Parking support device

Abstract

To provide a parking support device which can improve convenience through parking a vehicle at a parking position an operator desires.SOLUTION: A parking support device learns preference of a vehicle operator with respect to parking and performs parking support of a vehicle based on the learning result. The parking support device acquires, when the operator parks the vehicle by himself, at least one of seating state of an occupant and loading state of a baggage in a trunk, and learns preference of the operator for each loading state defined by at least one of the seating state and the loading state so that a target parking position of the vehicle is, when the execution of the parking support is requested, configured based on the learning result.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a parking assistance device that executes parking assistance for a vehicle.

Background Art

[0002] Conventionally, as a method for controlling a vehicle parking process, there is known a method including steps of identifying a driver, learning driver parameters during a parking process performed by the driver and attributing them to the identified driver, determining parking parameters based on the learned driver parameters, and controlling a parking process of a vehicle performed by a parking assist system based on the parking parameters (see, for example, Patent Document 1). In such a method, driver preferences such as whether to use a paid parking lot, whether to drive onto a curb, and whether to prefer forward parking or reverse parking are considered when determining specific parking parameters.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, even if the vehicle parking process is controlled by the above conventional method, the driver's parking preferences are not always sufficiently reflected in the control, and it may become impossible to park the vehicle at the parking position desired by the driver, resulting in a decrease in convenience.

[0005] Therefore, a main object of the present disclosure is to provide a parking assistance device capable of parking a vehicle at a parking position desired by a driver and improving convenience.

Means for Solving the Problems

[0006] The parking support device of the present disclosure is a parking support device that learns the preferences of a vehicle driver regarding parking and executes parking support for the vehicle based on the learning result. When the driver parks the vehicle by his or her own driving operation, at least one of the seating state of the passengers and the loading state of the luggage in the luggage compartment is acquired, and the preferences of the driver regarding parking are learned for each mounting state determined from at least one of the seating state and the loading state. When the execution of the parking support is requested, the target parking position of the vehicle is set based on the learning result.

[0007] The parking support device of the present disclosure acquires at least one of the seating state of the passengers and the loading state of the luggage in the luggage compartment when the driver parks the vehicle by his or her own driving operation without using parking support, and learns the preferences of the driver regarding parking for each mounting state determined from at least one of the seating state and the loading state. Further, when the execution of the parking support is requested, the parking support device sets the target parking position of the vehicle based on the learning result. Thereby, when the execution of the parking support is requested, the preferences when the driver parks the vehicle by his or her own driving operation, acquired for each mounting state, can be reflected in the target parking position. As a result, it becomes possible to park the vehicle at a parking position desired by the driver according to the seating state and the loading state, and to ensure good opening and closing properties of doors, trunk lids, rear gates, etc., thereby improving convenience.

[0008] Further, as the preference of the driver regarding parking, the parking support device may acquire the minimum distance between a predetermined portion of the vehicle that moves by the driving operation of the driver and surrounding objects, and the distance between the predetermined portion of the vehicle at the final parking position and surrounding objects, and store the same in a storage device as learning information associated with the mounting state.

[0009] Furthermore, when execution of the parking support is requested, the parking support device may acquire the mounted state, set the target parking position based on the learning information corresponding to the acquired mounted state, and set a target trajectory of the vehicle based on the learning information and the target parking position.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0011] Next, embodiments for carrying out the invention of the present disclosure will be described with reference to the drawings.

[0012] FIG. 1 is a block diagram showing a vehicle 1 including a parking support electronic control unit (hereinafter referred to as "parking support ECU") 20 which is the parking support device of the present disclosure. The vehicle 1 shown in the figure includes, in addition to the parking support ECU 20, a traveling drive device 2, a braking device 3, a steering device 4, and the like. The traveling drive device 2 includes at least one of an engine (internal combustion engine) and an electric motor (motor generator), and an electronic control unit (ECU) that controls at least one of the engine and the electric motor. That is, the traveling drive device 2 may include an engine and a transmission mechanism, may be a hybrid drive device including an engine and an electric motor, may include only an electric motor, or may include an electric motor and a gear mechanism.

[0013] The braking device 3 includes, for example, a master cylinder, a plurality of brake pads that sandwich the brake disks attached to each wheel of the vehicle 1 to apply braking torque (frictional braking torque) to the corresponding wheels, a plurality of wheel cylinders (both not shown) that drive the corresponding brake pads, a hydraulic brake actuator that supplies hydraulic pressure to each wheel cylinder, an electronic control unit (ECU) that controls the brake actuator, and the like. The steering device 4 is, for example, for steering the front wheels of the vehicle 1, and includes a steering wheel, a rack and pinion mechanism, an electric actuator, an electronic control unit (ECU) that controls the electric actuator, and the like. In such a steering device 4, the steering force can be supplemented by the assist torque from the electric actuator, or the front wheels and the like can be steered without the steering force by the driver by the torque from the electric actuator.

[0014] Furthermore, as shown in FIG. 1, the vehicle 1 includes a shift lever 5, a start switch (IG switch) 6, a display device 7, a plurality of distance sensors 11 that respectively detect the distance between the vehicle 1 and surrounding objects, a plurality of cameras (imaging devices) 12 that respectively image a predetermined imaging range, a cargo compartment camera 13, and a plurality of seating sensors 14 that respectively detect the presence or absence of an occupant. The shift lever 5 allows the driver to select a shift position such as a parking (P) position, a reverse (R) position, a neutral (N) position, a drive (D) position, a brake (B) position, or a sports (S) position.

[0015] The start switch 6 is provided on the instrument panel of the vehicle 1 (not shown), and when the start switch 6 is turned on, the vehicle 1 is started up. The display device 7 is a touch panel provided on the instrument panel of the vehicle 1, and various information is displayed on the display device 7. The distance sensors 11 are each attached to at least the four corners (predetermined locations) of the vehicle 1, and the cameras 12 are each attached to the front, rear, and left and right sides (door mirrors, etc.) of the vehicle 1. The trunk camera 13 is installed in the trunk of the vehicle 1 such as the trunk room, and images the inside of the trunk. The seating sensors 14 are each provided on each seat of the vehicle 1.

[0016] The parking support ECU 20 of such a vehicle 1 includes a computer (microcomputer, not shown) having a CPU, ROM, RAM, input / output devices, etc., a storage device 21, and a switch Ps for instructing the execution of parking support by the parking support ECU 20. Further, in the parking support ECU 20, an image processing unit 22, a learning processing unit 23, and a parking support processing unit 25 are constructed by the cooperation of hardware such as the CPU, ROM, and RAM and various programs installed in advance.

[0017] The image processing unit 22 executes various image processes on the image data acquired by the plurality of cameras 12 and the trunk camera 13, and generates an image with a wider viewing angle, a virtual overhead image (planar image) of the vehicle 1 viewed from above, etc. The learning processing unit 23 acquires information indicating the parking preferences of the driver when the driver of the vehicle 1 parks the vehicle 1 by his / her own driving operation without using the parking support by the parking support ECU 20, and stores the acquired information in the storage device 21 as learning information. The parking support processing unit 25 sets the target parking position (final parking position) of the vehicle 1 and the target trajectory until reaching the target parking position when parking support is executed in response to the driver's ON operation of the switch Ps. Further, the parking support processing unit 25 generates command values to the traveling drive device 2, the braking device 3, and the steering device 4 based on the target parking position and the target trajectory of the vehicle 1.

[0018] Next, with reference to FIG. 2, a learning procedure for the driving preferences of the driver of the vehicle 1 by the learning processing unit 23 of the parking support ECU 20 will be described.

[0019] FIG. 2 is a flowchart showing an example of a learning routine that is executed by the learning processing unit 23 of the parking support ECU 20 at regular intervals. At the start of the routine in FIG. 2, the learning processing unit 23 of the parking support ECU 20 acquires information necessary to determine whether the driver of the vehicle 1 parks the vehicle 1 by his or her own driving operation without using the parking support by the parking support ECU 20, such as the presence or absence of an ON operation of the switch Ps (step S100). Further, the learning processing unit 23 determines whether the driver parks the vehicle 1 by his or her own driving operation based on the information acquired in step S100 (step S110). If it is determined that the driver is not in a situation of parking the vehicle 1 by his or her own driving operation (step S110: NO), the learning processing unit 23 regards that the learning conditions are not satisfied, and ends the routine in FIG. 2 without executing the subsequent processing.

[0020] On the other hand, if it is determined that the driver parks the vehicle 1 by his or her own driving operation without using the parking support (step S110: YES), the learning processing unit 23 regards that the learning conditions are satisfied, and acquires the detection value of each distance sensor 11, that is, the distance between each distance sensor 11 (each corner of the vehicle 1) and the surrounding objects, and stores it in the RAM (step S120). At the same time, based on the on / off state of the start switch 6, etc., it is determined whether the vehicle 1 has stopped at the final parking position (step S130). While it is determined that the vehicle 1 has not stopped at the final parking position (step S130: NO), the learning processing unit 23 acquires the detection value of each distance sensor 11 at regular intervals (short time intervals) and stores it in the RAM. When it is determined that the vehicle 1 has stopped at the final parking position (step S130: YES), the learning processing unit 23 acquires the minimum value (minimum distance) of the distance between the corner of the vehicle 1 and the surrounding objects acquired in step S120 for each of the plurality of distance sensors 11 (step S140).

[0021] Next, the learning processing unit 23 acquires the distances between each distance sensor 11 (each corner of the vehicle 1) and surrounding objects at the final parking position (step S150). Further, the learning processing unit 23 acquires the seating state of the vehicle 1 at the final parking position (before getting off) based on signals from the plurality of seating sensors 14, and acquires the loading state of the luggage in the luggage compartment of the vehicle 1 based on the image data acquired by the luggage compartment camera 13 (step S160). In step S160, the learning processing unit 23 acquires the number of passengers and the seating positions at the final parking position as the seating state, and acquires the presence or absence of luggage in the luggage compartment at the final parking position (the presence or absence of luggage other than the equipment that is always loaded) as the loading state of the luggage.

[0022] After the processing of step S160, the learning processing unit 23 associates, with the loading state of the vehicle 1 (number of passengers + seating positions + presence or absence of luggage in the luggage compartment) determined from the seating state and the loading state, as information indicating the driver's parking preference, the minimum distance between each corner (four corners) of the vehicle 1 that moves by the driver's driving operation and surrounding objects, and the distances between each corner (four corners) of the vehicle 1 and surrounding objects at the final parking position, and stores the result as learning information (learning result) in the storage device 21 (step S170). Further, the learning processing unit 23 determines whether the learning information has been stored in the storage device 21 a predetermined number of times (for example, 20 times) for the same loading state (step S180). If the learning processing unit 23 determines that the learning information has been stored in the storage device 21 a predetermined number of times for the said loading state (step S180: YES), it stores the learned information in association with the loading state in the storage device 21 (step S190), and ends the learning routine of FIG. 2. Also, if it is determined that the learning information has not been stored in the storage device 21 a predetermined number of times for the same loading state (step S180: NO), the learning processing unit 23 ends the learning routine of FIG. 2 without executing the processing of step S190.

[0023] Subsequently, with reference to FIG. 3, a parking support procedure by the parking support ECU 20 using the learning information obtained by executing the learning routine of FIG. 2 will be described.

[0024] FIG. 3 is a flowchart showing an example of a parking support routine that is executed at predetermined time intervals by the parking support processing unit 25 of the parking support ECU 20. When starting the routine of FIG. 3, the parking support processing unit 25 acquires information indicating whether or not the switch Ps is turned on (step S200). Further, based on the information acquired in step S200, the parking support processing unit 25 determines whether or not the driver has requested the execution of parking support (step S210). If it is determined that the driver has not requested parking support (step S210: NO), the parking support processing unit 25 ends the routine of FIG. 3 without executing the subsequent processing.

[0025] On the other hand, if it is determined that the driver has requested parking support (step S210: YES), the parking support processing unit 25 acquires the seating state of the vehicle 1 at that time based on signals from the plurality of seating sensors 14, and acquires the loading state of the luggage in the luggage compartment of the vehicle 1 based on the image data acquired by the luggage compartment camera 13 (step S220). Further, the parking support processing unit 25 reads out learning information (the minimum distance between each corner (four corners) of the vehicle 1 that moves by the driving operation of the driver and surrounding objects, and the distance between each corner (four corners) of the vehicle 1 and surrounding objects at the final parking position) corresponding to the mounting state of the vehicle 1 (number of passengers + seating position + presence or absence of luggage in the luggage compartment) determined from the seating state and the loading state from the storage device 21 (step S230). Further, the parking support processing unit 25 determines whether or not the learning information corresponding to the current mounting state can be acquired from the storage device 21 (step S240).

[0026] When the parking support processing unit 25 can acquire learning information corresponding to the current mounted state of the vehicle 1 from the storage device 21 (step S240: YES), it sets the target parking position of the vehicle 1 based on the acquired learning information, the bird's-eye view image data generated by the image processing unit 22, etc., and sets a target trajectory (guidance path) from the current position of the vehicle 1 to the target parking position using a well-known trajectory calculation method (step S250). In step S250, the parking support processing unit 25 sets the target parking position so that the distances between each distance sensor 11 (each corner of the vehicle 1) and surrounding objects do not become less than the minimum value among the distances between each distance sensor 11 (each corner of the vehicle 1) and surrounding objects at the final parking position corresponding to the current mounted state read from the storage device 21. Further, in step S250, the parking support processing unit 25 sets the target trajectory so that the distances between each corner (four corners) of the vehicle 1 and surrounding objects do not become less than the corresponding minimum distance read from the storage device 21 while the vehicle 1 moves by parking support. Also, in the present embodiment, the target trajectory is set to include switching as necessary.

[0027] After the processing of step S250, as shown in FIG. 4, the parking support processing unit 25 causes the target parking position set to be displayed on the display screen of the display device 7 (step S260). In the present embodiment, as shown in the drawing, the target parking position is displayed on the display screen in a state where all doors and the rear gate of the vehicle 1 are opened. Further, the parking support processing unit 25 determines whether or not the driver has adjusted (fine-tuned) the target parking position on the display screen which is a touch panel (step S270). As shown in FIG. 5, when it is determined that the driver has adjusted the target parking position on the display screen (step S270: YES), the parking support processing unit 25 re-sets the target parking position and the target trajectory based on the position of the vehicle 1 on the display screen (step S280). On the other hand, when it is determined that the driver has not adjusted the target parking position on the display screen (step S270: NO), the parking support processing unit 25 skips the processing of step S280.

[0028] After the processing of step S270 or S280, the parking support processing unit 25 appropriately displays an operation request for the driver (for example, selection of drive position or reverse position, etc.) on the display device 7, and then sets command values for the traveling drive device 2, the braking device 3, and the steering device 4 based on the target parking position and the target trajectory, and transmits them to the corresponding ECU (step S290). Thereby, the traveling drive device 2, the braking device 3, and the steering device 4 are controlled by the corresponding ECU, and the vehicle 1 moves to the target parking position along the target trajectory without the driver's driving operation. Then, when the vehicle 1 stops at the target parking position, the parking support processing unit 25 ends the routine of FIG. 3.

[0029] In addition, when the learning information corresponding to the current mounted state of the vehicle 1 cannot be obtained from the storage device 21 (step S240: NO), the parking support processing unit 25 sets the target parking position of the vehicle 1 based on a plurality of predetermined threshold values and the bird's-eye view image data generated by the image processing unit 22, etc., and uses a well-known trajectory calculation method to set the target trajectory (guidance path) from the current position of the vehicle 1 to the target parking position (step S255). In step S255, the parking support processing unit 25 sets the target parking position so that the distance between each distance sensor 11 (each corner of the vehicle 1) and the surrounding objects does not become less than the corresponding predetermined threshold value. Further, in step S255, the parking support processing unit 25 sets the target trajectory so that the distance between each corner (four corners) of the vehicle 1 and the surrounding objects does not become less than the corresponding predetermined threshold value while the vehicle 1 moves by parking support. Also in this case, the target trajectory is set to include switching as necessary. After the processing of step S255 as described above, the processing of steps S260 - S290 will be executed.

[0030] As described above, when the driver parks the vehicle 1 by his / her own driving operation without using the parking support, the parking support ECU 20 of the vehicle 1 acquires at least one of the seating state of the passengers and the loading state of the luggage in the luggage compartment (step S160 in FIG. 2), and learns the driver's parking preference for each mounting state determined from the seating state and the loading state (steps S170 - S190 in FIG. 2). Further, when the execution of the parking support is requested by the driver, the parking support ECU 20 sets the target parking position of the vehicle 1 based on the learning result (step S250 in FIG. 3). Thereby, when the execution of the parking support is requested, the preference of the driver when parking the vehicle 1 by his / her own driving operation, which is acquired for each mounting state, can be reflected in the target parking position. As a result, it is possible to park the vehicle 1 at the parking position desired by the driver according to the seating state and the loading state, and to ensure good opening and closing properties of the doors, trunk hood, rear gate, etc., thereby improving convenience.

[0031] In the vehicle 1, instead of the luggage compartment camera 13, a plurality of weight sensors for detecting that luggage is placed may be arranged in the luggage compartment. Also, in step S250 of FIG. 2, only the learned information associated with the learned information may be used, or both the learned information associated with the learned information and the learned information not associated with the learned information may be used. Further, the mounting state to which the learned information is associated may be either one of the seating state and the loading state.

[0032] And the invention of the present disclosure is not limited to the above embodiment at all, and it goes without saying that various changes can be made within the scope of the extension of the present disclosure. Further, the above embodiment is merely a specific form of the invention described in the summary of the invention column, and does not limit the elements of the invention described in the summary of the invention column.

Industrial Applicability

[0033] The invention of the present disclosure can be used in the manufacturing industry of vehicles equipped with a parking support device and the like.

Explanation of Signs

[0034] 1 Vehicle, 2 Travel drive device, 3 Brake device, 4 Steering device, 5 Shift lever, 6 Start switch, 7 Display device, 11 Distance sensor, 12 Camera, 13 Cargo area camera, 14 Occupancy sensor, 20 Parking support electronic control unit (parking support ECU), 21 Memory device, 22 Image processing unit, 23 Learning processing unit, 25 Parking support processing unit, Ps switch.

Claims

【Claim 1】 A parking support device that executes parking support for the vehicle based on learning information indicating the driver's parking preferences, when the driver parks the vehicle by his / her own driving operation, the minimum distance between a predetermined location of the vehicle moving by the driving operation and surrounding objects, the distance between the predetermined location of the vehicle and surrounding objects at the final parking position, and at least one of the seating state of the passengers and the loading state of the luggage in the luggage compartment are acquired, and the minimum distance and the distance between the predetermined location of the vehicle and surrounding objects at the final parking position are associated with the loading state determined from at least one of the seating state and the loading state and stored in a storage device as the learning information. When the execution of the parking support is requested, a target parking position of the vehicle is set based on the distance between the predetermined location of the vehicle and surrounding objects at the final parking position among the learning information, and further, while the vehicle is moving by the parking support, a target trajectory from the current position of the vehicle to the target parking position is set so that the distance between the predetermined location of the vehicle and surrounding objects does not become less than the minimum distance read from the storage device. A parking support device.

Images