Parking support system

Abstract

To provide a technique that can suppress a troublesome usage proposal to a driver in a parking support system.SOLUTION: In a parking support system 1, a parking space detection unit 22 detects a parking space. A derivation unit 26 derives a first required time required to automatically park a vehicle in the parking space. A prediction unit 28 predicts a second required time required for a driver to manually park the vehicle in the parking space based on an amount of time the driver previously spent for manually parking the vehicle in the same or similar parking space. A determination unit 32 determines whether or not to propose the use of automatic parking to the driver, depending on a comparison result between the first required time and the second required time.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a parking assistance system.

Background Art

[0002] In recent years, the development of automatic parking technology has advanced. Patent Document 1 discloses a technique that can avoid congestion in automatic valet parking and manually park a vehicle from another route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By proposing the use of a parking assistance system installed in a vehicle to a driver who does not usually use it, there is a possibility of improving convenience. However, as a driver's psychology, if they think they can park faster by themselves, they may not want to use the parking assistance system, and thus may feel annoyed when a use proposal is made. Therefore, a use proposal that is unlikely to make the driver feel annoyed is desired.

[0005] An object of the present invention is to provide a technique capable of suppressing annoying use proposals to a driver in a parking assistance system.

Means for Solving the Problems

[0006] To solve the above problems, a parking support system according to an aspect of the present invention includes a parking space detection unit that detects a parking space, a derivation unit that derives a first required time required to automatically park a vehicle in the parking space, and a time required when a driver manually parked the vehicle in a parking space identical or similar to the parking space in the past. Based on this, a prediction unit that predicts a second required time required for the driver to manually park the vehicle in the parking space, and a determination unit that determines whether to propose the use of automatic parking to the driver according to a comparison result between the first required time and the second required time.

Effect of the Invention

[0007] According to the present invention, in a parking support system, it is possible to provide a technique for suppressing troublesome use proposals to a driver.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0009] FIG. 1 shows the configuration of a parking support system 1 according to an embodiment. The parking support system 1 is provided in a vehicle such as an automobile and is used to assist driving when parking. The parking support system 1 can also be called an automatic parking system. When a driver turns on the parking switch, the vehicle is automatically driven and moved to a parking space.

[0010] The parking assistance system 1 learns the driver's parking skills. When the driver intends to park in a parking lot with the parking switch turned off, it compares the first required time for automatic parking with the second required time for the driver to park manually. The parking assistance system 1 proposes to the driver to use the system when parking can be completed in a shorter time by automatic parking. This can increase the usage frequency of the parking assistance system 1 while reducing the annoyance of the usage proposal.

[0011] The parking assistance system 1 includes a surrounding monitoring sensor 2, a vehicle state sensor 4, an input unit 6, an output unit 8, and a parking assistance device 10.

[0012] The surrounding monitoring sensor 2 detects objects around the host vehicle and outputs the detection result to the parking assistance device 10. The surrounding monitoring sensor 2 has, for example, at least one of a camera, an ultrasonic sensor, a radar, and a laser scanner. The camera captures an image of the surroundings of the host vehicle. The ultrasonic sensor emits ultrasonic waves and receives the ultrasonic waves reflected by an object. The radar emits a laser or millimeter wave and receives the laser or millimeter wave reflected by an object. The laser scanner scans a predetermined range with a laser and receives the laser reflected by an object.

[0013] The vehicle state sensor 4 detects, as vehicle state information, the vehicle speed, the steering angle, the position of the shift lever, and the operating state of the parking brake, and outputs the detection result to the parking assistance device 10.

[0014] The input unit 6 receives the driver's operation input. The input unit 6 includes a parking switch used for the driver to input an operation to start automatic parking. The input unit 6 may include, for example, a mechanical switch having on / off states, or an operation button displayed on a touch panel. Further, the input unit 6 may include a microphone that receives voice input. The input unit 6 outputs information indicating whether the parking switch is on or off to the parking assistance device 10.

[0015] The output unit 8 is installed inside the vehicle cabin and includes at least one of a display device such as a liquid crystal display and an audio output device such as a speaker, and outputs information related to parking assistance according to the control of the parking assistance device 10.

[0016] The parking assistance device 10, also referred to as a parking assistance ECU (Electronic Control Unit), assists in parking the host vehicle. The parking assistance device 10 has a processing unit 12 and a storage unit 14. The processing unit 12 has a position acquisition unit 20, a parking space detection unit 22, a classification unit 24, a derivation unit 26, a prediction unit 28, a measurement unit 30, a determination unit 32, a proposal unit 34, a route creation unit 36, and a vehicle control unit 38.

[0017] The configuration of the processing unit 12 can be realized in terms of hardware by a CPU, a memory, and other LSIs of an arbitrary computer, and can be realized in terms of software by a program loaded in the memory, etc. Here, however, functional blocks realized by their cooperation are depicted. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

[0018] Since the processing when the parking switch is on can use known processing, the description thereof is omitted. Hereinafter, the processing when the parking switch is off will be described.

[0019] The position acquisition unit 20 periodically acquires the current position of the host vehicle using, for example, GPS (Global Positioning System), and outputs the current position information to the parking space detection unit 22. The current position includes latitude and longitude.

[0020] Based on the current position information and the map information, when the current position of the host vehicle is located within a parking lot and the vehicle speed of the host vehicle is equal to or lower than a predetermined value that can be regarded as slow, the parking space detection unit 22 recognizes the surrounding parking spaces based on the detection results output from the surrounding monitoring sensor 2. When the steering is operated near the entrance of the recognized parking space, the parking space detection unit 22 detects that the driver intends to park the host vehicle in the parking lot. When the host vehicle stops near the entrance of the recognized parking space, the parking space detection unit 22 may detect that the driver intends to park.

[0021] When the driver intends to park the host vehicle, the parking space detection unit 22 detects a parking space where the host vehicle is expected to be parked based on the detection results output from the surrounding monitoring sensor 2. For example, the parking space detection unit 22 detects a parking space located beside the host vehicle in the direction opposite to the steering direction. That is, in this case, even if the parking switch is off, the parking support system 1 is activated in the background and detects the parking space. The parking space detection unit 22 uses a known technique to detect the parking space based on, for example, obstacles such as the frame lines and walls of the parking lot, the positions of other vehicles that have already been parked, and the like. The parking space detection unit 22 outputs the information on the detected parking space to the classification unit 24. The information on the parking space includes information such as the width of the passage adjacent to the entrance of the parking space, the size and position of the parking space. The position of the parking space includes latitude and longitude and is specified from the current position of the vehicle.

[0022] FIG. 2 is a diagram for explaining a situation where the parking space A1 is detected by the parking support system 1 of FIG. 1. In the example of FIG. 2, when a vehicle 70 equipped with the parking support system 1 is slowly traveling within a parking lot, crossing near the entrance of the parking space A1 between two other parked vehicles, and the steering is steered to the left, the parking space detection unit 22 detects the parking space A1 on the right side of the vehicle 70. Let the position of the vehicle 70 when the parking space A1 is detected be position P1.

[0023] The classification unit 24 classifies the detected parking space A1 according to the road width and the size. For example, the road width and the size of the parking space A1 may each be one of three types: "wide", "medium", and "narrow". In this case, the detected parking space A1 is classified into one of nine categories. The classification of the size of the parking space A1 can be performed using, as an index, the occupancy rate of the area of the host vehicle in the parking space A1. The categories of each of the road width and the size of the parking space A1 are not limited to three types, and may be a plurality of types. The classification unit 24 may further classify the detected parking space A1 according to a parking type indicating parallel parking or perpendicular parking, a parking direction indicating forward parking or backward parking, and the like.

[0024] The storage unit 14 holds a learning value of the parking skill of the driver of the vehicle 70. Specifically, the storage unit 14 classifies a plurality of parking spaces where the driver has parked the vehicle 70 manually in the past into categories, and for each category, holds, as a database, a statistical value of the time required for parking manually in the parking space of the category. The category is the category classified by the classification unit 24.

[0025] FIG. 3 shows an example of the data structure of the database stored in the storage unit 14 of FIG. 1. In FIG. 3, the average value of the time required for parking manually is shown for each of nine categories regarding the road width and the size of the parking space. The unit of the average value is seconds. Although not shown, the storage unit 14 also stores, in association with the position information of the parking space, the time required for parking in each of the plurality of parking spaces.

[0026] In addition to or instead of the average value, the storage unit 14 may store other statistical values such as the maximum value, the minimum value, and the variance of the time required for parking by manual driving for each of the plurality of categories.

[0027] When the driver purchases a vehicle, the database is initialized. If there is no data on the parking time in the same category as the detected parking space A1 in the database, the measurement unit 30 measures the time required for parking by manual driving from the position P1 to within the parking space A1, and holds the measured time in the database as data in the category of the parking space A1. In this case, the proposal for using the automatic parking is not executed.

[0028] FIG. 4 is a diagram for explaining the measurement of the time required for parking by manual driving from the position P1 to within the parking space A1, following FIG. 2. The driver advances the vehicle 70 diagonally forward to the left from the position P1, and then reverses to park in the parking space A1. The measurement unit 30 sets the time point when the parking space A1 is detected as the parking start timing, and sets the time point when the position of the shift lever becomes parking or the parking brake is turned on as the parking end timing, and measures the time from the parking start timing to the parking end timing. The measured time corresponds to the time required when the driver parks the vehicle 70 in the parking space A1 by manual driving.

[0029] On the other hand, if there is data on the parking time of a parking space identical or similar to the detected parking space A1 in the database, the prediction unit 28 predicts the second required time required for the driver to park the vehicle 70 from the position P1 to the parking space A1 by manual driving.

[0030] When the position information of the detected parking space A1 and the position information of the parking space in the database substantially match, these parking spaces are regarded as the same, and the prediction unit 28 uses a statistical value such as the average value of the parking time of the parking space identical to the parking space A1 in the database as the second required time. As a result, for a specific parking space with a large number of parking times, such as a parking lot at home, the actual performance of the parking time of the parking space can be obtained instead of the statistical value of the category, so the prediction accuracy of the second required time can be improved.

[0031] If there is no data of a parking space that can be regarded as the same as the detected parking space A1, the parking space in the database with the same category as the category of the detected parking space A1 is regarded as similar to the parking space A1, and the prediction unit 28 sets the parking time of the similar parking space in the database as the second required time.

[0032] This process corresponds to the prediction unit 28 predicting the second required time based on the time required when the driver parked the vehicle manually in a parking space identical or similar to the parking space in the past.

[0033] The route creation unit 36 determines the parking position in the parking space A1, creates a vehicle route from the position P1 to the parking position, and outputs the information of the created vehicle route to the derivation unit 26 and the vehicle control unit 38. The vehicle route can be created using known techniques.

[0034] The derivation unit 26 derives the first required time required to automatically park the vehicle 70 from the position P1 to the parking space A1 based on the information of the vehicle route created by the route creation unit 36. The first required time can be derived using known techniques based on a predetermined vehicle speed, the length of the vehicle route, the number of turns in the vehicle route, etc. The derivation unit 26 may accumulate the first required time in the database of the storage unit 14 in association with the position information of the parking space. In this case, when the position information of the detected parking space and the position information of the parking space in the database substantially match, the derivation unit 26 may acquire the first required time of the parking space in the database.

[0035] The determination unit 32 determines whether to propose the use of automatic parking to the driver according to the comparison result between the first required time and the second required time. When the second required time is longer than the first required time, the determination unit 32 determines to propose the use of automatic parking to the driver and notifies the proposal unit 34. When the second required time is less than or equal to the first required time, the determination unit 32 determines not to propose the use of automatic parking to the driver.

[0036] When the result of subtracting the first required time from the second required time is longer than a predetermined time, the determination unit 32 may determine to propose to the driver to use the automatic parking. When the result of subtracting the first required time from the second required time is less than or equal to the predetermined time, the determination unit 32 may determine not to propose to the driver to use the automatic parking. The predetermined time is a value equal to or greater than zero and can be appropriately determined by experiments. The predetermined time may be set in advance by the driver. When the driver is relatively poor at parking, by approaching the predetermined time to zero, it becomes easier to be proposed. When the driver is relatively good at parking, the larger the predetermined time is, the less likely it is to be proposed.

[0037] When it is determined by the determination unit 32 to propose to the driver to use the automatic parking, the proposal unit 34 proposes to the driver to use the automatic parking via the output unit 8. The output unit 8 makes a usage proposal by outputting characters or voices such as "Do you want to use the automatic parking system?". The usage proposal is made, for example, immediately after the vehicle 70 passes through the position P1. Since the usage proposal is made only when it is faster to use the automatic parking, annoying usage proposals to the driver can be suppressed. Since manual parking in a parking space where automatic parking is faster may be considered difficult for the driver, the possibility of agreeing to the usage proposal increases.

[0038] In addition to the usage proposal, the proposal unit 34 may also notify the driver of the reason for the proposal via the output unit 8. The reason for the proposal includes the possibility that automatic parking may be faster. Thereby, the possibility that the driver agrees to the proposal can be increased.

[0039] When it is not determined by the determination unit 32 to propose to the driver to use the automatic parking, the proposal unit 34 does not make a usage proposal, and the measurement unit 30 measures the time required when the driver parks the vehicle 70 manually in the parking space A1 and stores it in the database. The measurement unit 30 derives statistical values such as a new average value based on the existing value held in the storage unit 14 in the category of the parking space A1 classified by the classification unit 24 and the measured time, and updates the database with the derived value. When the driver's parking skill changes, it can be reflected in the database.

[0040] When the driver who has received the proposal agrees to the proposal, the driver stops the driving operation for parking and switches the parking switch of the input unit 6 to on. When the parking switch is turned on, the processing unit 12 starts the control of automatic parking. Known technologies can be used for the control of automatic parking. For example, the processing unit 12 causes the output unit 8 to output an image of the periphery of the vehicle including the parking space A1 where the vehicle is to be parked. When the driver who has confirmed the image inputs a parking start operation to the input unit 6, the vehicle control unit 38 acquires various information from the surrounding monitoring sensor 2 and the vehicle state sensor 4, and controls the steering, brake, accelerator, etc. (not shown) based on the acquired information to operate the vehicle 70 along the vehicle path created by the path creation unit 36. That is, the vehicle control unit 38 automatically parks the vehicle 70 from the position P1 to the parking position within the parking space A1. As a method of automatically driving the own vehicle along the vehicle path, a known method can be used.

[0041] On the other hand, if the driver who has received the proposal does not agree to the proposal, the driver does not switch the parking switch of the input unit 6 to on. In this case, as described above, the measurement unit 30 measures the time required when the driver parks the vehicle 70 manually in the parking space A1 and accumulates it in the database.

[0042] Note that the predetermined time in the determination unit 32 may be variable. When the proposal unit 34 proposes the use of automatic parking, if the input unit 6 does not receive an operation of switching the parking switch to on, that is, if the driver does not agree to the proposal, the determination unit 32 may increase the predetermined time from the current value. Thereby, when the driver does not agree to the proposal, annoying use proposals can be further suppressed.

[0043] Next, the operation of the parking support system 1 with the above configuration will be described. FIG. 5 is a flowchart showing the processing of the parking support system 1 in FIG. 1. The processing in FIG. 5 is started when the parking switch is off and the driver intends to park in the parking lot.

[0044] The parking space detection unit 22 detects a parking space (S10). The classification unit 24 classifies the detected parking space (S12). If the data corresponding to the detected parking space does not exist in the database (N in S14), the measurement unit 30 measures the time required for the driver to park manually, accumulates the measured time in the database (S28), and ends the process.

[0045] If the data corresponding to the detected parking space exists in the database (Y in S14), the prediction unit 28 predicts the second required time for manual parking (S16). The derivation unit 26 derives the first required time for automatic parking (S18). If the second required time is not greater than the first required time (N in S20), the process proceeds to S28. If the second required time is greater than the first required time (Y in S20), the proposal unit 34 proposes the use of automatic parking (S22). If the use proposal is not accepted (N in S24), the process proceeds to S28. If the use proposal is accepted (Y in S24), the processing unit 12 starts the control of automatic parking (S26) and ends the process.

[0046] The present invention has been described based on the embodiments. It should be understood by those skilled in the art that the embodiments are merely examples, and various modifications are possible for the combination of each component and each processing process, and such modifications are also within the scope of the present invention.

[0047] For example, at least a part of the functions of the parking support device 10 may be possessed by the server. In this case, data is transmitted and received between the parking support device 10 and the server by wireless communication.

Explanation of reference numerals

[0048] 1... Parking support system, 10... Parking support device, 14... Storage unit, 20... Position acquisition unit, 22... Parking space detection unit, 24... Classification unit, 26... Derivation unit, 28... Prediction unit, 30... Measurement unit, 32... Decision unit, 34... Proposal unit, 36... Route creation unit, 38... Vehicle control unit, 70... Vehicle.

Claims

【Claim 1】 A parking space detection unit that detects a parking space; A derivation unit that derives a first required time required to automatically park the vehicle in the parking space; Based on the time required when the driver manually parked the vehicle in a parking space identical or similar to the parking space in the past, a prediction unit that predicts a second required time required for the driver to manually park the vehicle in the parking space; A determination unit that determines whether to propose the use of automatic parking to the driver according to the comparison result between the first required time and the second required time; A parking support system, characterized by comprising the above.

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