Parking assistance device and parking assistance method

Abstract

To provide a parking support device and a parking support method which allow a vehicle to be parked at a proper position in a parking frame and can shorten the time required for parking.SOLUTION: A parking support device 100 comprises: a route generation unit 135 which generates a generation position S3 for generating a parking route R2 through which an own vehicle 1A is parked in a determined parking frame W and a travel route R1 through which the own vehicle 1A moves to the generation position S3; and a control information generation unit 136 which generates control information for controlling a drive device 80 that allows the own vehicle 1A to travel and making the own vehicle 1A travel according to the travel route R1 and outputs the generated control information to a vehicle control unit 70 that controls the drive device 80. The route generation unit 135 determines the generation position S3 such that at least a portion of the rear end of the own vehicle 1A is located within the parking frame, and generates the parking route R2 through which the own vehicle 1A is parked in the parking frame W at the generation position S3 after the own vehicle 1A arrives at the generation position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a parking assistance device and a parking assistance method. [Background technology]

[0002] BACKGROUND ART Parking assistance devices are known that detect the conditions around a vehicle, generate a parking path based on the detected conditions, drive the vehicle along the generated parking path, and park the vehicle in a desired parking position. For example, the parking assistance device described in Patent Document 1 includes a parking path calculation means that calculates a parking path along which the vehicle will travel in reverse to a target parking position, an assistance means that assists the vehicle in traveling in reverse along the parking path calculated by the parking path calculation means, an obstacle position correction means that corrects the position of an obstacle adjacent to the parking space detected by the rear ranging means when traveling in reverse and the position detected when traveling in forward, based on a comparison between the position of the obstacle detected by the rear ranging means when traveling in forward, and a target parking position correction means that corrects the target parking position in accordance with the correction amount corrected by the obstacle position correction means, and the parking path calculation means recalculates the parking path along which the vehicle will travel to the target parking position based on the corrected target parking position and the current position of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-54912 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the detection accuracy of the on-board sensor is low, the accuracy of the surrounding information indicating the situation around the vehicle is low, and the vehicle may not be able to park in a suitable position within the parking space. Also, when parking the vehicle in a parking position while correcting the position of an obstacle as in Patent Document 1, it takes time to complete parking.

[0005] The present invention has been made in consideration of the above circumstances, and aims to provide a parking assistance device and a parking assistance method that can park a vehicle in an appropriate position within a parking space and reduce the time required for parking. [Means for solving the problem]

[0006] In order to achieve the above object, the parking assistance device of the present invention is provided with an input / output interface connected to an on-board sensor mounted at a plurality of positions including the front end, rear end, left side, and right side of the vehicle and detecting objects present around the vehicle, a parking position determination unit that determines a parking space into which the vehicle will park so that the entire vehicle is positioned within the space based on the input surrounding information when surrounding information indicating the situation around the vehicle is input from the on-board sensor via the input / output interface, and the parking space into which the vehicle will enter by backing up, and a generation position that determines a position at which a parking path for the vehicle to park in the determined parking space is generated, and a movement path for the vehicle to move from the current position to the generation position. a control information generating unit configured to generate the control information for controlling a drive device for driving the vehicle, the control information being for the vehicle to move along the movement path, and outputting the generated control information to a control device that controls driving of the drive device via the input / output interface; wherein the on-board sensor located at the rear end of the vehicle is configured to have higher detection accuracy than the on-board sensors located at the front end, left side, and right side of the vehicle; and the on-board sensor configured to generate the control information for the vehicle to enter the parking space by backing up, the control information generating unit configured to generate the control information for the vehicle to enter the parking space by backing up, the control information generating unit configured to generate the control information for the vehicle to move along the movement path, and outputting the generated control information to a control device that controls driving of the drive device via the input / output interface; When the vehicle is stopped, the distance between the rear end of the vehicle and the side of the obstacle is within a preset range. The method is characterized in that the generation position is determined, and after the vehicle arrives at the generation position, the surrounding information is reacquired from the on-board sensor at the generation position, and the parking path is generated to park the vehicle in the parking space so that the entire vehicle is positioned within the parking space. [Effects of the Invention]

[0007] According to the present invention, even if the detection accuracy of the on-board sensor is low, the vehicle can be parked in an appropriate position within the parking space, and the time required for parking can be reduced. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a block diagram showing the configuration of an in-vehicle device. [Figure 2] FIG. 10 is a diagram showing an example of a travel route. [Figure 3] FIG. 10 is a diagram showing a state in which the vehicle is parked at a different position within the parking space. [Figure 4] 10A and 10B are diagrams illustrating a host vehicle positioned at an initial position and an intermediate position. [Figure 5] FIG. 10 is a diagram illustrating a state in which the turning angle of the vehicle exceeds an upper limit value. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] FIG. 10 is a diagram showing an example of a path that is not generated as a reverse turning path by the path generating unit. [Figure 9] FIG. 10 is a diagram showing an example of a path that is not generated as a reverse turning path by the path generating unit. [Figure 10] FIG. 10 is a diagram showing an example of a path that is not generated as a reverse turning path by the path generating unit. [Figure 11] FIG. 10 is a diagram showing a parking path generated after moving to a generation position. [Figure 12] 4 is a flowchart showing the operation of the parking assistance device. [Figure 13] 4 is a flowchart showing the operation of the parking assistance device. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings. 1 is a block diagram showing the configuration of the in-vehicle device 3. In the following, the vehicle on which the in-vehicle device 3 is mounted is referred to as the host vehicle 1A, and vehicles other than the host vehicle 1A are referred to as other vehicles 1B. The in-vehicle device 3 includes a position detection unit 10, a detection device 20, a display unit 50, a vehicle control unit 70, a drive device 80, and a parking assistance device 100.

[0010] The position detection unit 10 detects the position of the vehicle 1A. The position detection unit 10 includes a GNSS (Global Navigation Satellite System) receiver and a processor (neither of which are shown). The GNSS receiver receives signals transmitted from satellites. The processor calculates the latitude and longitude, which are position information of the vehicle 1A, based on the signals received by the GNSS receiver, and the orientation of the vehicle 1A based on the difference in the calculated position information. The position detection unit 10 outputs the calculated position information and orientation information of the vehicle 1A to the parking assistance device 100.

[0011] The detection device 20 includes a plurality of on-board sensors. The detection device 20 of this embodiment includes an imaging unit 30 having a plurality of cameras and a sonar unit 40 as on-board sensors. In this embodiment, the detection device 20 is described as being equipped with a camera and sonar, but the on-board sensors of the detection device 20 are not limited to a camera and sonar. For example, the detection device 20 may be equipped with a radar or LiDAR (Laser Imaging Detection and Ranging) that can measure the distance to an object using radio waves, light, or the like. The detection device 20 outputs the captured image of the image capturing unit 30 and the sensor data of the sonar unit 40 to the parking assistance device 100 as surrounding information indicating the surrounding conditions.

[0012] The photographing unit 30 includes a front camera 31 that photographs the area in front of the host vehicle 1A, a rear camera 32 that photographs the area behind the host vehicle 1A, a left side camera 33 that photographs the area to the left of the host vehicle 1A, and a right side camera 34 that photographs the area to the right of the host vehicle 1A. Each of these cameras includes an image sensor such as a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS), and a data processing circuit that generates an image based on the light reception state of the image sensor. The photographing unit 30 adjusts the angle of view so that the four cameras can photograph a 360° range centered on the host vehicle 1A. The front camera 31, rear camera 32, left side camera 33, and right side camera 34 each photograph their respective photographing ranges at a predetermined frame rate to generate photographed images. The front camera 31, rear camera 32, left side camera 33, and right side camera 34 output the generated photographed images to the parking assistance device 100.

[0013] Sonar units 40 are mounted at multiple locations on vehicle 1A, such as the front end, rear end, left side, and right side, and use ultrasonic waves to detect objects present around vehicle 1A. Specifically, sonar unit 40 detects the position of an object and the distance to the object.

[0014] The display unit 50 includes a display panel 51 and a touch sensor 53. The display panel 51 may be, for example, a liquid crystal display or an organic EL display. The touch sensor 53 may be a commonly known sensor such as a resistive film sensor or a capacitive sensor. The touch sensor 53 detects a touch operation performed on the display panel 51 and generates coordinate information indicating the operation position of the detected touch operation. The touch sensor 53 outputs an operation signal including the generated coordinate information to the parking assistance device 100.

[0015] The vehicle control unit 70 is, for example, a computer device such as an ECU (Electronic Control Unit), and is a control device that controls a drive device 80 mounted on the host vehicle 1A. The drive device 80 includes a steering device 81, a power device 83, a braking device 85, and a transmission device 87. The vehicle control unit 70 is connected to the parking assistance device 100 via a communication bus 5 that complies with standards such as Ethernet (registered trademark), CAN (Controller Area Network), and LIN (Local Interconnect Network). The vehicle control unit 70 controls the steering device 81, the power device 83, the braking device 85, and the transmission device 87 in accordance with control information input from the parking assistance device 100.

[0016] The steering device 81 is a device including an actuator for steering the steering wheels of the host vehicle 1A. The power unit 83 is a device that includes an actuator that adjusts the driving force of the drive wheels of the host vehicle 1A. This actuator corresponds to a throttle actuator when the power source of the host vehicle 1A is an engine, and corresponds to the motor when the power source is a motor. The braking device 85 is a device that controls a brake system provided in the host vehicle 1A based on information from the parking assistance device 100, and includes an actuator that controls the braking force applied to the wheels of the host vehicle 1A. The transmission 87 is a device including a transmission and an actuator. The transmission 87 drives the actuator to control the shift position of the transmission, and switches the gear ratio of the transmission and the forward and reverse movement of the host vehicle 1A.

[0017] Furthermore, the vehicle control unit 70 outputs a completion notification or a stop notification to the parking assistance device 100. When the control of the drive device 80 based on the control information is completed and the host vehicle 1A arrives at the target position set in the control information, the vehicle control unit 70 outputs the completion notification to the parking assistance device 100. In addition, if the vehicle control unit 70 detects an obstacle or the like during control of the drive device 80 and stops the movement of the vehicle 1A, or if the movement of the vehicle 1A is stopped by the driver's operation, it outputs a stop notification to the parking assistance device 100.

[0018] The parking assistance device 100 is a computer device that includes an input / output interface 110, a memory 120, and a processor 130. In addition to these devices, the parking assistance device 100 may also include a storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Hereinafter, the interface will be abbreviated as I / F.

[0019] The input / output I / F 110 is connected to the communication bus 5 and performs data communication with external devices connected to the communication bus 5. The external devices include the position detection unit 10, the detection device 20, the display unit 50, and the vehicle control unit 70.

[0020] The memory 120 is configured with a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The memory 120 may also be configured with a non-volatile semiconductor memory such as a flash memory. The memory 120 stores computer programs executed by the processor 130, data processed when the processor 130 executes the computer programs, and data resulting from the processing. The memory 120 also stores images captured by the imaging section 30 and sensor data output by the sonar unit 40. The processor 130 is configured by a CPU (Central Processing Unit), an MPU (Microprocessor Unit), and the like.

[0021] The parking assistance device 100 has, as functional components, a position acquisition unit 131, a situation acquisition unit 132, a surrounding map generation unit 133, a parking position determination unit 134, a path generation unit 135, and a control information generation unit 136. These functional components are functions realized by the processor 130 executing a computer program and performing calculations.

[0022] The position acquisition unit 131 receives the position information and orientation information of the vehicle 1A calculated by the position detection unit 10. The position acquisition unit 131 corrects the position information and orientation information input from the position detection unit 10 using a well-known dead reckoning method. The position acquisition unit 131 outputs the corrected position information and orientation information to the surrounding area map generation unit 133 and the route generation unit 135.

[0023] The situation acquisition unit 132 causes the photographing unit 30 to take a photograph and acquires, as surrounding information, the photographed image generated by the photographing unit 30. The situation acquisition unit 132 temporarily stores the photographed image acquired from the photographing unit 30 in the memory 120. Furthermore, the situation acquisition unit 132 causes the sonar unit 40 to perform sensing and acquires, as ambient information, sensor data that is the sensing result of the sonar unit 40. The situation acquisition unit 132 temporarily stores the sensor data acquired from the sonar unit 40 in the memory 120.

[0024] The surrounding area map generation unit 133 generates a surrounding area map showing the situation around the host vehicle 1A based on the position information and direction information input from the position acquisition unit 131, and the captured images and sensor data stored in the memory 120. The surrounding area map records the positions of objects present around the host vehicle 1A, the distances to the objects, and the positions of parking spaces such as white lines painted on the road surface of the parking lot. Objects recorded in the surrounding area map include, for example, another vehicle 1B parked in a parking space and structures such as pillars in the parking lot. Because the parking spaces are painted on the road surface with a predetermined thickness, intervals corresponding to the thickness of the white lines are detected as periodic features.

[0025] The parking position determination unit 134 determines a parking space W (see FIG. 2) where the host vehicle 1A will be parked, with reference to the surrounding area map generated by the surrounding area map generation unit 133. For example, the parking position determination unit 134 selects a parking space W from among the parking spaces recorded in the surrounding area map, in which no obstacle is detected and the distance from the host vehicle 1A is equal to or less than a preset distance. The parking position determination unit 134 determines a parking position P by setting a position and an angle at which the host vehicle 1A will be parked within the selected parking space W.

[0026] The route generation unit 135 determines a generation position S3 (see FIG. 2), and generates a movement route R1 along which the host vehicle 1A moves to the determined generation position S3. The route generation unit 135 references a surrounding map and generates the movement route R1 by known means. The generation position S3 is a position at which the path generation unit 135 generates a parking path R2. The parking path R2 is a path along which the position of the host vehicle 1A moves from the generation position S3 to the parking position P. The parking assistance device 100 determines a position other than the position at which the parking assistance start operation is accepted via a touch panel or the like as the generation position S3, and generates the parking path R2 at the determined generation position S3. In addition, the generation position S3 is generated so that at least a part of the rear end of the host vehicle 1A is positioned within the parking stall W. The procedure for determining the generation position S3 and the movement path R1 will be described later with reference to FIGS. 2 to 11. In this specification, a path whose destination is the parking position P is referred to as a parking path, and a path whose destination is a position other than the parking position P is referred to as a movement path.

[0027] 2 is a diagram showing an example of a movement route R1 and a parking space. In FIG. 2, another vehicle 1B is parked in a parking space to the right of parking position P, and a parking lot structure 7 such as a pillar is placed to the left of parking position P. As shown in FIG. 2, the movement path R1 includes a forward turning path R1A, an intermediate position S2, and a backward turning path R1B. The forward turning path R1A is a path along which the host vehicle 1A moves forward while turning, and may include a path along which the host vehicle 1A moves straight ahead as part of the path. The reverse turning path R1B is a path along which the host vehicle 1A moves backward while turning, and may include a path along which the host vehicle 1A moves straight backward as part of the path. The intermediate position S2 is a position where the traveling direction of the host vehicle 1A is switched from forward to reverse, and where the traveling direction of the host vehicle 1A is changed from forward to reverse by temporarily stopping the traveling of the host vehicle 1A and performing a shift operation. 2 is a position where a parking assistance start operation is received via the touch panel and the parking assistance device 100 generates a movement route R1. Hereinafter, the position S1 will be referred to as the initial position S1.

[0028] FIG. 3 is a diagram showing a state in which the vehicle 1A is parked at a different position within the parking stall W. Here, the reason why the parking assistance device 100 generates the parking path R2 at the generation position S3 instead of the initial position S1 will be explained. If the detection accuracy of the sonar unit 40 mounted on the host vehicle 1A is low, the detection accuracy of the parking space or obstacle will also be low, and the host vehicle 1A may end up parking at a misaligned position within the parking space W when parked at parking position P. The host vehicle 1A shown by the dashed line in FIG. 3 indicates a case where the host vehicle 1A is parked at an appropriate position within the parking space W, while the host vehicle 1A shown by the solid line in FIG. 3 indicates a case where the host vehicle 1A is misaligned to the right of the parking space W as viewed in the drawing and parked at an angle relative to the parking space W. When the host vehicle 1A is parked at a misaligned position as shown in FIG. 3, the movement characteristics of the host vehicle 1A make it impossible to correct the parking position, and the distance to the other vehicle 1B parked to the right of the host vehicle 1A becomes close, which may result in contact with the other vehicle 1B when opening or closing the door of the host vehicle 1A.

[0029] 2, the parking assistance device 100 determines the movement path R1 and the generation position S3 so that at least a part of the rear end of the vehicle 1A is located within the parking stall W, in order to ensure the detection accuracy of the sonar unit 40. The closer the distance to the measurement target, the higher the detection accuracy of the sonar unit 40 can be. Furthermore, the detection accuracy of the sonar unit 40 is set to be higher at the rear end of the host vehicle 1A than at the front or sides of the host vehicle 1A. This is because there are many blind spots for the driver behind the host vehicle 1A, and so this design is made in order to increase safety behind the host vehicle 1A. For this reason, the parking assistance device 100 orients the rear end of the host vehicle 1A toward the parking position P and sets the movement path R1 and the generation position S3 so that at least a portion of the rear end of the host vehicle 1A is within the parking stall W, thereby suppressing a decrease in the detection accuracy of obstacles, etc., due to the detection accuracy of the sonar unit 40.

[0030] Furthermore, when the host vehicle 1A moves to the generation position S3, the path generation unit 135 generates a parking path R2 along which the host vehicle 1A moves from the generation position S3 to the parking position P. After the host vehicle 1A arrives at the generation position S3, the path generation unit 135 generates the parking path R2 based on the sensor data and captured images acquired by the situation acquisition unit 132 at the generation position S3 and the surrounding area map generated by the surrounding area map generation unit 133 based on this information.

[0031] Next, a method for determining the generation position S3 will be described. First, the path generating unit 135 sets a forward turning path R1A. The path generating unit 135 sets the forward turning path R1A and an intermediate position S2 by changing two parameters, namely, a moving distance t1 and a turning angle θ1. The movement distance t1 is, for example, the movement distance of the host vehicle 1A in the vehicle width direction. For example, the vehicle length direction when the host vehicle 1A is located at the initial position S1 is set as the reference direction, and the turning angle θ1 is a clockwise rotation angle with respect to this reference direction.

[0032] FIG. 4 shows the host vehicle 1A located at the initial position S1 and the intermediate position S2. 4, the vehicle length direction (reference direction) when the host vehicle 1A is located at the initial position S1 is denoted as m0, and the vehicle width direction is denoted as n0. Furthermore, when the host vehicle 1A moves to the intermediate position S2, the vehicle length direction of the host vehicle 1A is denoted as m1, and the vehicle width direction is denoted as n1. The moving distance t1 is the distance n0 in the vehicle width direction between the initial position S1 and the intermediate position S2 as shown in Fig. 4. The turning angle θ1 is the angle between m0 in the vehicle length direction at the initial position S1 and m1 in the vehicle length direction at the intermediate position S2.

[0033] An upper limit value is set for the travel distance t1. The upper limit value for the travel distance t1 may be a preset value, or may be determined based on the aisle width of the aisle where the host vehicle 1A is located, calculated from the captured image or sensor data of the sonar unit 40. In other words, when a parking space is provided on the opposite side of the aisle from the parking position P, the upper limit value for the travel distance t1 should be set so as not to collide with another vehicle 1B parked in the parking space on the opposite side.

[0034] An upper limit is also set for the turning angle θ1. Fig. 5 is a diagram showing a state in which the turning angle θ1 of the host vehicle 1A exceeds the upper limit. For example, when the turning angle θ1 becomes larger than the angle formed between the vehicle length direction m0 and the vehicle width direction n0 at the initial position S1, the path generating unit 135 determines that the turning angle θ1 has exceeded its upper limit.

[0035] After determining the forward turning path R1A and the intermediate position S2, the path generating unit 135 next determines a reverse turning path R1B along which the host vehicle 1A retreats from the determined intermediate position S2, and a generated position S3. The path generating unit 135 determines the reverse turning path R1B and the generated position S3 while changing the parameter of the turning angle θ2. A range within which the value of θ2 can be changed is set in advance for the turning angle θ2.

[0036] 6 and 7 are diagrams showing a generated position S3. In particular, Fig. 6 is a diagram showing a reverse turning path R1B when the host vehicle 1A turns backward to the right from the intermediate position S2. Also, Fig. 7 is a diagram showing a reverse turning path R1B when the host vehicle 1A turns backward to the left from the intermediate position S2. The path generating unit 135 determines a reverse path R1B and a generation position S3 while changing the turning angle θ2. The path generating unit 135 generates, as the reverse turning path R1B, a path in which the distance between the rear end of the host vehicle 1A and an obstacle comes within a preset range, as shown in Fig. 6. When generating a path for a right backward turn as the reverse turning path R1B as shown in Fig. 6, the reverse turning path R1B is generated so that the distance between the side of the other vehicle 1B, which is an obstacle located to the right of the host vehicle 1A, and the rear end of the host vehicle 1A comes within a preset range. 7, when generating a path for a backward left turn as the reverse turning path R1B, the path generating unit 135 generates the reverse turning path R1B so that the distance between the side of the structure 7, which is an obstacle located on the left side of the host vehicle 1A, and the rear end of the host vehicle 1A is within a preset range. By generating a path as the reverse turning path R1B in which the distance between the rear end of the host vehicle 1A and the side of the other vehicle 1B or the structure 7 is within a preset range, it is possible to generate a path as the reverse turning path R1B in which at least a part of the rear end of the host vehicle 1A enters the parking stall W.

[0037] When the path generating unit 135 generates the reverse turning path R1B so that the distance between the rear end of the vehicle 1A and the obstacle is within a preset range, it calculates the angle θ3 between the vehicle length direction m2 of the vehicle 1A and the longitudinal direction W1 of the parking space W when the vehicle 1A is located at the end position of this reverse turning path R1B. If this is the first time that the angle θ3 is calculated, the path generating unit 135 stores the calculated angle θ3 in the memory 120. Furthermore, if the value of the angle θ3 is stored in the memory 120, the path generating unit 135 compares the calculated angle θ3 with the angle θ3 stored in the memory 120. If the calculated angle θ3 is smaller than the angle θ3 stored in the memory 120, the path generating unit 135 stores this angle θ3, and the travel distance t1 and the turning angles θ1 and θ2, which are parameters for this angle θ3, in the memory 120. By generating a path with a smaller angle θ3 as the reverse turning path R1B, the reverse turning path R1B is set so that the host vehicle 1A is parallel to the vehicle length direction of the parking stall W, and it becomes easier to generate a parking path R2 along which the host vehicle 1A, having moved to the generation position S3, moves to the parking position P. The path generating unit 135 calculates the values ​​of the travel distance t1 and the turning angles θ1 and θ2 that minimize the angle θ3 while changing the values ​​of the parameters, that is, the travel distance t1 and the turning angles θ1 and θ2.

[0038] 8 to 10 are diagrams showing routes that the route generation unit 135 does not generate as the reverse turning route R1B. FIG. 8 shows a case where the rear end of the vehicle 1A collides with the front of another vehicle 1B parked on the right side of the parking position P as seen in the drawing. If the rear end of the vehicle 1A collides with the front of the vehicle 1B located on the right side of the parking position P at the end of the reverse turning path R1B, the path generating unit 135 excludes this path from the candidates for the reverse turning path R1B. In other words, the path generating unit 135 does not store in the memory 120 the parameters (travel distance t1 and turning angles θ1, θ2) for generating this path.

[0039] In addition, when the path generating unit 135 generates a path for turning backward right as the reverse turning path R1B, the path generating unit 135 excludes a path in which the distance to the side surface of the obstacle on the right side of the parking stall W is not within a preset range from the candidate for the reverse turning path R1B. Similarly, when the path generating unit 135 generates a path for turning backward left as the reverse turning path R1B, the path generating unit 135 excludes a path in which the distance to the side surface of the obstacle on the left side of the parking stall W is not within a preset range from the candidate for the reverse turning path R1B. For example, as shown in FIG. 9, when generating a path for turning right backward as a backward turning path R1B, a path that contacts or collides with the structure 7, which is an obstacle located on the left side of the parking space W, is excluded from the candidates for the backward turning path R1B. 10, even if the vehicle 1A moves along the route, if the distance between the vehicle 1A and an obstacle is greater than a preset range, the route is excluded from candidates for the reverse turning route R1B. If the distance between the vehicle 1A and the obstacle is not within the preset range, it is necessary to set another condition for stopping the movement of the vehicle 1A, but the setting of this condition cannot be determined uniformly.

[0040] FIG. 11 is a diagram showing the parking route R2 generated by the route generating unit 135 after the host vehicle 1A has moved to the generation position S3. When the completion notification is input from the vehicle control unit 70, the route generation unit 135 determines, based on the position information and direction information input from the position detection unit 10, whether or not the host vehicle 1A has moved to the generation position S3. When the route generating unit 135 determines that the host vehicle 1A has arrived at the reverse position, it generates a parking route R2 based on the newly generated peripheral map by the peripheral map generating unit 133. The parking route R2 includes a forward turning route R2A, an intermediate position S4, and a reverse turning route R2B. The route generating unit 135 outputs the generated parking route R2 to the control information generating unit 136. The control information generator 136 generates control information corresponding to the parking route R2 input from the parking assistance device 100, and outputs the generated control information to the vehicle control unit 70. This completes parking of the host vehicle 1A at the parking position P.

[0041] 12 and 13 are flowcharts showing the operation of the parking assistance device 100. The operation of the parking assistance device 100 will be described with reference to FIGS. First, the parking assistance device 100 determines whether or not a parking assistance start operation has been received by a touch operation on the display unit 50 (step S1). If the parking assistance start operation has not been received (step S1 / NO), the parking assistance device 100 waits to start the next process until the start operation is received.

[0042] When the parking assistance device 100 receives a parking assistance start operation by a touch operation on the display unit 50 (step S1 / YES), it acquires surrounding information, which is information about the surroundings of the host vehicle 1A, from the detection device 20 (step S2). Based on the acquired surrounding information, the parking assistance device 100 determines a parking stall W where the host vehicle 1A will be parked (step S3). Step S3 corresponds to a determination step.

[0043] The parking assistance device 100 sets the angle and position when the host vehicle 1A is parked in the detected parking stall W, and determines the parking position P where the host vehicle 1A will be parked (step S4). Next, the parking assistance device 100 determines a movement route R1 and a generation position S3 (step S5), and outputs control information corresponding to the determined movement route R1 to the vehicle control unit 70 (step S6). Step S5 corresponds to a route generation step. Step S6 corresponds to an output step.

[0044] Next, the parking assistance device 100 determines whether or not a completion notification notifying that the movement to the generation position S3 has been completed has been input from the vehicle control unit 70 (step S7). If the completion notification has not been input (step S7 / NO), the parking assistance device 100 waits until the completion notification is input. When the completion notification is input (step S7 / YES), the parking assistance device 100 generates a surrounding area map based on the newly acquired surrounding information at the generation position S3, and generates a parking route R2 based on the generated surrounding area map (step S8).

[0045] When the parking assistance device 100 generates the parking path R2, it generates control information corresponding to the generated parking path R2 and outputs the generated control information to the vehicle control unit 70 (step S9). Next, the parking assistance device 100 determines whether or not a completion notification notifying that movement to the parking position P has been completed has been input from the vehicle control unit 70 (step S10). If the completion notification has not been input (step S10 / NO), the parking assistance device 100 waits until the completion notification is input. If the completion notification has been input (step S10 / YES), the parking assistance device 100 ends this processing flow.

[0046] FIG. 13 is a flowchart showing the details of step S5. The detailed operation of step S5 will be described with reference to FIG. First, the parking assistance device 100 sets a travel distance t1 and a turning angle θ1 to set a forward turning path R1A (step S501). Next, the parking assistance device 100 sets a turning angle θ2 to set a reverse turning path R1B (step S502).

[0047] Next, the parking assistance device 100 determines whether the reverse turning path R1B is a backward right turn based on the set turning angle θ2 (step S503). When the reverse turning path R1B is a right backward turn (step S503 / YES), the parking assistance device 100 determines whether the distance between the vehicle 1A and an obstacle existing on the right side of the parking stall W is within a set range when the vehicle 1A moves along the set forward turning path R1A and the set reverse turning path R1B (step S504).

[0048] If the parking assistance device 100 determines that the distance to the obstacle will not fall within the set range when the host vehicle 1A moves (step S504 / NO), it proceeds to the process of step S510 and changes the value of the turning angle θ2 (step S510).If the parking assistance device 100 determines that the distance to the obstacle will fall within the set range when the host vehicle 1A moves (step S504 / YES), it proceeds to the determination of step S506.

[0049] In addition, when the parking assistance device 100 determines that the reverse turning path R1B is not a backward right turn but a backward left turn (step S503 / / NO), when the vehicle 1A moves along the set forward turning path R1A and the set reverse turning path R1B, it determines whether the distance between the vehicle 1A and an obstacle existing on the left side of the parking stall W is within a set range (step S505).

[0050] If the parking assistance device 100 determines that the distance to the obstacle will not fall within the set range when the host vehicle 1A moves (step S505 / NO), it proceeds to the process of step S510 and changes the value of the turning angle θ2 (step S510).If the parking assistance device 100 determines that the distance to the obstacle will fall within the set range when the host vehicle 1A moves (step S505 / YES), it proceeds to the determination of step S506.

[0051] In step S506, the parking assistance device 100 determines whether the parameter value is stored in the memory 120. If the parameter value is stored in the memory 120 (step S506 / YES), the parking assistance device 100 calculates the angle θ3 between the vehicle length direction m2 of the host vehicle 1A at the generation position S3 and the longitudinal direction W1 of the parking stall W (step S507).

[0052] The parking assistance device 100 compares the calculated angle θ3 with the angle θ3 formed between the vehicle length direction m2 of the vehicle 1A and the longitudinal direction W1 of the parking stall W at the position stored in the memory 120 as a candidate for the generation position S3. If the calculated angle θ3 is equal to or greater than the angle θ3 at the position stored in the memory 120 as a candidate for the generation position S3 (step S508 / NO), the parking assistance device 100 proceeds to the process of step S510 and changes the value of the turning angle θ2.

[0053] Furthermore, if the calculated angle θ3 is smaller than the angle θ3 at a position stored in memory 120 as a candidate for generation position S3 (step S508 / YES), parking assistance device 100 stores the parameter value, information on generation position S3, and information on angle θ3 in memory 120 (step S509). Furthermore, even if the parameter value is not stored in memory 120 (step S506 / NO), parking assistance device 100 stores the parameter value, information on generation position S3, and information on angle θ3 in memory 120 (step S509). The information on generation position S3 stored in memory 120 may be information on the position of the end of reverse turning path R1B, or may be information on a position located a predetermined distance back from the end of reverse turning path R1B in the direction of intermediate position S2.

[0054] Next, the parking assistance device 100 changes the value of the turning angle θ2 (step S510) and determines whether the changed turning angle θ2 exceeds the settable range for the turning angle θ2 (step S511). If the turning angle θ2 does not exceed the settable range for the turning angle θ2 (step S511 / NO), the parking assistance device 100 returns to step S502, changes the value of the turning angle θ2, and sets the reverse turning path R1B based on the changed turning angle θ2 (step S502). If the turning angle θ2 exceeds the settable range for the turning angle θ2 (step S511 / YES), the parking assistance device 100 changes the value of the travel distance t1 or the turning angle θ1 (step S512).

[0055] Next, the parking assistance device 100 determines whether the travel distance t1 and the turning angle θ1 have all been set within their settable ranges (step S513). That is, if one of the travel distance t1 and the turning angle θ1, whose values ​​were changed in step S512, becomes larger than the settable range, and if changing the other of the turning angle θ1 and the travel distance t1 still results in a value larger than the settable range, the parking assistance device 100 determines that the travel distance t1 and the turning angle θ1 have all been set within their settable ranges. If the parking assistance device 100 determines that the travel distance t1 and the turning angle θ1 have not all been set within their settable ranges (step S513 / NO), it returns to step S501 and changes the value of either the travel distance t1 or the turning angle θ1. If the parking assistance device 100 determines that the travel distance t1 and the turning angle θ1 have all been set within their settable ranges (step S513 / YES), it proceeds to the processing of step S6.

[0056] As described above, the parking assistance device 100 of this embodiment includes the input / output I / F 110, the parking position determination unit 134, the route generation unit 135, and the control information generation unit 136. The input / output I / F 110 is connected to on-board sensors mounted at a plurality of positions including the rear end of the host vehicle 1A. When surrounding information indicating the situation around the vehicle 1A is input from the on-board sensor via the input / output I / F 110, the parking position determination unit 134 determines a parking space W in which the vehicle 1A will be parked based on the input surrounding information. The route generation unit 135 generates a generation position S3 for generating a parking route R2 for parking the host vehicle 1A in the determined parking stall W, and a movement route R1 for moving the host vehicle 1A to the generation position S3. The control information generation unit 136 generates control information for controlling the drive device 80 for driving the vehicle 1A, that is, control information for moving the vehicle 1A according to the travel route R1, and outputs the generated control information to the vehicle control unit 70 that controls the driving of the drive device 80 via the input / output I / F 110. The route generation unit 135 determines a generation position S3 so that at least a portion of the rear end of the vehicle 1A is located within the parking space, and after the vehicle 1A arrives at the generation position S3, generates a parking route R2 for parking the vehicle 1A in the parking space W. The closer the on-board sensor is to the sensing target, the more accurate the sensor data can be. Therefore, by determining the generation position S3 so that at least a portion of the rear end of the vehicle 1A is located in the parking space W, highly accurate sensor data can be obtained, and the vehicle 1A can be parked accurately within the parking space W. Furthermore, since the vehicle 1A does not move while correcting the route, the time required to complete parking can be reduced.

[0057] The reverse turning path R1B generated by the path generating unit 135 includes a turning path. When generating a path for the host vehicle 1A to turn backward to the right as a reverse turning path R1B, the path generating unit 135 determines a generation position S3 so that the distance to an obstacle located on the right side of the host vehicle 1A when the host vehicle 1A is reversed and parked in a parking space is within a predetermined range, and generates a movement path R1 for the host vehicle 1A to move to the determined generation position S3. In addition, when generating a path for the host vehicle 1A to turn backward and left as the reverse turning path R1B, the path generating unit 135 determines a generation position S3 so that the distance to an obstacle located on the left side of the host vehicle 1A when the host vehicle 1A is reversed and parked in a parking space is within a predetermined range, and generates a movement path R1 for the host vehicle 1A to move to the determined generation position S3. Therefore, it is possible to easily determine the generation position S3 where at least a part of the rear end of the host vehicle 1A is located within the parking stall W, and to easily generate the movement route R1 along which the host vehicle 1A moves to the determined generation position S3.

[0058] The path generation unit 135 calculates the angle between the vehicle length direction of the host vehicle 1A and the longitudinal direction of the parking space when the host vehicle 1A is located at the generation position, and changes the reverse turning path R1B so that the calculated angle becomes smaller. Therefore, the rear end of the vehicle 1A can be directed toward the parking stall W, and the accuracy of the sensor data output by the on-board sensor mounted at the rear end of the vehicle 1A can be further improved.

[0059] The above-described embodiment merely exemplifies one aspect of the present invention, and any modifications and applications are possible without departing from the spirit of the present invention. For example, the block diagram of the parking assistance device 100 shown in Fig. 1 is a schematic diagram showing components classified according to the main processing content in order to facilitate understanding of the present invention, and the components can be further classified into more components according to the processing content. Also, one component can be classified so that it performs even more processing.

[0060] In addition, in FIG. 1, the parking assistance device 100 may be configured to include at least one of the position detection unit 10 and the detection device 20 as an integrated unit.

[0061] Furthermore, when the parking assistance method of the present invention is implemented using a computer, the program executed by the computer can be configured in the form of a recording medium or a transmission medium for transmitting the program. The recording medium can be a magnetic or optical recording medium or a semiconductor memory device. Specific examples include portable or fixed recording media such as a flexible disk, HDD (Hard Disk Drive), CD-ROM (Compact Disk Read Only Memory), DVD, Blu-ray (registered trademark) Disc, magneto-optical disk, flash memory, and card-type recording medium. The recording medium can also be a non-volatile storage device such as a ROM or HDD provided in the parking assistance device 100.

[0062] 7 and 8 are divided according to the main processing content in order to make the processing of the parking assistance device 100 easier to understand, and the method of dividing the processing units or the names of the processing units does not limit the present invention. The processing of the parking assistance device 100 may be divided into more processing units according to the processing content. Furthermore, the processing of the parking assistance device 100 may be divided so that one processing unit includes even more processes. [Explanation of symbols]

[0063] 1A vehicle 1B Other vehicles 3 Onboard equipment 5. Communication Bus 7 Structures 10 Position detection unit 20 Detection device 30 Photography Department 31 Front camera 32 Rear camera 33 Left side camera 34 Right side camera 40 Sonar Unit 53 Touch Sensor 70 Vehicle Control Unit 80 Drive unit 81 Steering gear 83 Power plant 85 Braking device 87 Transmission 100 Parking assistance device 110 Input / Output Interface 120 memory 130 processors 131 Position acquisition part 132 Status Acquisition Unit 133 Surrounding area map generation unit 134 Parking position determination unit 135 Route Generation Unit 136 Control information generation unit P Parking position R1 Movement Path R1A, R2A forward turning path R1B, R2B Reverse turning path R2 2nd Parking Route S1 initial position S2 intermediate position S3 generation position S3 Step S4 Middle position

Claims

1. an input / output interface connected to on-board sensors mounted at a plurality of positions including the front end, rear end, left side, and right side of the vehicle and configured to detect objects present around the vehicle; a parking position determination unit that determines a parking space into which the vehicle will move backward when surrounding information indicating the situation around the vehicle is input from the on-board sensor via the input / output interface, the parking space being a parking space into which the vehicle will park so that the entire vehicle is positioned based on the input surrounding information; and a route generating unit that determines a generation position, which is a position for generating a parking route for the vehicle to park in the determined parking space, and generates a travel route for the vehicle to move from the current position to the generation position, and the vehicle enters the parking space by reversing; a control information generation unit that generates control information for controlling a drive device for running the vehicle, the control information causing the vehicle to move along the travel route, and outputs the generated control information to a control device that controls driving of the drive device via the input / output interface; the on-board sensor located at the rear end of the vehicle is set to have higher detection accuracy than the on-board sensors located at the front end, left side, and right side of the vehicle, The path generation unit When the vehicle moves backward to enter the parking space and at least a part of the rear end of the vehicle is positioned within the parking space, the generated position is determined so that a distance between the rear end of the vehicle and a side of an obstacle is within a predetermined range; After the vehicle arrives at the generation position, the surrounding information is acquired again from the on-board sensor at the generation position, and the parking path for parking the vehicle in the parking space is generated so that the entire vehicle is positioned within the parking space.

2. the travel path generated by the path generation unit includes a backward turning path, The path generation unit When generating a path that turns backward to the right as the reverse turning path, determine the generation position so that a distance from an obstacle located on the right side of the vehicle when the vehicle is reverse-parked into the parking space is within a preset range, and generate the movement path along which the vehicle moves to the determined generation position; 2. The parking assistance device according to claim 1, wherein, when generating a path for turning backward to the left as the reverse turning path, the generated position is determined so that a distance from an obstacle located on the left side of the vehicle when the vehicle is reverse-parked into the parking space is within a predetermined range, and the movement path for the vehicle to move to the determined generated position is generated.

3. 3. The parking assistance device according to claim 2, wherein the path generation unit calculates an angle between a vehicle length direction of the vehicle when the vehicle is located at the generation position and a longitudinal direction of the parking space, and changes the reverse turning path so that the calculated angle becomes smaller.

4. The processor installed in the parking assistance device a determination step of determining a parking space into which the vehicle will move backward when surrounding information indicating the situation around the vehicle is input from on-board sensors that are mounted at a plurality of positions including the front end, rear end, left side, and right side of the vehicle and detect objects present around the vehicle, the parking space being a space into which the vehicle will park so that the entire vehicle is positioned based on the input surrounding information; a route generating step of determining a generation position, which is a position for generating a parking route for parking the vehicle in the determined parking space, and generating a travel route for the vehicle to move from the current position to the generation position, the travel route being a route in which the vehicle enters the parking space by reversing; an output step of generating control information for controlling a drive device for running the vehicle, the control information causing the vehicle to move along the travel route, and outputting the generated control information to a control device that controls driving of the drive device; the on-board sensor located at the rear end of the vehicle is set to have higher detection accuracy than the on-board sensors located at the front end, left side, and right side of the vehicle, The path generation step determines the generation position so that when the vehicle enters the parking space by backing up and at least a part of the rear end of the vehicle is positioned within the parking space, a distance between the rear end of the vehicle and a side of an obstacle is within a predetermined range; after the vehicle arrives at the generation position, the surrounding information is acquired again from the on-board sensor at the generation position, and the parking path is generated for parking the vehicle in the parking space so that the entire vehicle is positioned within the parking space.

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