Parking support device

Abstract

To provide a parking support device, which in parking an own vehicle in a parking space utilizing a parking support function, can suppress the possibility that the device may wrongly recognize a position where parking is prohibited as the parking space, even if the device cannot recognize a parking frame.SOLUTION: A parking support device 1 detects a parked vehicle Pv parked in a parking lot on the basis of environment information about a circumference of an own vehicle M; and even when a width of a space adjacent to the parked vehicle is above a preset required parking width Ws that is required in parking the own vehicle M, estimates that parking is prohibited in the space, when the other parked vehicle Pv is not detected at the back of the space.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a parking assistance device that prevents a place where parking is prohibited from being displayed on a monitor as a parking space when assisting parking in a parking lot where a parking frame drawn on the road surface cannot be recognized.

Background Art

[0002] Conventionally, there has been known a parking assistance device that assists an operation when a driver parks his / her own vehicle within a parking frame that demarcates a parking space set in a parking lot, and reduces the burden on the driver. In this type of parking assistance device, when the driver operates his / her own vehicle and drives within the parking lot, the control unit detects candidates for available parking frames and displays the parking frames listed as candidates on a monitor. The driver selects a desired parking frame from the displayed parking frame candidates.

[0003] Then, the control unit sets a parking guidance route for parking the own vehicle in the parking frame selected by the driver. Then, the control unit automatically parks the own vehicle in the parking frame along the parking guidance route. Alternatively, the driver drives the own vehicle along the parking guidance route displayed on the monitor and parks in the parking frame.

[0004] In the above-described conventional parking assistance device, when parking the own vehicle in a parking frame, first, an available parking frame is detected. Therefore, when the road surface of the parking lot is covered with snow, crown mud remaining after flooding, etc., and the parking frame drawn on the road surface cannot be recognized, it becomes difficult for the parking assistance device to construct a parking guidance route for guiding the own vehicle to the parking frame.

[0005] Drivers need parking assistance by a parking assistance device more in a bad environment where it is difficult to recognize a parking space than in a good environment. For example, in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2021-3926), when the parking space in a parking lot cannot be recognized due to snow accumulation, first, information on a pair of ruts determined to be driving tracks engraved on the snow accumulation is acquired, and a position where the ruts are interrupted in the depth direction of the parking space is set as the stop position of the tires of the host vehicle at the time of parking. Then, a target parking guidance path for guiding the host vehicle along the pair of ruts up to this stop position is set. A technique has been disclosed

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] By the way, in this type of parking assistance control, first, a parking available space (parking position) is displayed on a monitor, and by the driver selecting the displayed parking position, a guidance path for parking the host vehicle at the parking position is generated and superimposed and displayed on the monitor. Applying this to the technique disclosed in the above-mentioned document, when a pair of ruts is detected in a parking lot, the space is set as a target parking position and displayed on the monitor, and the guidance path is superimposed and displayed.

[0008] However, ruts on snow are formed not only in the parking space but also in the passage area of the parking lot. In particular, when the amount of snow accumulation is large, the first-formed ruts are often traced and passed by many vehicles thereafter. As a result, there is a possibility that a passage area where parking is prohibited is misrecognized as a parking position and displayed on the monitor, which may cause discomfort to the driver.

[0009] When attempting to park a host vehicle in a parking space by using a parking assistance function, the present invention aims to provide a parking assistance device that can suppress the possibility of misidentifying a position where parking is prohibited as a parking space even when the parking frame drawn on the road surface cannot be recognized, and can reduce the discomfort given to the driver.

Means for Solving the Problems

[0010] In a parking assistance device that guides a host vehicle to a parking space in a parking lot, the present invention includes an environmental information acquisition unit that acquires environmental information around the host vehicle, a storage unit that stores a required parking width necessary for parking the host vehicle, a parked vehicle detection unit that detects parked vehicles parked in the parking lot based on the environmental information acquired by the environmental information acquisition unit, a space determination unit that compares the width of the space adjacent to the parked vehicle detected by the parked vehicle detection unit with the required parking width stored in the storage unit to determine whether the space is equal to or greater than the required parking width, and when the space determination unit determines that the width of the space adjacent to the parked vehicle is equal to or greater than the required parking width, a parkable space determination unit that determines whether there is a target in the depth of the space based on the environmental information acquired by the environmental information acquisition unit, and determines that the space is not parkable when the target is not detected. Even when the target is detected, if the target is not detected deep within the required parking width, the parking available space determination unit determines that the space is not available for parking. 。

Effects of the Invention

[0011] According to the present invention, even when it is determined that the width of the space adjacent to the parked vehicle is equal to or greater than the required parking width, if no target is detected in the depth of this parking space, it is determined that parking is not possible. Therefore, when attempting to park a host vehicle in a parking space by using a parking assistance function, even when the parking frame cannot be recognized, the possibility of misidentifying a position where parking is prohibited as a parking space is suppressed, and the discomfort given to the driver can be reduced.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 7

Figure 8

Figure 9

Figure 10A

Figure 10B

Mode for Carrying Out the Invention

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The parking assistance device 1 shown in FIG. 1 is mounted on a host vehicle M (see FIG. 5). This parking assistance device 1 includes a driving assistance control unit 11. This driving assistance control unit 11 is composed of a microcontroller including a CPU, a RAM, a ROM, a rewritable nonvolatile memory (flash memory or EEPROM), and peripheral devices. The ROM stores programs and fixed data necessary for the CPU to execute each process. The RAM is provided as a work area for the CPU, and various data in the CPU are temporarily stored. Note that the CPU is also called an MPU (Microprocessor) or a processor. Instead of the CPU, a GPU (Graphics Processing Unit) or a GSP (Graph Streaming Processor) may be used. Alternatively, the CPU, the GPU, and the GSP may be selectively combined and used.

[0014] When the driver sets a desired assistance mode, this driving assistance control unit 11 performs driving assistance according to the corresponding assistance mode. The driving assistance control unit 11 includes a driving assistance mode and a parking assistance mode as assistance modes.

[0015] Based on the vehicle position information acquired by the GNSS sensor 22a of the map locator unit 22 described later, the driving assistance mode performs map matching on the road map in the road map database 22b and autonomously travels through a section where automatic driving is possible along a preset target travel route. Also, in a driving route where automatic driving is difficult, this driving assistance mode executes well-known following vehicle distance (ACC: Adaptive Cruise Control) control, lane keeping (ALK: Active Lane Keep) control, and lane departure prevention (LDP) control. When the host vehicle M is detected to be along the lane and a preceding vehicle is detected, a travel control is executed to follow the preceding vehicle.

[0016] On one hand, when the parking support mode is selected by the driver while the host vehicle M enters a parking lot and drives within the parking lot by the driver's own driving, the driving support control unit 11 searches for a parking space where parking is possible and notifies the driver. Then, when the driver selects a desired parking space from the parking spaces where parking is possible, the host vehicle M is automatically parked in the selected parking space. Alternatively, a parking guidance route for parking the host vehicle in the parking space is superimposed on an aerial view of the surrounding image displayed on the HMI monitor 31 described later and the image of the host vehicle M to provide parking support when the driver parks by their own operation.

[0017] Also, on the input side of the driving support control unit 11, sensor units for acquiring the driving state information (including position and direction) of the host vehicle M and the surrounding environment information of the host vehicle M, which are required when executing the driving support mode and the parking support mode, are connected.

[0018] In this embodiment, as the sensor units required when executing each support mode, there are a front recognition sensor 21, a map locator unit 22, an autonomous driving sensor 23, a brake sensor 24 that detects depression of the brake pedal and turns on, a select position sensor 25 that detects the select position selected by the driver operating the select lever, a rear sensor 26 that acquires the environmental information behind the host vehicle M, left and right front side sensors 27, left and right rear side sensors 28, and left and right front side recognition cameras 29. Note that the environmental information acquisition unit of the present invention is constituted by each of the sensors 21, 26 to 29.

[0019] The front recognition sensor 21 is an image sensor. In this embodiment, it is a stereo camera composed of a main camera 21a and a sub-camera 21b, which use a CCD, CMOS, etc. as an imaging element, and has an image processing unit (IPU) 21c. Both cameras 21a and 21b have a predetermined baseline length and are installed horizontally at equal intervals on the left and right from the center in the vehicle width direction at a position above the rearview mirror at the front of the vehicle interior and close to the windshield. After the front recognition sensor 21 processes the images of the environmental information in a predetermined area captured by both cameras 21a and 21b with the IPU 21c, it transmits them to the driving support control unit 11.

[0020] Also, the map locator unit 22 includes a GNSS (Global Navigation Satellite System) sensor 22a and a road map database 22b. The GNSS sensor 22a receives positioning signals transmitted from a plurality of positioning satellites to acquire the position coordinates of the host vehicle M. Also, the road map database 22b is a large-capacity storage medium such as an HDD, in which road map information is stored. The road map information stored in this road map database 22b includes road information (general roads, arterial roads, highways, road shapes, road orientations, number of lanes, lane widths, etc.) required when the driving support mode is executed, and static information of parking lots (position information of entrances and exits to the parking lot, space information within the site, etc.) required when the parking support mode is executed.

[0021] The driving support control unit 11 performs map matching of the position coordinates (latitude, longitude, altitude) of the host vehicle M acquired by the GNSS sensor 22a on the road map information stored in the road map database 22b to estimate the position of the host vehicle on the road map (current position).

[0022] The autonomous driving sensor 23 is a general term for sensors required when the host vehicle M is autonomously driven, and is composed of a vehicle speed sensor that detects the vehicle speed (own vehicle speed) of the host vehicle M, a yaw rate sensor that detects the yaw rate acting on the host vehicle M, a longitudinal and lateral acceleration sensor that detects longitudinal and lateral accelerations, and the like.

[0023] Furthermore, the rear sensor 26 is composed of a combination of a monocular camera using a CCD, CMOS, or the like as an imaging device and at least one of an ultrasonic sensor, a millimeter-wave radar, a microwave radar, an infrared sensor, a lidar (Light Detection And Ranging), or the like. Alternatively, this rear sensor 26 may be a stereo camera composed of a main camera and a sub-camera, similar to the above-described front recognition sensor 21.

[0024] In addition, the left and right front side sensors 27 are respectively disposed, for example, at the left and right ridge portions of the front bumper of the host vehicle M, and scan in a fan shape the area (scanning area) from the left and right diagonally forward to the side of the host vehicle M. On the other hand, the left and right rear side sensors 28 are disposed, for example, at the left and right ridge portions of the rear bumper, and scan in a fan shape the area that cannot be scanned by the left and right front side sensors 27 from the rear to the left and right of the host vehicle M. Each of these side sensors 27, 28 is composed of a millimeter-wave radar, a microwave radar, a lidar, or the like, receives a reflected wave from a target (parked vehicle Pv or outer wall in the parking assist mode), and acquires environmental information such as the distance and azimuth from the host vehicle M to the target (parked vehicle Pv or outer wall).

[0025] Furthermore, the left and right front side recognition cameras 29 are mounted near the left and right side mirrors, and recognize the presence or absence of a parking frame line on the side of the host vehicle M that cannot be included in the viewing angle of the front recognition sensor 21, the presence or absence of ruts, the presence or absence of footprints, and the like. The left and right front side recognition cameras 29 include an imaging device such as a CCD or CMOS and an image processing unit. After the image of the front side environmental information captured by the imaging device is processed by the image processing unit, it is transmitted to the driving support control unit 11.

[0026] Furthermore, the driving support control unit 11 is connected to an HMI (Human Machine Interface) monitor 31. On this HMI monitor 31, as support modes to be executed by the driving support control unit 11, there are displayed a mode selection screen for a driver to select either a driving support mode or a parking support mode, a parking space selection screen (see FIGS. 10A and 10B) for displaying a parking space where parking is possible and allowing the driver to make a selection, and the like. Incidentally, this HMI monitor 31 may be used in combination with a multi-information display of a combination meter or a navigation display device (navigation monitor) of a car navigation system.

[0027] In addition, a drive control actuator 32 and a notification device 33 are connected to the output side of the driving support control unit 11. This drive control actuator 32 is a general term for a power actuator, an electric power steering (EPS) actuator, a brake actuator, etc. that assist the driving state of the host vehicle M. Here, the power actuator controls the output of a drive source such as an engine or an electric motor. The EPS actuator controls the drive of the EPS motor. Also, the brake actuator adjusts the brake hydraulic pressure supplied to the brake wheel cylinders provided on each wheel. Furthermore, the notification device 33 notifies the driver of various information required when each support mode is being executed, by voice.

[0028] The driving support control unit 11 has a parking support control function that parks the host vehicle M in a parking space on behalf of the driver, or supports the driver when the driver attempts to park the host vehicle M in a parking space by his / her own driving. The parking support control executed by the driving support control unit 11 is specifically processed according to the parking support control routine shown in FIG. 2. This routine is executed at every predetermined calculation cycle after the system is started up.

[0029] In this routine, first, in step S1, the host vehicle position information estimated by the map locator unit 22 is acquired, and the process proceeds to step S2, where the surrounding map information of the host vehicle position is acquired from the map locator unit 22 based on the host vehicle position information.

[0030] Next, proceed to step S3, map-match the own vehicle position to the surrounding map, and check whether the own vehicle M has entered the parking lot. If it is determined that the vehicle has entered the parking lot, proceed to step S4. If it is determined that the vehicle has not entered the parking lot, exit the routine.

[0031] When proceeding to step S4, the notification device 33 audibly notifies the driver of an announcement asking whether to set the assistance mode to the parking assistance mode, and displays a selection screen for the parking assistance mode on the HMI monitor 31 and proceeds to step S5. When proceeding to step S5, it is determined whether the driver has selected the parking assistance mode. If the driving assistance mode is selected, proceed to step S6. Also, if the driver does not select the driving assistance mode even after a predetermined time has elapsed after the announcement, or if the driver selects manual driving on the HMI monitor 31, exit the routine as it is.

[0032] When proceeding to step S6, execute the parking assistance mode and exit the routine. This parking assistance mode is executed according to the parking assistance mode execution subroutine shown in FIG. 3. In this subroutine, when the driver drives the own vehicle M at a low speed along the traffic lane of the parking lot, first, in step S11, acquire the front and front-side environment information recognized by the front recognition sensor 21, the left and right front-side sensors 27, and the left and right front-side recognition cameras 29.

[0033] Next, proceed to step S12, and detect parked vehicles (parked vehicles) Pv parked on the left and right sides of the traffic lane from the acquired front and front-side environment information. As shown in FIG. 5, while the own vehicle M is traveling at a low speed in the traffic lane, detect parked vehicles (parked vehicles) Pv parked in parallel on the left and right sides of the traffic lane based on the acquired front and front-side environment information. Note that the processing in this step corresponds to the parked vehicle detection unit of the present invention.

[0034] After that, the process proceeds to step S13 to check whether there is a parking space next to the detected parked vehicle Pv. This parking space is a space for normal parking with a predetermined parking width demarcated by a parking frame described later, and is a fixed value set in advance. If no parking space is detected, the process branches to step S14. If a parking space is detected, the process proceeds to step S15.

[0035] When branching to step S14, it is checked whether the parking assistance mode has ended. If it is determined that it has ended, the routine is exited. On the other hand, if the parking assistance mode is being continued, the process returns to step S11 and the processing of steps S11 to S13 is repeated. The end of the parking assistance mode is performed by an operation of the driver via the HMI monitor 31 or the like. Alternatively, this parking assistance mode is automatically ended when the driving assistance control unit 11 detects the departure of the host vehicle M from the parking lot.

[0036] On the other hand, when proceeding from step S13 to step S15, it is checked whether the parking frame drawn on the road surface to demarcate the parking space, which is drawn on the left and right sides of the traffic lane, is recognized. This parking frame is recognized, for example, from the forward and lateral environment information obtained by the forward recognition sensor 21, the left and right front side sensors 27, and the left and right front side recognition cameras 29, based on the luminance difference between the road surface and the edge of the parking frame, or the change in the intensity (reflectance) of the reflected light or reflected wave from the road surface and the parking frame.

[0037] If the driving assistance control unit 11 determines that the parking frame is recognized, the process proceeds to step S16, where the parking assistance process in a favorable environment is executed and the routine is exited. Note that this parking assistance process in a favorable environment is the same as the conventional parking assistance for guiding the host vehicle M to the parking space based on the parking frame, so the description is omitted.

[0038] On the other hand, if it is determined that the parking space cannot be recognized, that is, the road surface of the parking lot is covered with snow, crown mud left after flooding, etc., and the parking space drawn on the road surface cannot be recognized, the process proceeds to step S17, and the parking support process in a bad environment is executed to exit the routine. This parking support process in a bad environment is executed according to the parking support subroutine shown in FIG. 4.

[0039] In step S21 of this subroutine, it is checked whether the width of the parking space adjacent to the detected parked vehicle Pv is equal to or greater than a required parking width Ws set in advance. Note that the processing in this step corresponds to the space determination unit of the present invention.

[0040] As shown in FIG. 6A, the required parking width Ws is a value obtained by adding a margin width (2·Wm) that allows a passenger to get in and out sufficiently when the left and right doors of the own vehicle M are opened to the vehicle width of the own vehicle M, and is stored in advance as fixed data in a storage unit such as a ROM or a non-volatile memory.

[0041] Whether there is a space of the required parking width Ws adjacent to the parked vehicle Pv is determined to have a parking space if there is no other parked vehicle Pv at a location separated by the required parking width Ws from one parked vehicle Pv. Therefore, as shown in FIG. 6A, whether there is a parking space only needs to have a space of at least the required parking width Ws opened with respect to one parked vehicle Pv, and it is not always necessary to measure the width between two parked vehicles Pv.

[0042] And if it is determined that there is a parking space equal to or greater than the required parking width Ws, the process proceeds to step S22. Also, as shown in FIG. 6B, when two parked vehicles Pv are parked in parallel and the space between them is narrower than the required parking width Ws, it is determined that there is no parking space, and the process jumps to step S29.

[0043] When proceeding to step S22, it is examined whether a target object is detected behind the required parking width Ws for parking the own vehicle M in the parking space. This target object is a parked vehicle Pv or an outer wall, and is recognized based on the front and front-side environment information acquired by the front recognition sensor 21, the left and right front-side sensors 27, and the left and right front-side recognition cameras 29. Note that the processing in this step S22 corresponds to the parking available space determination unit of the present invention.

[0044] And, when a target object is detected behind the required parking width Ws within the parking space, it is determined that parking is possible and the process proceeds to step S23. Also, when no target object is detected behind the parking space, it is determined that parking is impossible and the process jumps to step S29. For example, as shown in FIG. 5, the parking spaces A and C indicated by hatching at the front right and the rear left are determined to be parking available because a parked vehicle Pv is parked behind the required parking width Ws. On the other hand, the parking space B indicated by the dashed line in the middle on the right is determined to be parking impossible because no target object (the parked vehicle Pv in the figure) is detected at least behind the required parking width Ws.

[0045] Also, for example, as shown in FIG. 7, when there is a parking space wider than the required parking width Ws next to a parked vehicle Pv parked in parallel so as to be able to enter and exit with respect to the traffic lane in which the own vehicle M is traveling, and another parked vehicle Pv as a target object is parked behind the required parking width Ws, this parking space cannot be passed through, so it can be determined that it is a parking available space Ps. At that time, as shown in the same figure, even if rut marks 101 and footprint marks 51 are detected in the parking space, these can be presumed to be the rut marks 101 of the vehicle that entered and exited the parking space and the footprint marks 51 of the passengers who got on and off the vehicle.

[0046] On the other hand, as shown in FIG. 8, when no target object is detected behind the required parking width Ws of the parking space, it is highly likely that the vehicle and pedestrians can pass through and it is a place where parking is prohibited such as a traffic lane or a sidewalk, so it is determined that parking is impossible.

[0047] Then, if it is determined that the parked vehicle Pv, which is an object target, is parked at the back of the parking space and the process proceeds to step S23, the HMI monitor 31 as the display unit is driven to display an overhead view of the available parking space Ps on this HMI monitor 31. Note that the process in this step corresponds to the display driving unit of the present invention.

[0048] Next, the process proceeds to step S24, the notification device 33 is driven, and an announcement is made to the driver as to whether or not to select the available parking space Ps displayed on the HMI monitor 31. As shown by hatching in FIG. 5, the available parking spaces are detected when the host vehicle M approaches the parking space and passes by its side. As shown in FIG. 10A, each time, the available parking space Ps is displayed on the HMI monitor 31. Therefore, even if the host vehicle M passes by the side of the parking space B shown in FIGS. 5 and 9, since this parking space B is determined to be non-parkable, it is not displayed on the HMI monitor 31.

[0049] Thereafter, the process proceeds to step S25 to determine whether or not the driver has selected the available parking space Ps this time. For example, in the parking lot shown in FIG. 5, on the left and right sides of the traffic lane in which the host vehicle M travels, there are available parking spaces A and C shown by hatching on the front right side and the back left side. Also, the parking space B in the middle right is determined to be non-parkable because no object target is detected at the back within at least the required parking width Ws. Note that the processes in steps S23 to S25 correspond to the selection unit of the present invention.

[0050] When the host vehicle M approaches the parking space C, as shown in FIG. 10B, it is displayed as the available parking space Ps on the HMI monitor 31.

[0051] Then, if it is determined in step S25 that the driver has selected the available parking space Ps displayed on the HMI monitor 31, the process proceeds to step S26. Also, when a predetermined time has elapsed after the announcement or when the host vehicle M has passed in front of the available parking space displayed on the HMI monitor 31, the process branches to step 27.

[0052] For example, even if the parking space in the front right shown in FIG. 5 is displayed as the available parking space Ps on the HMI monitor 31, if the driver passes without selecting the available parking space Ps, the process branches to step S27.

[0053] When branching to step S27, the available parking space Ps displayed on the HMI monitor 31 is cleared, the process proceeds to step S29, and it is checked whether the parking assistance mode has ended. If it is determined that the mode has ended, the routine is exited. On the other hand, if the parking assistance mode is continued, the process returns to step S11 in FIG. 3, and the next parked vehicle Pv is detected based on the front and front-side environmental information. Note that the end of the parking assistance mode is the same as the process in step S14 described above.

[0054] Also, when the host vehicle M approaches the parking space indicated by the hatching in the upper left of FIG. 5, recognizes the parking space as the available parking space Ps, and displays it on the HMI monitor 31 as shown in FIG. 10B, if the driver touches the displayed available parking space Ps, it is determined that there is a selection in step S25, and the process proceeds to step S26.

[0055] When proceeding to step S26, the driving support control unit 11 sets the target parking space Pt (see FIGS. 9 and 10B) in the available parking space Ps (in the upper left in FIG. 5) selected by the driver, and proceeds to step S28. In step S28, a target parking guidance path Gr for guiding the host vehicle M to the target parking space Pt is constructed, and control for automatically parking the host vehicle M along this target parking guidance path Gr is executed to end the routine. Note that the processes in steps S26 and S28 correspond to the parking assistance unit of the present invention.

[0056] That is, in the automatic parking support by the driving support control unit 11, first, as shown in FIG. 9, a virtual parking frame for the required parking width Ws is set from the parking vehicle Pv serving as a reference (the parking vehicle Pv in the upper left corner in FIG. 9) in the parking space Ps selectable by the driver. This virtual parking frame is set as the target parking space Pt, and a target parking guidance path Gr for guiding the host vehicle M to this target parking space Pt is set. This target parking guidance path Gr is set such that the center in the vehicle width direction of the host vehicle M coincides with the center in the width direction of the target parking space Pt. Alternatively, for example, when the width of the available parking space Ps is equal to or less than a predetermined value (for example, twice) with respect to the required parking width Ws, the center in the width direction of the available parking space Ps may be set as the center in the width direction of the target parking space Pt.

[0057] After that, the driving support control unit 11 automatically parks the host vehicle M in the target parking space Pt as predetermined, and then ends the routine.

[0058] As a result, for example, as shown in FIG. 9, the host vehicle M can acquire the position information of all the parked vehicles Pv in the parking lot by circulating in the traffic lane of the parking lot. Each time the host vehicle M approaches the available parking space Ps indicated by hatching in the figure, the available parking space Ps is displayed in a bird's-eye view on the HMI monitor 31.

[0059] As described above, in this embodiment, when attempting to automatically park the host vehicle in the parking space of the parking lot, first, it is checked whether there is a parking space for parking the host vehicle M next to the parked vehicle Pv. When a parking space is detected, it is checked whether a parking frame partitioning the parking space is recognized in the parking space. Then, when the parking frame is covered with snow, mud, or the like and cannot be recognized, the parking support process in a bad environment is executed.

[0060] In the parking support process in a harsh environment, it is checked whether there is a parking space detected next to the parked vehicle Pv that is equal to or greater than the required parking width Ws. And even if a parking space equal to or greater than the required parking width Ws is detected, if no target is detected behind this parking space, it is presumed that the place is where parking is prohibited. This suppresses the possibility of misrecognizing the position where parking is prohibited as a parking space, and can reduce the discomfort given to the driver.

[0061] In addition, the present invention is not limited to the above-described embodiments. For example, in the process of step S29 described above, on the HMI monitor 31, the target parking guidance path Gr may be superimposed and displayed in an overhead view around the parking space where parking is to be performed, and the driver may park the own vehicle M along the target parking guidance path Gr by his / her own driving.

Explanation of Signs

[0062] 1…Parking support device, 11…Driving support control unit, 21…Front recognition sensor, 21a…Main camera, 21b…Sub camera, 21c…Image processing unit (IPU), 22…Map locator unit, 22a…GNSS sensor, 22b…Road map database, 23…Autonomous driving sensor, 24…Brake sensor, 25…Select position sensor, 26…Rear sensor, 27…Left and right front side sensors, 28…Left and right rear side sensors, 29…Left and right front side recognition cameras, 31…HMI monitor, 32…Drive control actuator, 33…Notification device, 51…Footprint, 101…Rut, A~C…Parking space, Gr…Target parking guidance path, M… Self-vehicle, Ps… Parking available space, Pt… Target parking space, Pv… Object (parked vehicle), Ps… Parking available space, Ws… Required parking width

Claims

1. In a parking assistance device that guides a host vehicle to a parking space in a parking lot, an environmental information acquisition unit that acquires environmental information around the host vehicle; a storage unit that stores a required parking width necessary for parking the host vehicle; a parked vehicle detection unit that detects parked vehicles parked in the parking lot based on the environmental information acquired by the environmental information acquisition unit; a space determination unit that compares the width of the space adjacent to the parked vehicle detected by the parked vehicle detection unit with the required parking width stored in the storage unit, and determines whether the space is equal to or greater than the required parking width; when the space determination unit determines that the width of the space adjacent to the parked vehicle is equal to or greater than the required parking width, a parkable space determination unit that determines whether there is a target in the depth of the space based on the environmental information acquired by the environmental information acquisition unit, and determines that the space is not parkable when the target is not detected; comprising even when the target is detected, the parkable space determination unit determines that the space is not parkable if the target is not detected in the depth within the required parking width A parking assistance device characterized by the above.

2. When the parkable space determination unit detects the target in the depth within the required parking width, the parkable space determination unit determines that the space is a parkable space. The parking assistance device according to claim 1, characterized by the above.

3. further comprising a display driving unit that drives a display unit, The display driving unit does not display the space determined to be not parkable by the parkable space determination unit, and displays only the parkable space on the display unit. The parking assistance device according to claim 2, characterized by the above.

4. a selection unit that allows a driver to select the parkable space displayed on the display unit; When the driver selects the parkable space displayed on the display unit, a parking assistance unit that sets the parkable space as a target parking space and sets a parking guidance route for guiding the host vehicle to the target parking space. The parking assistance device according to claim 3, further comprising the above.

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