Parking support device and parking support method

Abstract

To provide a parking support device that can improve safety.SOLUTION: A parking support device that supports driving operation to park an own vehicle in a parking spot and / or to exit the own vehicle from the parking spot includes: a peripheral sensor for acquiring information on objects existing around the own vehicle; and a processor capable of performing parking support control to support driving operation by a driver by setting a target position and a target route to reach the target position based on the information acquired by the peripheral sensor, and controlling the own vehicle so that the own vehicle automatically moves along the target route to reach the target position. The processor sets as a target route a route that enables the vehicle to reach the target position without making contact with all first objects, which are determined to interfere with progress of the own vehicle among the objects, and all second objects, which are determined to be unclear whether or not they interfere with the progress of the own vehicle among the objects.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a parking assistance device that supports a driving operation for parking a host vehicle in a parking spot and / or a driving operation for taking the host vehicle out of a parking spot.

Background Art

[0002] A parking assistance device that supports a driving operation for taking a host vehicle out of a parking spot has been proposed (see Patent Document 1 below). This type of parking assistance device (hereinafter referred to as the "conventional device") includes a peripheral sensor and a processor. The peripheral sensor includes sensors (for example, ultrasonic sensors, cameras, etc.) that acquire information about objects existing around the host vehicle. The processor recognizes an object (obstacle) that obstructs the progress of the host vehicle based on the information acquired by the peripheral sensor. The processor sets, as a target position, a position where the host vehicle can be stopped without contacting the recognized object, and sets, as a target path, a path along which the host vehicle can be moved to reach the target position without contacting the recognized object (excluding objects that can be temporarily contacted such as parking frame lines). Then, the processor controls the driving device, braking device, steering device, etc. of the host vehicle to move the host vehicle along the target path and reach the target position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] The processor of the conventional device acquires the physical quantity regarding each target based on the information (characteristics of the target) acquired from the peripheral sensors. Then, based on the physical quantity, the processor determines whether the target will obstruct the progress of the host vehicle. Hereinafter, this determination process is referred to as the "obstacle determination process". That is, when the physical quantity regarding the target exceeds the threshold value, the processor determines that "the target will obstruct the progress of the host vehicle". That is, the processor determines that "the target corresponds to an obstacle". On the other hand, when the physical quantity regarding the target is below the threshold value, it is determined that "the target will not obstruct the progress of the host vehicle". That is, the processor determines that "the target does not correspond to an obstacle".

[0005] Here, there may be a case where the amount of information acquired by the peripheral sensors is too small. Also, there may be a case where the accuracy (precision) of the information acquired by the peripheral sensors, the arithmetic accuracy of the processor, etc. are low. Therefore, the accuracy of the physical quantity acquired by the processor is low, and there may be a case where the processor determines a target that should be determined to correspond to an obstacle as not corresponding to an obstacle.

[0006] For example, when the height of the target (step with the road surface) exceeds the threshold value, the processor sets a target route so as to avoid the target. Also, when the height of the target is below the threshold value, the processor assumes that the target does not exist and sets a target route. Here, for example, although the height of the snow mass existing near the parking spot actually slightly exceeds the threshold value, the height of the snow mass acquired by the processor may be slightly lower than the threshold value. In this case, the processor assumes that the snow mass does not exist and sets a target route. Therefore, there is a risk that the host vehicle will come into contact with the snow mass while the processor is moving the host vehicle.

[0007] As described above, when the physical quantity of the target acquired by the processor is close to the threshold value in the obstacle determination process, there is a risk of erroneously determining that "the target does not correspond to an obstacle" and setting the route passing through the area occupied by the target as the target route. Therefore, there is room for improvement from the viewpoint of the safety of the host vehicle.

[0008] One object of the present invention is to provide a parking assistance device capable of improving safety.

[0009] To achieve the above object, a parking assistance device (1) of the present invention is a parking assistance device (1) that supports a driving operation for storing the own vehicle (V) in a parking spot (PS) and / or a driving operation for taking the own vehicle out of the parking spot, a surrounding sensor (20) that acquires information about an object existing around the own vehicle, a processor that can execute parking assistance control for setting a target position (TP) and a target route (TR) leading to the target position based on the information acquired by the surrounding sensor, and controlling the own vehicle to automatically move along the target route to reach the target position to assist the driver's driving operation. The processor is configured to set, as the target route, a route that can reach the target position without the own vehicle contacting all first objects (OB1) determined to obstruct the progress of the own vehicle among the objects and all second objects (OB2) determined to be unknown whether they obstruct the progress of the own vehicle. When there is no route that can reach the target position of the host vehicle without contacting all of the first object markers and all of the second object markers, a route that can reach the target position without contacting the host vehicle with all of the first object markers, and allows the host vehicle to pass through the area occupied by one or more of the second object markers is set as the target route.

[0010] According to this, the processor sets, as the target route, a route that can reach the target position without the own vehicle contacting not only the first object determined to be an obstacle but also the second object determined to be unknown whether it is an obstacle. Therefore, according to the present invention, safety can be improved as compared with a conventional device that may determine a second object not to correspond to an obstacle.

[0012] The second object may not actually correspond to an obstacle. Nevertheless, if all second objects are regarded as obstacles, the processor cannot set the target path, and as a result, there is a risk that the situations in which the driver can enjoy the support of the parking assistance device will be extremely limited. According to this aspect, since the host vehicle is allowed to pass through the area occupied by the second object, the driver can enjoy the support of the parking assistance device while paying attention to the second object.

[0013] In the parking assistance device according to another aspect of the present invention, It is configured to present information indicating that the host vehicle is scheduled to pass through the area occupied by the second object to the driver of the host vehicle.

[0014] According to this, the driver's attention can be drawn to the second object.

[0015] In the parking assistance device according to another aspect of the present invention, When the first object is another vehicle parked in an area adjacent to the parking spot, the processor is configured to set the target position based on the front end position of the other vehicle.

[0016] According to this, the processor can set the longitudinal position of the host vehicle based on the other vehicle.

[0017] Further, the driving support method according to the present invention includes steps executed by each device constituting the above driving support device.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

MODE FOR CARRYING OUT THE INVENTION

[0019] (Schematic) A parking support device 1 according to an embodiment of the present invention is mounted on a vehicle V having an automatic driving function (hereinafter referred to as “own vehicle”). The parking support device 1 has a function (automatic storage function) of executing storage support control for supporting a driving operation for storing the own vehicle in a parking spot. Further, the parking support device 1 has a function (automatic departure function) of executing departure support control for supporting a driving operation for departing the own vehicle from the parking spot. The storage support control and the departure support control may be referred to as “parking support control”.

[0020] (Specific Configuration) As shown in FIG. 1, the parking support device 1 includes a parking support ECU 10, an in-vehicle sensor 20, a drive device 30, a brake device 40, and a steering device 50.

[0021] The parking support ECU 10 includes a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, and the like. The parking support ECU 10 is connected to other ECUs (for example, ECUs such as the drive device 30, the brake device 40, and the steering device 50 described later) via a CAN (Controller Area Network).

[0022] The in-vehicle sensor 20 includes a surrounding sensor that acquires information about an object existing around the own vehicle. For example, the in-vehicle sensor 20 includes an ultrasonic sensor 21 and a camera 22 as the surrounding sensors.

[0023] The ultrasonic sensor 21 intermittently emits ultrasonic waves into the surrounding area of the host vehicle and receives the ultrasonic waves (reflected waves) reflected by the three-dimensional object. Based on the time from when the ultrasonic sensor 21 transmits the ultrasonic waves until it receives the reflected waves, the ultrasonic sensor 21 recognizes the distance between the host vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the host vehicle, etc., and transmits the recognition result to the parking support ECU 10.

[0024] The camera 22 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera incorporating an imaging element such as a CCD (charge coupled device) or a CIS (CMOS image sensor). The imaging devices are installed at the front, rear, left side surface, and right side surface of the host vehicle. The imaging devices respectively photograph the surrounding area of the host vehicle at a predetermined frame rate and respectively acquire image data. The imaging devices transmit each piece of image data to the image analysis device. The image analysis device analyzes the acquired image data and acquires information about the targets existing around the host vehicle from the image. For example, the image analysis device recognizes other vehicles parked in the area adjacent to the parking spot PS, the wall of the parking spot PS, a fence, a parking frame line drawn on the road surface, etc., and transmits the recognition result to the parking support ECU 10.

[0025] Furthermore, the in-vehicle sensor 20 includes a switch 23. The switch 23 is an operating device for the driver to request the start of the automatic parking control described later. The switch 23 includes, for example, a push-button type normally open switch device. The parking support ECU 10 monitors the on / off state of the switch 23.

[0026] The drive device 30 applies driving force to the drive wheels among the wheels (left front wheel, right front wheel, left rear wheel, and right rear wheel). The drive device 30 includes an engine ECU, an internal combustion engine, a transmission, a driving force transmission mechanism that transmits the driving force to the wheels, and the like. The internal combustion engine includes an actuator that drives a throttle valve. The engine ECU acquires information (control signal) representing the target driving force from another ECU (parking assist ECU 10), and drives the actuator of the internal combustion engine based on the information. In this way, the driving force applied to the drive wheels is controlled. The driving force generated by the internal combustion engine is transmitted to the drive wheels via the transmission and the driving force transmission mechanism. Further, the engine ECU acquires information (control signal) regarding the shift position of the transmission from another ECU, and drives the actuator of the transmission based on the information. In this way, the shift position of the transmission is controlled.

[0027] In addition, when the vehicle to which the parking assist device 1 is applied is a hybrid vehicle (HEV), the engine ECU can control the driving force of the vehicle generated by either one or both of the "internal combustion engine and the electric motor" as the vehicle drive source. Further, when the vehicle to which the parking assist device 1 is applied is a battery electric vehicle (BEV), an electric motor ECU that controls the driving force of the vehicle generated by the "electric motor" as the vehicle drive source may be used instead of the engine ECU.

[0028] The braking device 40 applies braking force to the wheels (brake disks). The braking device 40 includes a brake ECU, a brake caliper, and the like. The brake caliper includes an actuator that presses a brake pad against the brake disk. The brake ECU acquires information (control signal) representing the target braking force from another ECU, and drives the actuator of the brake caliper based on the information. In this way, the braking force applied to the wheels (brake disks) is controlled.

[0029] The steering device 50 controls the steering angles of the steering wheels (left front wheel and right front wheel). The steering device 50 includes a steering ECU, a steering mechanism, etc. The steering device 50 further includes an actuator that drives the steering mechanism to change the steering angle. The steering ECU acquires information (control signal) representing the target steering angle from other ECUs and drives the actuator based on the information. In this way, the steering angle of the steering wheels is controlled.

[0030] (Automatic parking function) When the driver tries to park the host vehicle, he / she temporarily stops the host vehicle near a parking spot PS (for example, an area between two other parked vehicles spaced in the vehicle width direction, an area demarcated by parking frame lines, etc.) where he / she intends to park the host vehicle, and presses the switch 23. Thereby, the parking support ECU 10 starts to execute programs PR1, PR2, and PR3, which will be described in detail later. That is, the parking support ECU 10 starts automatic parking control (parking support control) to automatically move the host vehicle and park it in the parking spot PS. Specifically, when the parking support ECU 10 detects that the switch 23 has been pressed, it acquires data representing the recognition results of the targets existing around the host vehicle from the ultrasonic sensor 21 and the camera 22. Then, based on the data acquired from the ultrasonic sensor 21 and the camera 22, the parking support ECU 10 identifies (recognizes) the parking spot PS where the host vehicle is to be parked, and generates a map M1 including the parking spot PS as illustrated in FIG. 2. The map M1 is an X-Y plan view representing the position and orientation of the host vehicle with respect to the parking spot PS. Further, the map M1 includes information (three-dimensional information) representing the space occupied by the targets existing around the host vehicle (parking spot PS). That is, the map M1 includes the dimension in the Z direction (i.e., height H) in addition to the position (for example, center coordinates), dimension in the X direction, and dimension in the Y direction of each target.

[0031] The parking support ECU 10 determines that an object OB1 with a height H exceeding the threshold value Hth1 is an object (obstacle) that obstructs the progress of the host vehicle. Further, the parking support ECU 10 determines that an object OB2 with a height H that is equal to or less than the threshold value Hth1 and exceeds the threshold value Hth2 is an object whose effect on the progress of the host vehicle is unknown. Further, the parking support ECU 10 determines that an object with a height H that is equal to or less than the threshold value Hth2 is an object that does not obstruct the progress of the host vehicle. Note that the threshold value Hth1 is greater than the threshold value Hth0 in the obstacle determination process of the conventional device, and the threshold value Hth2 is smaller than the threshold value Hth0. For example, the threshold values Hth1 and Hth2 are determined in advance based on the height H0 of the bottom surface of the host vehicle (the lowest part of the floor under panel, the lowest part of the bumper cover, etc.). For example, the threshold value Hth1 is about half of the height H0. Further, for example, the threshold value Hth2 is about 1 / 4 of the height H0.

[0032] Here, since the height H of the parking frame line PL drawn on the road surface is "0", in principle, the parking support ECU 10 determines that the parking frame line PL "does not correspond to an obstacle". However, as will be described in detail later, the parking support ECU 10 may regard the parking frame line PL as "an obstacle".

[0033] Next, the parking support ECU 10 sets the following position P0 as the target position TP based on the map M1.

[0034] (Position P0) ··· A position where the host vehicle can be parked (the position of the center of gravity of the host vehicle) in a state where a space of a predetermined width or more is provided between all the objects OB1 (objects determined to be obstacles) in the parking spot PS recognized by the parking support ECU 10 and the host vehicle

[0035] Here, the parking support ECU 10 regards the parking frame line PL as an obstacle in the same manner as the object OB1, and determines the target position TP. That is, the parking support ECU 10 sets the target position TP so that the distance between each side of the parking frame line PL and each side surface of the host vehicle is equal to or greater than a predetermined value.

[0036] Note that in the parking spot PS, there may be a plurality of positions P0 where the host vehicle can be stopped while avoiding all the object markers OB1. In that case, as shown in FIG. 2(A), the parking support ECU 10 may set, as the target position TP, a position P0 among the plurality of positions P0 where the front-rear direction positions of the front ends of the adjacent other vehicles and the host vehicle can be made to coincide. When the front-rear direction positions of the front ends of the other vehicles on the left side of the host vehicle and the front ends of the other vehicles on the right side are deviated, the parking support ECU 10 may set, as the target position TP, a position P0 where the front end of the host vehicle can be made to coincide with the center of the front ends of both the other vehicles. Also, the parking support ECU 10 may set, as the target position TP, a position P0 where the distance between the other vehicle on the left side and the host vehicle is the same as the distance between the other vehicle on the right side and the host vehicle.

[0037] Next, the parking support ECU 10 sets the following path R0 as the target path TR.

[0038] (Path R0) ··· The shortest path that can reach the target position TP without the host vehicle contacting all the object markers OB1 and all the object markers OB2 recognized by the parking support ECU 10

[0039] Here, the parking support ECU 10 determines the target path TR by determining that the parking frame line PL "does not correspond to an obstacle" as a rule. That is, it is allowed for the host vehicle to proceed across the parking frame line PL.

[0040] Note that there may be a case where the path R0 does not exist (cannot be calculated). In this case, the parking support ECU 10 sets the following path Ra as the target path TR instead of the path R0.

[0041] (Path Ra) ··· The shortest path that can reach the target position TP without the host vehicle contacting all the object markers OB1 recognized by the parking support ECU 10

[0042] That is, as shown in FIG. 2(B), the parking support ECU 10 sets the target route TR by allowing the host vehicle to pass through the area occupied by the target OB2.

[0043] The parking support ECU 10 reflects the target position TP and the target route TR on the map M1. The parking support ECU 10 causes the map M1 to be displayed on a display (not shown). Thereby, the driver can confirm that there is no problem with the set target position TP and target route TR. Note that when the route Ra is set as the target route TR, the parking support ECU 10 notifies the driver that the host vehicle may contact the target OB2. Specifically, the parking support ECU 10 causes the position of the target OB2 that may come into contact to be displayed on the display and sounds a buzzer (not shown).

[0044] Also, there may be a case where the target position TP cannot be set because the position P0 does not exist (the host vehicle contacts one of the targets at the parking spot PS). Also, there may be a case where the target route TR cannot be set because the route R0 does not exist and the route Ra does not exist. In these cases, the parking support ECU 10 notifies the driver that the automatic storage control cannot be executed. Specifically, the parking support ECU 10 causes a predetermined image to be displayed on the display and sounds a buzzer.

[0045] When the parking support ECU 10 sets the target position TP and the target route TR, it sets a control signal pattern (time series data of control signals respectively supplied to the drive device 30, the brake device 40, and the steering device 50) for advancing the host vehicle along the target route TR. Note that in this embodiment, the parking support device 1 executes (supports) all driving operations for the host vehicle to reach the target position TP, but the parking support device 1 may execute (support) only some of the driving operations.

[0046] Then, the parking support ECU 10 controls a drive device or the like according to a control signal pattern to move the host vehicle along the target path TR. During the process of moving the host vehicle, the parking support ECU 10 sequentially acquires data representing the recognition results of targets existing around the host vehicle from the ultrasonic sensor 21 and the camera 22. During the process of the host vehicle moving, the parking support ECU 10 may newly recognize a target OB1 and / or a target OB2 that could not be recognized at the time point t0 when the automatic storage control was started. In this case, the parking support ECU 10 updates the target position TP and / or the target path TR.

[0047] Specifically, when the parking support ECU 10 newly recognizes a target located within the parking spot PS, it re-sets the following position Pa as the target position TP.

[0048] (Position Pa) ··· A position where the host vehicle can be parked in a state where a space of a predetermined width or more is provided between all the targets OB1 and all the targets OB2 within the parking spot PS recognized by the parking support ECU 10 at the time point t1 and the host vehicle

[0049] As described above, at the time point t0 when the automatic storage control is started, the recognition rate of the targets within the parking spot PS by the parking support ECU 10 is not very high. Therefore, at the time point t0, when setting the target position TP, the parking support ECU 10 excludes the target OB2 and regards the target OB1 as an avoidance target. On the other hand, when the host vehicle moves from the time point t0 and the recognition accuracy of the targets within the parking spot PS improves at the time point t1, the parking support ECU 10 updates the target position TP with not only the target OB1 but also the target OB2 as avoidance targets.

[0050] For example, as shown in FIG. 3(A), the parking support ECU 10 may newly recognize a target OB2 located within the parking spot PS. In this example, the interval between two adjacent other vehicles is relatively wide. Therefore, in order to avoid the target OB2, even if the target position TP is shifted to the right in the figure, a space of a predetermined width or more can be ensured around the host vehicle. Thus, in this case, as shown in FIG. 3(B), the parking support ECU 10 changes the target position TP from the position P0 to the position Pa.

[0051] On the other hand, as shown in FIG. 3(C), when the target position TP cannot be set because the position Pa does not exist (the host vehicle contacts any object at the parking spot PS), the parking support ECU 10 notifies the driver that the automatic storage control cannot be executed and ends the automatic storage control.

[0052] When the parking support ECU 10 updates the target position TP or newly recognizes an object located within the current target path TR, it re-sets the following path Rb as the target path TR.

[0053] (Path Rb) ··· The shortest path that can reach the target position TP without the host vehicle contacting all the objects OB1 and all the objects OB2 recognized by the parking support ECU 10 at time t1

[0054] When the target path TR cannot be updated because the path Rb does not exist, the parking support ECU 10 re-sets the following path Rc as the target path TR instead of the path Rb.

[0055] (Path Rc) ··· The shortest path that can reach the target position TP without the host vehicle contacting all the objects OB1 recognized by the parking support ECU 10 at time t1

[0056] In this case, the parking support ECU 10 notifies the driver that the host vehicle may contact the object OB2. Further, when the path Rb does not exist and the path Rc does not exist, the parking support ECU 10 notifies the driver that the automatic storage control cannot be executed and ends the automatic storage control.

[0057] When the parking support ECU 10 updates the target position TP and / or the target path TR, it updates the control signal pattern according to the updated target position TP and / or the target path TR. Then, the parking support ECU 10 controls the drive device etc. according to the updated control signal pattern to move the host vehicle forward.

[0058] When the host vehicle reaches the target position TP, the parking support ECU 10 parks (stops) the host vehicle. That is, the parking support ECU 10 shifts the shift position to the parking position, activates the parking brake, and then shifts the ignition switch to the off state.

[0059] Next, with reference to FIGS. 4 to 6, the processes (program PR1 and its subroutines, programs PR2 and PR3) executed by the CPU 10a (hereinafter referred to as "CPU") of the parking support ECU 10 will be specifically described.

[0060] When the CPU detects that the switch 23 has been pressed, it starts executing the program PR1 from step 100 and proceeds to step 101.

[0061] When the CPU proceeds to step 101, it determines whether the target position TP and the target route TR can be set. If the target position TP and the target route TR can be set (101: Yes), the CPU proceeds to step 103. On the other hand, if the target position TP and / or the target route TR cannot be set (101: No), the CPU proceeds to step 102.

[0062] When the CPU proceeds to step 102, it notifies the driver that the automatic storage control cannot be executed, proceeds to step 109, and ends the execution of the program PR1.

[0063] When the CPU proceeds to step 103, it sets the position P0 as the target position TP. Also, the CPU sets the route R0 as the target route TR. However, if the route R0 does not exist, the CPU sets the route Ra as the target route TR. In this case, the CPU notifies the driver that the host vehicle may contact the target OB2. Then, the CPU proceeds to step 104.

[0064] When the CPU proceeds to step 104, it controls the drive device and the like to move the host vehicle forward by a minute distance Δd along the target route TR.

[0065] When the CPU proceeds to step 105, it starts executing the program PR2 (target position update process) shown in FIG. 5.

[0066] When the CPU starts executing the program PR2 from step 200, it proceeds to step 201.

[0067] When the CPU proceeds to step 201, it determines whether it is necessary to update the target position TP. If the CPU newly recognizes a target within the parking spot PS, it determines that it is necessary to update the target position TP. If the CPU determines that it is necessary to update the target position TP (201: Yes), it proceeds to step 202. On the other hand, if the CPU determines that there is no need to update the target position TP (201: No), it proceeds to step 205.

[0068] When the CPU proceeds to step 202, it determines whether the position Pa exists. If the position Pa exists (202: Yes), the CPU proceeds to step 203. On the other hand, if the position Pa does not exist (202: No), the CPU proceeds to step 204.

[0069] When the CPU proceeds to step 203, it sets the position Pa as the target position TP. Then, the CPU proceeds to step 206.

[0070] When the CPU proceeds to step 204, it notifies the driver that the automatic storage control cannot be executed and proceeds to step 205.

[0071] When the CPU proceeds to step 205, it ends the execution of the program PR2 and proceeds to step 106 of the program PR1 (FIG. 5).

[0072] When the CPU proceeds to step 106, it starts executing the program PR3 (target route update process) shown in FIG. 6.

[0073] When the CPU starts executing the program PR3 from step 300, it proceeds to step 301.

[0074] When the CPU proceeds to step 301, it determines whether it is necessary to update the target route TR. If the CPU updates the target position TP during the execution of step 105 (program PR2), it determines that it is necessary to update the target route TR. Also, if the CPU newly recognizes a target located within the current target route TR, it determines that it is necessary to update the target route TR. If the CPU determines that it is necessary to update the target route TR (301: Yes), it proceeds to step 302. On the other hand, if the CPU determines that it is not necessary to update the target route TR (301: No), it proceeds to step 308.

[0075] When the CPU proceeds to step 302, it determines whether the route Rb exists. If the route Rb exists (302: Yes), the CPU proceeds to step 303. On the other hand, if the route Rb does not exist (302: No), the CPU proceeds to step 304.

[0076] When the CPU proceeds to step 303, it sets the route Rb as the target route TR and proceeds to step 308.

[0077] When the CPU proceeds to step 304, it determines whether the route Rc exists. If the route Rc exists (304: Yes), the CPU proceeds to step 305. On the other hand, if the route Rc does not exist (304: No), the CPU proceeds to step 307.

[0078] When the CPU proceeds to step 305, it sets the route Rc as the target route TR and proceeds to step 306.

[0079] When the CPU proceeds to step 306, it notifies the driver that the host vehicle may come into contact with the target OB2. Then, the CPU proceeds to step 308.

[0080] When the CPU proceeds to step 307, it notifies the driver that the automatic storage control cannot be executed. Then, the CPU proceeds to step 308.

[0081] When the CPU proceeds to step 308, it ends the execution of program PR3 and proceeds to step 107 of program PR1 (Figure 4).

[0082] When the CPU proceeds to step 107, it determines whether the host vehicle has reached the target position TP. If the host vehicle has reached the target position TP (107: Yes), the CPU proceeds to step 108. On the other hand, if the host vehicle has not yet reached the target position TP (107: No), the CPU returns to step 104.

[0083] When the CPU proceeds to step 108, it executes parking processing. That is, the CPU stops the host vehicle and shifts the shift position to the parking position. Then, after activating the parking brake, the CPU shifts the ignition switch to the off state. Then, the CPU proceeds to step 109 and ends the execution of program PR1.

[0084] (Automatic out-of-warehouse function) When the parking support ECU 10 detects that switch 23 has been pressed while the host vehicle is parked within the parking spot PS, it starts automatic out-of-warehouse control similar to the automatic in-warehouse control. That is, based on the information acquired from in-vehicle sensor 20, the parking support ECU 10 searches for a temporary stop area in the vicinity of the parking spot PS where the host vehicle can be temporarily stopped. Then, the parking support ECU 10 sets the target position TP within the temporary stop area and sets the target route TR. Then, the parking support ECU 10 advances the host vehicle along the target route TR from the parking spot PS. When the parking support ECU 10 newly recognizes an object during the process of advancing the host vehicle, it updates the target position TP and / or the target route TR.

[0085] (Effect) The parking support ECU 10 sets, as the target route TR, a route R0 (Rb) that can reach the target position TP without contacting not only the target OB1 determined to be an obstacle but also the target OB2 determined to be unclear whether it is an obstacle. Therefore, according to the parking support device 1, the safety during parking and leaving can be improved compared to the conventional device that may determine the target OB2 as not corresponding to an obstacle.

[0086] Note that the present invention is not limited to the above embodiment, and various modifications can be adopted within the scope of the present invention.

[0087] In the above embodiment, the parking support ECU 10 acquires the height of each target as a physical quantity for determining whether each target is an obstacle. Here, the parking support ECU 10 may acquire other physical quantities instead of or in addition to the height of each target as a physical quantity for determining whether it is an obstacle. For example, the parking support ECU 10 may acquire the height of each target in consideration of the gradient of the road surface where each target is located.

Explanation of Reference Numerals

[0088] 1... Parking support system, 10... Parking support ECU, 20... Vehicle-mounted sensor, 30... Driving device, 40... Braking device, 50... Steering device

Claims

1. A parking assistance device that supports a driving operation for storing the own vehicle in a parking spot and / or a driving operation for taking the own vehicle out of a parking spot, comprising: a surrounding sensor that acquires information about an object existing around the own vehicle; a processor that, based on the information acquired by the surrounding sensor, sets a target position, sets a target route to reach the target position, and controls the own vehicle to automatically move along the target route to reach the target position, thereby executing parking assistance control to assist the driving operation by the driver; wherein the processor is configured to set, as the target route, a route that can reach the target position without the own vehicle contacting all first objects determined to obstruct the progress of the own vehicle among the objects and all second objects determined to be unclear whether they obstruct the progress of the own vehicle among the objects, and when there is no route that can reach the target position without the own vehicle contacting all the first objects and all the second objects, set, as the target route, a route that can reach the target position without the own vehicle contacting all the first objects and allows the own vehicle to pass through an area occupied by one or more of the second objects.

2. The parking assistance device according to claim 1, wherein the device is configured to present information indicating that the own vehicle is scheduled to pass through an area occupied by the second object to an occupant of the own vehicle.

3. The parking assistance device according to claim 1 or claim 2, wherein the processor is configured to set the target position based on a front end position of the other vehicle when the first object is another vehicle parked in an area adjacent to the parking spot and the own vehicle is parked in parallel with the other vehicle.

4. A parking assistance method that supports a driving operation for storing the own vehicle in a parking spot and / or a driving operation for taking the own vehicle out of a parking spot, comprising: an information acquisition step of acquiring information about an object existing around the own vehicle; Based on the information acquired by the peripheral sensor, a target position is set, and a target route to reach the target position is set. The host vehicle is controlled so that the host vehicle automatically moves along the target route to reach the target position, thereby assisting the driver's driving operation, which is a parking assistance step. including The parking assistance step includes a step of setting the target route as a route that can reach the target position without the host vehicle contacting all first targets determined to impede the progress of the host vehicle among the targets, and all second targets determined to be unclear whether they impede the progress of the host vehicle among the targets. When there is no route that can reach the target position without the host vehicle contacting all of the first targets and all of the second targets, a route that can reach the target position without the host vehicle contacting all of the first targets, and allowing the host vehicle to pass through the area occupied by one or more of the second targets, is set as the target route. The parking assistance method is configured as described above.

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