executed using the size of the surrounding object detected by the sensor. The parking assistance device is configured as follows.

2. 2. The parking assistance device according to claim 1, The controller is configured to, when the sensor detects an opposing surface of the peripheral object facing the parking space, terminate the provision of the margin and execute the parking assistance control using a size of the peripheral object determined based on the opposing surface. Parking assistance device.

3. 2. The parking assistance device according to claim 1, The parking assistance control is a control for automatically executing a part or all of an operation required for parallel parking the vehicle in the parking space, The controller is configured to provide the margin to at least one of a rear peripheral object that is an object located behind the vehicle and a front peripheral object that is an object located in front of the vehicle when parallel parking in the parking space is completed. Parking assistance device.

4. 4. The parking assistance device according to claim 3, The controller is configured to provide the margin to at least one of the rear surrounding object and the front surrounding object before the vehicle starts to reverse toward the parking space. Parking assistance device.

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