Automatic parking system

Abstract

To provide an automatic parking device which reduces driver's sense of anxiety associated with automatic parking and improves convenience and comfort of automatic parking.SOLUTION: An automatic parking system comprises: an obstacle detection device 13 configured to detect an obstacle around a vehicle 1; an imaging device 16 configured to image a region around the vehicle 1; a parking control device 10 configured to set a parking route allowing the vehicle 1 to move to a target parking position on the basis of information on the obstacle and an image of the region around the vehicle and to execute automatic parking control causing the vehicle to park at the target parking position along the parking route; and a display device 11 configured to display information on automatic parking control. The display section 11 is configured to display a place to make a K-turn where the vehicle 1 needs to switch from forward to backward travel or from backward to forward travel when the parking route includes the place to make a K-turn. The parking control device 10 is configured to limit the maximum number of times to update the place to make a K-turn to a first number of times N1 while the automatic parking control is in execution.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to an automatic vehicle parking system. [Background technology]

[0002] Parking assistance systems and automated parking systems that park a vehicle at a target parking position through at least partial automatic control are becoming increasingly popular. For example, Patent Document 1 discloses a parking assistance device that guides the driver through direct parking, where the vehicle is parked at a target parking position without turning around, or through turnaround parking, where the vehicle is parked by turning around. This device displays a flagged pole indicating a turnaround point on the rear monitor screen to inform the driver of the presence of a turnaround point and the need to stop there when turning around to park. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5522485 Summary of the Invention [Problem to be solved by the invention]

[0004] In an automatic parking system, a route to a target parking position is generated based on the recognition results of the vehicle's surroundings acquired by sensors, etc., and the recognition results of the vehicle's surroundings acquired by the sensors are updated as the vehicle moves while the system performs automatic parking. Depending on the recognition results of the sensors, the turning position where the vehicle temporarily stops during turning and parking may move from the position set before turning and parking begins, i.e., may be reset. If the turning position moves during automatic parking by an automatic parking system, it may cause the driver to feel uneasy, or the uneasy driver may perform unnecessary braking, so improvements are desired.

[0005] The present invention has been made in consideration of the above-described circumstances, and its purpose is to reduce the driver's anxiety associated with automatic parking and to improve the convenience and comfort of automatic parking. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided an automatic parking system comprising: an obstacle detection device configured to detect obstacles around a vehicle; an imaging device configured to capture images of the area surrounding the vehicle; a parking control device configured to set a parking path for moving the vehicle to a target parking position based on information about obstacles detected by the obstacle detection device and images of the area surrounding the vehicle, and to perform automatic parking control to park the vehicle at the target parking position according to the parking path; and a display device configured to display information about the automatic parking control. In the automatic parking system, the display device is configured to display a turning position for switching from forward to reverse or from reverse to forward of the vehicle if the parking path includes the turning position, and the parking control device is configured to limit the maximum number of updates of the turning position to a first number during execution of the automatic parking control. [Effects of the Invention]

[0007] According to the present invention, it is possible to reduce the driver's anxiety associated with automatic parking and improve the convenience and comfort of automatic parking. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view that schematically shows a vehicle equipped with an automatic parking system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a plan view schematically showing a vehicle equipped with the automatic parking system according to the first embodiment of the present invention. [Figure 3] FIG. 3 is a block diagram showing the configuration of the automatic parking system according to the first embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a parking path including a turning point. [Figure 5] FIG. 5 is a diagram showing an example of a display on a display device including a mark indicating a turning position. [Figure 6] FIG. 6 is a conceptual diagram illustrating a case where the turning position moves to the far side due to an update of the parking path. [Figure 7] FIG. 7 is a conceptual diagram illustrating a case where the turning position moves closer due to an update of the parking path. [Figure 8] FIG. 8 is a flowchart illustrating the flow of automatic parking control by the automatic parking system. [Figure 9] FIG. 9 is a flowchart illustrating the process of updating the parking path and the turning position during execution of the automatic parking control in the first embodiment. [Figure 10] FIG. 10 is a flowchart illustrating the process of updating the parking path and the turning position during execution of automatic parking control in the second embodiment. [Figure 11] FIG. 11 is a diagram showing an example of a display on a display device that displays information about the maximum number of times the turning position is updated. DETAILED DESCRIPTION OF THE INVENTION

[0009] -First embodiment- An automatic parking system for a vehicle according to a first embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a side view that schematically shows a vehicle equipped with the automatic parking system according to the first embodiment of the present invention. FIG. 2 is a plan view that typically shows a vehicle equipped with the automatic parking system according to the first embodiment. FIG. 3 is a block diagram that shows the configuration of the automatic parking system according to the first embodiment. In FIGS. 1 and 2, the front side of the vehicle is indicated by arrow F, and the rear side of the vehicle is indicated by arrow B. Note that in FIG. 1, part of the side of the vehicle is omitted so that the interior of the vehicle can be seen.

[0010] As shown in FIGS. 1 to 3, a vehicle 1 equipped with an automatic parking system 100 according to the first embodiment includes an engine 17, a brake device 18, a steering device 19, and a shift device 20.

[0011] The engine 17 is a drive device, such as an internal combustion engine, that generates a drive force for running the vehicle 1, and is equipped with an engine controller (not shown) that controls the drive force in accordance with the amount of depression of an accelerator pedal (not shown) by the driver or in accordance with a control command from the parking control device 10, which will be described later. Note that, instead of the engine 17, a motor or the like can also be used as the drive device of the vehicle 1.

[0012] The brake device 18 is a braking device that generates braking force according to the amount of depression of the brake pedal (not shown) by the driver, and is equipped with a brake controller and a brake actuator for generating braking force according to a braking command from the vehicle system or the parking control device 10 described later.

[0013] The steering device 19 is configured as an electric power steering device (EPS) and is configured to give a steering angle to the steered wheels in response to a steering operation by the driver. The steering device 19 can also control the steering angle in response to a steering command from the parking control device 10, which will be described later, to change the traveling direction of the vehicle 1.

[0014] The shift device 20 is configured to be switchable among a D range for moving the vehicle 1 forward, an R range for moving the vehicle 1 backward, and a P range for fixing the gear of a transmission (not shown). The shift device 20 is equipped with an actuator (not shown), and in response to a control command from the parking control device 10 (described later), the shift device 20 is set to the D range when moving the vehicle 1 forward, the R range when moving the vehicle 1 backward, and the P range when temporarily stopping the vehicle 1 at a turning position or the like.

[0015] The vehicle 1 further includes a vehicle speed sensor 21, an acceleration sensor 22, an accelerator opening sensor 23, a brake sensor 24, and a steering angle sensor 25. The vehicle speed sensor 21 detects the traveling speed of the vehicle 1. The acceleration sensor 22 detects the acceleration of the vehicle 1. The accelerator opening sensor 23 detects the amount of depression of an accelerator pedal (not shown) by the driver, i.e., the accelerator opening. The brake sensor 24 detects the amount of depression of a brake pedal (not shown) by the driver. The steering angle sensor 25 detects the amount of steering operation by the driver.

[0016] An automatic parking system 100 mounted on a vehicle 1 includes a parking control device 10, a display device 11, an operation input device 12, an obstacle detection device 13, an imaging device 16, and the like.

[0017] The parking control device 10 is implemented as a computer (ECU) that includes a CPU (Central Processing Unit) that performs arithmetic processing, a RAM (Random Access Memory) that serves as a work area for the CPU and a temporary storage area for arithmetic results, a ROM (Read Only Memory) that stores operation programs to be executed, various control constants, maps, etc., an input interface, an output interface, etc. The parking control device 10 is configured to control the overall operation of the automatic parking system 100 by executing the operation programs stored in the ROM. Details of the control by the parking control device 10 will be described later.

[0018] The display device 11 is configured to provide various information visually to the driver, and is configured, for example, as a liquid crystal monitor having a display screen that displays images. The display device 11 displays information related to automatic parking control on the display screen in response to a signal from the parking control device 10. The display device 11 is disposed, for example, on the instrument panel 4 so as to be visible to the driver seated in the driver's seat 3 in the passenger compartment 2 of the vehicle 1.

[0019] The operation input device 12 is configured to accept various operation inputs to the vehicle 1 by a user, for example, a driver. The operation input device 12 includes an automatic parking control switch that is operated by the driver to switch the automatic parking control on and off. The operation input device 12 may be configured as, for example, a touch panel integrated with the display screen of the display device 11.

[0020] The obstacle detection device 13 is configured to detect objects present around the vehicle 1, i.e., obstacles to the vehicle 1, by transmitting and receiving laser light, ultrasonic waves, millimeter waves, etc., and to detect the distance between the obstacle and the vehicle 1. Information on the obstacles detected by the obstacle detection device 13 is input to the parking control device 10. In this embodiment, the obstacle detection device 13 has, for example, a rear sonar sensor 13a that detects obstacles in the area behind the vehicle 1 and a front sonar sensor 13b that detects obstacles in the area ahead of the vehicle 1. As shown in FIG. 2, the rear sonar sensor 13a has six sonar sensors arranged in the rear portion 1a of the vehicle 1, and the front sonar sensor 13b has six sonar sensors arranged in the front portion 1b of the vehicle 1. Note that the number and arrangement of the sonar sensors are not limited to those shown in FIG. 2.

[0021] The imaging device 16 is configured to capture images of the area surrounding the vehicle 1. In this embodiment, the imaging device 16 includes, for example, a rear imaging unit 16a disposed in the rear portion 1a of the vehicle 1 and capable of capturing images of the rear area, a front imaging unit 16b disposed in the front portion 1b of the vehicle 1 and capable of capturing images of the front area, a left side imaging unit 16c disposed in the left side mirror 5 of the vehicle 1 and capable of capturing images of the left side area, and a right side imaging unit 16d disposed in the right side mirror 6 of the vehicle 1 and capable of capturing images of the right side area. The imaging units 16a to 16d each include a digital camera having an imaging element such as a CCD or CIS, and are configured to output information about the area surrounding the vehicle 1 as still images and / or videos. The images of the area surrounding the vehicle 1 captured by the imaging device 16 are input to the parking control device 10.

[0022] Next, the basic operation of the automatic parking system 100 will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of a parking path for the automatic parking system 100 to automatically move the vehicle 1 to a target parking position.

[0023] The parking control device 10 searches for a parking space where the vehicle 1 can be parked, based on information about obstacles present around the vehicle 1 detected by the obstacle detection device 13 and an image of the area around the vehicle 1 acquired by the imaging device 16. The parking control device 10 sets the searched parking space P as the target parking position. Here, an example will be described in which the area sandwiched between two demarcation lines W between obstacles R1 and R2 is set as the parking space P, as shown in FIG. 4.

[0024] The parking control device 10 calculates a parking path for moving the vehicle 1 from the initial position 101 of the vehicle 1 before the vehicle 1 is automatically driven by the automatic parking control to the parking space P, based on information about obstacles present around the vehicle 1 and an image of the area around the vehicle 1. In the example shown in FIG. 4, a parking path M0 is generated in which the vehicle 1 moves backward from the initial position 101 to a turning point 102, temporarily stops at the turning point 102, moves forward to a turning point 103, temporarily stops at the turning point 103, and then moves backward to park in the parking space P. The parking path M0 is indicated by a dashed dotted line. Such a parking path M0 can be generated by a well-known algorithm, and therefore a detailed description thereof will be omitted. A mark Q indicating the turning point, which will be described later, is also conceptually indicated at the turning point 102 in FIG. 4.

[0025] 4, the parking path M0 is generated taking into account information about obstacles R1 and R2 detected by the obstacle detection device 13. For example, if the obstacles R1 and R2 are not recognized and the parking path M0 is generated based on image information including captured demarcation lines W, the turning position is set at a distance shorter than the detectable distance of the obstacle detection device 13. For example, if the detectable distance of the rear sonar sensor 13a and the front sonar sensor 13b is approximately 2.8 m, the turning position can be set at a distance of approximately 2 m from the vehicle 1.

[0026] The parking control device 10 controls the engine 17, the brake device 18, the steering device 19, and the shift device 20, and automatically drives the vehicle 1 to the parking space P according to the generated parking path M0.

[0027] While automatic parking control is being performed by the automatic parking system 100, images such as those shown in Fig. 4, Fig. 5, Fig. 6, and Fig. 7 are displayed on the display screen 11a of the display device 11. Fig. 5 shows an example of a display when the vehicle 1 is backing up from the initial position 101 to the turning position 102 along the parking path M0. In Fig. 5, the traveling direction of the vehicle 1 is indicated by an arrow B, and the vehicle width direction on the display screen 11a is indicated by an arrow W.

[0028] In the display example of the display screen 11a shown in FIG. 5, a mark Q indicating the turning position 102 is superimposed on the image of the rear area of ​​the vehicle 1, together with an image of the rear area including the parking space P captured by the imaging device 16. The mark Q is, for example, U-shaped, and is displayed at a position in the image of the rear area that corresponds to the turning position 102. This notifies the driver that the vehicle 1 will temporarily stop at the position where the mark Q is displayed. Note that the display form of the mark Q is not limited to the U-shaped form shown in FIG. 5, and may be a straight line, a dot, or a circle. Furthermore, the display color of the mark Q may be any color as long as it can reliably notify the driver of the presence of the turning position.

[0029] Here, the parking control device 10 generates the parking path M0 based on information about obstacles detected by the obstacle detection device 13 and images of the surrounding area captured by the imaging device 16, but the parking path M0 may be updated after the start of automatic parking control. The rear sonar sensor 13a and the front sonar sensor 13b used as the obstacle detection device 13 can accurately measure three-dimensional information, but their detectable distance is relatively short, for example, approximately 2.8 m as mentioned above. Therefore, as the vehicle 1 moves due to automatic parking control, new obstacles may be detected, or the detailed position and shape of the obstacle may be recognized. Therefore, while the vehicle 1 is automatically traveling along the parking path M0, the parking control device 10 updates the parking path M0 based on the latest information detected by the rear sonar sensor 13a and the front sonar sensor 13b.

[0030] FIG. 6 shows an example in which the change-over position moves away from the vehicle 1 due to an update of the parking path M0. When the vehicle 1 starts to move backward from the initial position 101 under automatic parking control, the latest information detected by the rear sonar sensor 13a and the front sonar sensor 13b is input to the parking control device 10. When the vehicle 1 moves from the initial position 101 to a position 104, the parking control device 10 is able to recognize the obstacle R2 from the latest information of the obstacle detected by the rear sonar sensor 13a. In this case, the parking control device 10 updates the parking path M0 based on the latest information of the obstacle and generates an updated parking path M1.

[0031] In the updated parking path M1, the turning position 102 where the vehicle 1 switches from reverse to forward has moved to a turning position 105 on the far side from the vehicle 1, based on the position of the obstacle R2. As conceptually shown in Fig. 6, as the turning position moves, the display position of the mark Q that indicates the turning position and is displayed on the display screen 11a also moves from the position indicated by the two-dot chain line to the position indicated by the solid line.

[0032] FIG. 7 shows an example in which the changeover position moves closer to the vehicle 1 due to an update of the parking path M0. When the vehicle 1 moves from the initial position 101 to a position 104, the parking control device 10 recognizes the accurate position of the obstacle R2 from the latest obstacle information detected by the rear sonar sensor 13a. In this case, the parking control device 10 updates the parking path M0 based on the latest obstacle information and generates an updated parking path M1. In the updated parking path M1, the changeover position 102 at which the vehicle 1 switches from reverse to forward has moved to a changeover position 106 closer to the vehicle 1. As conceptually shown in FIG. 7, as the changeover position moves, the display position of the mark Q indicating the changeover position, which is displayed on the display screen 11a, also moves from the position indicated by the two-dot chain line to the position indicated by the solid line.

[0033] As described above, by updating the parking path M0, it is possible to, for example, shorten the time required for automatic parking control and avoid contact with a newly detected obstacle. However, updating the parking path M0 and moving the turning position may cause the driver to feel uneasy. In particular, when the turning position moves away from the vehicle 1 and approaches an obstacle, the turning position also moves, causing the display position of the mark Q displayed on the display screen 11a to move, which may cause the driver to feel uneasy about contact with the obstacle. If the driver feels uneasy and manually performs unnecessary braking or steering operations, the time required for parking control may increase, or the driver may be forced to select a parking path with limited margin.

[0034] Therefore, in the automatic parking system 100 according to the present embodiment, when updating the switching position by updating the parking route, the maximum number of updates of the switching position is limited. The maximum number of updates of the switching position means the maximum number of updates when updating one switching position where the vehicle 1 traveling under automatic parking control temporarily stops for switching from forward to reverse or from reverse to forward. When the parking route includes a plurality of switching positions, the maximum number of updates is set for each switching position. By limiting the maximum number of updates of the switching position, the driver's sense of uneasiness associated with automatic parking is reduced, and the convenience and comfort of automatic parking are improved.

[0035] Specifically, when the updated switching position moves to the distal side from the vehicle 1 due to the update of the parking route M0, the maximum number of updates is limited to the first number N1. On the other hand, when the updated switching position moves to the proximal side of the vehicle 1 due to the update of the parking route M0, the maximum number of updates is limited to the second number N2 which is larger than the first number N1 (N1 < N2). When the switching position approaches the vehicle 1, it is conceivable that a new obstacle is detected or the obstacle is closer to the vehicle 1 than the position of the obstacle recognized at the initial position. Therefore, in order to appropriately avoid contact between the vehicle 1 and the obstacle, the second number for limiting the switching position is set to a value larger than the first number.

[0036] Furthermore, when the updated switching position moves to the distal side from the vehicle 1, the maximum number of updates is changed according to the distance between the updated switching position and the obstacle. Specifically, when the distance between the updated switching position and the obstacle is less than the predetermined threshold value D1, the maximum number of updates is limited to the first number N1 described above. On the other hand, when the distance between the updated switching position and the obstacle is greater than or equal to the predetermined threshold value D1, or when no obstacle is detected in the traveling direction of the vehicle 1 by the obstacle detection device 13, the maximum number of updates is limited to the second number N2 described above.

[0037] The flow of automatic parking control executed by automatic parking system 100 according to this embodiment will be described below with reference to the flowchart in Fig. 8. The process shown in Fig. 8 starts when the driver operates operation input device 12 to select ON for automatic parking control. Typically, the driver finds a parking space and parks vehicle 1 near the parking space, then operates operation input device 12 to select ON for automatic parking control.

[0038] First, in step S10, the parking control device 10 acquires information about obstacles present around the vehicle 1 detected by the obstacle detection device 13 and an image of the area around the vehicle 1 acquired by the imaging device 16. In step S20, the parking control device 10 searches for a parking space in which the vehicle 1 can be parked based on the information acquired in step S10, and sets the searched parking space P as the target parking position.

[0039] In step S30, the parking control device 10 generates a parking path M0 for moving the vehicle 1 from the position where the vehicle 1 is parked (initial position) to the target parking position, which is the parking space P. As a result, for example, a parking path M0 as shown by the dashed line in FIG. 4 is generated.

[0040] In step S40, the parking control device 10 executes automatic parking control. The parking control device 10 controls the engine 17, the brake device 18, the steering device 19, and the shift device 20 to automatically drive the vehicle 1 according to the generated parking path M0. When the vehicle 1 is backing up, an image of the rear area of ​​the vehicle 1 including the parking space P captured by the imaging device 16 is displayed on the display screen 11a of the display device 11, as shown in FIG. 5. When the parking path M0 includes a turning point, a mark Q representing the turning point 102 is displayed superimposed on the image of the rear area. The mark Q is displayed at a display position corresponding to the turning point 102 in the image of the rear area. The image displayed on the display screen 11a is a moving image, and the image displayed on the display screen 11a changes as the vehicle 1 moves.

[0041] While the automatic parking control is being executed, the obstacle detection device 13 detects the latest obstacle information at a predetermined cycle. The parking control device 10 updates the parking path M0 and the turning position as needed based on the latest obstacle information acquired from the obstacle detection device 13. The update of the parking path M0 and the turning position while the automatic parking control is being executed will be described later.

[0042] In step S50, the parking control device 10 determines whether the current position of the vehicle 1 has reached the parking space P, which is the target parking position. If it is determined that the current position of the vehicle 1 has not reached the target parking position, the process returns to step S40 and the automatic parking control continues. If it is determined that the current position of the vehicle 1 has reached the target parking position, the automatic parking control ends.

[0043] Next, the process of updating the parking path M0 and the turning-back position during execution of the automatic parking control in step S40 will be described in detail using the flowchart in Fig. 9. In the following explanation, for example, a case will be described in which the vehicle 1 is moving backward from the initial position 101 toward the turning-back position 102 on the parking path M0 shown in Fig. 4.

[0044] In step S401, the parking control device 10 controls the engine 17, the brake device 18, the steering device 19, and the shift device 20 to move the vehicle 1 along the parking path M0. A moving image including a mark Q indicating the turning position 102 as shown in FIG. 5 is displayed on the display screen 11a of the display device 11.

[0045] In step S402, the parking control device 10 determines whether or not the vehicle 1 has reached the turning-back position 102 included in the parking path M0. If the current position of the vehicle 1 is at the turning-back position 102 shown in Fig. 4, an affirmative determination is made in step S402. At this time, the parking control device 10 resets the number of times the turning-back position has been updated, which has been incremented up to the previous processing, to 0, and ends the processing shown in Fig. 9. If the vehicle 1 has not reached the turning-back position 102, a negative determination is made in step S402, and the process proceeds to step S403.

[0046] In step S403, the vehicle control device 10 acquires information about the latest obstacle detected by the obstacle detection device 13. In step S404, the vehicle control device 10 determines whether or not it is necessary to update (reset) the turning position 102 in the traveling direction of the vehicle 1, based on the information about the latest obstacle acquired in step S403.

[0047] As shown in Fig. 4, when the vehicle 1 is reversing from the initial position 101 toward the turning position 102, the vehicle control device 10 recognizes the latest information about an obstacle R2 that exists in the reversing direction based on information detected by the rear sonar sensor 13a. If a new obstacle is detected or the detailed shape or position of the obstacle is recognized, and it is determined that the turning position 102 in the traveling direction of the vehicle 1 needs to be updated, the process proceeds to step S405. On the other hand, if it is determined that updating the turning position 102 is not necessary, the process shown in Fig. 9 ends. Note that if the parking path M0 does not include a turning position, a negative judgment is made in step S404, and the process shown in Fig. 9 ends.

[0048] In step S405, the vehicle control device 10 determines whether the updated turning-back position has moved farther from the vehicle 1 than the pre-update turning-back position 102. For example, as shown in Fig. 6, if it is determined that the updated turning-back position 105 has moved farther from the vehicle 1, the process proceeds to step S406. On the other hand, if it is determined that the updated turning-back position 106 has moved closer to the vehicle 1, as shown in Fig. 7, the process proceeds to step S408.

[0049] In step S406, the vehicle control device 10 determines whether the distance between the updated turning position 105 and an obstacle R2 present in the traveling direction of the vehicle 1 and detected by the obstacle detection device 13 is less than a predetermined threshold D1. Here, the predetermined threshold D1 is set in advance to an appropriate value based on the detectable distance of the obstacle detection device 13, etc., so as not to cause anxiety to the driver.

[0050] If it is determined in step S406 that the distance between the updated turning-back position 105 and the obstacle R2 is less than the predetermined threshold D1, the process proceeds to step S407. In step S407, the maximum number of updates for the turning-back position 102 in the traveling direction of the vehicle 1 is set to a first number N1. Here, the first number N1 is set to an appropriate value in advance through testing or the like, taking into consideration the necessity of updating the turning-back position 102 and the anxiety that may be caused to the driver when the updated turning-back position 102 approaches the obstacle R2. The first number N1 can be set to, for example, 1 time. Alternatively, the first number N1 may be set to 0 times. The first number N1 can also be set to a value of 2 or more times.

[0051] If a negative judgment is made in step S406, that is, if the distance between the updated turning-around position 105 and the obstacle R2 is equal to or greater than the predetermined threshold value D1, or if the obstacle detection device 13 does not detect an obstacle in the traveling direction of the vehicle 1, the process proceeds to step S408. Here, if the obstacle detection device 13 does not detect an obstacle in the traveling direction of the vehicle 1, this also includes a state in which an obstacle exists in the traveling direction but is outside the detectable distance of the obstacle detection device 13 and therefore is not detected by the obstacle detection device 13.

[0052] In step S408, the maximum update count of the turning position 102 in the traveling direction of the vehicle 1 is set to a second count N2 greater than the first count N1. If the updated turning position 106 approaches the vehicle 1, it may be that a new obstacle is detected during execution of automatic parking control, or that the position of the obstacle R2 is closer than recognized at the initial position 101. Therefore, by setting the second count N2 to a value that is clearly greater than the first count N1, it is possible to update the turning position 102 as needed to avoid contact with the obstacle. The second count N2 is set in advance to an appropriate value (for example, a value of several tens of times or 100 times or more).

[0053] In step S409, if the vehicle control device 10 has updated the turning-back position 102 in the current process, the vehicle control device 10 determines whether the number of updates of the turning-back position 102 is equal to or less than the maximum number of updates set in step S407 or step S408. If it is determined that the number of updates of the turning-back position 102 is equal to or less than the maximum number of updates, the process proceeds to step S410, where the parking path M0 is updated. In addition, the vehicle control device 10 controls the display device 11 to display a mark Q at a display position corresponding to the updated turning-back position in the image displayed on the display screen 11a. That is, by updating the parking path M0, the display position of the mark Q of the turning-back position 102 displayed on the display device 11 moves closer to or farther from the vehicle 1. The movement of the display position of the mark Q allows the driver to visually recognize that the turning-back position 102 has moved.

[0054] Furthermore, the parking control device 10 increments the number of updates of the turning position 102 in the traveling direction of the vehicle 1 and records it in a memory (not shown). This ends the processing shown in FIG.

[0055] On the other hand, if it is determined in step S409 that the number of times the switching position has been updated exceeds the maximum number of times, the parking control device 10 ends the processing shown in FIG. 9 without updating the parking path M0.

[0056] The process of step S40 described above is repeated until it is determined in step S50 that the current position of the vehicle 1 has reached the target parking position. Therefore, after the vehicle 1 has reached the turning-back position 102 shown in Fig. 4 or the updated turning-back positions 105 and 106 shown in Figs. 6 and 7, if there is a turning-back position 103 in the new traveling direction, the maximum number of updates is also set for the turning-back position 103 according to the flowchart shown in Fig. 9.

[0057] The automatic parking system 100 for the vehicle 1 according to the first embodiment described above can provide the following advantageous effects.

[0058] The automatic parking system 100 includes an obstacle detection device 13 configured to detect obstacles around the vehicle 1, an imaging device 16 configured to capture images of the area surrounding the vehicle 1, a parking control device 10 configured to set a parking path M0 for moving the vehicle 1 to a target parking position based on information about obstacles detected by the obstacle detection device 13 and an image of the area surrounding the vehicle 1 captured by the imaging device 16, and to perform automatic parking control to park the vehicle 1 at the target parking position according to the parking path M0, and a display device 11 configured to display information related to the automatic parking control. If the parking path M0 includes turning positions 102, 103 for switching from forward to reverse or from reverse to forward, the display device 11 is configured to display the turning positions 102, 103, and the parking control device 10 is configured to limit the maximum number of updates of the turning positions 102, 103 to a first number N1 when updating the turning positions 102, 103 based on information about obstacles detected by the obstacle detection device 13 during execution of the automatic parking control.

[0059] If the steering position is updated during execution of automatic parking control, changing the position where the vehicle 1 stops to turn can cause the user to feel uneasy. The display position of the mark Q displayed on the display device 11 also changes as the steering position is updated, which can lead the user to worry that the system is not accurately recognizing an obstacle or that the user may come into contact with the obstacle. If a user feels uneasy during execution of automatic parking control and applies the brakes themselves, the automatic parking control will be temporarily stopped, which will lengthen the time it takes to park the vehicle at the target parking position, preventing the automatic parking control from providing its inherent convenience and comfort. This can also increase the user's distrust of the automatic parking system.

[0060] Therefore, when updating the turning position based on obstacle information, by setting an upper limit on the maximum number of updates for the turning position, the turning position will not be updated beyond the maximum number of updates, giving the user a sense of security. By allowing the user to use the system with peace of mind, unnecessary manual braking and steering operations will no longer be required, and as a result, the convenience and comfort of the automatic parking system can be improved.

[0061] The parking control device 10 is configured to limit the maximum number of updates to a first number N1 when the update of the turning position causes the turning position to move further away from the vehicle 1, and to limit the maximum number of updates to a second number N2 greater than the first number N1 when the update of the turning position causes the turning position to move closer to the vehicle 1. When the turning position moves closer to the vehicle 1, for example, it is assumed that a new obstacle is recognized during execution of automatic parking control. In such a case, contact with the obstacle can be reliably avoided by increasing the maximum number of updates of the turning position.

[0062] The parking control device 10 is configured to limit the maximum number of updates to a first number N1 when the updating of the turning position causes the turning position to move farther away from the vehicle 1 and the distance between the updated turning position and the obstacle is less than a predetermined threshold D1, and to limit the maximum number of updates to a second number N2 greater than the first number N1 when the distance between the updated turning position and the obstacle is equal to or greater than the predetermined threshold D1 or the obstacle is not detected by the obstacle detection device 13.

[0063] Depending on the positional relationship between the vehicle 1 and the obstacle, the sensor recognition distance of the obstacle detection device 13, or the like, the turning position may be set without the sensor recognizing the obstacle. In such a case, if the sensor recognizes an obstacle due to the vehicle 1 moving while automatic parking control is being executed, the turning position may move further away from the vehicle 1. If the updated turning position moves further away from the vehicle 1 and the distance between the updated turning position and the obstacle is equal to or greater than the predetermined threshold D1, or if no obstacle is detected, the user will not feel the risk of contact with the obstacle, and therefore the necessary turning position can be reset by increasing the maximum number of updates of the turning position.

[0064] By configuring the first number of times N1 to be set to 1, the user can easily recognize and learn that the turning position may be changed at least once, and can feel reassured by the system. Alternatively, by configuring the first number of times N1 to be set to 0, it is possible to eliminate the possibility of the user feeling uneasy due to a change in the turning position.

[0065] -Second embodiment- An automatic vehicle parking system according to a second embodiment of the present invention will be described in detail below with reference to the drawings. The basic configuration of the automatic vehicle parking system according to the second embodiment is the same as that of the first embodiment described above. The following mainly describes the differences from the first embodiment.

[0066] In the first embodiment described above, when the updated turning position moves closer to the vehicle 1, the maximum number of updates is limited to a second number N2 greater than the first number N1. In the second embodiment, when the updated turning position approaches the vehicle 1, the second number N2 is set to infinity. In other words, the maximum number of updates is not limited. The update process of the parking path M0 and the turning position during execution of automatic parking control in the second embodiment will be described in detail using the flowchart in FIG.

[0067] In the flowchart shown in Fig. 10, the processes in steps S401 to S407 and steps S409 to S410 are the same as the processes shown in Fig. 9, and therefore description thereof will be omitted. In the flowchart shown in Fig. 10, step S408 in the flowchart of Fig. 9 is omitted.

[0068] In step S405, if it is determined that the updated turning-back position 105 will move further away from the vehicle 1, the process proceeds to step S406, as in the first embodiment described above. On the other hand, if it is determined that the updated turning-back position 106 will move closer to the vehicle 1, the process proceeds to step S410, and the parking path M0 is updated, without limiting the number of times the turning-back position 102 is updated.

[0069] If it is determined in step S406 that the distance between the updated turning-back position 105 and the obstacle R2 is less than the predetermined threshold D1, the process proceeds to step S407. On the other hand, if the distance between the updated turning-back position 105 and the obstacle R2 is equal to or greater than the predetermined threshold D1, or if the obstacle detection device 13 does not detect an obstacle in the traveling direction of the vehicle 1, the process proceeds to step S410 and updates the parking path M0 without limiting the number of times the turning-back position 102 is updated.

[0070] The automatic parking system 100 for the vehicle 1 according to the second embodiment described above can provide the following advantageous effects.

[0071] The parking control device 1 is configured to limit the maximum number of updates to a first number N1 when the update of the turning position moves the turning position distally relative to the vehicle 1, and not limit the maximum number of updates when the update of the turning position moves the turning position proximal relative to the vehicle 1.

[0072] When the steering position moves closer to the vehicle, for example, a new obstacle may be detected during automatic parking control. In such a case, contact with the obstacle can be reliably avoided by configuring the system so that the maximum number of updates to the steering position is not limited.

[0073] The parking control device 1 is configured to limit the maximum number of updates to a first number N1 when the updating of the turning position causes the turning position to move farther away from the vehicle 1 and the distance between the updated turning position and the obstacle is less than a predetermined threshold D1, and not limit the maximum number of updates when the distance between the updated turning position and the obstacle is equal to or greater than the predetermined threshold D1 or when the obstacle is not detected by the obstacle detection device 13.

[0074] If the updated turning position moves further away from the vehicle 1 and the distance between the updated turning position and the obstacle is equal to or greater than a predetermined threshold D1, or if no obstacle is detected, the user will not feel the risk of contact with the obstacle, so by configuring the system so that the maximum number of updates of the turning position is not limited, the necessary turning position can be reset.

[0075] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and changes are possible based on the technical concept of the present invention.

[0076] -Variation 1- In the above-described embodiment, the first number N1 when limiting the maximum number of times to update the turning position is set to an appropriate value in advance. However, the first number N1 may be selectable in response to a user operation. In this case, for example, the operation input device 12 may be configured to include an update number selection switch that is operated by the driver to select the first number N1. The automatic parking system 100 may be configured to include an update number selection member that is operated by a dealer, not by the driver. The first number N1 that can be selected in response to a user operation may be, for example, within a range from 0 to several times.

[0077] By making the first number of times N1 selectable in response to a user operation, the maximum number of updates desired by the user can be set in accordance with the user's preferences.

[0078] -Variation 2- The display device 11 may be configured to display information regarding the number of times the steering position has been updated on the display screen 11a while automatic parking control is being performed by the automatic parking system 100. Fig. 11 shows an example of a display on the display device 11 that displays information regarding the number of times the steering position has been updated.

[0079] 11, the display screen 11a of the display device 11 has a first display area 11b that displays an image of the rear area of ​​the vehicle 1, including the parking space P, captured by the imaging device 16, and a second display area 11c that displays information regarding the number of times the turning position has been updated. In the first display area 11b, a mark Q representing the turning position 102 is displayed superimposed on the image of the rear area, similar to the display example shown in FIG.

[0080] The second display area 11c displays the maximum number of updates of the turning position 102 in the traveling direction of the vehicle 1 and the number of updates of the turning position 102 up to now. The maximum number of updates and the number of updates up to now can be displayed using numbers, a bar graph, or the like. The second display area 11c is smaller than the first display area 11b and can be arranged to overlap, for example, a part of the first display area 11b.

[0081] In this way, the display device 11 is configured to further display the first number N1, which is the maximum number of updates, and the number of updates of the turning position to date. By configuring the display device 11 to display the maximum number of updates of the turning position and the number of updates to date, the driver can visually confirm the number of times the turning position in the traveling direction of the vehicle 1 can be changed and the number of times the turning position has been changed to date, which leads to a sense of security for the driver. Note that the display device 11 may be configured to display only the maximum number of updates of the turning position in the second display area 11c.

[0082] -Other variations- In the embodiment described above, an example has been described in which the obstacle detection device 13 includes the rear sonar sensor 13a and the front sonar sensor 13b. However, this is not limiting, and an infrared lidar, millimeter wave radar, or the like can be used instead of or in addition to the rear sonar sensor 13a and the front sonar sensor 13b.

[0083] In the embodiment described above, the parking control device 10 in the automatic parking system 100 controls the engine 17, the brake device 18, the steering device 19, and the shift device 20 to automatically drive the vehicle 1 along the generated parking path M0, including switching from reverse to forward and from forward to reverse. However, this is not limited to this, and the driver may manually switch from reverse to forward and from forward to reverse after temporarily stopping the vehicle at a turning point. Alternatively, the system may be configured to automatically control only the reverse direction of the vehicle 1, and to allow the vehicle 1 to move forward by manual operation. Alternatively, the display screen 11a of the display device 11 may be configured to display an image of the rear area and a mark indicating the turning point only when the vehicle 1 is moving backward, and not display the image on the display screen 11a when the vehicle 1 is moving forward. [Explanation of symbols]

[0084] 1 vehicle 10 Parking control device 11 Display device 11a Display screen 11b, 11c 1st display area, 2nd display area 12 Operation input device 13 Obstacle detection device 13a, 13b Rear sonar sensor, front sonar sensor 16 Imaging device 100 Automatic Parking System 102, 103, 105, 106 Turning position M0,M1 Parking Route P Parking space (target parking position) Q Mark indicating turning position R1,R2 Obstacle

Claims

1. an obstacle detection device configured to detect obstacles around the vehicle; an imaging device configured to image the area surrounding the vehicle; a parking control device configured to set a parking path for moving the vehicle to a target parking position based on information about the obstacle detected by the obstacle detection device and an image of the surrounding area captured by the imaging device, and to perform automatic parking control to park the vehicle at the target parking position according to the parking path; a display device configured to display information related to the automatic parking control; In an automatic parking system comprising: the display device is configured to display a turning position for switching from forward to reverse or from reverse to forward of the vehicle when the parking path includes the turning position, The parking control device is configured to limit the maximum number of updates of the turning position to a first number during execution of the automatic parking control.

2. The parking control device includes: If the change-turning position is moved to a distal side with respect to the vehicle as a result of the update of the change-turning position, the maximum number of updates is limited to the first number of updates; 2. The automatic parking system of claim 1, wherein the system is configured to limit the maximum number of updates to a second number greater than the first number if the update of the turning position causes the turning position to move closer to the vehicle.

3. The parking control device includes: If the change-turning position is moved to a distal side with respect to the vehicle as a result of the update of the change-turning position, the maximum number of updates is limited to the first number of updates; The automatic parking system according to claim 1 , wherein the maximum number of updates is not limited if the update of the turning position causes the turning position to move closer to the vehicle.

4. The parking control device includes: When the turning position is updated, the turning position moves to a distal side with respect to the vehicle, If the distance between the turning position and the obstacle after the update is less than a predetermined threshold, the maximum number of updates is limited to the first number of updates; An automatic parking system as described in any one of claims 1 to 3, configured to limit the maximum number of updates to a second number greater than the first number when the distance between the updated steering position and the obstacle is equal to or greater than the predetermined threshold value or when the obstacle is not detected by the obstacle detection device.

5. The parking control device includes: When the turning position is updated, the turning position moves to a distal side with respect to the vehicle, If the distance between the turning position and the obstacle after the update is less than a predetermined threshold, the maximum number of updates is limited to the first number of updates; An automatic parking system as described in any one of claims 1 to 3, which is configured not to limit the maximum number of updates if the distance between the updated steering position and the obstacle is equal to or greater than the predetermined threshold value or if the obstacle is not detected by the obstacle detection device.

6. The automatic parking system according to claim 1 , wherein the first number of times is one time.

7. The automatic parking system according to claim 1 , wherein the first number of times is 0.

8. The automatic parking system according to claim 1 , wherein the first number of times is selectable by a user operation.

9. The automatic parking system according to any one of claims 1 to 8, wherein the display device is configured to further display the first number, which is the maximum number of updates, and the number of updates of the turning position up to the present.

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