Vehicle parking assistance device and program

Abstract

To provide a vehicle parking support device capable of reducing operation for resumption of parking support control.SOLUTION: A parking support device 11 of a vehicle 10 includes: a support start switch 31; and a parking support ECU 21 performing parking support control including a first stage to search a parking place allowing the vehicle 10 to park, a second stage to decide a target parking position, and a third stage to move the vehicle 10 to the targe parking position and stop it. The parking support ECU21 starts the second stage when an operation of a support start switch 31 is detected, the vehicle 10 is stopped and also there is the parking place allowing the vehicle 10 to park, interrupts the second stage when the vehicle 10 starts travelling after start of the second stage, and resumes the second stage without requiring detection of another operation of the support start switch 31 when the vehicle 10 stops during interruption of the second stage and there is the parking place allowing the vehicle 10 to park.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a parking support 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 support device for a vehicle configured to be capable of executing parking support control, which is control for automatically parking the vehicle in a parking lot. Such a parking support device for a vehicle can automatically move the vehicle to a parking lot without requiring operations of a steering wheel, an accelerator pedal, a brake pedal, etc. by an occupant (driver).

[0003] The parking support device for a vehicle disclosed in Patent Document 1 has a parking support switch, which is an operation switch operated (pressed) by an occupant. When this parking support switch is operated while the vehicle is in a stopped state, a parking position selection image, which is an image for allowing the occupant to determine a target parking position, is displayed. Further, when a start button included in the parking position selection image is touched, the parking lot selected at the time of the touch operation of the start button is set as the target parking position, and the vehicle is automatically moved to the target parking position and stopped. Thus, a parking support device is known that displays an image for allowing an occupant to determine a target parking position by operating an operation switch of the occupant, and further starts the movement of the vehicle by a touch operation on the image.

[0004] By the way, since the parking support control device for a vehicle disclosed in Patent Document 1 is configured to display a parking position selection image when an operation on an operation switch is detected while the vehicle is in a stopped state, if the vehicle travels after the operation of the operation switch, in order to display the parking position selection image again, the occupant must operate the operation switch again. For example, after the occupant operates the operation switch with the intention of parking the vehicle in a parking lot existing in the peripheral area of the vehicle, the vehicle may be moved to park in another parking lot. Also, after the occupant operates the operation switch, the vehicle may travel because the depression force of the brake pedal weakens. Therefore, in these cases, the occupant has to repeatedly operate the operation switch every time the vehicle stops, and there is a problem that the operation is troublesome.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] (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 provide a parking support device for a vehicle and a computer program that can reduce the trouble of operating an operation switch by an occupant.

[0007] (Means for Solving the Problems) To achieve the above object, a parking support device (11) for a vehicle (10) according to the present invention includes an operation switch (31) operable by an occupant, a first step of searching for a parking lot where the vehicle (10) can be parked, which exists in the peripheral area of the vehicle (10), Receive an operation for determining a target parking position in the detected parking lot, and when the operation for determining the target parking position is detected, receive an operation for instructing the vehicle (10) to move to the determined target parking position a second step, A stage that starts when an operation for instructing the vehicle (10) to move to the determined target parking position is detected and a control device (21) configured to execute parking support control including Determined a third step of moving the vehicle (10) to the target parking position and stopping it. comprising the control device (21) When the speed of the vehicle becomes equal to or lower than a predetermined threshold during the running of the vehicle (10) while the parking support control is not being executed, execute the first stage when the operation of the operation switch (31) is detected , in the first stage when a parking lot where the vehicle (10) can be parked is detected in the peripheral area of the vehicle (10) and the vehicle (10) is stopped, the second stage is executed. in the second stage During execution when the vehicle (10) Regardless of the third stage starts to run, the second stage is interrupted And execute the first stage During the interruption of the second stage, when a parking lot where the vehicle (10) can be parked is detected in the peripheral area of the vehicle (10) and When the vehicle (10) stops without going through the third stage the second stage is resumed without detecting a re-operation of the operation switch (31). During the interruption of the second stage, if a parking lot where the vehicle (10) can be parked is not detected in the peripheral area of the vehicle (10), and the vehicle (10) stops without going through the third stage, continue the interruption of the second stage is configured as follows.

[0008] According to the present invention, when the second stage of the parking support control is interrupted because the vehicle starts to run after the start of the second stage, the second stage of the parking support control is resumed without detecting a re-operation of the operation switch. For this reason, for example, when the occupant runs the vehicle to park the vehicle in a parking lot existing in the peripheral area of the vehicle, or when the vehicle runs due to insufficient depressing force of the brake pedal, etc., the occupant can resume (continue) the parking support control without operating the operation switch again by stopping the vehicle. Therefore, the number of operations of the operation switch can be reduced, the annoyance of the occupant's operation of the operation switch can be reduced, and the convenience is improved.

[0010] AlsoAccording to such a configuration, if a parking lot where the vehicle can be parked is not detected in the peripheral area of the vehicle during the interruption of the second stage of the parking support control, the interruption of the second stage of the parking support control is continued. After that, when a parking lot where the vehicle can be parked is detected in the peripheral area of the vehicle when the vehicle moves and stops again, the second stage of the parking support control is restarted. That is, once the second stage of the parking support control is interrupted, the interruption of the second stage is continued until the vehicle stops and a parking lot where the vehicle can be parked is detected in the peripheral area thereafter. Therefore, the occupant can restart the interrupted parking support control without operating the operation switch again. Accordingly, convenience can be improved.

[0011] In one aspect of the present invention, during the interruption of the second stage, the control device (21) of the vehicle (10) By driving without going through the third stage when the speed exceeds a predetermined value, stops the parking support control.

[0012] When the vehicle speed exceeds a predetermined value during the interruption of the second stage of the parking support control, it can be considered that the occupant no longer has the intention to park the vehicle. Therefore, in such a case, the parking support control can be stopped according to the intention of the occupant.

[0013] In one aspect of the present invention, a display device (331) capable of displaying an image and accepting a touch operation is provided, when the control device (21) starts or restarts the second stage, an operation image (501), which is an image for accepting an operation for determining the target parking position, is displayed on the display device (331), and an operation on the display device (331) is accepted. During the interruption of the second stage, the display of the operation image (501) is stopped.

[0014] According to such a configuration, the occupant can recognize that the second stage of the parking support control is interrupted. Note that "accepting an operation" means that the control device executes control (processing) according to the operation.

[0015] In one aspect of the present invention, while the control device (21) is in the interruption of the second stage and the vehicle (10) is running, a first image including content prompting the vehicle (10) to stop is displayed on the display device (331). When the vehicle (10) has stopped during the interruption of the second stage but no parking lot where the vehicle (10) can be parked is detected in the peripheral area of the vehicle (10), a second image including content indicating that the parking support control cannot be executed is displayed on the display device (331).

[0016] According to such a configuration, the occupant can know the reason why the second stage of the parking support control is interrupted. In other words, the occupant can know the operations necessary to resume the parking support control.

[0017] In one aspect of the present invention, a configuration can be applied in which the first image is a still image.

[0018] With such a configuration, it is possible to prevent or suppress the occupant from being distracted by the display device while the vehicle is running.

[0019] The program of the present invention is installed in a computer (21) of a parking support device (11) of a vehicle (10) provided with an operation switch (31) operable by an occupant. A first stage of searching for a parking lot where the vehicle (10) can be parked in the peripheral area of the vehicle (10), a second stage of receiving an operation for determining a target parking position in the parking lot and receiving an operation for instructing the vehicle (10) to move to the determined target parking position when the operation for determining the target parking position is detected, and a third stage of moving the vehicle (10) to the determined target parking position and stopping it, a program for executing parking support control, including On the computer (21) During the running of the vehicle (10) while the parking support control is not being executed, when the speed of the vehicle (10) becomes equal to or lower than a predetermined threshold, cause the first stage to be executed When an operation of the operation switch (31) is detected, a parking lot where the vehicle (10) can be parked is detected in the peripheral area of the vehicle (10) in the first stage, and the vehicle (10) is stopped, cause the second stage to be executed When the vehicle (10) starts running without going through the third stage during the execution of the second stage, interrupt the second stage and execute the first stage During the interruption of the second stage, if a parking lot where the vehicle (10) can be parked is detected in the peripheral area of the vehicle (10), and the vehicle (10) stops without going through the third stage, resume the second stage without detecting a re-operation of the operation switch (31) A program that, when a parking lot where the vehicle (10) can be parked is not detected in the peripheral area of the vehicle (10) during the interruption of the second stage and the vehicle (10) stops without relying on the third stage, continues the interruption of the second stage.

[0020] According to the program of the present invention, when the second stage of the parking assistance control is interrupted after the start of the second stage, the second stage of the parking assistance control is restarted without detecting the operation of the operation switch again. Therefore, the occupant does not have to operate the operation switch again to restart the parking assistance control. Therefore, the number of operations of the operation switch can be reduced, improving convenience.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0022] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the parking assistance device 11 of the vehicle 10 may be abbreviated as "assistance device".

[0023] (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 rewritable 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.

[0024] The parking support ECU 21 is a control device that serves as a center for performing parking support control and start / stop control 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.

[0025] The support start switch 31 is an example of the operation switch of the present invention. The support start switch 31 is a switch that is operated when an occupant instructs the support device 11 to execute the subsequent second stage and later of the parking support control described later. The support start switch 31 is arranged at a position where an occupant (driver) sitting in the driver's seat can operate it. For example, a push button switch is applied to the support start switch 31. The parking support ECU 21 is configured to be able to detect whether the support start switch 31 has been operated.

[0026] 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 fixed 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.

[0027] 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") into 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 obtains 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 waves and the received reflected waves, the attenuation level of the reflected waves, and the time from transmitting the millimeter waves to receiving the reflected waves. Then, each radar sensor 321 outputs the acquired information to the parking support ECU 21.

[0028] Each ultrasonic sensor 322 transmits ultrasonic waves in a pulsed manner into the surrounding area of the vehicle 10 and receives the reflected waves reflected by the three-dimensional objects. Each ultrasonic sensor 322 obtains 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 waves to receiving them. Each ultrasonic sensor 322 outputs the acquired information to the parking support ECU 21.

[0029] Each camera 323 is, for example, a digital camera incorporating an imaging device 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.

[0030] 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.).

[0031] 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.

[0032] When the vehicle speed becomes equal to or lower than a predetermined threshold 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, 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 dividing 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 dividing lines, and the long side of the rectangular area is larger than the length of the vehicle 10 in the front-rear direction by a predetermined margin, and the short side of the rectangular area is larger than the length of the vehicle 10 in the left-right direction by another predetermined margin.

[0033] The HMI33 (Human Machine Interface) is arranged at a position visible and operable by an occupant (driver) sitting in the driver's seat of the vehicle 10. The HMI33 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 HMI33 and detect an operation (touch operation) on the touch panel display 331. Note that "receiving a touch operation" means that the parking support ECU 21 executes control (or processing) corresponding to the touch operation on the touch panel display 331. Also, "not receiving a touch operation" means that the parking support ECU 21 does not execute control (or processing) corresponding to the touch operation on the touch panel display 331.

[0034] 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.

[0035] 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.

[0036] In addition, when the vehicle 10 is a hybrid vehicle, the engine ECU 22 can control the driving force of the vehicle 10 generated by either one or both of the "internal combustion engine and electric motor" as the driving force source for the vehicle 10 to travel. When the vehicle 10 is an electric vehicle, the engine ECU 22 can control the driving force of the vehicle 10 generated by the electric motor as the driving force source for the vehicle 10 to travel.

[0037] The parking support ECU 21 can send a driving force control command including the target driving force 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 the operation of the accelerator pedal 37 by the occupant) so that the driving force of the vehicle 10 becomes the target driving force included in the received driving force control command.

[0038] 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 acquires the position of the shift lever 41 from the shift lever position sensor 39 and is configured to 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 the plurality of shift ranges based on an instruction from the SBW·ECU 23.

[0039] The parking support ECU 21 can send a shift control command including the target shift range to the SBW·ECU 23. When the SBW·ECU 23 receives the shift control command from the parking support ECU 21, 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.

[0040] 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 an instruction 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.

[0041] 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.

[0042] 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) and steer the left and right steering wheels. That is, the steering motor 48 can change the steering angle of the vehicle 10.

[0043] 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 an operation of the steering wheel 49 by the occupant) via the EPS-ECU 25.

[0044] (Overview of Parking Support 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 parking support control includes a first stage, a second stage, and a third stage. The first stage of the parking support control is a control of detecting a parking lot existing in the peripheral area of the vehicle 10. The second stage of the parking support control is a control of determining 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. Note that the second stage can also be said to be a stage of displaying an image used by the occupant to determine the target parking position. Further, the control of determining the target parking position in the second stage can also be said to be a control of assisting the occupant in determining the target parking position. The third stage of the parking support control is a 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. Further, the parking support control includes start / stop control. The start / stop control is a control of starting, interrupting, resuming, and stopping the second stage of the parking support control. Note that 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 by the parking support control (particularly the third stage of the parking support control)". "Termination 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 by the parking support control".

[0045] (First stage of parking assistance control) When the vehicle speed becomes equal to or lower than a predetermined value (hereinafter sometimes referred to as the first threshold value) during the running of the vehicle 10, the parking assistance ECU 21 starts the first stage of parking assistance control. The specific value of the first threshold value is not particularly limited, but for example, 15 km / h can be applied. Specifically, as described above, the parking assistance ECU 21 starts searching for a parking lot where the vehicle 10 existing in the peripheral area of the vehicle 10 can be parked. Then, while the vehicle 10 is running and the vehicle speed is equal to or lower than the first threshold value, the parking lot search is continued. Note that during the execution of the first stage of parking assistance control, the parking assistance ECU 21 does not control the display on the touch panel display 331 of the HMI 33 except in the cases described later. Therefore, during this period, another ECU or the like causes a predetermined image to be displayed on the HMI 33. For example, when the vehicle 10 has a GNSS device (Global Navigation Satellite System), the GNSS device displays a navigation image (an image indicating the current position of the vehicle 10) on the touch panel display 331 of the HMI 33.

[0046] (Second stage of parking assistance control) When the parking support ECU 21 detects an operation on the support start switch 31 and the start condition described later is satisfied, it starts the second stage of the parking support control. The second stage of the parking support control includes at least control for accepting an operation instructing the start of movement to the target parking position. In the present embodiment, the parking support ECU accepts an operation for determining the target parking position by the occupant, an operation for determining the parking direction, and an operation for instructing the start of movement to the target parking position. Specifically, when starting the second stage of the parking support control, the parking support ECU 21 stops the display of the image that was being displayed on the touch panel display 331 of the HMI 33 until immediately before the operation of the support start switch 31 (erases the image), and displays the viewpoint image 501 and the traveling direction image 502. For example, as described above, when the GNSS device has been displaying a navigation image on the touch panel display 331 of the HMI 33 until immediately before the operation of the support start switch 31, the parking support ECU 21 acquires control of the touch panel display 331 of the HMI 33 from the GNSS device and displays the viewpoint image 501 and the traveling direction image 502

[0047] 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 being displayed. As shown in FIG. 2, the parking support ECU 21 divides the screen 50 into two regions, 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 the traveling direction image 502 in the other region (the left region in FIG. 2).

[0048] The viewpoint image 501 is an image of the vehicle 10 and the surrounding area of the vehicle 10 viewed from a set virtual viewpoint. A method for generating such a viewpoint image 501 is well-known (see, for example, Japanese Patent Application Laid-Open No. 2012-217000 and Japanese Patent Application Laid-Open No. 2013-021468, etc.). Therefore, an example of a method for generating the viewpoint image 501 will be briefly described below. The parking support ECU 21 generates three-dimensional data for the surrounding 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 a viewpoint position and a viewing direction. Then, the parking support ECU 21 generates a viewpoint image 501 showing how the vehicle 10 and the surrounding area of the vehicle 10 are viewed 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". Note that the viewpoint image 502 is a moving image whose display content changes according to the movement of the vehicle 10 or the like.

[0049] 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 surrounding area including the parking lot searched by the parking support ECU 21. In this case, the parking support ECU 21 generates a traveling direction image 502 showing the surrounding area including the parking lot based on the image data acquired from each camera. Also, the traveling direction image 502 is a moving image.

[0050] 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. Thereby, the target parking position is shown 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 503 within the range of the one parking lot shown in the viewpoint image 501. On the other hand, when there are a plurality of 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 10 can be parked is superimposed and displayed on each of the plurality of parking lots shown in the viewpoint image 501, and the target parking position image 503 is displayed within the range of one of the parking lots (for example, the parking lot located at the closest position from the current position of the vehicle 10). Then, when the parking support ECU 21 detects a touch operation (a touch operation on the touch panel display 331) on any of the plurality of parking lots shown in the viewpoint image 501, it displays the target parking position image 503 within the range of the touched parking lot. In this way, when there are a plurality of parking lots where the vehicle can be parked in the peripheral area of the vehicle 10, the parking support ECU 21 sets one of the plurality of parking lots as the initial value of the target parking position, and is configured to change the target parking position to another parking lot according to a touch operation on the viewpoint image of the HMI 33 by the occupant.

[0051] 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 one of forward parking and 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.

[0052] (Third stage of parking support control) 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 path. The target movement path is a path 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 (such as other vehicles, curbs, and guardrails) existing in the peripheral area of the vehicle 10 at a predetermined distance or more. Note that the method for determining the target movement path is not particularly limited, and various conventionally known methods can be applied. For example, the method disclosed in Japanese Patent Laid-Open No. 2015-3565 can be applied.

[0053] When the parking support ECU 21 determines the target movement path, it determines the "movement direction of the vehicle 10 (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) when the center position of the vehicle 10 reaches the target parking position. Hereinafter, the "movement direction of the vehicle 10, steering angle pattern, and speed pattern" may be collectively referred to as "movement support information" in some cases.

[0054] 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 a 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). Also, 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 match the actual steering angle with the target steering angle (i.e., executes steering angle control). Further, 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). Furthermore, 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.

[0055] (Start / Stop Control) The start condition is that the vehicle 10 is stopped and there is a parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10. In other words, the start condition is that the vehicle 10 is stopped and a parking lot where the vehicle 10 can be parked has been detected in the peripheral area of the vehicle 10 by the first stage of the parking support control. Note that the "parking lot where the vehicle can be parked" means a parking lot where the vehicle 10 can be parked by the parking support control. Therefore, even if there is a parking lot (a space larger than the vehicle 10) in the peripheral area of the vehicle 10, for example, if the width of the road where the vehicle 10 is located is narrow, etc., and the vehicle 10 cannot be parked in the parking lot by the parking support control (for example, when the parking support ECU 21 cannot determine a target movement path for moving the vehicle 10 to the parking lot), the parking lot is not a "parking lot where the vehicle can be parked".

[0056] (Start of the second stage of the parking support control) As described above, when the parking support ECU 21 detects an operation on the support start switch 31 and the start condition is satisfied, the parking support ECU 21 starts the second stage of the parking support control. The parking support ECU 21 starts the second stage of the parking support control and displays the perspective image 501 and the traveling direction image 502 shown in FIG. 2 on the screen 50 of the touch panel display 331 of the HMI 33 in the following cases. · First case: When there is a parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10 by the first stage of the parking support control at the time when the vehicle 10 stops, and the support start switch 31 is operated after the vehicle 10 stops. · Second case: When the support start switch 31 is operated during the running of the vehicle 10 and then the vehicle 10 stops, and there is a parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10 at the time when the vehicle 10 stops (when a parking lot where the vehicle 10 can be parked has been detected in the peripheral area of the vehicle 10 in the first stage of the parking support control).

[0057] In the second case, from when the assistance start switch 31 is operated until the vehicle 10 stops, the parking support ECU 21 displays a first interruption image 506 as shown in FIG. 3 on the touch panel display 331 of the HMI 33. The first interruption image 506 is an example of the first image of the present invention. And the parking support ECU 21 does not accept a touch operation on the touch panel display 331 of the HMI 33 while the vehicle 10 is running. In this case, even if the parking support ECU 21 does not detect a re-operation of the assistance start switch 31 after the vehicle 10 stops, when the vehicle 10 stops, the display of the first interruption image 506 is stopped (the first interruption image 506 is erased), and a viewpoint image 501 and a traveling direction image 502 are displayed on the touch panel display 331 of the HMI 33.

[0058] An image prompting the occupant to execute an operation to stop the vehicle 10 can be applied to the first interruption image 506. For example, as shown in FIG. 3, the first interruption image 506 includes a message image portion 507 including a message such as "Please stop the vehicle". In addition, an image informing that "a touch operation on the touch panel display 331 of the HMI 33 is not accepted because the vehicle 10 is running" or an image informing that "the second stage of the parking support control is not started because the vehicle 10 is running" may be applied to the first interruption image 506. In the present embodiment, the first interruption image 506 is a still image. When the first interruption image 506 is a still image, it is possible to prevent or suppress the attention of the occupant from being attracted to the first interruption image 506 as compared with a configuration that is a moving image.

[0059] (Interruption, resumption, and cancellation of the second stage of parking support control) After the start of the second stage of the parking support control and before the start of the third stage, if the start condition ceases to be satisfied, the parking support ECU 21 interrupts the second stage of the parking support control. Note that in this embodiment, "after the start of the second stage of the parking support control and before the start of the third stage, if the start condition ceases to be satisfied" means that the vehicle 10 has started to move. In this case, the parking support ECU 21 stops displaying the perspective image 501 and the traveling direction image 502 on the touch panel display 331 of the HMI 33, and displays the aforementioned first interruption image 506. Then, while the vehicle 10 is moving, the parking support ECU 21 does not accept a touch operation on the touch panel display 331 of the HMI 33. Also, during the interruption of the second stage, if the vehicle speed of the vehicle 10 is equal to or lower than the first threshold value, the parking support ECU 21 executes the first stage of the parking support control.

[0060] Then, while the parking support control is interrupted, if the vehicle 10 stops without the vehicle speed exceeding a predetermined threshold value (hereinafter referred to as "second threshold value"), and there is a parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10 when the vehicle 10 stops, that is, if the start condition is satisfied without the vehicle speed exceeding the second threshold value during the interruption of the parking support, the parking support ECU 21 resumes the second stage of the parking support control without requiring detection of an operation of the support start switch 31 (operation of the support start switch 31 by the occupant). Specifically, the parking support ECU 21 stops displaying the first interruption image 506 on the touch panel display 331 of the HMI 33, and resumes displaying the perspective image 501 and the traveling direction image 502 at the time of resumption. Therefore, after the vehicle 10 stops again, the occupant can perform an operation of determining the target parking position, an operation of determining the parking direction, and an operation of instructing the start of movement to the target parking position without operating the support start switch 31. Note that the specific value of the second threshold value is not particularly limited, but for example, 10 km / h can be applied.

[0061] After the parking support control is interrupted, when the vehicle 10 stops again without the vehicle speed exceeding the second threshold value, there may be no parking lot where the vehicle 10 can be parked in the surrounding area of the vehicle 10. In this case, the parking support ECU 21 displays a second interruption image 508 indicating the reason why the parking support control cannot be executed, as shown in FIG. 4, on the touch panel display 331 of the HMI 33. For example, when the parking support control cannot be executed because the width of the road where the vehicle 10 is stopped is narrow, the parking support ECU 21 includes a message image portion 509 including a message such as "Cannot park because the road width is narrow" in the second interruption image 508. In addition, when the parking support control cannot be executed because there is no parking lot in the surrounding area of the vehicle 10, the parking support ECU 21 includes a message image portion 509 including a message such as "There is no parking lot" in the second interruption image 508. Note that the second interruption image 508 is an example of the second image of the present invention.

[0062] Note that when the vehicle 10 starts running again, the parking support ECU 21 stops displaying the second interruption image 508 on the touch panel display 331 of the HMI 33 and displays the first interruption image 506 while the vehicle speed is below the second threshold value. Further, when a parking lot where the vehicle 10 can be parked exists in the surrounding area of the vehicle 10 when the vehicle 10 stops thereafter (that is, when the start condition is satisfied), the parking support ECU 21 resumes the second stage of the parking support control without detecting the operation of the support start switch 31. That is, the parking support ECU 21 stops displaying the first interruption image 506 on the touch panel display 331 of the HMI 33 and displays the viewpoint image 501 and the traveling direction image 502. On the other hand, when no parking lot where the vehicle 10 can be parked exists in the surrounding area of the vehicle 10 when the vehicle 10 stops, the parking support ECU 21 continues the interruption of the second stage of the parking support control. That is, when the vehicle 10 stops, the parking support ECU 21 stops displaying the first interruption image 506 on the touch panel display 331 of the HMI 33 and displays the second interruption image 508.

[0063] In this way, once the parking assistance ECU 21 detects an operation of the assistance start switch 31 and starts the second stage of the parking assistance control (after starting to display the viewpoint image 501 and the traveling direction image 502 on the touch panel display 331 of the HMI 33), if the start condition is no longer satisfied, the second stage of the parking assistance control is interrupted. Then, after the second stage of the parking assistance control is interrupted, if the start condition is satisfied, the parking assistance ECU 21 resumes the second stage of the parking assistance control without detecting another operation of the assistance start switch 31.

[0064] In addition, if the vehicle speed exceeds the second threshold value during the interruption of the second stage of the parking assistance control, the parking assistance ECU 21 stops the parking assistance control. Specifically, after starting the second stage of the parking assistance control, when the vehicle 10 starts to move, while the vehicle speed is equal to or lower than the second threshold value, the parking assistance ECU 21 displays a first interruption image 506 on the touch panel display 331 of the HMI 33. Then, when the vehicle speed exceeds the second threshold value, the parking assistance ECU 21 displays a stop image 510 as shown in FIG. 5 for a predetermined period of time. The stop image 510 is an image including a message image portion 511 containing a message for stopping the parking assistance control. Further, when a predetermined period of time has elapsed since the start of the display of the stop image 510, the parking assistance ECU 21 stops controlling the touch panel display 331 of the HMI 33. For this reason, in this case, the display of the image that was being displayed before the start of the parking assistance control is resumed on the touch panel display 331 of the HMI 33.

[0065] Even if the start condition is satisfied after the parking assistance ECU 21 stops the parking assistance control, the parking assistance control is not resumed. In this case, the occupant operates the assistance start switch 31 to start the parking assistance control.

[0066] In addition, when a predetermined cancellation condition is satisfied during the execution of the parking assistance control, the parking assistance ECU 21 cancels the parking assistance control. For example, when the parking assistance ECU 21 detects that the door of the vehicle 10 is opened, when it detects an operation of the shift lever 41, or when it detects that an abnormality has occurred in the devices mounted on the vehicle 10 including the assistance device 11, in any of these cases, it determines that the cancellation condition is satisfied and cancels the parking assistance control. Note that the cancellation condition is not limited to the above conditions. The cancellation condition can be, for example, a condition that is satisfied when an operation that can be regarded as the intention of the occupant to cancel the parking assistance control is detected, and a condition that is satisfied when it becomes difficult to continue the parking assistance control.

[0067] In this way, when the parking assistance ECU 21 interrupts the second stage of the parking assistance control, then, if the start condition is satisfied, it restarts the second stage of the parking assistance control without requiring detection of an operation of the assistance start switch 31 again (even if the occupant does not operate the assistance start switch 31 again). For this reason, for example, when the occupant drives the vehicle 10 to park the vehicle in a parking lot different from the parking lot (the parking lot detected in the first stage) where the vehicle existing in the peripheral area of the vehicle can be parked, and when the vehicle 10 moves due to insufficient depressing force of the brake pedal 45 while the vehicle 10 is stopped, the occupant can restart the parking assistance control without operating the assistance start switch 31 again by stopping the vehicle 10. Therefore, since the number of operations of the assistance start switch 31 can be reduced, the annoyance of the occupant's operation of the assistance start switch 31 can be reduced. That is, convenience is improved.

[0068] When the vehicle 10 stops during the interruption of the second stage of the parking support control, there may be no parking lot (the parking lot is not detected) in the peripheral area of the vehicle 10 where the vehicle 10 can be parked. In such a case, the parking support ECU 21 continues the interruption of the second stage of the parking support control. Then, when a parking lot where the vehicle 10 can be parked exists in the peripheral area of the vehicle 10 when the vehicle 10 starts running again and stops at a later time, the parking support ECU 21 resumes the second stage of the parking support control without detecting the re-operation of the support start switch 31 (even if the occupant does not operate the support start switch 31 again). Therefore, as described above, the number of operations of the support start switch 31 can be reduced, improving convenience.

[0069] If the vehicle 10 starts running during the interruption of the second stage of the parking support control and the vehicle speed exceeds the second threshold value, it can be considered that the occupant no longer has the intention to park the vehicle 10. Therefore, in this case, the parking support ECU 21 aborts the parking support control. With such a configuration, the parking support ECU 21 can execute appropriate control according to whether the occupant intends to park the vehicle 10. At this time, the parking support ECU 21 displays an abort image 510 on the touch panel display 331 of the HMI 33. Thus, the occupant can recognize that the parking support control has been aborted.

[0070] In addition, when the parking support ECU 21 aborts the parking support control, it ends the control of the touch panel display 331 of the HMI 33. Therefore, the touch panel display 331 of the HMI 33 resumes displaying the image that was displayed immediately before the operation of the support start switch 31, for example. Thus, after the parking support control is aborted, the occupant can obtain desired information from the display of the touch panel display 331 of the HMI 33.

[0071] In addition, while the second stage of the parking assistance control is interrupted, the parking assistance ECU 21 stops displaying the viewpoint image 501 and the traveling direction image 502, and displays the first interruption image 506 or the second interruption image 508. Therefore, when the parking assistance ECU 21 interrupts the parking assistance control, the occupant can recognize that the parking assistance control is interrupted. Furthermore, the occupant can know the reason for the interruption of the parking assistance control or the operation necessary to resume the parking assistance control. Therefore, convenience can be improved.

[0072] Also, in the present embodiment, the first interruption image 506 and the second interruption image 508 are still images. Still images are less likely to attract the attention of viewers compared to moving images (for example, moving images captured by the camera 323). Therefore, according to such a configuration, it is possible to prevent or suppress the occupant's attention from being distracted from the display on the touch panel display 331 of the HMI 33 while the parking assistance control is interrupted.

[0073] (Specific operations of parking assistance) Next, the specific operations of the parking assistance ECU 21 will be described. FIG. 6 is a flowchart showing the content of the start / stop routine executed by the CPU of the parking assistance ECU 21. Note that this start / stop routine (computer program) for executing the parking assistance control is stored in advance in the ROM of the parking assistance ECU 21. The CPU executes a routine for executing the parking assistance control. Thereby, when the vehicle speed becomes equal to or lower than the first threshold value during the running of the vehicle 10, the first stage of the parking assistance control is started. Then, when the parking assistance control is started, the CPU of the parking assistance ECU 21 repeatedly executes this start / stop routine at a predetermined cycle. In the following description, the CPU of the parking assistance ECU 21 may be simply abbreviated as the CPU.

[0074] In step S101, the CPU determines whether or not the stop condition is satisfied. If the stop condition is not satisfied, the CPU proceeds to step S102. If the stop condition is satisfied, the CPU proceeds to step S115.

[0075] In step S102, the CPU determines whether the third stage of the parking assistance control has started. If the third stage of the parking assistance control has started, the CPU temporarily ends this start / stop routine. If the third stage of the parking assistance control has not started, the CPU proceeds with the process to step S103.

[0076] In step S103, the CPU determines whether an operation flag indicating that the assistance start switch 31 has been operated is established. If the operation flag is not established, the CPU proceeds with the process to step S104. Note that the case of "if the operation flag is not established" includes the case where the operation flag has never been established since the ignition switch (or main power switch) of the vehicle 10 was switched to ON (when the assistance start switch 31 has not been operated yet), and the case where the operation flag was established after the ignition switch (or main power switch) of the vehicle 10 was switched to ON and then switched to not established (when the parking assistance control has ended or been aborted, or when the third stage of the parking assistance control has started).

[0077] In step S104, the CPU determines whether the assistance start switch 31 has been operated. Note that the case of "the assistance start switch has been operated" includes the case where it is the first operation after the ignition switch (or main power switch) of the vehicle 10 is turned ON, and the case of the first operation after the operation flag is switched from established to not established. If the assistance start switch 31 has not been operated (if the operation of the assistance start switch 31 has not been detected), the CPU proceeds with the process to step S105.

[0078] In step S105, the CPU maintains the display on the touch panel display 331 of the HMI 33 at the state just before the support start switch 31 was operated. If the support start switch 31 has never been operated, in step S105, the CPU maintains the display on the touch panel display 331 of the HMI 33 at the current state. Specifically, in this embodiment, the CPU does not control the touch panel display 331 of the HMI 33. For this reason, for example, when the GNSS device is displaying a navigation image on the touch panel display 331 of the HMI 33, the display of the navigation image continues. Then the CPU temporarily ends this start / stop routine.

[0079] In step S104, if the CPU determines that there has been an operation of the support start switch 31 (if an operation of the support start switch 31 is detected), the process proceeds to step S106. In step S106, the CPU sets an operation flag indicating that there has been an operation of the support start switch 31. Then, the CPU proceeds with the process to step S107.

[0080] In step S103, if the CPU determines that the operation flag is set, the process proceeds to step S107. That is, in step S103, if the CPU determines that the operation flag is set, the process proceeds to step S107 without going through steps S104 and S106.

[0081] In step S107, the CPU determines whether the vehicle 10 is stopped based on the vehicle speed detection result by the vehicle speed sensor. If the vehicle 10 is stopped, the CPU proceeds with the process to step S108.

[0082] In step S108, the CPU determines whether there is a parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10 (whether a parking lot where the vehicle 10 can be parked is detected in the first stage of the parking support control). If there is a parking lot where the vehicle 10 can be parked, the CPU proceeds with the process to step S109.

[0083] In step S109, the CPU starts the second stage of the parking assistance control. That is, the CPU displays the viewpoint image 501 and the traveling direction image 502 on the touch panel display 331 of the HMI 33, and accepts a touch operation on the start button image 504 or the like displayed superimposed on the viewpoint image 501. If the second stage of the parking assistance control has already been started, the CPU continues the execution of the second stage of the parking assistance control. Also, if the second stage of the parking assistance control is interrupted, the CPU resumes the second stage of the parking assistance control (executes the resuming process). Then, the CPU advances the process to step S110.

[0084] In step S110, the CPU determines whether there is an operation instructing the start of the third stage of the parking assistance control. Specifically, the CPU determines whether there is a touch operation on the start button image 504. If the CPU determines that there is no touch operation on the start button image 504, the CPU temporarily ends this start / stop routine. On the other hand, if the CPU determines that there is a touch operation on the start button image 504, the CPU advances the process to step S111. In this case, the CPU starts the third stage of the parking assistance control. In step S111, the CPU changes the operation flag from valid to invalid. Then, the CPU temporarily ends this start / stop routine.

[0085] If the CPU determines in step S107 that the vehicle 10 is not stopped, the CPU advances the process to step S113. In step S113, the CPU determines whether the vehicle speed is equal to or lower than the second threshold value. If the vehicle speed is equal to or lower than the second threshold value, the CPU advances the process to step S114. In step S114, if the second stage of the parking assistance control is being executed, the CPU interrupts the second stage of the parking assistance control. If the second stage of the parking assistance control has not yet been started, the CPU maintains the state of not starting the second stage of the parking assistance control. Also, the CPU erases the image that has been displayed on the touch panel display 331 of the HMI 33 and displays the first interruption image 506. Then, the CPU temporarily ends this start / stop routine.

[0086] When the CPU determines in step S113 that the vehicle speed exceeds the second threshold value, the process proceeds to step S115. In step S115, the CPU aborts the parking support control. If the parking support control has not been started, the CPU maintains the state of not starting the parking support control. Also, the CPU changes the operation flag from valid to invalid. Then, the CPU temporarily ends this start / abort routine.

[0087] When the CPU determines in step S108 that there is no parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10, the process proceeds to step S112. In step S112, the CPU interrupts the second stage of the parking support control. If the second stage of the parking support control has not yet been started, the CPU maintains the state of not starting the second stage of the parking support control. Then, the CPU displays the second interruption image 508 on the touch panel display 331 of the HMI 33. Then, this start / abort routine is temporarily ended.

[0088] Note that in FIG. 6, the CPU determines whether or not the vehicle 10, which is the start condition, is stopped in step S107, and determines whether or not there is a parking lot where the vehicle 10, which is the start condition, can be parked in step S108, but the order of these determinations is not limited. Also, the start conditions may be determined collectively.

[0089] According to such a start / abort routine, the above-described start / abort control is realized. Specifically, when the CPU detects an operation of the support start switch 31 before starting the second stage of the parking support control (''N'' in step S101, ''N'' in step S102, ''N'' in step S103, and ''Y'' in step S104), the CPU determines whether or not the start conditions are satisfied (steps S107 and S108). Then, when the start conditions are satisfied (''Y'' in step S107 and ''Y'' in step S108), the CPU starts the second stage of the parking support control (step S109).

[0090] After the start of the second stage of the parking assistance control and before the start of the third stage (in step S102, "N", and in step S103, "Y"), when the vehicle 10 starts to move (in step S107, "N"), the CPU interrupts the second stage of the parking assistance control (step S114). In this case, the CPU erases the image that has been displayed on the touch panel display 331 of the HIMI33 and displays the first interruption image 506. If the vehicle speed exceeds the second threshold value after the start of the movement of the vehicle 10 (in step S113, "N"), the CPU terminates the parking assistance control (step S115). In this case, the CPU displays the termination image 510 on the touch panel display 331 of the HMI33 for a predetermined time.

[0091] During the interruption of the second stage of the parking assistance control (in step S102, "N", and in step S103, "Y"), when the start condition is satisfied (in step S107, "Y", and in step S108, "Y"), the CPU resumes the second stage of the parking assistance control (executes the resumption process) (step S109) without detecting the re-operation of the assistance start switch 31.

[0092] Even when the vehicle 10 stops during the interruption of the second stage of the parking assistance control (in step S107, "Y"), if there is no parking lot where the vehicle 10 can be parked in the peripheral area of the vehicle 10 at the time of stopping (in step S108, "N"), the CPU continues the interruption of the second stage of the parking assistance control (step S112).

[0093] Also, when the termination condition is satisfied (in step S101, "Y"), the CPU terminates the parking assistance control (step S115).

[0094] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above embodiments. The present invention can adopt various modifications without departing from the gist thereof.

[0095] 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. However, 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.

[0096] Also, 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 method described in Japanese Patent Application Laid-Open No. 2021-064104 or the method described in Japanese Patent Application Laid-Open No. 2021-062736 may be used.

[0097] Also, the vehicle 10 does not necessarily need to 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.

[0098] Furthermore, in the above embodiment, the parking support ECU 21 is shown to execute parking support control and start / stop control. However, a device other than the parking support ECU 21 may execute parking support control and start / stop 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 start / stop control. Furthermore, a plurality of devices may cooperate to execute parking support control and start / stop control. Thus, the device that executes parking support control and start / stop control is not limited.

Explanation of Reference Numerals

[0099] 10…Vehicle, 11…Parking support device, 21…Parking support ECU, 31…Support start switch

Claims

1. An operation switch operable by an occupant, a first stage of searching for a parking lot where the vehicle can be parked in the peripheral area of the vehicle, and a second stage of receiving an operation of determining a target parking position in the detected parking lot and receiving an operation of instructing the vehicle to move to the determined target parking position when the operation of determining the target parking position is detected; and a third stage that is started when an operation of instructing the vehicle to move to the determined target parking position is detected, and that moves and stops the vehicle at the determined target parking position, and a control device configured to execute parking support control including: comprising the control device while the vehicle is traveling during a period when the parking support control is not being executed, when the speed of the vehicle becomes equal to or lower than a predetermined threshold, execute the first stage, when an operation of the operation switch is detected, a parking lot where the vehicle can be parked is detected in the peripheral area of the vehicle in the first stage, and the vehicle is stopped, execute the second stage, when the vehicle starts traveling without going through the third stage during the execution of the second stage, interrupt the second stage and execute the first stage, during the interruption of the second stage, when a parking lot where the vehicle can be parked is detected in the peripheral area of the vehicle and the vehicle stops without going through the third stage, resume the second stage without detecting a re-operation of the operation switch, during the interruption of the second stage, when a parking lot where the vehicle can be parked is not detected in the peripheral area of the vehicle and the vehicle stops without going through the third stage, continue the interruption of the second stage, a parking support device for a vehicle.

2. The parking support device for a vehicle according to claim 1, wherein the control device aborts the parking support control when the speed of the vehicle exceeds a predetermined value due to traveling of the vehicle not according to the third stage during the interruption of the second stage. a parking support device for a vehicle.

3. The parking support device for a vehicle according to claim 1 or claim 2, comprising a display device capable of displaying an image and receiving a touch operation, wherein when the control device starts or resumes the second stage, it displays an operation image, which is an image for receiving an operation of determining the target parking position, on the display device and receives an operation on the display device, and erases the operation image from the display device during the interruption of the second stage. Vehicle parking assistance device.

4. The vehicle parking assistance device according to claim 3, wherein, during the interruption of the second stage and while the vehicle is running, the control device displays a first image including content prompting the vehicle to stop on the display device, and during the interruption of the second stage and when the vehicle has stopped but no parking lot where the vehicle can be parked is detected in the peripheral area of the vehicle, the control device displays a second image including content indicating that the parking assistance control cannot be executed on the display device. Vehicle parking assistance device.

5. The vehicle parking assistance device according to claim 4, wherein the first image is a still image. Vehicle parking assistance device.

6. A program for causing a computer of a vehicle parking assistance device including an operation switch operable by an occupant to execute parking assistance control including: a first stage of searching for a parking lot where the vehicle can be parked in the peripheral area of the vehicle; a second stage of accepting an operation of determining a target parking position in the detected parking lot and, when an operation of determining the target parking position is detected, accepting an operation of instructing the vehicle to move to the determined target parking position; and a third stage that starts when an operation of instructing the vehicle to move to the determined target parking position is detected and moves and stops the vehicle at the determined target parking position, wherein the computer is caused to execute the first stage when the speed of the vehicle becomes equal to or lower than a predetermined threshold during the running of the vehicle while the parking assistance control is not being executed; execute the second stage when an operation of the operation switch is detected, a parking lot where the vehicle can be parked is detected in the peripheral area of the vehicle in the first stage, and the vehicle is stopped; interrupt the second stage and execute the first stage when the vehicle starts running without going through the third stage during the execution of the second stage; resume the second stage without detecting a re-operation of the operation switch when a parking lot where the vehicle can be parked is detected in the peripheral area of the vehicle and the vehicle stops without going through the third stage during the interruption of the second stage; continue the interruption of the second stage when a parking lot where the vehicle can be parked is not detected in the peripheral area of the vehicle and the vehicle stops without going through the third stage during the interruption of the second stage.

Images