Parking assistance device

Abstract

To realize parking support, when parking a vehicle in a parking region where a driver frequently uses, regardless of a change in a surrounding situation.SOLUTION: A parking support device comprises: a parking information learning section which stores parking information including positional information of parking regions every time a vehicle is parked therein, learns the parking region which is included in the parking information and satisfies a predetermined condition as a target parking region for parking support, and registers the parking region in the parking information; and a parking control section which determines whether or not the vehicle comes close to an area a predetermined distance from the target parking region on the basis of the positional information of the target parking region and the positional information on a current position of the vehicle and executes automatic control for the parking support enabling the vehicle to park in the target parking region when the vehicle comes close to the area the predetermined distance from the target parking region.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a parking assistance device that assists a vehicle in parking operations. [Background technology]

[0002] There are technologies that assist drivers of vehicles, such as automobiles, in parking spaces. The following conventional technology has been proposed as one such technology. In this conventional technology, in a learning mode, a sensor device mounted on the vehicle detects and stores reference data around the parking space. Then, in an operation mode, parking assistance is provided by comparing the reference data with the sensor data detected by the sensor device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2013-530867 Summary of the Invention [Problem to be solved by the invention]

[0004] In an example of such prior art, for example, if the conditions around a parking space for which reference data is stored in learning mode change (for example, the scenery changes due to snow accumulation, etc.), a difference may arise between the reference data and the actual conditions, making parking assistance difficult.

[0005] Therefore, in at least one aspect of the present invention, one objective is to provide parking assistance for parking in a parking space (parking area) that is frequently used by drivers, etc., regardless of changes in the surrounding conditions. [Means for solving the problem]

[0006] In one aspect of the present invention, a parking assistance device includes a parking information learning unit that stores parking information including position information of the parking area each time a vehicle is parked in the parking area, and learns parking areas included in the parking information that meet predetermined conditions as target parking areas for parking assistance and registers them in the parking information, and a parking control unit that determines whether the vehicle has approached within a predetermined distance from the target parking area based on the position information of the target parking area and the current position information of the vehicle, and when the vehicle has approached within the predetermined distance, executes automatic control of parking assistance to park the vehicle in the target parking area. The parking control unit executes automatic control of parking assistance to park the vehicle in the target parking area only when it is selected to execute parking assistance based on a combination of preset parking assistance availability information and the operation of a parking assistance execution switch that can be operated when the vehicle approaches within a predetermined distance from the target parking area. [Effects of the Invention]

[0007] According to one aspect of the present invention, it is possible to realize parking assistance for parking in a parking area that is frequently used by a driver or the like, regardless of changes in the surrounding conditions. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an explanatory diagram showing an example of a vehicle in which a first embodiment of the present invention is implemented. [Figure 2] 1 is a block diagram showing the configuration of a parking assistance system according to a first embodiment of the present invention. [Figure 3] 1A and 1B are explanatory diagrams showing an example of the data configuration of parking information used in the first embodiment of the present invention, in which (A) is an example of parking history information, and (B) is an example of parking learning information. [Figure 4] 4 is a flowchart showing an example of parking assistance processing in the first embodiment of the present invention. [Figure 5] 1 is an explanatory diagram showing the positional relationship between a target parking area and a vehicle to which a first embodiment of the present invention is applied. [Figure 6] 1 is an explanatory diagram showing the positional relationship between a target parking area and a vehicle to which a first embodiment of the present invention is applied. [Figure 7] 10 is an explanatory diagram showing the positional relationship between a target parking area and a vehicle to which a modified example of the first embodiment of the present invention is applied. FIG. [Figure 8]10 is an explanatory diagram showing the positional relationship between a target parking area and a vehicle to which a modified example of the first embodiment of the present invention is applied. FIG. [Figure 9] 10A and 10B are explanatory diagrams showing an example of the data configuration of various information used in the second embodiment of the present invention, in which (A) is an example of parking history information, and (B) is an example of parking learning information. [Figure 10] 10 is a flowchart showing an example of parking assistance processing in a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments described in this specification, and different embodiments and their modifications can be combined as appropriate.

[0010] [First embodiment] FIG. 1 is a block diagram showing one aspect of the hardware configuration of a vehicle 1 equipped with a vehicle cruise control device according to an embodiment of the present invention.

[0011] The vehicle 1 is a four-wheel vehicle having a left front wheel 2, a right front wheel 3, a left rear wheel 4, and a right rear wheel 5. Each wheel 2-5 is equipped with a wheel cylinder 6-9 including a cylinder that transmits hydraulic pressure to the brake caliper of each wheel. The hydraulic pressure of these wheel cylinders 6-9 is controlled by adjusting the hydraulic pressure of a master cylinder in a brake device 10 (hydraulic pressure control device). The braking mechanism of the service brakes of these vehicles 1 is not limited to hydraulic friction brakes, and may be, for example, an electric friction brake, or may be equipped with a braking mechanism of multiple systems. The vehicle 1 is also equipped with an electric parking brake (EPB (Electronic Parking Brake)) device 11. The electric parking brake device 11 controls electric actuators incorporated in the brake calipers of the rear wheels 4 and 5 to activate the parking brakes.

[0012] The engine 12 is a power unit (power source) including an internal combustion engine that controls the output torque to the wheels 2-5 by electronically controlling an electronically controlled throttle and injectors. Note that the power source of the vehicle 1 may be, for example, a wheel drive motor that is driven by power supplied from a battery and controls the output torque to the wheels 2-5. Alternatively, the power source may be both the engine 12 and the wheel drive motor.

[0013] The transmission 13 is a power transmission device that transmits power generated by the engine 12, which is a power source, to the wheels 2-5 while changing the output torque, rotation speed, and rotation direction according to the driving conditions. The steering device 14 is an electric power steering mechanism equipped with a motor that generates a steering assist force, and is a device equipped with an actuator related to steering.

[0014] The parking assistance device 21 is an ECU (Electronic Control Unit) that executes parking assistance for the vehicle 1. Based on various sensors and setting information, the parking assistance device 21 controls the brake device 10, the electric parking brake 11, the engine 12, the transmission 13, and the steering device 14, thereby assisting the operation of parking the vehicle 1 in a parking lot. The functional configuration of the parking assistance device 21 will be described in detail later.

[0015] FIG. 2 shows an example of the configuration of a parking assistance system 100 mounted on a vehicle 1. The parking assistance system 100 includes a parking assistance device 21. The parking assistance system 100 also includes a satellite positioning system (such as a GPS (Global Positioning System)) signal receiving device 31, a communication device 32, an external sensor 33, and a parking assistance execution switch 34, which provide input information to the parking assistance device 21. The parking assistance system 100 also includes, as vehicle sensors, a wheel speed sensor 41, an acceleration sensor 42, a gyro sensor 43, an accelerator sensor 44, a brake sensor 45, and a steering angle sensor 46. The parking assistance system 100 also includes a display 51 and a speaker 52 that can output information transmitted from the parking assistance device 21. The parking assistance system 100 also includes an engine ECU 61, a steering ECU 62, a transmission ECU 63, a brake ECU 64, and an electric parking brake ECU 65, which are connected to on-board devices that output operation signals from the parking assistance device 21 and operate them.

[0016] The parking assistance device 21 includes a parking control unit 22 and a parking information learning unit 23, whose functions are realized by loading a program stored in a storage device provided in the microcomputer and executing it with a processor. The device also includes parking assistance availability information 24, parking history information 25, and parking learning information 26, which are data stored in the storage device.

[0017] The parking control unit 22 identifies that a target parking area for which parking assistance is to be performed (hereinafter simply referred to as the target parking area) is located near the vehicle 1. Then, based on the setting contents of the parking assistance availability information 24 and the operation of the parking assistance execution switch 34 by the driver or the like, the parking control unit 22 automatically controls parking assistance for the target parking area. Specifically, the parking control unit 22 detects the positions of surrounding objects in the target parking area based on input from the external sensor 33. Then, based on the various vehicle sensors, the parking control unit 22 calculates the operation amounts of the brake device 10, the electric parking brake device 11, the engine 12, the transmission 13, the steering device 14, etc. Then, based on the calculated operation amounts, the parking control unit 22 outputs operation signals to the ECUs of each of these on-board devices.

[0018] Every time the vehicle 1 is parked in a parking area (including both cases where the vehicle is parked by automatic control of the parking assist and cases where the vehicle is parked by operation of the driver), the parking information learning unit 23 stores information including the position information of the parking area in the storage means as parking history information 25. Furthermore, based on the parking history information 25, the parking information learning unit 23 learns parking areas included in the parking history information 25 that satisfy predetermined conditions as target parking areas for parking assist, and stores the learned information in the storage means as parking learning information 26.

[0019] The parking assistance availability information 24 is information for setting whether or not to enable the execution of parking assistance. For example, the parking assistance availability information 24 can be set to three types: "always execute," "execute based on user selection," and "not execute." The parking assistance availability information 24 can be set in advance at any time by the driver or the like via the user interface of the display 51, and can also be changed as appropriate. The parking history information 25 and the parking learning information 26 are both data constituting parking information. As described above, the parking history information 25 registers information including the location information of the parking area each time the vehicle 1 is parked in the parking area. The parking learning information 26 registers parking areas included in the parking history information 25 that satisfy predetermined conditions as target parking areas for parking assistance. Details of the parking history information 25 and the parking learning information 26 will be described later.

[0020] The satellite positioning system signal receiving device 31 identifies the position information of the vehicle 1 based on the satellite positioning system signal received from the artificial satellite (positioning satellite). The communication device 32 is, for example, a WiFi connection device, a beacon connection device, or an IMES (Indoor Messaging System), and is used to acquire accurate location information inside a building or underground. The external sensor 33 is, for example, a camera, radar, or LiDAR. The camera is, for example, a digital camera or an infrared camera using an imaging element such as a CCD or CMOS, and captures images of the surroundings of the vehicle. The radar is a device that emits electromagnetic waves such as millimeter waves and detects the reflected waves of the emitted electromagnetic waves reflected by objects around the vehicle to detect the position, shape, etc. of each object. The LiDAR is a device that emits pulsed short-wavelength electromagnetic waves such as ultraviolet light, visible light, or near-infrared light and detects the reflected waves of the emitted electromagnetic waves reflected by objects around the vehicle to detect the position, shape, etc. of each object with high accuracy. The parking assistance device 21 detects objects around the vehicle 1 using at least one or a combination of these cameras, radars, and LiDARs.

[0021] The parking assist execution switch 34 is a switch that accepts a selection input from the driver or the like as to whether or not parking assistance should be executed. The parking assist execution switch 34 may be installed, for example, on the steering device 14 or the center console, or may be displayed as a user interface on the display 51 or the like. The driver or the like can select to execute parking assistance or cancel parking assistance by operating the parking assist execution switch 34.

[0022] The wheel speed sensor 41 is a sensor that detects the rotation speed of each wheel as a signal, and it is possible to calculate the running speed from this. The acceleration sensor 42 detects the acceleration of the vehicle 1 in the longitudinal direction, the width direction, and the vertical direction. The gyro sensor 43 measures the rotational speed around three axes including the roll axis, pitch axis, and yaw axis. Car 1 Detect the angular velocity of the angle rotated. The accelerator sensor 44 detects the amount of depression of the accelerator pedal (accelerator opening). The brake sensor 45 detects the amount of depression of the brake pedal (amount of braking operation). The steering angle sensor 46 detects the steering amount (steering angle) of the steering wheel.

[0023] The display 51 displays the navigation system and the like, as well as messages output to the driver and the like from various ECUs of the vehicle 1. The display 51 can also display a user interface and accept input operations by the driver and the like. The speaker 52 can output audible messages from various ECUs of the vehicle 1 to the driver or the like.

[0024] The engine ECU 61 calculates engine control variables based on the input signals and outputs control signals to the injectors of the engine 12. The injectors then adjust the fuel injection amount based on the control signals, thereby adjusting the output of the engine 12 and controlling the engine torque. The steering ECU 62 calculates the steering angle based on the steering amount of the steering wheel and outputs a control signal to the steering actuator, which controls the steering device 14 based on the control signal. The transmission ECU 63 calculates a gear ratio based on input signals such as the vehicle speed and accelerator operation amount, and outputs a control signal to an actuator of the transmission 13. The transmission actuator controls the transmission 13 based on the control signal. The brake ECU 64 calculates the amount of brake operation based on the input signal and outputs a control signal to the brake actuator. Based on the control signal, the brake actuator generates air pressure and oil pressure acting on each wheel from the brake device 10, and controls the brake torque generated on each wheel. The electric parking brake ECU 65 outputs a control signal to the actuator in response to an operation command for the electric parking brake. The electric parking brake actuator operates the electric parking brake in response to the control signal.

[0025] The above components are connected to each other via an in-vehicle network 181. The in-vehicle network 181 is configured using, for example, a controller area network (CAN), a local interconnect network (LIN), Ethernet (registered trademark), FlexRay, or the like. Each of the parking assistance device 21 and various ECUs, such as the engine ECU 61, steering ECU 62, transmission ECU 63, brake ECU 64, and electric parking brake ECU 65, includes a processor, SRAM, FROM, a communication interface, and an internal bus that interconnects them for intercommunication. The processor is hardware that executes a set of instructions (such as data transfer, calculation, processing, control, and management) written in a program, and is composed of an arithmetic unit, registers that store instructions and information, and peripheral circuits. The SRAM is a volatile memory in which data is lost when the power supply is cut off, and provides a temporary storage area used by the processor during operation. The FROM is a nonvolatile memory that can be electrically rewritten and stores programs that manage each ECU and various data used in the operation of the programs. The communication interface is composed of, for example, a CAN transceiver, and provides a function for connecting to an in-vehicle network.

[0026] FIG. 3 is an explanatory diagram showing an example of the data configuration of the parking history information 25 and the parking learning information 26. As shown in FIG. The parking history information 25 is a collection of data that is generated each time the vehicle 1 is parked in a parking area. As shown in Fig. 3(A), each piece of data in the parking history information 25 may include location information of the parking area, driving information (route, vehicle speed, gradient) from the start of parking to the parking position, parking start time, and parking end time.

[0027] The parking learning information 26 is a collection of data generated for each parking area based on the parking history information 25. As shown in FIG. 3(B), each piece of data in the parking learning information 26 may include location information of the parking area, driving information from the start of parking to the parking position, parking frequency for the parking area (e.g., the number of times the vehicle has parked in a predetermined period), the number of times the vehicle has parked (e.g., the cumulative number of times the vehicle has parked), parking time (e.g., the average parking time per parking session and the cumulative parking time), and parking assistance target information (information indicating whether the parking area of ​​the data is a target parking area for parking assistance). Regarding the driving information from the start to the end of parking in the parking learning information 26, if there are multiple patterns for parking in the parking area of ​​the data (e.g., if the parking area can be approached from multiple directions), multiple pieces of driving information may be registered. The parking history information 25 and the parking learning information 26 are examples of parking information, and the data structure is not limited to these examples. For example, the parking learning information 26 may register only data on parking areas that are target parking areas for parking assistance.

[0028] FIG. 3 is a flowchart showing the parking assistance process executed by the parking assistance device 21. In step 1, the parking control unit 22 determines whether the current position of the vehicle 1 is within a predetermined distance (for example, within several tens of meters) from a target parking area that is the target of parking assistance, based on the position information of the vehicle 1 acquired from the satellite positioning system signal receiving device 31. Specifically, the parking control unit 22 references the parking learning information 26 and determines whether there is data on a parking area whose position information indicates a position within a predetermined distance from the current position and whose parking assistance target information indicates that the parking area is the target parking area. If a target parking area exists, the process proceeds to step 2 (Yes); if not, the process continues with the determination in step 1 (No).

[0029] In step 2, the parking control unit 22 notifies the driver or the like that a target parking area is located near the vehicle 1. For example, the parking control unit 22 outputs a message (announcement) such as "A registered parking lot is nearby." The message may be displayed on the display 51, or may be output as audio from the speaker 52. FIG. 5 is a diagram illustrating the processing of steps 1 and 2, along with the positional relationship between the vehicle 1 and the target parking area. As shown in FIG. 5, the parking control unit 22 outputs the above-mentioned message to the driver or the like when the vehicle 1 enters within a predetermined distance of the target parking area.

[0030] In step 3, the parking control unit 22 determines whether the vehicle 1 is approaching within a predetermined distance (for example, within a few meters) that is an even closer distance from the target parking area, in other words, within a range where parking assistance can be initiated, based on the position information of the vehicle 1 acquired from the satellite positioning system signal receiving device 31. If the vehicle 1 is approaching the target parking area, the process proceeds to step 4 (Yes); if not, the process continues with the determination in step 3. Note that if the vehicle 1 moves out of the predetermined distance, which is the determination criterion in the processing of step 1, the processing of step 1 is performed again.

[0031] In step 4, the parking control unit 22 refers to the parking assistance availability information 24 and determines whether the parking assistance setting is valid. For example, if the setting contents of the parking assistance availability information 24 are three types of parking assistance, namely, "always execute," "execute based on user selection," and "do not execute," and if "always execute" or "execute based on user selection" is set, the setting is deemed valid. If the parking assistance setting is valid, proceed to step 5 (Yes); if not, proceed to step 11 (No).

[0032] In step 5, the parking control unit 22 accepts a selection input from the driver or the like regarding whether or not to execute parking assistance via the parking assistance execution switch 34. Note that this selection input is accepted only when the parking assistance availability information 24 is set to "execute based on user selection." For example, the parking control unit 22 outputs a confirmation message such as "Do you want to execute parking assistance?" via the display 51 or speaker 52, and the driver or the like responds by operating the parking assistance execution switch, thereby realizing this selection input. Note that FIG. 6 is a diagram explaining the processing of steps 3 to 5, along with the positional relationship between the vehicle 1 and the target parking area. As shown in FIG. 6, the parking control unit 22 outputs the above-mentioned message to the driver or the like when the vehicle 1 enters within a predetermined distance from the target parking area at which parking assistance can be initiated.

[0033] In step 6, the parking control unit 22 determines whether or not to execute parking assistance based on a combination of the parking assistance availability information 24 and the operation of the parking assistance execution switch 34. Specifically, the parking control unit 22 determines to execute parking assistance if the parking assistance availability information 24 is "always executed," or if the parking assistance availability information 24 is "executed based on user selection" and execution of parking assistance is selected by the selection input in step 5. If parking assistance is to be executed, the process proceeds to step 7 (Yes), and if not, the process proceeds to step 11 (No).

[0034] In step 7, the parking control unit 22 acquires various pieces of information detected about the target parking area from the external sensor 33. Specifically, if there is information detected about an object present in the target parking area and in an area that the vehicle 1 can pass through when parking the vehicle 1 from its current position into the target parking area, the parking control unit 22 acquires the information. The area that the vehicle 1 can pass through when parking the vehicle 1 from its current position into the target parking area may be identified using the driving information from the start to the end of parking set in the parking learning information 26, or may be calculated from the position information of the target parking area and the current position of the vehicle 1.

[0035] In step 8, the parking control unit 22 determines whether or not there are any obstacles (including people, etc.) in the target parking area and in the area through which the vehicle 1 may pass when parking the vehicle 1 from its current position into the target parking area, based on the information acquired in step 7. If there are no obstacles, the process proceeds to step 9 (Yes); otherwise, the process proceeds to step 11 (No).

[0036] In step 9, the parking control unit 22 executes automatic control of parking assistance to park the vehicle 1 in the target parking area. Specifically, the parking control unit 22 performs automatic control associated with parking assistance by referring to driving information from the start to end of parking, which can be acquired from the parking learning information 26, or by calculating a driving route, etc., based on the position information of the target parking area and the current position of the vehicle 1. In this control, the parking control unit 22 acquires input information from various vehicle sensors, namely, the wheel speed sensor 41, the acceleration sensor 42, the gyro sensor 43, the accelerator sensor 44, the brake sensor 45, the steering angle sensor 46, etc. Then, based on the input information, the parking control unit 22 calculates the operation amounts of the brake device 10, the electric parking brake device 11, the engine 12, the transmission 13, the steering device 14, etc. Furthermore, based on the operation amounts, the parking control unit 22 realizes parking assistance control of the vehicle 1 by outputting control signals to the engine ECU 61, the steering ECU 62, the transmission ECU 63, the brake ECU 64, the electric parking brake ECU 65, etc. In this case, the parking control unit 22 acquires information such as the position and size of objects present in the target parking area and its surroundings from the external sensor 33, and controls the vehicle 1 while referring to this information. Here, the parking control unit 22 may use the external sensor 33 to detect the positions of other vehicles parked adjacent to the target parking area, the walls of the garage, etc., and park the vehicle 1 by ensuring equal spaces from the other vehicles, the walls of the garage, etc. to the vehicle based on the positions and the width dimension of the vehicle 1. Furthermore, the parking control unit 22 may stop the parking assist control and make an announcement to the driver, etc., when the space from the other vehicles, the walls of the garage, etc. to the vehicle is less than a predetermined value (for example, when it is difficult to open or close the door). This parking assist control eliminates the need for parking operations (for example, brake pedal operation, steering operation, accelerator pedal operation, shift operation, etc.) by the driver.

[0037] In step 10, the parking control unit 22 determines whether or not the driver has performed a driving operation during automatic control of the parking assist. If an operation has been performed, it determines that the parking assist has been canceled and proceeds to step 11 (Yes), otherwise it proceeds to step 12 (No). In step 11, the parking control unit 22 executes normal control in response to the driver's own parking operation of the vehicle 1. In this parking assistance process, the parking control unit 22 executes the normal control in the following cases: when the parking assistance setting is disabled, when the driver has selected not to provide parking assistance, when there is an obstacle or the like in the parking area, or when the driver has performed a parking operation himself.

[0038] In step 12, the parking information learning unit 23 stores, in the storage means, the position information of the parking area where the vehicle 1 was parked by the parking control provided by the parking assistance in step 9 or by the driver's own parking operation in step 11, and various information related to the parking, as parking history information 25. Specifically, the parking information learning unit 23 registers data including the position information of the parking area where the vehicle 1 was parked in step 9 or step 11, driving information (route, vehicle speed, gradient) from the start of parking to the parking position, the parking start date and time, and the parking end date and time, in the parking history information 25. The start of parking can be identified, for example, by the timing when the shift operation of the vehicle 1 is changed from drive (D) to reverse (R) and the vehicle 1 is moved backward. On the other hand, the end of parking can be identified, for example, by the timing when the electric parking brake 11 is activated or the ignition switch is turned off.

[0039] Also, in step 12, the parking information learning unit 23 registers (updates) the parking learning information 26 based on the information registered in the parking history information 25. Specifically, if data corresponding to the parking area where the vehicle has just parked has already been registered in the parking learning information 26, the parking information learning unit 23 reflects the information about this parking in the parking frequency, number of times the vehicle has parked, and parking time of the data. On the other hand, if data corresponding to the parking area where the vehicle just parked has not been registered in the parking learning information 26, the parking information learning unit 23 newly registers data corresponding to the parking area and then reflects the information about this parking. Then, based on the parking frequency, number of times the vehicle has parked, and parking time of the data, the parking information learning unit 23 determines whether the parking area of ​​the data satisfies a predetermined condition for being a parking area eligible for parking assistance. The predetermined condition can be, for example, at least one of the following: the parking frequency in the parking learning information 26 is equal to or greater than a predetermined value; the number of times the vehicle has parked is equal to or greater than a predetermined number of times; and the parking time is equal to or greater than a predetermined time. If the parking area of ​​the data satisfies the predetermined condition, the parking information learning unit 23 sets information indicating that the parking area is a target parking area for parking assistance in the parking assistance target information of the data. In addition, the parking information learning unit 23 can also register the parking learning information 26 at any other timing (for example, when the ignition switch of the vehicle 1 is turned on or at a predetermined time) based on the accumulated parking history information 25, rather than at step 12.

[0040] According to the driving assistance process, when the vehicle 1 is parked in a parking area, the parking history information 25 is stored, and parking learning information 26 is generated based on the parking history information 25. Then, based on the parking learning information 26, for example, a parking area frequently used by the driver of the vehicle 1 can be identified. Furthermore, the parking area can be designated as a target parking area for parking assistance, and automatic control of parking assistance can be automatically executed when the vehicle 1 approaches the target parking area. Therefore, the driver can simply approach the frequently used parking area and leave the parking operation to the vehicle 1 without having to explicitly operate to start parking assistance. This greatly simplifies the parking operation by the driver.

[0041] Furthermore, in the driving assistance process, the target parking area is stored in the parking history information 25 and the parking learning information 26 in association with the position information of the vehicle 1 obtained by the satellite positioning system signal receiver 31. Therefore, for example, even if the situation around the target parking area changes, it is possible to accurately detect the target parking area. Furthermore, according to the driving assistance process, automatic control of parking assistance is executed according to a combination of preset parking assistance availability information 24 and the operation of a parking assistance execution switch 34, which can be operated when the vehicle 1 approaches within a predetermined distance from the target parking area. In other words, the driver can always execute the automatic control of parking assistance, confirm the execution each time, or never execute the automatic control of parking assistance. Therefore, the execution availability of automatic control of parking assistance can be adapted to the needs of all drivers.

[0042] Here, modified examples of this embodiment will be described. In the first modified example, in addition to the functions realized by the parking assistance system 100 described above, when there are multiple target parking areas within a short distance, parking assistance is provided so that the vehicle is parked in the target parking area located closest to the current position of the vehicle. When there are multiple target parking areas within a short distance, for example, a case where a driver parks in the next available space in a parking lot that can accommodate multiple vehicles, such as a parking lot at work or a frequently visited commercial facility, can be considered.

[0043] FIG. 7 is an explanatory diagram showing an example of a parking lot to which this modification is applied. In this example, there are four parking areas, A, B, C, and D, that are determined to be target parking areas based on the parking learning information 26 of the vehicle 1. In this case, in the parking assistance process described above, the vehicle 1 can enter the parking assistance range of multiple target parking areas. In this case, the parking control unit 22 provides parking assistance for the target parking area closest to the current position of the vehicle 1. In the example shown in FIG. 7, the parking control unit 22 provides parking assistance for the target parking area A that is closest to the current position of the vehicle 1. Note that if another vehicle is parked in the closest target parking area A, the external sensor 33 can detect that vehicle. In this case, the parking control unit 22 provides parking assistance for the next closest target parking area B. According to this modification, even when there are a plurality of target parking areas within the parking assistance possible range, it is possible to select one target parking area and implement parking assistance.

[0044] In another variant, when there are multiple target parking areas within a short distance and the multiple target parking areas are arranged in a tandem, if parking is possible in the parking area arranged at the back, parking assistance is provided so that the vehicle is parked in the parking area arranged at the back. An example of a case where multiple target parking areas are arranged in a tandem is the parking lot of a detached house or a small apartment building where space is limited.

[0045] FIG. 8 is an explanatory diagram showing an example of a parking lot with a tandem arrangement to which this modification is applied. In this example, there are two target parking areas, A and B, stored as the parking history information 25 of the vehicle 1. In this case, in the parking assistance process described above, the vehicle 1 can enter the parking assistance range of multiple target parking areas. In this case, the parking control unit 22 first provides parking assistance for the target parking area closest to the current position of the vehicle 1. In the example shown in FIG. 8, the parking control unit 22 provides parking assistance for parking area A, which is closest to the current position of the vehicle 1. Then, when the parking control unit 22 has finished parking in parking area A, it uses an external sensor to detect whether another vehicle is parked in parking area B. If no other vehicle is parked in parking area B, the parking control unit 22 further provides parking assistance for parking area B. According to this modification, when multiple target parking areas are arranged in a tandem, parking assistance can be provided for the target parking area at the back, rather than the target parking area at the front, which is closest to the vehicle. This allows parking assistance to be provided in an appropriate arrangement, just as if the driver were parking normally, further improving the convenience of parking assistance.

[0046] As another variation, even if a parking area satisfies the predetermined conditions for being a target parking area for parking assistance, it may be possible to exclude the parking area from being a target parking area. For example, when the parking information learning unit 23 registers the parking learning information 26 in step 12 after the vehicle 1 has parked in the parking area, if the parking information learning unit 23 determines that the parking area satisfies the predetermined conditions for being a target parking area for parking assistance, the parking information learning unit 23 displays a screen on the display 51 that allows the user to select whether or not to register the parking area as a target parking area. Then, only when the driver or the like selects to register the parking area as a target parking area, the parking information learning unit 23 includes information indicating that the parking area is a target parking area for parking assistance in the parking assistance target information of the parking area data in the parking learning information 26. Furthermore, the parking information learning unit 23 may display a screen for canceling the registration of the target parking area for parking assistance at any other time, allowing the driver or the like to cancel the registration.

[0047] In another variation, even if a parking area satisfies the predetermined conditions for parking assistance, if the parking area is a mechanical parking lot, parking assistance may be performed only if accurate position information can be obtained via the communication device 32. Here, a mechanical parking lot refers to a parking lot where vehicles are placed on pallets and the pallets are raised and lowered by power to store vehicles in a multi-level manner. The parking assistance device 21 can identify a parking area as a mechanical parking lot, for example, by using images captured by a camera of the external sensor 33. In such parking lots, more accurate and precise control is required for braking control of parking assistance compared to regular parking lots. Therefore, in this variation, before performing parking assistance control in step 9 of the parking assistance process, the parking control unit 22 determines whether position information can be obtained via the communication device 32, such as a WiFi connection device, a beacon connection device, or an IMES communication device. Then, parking assistance control is performed only if the position information can be obtained. On the other hand, in mechanical parking lots that do not have such equipment, automatic parking assistance control is suspended.

[0048] [Second embodiment] In the second embodiment, in addition to the functions realized in the first embodiment described above, parking assistance is realized even in situations where it is difficult to measure the vehicle's position information. A situation where it is difficult to measure the vehicle's position information can be, for example, when parking in a parking area where it is difficult to receive satellite positioning system signals, such as an underground parking lot or a multi-story parking garage. Below, illustrations and descriptions of configurations similar to those in the first embodiment will be omitted.

[0049] FIG. 9 is an explanatory diagram showing an example of the data configuration of the parking history information 25 and the parking learning information 26 in the second embodiment. 9(A), the parking history information 25 may include, in addition to the parking area location information, driving information from the start of parking to the parking position, and parking start and end times in the first embodiment, driving information (driving distance, driving time, illuminance, vehicle speed, headlight operation status, etc.) from the point where location information from the satellite positioning system was lost. Similarly, the parking learning information 26 may include, in addition to the parking area location information, driving information from the start of parking to the parking position, parking frequency for the parking area, number of times parked, and parking time, driving information (driving distance, driving time, illuminance, vehicle speed, headlight operation status, etc.) from the point where location information from the satellite positioning system was lost. Note that, with regard to the driving information from the point where location information from the satellite positioning system was lost, multiple pieces of information may be registered if there are multiple patterns for parking into the parking area in the data (for example, if the parking area can be approached from multiple directions).

[0050] FIG. 10 is a flowchart showing the processing executed by the parking assistance device 21 in the second embodiment. In step 21, the parking control unit 22 determines whether or not the position information of the vehicle 1 can be acquired by the satellite positioning system signal receiving device 31 and the communication device 32. If the position information can be acquired, the process proceeds to step 22 (Yes); if not, the process proceeds to step 23 (No). In step 22, the parking control unit 22 and the parking information learning unit 23 execute the parking assistance process shown in FIG.

[0051] In step 23, the parking control unit 22 determines whether the vehicle 1 is entering a multi-story parking garage or an underground parking garage. Specifically, the parking control unit 22 can include, for example, changes in ambient illuminance (whether the surroundings have become dark) and the headlight operation status (whether the headlights are turned on) detected by the camera of the external sensor 33 equipped on the vehicle 1 as criteria for this determination. The parking control unit 22 can also include information such as the vehicle speed detected by the wheel speed sensor 41 (whether the vehicle speed has slowed down) and the incline detected by the gyro sensor 43 (whether the vehicle is traveling on an incline of 3 to 4 degrees) as criteria for this determination. Based on this information, the parking control unit 22 can comprehensively determine whether the vehicle is entering a multi-story parking garage or an underground parking garage. If the vehicle 1 is entering a multi-story parking garage or an underground parking garage, proceed to step 24 (Yes); otherwise, proceed to step 28 (No).

[0052] In step 24, the parking control unit 22 determines whether there is a target parking area where the location information from the satellite positioning system has been lost, that is, where information on the location information of the point where location information can no longer be obtained, is set as location information in the parking learning information 26. If there is a target parking area, proceed to step 25 (Yes); if there is no target parking area, proceed to step 28 (No).

[0053] In step 25, the parking control unit 22 measures the traveling status of the vehicle 1 from the point where the position information from the satellite positioning system was lost. Specifically, the parking control unit 22 measures, for example, the traveling distance, traveling time, inclination, etc. from the point where the position information from the satellite positioning system was lost. In step 26, the parking control unit 22 compares the driving information indicating the current driving situation measured in step 25 with the driving information contained in the parking learning information 26, which is from the point where the position information from the satellite positioning system was lost to the target parking area, and determines whether the two correspond. Note that "correspondence" includes cases where the two match and cases where the difference is within a predetermined range even though the two do not match completely. For example, the parking control unit 22 compares the driving distance, driving time, inclination, etc. from the point where the position information from the satellite positioning system was lost with the driving distance, driving time, inclination, etc. to the target parking area contained in the parking learning information 26. If the two match, proceed to step 27 (Yes); if not, proceed to step 28 (No).

[0054] In step 27, the parking control unit 22 and the parking information learning unit 23 execute the parking assistance process shown in Fig. 4. Here, in the second embodiment, when the parking history information 25 and the parking learning information 26 are registered in step 12, the point where the position information from the satellite positioning system is lost is set as the position information of the parking area. Furthermore, data setting the driving information from the point where the position information from the satellite positioning system is lost is registered in association with the position information of the parking area. In step 28, the parking control unit 22 executes normal control in response to the parking operation of the vehicle 1 by the driver himself.

[0055] According to the second embodiment, even when it is difficult to measure the position information of the vehicle 1 in a multi-story parking garage, an underground parking garage, etc., it is possible to identify the existence and location of a target parking area and realize parking assistance. Generally, it is not uncommon for a home or workplace parking lot to be located in a multi-story parking garage or an underground parking garage, and by being able to realize parking assistance even in such a situation, the scope of application of parking assistance will be expanded and user convenience will be further improved.

[0056] [others] The embodiments of the present invention described above are merely some of the possible implementations within the technical scope of the present invention, and are disclosed as examples of the present invention, and do not limit the technical scope of the present invention. Furthermore, the functional configurations and physical configurations in each embodiment are not limited to the above-mentioned aspects, and for example, each function or physical resource can be integrated and implemented, or conversely, implemented in a more distributed manner, and further, some configurations can be added, deleted, or replaced with other configurations. [Explanation of symbols]

[0057] 1...vehicle, 21...parking assistance device, 22...parking control unit, 23...parking information learning unit, 24...parking assistance availability information, 25...parking history information, 26...parking learning information, 31...satellite positioning system signal receiving device, 32...communication device, 33...external sensor, 34...parking assistance execution switch

Claims

1. a parking information learning unit that stores parking information including position information of the parking area each time the vehicle is parked in the parking area, learns parking areas that satisfy predetermined conditions among the parking areas included in the parking information as target parking areas for parking assistance, and registers the parking areas in the parking information; a parking control unit that determines whether the vehicle has approached within a predetermined distance from the target parking area based on the position information of the target parking area and the current position information of the vehicle, and when the vehicle has approached within the predetermined distance, executes automatic control of parking assistance to park the vehicle in the target parking area; In a parking assistance device including: The parking control unit performs automatic control of parking assistance to park the vehicle in the target parking area only when it is selected to perform parking assistance based on a combination of preset parking assistance availability information and the operation of a parking assistance execution switch that can be operated when the vehicle approaches within a predetermined distance from the target parking area.

2. A parking information learning unit that stores parking information including location information of a parking area each time a vehicle is parked in the parking area, learns parking areas that satisfy predetermined conditions among the parking areas included in the parking information as target parking areas for parking assistance, and registers the parking areas in the parking information. a parking control unit that determines whether the vehicle has approached within a predetermined distance from the target parking area based on the position information of the target parking area and the current position information of the vehicle, and when the vehicle has approached within the predetermined distance, executes automatic control of parking assistance to park the vehicle in the target parking area; In a parking assistance device including: The parking control unit, when the vehicle is located within the predetermined distance from a plurality of the target parking areas and the plurality of target parking areas are arranged in a vertical row, executes automatic control of parking assistance for the target parking area closest to the current position of the vehicle, and when an external sensor detects that no other vehicles are parked in other target parking areas among the plurality of target parking areas, executes automatic control of parking assistance for the other target parking areas.

3. A parking information learning unit that stores parking information including location information of a parking area each time a vehicle is parked in the parking area, learns parking areas that satisfy predetermined conditions among the parking areas included in the parking information as target parking areas for parking assistance, and registers the parking areas in the parking information. a parking control unit that determines whether the vehicle has approached within a predetermined distance from the target parking area based on the position information of the target parking area and the current position information of the vehicle, and when the vehicle has approached within the predetermined distance, executes automatic control of parking assistance to park the vehicle in the target parking area; In a parking assistance device including: When the vehicle is parked in a parking area in a situation where position information cannot be acquired while the vehicle is traveling, the parking information learning unit sets information of the point where the position information cannot be acquired as position information of the parking area, and registers driving information from the point where the position information cannot be acquired to the parking area in association with the parking area, When position information cannot be obtained while the vehicle is traveling, and a parking area for which information on the point where the position information cannot be obtained is set as position information is registered in the parking information as the target parking area, the parking control unit executes automatic control of parking assistance for the target parking area if current driving information from the point where the position information cannot be obtained corresponds to the driving information associated with the target parking area.

4. A parking assistance device as described in any one of claims 1 to 3, wherein the specified condition corresponds to at least one of the following: the frequency of parking in the parking area is equal to or greater than a specified value; the number of times the vehicle has parked in the parking area is equal to or greater than a specified number of times; and the parking time in the parking area is equal to or greater than a specified time.

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