Parking support device

Abstract

To provide a parking support device which is improved to be able, by registering a point where a user wants to start the parking support control, to automatically start parking support control even in a place where a vehicle has not been parked.SOLUTION: A parking support device comprises: a camera sensor which acquires image information of the periphery of a vehicle; and a control device which executes parking support control of displaying on a display unit image information of the periphery of the vehicle when a parking support control program is started and supporting movement of the vehicle to a target parking position when the target parking position is decided by an occupant based on the image information. When a registration switch is operated, the control device registers a current place of the vehicle in a storage device as a registered point; and when it is determined that the vehicle is within a range of a preset distance from the registered point registered in the storage device and a vehicle speed is equal to or less than a reference value (S220, S240), the control device starts a parking support control program (S250).SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a parking assistance device for vehicles such as automobiles.

Background Art

[0002] There is known a parking assistance device configured such that when image information around a vehicle acquired by a camera sensor or the like is displayed on a display and an occupant determines a target parking position based on the image information, movement of the vehicle to the target parking position is assisted by automatic driving or the like.

[0003] For example, Patent Document 1 below describes a parking assistance device that calculates a parking route for a vehicle to reach a parking space according to a parking mode corresponding to the positional relationship between the vehicle and the parking space, and performs parking assistance control to move the vehicle to the parking space along the calculated parking route. Further, this parking assistance device stores parking information in which the parking space where the vehicle is parked is associated with position information, refers to the parking information when the vehicle is traveling, and is configured to activate the parking assistance control when the vehicle exists within a predetermined distance from the parking space.

[0004] According to the parking assistance device described in Patent Document 1 below, when the vehicle is in a situation where it exists within a predetermined distance from the parking space, the parking assistance control is automatically activated, so that the driver can activate the parking assistance control without operating the activation switch.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] 〔Problems to be Solved by the Invention〕 In the parking assistance device described in the above publication, parking assistance control does not automatically start unless the host vehicle is in a situation where it exists within a predetermined distance from a parking space where the host vehicle has parked. Therefore, in a place where the host vehicle has never parked, parking assistance control cannot be automatically activated.

[0007] A main problem of the present invention is to provide an improved parking assistance device that can automatically activate parking assistance control even in a place where the vehicle has never parked by registering a point where it is desired to activate the parking assistance control.

[0008] 〔Means for Solving the Problem and Effects of the Invention〕 According to the present invention, there is provided a parking assistance device (100) including: an acquisition device (camera sensor 12) that acquires image information around a vehicle (102); a display (52); and a control device (10) configured to, when a parking assistance control program is activated, display the image information (106) around the vehicle acquired by the acquisition device on the display, and execute parking assistance control to assist the movement of the vehicle to a target parking position (110B) when the target parking position is determined by an occupant based on the image information. and When the registration switch is operated by the occupant, the control device (10) acquires information on the current location of the vehicle (102) and registers the current location as a registration point in the storage device (18) (S70, S80) registration control (Fig. 2), and when it is determined that the vehicle is within a range of a preset distance from the registration point registered in the storage device and the vehicle speed (V) is equal to or lower than the reference value (Vc) (S220, S240), the parking support control program (Fig. 4) is started (S250) start control (Fig. 3), and the parking support device (basic configuration) is configured to perform the above is provided.

[0009] The display (52) is a touch panel type display, and the registration switches (52A, 52B) are switches that are displayed on the display and operated by touch, including a registration-only switch (52A) and a registration and start switch (52B). The control device (10) is configured to perform registration control (S80) when the registration and start switch is touched (S50), and then perform start control (S90).

[0010] According to the above configuration, when the parking assistance control program is activated, the image information around the vehicle acquired by the acquisition device is displayed on the display, and when the target parking position is determined by the occupant based on the image information, parking assistance control to assist the movement of the vehicle to the target parking position is executed. Therefore, the movement of the vehicle to the target parking position is assisted by the parking assistance control.

[0011] Also, according to the above configuration, when the registration switch is operated by the occupant, information on the current location of the vehicle is acquired, and the current location is registered in the storage device as the registration location. Further, when it is determined that the vehicle is within a preset distance range from the registration location registered in the storage device and the vehicle speed is equal to or lower than the reference value, the parking support control program is activated.

[0012] Therefore, by operating the registration switch, the occupant can register the current location of the vehicle in the storage device as the registration location even at a location where the vehicle has never been parked. Further, if the vehicle is located within a preset distance range from the registration location registered in the storage device and the vehicle speed is equal to or lower than the reference value, the parking support control program can be activated. Accordingly, by registering the location where it is desired to activate the parking support control program, even at a location where the vehicle has never been parked, when the vehicle approaches the registered location, the parking support control program can be automatically activated without operating the activation switch. Furthermore, according to the above configuration, the display (52) is a touch panel type display, and the registration switches (52A, 52B) are switches that are displayed on the display and operated by touch, including a registration-only switch (52A) and a registration and start switch (52B). The control device (10) performs registration control (S80) when the registration and start switch is touched (S50), and then performs start control (S90). Therefore, the occupant can acquire information on the current location of the vehicle and register the current location as a registration point in the storage device by operating the registration switch displayed on the display by touch. Furthermore, by touching the registration and start switch, the occupant can not only register the current location as a registration point in the storage device, but also start the parking support control program thereafter.

[0015] 〔Aspects of the Invention〕 The present invention one In one aspect, the control device (10) is configured to display the registration switches (52A, 52B) on the display (52) when the vehicle (102) is stopped and information on the current location of the vehicle can be acquired (S10) (S30).

[0016] According to the above aspect, when the vehicle is stopped and information on the current location of the vehicle can be acquired, the registration switches are displayed on the display. Therefore, the occupant can operate the registration switches displayed on the display when the vehicle is stopped and information on the current location of the vehicle can be acquired.

[0019] Furthermore, in another aspect of the present invention, when the control device (10) determines that the vehicle speed (V) is equal to or lower than the reference value (Vc) (S240), it determines whether there is a registered point registered in the storage device within a preset distance range from the vehicle (S220), and when it determines that there is a registered point within the distance range, it is configured to activate the parking support control program (FIG. 4) (S250).

[0020] According to the above aspect, when it is determined that the vehicle speed is equal to or lower than the reference value, it is determined whether there is a registered point registered in the storage device within a preset distance range from the vehicle, and when it is determined that there is a registered point within the distance range, the parking support control program is activated. Therefore, if the vehicle speed is equal to or lower than the reference value and there is a registered point registered in the storage device within a preset distance range from the vehicle, the parking support control program can be automatically activated.

[0021] Furthermore, in the present invention According to The parking support device (100) includes an activation switch (16), and the control device is configured to activate the parking support control program (FIG. 4) without determining whether the vehicle is within a preset distance range from the registered point registered in the storage device when the activation switch is operated.

[0022] In the above configuration According to this, when the activation switch is operated, the parking support control program is activated without determining whether the vehicle is within a preset distance range from the registered point registered in the storage device. Therefore, the occupant can activate the parking support control program by operating the activation switch regardless of whether the vehicle is within a preset distance range from the registered point registered in the storage device.

[0023] In the above description, for the purpose of facilitating the understanding of the present invention, the names and / or reference numerals used in the embodiments described later are attached in parentheses to the configurations of the inventions corresponding to the embodiments. However, each component of the present invention is not limited to the components of the embodiments corresponding to the names and / or reference numerals attached in parentheses. Other objects, other features, and attendant advantages of the present invention will be readily understood from the description of the embodiments of the present invention described with reference to the following drawings.

Brief Description of the Drawings

[0024]

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Modes for Carrying Out the Invention

[0025] The parking assistance device according to the embodiment of the present invention will be described in detail below with reference to the attached drawings.

[0026] <Configuration> As shown in FIG. 1, a parking assistance device 100 according to an embodiment of the present invention is applied to a vehicle 102 and includes a driving assistance ECU 10. The vehicle 102 includes a drive ECU 20, a brake ECU 30, an electric power steering ECU 40, and a meter ECU 50. The ECU means an electronic control unit (Electronic Control Unit) mainly including a microcomputer. In the following description, the electric power steering is referred to as EPS.

[0027] The microcomputer of each ECU includes a CPU, a ROM, a RAM, a readable and writable non-volatile memory (N / M), an interface (I / F), and the like. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. Further, these ECUs are connected to each other via a CAN (Controller Area Network) 104 so as to be able to exchange data (communicate). Therefore, detection values of sensors (including switches) connected to a specific ECU are also transmitted to other ECUs.

[0028] The driving assistance ECU 10 is a central control device that performs driving assistance control such as parking assistance control, following vehicle distance control, and lane keeping control. In the embodiment, as will be described in detail later, the driving assistance ECU 10 cooperates with other ECUs to execute current location registration control for parking the vehicle 102, automatic start control of the parking assistance control, and the parking assistance control.

[0029] A camera sensor 12, a radar sensor 14, and an activation switch 16 are connected to the driving assistance ECU 10. The camera sensor 12 and the radar sensor 14 each include a plurality of camera devices and a plurality of radar devices. The driving assistance ECU 10 incorporates a non-volatile storage device 18.

[0030] Although not shown in the figure, each camera device of the external camera sensor 12 includes a camera unit that captures the surroundings of the vehicle 102, and a recognition unit that analyzes the image data captured by the camera unit to recognize road white lines, targets such as other vehicles, etc. The recognition unit supplies information regarding the recognized targets to the driving support ECU 10 every time a predetermined period of time elapses. Note that LiDAR (Light Detection And Ranging) may be used instead of the camera sensor 12.

[0031] Each radar device of the radar sensor 14 includes a radar transceiver unit and a signal processing unit (not shown). The radar transceiver unit emits radio waves in the millimeter wave band (hereinafter referred to as "millimeter waves"), and receives the millimeter waves (i.e., reflected waves) reflected by solid objects (e.g., other vehicles, bicycles, guardrails, etc.) existing within the radiation range. The signal processing unit acquires information indicating the distance between the host vehicle and the solid object, the relative speed between the host vehicle and the solid object, the relative position (direction) of the solid object with respect to the host vehicle, etc. every time a predetermined period of time elapses based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, the time from transmitting the millimeter waves to receiving the reflected waves, etc., and supplies it to the driving support ECU 10.

[0032] The start switch 16 is provided at a position operable by the driver, such as a steering wheel not shown in FIG. 1, and can be switched on and off by the driver. When the start switch 16 is on, a signal indicating this is supplied to the driving support ECU 10.

[0033] A drive device 22 that accelerates the vehicle 102 by applying a driving force to the drive wheels, not shown in FIG. 1, is connected to the drive ECU 20. Normally, the drive ECU 20 controls the drive device 22 so that the driving force generated by the drive device 22 changes according to the driving operation by the driver, and when receiving a command signal from the driving support ECU 10, controls the drive device 22 based on the command signal.

[0034] Note that the drive device 22 is not limited to the combination of an internal combustion engine and an automatic transmission. That is, the drive device 22 may be any drive device known in the art, such as a combination of an internal combustion engine and a continuously variable transmission, a so-called hybrid system that is a combination of an internal combustion engine and a motor, a so-called plug-in hybrid system, a combination of a fuel cell and a motor, or a motor.

[0035] A braking device 32 for braking the vehicle 102 by applying a braking force to a wheel not shown in FIG. 1 is connected to the braking ECU 30. The braking ECU 30 normally controls the braking device 32 so that the braking force generated by the braking device 32 changes according to the braking operation by the driver, and when receiving a command signal from the driving support ECU 10, performs automatic braking by controlling the braking device 32 based on the command signal. Note that when a braking force is applied to the wheel, a brake lamp (not shown in FIG. 1) is lit.

[0036] An EPS device 42 is connected to the EPS·ECU 40. The EPS·ECU 40 controls the EPS device 42 in a manner known in the art based on the steering torque Ts and the vehicle speed V detected by a driving operation sensor 60 and a vehicle state sensor 70, which will be described later, thereby controlling the steering assist torque and reducing the driver's steering burden. Further, the EPS·ECU 40 can steer the steered wheels as needed by controlling the EPS device 42. Therefore, the EPS·ECU 40 and the EPS device 42 function as a steering device that automatically steers the steered wheels as needed.

[0037] A touch panel type display 52 for displaying the status of control by the driving support ECU 10 and the like is connected to the meter ECU 50. The display 52 may be, for example, a multi-information display on which meters and various types of information are displayed, or may be the display of a navigation device 80, which will be described later. As will be described later, when receiving a command signal from the driving support ECU 10, the display 52 displays a switch for registering the current location, an image around the vehicle 102 for selecting a parking position, and the like.

[0038] The driving operation sensor 60 and the vehicle state sensor 70 are connected to the CAN 104. The information detected by the driving operation sensor 60 and the vehicle state sensor 70 (referred to as sensor information) is transmitted to the CAN 104. The sensor information transmitted to the CAN 104 is appropriately available in each ECU. Note that the sensor information is information of a sensor connected to a specific ECU and may be transmitted from the specific ECU to the CAN 104.

[0039] The driving operation sensor 60 includes a driving operation amount sensor that detects the operation amount of the accelerator pedal, a braking operation amount sensor that detects the master cylinder pressure or the stepping force on the brake pedal, and a brake switch that detects the presence or absence of the operation of the brake pedal. Further, the driving operation sensor 60 includes a steering angle sensor that detects the steering angle θ, a steering torque sensor that detects the steering torque Ts, and the like.

[0040] The vehicle state sensor 70 includes a vehicle speed sensor that detects the vehicle speed V of the vehicle 102, a longitudinal acceleration sensor that detects the longitudinal acceleration of the vehicle, a lateral acceleration sensor that detects the lateral acceleration of the vehicle, and a yaw rate sensor that detects the yaw rate of the vehicle.

[0041] Furthermore, the navigation device 80 is also connected to the CAN 104. The navigation device 80 includes a GPS receiver that detects the position of the vehicle 102, a storage device that stores map information and road information, and a communication device that acquires the latest information of the map information and the road information from the outside. The navigation device 80 functions as a device that acquires the information of the current location of the vehicle 102 and outputs a signal indicating the current location of the vehicle on the map to the driving support ECU 10.

[0042] In the embodiment, the ROM of the driving support ECU 10 stores a current location registration control program, an automatic start control program for parking support control, and a parking support control program. These control programs respectively correspond to the flowcharts shown in FIGS. 2 to 4, and the CPU of the driving support ECU 10 executes each control according to these programs.

[0043] <Current Location Registration Control Program (Figure 2)> Next, the current location registration control program in the embodiment will be described with reference to the flowchart shown in FIG. 2. The current location registration control according to the flowchart shown in FIG. 2 is executed by the CPU of the driving support ECU 10 when the vehicle 102 is in a stopped state, and ends when the vehicle 102 resumes driving.

[0044] Note that when the vehicle speed V detected by the vehicle speed sensor of the vehicle state sensor 70 is less than or equal to a stop determination reference value (0 or a positive constant), it may be determined that the vehicle is in a stopped state. Alternatively, when the vehicle speed V detected by the vehicle speed sensor is less than or equal to the stop determination reference value and a brake lamp (not shown in FIG. 1) is on, it may be determined that the vehicle is in a stopped state. Alternatively, when the vehicle speed V detected by the vehicle speed sensor is less than or equal to the stop determination reference value and the shift position of the transmission (not shown in FIG. 1) is in the P range, it may be determined that the vehicle is in a stopped state. Further, when the vehicle speed V detected by the vehicle speed sensor of the vehicle state sensor 70 is greater than or equal to a travel determination reference value (a positive constant greater than the stop determination reference value), it may be determined that the vehicle has resumed driving.

[0045] First, in step S10, the CPU determines whether it is possible to acquire the information of the current location of the vehicle 102 by the navigation device 80. When the CPU makes a negative determination, this control is temporarily terminated. When the CPU makes a positive determination, this control proceeds to step S20.

[0046] In step S20, the CPU determines whether the parking support control program has already been started. When the CPU makes a positive determination, this control ends. When the CPU makes a negative determination, the control proceeds to step S30.

[0047] In step S30, as shown in FIG. 5, the CPU displays, on the display 52, as switches (icons) for current location registration, a “registration only” switch 52A and a “registration and activation” switch 52B, and prompts an operation. These switches can be selectively turned on by the touch of an occupant.

[0048] In step S40, the CPU determines whether the “registration only” switch 52A has been turned on. When the CPU makes an affirmative determination, it advances this control to step S80, and when it makes a negative determination, it advances this control to step S50.

[0049] In step S50, the CPU determines whether the “registration and activation” switch 52B has been turned on. When the CPU makes an affirmative determination, it advances this control to step S90, and when it makes a negative determination, it advances this control to step S60.

[0050] In step S60, the CPU determines whether a time equal to or longer than a reference time (positive constant) for end determination has elapsed since the display of the current location registration switch on the display 52 was started. When the CPU makes a negative determination, it temporarily ends this control, and when it makes an affirmative determination, it advances this control to step S100.

[0051] In steps S70 and S80, the CPU registers the current location information (for example, longitude and latitude) of the vehicle 102 acquired by the navigation device 80 in the storage device 18 as a registration point. When step S70 is completed, this control advances to step S100, and when step S80 is completed, this control advances to step S90.

[0052] In step S90, the CPU starts a parking support control program corresponding to the flowchart shown in FIG. 4, and then advances this control to step S100.

[0053] In step S100, after the CPU displays on the display 52 that the current location registration control has ended, it ends the display of the current location registration switch.

[0054] As can be understood from the above description, the current location registration control is executed when the vehicle 102 is in a stopped state and when the navigation device 80 can acquire the current location information of the vehicle 102 (S10). Then, on the display 52, the "registration only" switch 52A and the "registration and activation" switch 52B are displayed (S30).

[0055] When switch 52A or 52B is turned on, the current location information of the vehicle 102 acquired by the navigation device 80 is registered by being stored in the storage device 18 as the registration point. Therefore, when the vehicle 102 is at a position where the occupant wants to register as the registration point, by turning on switch 52A or 52B (S40, S50), even if it is a place where the own vehicle has not been parked, the current location of the vehicle 102 can be registered as the registration point (S70, S80).

[0056] Note that when the occupant turns on switch 52B, even if it is a place where the own vehicle has not been parked, the current location of the vehicle 102 can be registered as the registration point, and the parking support control program can be activated (S90).

[0057] <Automatic start control program for parking support control (Figure 3)> Next, the automatic start control program for parking support control in the embodiment will be described with reference to the flowchart shown in FIG. 3. The automatic start control according to the flowchart shown in FIG. 3 is executed by the CPU of the driving support ECU 10 when an ignition switch (IGSW) not shown in FIG. 1 is on.

[0058] First, in step S210, based on the information on the current location of the vehicle 102 acquired by the navigation device 80, the CPU searches for the nearest registered location (registered point) stored in the storage device 18 (not shown in FIG. 1) among the registered locations. When searching for the nearest registered location, the traveling direction of the vehicle 102 may be taken into consideration.

[0059] In step S220, the CPU determines whether the vehicle 102 is located within a range of a reference distance (a positive constant) from the nearest registered location. When the CPU makes a negative determination, this control is temporarily terminated. When the CPU makes a positive determination, this control proceeds to step S230.

[0060] In step S230, the CPU displays a map of the area where the vehicle 102 is located on the display 52 and also displays the nearest registered location (there may be multiple) on the map. Thus, the driver can recognize the presence and position of the nearest registered location by referring to the map displayed on the display 52. Note that this step of displaying the map and the nearest registered location may be omitted.

[0061] In step S240, the CPU determines whether the vehicle speed V of the vehicle 102 is equal to or lower than a reference vehicle speed Vc (a positive constant) for low-speed determination. When the CPU makes a negative determination, this control is temporarily terminated. When the CPU makes a positive determination, in step S250, a parking support control program (FIG. 4) is started.

[0062] In step S260, the CPU determines whether the vehicle speed V of the vehicle 102 is 0. When the CPU makes a negative determination, in step S270, a message recommending parking such as "Please stop the vehicle" is displayed on the display 52, and then this control returns to step S260. On the other hand, when the CPU makes a positive determination, in step S280, it jumps to step S310 (FIG. 4) of the parking support control program.

[0063] As can be understood from the above description, the automatic start control of the parking assistance control is executed when the ignition switch is on, and the nearest registered point is searched from among the registered points stored in the storage device 18 (S210). When it is determined that the vehicle 102 is located within the range of the reference distance from the nearest registered point (S220), a map of the area where the vehicle 102 is located is displayed on the display 52, and the nearest registered point is displayed on the map (S230). Therefore, the driver can recognize the position of the registered point near the current location of the vehicle.

[0064] When it is determined that the vehicle speed V of the vehicle 102 is equal to or lower than the reference vehicle speed Vc for low-speed determination (S240), the parking assistance control program is started (S250). Therefore, the driver can start the parking assistance control program without operating the start switch 16 by reducing the vehicle speed V to be equal to or lower than the reference vehicle speed Vc for low-speed determination in the vicinity of the position where the nearest registered point is displayed on the map.

[0065] <Parking Assistance Control Program (Figure 4)> Next, the parking assistance control program in the embodiment will be described with reference to the flowchart shown in FIG. 4. The parking assistance control according to the flowchart shown in FIG. 4 is executed by the CPU of the driving support ECU 10 when it is started by the above-described current location registration control or automatic start control of the parking assistance control, or when it is started by the start switch 16.

[0066] First, in step S310, the CPU displays an omnidirectional bird's-eye view image around the vehicle 102 on the display 52. As shown in FIG. 6, the driver can display the left-side bird's-eye view image, the right-side bird's-eye view image, the front-side bird's-eye view image, and the rear-side bird's-eye view image by touching the image selection icon 52C. FIG. 6 is an example of the left-side bird's-eye view image 106, 102n indicates the current position of the vehicle 102, and the star mark indicates the registered point 108.

[0067] In step S320, the CPU determines whether the driver has determined the desired parking position (target parking position) by touching the displayable parking position (parking section) on the display 52. When the CPU makes a negative determination, it returns this control to step S310, and when it makes an affirmative determination, it advances this control to step S330. Note that when the driver determines the desired parking position, the driver may get out of the vehicle 102 and then be able to give necessary instructions regarding remote parking by operating the terminal device.

[0068] In step S330, the CPU sets a target route from the current position of the vehicle 102 to the target parking position, displays the target route on the display 52, and displays the "parking start" icon 52D and the "registration and parking start" icon 52E. FIG. 7 shows an example of the left-side overhead image 106 in which the target route is set. In FIG. 7, Pn indicates the reference position of the vehicle 102. 110 indicates the parking section, and 110A and 110B indicate the parkable parking sections.

[0069] Suppose that the driver determines the parking section 110B as the desired parking position (target parking position) by touching the portion of 110B. A target route 112 from the current position 102n of the vehicle 102 to the target parking position 110B is set as the target trajectory of the reference position Pn, and the target route 112 is displayed on the display 52.

[0070] In step S340, the CPU determines whether the movement of the vehicle 102 by automatic driving is permitted when the "parking start" icon 52D or the "registration and parking start" icon 52E displayed on the display 52 is touched. When the CPU makes a negative determination, it repeatedly executes step S340, and when it makes an affirmative determination, it advances this control to step S350. Note that when the "registration and parking start" icon 52E is touched, the information on the current location of the vehicle 102 acquired by the navigation device 80 is registered by being stored in the storage device 18 as the registration point, similar to steps S70 and S80 described above.

[0071] In step S350, the CPU moves the vehicle 102 along the target route toward the target parking position by automatically controlling the drive device 22, the braking device 32, and the EPS device 42 through an automatic driving that works together with other ECUs. Although not shown in the figure, the vehicle 102 can be stopped as needed by touching the "Stop" icon displayed on the display 52.

[0072] Furthermore, moving the vehicle 102 to the target parking position may be performed by a semi-automatic driving such as driving assistance in which the EPS device 42 is automatically controlled and the vehicle's driving and braking are performed by the driver.

[0073] In step S360, the CPU determines whether the vehicle 102 has reached the target parking position based on the detection results of the camera sensor 14 and the laser sensor 16. When the CPU makes a negative determination, it returns this control to step S350, and when it makes an affirmative determination, it proceeds with this control to step S370.

[0074] In step S370, the CPU displays on the display 52 that the vehicle 102 has reached the target parking position, shifts the shift position of the transmission to the P range, and turns off the ignition switch (IGSW). In the case of remote parking, it is displayed on the display of the terminal device that the vehicle 102 has reached the target parking position.

[0075] As can be understood from the above description, the parking assistance control is executed when it is started by the current location registration control or the automatic start control of the parking assistance control, or when it is started by the start switch 16. When the parking assistance control is started, an overhead image around the vehicle 102 is displayed (S310).

[0076] When the driver determines the target parking position using the bird's-eye view image (S320), a target route from the current position of the vehicle 102 to the target parking position is set, the target route is displayed on the display 52, and the "Parking Start" icon 52D and the "Registration and Parking Start" icon 52E are displayed (S330).

[0077] When it is determined that the movement of the vehicle 102 by automatic driving is permitted by touching any of the icons (S340), the vehicle 102 is moved toward the target parking position along the target route by automatic driving (S350). When it is determined that the vehicle 102 has reached the target parking position (S360), it is displayed on the display 52 that the vehicle 102 has reached the target parking position, the shift position of the transmission is shifted to the P range, and the ignition switch is turned off (S370).

[0078] Therefore, the driver can determine the target parking position using the bird's-eye view image and move and park the vehicle 102 to the target parking position by automatic driving by touching the icon 52D or 52E.

[0079] Note that the driver can register the current location of the vehicle 102 as a registration point and move and park the vehicle 102 to the target parking position by automatic driving by touching the "Registration and Parking Start" icon 52E.

[0080] In the above, the present invention has been described in detail with respect to specific embodiments, but it is obvious to those skilled in the art that the present invention is not limited to the above-described embodiments, and various other embodiments are possible within the scope of the present invention.

[0081] For example, in the above-described embodiment, the registration switches are the "Registration Only" switch 52A and the "Registration and Activation" switch 52B, which are displayed on the display 52 (S30). However, the "Registration and Activation" switch 52B may be omitted. Further, the registration switch may be a switch that is permanently installed, like the activation switch 16, instead of a switch that is displayed on the display 52.

[0082] Also, in the above-described embodiment, the storage device 18 is built in the driving support ECU 10, but it may be a storage device that can be accessed wirelessly from the vehicle 102, such as a storage device installed in the cloud.

[0083] Also, in the above-described embodiment, the icons 52D of "parking start" and 52E of "registration and parking start" are displayed on the display 52. However, the icon 52E of "registration and parking start" may be omitted. Conversely, when the icon 52D of "parking start" is touched, the current location of the vehicle 102 may be automatically registered as the registration point. However, when the current location is automatically registered as the registration point, unnecessary points may also be registered, and the number of registration points may become extremely large. In contrast, according to the embodiment, when the parking support control is activated by operating the start switch 16, the driver can register a point that the driver deems necessary as the registration point, and it is possible to avoid registering unnecessary points.

Explanation of Reference Numerals

[0084] 10... Driving support ECU, 12... Camera sensor, 14... Radar sensor, 16... Start switch, 20... Drive ECU, 22... Drive device, 30... Brake ECU, 32... Brake device, 40... EPS·ECU, 42... EPS device, 50... Meter ECU, 52... Display, 52A... "Registration only" switch, 52B... "Registration and start" switch, 60... Driving operation sensor, 70... Vehicle state sensor, 80... Navigation device, 100... Driving support device, 102... Vehicle, 108... Registration point

Claims

1. A parking assistance device including an acquisition device that acquires image information around the vehicle, a display, and a control device configured to, when a parking assistance control program is activated, display the image information around the vehicle acquired by the acquisition device on the display, and when a target parking position is determined by an occupant based on the image information, execute parking assistance control to assist the movement of the vehicle to the target parking position, wherein the control device is configured to perform registration control to acquire information on the current location of the vehicle and register the current location as a registration point in a storage device when a registration switch is operated by an occupant, and activation control to activate the parking assistance control program when it is determined that the vehicle is within a range of a preset distance from the registration point registered in the storage device and the vehicle speed is equal to or lower than a reference value, in the parking assistance device. The display is a touch panel type display, the registration switch is a switch that is displayed on the display and operated by touch, and includes a switch for only registration and a switch for registration and activation, and the control device is configured to perform the registration control when the registration and activation switch is touched, and then perform the activation control, in the parking assistance device.

2. The parking assistance device according to claim 1, wherein the control device is configured to display the registration switch on the display when the vehicle is stopped and information on the current location of the vehicle can be acquired.

3. The parking assistance device according to claim 1 or 2, wherein the control device is configured to determine whether there is a registration point registered in the storage device within the range of the preset distance from the vehicle when it is determined that the vehicle speed is equal to or lower than the reference value, and activate the parking assistance control program when it is determined that there is a registration point within the range of the distance.

4. A parking assistance device including an acquisition device that acquires image information around the vehicle, a display, and a control device configured to, when a parking assistance control program is activated, display the image information around the vehicle acquired by the acquisition device on the display, and when a target parking position is determined by an occupant based on the image information, execute parking assistance control to assist the movement of the vehicle to the target parking position, When the registration switch is operated by an occupant, the control device acquires information on the current location of the vehicle and performs registration control to register the current location as a registration point in a storage device, and start control to start the parking support control program when it is determined that the vehicle is within a range of a preset distance from the registration point registered in the storage device and the vehicle speed is equal to or lower than a reference value. In a parking support device configured to perform the above. The parking support device includes an activation switch, and the control device is configured to perform the start control without determining whether the vehicle is within a range of a preset distance from the registration point registered in the storage device when the activation switch is operated. A parking support device.

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