Vehicle parking assistance device and program

Abstract

To provide a parking support device that can cancel parking support control while reflecting an occupant's intention.SOLUTION: A parking support ECU 21 of a parking support device 11 is configured to set a target parking position which is the position of a vehicle 10 at the time when a parking operation of the vehicle 10 is completed when a support request is made by an occupant's operation, and to move the vehicle 10 to the target parking position when a movement request is made by the occupant's operation, and to cancel parking support control when detecting an operation of changing a shift range of a transmission 42 two times or more until the parking operation of the vehicle 10 is completed after the movement request is made.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a parking assistance device and a program for a vehicle that can automatically park the vehicle in a parking lot existing in the peripheral area of the vehicle.

Background Art

[0002] Patent Document 1 discloses a parking assistance device for a vehicle configured to be capable of executing parking assistance control, which is control for automatically parking the vehicle in a parking lot. Such a parking assistance device for a vehicle can automatically move the vehicle into a parking lot without requiring operations such as a steering wheel, an accelerator pedal, and a brake pedal by an occupant (driver).

[0003] By the way, during the execution of parking assistance control by the parking assistance device of the vehicle (particularly, while the vehicle is automatically moving by the parking assistance control), the occupant may have an intention to cancel the parking assistance control and drive the vehicle by his / her own operation. For example, during the execution of parking assistance control by the parking assistance device of the vehicle, when it is desired to quickly park the vehicle in the parking lot so as not to obstruct the passage of other vehicles or pedestrians, or when it is desired to move the vehicle away, there may be an intention to cancel the parking assistance control and drive the vehicle by his / her own operation. In such a case, after canceling the parking assistance control, it is required to quickly transfer the operation of the vehicle to the occupant.

[0004] The parking assistance device for a vehicle disclosed in Patent Document 1 is configured to interrupt the parking assistance control when there is an operation other than the operation of the brake pedal during the execution of the parking assistance control, and then, when a predetermined period has elapsed, or when the accelerator pedal or the brake pedal is operated within a predetermined period, or when a cancel icon displayed on the display of the HMI is operated, to end the parking assistance control.

[0005] During the execution of parking support control, when the occupant intends to operate the vehicle by themselves, the occupant may perform an operation to switch the shift range of the transmission to a desired shift range. However, according to the vehicle parking support device described in Patent Document 1, in order to end the parking support control and drive the vehicle by the operation of the occupant, the occupant must first perform an operation to interrupt the parking support control (an operation other than the operation of the brake pedal), and then perform an operation to end the parking support control (such as an operation of the accelerator pedal or the brake pedal within a predetermined period). After that, an operation is performed to switch the transmission to a desired shift range in order to drive the vehicle by the operation of the occupant. Therefore, for example, during the execution of parking support control, just performing an operation to switch the shift range of the transmission (for example, an operation to switch the shift range of the transmission to the "D range" or the "R range") by the occupant's own operation to drive the vehicle does not end the parking support control, and the shift range of the transmission does not change. That is, the intention of the occupant to drive the vehicle by their own operation (that is, an operation to switch the shift range of the transmission to a desired shift range) cannot be reflected in the device to cancel the parking support control. In this case, there may be a problem that the occupant does not know what operation should be performed to drive the vehicle according to their own intention.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

[0007] (Problems to be Solved by the Invention) The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to be able to reflect the intention of the occupant, "I want to stop the parking support control and drive the vehicle by my own operation" by a relatively simple operation, thereby providing a parking support device and a computer program for a vehicle capable of stopping the parking support control.

[0008] (Means for Solving the Problems) To achieve the above object, the present invention An operating member (41) configured to be movable between an initial position and a plurality of positions corresponding to respective shift ranges, a transmission (42) configured to shift to a shift range corresponding to any one of the plurality of positions when the operating member (41) moves from the initial position to any one of the plurality of positions and then returns to the initial position, a target parking position of the vehicle determines and is configured to execute parking support control for moving the vehicle to the target parking position and stopping it (control device (21)) and comprising A parking support device (11) for a vehicle, comprising 、 The control device (21): when detecting a shift operation, which is an operation of moving the operating member (41) from the initial position to any one of the plurality of positions and then returning to the initial position, interrupts the parking assist control without switching the transmission (42) to a shift range corresponding to the shift operation; when detecting a predetermined interruption operation different from the shift operation, interrupts the parking assist control; after a movement request for requesting the start of the movement of the vehicle (10) to the target parking position by when the parking assist control is interrupted by detecting the shift operation after the movement request has occurred, and when the shift operation is detected again while the parking assist control is interrupted, and when the vehicle (10) is stopped and the brake pedal (45) is operated at the time when the shift operation is detected again, aborts the parking assist control; when the parking assist control is interrupted by detecting a predetermined interruption operation other than the shift operation, continues the interruption of the parking assist control even if the first shift operation is detected after the interruption of the parking assist control, and when the shift operation is detected again after the first shift operation is detected, and when the vehicle is stopped and the brake pedal (45) is operated at the time when the shift operation is detected again, aborts the parking assist control. When aborting the parking assist control, the shift range of the transmission (42) is switched to a shift range corresponding to the shift operation when the shift operation is detected again. stops the parking support control, Note that

[0009] After the generation of a movement request (i.e., when the vehicle is moving under parking assistance control), an operation to switch the shift range once may be an incorrect operation. On the other hand, an operation to switch the shift range twice is likely to be an operation reflecting the intention of the vehicle occupant to "want to cancel the parking assistance control". Therefore, the parking assistance device for a vehicle according to the present invention does not cancel the parking assistance control by an operation to switch the shift range once, and cancels the parking assistance control when an operation to switch the shift range twice is detected. Accordingly, according to the present invention, the intention of the occupant to "want to end the parking assistance control and drive the vehicle by their own operation" can be reflected in the parking assistance device by a relatively simple operation of switching the shift range twice, and the parking assistance control can be cancelled. In the present invention, "cancellation of the parking assistance control" means "ending the parking assistance control before the vehicle reaches the target parking position by the parking assistance control".

[0011] and After the generation of a movement request, an operation to switch the shift range once may be an incorrect operation as described above, but may also be an operation due to the intention of the vehicle occupant to "want to cancel the parking assistance control". Therefore, when the control device detects an operation to switch the shift range once after the generation of a movement request, it interrupts the parking assistance control. Thereby, it is possible to prevent the parking assistance control from continuing even though the vehicle occupant has the intention to "want to cancel the parking assistance control". Note that "interruption of the parking assistance control" means "temporarily stopping the parking assistance control before the vehicle reaches the target parking position by the parking assistance control".

[0013] also According to such a configuration, even during the interruption of the parking assistance control, the occupant can cancel the parking assistance control by operating the shift range switch twice. Therefore, the operation for canceling the parking assistance control can be unified.

[0015] alsoAccording to such a configuration, when the parking support control is stopped, the shift range of the transmission has been switched to a shift range corresponding to an operation for switching the shift range after the second time. Therefore, the occupant can immediately drive the vehicle without further operating to switch the shift range.

[0017] The shift operation According to such a configuration, it is possible to prevent the vehicle from starting to move when the parking support control is stopped. In other words, it is possible to prevent the vehicle from starting to move unintentionally by the occupant.

[0018] In one aspect of the present invention, the control device (21) while interrupting the parking support control, The shift operation and the restart operation when detecting a predetermined restart operation which is a different operation, resumes the parking support control, while interrupting the parking support control, An operating member (41) configured to be movable between an initial position and a plurality of positions corresponding to respective shift ranges, when detecting a stop operation which is a different operation, is configured to stop the parking support control.

[0019] According to such a configuration, the occupant can resume the parking support control by performing a predetermined restart operation during the interruption of the parking support control. Therefore, even when the parking support control is interrupted due to a misoperation, or when the parking support control is interrupted by an operation based on the intention to temporarily stop the vehicle, it can be resumed from the time when the parking support control is interrupted. On the other hand, the occupant of the vehicle can stop the parking support control by performing a predetermined stop operation during the interruption of the parking support control. For this reason, convenience is improved.

[0020] The program according to the present invention a transmission (42) configured to shift to a shift range corresponding to each of the plurality of positions when the operating member (41) moves from the initial position to any one of the plurality of positions and then returns to the initial position, ​ A control device (21) configured to determine a target parking position of a vehicle and execute parking assistance control to move and stop the vehicle at the target parking position, In a computer of a parking assistance device for a vehicle including, After a movement request for requesting the start of the movement of the vehicle (10) to the target parking position by an occupant of the vehicle (10) occurs, before the vehicle (10) reaches the target parking position, when a shift operation, which is an operation of moving the operation member (41) from the initial position to any one of the plurality of positions and then returning it to the initial position, is detected, the parking assistance control is interrupted without switching the transmission (42) to a shift range corresponding to the shift operation, and when a predetermined interruption operation different from the shift operation is detected, the step of interrupting the parking assistance control, When the parking assistance control is interrupted by detecting the shift operation after the movement request has occurred, if the shift operation is detected again while the parking assistance control is interrupted, and at the time when the shift operation is detected again, the vehicle (10) is stopped and the brake pedal (45) is operated, the step of canceling the parking assistance control, When the parking assistance control is interrupted by detecting a predetermined interruption operation other than the shift operation, the interruption of the parking assistance control is continued even if the first shift operation is detected after the interruption of the parking assistance control, and if the shift operation is detected again after the first shift operation is detected, and at the time when the shift operation is detected again, the vehicle (10) is stopped and the brake pedal (45) is operated, the step of canceling the parking assistance control, When canceling the parking assistance control, the step of switching the shift range of the transmission (42) to a shift range corresponding to the shift operation when the shift operation is detected again, A program for causing the above to be executed.

[0021] According to the program of the present invention, it is possible to cancel the parking support control in accordance with the intention of the occupant to "end the parking support control and drive the vehicle by his / her own operation".

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0023] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the parking support device 11 of the vehicle 10 may be abbreviated as "support device 11".

[0024] (Device Configuration) The support device 11 is mounted on the vehicle 10. As shown in FIG. 1, the support device 11 includes a parking support ECU 21, an engine ECU 22, an SBW·ECU 23, a brake ECU 24, and an EPS·ECU 25. Note that "ECU" means an electronic control unit. These ECUs include microcomputers. The microcomputer includes a CPU, a ROM, a RAM, a readable and writable non-volatile memory, an interface, and the like. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. These ECUs are connected to each other so that data can be exchanged (communication is possible) via a CAN (Controller Area Network). Therefore, the detection results by sensors connected to a certain one of the ECUs and operations on switches and the like can also be acquired by another ECU.

[0025] The parking support ECU 21 is a control device that serves as a center for performing parking support control and interruption / suspension control, which will be described later. Note that the parking support ECU 21 is an example of the control device of the present invention. A support start switch 31, a surrounding sensor 32, an HMI 33, and a vehicle speed sensor 34 are connected to the parking support ECU 21.

[0026] The support start switch 31 is a switch that is operated when an occupant requests the execution of the subsequent stages of the parking support control, which will be described later, for the support device 11. The parking support ECU 21 is configured to be able to detect whether the support start switch 31 has been operated.

[0027] The surrounding sensor 32 is configured to acquire vehicle surrounding information. The vehicle surrounding information includes information about three-dimensional objects existing in the surrounding area of the vehicle 10 (within a predetermined distance range from the position of the vehicle 10) and information about lane lines on the road surface around the vehicle 10. The three-dimensional objects represent, for example, moving objects such as automobiles, pedestrians, and bicycles, as well as stationary objects such as guardrails and fences. The surrounding sensor 32 includes a plurality of radar sensors 321, a plurality of ultrasonic sensors 322, and a plurality of cameras 323. In FIG. 1, for simplicity, one radar sensor 321, one ultrasonic sensor 322, and one camera 323 are shown respectively.

[0028] Each radar sensor 321 includes a radar transceiver (not shown) and a signal processing unit. The radar transceiver emits radio waves in the millimeter wave band (hereinafter referred to as "millimeter waves") to the surrounding area of the vehicle 10 and receives the millimeter waves (i.e., reflected waves) reflected by the three-dimensional objects existing in the surrounding area of the vehicle 10. The signal processing unit acquires information representing the distance between the vehicle 10 and the three-dimensional object, the relative speed between the vehicle 10 and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the vehicle 10, etc., based on the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from transmitting the millimeter wave to receiving the reflected wave. Then, each radar sensor 321 outputs the acquired information to the parking support ECU 21.

[0029] Each ultrasonic sensor 322 transmits ultrasonic waves in a pulsed manner to the surrounding area of the vehicle 10 and receives the reflected waves reflected by the three-dimensional objects. Each ultrasonic sensor 322 acquires information representing "the reflection point which is the point on the three-dimensional object where the transmitted ultrasonic wave is reflected" and "the distance from each ultrasonic sensor 322", etc., based on the time from transmitting the ultrasonic wave to receiving it. Each ultrasonic sensor 322 outputs the acquired information to the parking support ECU 21.

[0030] Each camera 323 is, for example, a digital camera incorporating an image sensor such as a CCD (charge coupled device) or a CIS (CMOS image sensor). Each camera 323 generates image data of the peripheral area of the vehicle 10 at a predetermined frame rate and outputs the generated image data to the parking support ECU 21. The plurality of cameras 323 includes a front camera that captures the area in front of the vehicle 10, a rear camera that captures the area behind the vehicle 10, a right-side camera that captures the area on the right side of the vehicle 10, and a left-side camera that captures the area on the left side of the vehicle 10.

[0031] The parking support ECU 21 receives information from each of the radar sensor 321 and the ultrasonic sensor 322 every time a predetermined time (referred to as the first predetermined time) elapses. The parking support ECU 21 plots the received information (specifically, the position of the reflection point, which is the point where the millimeter wave is reflected, and the position of the reflection point, which is the point where the ultrasonic wave is reflected) on a two-dimensional map. This two-dimensional map is a plan view with the position of the vehicle 10 as the origin, the traveling direction of the vehicle 10 as the X-axis, and the left direction of the vehicle 10 as the Y-axis. Note that the "position of the vehicle 10" is a predetermined geometric center position in the plan view of the vehicle 10. The parking support ECU 21 detects a three-dimensional object in the peripheral area of the vehicle 10 based on the shape formed by a group of reflection points on the two-dimensional map, and specifies the position (distance and azimuth) and shape of the three-dimensional object with respect to the vehicle 10. Note that the "position of the vehicle 10" described above may be another specific position on the vehicle 10 (for example, the central position in the plan view of the left front wheel and the right front wheel and the central position of the left rear wheel and the right rear wheel in the plan view, etc.).

[0032] The parking support ECU 21 acquires image data from each camera 323 every time a first predetermined time elapses. The parking support ECU 21 detects a three-dimensional object in the peripheral area of the vehicle 10 by analyzing the image data from each camera 323, and specifies the position (distance and orientation) and shape of the three-dimensional object with respect to the vehicle 10. The parking support ECU 21 draws the three-dimensional object specified (detected) based on the image data on the two-dimensional map described above. Therefore, the parking support ECU 21 can detect a three-dimensional object existing in the peripheral area of the vehicle 10 based on the information shown on the two-dimensional map.

[0033] When the vehicle speed of the vehicle 10 becomes equal to or lower than a predetermined threshold value while the vehicle 10 is running, the parking support ECU 21 starts searching for a parking lot where the vehicle 10 can be parked. Then, while the vehicle 10 is running and the vehicle speed is equal to or lower than the predetermined threshold value, the parking support ECU 21 continues to search for a parking lot where the vehicle 10 can be parked. Specifically, the parking support ECU 21 searches for an "area where no three-dimensional object exists" included in the peripheral area of the vehicle 10 based on the information shown on the two-dimensional map. When the parking support ECU 21 can detect an area where no three-dimensional object exists and the area has a size and shape that allows the vehicle 10 to be parked, the parking support ECU 21 determines that area as a "parking lot where the vehicle 10 can be parked". When partition lines that demarcate a parking lot drawn on the road surface in the peripheral area of the vehicle 10 are detected, the parking lot is a rectangular area that does not cross the partition lines, and its long side is larger than the length of the vehicle 10 in the front-rear direction by a predetermined margin, and its short side is larger than the length of the vehicle 10 in the left-right direction by another predetermined margin.

[0034] The HMI 33 (Human Machine Interface) is arranged at a location visible and operable by an occupant (driver) sitting in the driver's seat of the vehicle 10. The HMI 33 includes a touch panel display 331. The touch panel display 331 is configured to be able to display an image and receive a touch operation. The parking support ECU 21 can display various images on the touch panel display 331 of the HMI 33 and can detect an operation (touch operation) on the touch panel display 331.

[0035] The vehicle speed sensor 34 detects the speed (vehicle speed) of the vehicle 10 and outputs a signal indicating the vehicle speed to the parking support ECU 21.

[0036] An accelerator pedal operation amount sensor 35 and an engine actuator 36 are connected to the engine ECU 22. The accelerator pedal operation amount sensor 35 detects the operation amount (accelerator opening) of the accelerator pedal 37 and outputs a signal representing the operation amount of the accelerator pedal 37. The engine ECU 22 drives the engine actuator 36 based on the operation amount of the accelerator pedal 37. Thereby, the engine ECU 22 can control the torque (engine generated torque) generated by the engine 38 which is the driving power source of the vehicle 10. The engine generated torque is transmitted to the drive wheels via the transmission 42. Therefore, the engine ECU 22 can control the driving power of the vehicle 10 by controlling the engine actuator 36.

[0037] Note that when the vehicle 10 is a hybrid vehicle, the engine ECU 22 can control the driving power of the vehicle 10 generated by either one or both of the "internal combustion engine and electric motor" as the driving power source for running the vehicle 10. When the vehicle 10 is an electric vehicle, the engine ECU 22 can control the driving power of the vehicle 10 generated by the electric motor as the driving power source for running the vehicle 10.

[0038] The parking support ECU 21 can transmit a driving force control command including the target driving power of the vehicle 10 to the engine ECU 22. When the engine ECU 22 receives the driving force control command from the parking support ECU 21, it automatically controls the engine actuator 36 (that is, without requiring an operation of the accelerator pedal 37 by the occupant) so that the driving power of the vehicle 10 becomes the target driving power included in the received driving force control command.

[0039] The SBW·ECU 23 is connected to the shift lever position sensor 39 and the SBW actuator 40. The shift lever position sensor 39 detects the position of the shift lever 41. The SBW·ECU 23 is configured to acquire the position of the shift lever 41 from the shift lever position sensor 39 and control the SBW actuator 40 based on the acquired position of the shift lever 41. The SBW actuator 40 switches the shift range of the transmission 42 to a predetermined one of a plurality of shift ranges based on a command from the SBW·ECU 23.

[0040] The shift ranges of the transmission 42 include a parking range, a neutral range, a forward range, and a reverse range. The parking range is a range in which the driving force of the engine 38 is not transmitted to the drive wheels and the vehicle 10 is mechanically locked in a stopped position. The neutral range is a range in which the driving force of the engine 38 is not transmitted to the drive wheels and the vehicle 10 is not mechanically locked in a stopped position. The forward range is a range in which the driving force for moving the vehicle 10 forward by the engine 38 is transmitted to the drive wheels. The reverse range is a range in which the driving force for moving the vehicle 10 backward by the engine 38 is transmitted to the drive wheels.

[0041] The shift lever 41 is an operating member that can be operated by an occupant to change the shift range of the transmission 42. The shift lever 41 is provided at a position where it can be operated by an occupant seated in the driver's seat of the vehicle 10. The shift lever 41 is configured to be selectively movable to any one of an initial position, a P corresponding position, an N corresponding position, a D corresponding position, and an R corresponding position. The P corresponding position is a position for switching the shift range of the transmission 42 to the parking range. The N corresponding position is a position for switching the shift range of the transmission 42 to the neutral range. The D corresponding position is a position for switching the shift range of the transmission 42 to the forward range. The R corresponding position is a position for switching the shift range of the transmission 42 to the reverse range. The shift lever 41 is constantly elastically biased to the initial position by a biasing member such as a spring. The occupant can move the shift lever 41 to any desired position among the P corresponding position, the N corresponding position, the D corresponding position, and the R corresponding position against the biasing force of the biasing member. Then, after the shift lever 41 is moved from the initial position to any one of the P corresponding position, the N corresponding position, the D corresponding position, and the R corresponding position by the operation of the occupant, when the occupant releases the hand, the shift lever 41 moves to the initial position by the biasing force of the biasing member.

[0042] In addition to the shift lever 41, the vehicle 10 may have a parking switch as an operating member that can be operated to change the shift range of the transmission 42. The parking switch is a switch that is operated by an occupant to switch the shift range to the parking range. For example, a push-button switch is applied. When the vehicle 10 has a parking switch, the P corresponding position is not included in the positions where the shift lever 41 can move. In this case, the operation of the parking switch corresponds to the operation of moving the shift lever 41 that can move to the P corresponding position to the P corresponding position.

[0043] When the SBW·ECU23 detects that the shift lever 41 has been located at the P corresponding position for a predetermined time (this predetermined time is referred to as the second predetermined time), it drives the SBW actuator 40 to switch the shift range of the transmission 42 to the parking range. Therefore, the vehicle occupant can switch the shift range of the transmission 42 to the parking range by moving the shift lever 41 from the initial position to the P corresponding position, then holding the shift lever 41 at the P corresponding position for the second predetermined time or more, and then returning the shift lever 41 to the initial position (or releasing the hand from the shift lever 41). When the SBW·ECU23 detects that the shift range of the transmission 42 is the parking range at the time when it detects that the shift lever 41 is located at the P corresponding position, the SBW·ECU23 maintains the shift range of the transmission 42 at the parking range. The same applies to the N corresponding position, D corresponding position, and R corresponding position. Hereinafter, the "operation of switching the shift range" may be abbreviated as the "shift operation". Also, the "one shift operation" means "the operation of moving the shift lever 41 from the initial position to any one of the P corresponding position, N corresponding position, D corresponding position, and R corresponding position, and then returning the shift lever 41 to the initial position (including the case where the shift lever 41 returns to the initial position by the biasing force of the biasing member)". If the vehicle 10 is configured with a parking switch as described above, the operation of the parking switch is also included in the shift operation. In this case, one operation of the parking switch (if the parking switch is a push button switch, the operation of pressing it once) is the "one shift operation".

[0044] The parking support ECU21 can send a shift control command including the target shift range to the SBW·ECU23. When the SBW·ECU23 receives the shift control command from the parking support ECU21, it automatically controls the SBW actuator 40 (that is, without requiring the operation of the shift lever 41 by the occupant) so that the shift range of the transmission 42 becomes the target shift range included in the shift control command.

[0045] The brake ECU 24 is connected to the brake pedal operation amount sensor 43 and the brake actuator 44. The brake pedal operation amount sensor 43 is configured to be able to detect the operation amount of the brake pedal 45. The brake actuator 44 generates a frictional braking force on the wheels by adjusting the hydraulic pressure supplied to a wheel cylinder (not shown) of the frictional brake mechanism based on a command from the brake ECU 24. Then, the brake ECU 24 operates the brake actuator 44 according to the operation amount of the brake pedal 45, thereby applying a braking force corresponding to the operation amount of the brake pedal 45 to the wheels.

[0046] The parking support ECU 21 can transmit a braking force control command, which is a signal including a target braking force, to the brake ECU 24. When the brake ECU 24 receives the braking force control command from the parking support ECU 21, it controls the brake actuator 44 so that the braking force of the vehicle 10 becomes the target braking force included in the received braking force control command. In this way, the brake ECU 24 can automatically control the braking force of the vehicle 10 (that is, without requiring an operation of the brake pedal 45 by the occupant) by driving the brake actuator 44 based on the braking force control command from the parking support ECU 21.

[0047] The EPS·ECU 25 is a control device for an electric power steering system. The EPS·ECU 25 is connected to the steering torque sensor 46 and the steering motor driver 47. The steering torque sensor 46 is configured to be able to detect the torque of the rotational operation of the steering wheel 49 by the occupant. The steering motor driver 47 drives the steering motor 48. The steering motor 48 can generate a steering assist torque (a torque for assisting the rotational operation of the steering wheel 49 by the occupant) or steer the left and right steering wheels. That is, the steering motor 48 can change the steering angle of the vehicle 10.

[0048] The parking support ECU 21 can transmit a steering angle control command including a target steering angle to the EPS-ECU 25. When the EPS-ECU 25 receives the steering angle control command from the parking support ECU 21, it controls the steering motor driver 47 so that the steering angle of the steered wheels becomes the target steering angle included in the received steering angle control command. In this way, the parking support ECU 21 can automatically change the steering angle of the steered wheels of the vehicle 10 (i.e., without requiring the driver to operate the steering wheel 49).

[0049] (Overview of Parking Support Control and Interruption / Cancellation Control) The parking support control is a control of "detecting a parking lot existing in the peripheral area of the vehicle 10, setting the detected parking lot as the target parking position, determining a target movement route from the current position of the vehicle 10 to the target parking position, moving the vehicle 10 along the determined target movement route to the target parking position, and stopping the vehicle 10 at the target parking position". The control of "detecting a parking lot existing in the peripheral area of the vehicle 10" is the first stage of the parking support control. The control of "setting the detected parking lot as the target parking position and determining a target movement route from the current position of the vehicle 10 to the target parking position" is the second stage of the parking support control. The control of "moving the vehicle 10 along the determined target movement route to the target parking position and stopping the vehicle 10 at the target parking position" is the third stage of the parking support control. Also, in the present embodiment, "interruption of the parking support control" means "temporarily stopping the parking support control at a point in time before the vehicle 10 reaches the target parking position and stops due to the parking support control (especially the third stage of the parking support control)". "Cancellation of the parking support control" means "ending the parking support control at a point in time before the vehicle 10 reaches the target parking position and stops due to the parking support control".

[0050] (Contents of Parking Support Control) When the vehicle speed becomes equal to or lower than a predetermined value during the running of the vehicle 10, the parking support ECU 21 starts the first stage of the parking support control. Specifically, as described above, the parking support ECU 21 starts searching for a parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10. Then, the parking support ECU 21 continues the search for the parking lot while the vehicle speed is equal to or lower than the predetermined value.

[0051] When the parking support ECU 21 detects a parking lot where the vehicle 10 can be parked, if it detects an operation of the support start switch 31 after (while) the vehicle 10 has stopped, it starts the second stage of the parking support control. Note that the operation of the support start switch 31 by the occupant is the "support request by the occupant's operation" in the present invention. Specifically, when the parking support ECU 21 detects an operation on the support start switch 31, it displays the viewpoint image 501 and the traveling direction image 502 on the touch panel display 331 of the HMI 33. FIG. 2 is a diagram showing an example of the screen 50 of the touch panel display 331 of the HMI 33 in a state where the viewpoint image 501 and the traveling direction image 502 are displayed. As shown in FIG. 2, the parking support ECU 21 divides the screen 50 into two regions on the left and right. Then, the parking support ECU 21 displays the viewpoint image 501 in one of the divided regions (the right region in FIG. 2), and displays the traveling direction image 502 in the other region (the left region in FIG. 2).

[0052] The viewpoint image 501 is an image of the vehicle 10 and the peripheral area of the vehicle 10 as seen from a set virtual viewpoint. A method for generating such a viewpoint image 501 is well known (see, for example, Japanese Unexamined Patent Application Publication Nos. 2012-217000 and 2013-021468, etc.). Therefore, hereinafter, an example of the method for generating the viewpoint image 501 will be briefly described. The parking support ECU 21 generates three-dimensional data about the peripheral area of the vehicle 10 based on the image data. The parking support ECU 21 sets a virtual viewpoint in the generated three-dimensional data. The virtual viewpoint is defined by the viewpoint position and the viewing direction. Then, the parking support ECU 21 generates a viewpoint image 501 showing how the vehicle 10 and the peripheral area of the vehicle 10 are seen by cutting out an image based on the set virtual viewpoint from the generated three-dimensional data. For example, the viewpoint position of the virtual viewpoint is set at a position a predetermined distance directly above from the central position in the plan view of the vehicle body of the vehicle 10. The viewing direction of the virtual viewpoint is set in the directly downward direction from the above-mentioned viewpoint position toward the vehicle 10. Therefore, the viewpoint image 501 is an image that looks down on the vehicle 10 from a position directly above the vehicle 10. Such a viewpoint image 501 is also referred to as an "overhead image".

[0053] The traveling direction image 502 is an image that displays the area in the traveling direction of the vehicle 10. The parking support ECU 21 generates the traveling direction image 502 based on the image data acquired from the front camera or the image data acquired from the rear camera. For example, when the vehicle 10 is moving forward or stopped, the parking support ECU 21 generates a traveling direction image 502 showing the front area of the vehicle 10 based on the image data acquired from the front camera (the image captured by the front camera). On the other hand, when the vehicle 10 is moving backward, the parking support ECU 21 generates a traveling direction image 502 showing the rear area of the vehicle 10 based on the image data acquired from the rear camera. Note that this traveling direction image 502 may be an image that displays the peripheral area including the parking lot detected by the parking support ECU 21. In this case, the parking support ECU 21 generates a traveling direction image 502 showing the peripheral area including the parking lot based on the image data acquired from each camera 323.

[0054] Then, the parking support ECU 21 superimposes and displays a target parking position image 503, which is an image indicating the target parking position, on the parking lot shown in the viewpoint image 501. This shows the target parking position to the occupant. When there is one parking lot where the vehicle can be parked in the peripheral area of the vehicle 10, the parking support ECU 21 displays the target parking position image 50 within the range of the one parking lot shown in the viewpoint image 501. On the other hand, when there are multiple parking lots where the vehicle can be parked in the peripheral area of the vehicle 10, a figure indicating that they are parking lots where the vehicle can be parked is superimposed and displayed on each of the multiple parking lots shown in the viewpoint image 501, and the target parking position image 50 is displayed within the range of one of the parking lots (for example, the parking lot closest to the current position of the vehicle 10). Then, when the parking support ECU 21 detects a touch operation (touch operation on the touch panel display) on any of the multiple parking lots shown in the viewpoint image 501, it displays the target parking position image 50 within the range of the parking lot where the touch operation was performed. In this way, when there are multiple parking lots where the vehicle can be parked in the peripheral area of the vehicle 10, the parking support ECU 21 is configured to set one of the multiple parking lots as the initial value of the target parking position and change the target parking position according to the touch operation on the viewpoint image of the HMI 33 by the occupant.

[0055] Furthermore, the parking support ECU 21 superimposes and displays a parking direction setting button image 505 and a start button image 504 at a predetermined position (for example, near the lower side) of the viewpoint image 501. The parking direction setting button image 505 is a button image for switching the parking direction of the vehicle 10 (that is, whether it is forward parking or reverse parking). Each time the parking support ECU 21 detects a touch operation on the parking direction setting button image 505 once, it switches the parking direction from forward parking to reverse parking or from reverse parking to forward parking. Note that either forward parking or reverse parking (for example, reverse parking) is set as the initial value. The start button image 504 is a button image for instructing the start of the third stage of the parking support control.

[0056] In addition, when a parking lot where the vehicle 10 can be parked cannot be detected in the first stage of the parking support control (in other words, when there is no parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10), the parking support ECU 21 cannot execute the second and third stages of the parking support control. In this case, when the parking support ECU 21 detects an operation of the support start switch 31, an image for notifying the occupant that "there is no available parking lot" is displayed on the touch panel display 331 of the HMI 33 instead of the above-described perspective image 501 and the traveling direction image 502.

[0057] When the parking support ECU 21 detects a touch operation on the start button image 504, it starts the third stage of the parking support control. Specifically, the parking support ECU 21 determines a target movement route. Note that the touch operation on the start button image 504 is the "movement request by the occupant's operation" in the present invention. The target movement route is a route that can move the vehicle 10 from the current position to the target parking position while maintaining a distance between the vehicle 10 and three-dimensional objects (other vehicles, curbs, guardrails, etc.) existing in the peripheral area of the vehicle 10 at a predetermined distance or more. Note that the method for determining the target movement route is not particularly limited, and various conventionally known methods can be applied. For example, the method disclosed in Japanese Patent Application Laid-Open No. 2015-3565 can be applied.

[0058] When the parking support ECU 21 determines the target movement path, it determines the "vehicle 10's movement direction (specifically, the shift range of the transmission 42), steering angle pattern, and speed pattern" for moving the vehicle 10 along the target movement path. The steering angle pattern (steering angle information) is data that associates the center position of the vehicle 10 on the target movement path with the steering angle, and represents the steering angle (target value of the steering angle) when the center position of the vehicle 10 moves along the target movement path. The speed pattern (speed information) is data that associates the center position of the vehicle 10 on the target movement path with the traveling speed, and represents the target value of the vehicle speed (traveling speed) when the center position of the vehicle 10 moves along the target movement path. The speed pattern is set so that the vehicle speed matches a predetermined final target vehicle speed (specifically, 0 km / h) when the center position of the vehicle 10 reaches the target parking position. Hereinafter, the "vehicle 10's movement direction, steering angle pattern, and speed pattern" may be collectively referred to as "movement support information".

[0059] Then, when the parking support ECU 21 determines the movement support information, it starts the movement of the vehicle 10 based on the determined movement support information. Specifically, the parking support ECU 21 transmits a shift control command including the target shift range to the SBW·ECU 23 based on the movement support information. When the SBW·ECU 23 receives the shift control command from the parking support ECU 21, it drives the SBW actuator 40 to change the shift range of the transmission 42 to the target shift range included in the shift control command (i.e., executes shift control). The parking support ECU 21 transmits a steering angle control command to the EPS·ECU 25 based on the determined movement support information. When the EPS·ECU 25 receives the steering angle control command from the parking support ECU 21, it drives the steering motor 48 by controlling the steering motor driver 47 based on the steering angle control command to make the actual steering angle coincide with the target steering angle (i.e., executes steering angle control). The parking support ECU 21 transmits a driving force control command to the engine ECU 22 based on the determined movement support information. When the engine ECU 22 receives the driving force control command from the parking support ECU 21, it controls the engine actuator 36 based on the driving force control command (i.e., executes driving force control). Further, the parking support ECU 21 transmits a braking force control command to the brake ECU 24 based on the determined movement support information. When the brake ECU 24 receives the braking force control command from the parking support ECU 21, it controls the hydraulic circuit based on the braking force control command (i.e., executes braking force control). Then, when the vehicle 10 reaches the target parking position, the parking support ECU 21 stops the vehicle 10 and ends the parking support control.

[0060] (Contents of interruption / suspension control) When the parking support ECU 21 detects a predetermined intervention operation during the execution of the parking support control, it interrupts the parking support control. Specifically, when the parking support ECU 21 detects a predetermined intervention operation while moving the vehicle 10 to the target parking position, it temporarily stops the vehicle 10. In this embodiment, as the predetermined intervention operation, operations of the shift lever 41, the accelerator pedal 37, the brake pedal 45, and the steering wheel 49 are applicable. More specifically, when the parking support ECU 21 detects any of the aforementioned intervention operations, it transmits a braking force control command for stopping the vehicle 10 to the brake ECU 24, and at the same time, transmits a driving force control command for setting the output of the engine 38 to 0 (or the idling state) to the engine ECU 22. Thereby, the vehicle 10 stops temporarily. Note that when the parking support ECU 21 interrupts the parking support control by detecting an intervention operation, it holds the movement support information. Further, the parking support ECU 21 displays an interruption image 506 on the touch panel display 331 of the HMI 33 instead of (that is, erases) the display of the viewpoint image 501. FIG. 3 is a diagram showing an example of the interruption image 506. As shown in FIG. 3, the interruption image 506 includes a cancel button image 509 and a resume button image 508.

[0061] While the parking support ECU 21 is displaying the interruption image 506 on the touch panel display 331 of the HMI 33, if the parking support ECU 21 detects a touch operation on the resume button image 508 without detecting a shift operation, the parking support ECU 21 resumes the third stage of the parking support control (movement to the target parking position of the vehicle 10). In this case, the parking support ECU 21 stops displaying the interruption image 506 and resumes displaying the aforementioned viewpoint image 501 and the traveling direction image 502. On the other hand, while the parking support ECU 21 is displaying the interruption image 506 on the touch panel display 331 of the HMI 33, if the parking support ECU 21 detects a touch operation on the cancel button image 509 without detecting a shift operation, the parking support ECU 21 switches the shift range of the transmission 42 to the parking range and cancels the parking support control. After canceling the parking support control, the vehicle 10 is controlled according to the operations of the shift lever 41, the accelerator pedal 37, the brake pedal 45, and the steering wheel 49 by the occupant. In other words, when the parking support ECU 21 finishes the parking support control, the parking support ECU 21 hands over the control of the vehicle 10 to the occupant. At this time, the parking support ECU 21 discards the movement support information. Also, in this case, the parking support ECU 21 resumes displaying the image that was being displayed immediately before the support start switch 31 was operated on the screen 50 of the touch panel display 331 of the HMI 33.

[0062] In this way, the occupant can interrupt the parking support control by performing an intervention operation during the execution of the parking support control. Further, the occupant can resume the parking support control by touching the resume button image 508 during the interruption of the parking support control, and can cancel the parking support control by touching the cancel button image 509 during the interruption of the parking support control.

[0063] Furthermore, in addition to detecting a touch operation on the aforementioned cancel button image 509, when the parking support ECU 21 detects two shift operations after the start of the third stage of the parking support control (i.e., after the start of the movement of the vehicle 10) and before the vehicle 10 reaches the target parking position, the parking support control is canceled. That is, even without performing a touch operation on the cancel button image 509, by performing two shift operations, the parking support control is canceled. That is, the detection of the second shift operation is a condition for the establishment of the specific condition of the present invention. As described above, when the parking support ECU 21 detects a shift operation after the start of the third stage of the parking support control, the parking support control is interrupted. And when the parking support ECU 21 interrupts the parking support control by a shift operation, the shift operation that triggered the interruption of the parking support control is regarded as one of the two shift operations (i.e., the first shift operation). Therefore, depending on whether the parking support control was interrupted at the time when the first shift operation was detected, the process leading to the cancellation of the parking support control is different.

[0064] (1) When the parking support control is not interrupted at the time of the first shift operation When the parking support ECU 21 detects a shift operation (the first shift operation) during the execution of the parking support control (while the parking support control is not interrupted), it interrupts the parking support control as described above and displays an interruption image 506 on the touch panel display 331 of the HMI 33. And when the parking support ECU 21 detects a shift operation again (the second shift operation) without detecting a touch operation on the resume button image 508 or the cancel button image 509 included in the interruption image 506 (when the specific condition is satisfied), the parking support control is canceled. When the parking support ECU 21 cancels the parking support control, it transfers the control of the vehicle 10 to the occupant. In this case, the parking support ECU 21 switches the shift range of the transmission 42 to the shift range corresponding to the second shift operation. Therefore, after the completion of the parking support control, the occupant can immediately start the running of the vehicle 10 in the shift range corresponding to the second shift operation.

[0065] Note that when the parking support ECU 21 cancels the parking support control by the second shift operation, it transfers the control of the vehicle 10 to the occupant. Therefore, after the cancellation of the parking support control, the vehicle 10 starts running in the shift range corresponding to the second shift operation. For this reason, in a configuration that determines that specific conditions are satisfied by "detection of the second shift operation", the behavior of the vehicle 10 may change suddenly at the time of cancellation of the parking support control. To prevent such a sudden change in the behavior of the vehicle 10, the parking support ECU 21 may execute the following control.

[0066] When the parking support ECU 21 detects a shift operation after the second time, it determines whether the vehicle 10 is stopped and whether the brake pedal 45 is operated at the time when the shift operation after the second time is detected. Then, when the parking support ECU 21 detects a shift operation after the second time, if the vehicle 10 is stopped and the brake pedal 45 is operated at that time, it cancels the parking support control. That is, when the parking support ECU 21 detects a shift operation after the second time and the vehicle 10 is stopped and the brake pedal 45 is operated at the time when the shift operation after the second time is detected, it may be determined that the specific conditions are satisfied. At this time, as shown in FIG. 4, the parking support ECU 21 displays a cancellation image 507, which is an image indicating that the parking support control has been cancelled by the shift operation, on the touch panel display 331 of the HMI 33 for a predetermined time from the time when the shift operation is detected. This cancellation image 507 includes a cancellation message image 510 that displays "the shift lever has been operated". Note that the content of the cancellation message image 510 is not limited to the content shown in FIG. 4. The cancellation message image 510 may be an image indicating "the shift lever has been operated", or an image indicating "the parking support control has been cancelled due to the operation of the shift lever", etc.

[0067] Note that the content of the specific conditions is not limited to the above content. At least "detection of shift operations after the second time after detecting the first shift operation (two or more shift operations)" may be included in the establishment conditions of the specific conditions. And it is preferable that the specific condition is a condition that "two or more shift operations are detected and the stop of the vehicle 10 is maintained at the time of detection of shift operations after the second time". In other words, it is preferable that the specific condition is a condition that is established when "two or more shift operations are detected and the vehicle 10 does not start moving when the parking support control is aborted by a shift operation after the second time".

[0068] In this case, as described above, when the parking support ECU 21 detects a shift operation after the second time, if at least one of the cases where the vehicle 10 is not stopped and the brake pedal 45 is not operated, the parking support control is not aborted. However, the parking support ECU 21 continues the interruption of the parking support control. Specifically, the parking support ECU 21 maintains the stop of the vehicle 10 and continues to display the interruption image 506 on the HMI 33. In this case, when the parking support ECU 21 detects a touch operation on the resume button image 508, it resumes the parking support control, and when it detects a touch operation on the abort button image 509, it aborts the parking support control. However, the parking support ECU 21 may display a message on the touch panel display 331 of the HMI 33 to the effect that "the shift lever 41 has been operated, but the parking support control cannot be aborted because the vehicle 10 is not stopped or the brake pedal 45 is not operated".

[0069] When the vehicle 10 is stopped and the brake pedal 45 is being operated during the third shift operation, the parking support ECU 21 stops the parking support control. That is, in this case, the parking support ECU 21 stops the parking support control by the third shift operation. And in this case, the parking support ECU 21 switches the shift range of the transmission 42 to the shift range corresponding to the third shift operation. The "third shift operation" in this case is a shift operation after the second shift operation and is the last shift operation. Therefore, according to such a configuration, the occupant can stop the parking support control by performing the shift operation two or more times. And the parking support ECU 21 switches the shift range of the transmission 42 to the shift range corresponding to the shift operation (when the specific condition for the last shift operation after the second shift operation is satisfied). The "last shift operation" is the shift operation when the specific condition is satisfied (in other words, the shift operation that makes the specific condition hold), and it can also be said that it is the shift operation that triggers the stop of the parking support control.

[0070] Note that the parking support ECU 21 may not simply determine whether the brake pedal 45 is being operated when detecting a shift operation after the second shift operation, but may determine whether the operation amount of the brake pedal 45 is equal to or greater than a threshold value. And the parking support ECU 21 may stop the parking support control when the operation amount of the brake pedal 45 is equal to or greater than the threshold value, and may continue the interruption of the parking support control when the operation amount of the brake pedal 45 is less than the threshold value. In this case, as the "predetermined threshold value", an "operation amount that generates a braking force capable of maintaining the stop of the vehicle 10" can be applied. According to such control, it is possible to prevent the vehicle 10 from starting to run when the parking support ECU 21 stops the parking support control (at the moment of stopping). In other words, it is possible to prevent the vehicle 10 from starting to move unintentionally by the occupant.

[0071] (2) When the parking support control is interrupted at the time of detecting the first shift operation This is the case where the parking support control is interrupted by an intervention operation other than the shift operation. In this case, when the parking support ECU 21 detects a shift operation (the first shift operation) without detecting a touch operation on the resume button image 508 or the cancel button image 509 during the interruption of the parking support control, the interruption of the parking support control is continued, and the display of the interruption image 506 on the touch panel display 331 of the HMI 33 is continued. In this case, the parking support ECU 21 does not switch the shift range of the transmission 42 (does not send a shift control command instructing the change of the shift range to the SBW·ECU 23). And in this case, when the parking support ECU 21 detects a touch operation on the resume button image 508 without detecting a shift operation again after detecting the first shift operation, the parking support control is resumed. On the other hand, when the parking support ECU 21 detects a touch operation on the cancel button image 509 without detecting a shift operation again after detecting the first shift operation, the parking support control is canceled.

[0072] Also, when the parking support ECU 21 detects a shift operation again (the second shift operation) without detecting a touch operation on the resume button image 508 or the cancel button image 509 after detecting the first shift operation, similar to the above (1), the parking support control is canceled and the shift range of the transmission 42 is switched to the shift range (driver-requested range) corresponding to the second shift operation. Therefore, after canceling the parking support control, the occupant can immediately start the vehicle 10 running in a predetermined shift range (driver-requested range).

[0073] Note that also in this case, similar to the case of the above (1), the parking support ECU 21 may execute the control of "when the vehicle 10 has stopped and the brake pedal 45 is operated at the time of detecting a shift operation after the second time, cancel the parking support control".

[0074] According to such control, the occupant can cancel the parking support control by operating the shift lever 41 two or more times during the execution of the parking support control. Therefore, according to such a parking support ECU 21, the intention of the occupant, "I want to end the parking support control and drive the vehicle 10 by my own operation," can be easily reflected by the shift operation performed two or more times, and the parking support control can be canceled.

[0075] That is, the occupant may have the intention of canceling the parking support control during the execution of the parking support control and controlling the driving of the vehicle 10 by his or her own operation. And in such a case, the occupant may perform a shift operation to switch the shift range of the transmission 42 to the desired shift range. However, a single shift operation after the touch operation on the start button image 504 may be an accidental operation. On the other hand, when the shift operation is performed two or more times, it can be considered highly likely that the occupant has the intention of "canceling the parking support control and controlling the driving of the vehicle 10 by his or her own operation."

[0076] Therefore, the parking support ECU 21 does not cancel the parking support control by a single shift operation after the touch operation on the start button image 504 (that is, after the generation of the movement start request), and cancels the parking support control when two or more shift operations are detected. In this way, the occupant can cancel the parking support control by performing the shift operation two or more times after the generation of the movement request. In particular, when the occupant has the intention of driving the vehicle 10 in the desired shift range, the occupant performs a shift operation to switch the shift range of the transmission 42 to the desired shift range. For this reason, with a configuration in which the parking support control is canceled by two or more shift operations, the occupant can easily cancel the parking support control by performing the shift operation to switch the shift range of the transmission 42 to the desired shift range two or more times. Therefore, it is possible to prevent the problem of the occupant not knowing what operation should be performed to cancel the parking support control (what operation should be performed to drive the vehicle according to his or her own intention) from occurring.

[0077] In addition, when a single shift operation is an erroneous operation, it is preferable that the parking support control continues. However, when the single shift operation is an "operation based on the intention of the occupant to cancel the parking support control", it is preferable that the parking support control is canceled. However, it is difficult for the parking support ECU 21 to determine whether the operation is an erroneous operation or an operation based on the intention of the occupant to cancel the parking support control when a shift operation is detected once. Therefore, in the present embodiment, when the parking support ECU 21 detects a single shift operation (the first shift operation) during the execution of the parking support control (while the parking support control is not interrupted), the parking support control is interrupted.

[0078] According to such control, when the occupant performs a shift operation by mistake, the occupant can immediately resume the parking support control by performing a touch operation on the resume button image 508. On the other hand, a single shift operation may also be an operation based on the intention of the occupant of the vehicle 10 to "cancel the parking support control". Therefore, when the parking support ECU 21 detects a single shift operation after detecting a touch operation on the start button image 504 (that is, after the generation of a movement request), the parking support control is interrupted. Thereby, it is possible to prevent the parking support control from continuing (particularly, the movement of the vehicle 10 from continuing) even though the occupant has the intention to cancel the parking support control.

[0079] In addition, even when the parking support control is interrupted by an intervention operation other than the shift operation, when the parking support ECU 21 detects the shift operation two or more times, the parking support control is canceled. According to such control, regardless of whether the parking support control is interrupted or not, the occupant can cancel the parking support control by performing the shift operation two or more times. That is, the operation for canceling the parking support control can be unified.

[0080] Also, according to this embodiment, an occupant of the vehicle 10 can resume the parking support control by performing a touch operation on a resume button image 508, which is a predetermined resume operation, during the interruption of the parking support control. Therefore, even when the parking support control is interrupted due to a misoperation, or when the parking support control is interrupted by an operation based on the intention to temporarily stop the vehicle 10, the parking support control can be resumed from the point of interruption. On the other hand, the occupant can cancel the parking support control by performing a touch operation on a cancel button image 509 during the interruption of the parking support control. This improves convenience.

[0081] Furthermore, in this embodiment, when the parking support ECU 21 cancels the parking support control by performing a shift operation two or more times, the shift range of the transmission 42 is switched to the shift range corresponding to the last shift operation after the second time. According to such control, the occupant can drive the vehicle 10 in a desired shift range (driver-requested range) without performing a further shift operation after canceling the parking support control.

[0082] (Specific operation of the parking support ECU 21) Next, the specific operation of the parking support ECU 21 will be described. A routine (program) for executing the parking support control and a routine (program) for executing the interruption / cancellation control are stored in advance in the ROM of the parking support ECU 21. Then, the CPU of the parking support ECU 21 reads out and executes the routine for executing the parking support control. Thereby, the above-described parking support control is realized. Further, during the execution of the parking support control, the CPU of the parking support ECU 21 executes a routine for executing the interruption / cancellation control. FIG. 5 is a flowchart showing the content of an interruption / cancellation routine, which is a routine for executing the interruption / cancellation control. In the following description, the CPU of the parking support ECU 21 may be simply abbreviated as the CPU.

[0083] In step S101, the CPU determines whether the vehicle is in the third stage of the parking assistance control. Specifically, the CPU detects a touch operation on the "start button image 504" that instructs the start of the third stage of the parking assistance control. Then, if the parking driving process has not ended, been interrupted, or been aborted, the CPU determines that the vehicle is in the third stage of the parking assistance control. If the CPU determines that the vehicle is not in the third stage of the parking assistance control, the CPU repeats the process of this step S101. If the CPU determines that the vehicle is in the third stage of the parking assistance control, the CPU continues the third stage of the parking assistance control. And in this case, the CPU proceeds with the process to step S102.

[0084] In step S102, the CPU determines whether there has been a shift operation (the first shift operation). If the CPU determines that there has been a shift operation (if the shift operation is detected), the CPU proceeds with the process to step S103. On the other hand, if the CPU determines that there has been no shift operation (if the shift operation is not detected), the CPU proceeds with the process to step S111.

[0085] In step S103, the CPU interrupts the parking assistance control. Specifically, the CPU transmits a braking force control command to the brake ECU 24 to generate a braking force for stopping the vehicle 10, and transmits a driving force control command to the engine ECU 22 to set the output of the engine 38 to 0 (or the idling state). At the same time, the CPU displays an interruption image 506 on the touch panel display 331 of the HMI 33. Then, the CPU proceeds with the process to step S104.

[0086] In step S104, the CPU determines whether there has been an operation on the touch panel display 331 of the HMI 33. If the CPU determines that there has been an operation on the touch panel display 331 of the HMI 33, the CPU proceeds with the process to step S105. If the CPU determines that there has been no operation on the touch panel display 331 of the HMI 33, the CPU proceeds with the process to step S109.

[0087] In step S105, the CPU determines whether the operation on the touch panel display 331 of the HMI 33 is a touch operation on the "resume button image 508" (an operation instructing the resume of the parking support control). If the operation on the touch panel display 331 of the HMI 33 is a touch operation on the resume button image 508, the CPU proceeds with the process to step S106. If the operation on the touch panel display 331 of the HMI 33 is not a touch operation on the resume button image 508, the CPU proceeds with the process to step S107.

[0088] In step S106, the CPU resumes the interrupted parking driving process. Then, the CPU returns the process to step S102.

[0089] In step S107, the CPU determines whether the operation on the touch panel display 331 of the HMI 33 is a touch operation on the "stop button image 509" (an operation instructing the stop of the parking support control). If the operation on the touch panel display 331 of the HMI 33 is not a touch operation on the stop button image 509, the CPU returns the process to step S103. That is, if the operation on the touch panel display 331 of the HMI 33 is neither a touch operation on the resume button image 508 nor a touch operation on the stop button image 509, the CPU continues the interruption of the parking support control. On the other hand, if the operation on the touch panel display 331 of the HMI 33 is a touch operation on the stop button image 509, the CPU proceeds with the process to step S108.

[0090] In step S108, the CPU sends a shift control command to the SBW·ECU 23 to instruct it to switch the shift range of the transmission 42 to the parking range. Then, the CPU stops the parking support control. As a result, the parking support control stops with the shift range of the transmission 42 switched to the parking range. And thereafter, the CPU controls the vehicle 10 according to the operations of the driver's steering wheel 49, accelerator pedal 37, brake pedal 45, and shift lever 41.

[0091] In step S109, the CPU determines whether or not a specific condition is met. Specifically, the CPU determines whether or not a shift operation has been performed. In step S109, it is determined whether or not a further shift operation has been performed (i.e., whether or not a second shift operation has been performed) after the shift operation detected in step S102 (i.e., the first shift operation). If the CPU determines that a shift operation has been performed, it advances the process to step S110. On the other hand, if the CPU determines that no shift operation has been performed, it returns the process to step S103.

[0092] In step S109, the CPU may determine whether the vehicle 10 is stopped and whether the brake pedal 45 is operated, in addition to determining whether a shift operation has been performed. In this case, the CPU detects a shift operation, and if the vehicle 10 is stopped and the brake pedal 45 is operated at the time of detecting the shift operation, determines that the specific condition is met. In this case, the CPU advances the process to step S110. On the other hand, if the vehicle 10 is not stopped or the brake pedal 45 is not operated at the time of detecting the shift operation, that is, if the CPU determines that the specific condition is not met, the process returns to step S103. In addition, the CPU may determine "whether the operation amount of the brake pedal 45 is equal to or greater than a predetermined threshold value" instead of "whether the brake pedal 45 is operated".

[0093] In step S110, the CPU transmits a shift control command to the SBW·ECU 23 to instruct the SBW·ECU 23 to switch the shift range of the transmission 42 to the shift range (driver requested range) corresponding to the shift operation determined to have occurred in step S109. Then, the CPU stops the parking assist control.

[0094] If the CPU determines in step S102 that there is no shift operation, the process proceeds to step S111. In step S111, the CPU determines whether there is an intervention operation other than the shift operation. If the CPU determines that there is no intervention operation other than the shift operation, the process returns to step S102. If the CPU determines that there is an intervention operation other than the shift operation, the process proceeds to step S112. In step S112, the CPU interrupts the parking support control. The content of the processing in this step is the same as the content of the processing in step S103. Then, the CPU proceeds with the process to step S113.

[0095] In step S113, the CPU determines whether there is an operation on the touch panel display 331 of the HMI 33. The content of the processing in this step is the same as the content of the processing in step S104. If the CPU determines that there is an operation on the touch panel display 331 of the HMI 33, the process proceeds to step S114, and if it determines that there is no operation, the process proceeds to step S117.

[0096] In step S114, the CPU determines whether there is a touch operation on the resume button image 508. If the CPU determines that there is a touch operation on the resume button image 508, the process proceeds to step S115, and if it determines that there is no touch operation on the resume button image 508, the process proceeds to step S116.

[0097] In step S115, the CPU resumes the parking support control. Then, the CPU returns the process to step S102.

[0098] In step S116, the CPU determines whether the operation on the touch panel display 331 of the HMI 33 is a touch operation on the cancel button image 509. If the CPU determines that the operation on the touch panel display 331 of the HMI 33 is a touch operation on the cancel button image 509, the process proceeds to step S108. On the other hand, if the CPU determines that the operation on the touch panel display 331 of the HMI 33 is not a touch operation on the cancel button image 509, the process returns to step S112.

[0099] In step S117, the CPU determines whether there has been a shift operation. In this step S109, it is determined whether there has been a shift operation (whether a specific condition has been satisfied) after it was determined in step S102 that there was no shift operation. Therefore, if it is determined in this step that there has been a shift operation (if it is determined that the specific condition has been satisfied), the shift operation is the first shift operation. If the CPU determines that there has been a shift operation, the process returns to step S103. On the other hand, if the CPU determines that there has been no shift operation, the process returns to step S112.

[0100] According to such an interruption / cancellation routine, the above-described interruption / cancellation control is realized.

[0101] Specifically, when the CPU detects a shift operation (the first shift operation) without detecting an intervention operation other than the shift operation during the execution of the third stage of the parking assistance control (at step S101, "Y") (at step S102, "Y"), the CPU interrupts the parking assistance control (step S103). Then, while the parking assistance control is interrupted, when the CPU detects a shift operation (the second and subsequent shift operations) without detecting a touch operation on the touch panel display 331 of the HMI 33 (at step S104, "N") (at step S109, "Y"), the CPU aborts the parking assistance control (step S110). At this time, the CPU switches the shift range of the transmission 42 to the range corresponding to the second and subsequent shift operations (the driver-requested range). As described above, while the parking assistance control is interrupted, if there is a shift operation, the vehicle 10 has stopped at the time of the shift operation, and the brake pedal 45 is being operated, the CPU may abort the parking assistance control. In this way, the occupant can abort the parking assistance control by performing the shift operation two or more times during the execution of the parking assistance control.

[0102] On the other hand, when the CPU detects an intervention operation other than the shift operation without detecting the shift operation during the execution of the third stage of the parking assistance control (at step S101, "Y") (at step S102, "N", at step S111, "Y"), the CPU interrupts the parking assistance control (step S112). Then, while the parking assistance control is interrupted, when the CPU detects a shift operation (the first shift operation) without detecting an operation on the touch panel display 331 of the HMI 33 (at step S113, "N") (at step S117, "Y"), the CPU continues the interruption of the parking assistance control (step S103). After that, while the interruption of the parking assistance control continues, when the CPU detects a shift operation (the second and subsequent shift operations) without detecting an operation on the touch panel display 331 of the HMI 33 (at step S104, "N"), the CPU aborts the parking assistance control (step S110). Therefore, even while the parking assistance control is interrupted by an intervention operation other than the shift operation, the occupant can abort the parking assistance control by performing the shift operation two or more times.

[0103] Incidentally, while the parking support control is interrupted, the occupant can resume the parking support control (Steps S106, S115) by touching the resume button image 508 displayed on the touch panel display 331 of the HMI 33 (when "Y" in Step S104 and "Y" in Step S105, or when "Y" in Step S113 and "Y" in Step S114). Also, while the parking support control is interrupted, the occupant can cancel the parking support control (Step S108) by touching the cancel button image 509 displayed on the touch panel display 331 of the HMI 33 (when "Y" in Step S104, "N" in Step S105, and "Y" in Step S107, or when "Y" in Step S113, "N" in Step S114, and "Y" in Step S116). Incidentally, when the CPU cancels the parking support control by touching the cancel button image 509 displayed on the touch panel display 331 of the HMI 33, the shift range of the transmission 42 is switched to the parking range.

[0104] Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. The present invention can adopt various modifications without departing from its gist.

[0105] For example, in the above embodiment, the vehicle 10 is shown to have an engine 38 (internal combustion engine) as a driving power source for traveling, but the vehicle 10 to which the present invention is applicable is not limited to such a configuration. For example, the vehicle 10 may be a hybrid vehicle or an electric vehicle.

[0106] The method of searching for a parking lot existing in the peripheral area of the vehicle 10 and the method of moving the vehicle 10 to the target parking position are not limited to the above method. For example, the methods described in Japanese Patent Application Laid-Open No. 2021-064104, Japanese Patent Application Laid-Open No. 2021-062736, etc. may be used.

[0107] The vehicle 10 does not necessarily include all of the plurality of radar sensors 321, the plurality of ultrasonic sensors 322, and the plurality of cameras 323 as the surrounding sensors 32, and may include at least one of the radar sensors 321, the ultrasonic sensors 322, and the cameras 323.

[0108] The types of shift ranges are not limited to the above types. For example, the forward range may include a plurality of ranges with different engine brake strengths. In this case, the shift lever is also configured to be movable to positions corresponding to those plurality of ranges.

[0109] In the present embodiment, the configuration in which the operation member operable by the occupant for switching the shift range of the transmission is the shift lever 41 is shown, but the present invention is not limited to such a configuration. For example, the operation member operable by the occupant may be a plurality of push-button switches. For example, each of the plurality of push-button switches corresponds one-to-one to each of the plurality of shift ranges. In this case, an operation of pressing any one of the plurality of push-button switches once is an "operation of switching the shift range".

[0110] In the present embodiment, the transmission is the transmission 42, and the SBW·ECU 23 switches the shift range of the transmission 42 according to the position of the shift lever 41, but the present invention is not limited to such a configuration. For example, when the vehicle 10 is an electric vehicle including an electric motor (motor) as a driving power source, the vehicle 10 may not have the transmission 42. Such a vehicle 10 has a control device (for example, a control device including a computer) that controls the polarity and magnitude of the current supplied to the motor according to the position of the shift lever 41. Therefore, in such a vehicle, this control device corresponds to the transmission of the present invention. As described above, the present invention can be applied to any vehicle having an operation member for switching the shift range, regardless of the type and configuration of the driving power source and the mechanism for transmitting power from the driving power source to the drive wheels.

[0111] In the above embodiment, the configuration in which the specific condition is satisfied "when the second shift operation is detected" and the configuration in which the specific condition is satisfied "when a shift operation after the second time is detected and the vehicle 10 is stopped and the brake pedal 45 is operated at the time when the shift operation after the second time is detected" are shown. However, the establishment conditions of the specific condition are not limited to such conditions. It is sufficient that at least "detection of a shift operation after the second time after detection of the first shift operation" is included in the establishment conditions of the specific condition.

[0112] Furthermore, in the above embodiment, the configuration in which the parking support ECU 21 executes parking support control and interruption / suspension control is shown. However, a device other than the parking support ECU 21 may execute parking support control and interruption / suspension control. In addition, the support device 11 has another ECU other than the parking support ECU 21, the engine ECU 22, the SBW·ECU 23, the brake ECU 24, and the EPS·ECU 25, and the other ECU may execute parking support control and interruption / suspension control. Furthermore, a plurality of devices may cooperate to execute parking support control and interruption / suspension control. Thus, the device that executes parking support control and interruption / suspension control is not limited.

Explanation of Reference Numerals

[0113] 10…Vehicle, 11…Parking support device, 21…Parking support ECU, 31…Support start switch, 33…HMI, 41…Shift lever, 42…Transmission, 331…Touch panel display, 504…Start button image

Claims

A vehicle parking support device comprising: an operation member configured to be movable to an initial position and a plurality of positions corresponding to respective ones of a plurality of shift ranges; a transmission configured such that when the operation member moves from the initial position to any one of the plurality of positions and then returns to the initial position, the transmission is switched to a shift range corresponding to the any one of the positions; a control device configured to determine a target parking position of the vehicle and execute parking support control for moving and stopping the vehicle at the target parking position; wherein the control device, after a movement request for requesting the vehicle to move to the target parking position by an occupant of the vehicle has occurred, and before the vehicle reaches the target parking position, when a shift operation, which is an operation of moving the operation member from the initial position to any one of the plurality of positions and then returning to the initial position, is detected, interrupts the parking support control without switching the transmission to a shift range corresponding to the shift operation, and when a predetermined interruption operation different from the shift operation is detected, interrupts the parking support control; when the parking support control is interrupted by detecting the shift operation after the movement request has occurred, if the shift operation is detected again while the parking support control is interrupted, and if the vehicle is stopped and the brake pedal is operated at the time when the shift operation is detected again, aborts the parking support control; when the parking support control is interrupted by detecting a predetermined interruption operation other than the shift operation, continues the interruption of the parking support control even if the first shift operation is detected after the interruption of the parking support control, and if the shift operation is detected again after the first shift operation is detected, and if the vehicle is stopped and the brake pedal is operated at the time when the shift operation is detected again, aborts the parking support control; when aborting the parking support control, switches the shift range of the transmission to a shift range corresponding to the shift operation when the shift operation is detected again; a vehicle parking support device.

2. The vehicle parking support device according to claim 1, wherein the control device, when a predetermined resume operation, which is an operation different from the shift operation, is detected while the parking support control is interrupted, resumes the parking support control. ​ When a stop operation, which is an operation different from the shift operation and the restart operation, is detected while the parking support control is interrupted, the parking support control is stopped. A parking support device for a vehicle.

3. An operating member configured to be movable to an initial position and a plurality of positions corresponding to respective ones of a plurality of shift ranges, A transmission configured to be switched to a shift range corresponding to each of the plurality of positions when the operating member moves from the initial position to any one of the plurality of positions and then returns to the initial position, A control device configured to determine a target parking position of a vehicle and execute parking support control to move and stop the vehicle at the target parking position, In a computer of a parking support device for a vehicle including After a movement request for requesting the vehicle occupant to start moving the vehicle to the target parking position is generated, when a shift operation, which is an operation of moving the operating member from the initial position to any one of the plurality of positions and then returning to the initial position, is detected at a time prior to the vehicle reaching the target parking position, the parking support control is interrupted without switching the transmission to the shift range corresponding to the shift operation, and when a predetermined interruption operation different from the shift operation is detected, the step of interrupting the parking support control; When the parking support control is interrupted by detecting the shift operation after the movement request is generated, if the shift operation is detected again while the parking support control is interrupted, and if the vehicle is stopped and the brake pedal is operated at the time when the shift operation is detected again, the step of stopping the parking support control; When the parking support control is interrupted by detecting a predetermined interruption operation other than the shift operation, the interruption of the parking support control is continued even if the first shift operation is detected after the parking support control is interrupted, and if the shift operation is detected again after the first shift operation is detected, and if the vehicle is stopped and the brake pedal is operated at the time when the shift operation is detected again, the step of stopping the parking support control; When stopping the parking support control, the step of switching the shift range of the transmission to the shift range corresponding to the shift operation when the shift operation is detected again; A program for causing the above to be executed.

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