Parking assistance device

Abstract

To provide a parking support apparatus capable of executing automatic parking control even in a case where a vehicle has not been parked at the same position as that of the vehicle when starting to obtain information related to a parking space.SOLUTION: In a case where an automatic parking of a vehicle itself 100 is not requested when a characteristic point corresponding to a registration original-point characteristic point is detected, with a manual parking of the vehicle itself started with a drive operation of a driver, a parking support apparatus 10 sets a reference moving route on the basis of route information, and thereafter, in a case where a positional relationship between the vehicle itself and the reference moving route is in a positional relationship satisfying a given condition after the automatic parking of the vehicle itself is requested, executes automatic parking control.SELECTED DRAWING: Figure 9

Description

[Technical Field]

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

[0002] There is known a parking assistance device that performs automatic parking control to automatically park a vehicle. One such parking assistance device is one that, when a driver manually parks a vehicle in a parking space by driving the vehicle himself / herself, acquires information about the parking space and stores it as registration information, and registers the parking space as a registered parking space, and then performs automatic parking control to automatically park the vehicle in the registered parking space using the stored information about the parking space (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-62717 Summary of the Invention

[0004] Conventional parking assistance devices are configured to be able to perform automatic parking control only when the vehicle is stopped in the same position as when the device began to acquire information about the parking space. However, even when this is not the case, there are situations in which it is desirable to use automatic parking control to automatically park the vehicle in a registered parking space.

[0005] An object of the present invention is to provide a parking assistance device that can perform automatic parking control even if the vehicle is not stopped in the same position as when the acquisition of information about the parking space began.

[0006] The parking assistance device according to the present invention detects a feature point from a captured image as a starting feature point when the host vehicle is stopped near a parking space, stores the starting feature point as a registered starting feature point, and also stores information representing a movement path of the host vehicle from the detection of the starting feature point until manual parking of the host vehicle into the parking space is completed by a driver's driving operation. Linked to the registered origin feature points executes information storage control to store the route information as route information, and when a feature point corresponding to the registered start feature point is detected and automatic parking of the vehicle is requested, The detected feature points are stored in association with the corresponding registered origin feature points. The control device is configured to set a target travel route based on the route information, and to perform automatic parking control to drive the vehicle along the target travel route and park it in the parking space.

[0007] In the parking assistance device according to the present invention, when a feature point corresponding to the registered start feature point is detected and automatic parking of the host vehicle is not requested, and manual parking of the host vehicle is started through a driving operation by the driver, the control device The detected feature points are stored in association with the corresponding registered origin feature points. A reference movement route is set based on the route information, and then, when automatic parking of the vehicle is requested, if the positional relationship between the vehicle and the reference movement route satisfies a predetermined condition, the automatic parking control is executed. Here, the predetermined condition is that the vehicle is located at a position within a predetermined distance range from the reference movement path.

[0008] With this, even if the driver wishes to have the vehicle automatically parked in the parking space using automatic parking control while manually parking the vehicle in the parking space using his / her own driving operation, the vehicle can be automatically parked in the parking space using automatic parking control.

[0010] especially, Even if the driver wishes to have the vehicle automatically parked in the parking space by automatic parking control while manually parking the vehicle in the parking space by driving the vehicle himself, the vehicle can be automatically parked in the parking space by automatic parking control if the vehicle is located within a predetermined distance range from the reference travel route.

[0011] still, In the parking assistance device according to the present invention, the route information is, for example, a change in the steering amount of the host vehicle relative to the distance traveled by the host vehicle from the time the start characteristic point is detected until manual parking of the host vehicle into the parking space is completed by the driver's driving operation.

[0012] This eliminates the need to obtain route information from captured images, thereby reducing the computational load on the control device.

[0013] Furthermore, in the parking assistance device according to the present invention, the control device may be configured, when executing the information storage control, to detect feature points from the captured image as intermediate feature points during the period from when the start feature point is detected until manual parking of the host vehicle into the parking space is completed by the driver's driving operation, and to store the intermediate feature points as registered intermediate feature points; and to store, as the route information, first information representing a movement path of the host vehicle from when the start feature point is detected to when the registered intermediate feature point is detected, and second information representing a movement path of the host vehicle after the registered intermediate feature point is detected; and, when setting the reference movement path when a feature point corresponding to the registered start feature point is detected, to set the reference movement path based on the first information; and, when setting the reference movement path when a feature point corresponding to the registered intermediate feature point is detected, to set the reference movement path based on the second information.

[0014] According to this, the first information represents only a portion of the movement path of the host vehicle from the detection of the start characteristic point to the completion of manual parking of the host vehicle into the parking space through driving operations by the driver, and therefore the amount of information included in the first information is small, and similarly, the second information represents only a portion of the movement path of the host vehicle from the detection of the start characteristic point to the completion of manual parking of the host vehicle into the parking space through driving operations by the driver, and therefore the amount of information included in the second information is also small, which makes it possible to reduce the calculation load on the control device when setting the reference movement path, etc.

[0015] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram showing a parking assistance device according to an embodiment of the present invention and a vehicle (host vehicle) equipped with the parking assistance device. [Figure 2] (A) of Figure 2 is a diagram showing a scene in which the vehicle is stopped near a parking space, (B) of Figure 2 is a diagram showing a scene in which the vehicle is being moved toward the parking space by the driver's own driving operation, and (C) of Figure 2 is a diagram showing a scene in which the driver has completed manual parking of the vehicle into the parking space by the driver's own driving operation. [Figure 3] (A) of Figure 3 is a diagram showing a scene where the vehicle is stopped within a starting range near a registered parking space, (B) of Figure 3 is a diagram showing a target movement path used in automatic parking control, (C) of Figure 3 is a diagram showing a scene where the vehicle is moved to a registered parking space by automatic parking control, and (D) of Figure 3 is a diagram showing a scene where the vehicle has been automatically parked in the registered parking space by automatic parking control. [Figure 4] (A) of Figure 4 is a diagram showing a scene in which the vehicle is stopped within a starting range near a registered parking space, (B) of Figure 4 is a diagram showing a reference movement path used to determine whether or not to execute automatic parking control, and (C) of Figure 3 is a diagram showing a scene in which the vehicle is being moved toward a registered parking space by the driver's own driving operation. [Figure 5] (A) of Figure 5 is a diagram showing a target movement path used in automatic parking control, (B) of Figure 5 is a diagram showing a scene in which the vehicle is moved to a registered parking space by automatic parking control, and (C) of Figure 5 is a diagram showing a scene in which automatic parking of the vehicle into a registered parking space by automatic parking control is completed. [Figure 6]FIG. 6 is a flowchart showing a routine executed by the parking assistance device according to the embodiment of the present invention. [Figure 7] FIG. 7 is a flowchart showing a routine executed by the parking assistance device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing a routine executed by the parking assistance device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a routine executed by the parking assistance device according to the embodiment of the present invention. [Figure 10] (A) of Figure 10 is a diagram showing a scene in which the vehicle is stopped near a parking space, (B) of Figure 10 is a diagram showing a scene in which the vehicle is being moved toward the parking space by the driver's own driving operation, and (C) of Figure 10 is a diagram showing a scene in which the driver has completed manual parking of the vehicle into the parking space by the driver's own driving operation. [Figure 11] FIG. 11 is a flowchart showing a routine executed by a parking assistance device according to a first modified embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing a routine executed by a parking assistance device according to a first modified example of the embodiment of the present invention. [Figure 13] (A) of Figure 13 is a diagram showing a scene in which the vehicle is stopped near a registered parking space but outside the starting range, (B) of Figure 13 is a diagram showing a scene in which the vehicle is moved toward the registered parking space by the driver's own driving operation, (C) of Figure 13 is a diagram showing a target movement path used in automatic parking control, and (D) of Figure 13 is a diagram showing a scene in which the vehicle is parked in the registered parking space by automatic parking control. [Figure 14] FIG. 14 is a flowchart showing a routine executed by a parking assistance device according to a second modified embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, a parking assistance device according to an embodiment of the present invention will be described with reference to the drawings. As shown in Fig. 1, a parking assistance device 10 according to an embodiment of the present invention is mounted on a host vehicle 100. In the following description, the driver of the host vehicle 100 will be simply referred to as the "driver."

[0018] <ecu> The parking assistance device 10 includes an ECU 90 as a control device. ECU is an abbreviation for Electronic Control Unit. The ECU 90 includes a microcomputer as its main component. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, an interface, and the like. The CPU executes instructions, programs, or routines stored in the ROM to realize various functions.

[0019] <Traveling device> The host vehicle 100 is also equipped with a traveling device 20. The traveling device 20 includes a driving device 21, a braking device 22, and a steering device 23.

[0020] <Drive unit> The drive device 21 is a device that outputs a drive torque (drive force) that is applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine or a motor. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the drive torque output from the drive device 21 by controlling the operation of the drive device 21.

[0021] <Brake device> The braking device 22 is a device, such as a brake device, that outputs a braking torque (braking force) that is applied to the host vehicle 100 in order to brake the host vehicle 100. The braking device 22 is electrically connected to the ECU 90. The ECU 90 can control the braking torque output from the braking device 22 by controlling the operation of the braking device 22.

[0022] <Steering device> The steering device 23 is a device that outputs a steering torque (steering force) that is applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering torque that is output from the steering device 23 by controlling the operation of the steering device 23.

[0023] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a brake pedal 33, a brake pedal operation amount sensor 34, a steering wheel 35, a steering shaft 36, a steering angle sensor 37, a steering torque sensor 38, a vehicle speed detection device 41, a registration start button 42, a registration confirmation button 43, an automatic parking button 44, a notification device 60, a surrounding information detection device 70, and a vehicle position information detection device 80.

[0024] <Accelerator pedal operation amount sensor> The accelerator pedal operation amount sensor 32 is a sensor that detects the operation amount of the accelerator pedal 31, and is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 32 transmits information about the detected operation amount of the accelerator pedal 31 to the ECU 90. Based on that information, the ECU 90 obtains the operation amount of the accelerator pedal 31 as an accelerator pedal operation amount AP. The ECU 90 obtains a required drive torque (required drive force) based on the accelerator pedal operation amount AP and the traveling speed of the host vehicle 100, and controls the operation of the drive device 21 so that a drive torque equivalent to the required drive torque is applied from the drive device 21 to the host vehicle 100 (in particular, to the drive wheels of the host vehicle 100).

[0025] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 34 is a sensor that detects the operation amount of the brake pedal 33, and is electrically connected to the ECU 90. The brake pedal operation amount sensor 34 transmits information about the detected operation amount of the brake pedal 33 to the ECU 90. The ECU 90 obtains the operation amount of the brake pedal 33 as a brake pedal operation amount BP based on that information. The ECU 90 obtains a required braking torque (required braking force) based on the brake pedal operation amount BP, and controls the operation of the braking device 22 so that a braking torque corresponding to the required braking torque is applied from the braking device 22 to the host vehicle 100 (particularly, to the wheels of the host vehicle 100).

[0026] <Steering angle sensor> The steering angle sensor 37 is a sensor that detects the rotation angle of the steering shaft 36 relative to the neutral position, and is electrically connected to the ECU 90. The steering angle sensor 37 transmits information about the detected rotation angle of the steering shaft 36 to the ECU 90. Based on that information, the ECU 90 obtains the rotation angle of the steering shaft 36 as the steering angle θ.

[0027] <Steering torque sensor> The steering torque sensor 38 is a sensor that detects the torque input by the driver to the steering shaft 36 via the steering wheel 35, and is electrically connected to the ECU 90. The steering torque sensor 38 transmits information about the detected torque to the ECU 90. Based on that information, the ECU 90 obtains the torque input by the driver to the steering shaft 36 via the steering wheel 35 as a driver input torque.

[0028] The ECU 90 obtains the required steering torque based on the steering angle θ, the driver input torque, and the traveling speed of the vehicle 100, and controls the operation of the steering device 23 so that a steering torque equivalent to the required steering torque is applied from the steering device 23 to the vehicle 100 (particularly, the steered wheels of the vehicle 100).

[0029] <Vehicle speed detection device> The vehicle speed detection device 41 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 41 is electrically connected to the ECU 90. The vehicle speed detection device 41 transmits information on the detected traveling speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V based on the information.

[0030] <Registration start button> The registration start button 42 is a button that is operated by the driver to request the execution of information registration control (information storage control) described later, and is electrically connected to the ECU 90. When the registration start button 42 is operated, the ECU 90 determines that the execution of information registration control described later has been requested.

[0031] If the display device 61 includes a touch-operable display, the registration start button 42 may be displayed as an image on the display.

[0032] <Registration confirmation button> The registration confirmation button 43 is a button that is operated by the driver to request registration of various pieces of information acquired by information registration control (information storage control) described later, and is electrically connected to the ECU 90. When the registration confirmation button 43 is operated, the ECU 90 determines that registration of various pieces of information acquired by information registration control described later has been requested.

[0033] If the display device 61 includes a touch-operable display, the registration confirmation button 43 may be displayed as an image on the display.

[0034] <Automatic parking button> The automatic parking button 44 is a button that is operated by the driver to request the execution of automatic parking control, which will be described later, and is electrically connected to the ECU 90. When the automatic parking button 44 is operated, the ECU 90 determines that the execution of automatic parking control has been requested.

[0035] In addition, if the display device 61 includes a touch-operable display, the automatic parking button 44 may be displayed as an image on that display.

[0036] <Notification device> The notification device 60 is a device that provides various notifications to the driver, and in this example, it includes a display device 61 and an audio device 62. The display device 61 is, for example, a display that displays various images, and the audio device 62 is, for example, a speaker that outputs various sounds.

[0037] <Display device> The display device 61 is electrically connected to the ECU 90. The ECU 90 can cause the display device 61 to display various images.

[0038] <Sound equipment> The sound device 62 is electrically connected to the ECU 90. The ECU 90 can cause the sound device 62 to output various sounds.

[0039] <Peripheral information detection device> The surrounding information detection device 70 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 71 and an image sensor 72. The radio wave sensor 71 is, for example, a radar sensor (such as a millimeter wave radar). The image sensor 72 is, for example, a camera. The surrounding information detection device 70 may also include a sonic sensor such as an ultrasonic sensor (clearance sonar) or an optical sensor such as a laser radar (LiDAR).

[0040] <Radio wave sensor> The radio wave sensor 71 is electrically connected to the ECU 90. The radio wave sensor 71 emits radio waves and receives radio waves reflected by objects (reflected waves). The radio wave sensor 71 transmits information (detection results) related to the emitted radio waves and received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 71 detects objects present in the vicinity of the vehicle 100 and transmits information (detection results) related to the detected objects to the ECU 90. The ECU 90 acquires information related to objects present in the vicinity of the vehicle 100 based on the information (radio wave information) as surrounding detection information IS. In this example, the objects are vehicles, motorcycles, bicycles, people, etc.

[0041] <Image sensor> The image sensor 72 is also electrically connected to the ECU 90. The image sensor 72 captures (photographs) the surroundings of the vehicle 100 and transmits information related to the captured image (captured image, photographed image, camera image) to the ECU 90. The ECU 90 acquires information related to the surroundings of the vehicle 100 as surroundings detection information IS based on the information (captured image information, photographed image information, camera image information).

[0042] <Vehicle position information detection device> The own-vehicle position information detection device 80 includes a GPS device 81 and a map information database 82.

[0043] <GPS device> The GPS device 81 is a device that receives so-called GPS signals and is electrically connected to the ECU 90. The ECU 90 acquires GPS signals via the GPS device 81. The ECU 90 can specify (acquire) the position of the own vehicle 100 based on the acquired GPS signals.

[0044] <Map information database> The map information database 82 is a database that stores map information and is electrically connected to the ECU 90. The ECU 90 can know at which location on the map indicated by the map information the own vehicle 100 is located based on the position of the own vehicle 100 specified from the GPS signals and the map information.

[0045] <Outline of operation of parking support device> Next, the outline of the operation of the parking support device 10 will be described. The parking support device 10 is a device that executes information registration control (information storage control) for pre-registering (storing) information used to automatically park the own vehicle 100 in a parking space, and automatic parking control for automatically parking the own vehicle 100 in a parking space using the information registered by the information registration control. Hereinafter, these information registration control and automatic parking control will be described.

[0046] <Information registration control> First, the information registration control will be described. When the own vehicle 100 stops near the parking space 200 as shown in (A) of FIG. 2 and the registration start condition is satisfied at that time, the parking support device 10 starts the information registration control. In this example, the registration start condition is the condition that the registration start button 42 has been operated.

[0047] When the parking assistance device 10 starts the information registration control, it executes start point information processing. The start point information processing is a process of detecting feature points (start point feature points) of the ground and / or three-dimensional objects (walls, buildings, trees, etc.) around the vehicle 100 from a camera image, saving the start point feature points as start point information, and acquiring a positional relationship (start point positional relationship) between the start point feature points and the vehicle 100, linking the start point positional relationship to the start point feature points, and saving the result as start point information. Note that the start point information processing may detect one start point feature point, but in this example, multiple start point feature points are detected. In addition, in this example, when the parking assistance device 10 saves various pieces of information, it saves the information in a storage device such as a nonvolatile memory. In addition, in this example, when the parking assistance device 10 registers or stores the saved various pieces of information as final information, as described below, it registers or stores the information in a storage device such as a nonvolatile memory as final information.

[0048] After executing the start point information processing, the parking assistance device 10 executes the route information processing at predetermined time intervals while the host vehicle 100 is being manually parked in the parking space 200, as shown in (B) of Fig. 2. Manual parking of the host vehicle 100 in the parking space 200 means parking the host vehicle 100 in the parking space 200 by the driver's driving operation. The route information processing is a process of acquiring the travel route R of the host vehicle 100, linking the travel route R to the start point characteristic point, and saving it as route information.

[0049] The travel route R of the host vehicle 100 can be expressed by a change in the steering amount of the host vehicle 100 relative to the traveling distance of the host vehicle 100. Therefore, in this example, the route information processing is a process of acquiring the steering amount of the host vehicle 100, acquiring the distance traveled by the host vehicle 100 at that steering amount (traveling distance of the host vehicle 100), and storing the acquired steering amount and traveling distance as route information by linking them to the starting characteristic point. Therefore, after executing the starting point information processing, the parking assistance device 10 acquires the steering amount of the host vehicle 100 at predetermined time intervals, acquires the distance traveled by the host vehicle 100 at each acquired steering amount during the predetermined time interval (traveling distance of the host vehicle 100), and stores the acquired steering amount and traveling distance as route information. In this example, the steering amount of the host vehicle 100 is the magnitude of the steering angle of the steering wheels of the host vehicle 100.

[0050] Thereafter, when the registration termination condition is met, the parking assistance device 10 executes end point information processing. In this example, the registration termination condition is a condition that manual parking of the host vehicle 100 in the parking space 200 is completed and the registration confirmation button 43 is operated, as shown in FIG. 2(C). Note that in this example, the parking assistance device 10 determines that manual parking of the host vehicle 100 in the parking space 200 is completed when the host vehicle speed V becomes zero and the shift lever of the host vehicle 100 is set to the parking range. In addition, the end point information processing is a process of detecting feature points (end point feature points) of the ground and / or three-dimensional objects around the host vehicle 100 from the camera image, saving the end point feature points as end point information, and acquiring a positional relationship (end point positional relationship) between the end point feature points and the host vehicle 100, and linking the end point positional relationship to the end point feature points and saving it as end point information. Although the number of end point characteristic points acquired by the end point information processing may be one, in this example, a plurality of end point characteristic points are acquired.

[0051] After executing the end point information processing, the parking assistance device 10 executes the registration processing. The registration processing is a processing for registering the parking space 200 in which the vehicle 100 has been parked by the driver's driving operation as a registered parking space, and for linking the saved start point information, route information, and end point information to the registered parking space as confirmed information and registering or storing it.

[0052] After executing the registration process, the parking assistance device 10 ends the information registration control.

[0053] In the following description, the registered starting point information is the starting point information registered in association with the registered parking space, the registered starting point characteristic point is the starting point characteristic point stored as the registered starting point information, and the registered starting point positional relationship is the starting point positional relationship stored as the registered starting point information. Furthermore, in the following description, the registered route information is the route information registered in association with the registered parking space. Furthermore, in the following description, the registered ending point information is the ending point information registered in association with the registered parking space, the registered ending point characteristic point is the ending point characteristic point stored as the registered ending point information, and the registered ending point positional relationship is the ending point positional relationship stored as the registered ending point information.

[0054] <Automatic parking control> Next, automatic parking control will be described. The parking assistance device 10 starts automatic parking control when the start condition is met and the automatic parking request condition is met. The start condition is a condition that the host vehicle 100 is stopped at a position within the start range Astart, as shown in FIG. 3A, and the automatic parking request condition is a condition that the automatic parking button 44 is operated. The start range Astart is a range within a certain distance centered on the position of the host vehicle 100 when the registered start characteristic point is detected.

[0055] The parking assistance device 10 may be configured to display, on the display device 61, an image (automatic parking suggestion image) indicating that the vehicle 100 can be automatically parked in the registered parking space when the start condition is met, or to output, from the audio device 62, a sound (automatic parking suggestion sound) indicating that the vehicle 100 can be automatically parked in the registered parking space. The automatic parking of the vehicle 100 in the registered parking space refers to parking the vehicle 100 in the registered parking space by automatic parking control.

[0056] In addition, the parking assistance device 10 may be configured to display the automatic parking button 44 on the display device 61 when the starting point condition is met, in addition to displaying the automatic parking suggestion image and / or outputting the automatic parking suggestion sound.

[0057] Furthermore, the determination of whether the vehicle 100 has stopped at a position within the starting range Astart may be made based on a camera image taken when the vehicle 100 is stopped, or may be made based on the position of the vehicle 100 determined from the GPS signal when the vehicle 100 is stopped.

[0058] When determining whether the host vehicle 100 has stopped at a position within the starting point range Astart based on a camera image, if a feature point corresponding to the registered starting point feature point is detected from the camera image when the host vehicle 100 has stopped and the positional relationship between the feature point and the host vehicle 100 matches the registered starting point positional relationship within a certain range, it is determined that the host vehicle 100 has stopped at a position within the starting point range Astart.

[0059] On the other hand, when determining whether the vehicle 100 is stopped at a position within the starting range Astart based on the position of the vehicle 100 determined from the GPS signal when the vehicle 100 is stopped, the position of the vehicle 100 determined from the GPS signal when the registration start condition is met is registered as the starting position linked to the registered parking space, and if the position of the vehicle 100 determined from the GPS signal when the vehicle 100 is stopped is within a certain distance from the starting position, it is determined that the vehicle 100 is stopped at a position within the starting range Astart.

[0060] When the parking assistance device 10 starts automatic parking control, it acquires the positional relationship between the vehicle 100 and a feature point (tracking start point feature point) that is detected from the camera image and corresponds to the registered start point feature point, compares this positional relationship with the registered start point positional relationship, and sets a target movement route Rtgt based on the comparison result and the registered route information, as shown in (B) of Fig. 3. The target movement route Rtgt is an appropriate route for the vehicle 100 to travel in order to park the vehicle 100 in the registered parking space.

[0061] As mentioned above, the travel route R of the vehicle 100 is represented by the change in the steering amount of the vehicle 100 relative to the travel distance of the vehicle 100, so in this example, the target travel route Rtgt is represented by the change in the target steering amount of the vehicle 100 relative to the travel distance of the vehicle 100.

[0062] Once the target movement route Rtgt is set, the parking assistance device 10 controls the operation of the traveling device 20 so that the host vehicle 100 travels along the target movement route Rtgt, as shown in Fig. 3(C). Then, once the host vehicle 100 has completed automatic parking in the registered parking space, as shown in Fig. 3(D), the parking assistance device 10 ends the automatic parking control.

[0063] The determination of whether or not automatic parking of the vehicle 100 in the registered parking space has been completed may be made based on a camera image, or may be made based on the position of the vehicle 100 identified from a GPS signal.

[0064] When determining whether automatic parking of the vehicle 100 in a registered parking space has been completed based on camera images, if a feature point corresponding to the registered end point feature point is detected from the camera image when the vehicle 100 is stopped and the positional relationship between the feature point and the vehicle 100 matches the registered end point positional relationship within a certain range, it is determined that automatic parking of the vehicle 100 in the registered parking space has been completed.

[0065] On the other hand, when determining whether automatic parking of the vehicle 100 in a registered parking space has been completed based on the position of the vehicle 100 determined from the GPS signal, when the information registration control is executed and the registration termination condition is met, the position of the vehicle 100 determined from the GPS signal is registered as the parking completion position linked to the registered parking space, and if the position of the vehicle 100 determined from the GPS signal when the vehicle 100 is stopped is within a certain distance from the parking completion position, it is determined that automatic parking of the vehicle 100 in the registered parking space has been completed.

[0066] In addition, when automatic parking of the vehicle 100 in the registered parking space is completed, the parking assistance device 10 may display an image (automatic parking completion notification image) indicating that automatic parking of the vehicle 100 in the registered parking space has been completed on the display device 61, or may output a sound (automatic parking completion notification sound) indicating that automatic parking of the vehicle 100 in the registered parking space has been completed from the audio device 62.

[0067] <Tracking Control> However, as shown in (A) of Figure 4, there may be cases where the vehicle 100 stops at a position within the starting range Astart, but the driver starts driving the vehicle 100 in an attempt to park the vehicle 100 in a registered parking space by his / her own driving operation without using the automatic parking control, and then attempts to park the vehicle 100 in the registered parking space using the automatic parking control. In such cases, it would be convenient for the driver if he / she could use the automatic parking control.

[0068] Therefore, when the vehicle 100 stops at a position within the starting range Astart but the automatic parking button 44 is not operated and the automatic parking request condition is not met, the parking assistance device 10 starts tracking control to determine whether automatic parking control can be performed when the automatic parking button 44 is operated while the vehicle 100 is being manually parked in a registered parking space.

[0069] When the parking assistance device 10 starts tracking control, if the host vehicle 100 is stopped at a position within the start range Astart and the start condition is met, the parking assistance device 10 executes a reference movement path setting process. As shown in FIG. 4B, the reference movement path setting process is a process of setting an appropriate route as a reference movement path Rref for the host vehicle 100 to travel in order to park the host vehicle 100 in a registered parking space. In particular, the reference movement path setting process is a process of detecting a feature point (tracking start feature point) corresponding to the registered start feature point from a camera image, acquiring a positional relationship between the tracking start feature point and the host vehicle 100, comparing the positional relationship with the registered start positional relationship, and setting an appropriate route as a reference movement path Rref for the host vehicle 100 to park the host vehicle 100 in the registered parking space based on the comparison result and the registered route information.

[0070] The reference movement path Rref is the same as the target movement path Rtgt that would have been set if the vehicle 100 had stopped at a position within the starting point range Astart, the starting point condition had been met, the automatic parking request condition had been met, and automatic parking control had been initiated, and is represented by the change in the steering amount of the vehicle 100 relative to the distance traveled by the vehicle 100.

[0071] Thereafter, as shown in (C) of Fig. 4, while the host vehicle 100 is being manually parked in the registered parking space, the parking assistance device 10 executes driving information processing at predetermined time intervals unless the automatic parking button 44 is operated. The driving information processing is a process of acquiring the steering amount of the host vehicle 100 and the distance traveled by the host vehicle 100 at that steering amount (driving distance of the host vehicle 100), and linking the steering amount and driving distance to the tracking start characteristic point and saving them as driving information.

[0072] <Automatic parking control> Then, if the automatic parking button 44 is operated and a predetermined condition (automatic parking request condition) is met before manual parking of the host vehicle 100 into the registered parking space is completed, the parking assistance device 10 determines whether or not the host vehicle position condition is met. The host vehicle position condition is a condition that the host vehicle 100 is located at a position within a predetermined distance range from the reference movement route Rref. In this example, whether or not the host vehicle position condition is met is determined based on the travel information (i.e., the change in the steering amount of the host vehicle 100 relative to the travel distance of the host vehicle 100) that is linked to and stored with the tracking start feature point. That is, the position of the vehicle 100 relative to the reference movement path Rref can be determined from the change in the steering amount of the vehicle 100 relative to the distance traveled by the vehicle 100 after the tracking start characteristic point is detected. Therefore, the parking assistance device 10 can determine whether the vehicle position condition is met, i.e., whether the vehicle 100 is located at a position within a predetermined distance range from the reference movement path Rref, based on the change in the steering amount of the vehicle 100 relative to the distance traveled by the vehicle 100, which is linked to and saved in association with the tracking start characteristic point.

[0073] If the host vehicle position condition is not met, the parking assistance device 10 does not execute the automatic driving control. On the other hand, if the host vehicle position condition is met, the parking assistance device 10 starts the automatic driving control.

[0074] When the parking assistance device 10 starts automatic driving control, as shown in (A) of Figure 5, it sets a movement route of the vehicle 100 that is determined to be appropriate for automatically parking the vehicle 100 into a registered parking space as a target movement route Rtgt, and as shown in (B) of Figure 5, it drives the vehicle 100 along the target movement route Rtgt and parks the vehicle 100 in the registered parking space.

[0075] Furthermore, the movement route (target movement route Rtgt) of the vehicle 100 that is judged to be appropriate for automatically parking the vehicle 100 into a registered parking space is set based on the positional relationship between the vehicle 100 and the reference movement route Rref at the start of the automatic parking control.

[0076] Furthermore, if the automatic parking button 44 is not operated when the starting condition is met, the parking assistance device 10 may be configured to display an image (automatic parking suggestion image) on the display device 61 indicating that automatic parking of the vehicle 100 in the registered parking space is available, unless the automatic parking button 44 is operated until manual parking of the vehicle 100 in the registered parking space is completed, or to output a sound (automatic parking suggestion sound) from the sound device 62 indicating that automatic parking of the vehicle 100 in the registered parking space is available.

[0077] In addition, if the automatic parking button 44 is not operated when the starting point condition is met, the parking assistance device 10 may be configured to keep the automatic parking button 44 displayed on the display device 61 until manual parking of the vehicle 100 in the registered parking space is completed, unless the automatic parking button 44 is operated.

[0078] Furthermore, when the parking assistance device 10 is configured in this manner, after detecting the tracking start feature point, it may acquire driving information and determine whether the vehicle position condition is met at predetermined time intervals until manual parking of the vehicle 100 in the registered parking space is completed, and when it determines that the vehicle position condition is not met, it may be configured to stop displaying the automatic parking usage suggestion image on the display device 61, outputting the automatic parking usage suggestion sound from the audio device 62, and displaying the automatic parking button 44 on the display device 61.

[0079] Therefore, in this case, when the automatic parking button 44 is operated, the vehicle position condition is naturally met, and the parking assistance device 10 will start automatic parking control when the automatic parking button 44 is operated.

[0080] Then, as shown in FIG. 5(C), when automatic parking of the vehicle 100 in the registered parking space is completed, the parking assistance device 10 ends the automatic parking control.

[0081] According to this, even if the vehicle 100 is stopped at a position within the starting range Astart, manual parking of the vehicle 100 in a registered parking space is initiated, and the driver then attempts to automatically park the vehicle 100 in the registered parking space using automatic parking control, the driver can still use automatic parking control to automatically park the vehicle 100 in the registered parking space.

[0082] The parking assistance device 10 may be configured to store various information such as starting point information, travel route information, ending point information, tracking starting point information, and driving information in one storage device (non-volatile memory), or may be configured to store each of these various information in separate storage devices.

[0083] Furthermore, in the above example, the parking assistance device 10 is provided with only one ECU 90 and is configured to execute various controls and processes using that ECU 90, but it may also be configured to include multiple ECUs and execute various controls and processes using each of those ECUs.

[0084] <Specific operation of parking assistance system> Next, a specific operation of the parking assistance device 10 will be described. The CPU of the ECU 90 of the parking assistance device 10 executes the routine shown in Fig. 6 at predetermined time intervals. Therefore, at a predetermined timing, the CPU starts processing from step 600 of the routine shown in Fig. 6, and proceeds to step 605 to determine whether the value of the information registration execution flag X1 is "0". The value of the information registration execution flag X1 is set to "1" when information registration control is being executed, and is set to "0" when information registration control is not being executed.

[0085] If the CPU determines "Yes" in step 605, it proceeds to step 610 and determines whether the registration start condition is met. If the CPU determines "Yes" in step 610, it proceeds to step 615 and executes origin information processing. Next, the CPU proceeds to step 620 and sets the value of the information registration in progress flag X1 to "1". Next, the CPU proceeds to step 695 and temporarily ends the processing of this routine.

[0086] On the other hand, if the CPU determines "No" in step 610, it proceeds directly to step 695 and temporarily ends the processing of this routine.

[0087] Also, if the CPU determines "No" in step 605, it proceeds to step 635 and executes driving information processing. Next, the CPU proceeds to step 640 and determines whether the registration termination condition is met. If the CPU determines "Yes" in step 640, it proceeds to step 645 and executes destination information processing. Next, the CPU proceeds to step 650 and executes registration processing. Next, the CPU proceeds to step 655 and sets the value of the information registration in progress flag X1 to "0". Next, the CPU proceeds to step 695 and temporarily ends the processing of this routine.

[0088] On the other hand, if the CPU determines "No" in step 640, it proceeds directly to step 695 and temporarily ends the processing of this routine.

[0089] Furthermore, the CPU is configured to execute the routine shown in Fig. 7 at predetermined time intervals. Therefore, at a predetermined timing, the CPU starts processing from step 700 of the routine shown in Fig. 7, and proceeds to step 705 to determine whether the starting condition is met.

[0090] If the CPU determines "Yes" in step 705, it proceeds to step 710 and determines whether the automatic parking request condition is met. If the CPU determines "Yes" in step 710, it proceeds to step 715 and sets the value of the automatic parking execution flag X2 to "1." Next, the CPU proceeds to step 720 and sets (resets) the value of the tracking execution flag X3 to "0." The value of the automatic parking execution flag X2 is set to "1" when automatic parking control is being executed, and is set to "0" when automatic parking control is not being executed. Furthermore, the value of the tracking execution flag X3 is set to "1" when tracking control is being executed, and is set to "0" when tracking control is not being executed. Next, the CPU proceeds to step 795 and temporarily ends the processing of this routine.

[0091] On the other hand, if the CPU determines "No" in step 710, the CPU proceeds to step 725 and sets the value of the tracking execution flag X3 to "1." Next, the CPU proceeds to step 730 and sets the value of the automatic parking execution flag X2 to "0." Next, the CPU proceeds to step 795 and temporarily ends the processing of this routine.

[0092] If the CPU determines "No" in step 705, the CPU proceeds directly to step 795 and temporarily ends the processing of this routine.

[0093] Furthermore, the CPU is configured to execute the routine shown in Fig. 8 at predetermined time intervals. Therefore, at a predetermined timing, the CPU starts processing from step 800 of the routine shown in Fig. 8, and proceeds to step 805, where it determines whether the value of the automatic parking in progress flag X2 is "1".

[0094] If the CPU determines "Yes" in step 805, it proceeds to step 810 and determines whether the value of the target movement route set flag X4 is "0". If the CPU determines "Yes" in step 810, it proceeds to step 815 and starts automatic parking control and sets the target movement route Rtgt. Next, the CPU proceeds to step 820 and sets the value of the target movement route set flag X4 to "1". The value of the target movement route set flag X4 is set to "1" when the target movement route Rtgt has already been set, and is set to "0" when the target movement route Rtgt has not been set.

[0095] Next, the CPU proceeds to step 895 and temporarily ends the processing of this routine.

[0096] On the other hand, if the CPU determines "No" in step 810, it proceeds to step 825 and controls the operation of the traveling device 20 so that the vehicle 100 moves along the target movement route Rtgt. Next, the CPU proceeds to step 830 and determines whether automatic parking of the vehicle 100 in the registered parking space has been completed. If the CPU determines "Yes" in step 830, it proceeds to step 835 and sets the values ​​of the automatic parking in progress flag X2 and the target movement route set flag X4 to "0", thereby terminating the automatic parking control. Next, the CPU proceeds to step 895 and temporarily ends the processing of this routine.

[0097] On the other hand, if the CPU determines "No" in step 830, it proceeds directly to step 895 and temporarily ends the processing of this routine.

[0098] Also, if the CPU determines "No" in step 805, it proceeds directly to step 895 and temporarily ends the processing of this routine.

[0099] Furthermore, the CPU is configured to execute the routine shown in Fig. 9 at predetermined time intervals. Therefore, at a predetermined timing, the CPU starts processing from step 900 of the routine shown in Fig. 9, and proceeds to step 905 to determine whether the value of the tracking in progress flag X3 is "1".

[0100] If the CPU determines "Yes" in step 905, it proceeds to step 910 and determines whether the value of the reference movement path set flag X5 is "0." The value of the reference movement path set flag X5 is set to "1" when the reference movement path Rref has already been set, and is set to "0" when the reference movement path Rref has not been set.

[0101] If the CPU determines "Yes" in step 910, it proceeds to step 920, executes reference movement path setting processing, and sets the reference movement path Rref. Next, the CPU proceeds to step 925, and sets the value of the reference movement path setting completion flag X5 to "1." Next, the CPU proceeds to step 995, and temporarily ends the processing of this routine.

[0102] On the other hand, if the CPU determines "No" in step 910, it proceeds to step 930 and executes driving information processing. Next, the CPU proceeds to step 935 and determines whether the automatic parking request condition is met. If the CPU determines "Yes" in step 935, it proceeds to step 940 and determines whether the host vehicle position condition is met. If the CPU determines "Yes" in step 940, it proceeds to step 945 and sets the value of the automatic parking in progress flag X2 to "1". Next, the CPU proceeds to step 950 and sets the values ​​of the tracking in progress flag X3 and the reference movement path set flag X5 to "0". Next, the CPU proceeds to step 995 and temporarily ends the processing of this routine.

[0103] On the other hand, if the CPU determines "No" in step 935 or step 940, it proceeds to step 955, where it determines whether manual parking of the vehicle 100 in the registered parking space has been completed. If the CPU determines "Yes" in step 955, it proceeds to step 960, where it sets the values ​​of the tracking in progress flag X3 and the reference movement path set flag X5 to "0." Next, the CPU proceeds to step 995, where it temporarily ends the processing of this routine.

[0104] On the other hand, if the CPU determines "No" in step 955, it proceeds directly to step 995 and temporarily ends the processing of this routine.

[0105] Also, if the CPU determines "No" in step 905, it proceeds directly to step 995 and temporarily ends the processing of this routine.

[0106] The specific operation of the parking assistance device 10 has been described above.

[0107] <First Modification> Next, a parking assistance device 10 according to a first modified example of the embodiment of the present invention will be described. In the above-described embodiment, the parking assistance device 10 stores all of the travel information acquired after detecting the tracking start characteristic point in order to determine whether the host vehicle position condition is met, and also uses all of the travel information to determine whether the host vehicle position condition is met, which results in a high computational load on the CPU, etc., of the parking assistance device 10. Therefore, the parking assistance device 10 may be configured as follows.

[0108] <Information registration control> That is, in the first variant, as shown in (A) of Figure 10, when the vehicle 100 is stopped near the parking space 200, the registration start condition is met at that time, and the parking assistance device 10 starts information registration control, the parking assistance device 10 detects a starting point characteristic point from the camera image, saves the starting point characteristic point as starting point information, and executes a process (starting point information processing) to acquire the positional relationship (starting point positional relationship) between the starting point characteristic point and the vehicle 100, and associates the starting point positional relationship with the starting point characteristic point and saves it as starting point information.

[0109] After executing the start point information processing, the parking assistance device 10 executes the initial route information processing at predetermined time intervals. The initial route information processing is the same processing as the route information processing in the above-described embodiment, and is a processing to acquire the travel route R of the vehicle 100, associate the travel route R with the start point characteristic point, and store it as travel route information.

[0110] Additionally, in the first modified example, after executing the start point information processing, the parking assistance device 10 executes the waypoint information processing each time the host vehicle 100 travels a predetermined distance. The waypoint information processing is a process of detecting feature points (waypoint feature points) of the ground or three-dimensional objects around the parking space 200 from the camera image, saving the waypoint feature points as waypoint information, obtaining the positional relationship between the waypoint feature points and the host vehicle 100, and linking the positional relationship to the waypoint feature points and saving it as waypoint information.

[0111] For example, as shown in (B) of Figure 10, when the host vehicle 100 is manually parked in the parking space 200, the starting point information processing is executed when the host vehicle 100 is stopped in area A1, then the waypoint information processing is executed when the host vehicle 100 has traveled a predetermined distance and reached area A2, then the waypoint information processing is executed when the host vehicle 100 has traveled a predetermined distance and reached area A3, and then the waypoint information processing is executed when the host vehicle 100 has traveled a predetermined distance and reached area A4.

[0112] Then, after executing each waypoint information process, the parking assistance device 10 executes intermediate path information process at predetermined time intervals. The intermediate path information process is a process of linking the movement path R of the host vehicle 100 after executing the waypoint information process to the waypoint characteristic point and saving it as waypoint path information. In particular, the intermediate path information process is a process of acquiring the steering amount of the host vehicle 100 after executing the waypoint information process, acquiring the distance traveled by the host vehicle 100 with that steering amount (travel distance of the host vehicle 100), and linking the acquired steering amount and travel distance to the waypoint characteristic point and saving it as waypoint path information.

[0113] The parking assistance device 10 then executes an intermediate point characteristic point detection process and an intermediate point information storage process each time the vehicle 100 travels a predetermined distance until automatic parking of the vehicle 100 into the parking space 200 is completed, and thereafter executes an intermediate route information process at predetermined time intervals.

[0114] Then, as shown in (C) of Figure 10, when manual parking of the vehicle 100 in the parking space 200 is completed and the registration confirmation button 43 is operated, and as a result, the registration completion condition is met, the parking assistance device 10 executes the end point information processing and then executes the registration processing.

[0115] The end point information processing in the first modified example is the same as the end point information processing in the above-described embodiment. Also, the registration processing in the first modified example is a processing for registering the parking space 200 in which the vehicle 100 is currently parked by the driver's driving operation as a registered parking space, and for linking the stored starting point information, starting point route information, midpoint information, midpoint route information, and end point information to the registered parking space as confirmed information and registering or storing it.

[0116] After executing the registration process, the parking assistance device 10 ends the information registration control.

[0117] In the following explanation, registered intermediate point information is intermediate point information that is registered in association with a registered parking space, registered intermediate point characteristic points are intermediate point characteristic points stored as registered intermediate point information, and registered intermediate point positional relationships are intermediate point positional relationships stored as registered intermediate point information.

[0118] <Tracking Control> Thereafter, if the starting point condition is satisfied but the automatic parking request condition is not satisfied, the parking assistance device 10 starts tracking control. When the parking assistance device 10 starts tracking control, it executes a reference movement path setting process. The reference movement path setting process executed at this time is the same process as the reference movement path setting process in the above-described embodiment.

[0119] Thereafter, the parking assistance device 10 executes the initial driving information processing at predetermined time intervals unless the automatic parking button 44 is operated until a feature point (target intermediate point feature point) corresponding to the registered intermediate point feature point is detected.

[0120] The initial driving information processing is the same processing as the driving information processing in the above-described embodiment, and is a processing that acquires the steering amount of the vehicle 100 and the distance traveled by the vehicle 100 at that steering amount (travel distance of the vehicle 100) as initial driving information (first information), and links these steering amount and travel distance to the target starting point characteristic point and stores them.

[0121] Thereafter, when the target intermediate point characteristic point is detected, the parking assistance device 10 executes an intermediate reference movement path setting process. The intermediate reference movement path setting process is a process of acquiring the positional relationship between the target intermediate point characteristic point and the host vehicle 100 as the target intermediate point positional relationship, comparing the target intermediate point positional relationship with the registered intermediate point positional relationship, and setting the intermediate reference movement path Rref based on the comparison result and the registered intermediate movement path.

[0122] The intermediate reference movement path Rref is the same as the target movement path Rtgt that would have been set if the automatic parking request condition had been met and automatic parking control had been started when the target intermediate point characteristic point was detected and the intermediate point condition was met, and is represented by the change in the steering amount of the vehicle 100 relative to the travel distance of the vehicle 100.

[0123] Thereafter, the parking assistance device 10 executes the intermediate driving information processing at predetermined time intervals unless the automatic parking button 44 is operated until a feature point (target intermediate point feature point) corresponding to the next registered intermediate point feature point is detected.

[0124] The intermediate driving information processing is the same processing as the driving information processing in the above-described embodiment, and is a processing that acquires the steering amount of the vehicle 100 and the distance traveled by the vehicle 100 at that steering amount (travel distance of the vehicle 100) as intermediate driving information (second information), and links these steering amount and travel distance to the target intermediate point characteristic point and stores them.

[0125] Thereafter, the parking assistance device 10 executes the reference movement route setting process and the route information storage process every time a feature point corresponding to a registered waypoint feature point is detected.

[0126] <Automatic parking control> Then, if the automatic parking button 44 is operated and the automatic parking request condition is satisfied before the manual parking of the host vehicle 100 into the registered parking space is completed, the parking assistance device 10 determines whether the host vehicle position condition is satisfied. In the first modified example, the host vehicle position condition is a condition that the host vehicle 100 is located at a position within a predetermined distance range from the initial reference movement path Rref or the intermediate reference movement path Rref. In this example, whether the host vehicle position condition is satisfied is determined based on the initial travel information saved by the tracking start point information processing (i.e., the change in the steering amount of the host vehicle 100 relative to the travel distance of the host vehicle 100) from the start of the tracking start point information processing to the start of the first tracking waypoint information processing, and is determined based on the intermediate travel information saved by the previous tracking waypoint information processing (i.e., the change in the steering amount of the host vehicle 100 relative to the travel distance of the host vehicle 100) from the start of the previous tracking waypoint information processing to the start of the next tracking waypoint information processing.

[0127] If the host vehicle 100 is not located within a predetermined distance range from the initial reference movement path Rref or the intermediate reference movement path Rref, the parking assistance device 10 does not execute automatic driving control. On the other hand, if the host vehicle 100 is located within a predetermined distance range from the initial reference movement path Rref or the intermediate reference movement path Rref, the parking assistance device 10 starts automatic driving control.

[0128] This allows less information (i.e., information on the steering amount and travel distance of the vehicle 100) to be stored while the vehicle 100 is being manually operated into a registered parking space in order to determine whether the vehicle 100 is located within a predetermined distance range from the reference travel path Rref.As a result, less information is required when determining whether the vehicle 100 is located within a predetermined distance range from the reference travel path Rref, thereby reducing the computational load on the CPU, etc.

[0129] <Specific Operation of Parking Assistance Device According to First Modification> Next, a specific operation of the parking assistance device 10 according to the first modification will be described. The CPU of the ECU 90 of the parking assistance device 10 according to the first modification is configured to execute the routine shown in Fig. 11 at predetermined time intervals, instead of the routine shown in Fig. 6. Therefore, at a predetermined timing, the CPU starts processing from step 1100 of the routine shown in Fig. 11, and proceeds to step 1105, where it determines whether the value of the information registration in progress flag X1 is "0".

[0130] If the CPU determines "Yes" in step 1105, it proceeds to step 1110 and determines whether the registration start condition is met. If the CPU determines "Yes" in step 1110, it proceeds to step 1115 and executes origin information processing. Next, the CPU proceeds to step 1120 and sets the value of the information registration in progress flag X1 to "1". Next, the CPU proceeds to step 1195 and temporarily ends the processing of this routine.

[0131] On the other hand, if the CPU determines "No" in step 1110, it proceeds directly to step 1195 and temporarily ends the processing of this routine.

[0132] If the CPU determines "No" in step 1105, it proceeds to step 1125 and determines whether the predetermined distance travel condition is met. The predetermined distance travel condition is met every time the host vehicle 100 travels a predetermined distance.

[0133] If the CPU determines "Yes" in step 1125, the process proceeds to step 1130, where it executes waypoint information processing.

[0134] On the other hand, if the CPU determines “No” in step 1125 , the process proceeds directly to step 1135 .

[0135] When the CPU proceeds to step 1135, if no intermediate point characteristic points have been acquired at this point, it executes initial driving information processing, and if intermediate point characteristic points have been acquired at least once at this point, it executes intermediate driving information processing. Next, the CPU proceeds to step 1140, where it determines whether or not the registration termination condition is met. If the CPU determines "Yes" at step 1140, it proceeds to step 1145, where it executes end point information processing. Next, the CPU proceeds to step 1150, where it executes registration processing. Next, the CPU proceeds to step 1155, where it sets the value of the information registration in progress flag X1 to "0". Next, the CPU proceeds to step 1195, where it temporarily ends the processing of this routine.

[0136] On the other hand, if the CPU determines "No" in step 1140, it proceeds directly to step 1195 and temporarily ends the processing of this routine.

[0137] Furthermore, the CPU executes the routine shown in Fig. 12 at predetermined time intervals instead of the routine shown in Fig. 9. Therefore, at a predetermined timing, the CPU starts processing from step 1200 of the routine shown in Fig. 12, and proceeds to step 1205 to determine whether the value of the tracking execution flag X3 is "1".

[0138] If the CPU determines "Yes" in step 1205, it proceeds to step 1210 and determines whether the value of the reference movement path setting flag X5 is "0".

[0139] If the CPU determines "Yes" in step 1210, it proceeds to step 1220. On the other hand, if the CPU determines "No" in step 1210, it proceeds to step 1215, where it determines whether or not a target midpoint feature point has been detected. If the CPU determines "Yes" in step 1215, it proceeds to step 1220.

[0140] When the CPU proceeds to step 920, if no target intermediate point characteristic points have been acquired at this point, it executes initial reference movement path setting processing to set an initial reference movement path Rref, and if no target intermediate point characteristic points have been acquired at least once at this point, it executes intermediate reference movement path setting processing to set an intermediate reference movement path Rref. Next, the CPU proceeds to step 1225 and sets the value of the reference movement path set flag X5 to "1". Next, the CPU proceeds to step 1295 and temporarily ends the processing of this routine.

[0141] On the other hand, if the CPU determines "No" in step 1215, it proceeds to step 1230, where it executes initial driving information processing if no target intermediate point characteristic points have been acquired at this point, and executes intermediate driving information processing if no target intermediate point characteristic points have been acquired at least once at this point. Next, the CPU proceeds to step 1235, where it determines whether the automatic parking request condition is met. If the CPU determines "Yes" in step 1235, it proceeds to step 1240, where it determines whether the host vehicle position condition is met. If the CPU determines "Yes" in step 1240, it proceeds to step 1245, where it sets the value of the automatic parking in progress flag X2 to "1." Next, the CPU proceeds to step 1250, where it sets the values ​​of the tracking in progress flag X3 and the reference movement path set flag X5 to "0." Next, the CPU proceeds to step 1295, where it temporarily ends the processing of this routine.

[0142] On the other hand, if the CPU determines "No" in step 1235 or step 1240, it proceeds to step 1255, where it determines whether manual parking of the vehicle 100 in the registered parking space has been completed. If the CPU determines "Yes" in step 1255, it proceeds to step 1260, where it sets the values ​​of the tracking in progress flag X3 and the reference movement path set flag X5 to "0". Next, the CPU proceeds to step 1295, where it temporarily ends the processing of this routine.

[0143] On the other hand, if the CPU determines "No" in step 1255, it proceeds directly to step 1295 and temporarily ends the processing of this routine.

[0144] Also, if the CPU determines "No" in step 1205, it proceeds directly to step 1295 and temporarily ends the processing of this routine.

[0145] The above is the specific operation of the parking assistance device 10 according to the first modified example.

[0146] <Second Modification> Next, a description will be given of a parking assistance device 10 according to a second modified example of the embodiment of the present invention. In the above-described embodiment, the parking assistance device 10 executes automatic parking control if the automatic parking button 44 is operated before manual parking of the host vehicle 100 into a registered parking space is completed. However, in order for automatic parking control to be executed in this manner, a start condition must be met when the host vehicle 100 is stopped near the registered parking space, that is, the host vehicle 100 must be stopped at a position within the start range Astart.

[0147] 13(A), even if the driver wishes to automatically park the vehicle 100 in the registered parking space using automatic parking control after the start of manual parking of the vehicle 100 in the registered parking space because the vehicle 100 is stopped away from the start range Astart, the driver cannot use the automatic parking control. However, it would be convenient for the driver if the driver could use the automatic parking control even in this case. Therefore, the parking assistance device 10 may be configured as follows.

[0148] <Information registration control> That is, in the second variant of the embodiment of the present invention, when the registration start condition is met, the parking assistance device 10 executes information registration control to register or store the starting point information, initial driving information, midpoint information, intermediate driving information, end point information, and parking space, similar to the parking assistance device 10 according to the first variant.

[0149] <Tracking Control> Then, as shown in (A) of Fig. 13, when manual parking of the vehicle 100 into the registered parking space is started in a state in which the vehicle 100 is stopped near the registered parking space but is stopped away from the start point range Astart and therefore the start point condition is not met, the parking assistance device 10 starts tracking control. Once tracking control is started, the parking assistance device 10 executes a process (target intermediate point feature point detection process) of detecting feature points (target intermediate point feature points) corresponding to the registered intermediate point feature points from the camera image at predetermined time intervals while the vehicle 100 is being manually parked into the registered parking space, as shown in (B) of Fig. 13.

[0150] Furthermore, the determination of whether the vehicle 100 was stopped near a registered parking space but away from the starting range Astart may be made based on a camera image or based on the position of the vehicle 100 determined from a GPS signal.

[0151] When determining whether the host vehicle 100 was stopped near a registered parking space but away from the starting range Astart based on camera images, if a feature point (target starting feature point) corresponding to the registered starting feature point is detected from the camera image when the host vehicle 100 was stopped and the positional relationship between the target starting feature point and the host vehicle 100 deviates from the registered starting positional relationship by more than a certain degree, it is determined that the host vehicle 100 was stopped near a registered parking space but away from the starting range Astart.

[0152] On the other hand, when the determination of whether the vehicle 100 was stopped near a registered parking space but away from the starting range Astart is made based on the position of the vehicle 100 determined from the GPS signal, when the registration start condition is met and the information registration control is started, the position of the vehicle 100 determined from the GPS signal is registered as the starting position linked to the registered parking space, and after the information registration control is completed, if the position of the vehicle 100 determined from the GPS signal when the vehicle 100 is stopped is more than a certain distance away from the registered starting position but close to that starting position, it is determined that the vehicle 100 was stopped near the registered parking space but away from the starting range Astart.

[0153] When a target intermediate point characteristic point is detected, the parking assistance device 10 executes an intermediate reference movement path setting process for the target intermediate point characteristic point, and then executes an intermediate driving information process at predetermined time intervals. After that, every time another target intermediate point characteristic point is detected, the parking assistance device 10 executes an intermediate reference movement path setting process for the target intermediate point characteristic point, and then executes an intermediate driving information process at predetermined time intervals.

[0154] <Automatic parking control> Then, if the automatic parking button 44 is operated and the automatic parking request condition is met before manual parking of the host vehicle 100 into the registered parking space is completed, the parking assistance device 10 determines whether the host vehicle 100 is located at a position within a predetermined distance range from the intermediate reference movement path Rref based on the intermediate travel information (i.e., the change in the steering amount of the host vehicle 100 relative to the travel distance of the host vehicle 100) that is linked to the target intermediate point characteristic point and stored. In other words, the parking assistance device 10 determines whether the host vehicle position condition is met.

[0155] If the host vehicle position condition is not satisfied, the parking assistance device 10 does not execute the automatic driving control. On the other hand, if the host vehicle position condition is satisfied, the parking assistance device 10 starts the automatic driving control, sets a target movement route Rtgt as shown in Fig. 13(C), and causes the host vehicle 100 to travel along the target movement route Rtgt as shown in Fig. 13(D).

[0156] According to this, even if the vehicle 100 is stopped near a registered parking space but is stopped away from the starting point range Astart and therefore the starting point condition is not met, if the target intermediate point characteristic point is detected, then as long as the vehicle 100 is located at a position within a predetermined distance range from the intermediate reference movement path Rref, the driver can use the automatic parking control to automatically park the vehicle 100 in the registered parking space.

[0157] In addition, the parking assistance device 10 according to the second modified example may be configured to display an automatic parking suggestion image on the display device 61 and / or output an automatic parking suggestion sound from the audio device 62 when the target intermediate point characteristic point is detected and it becomes possible to set the target movement route Rtgt.

[0158] <Specific Operation of Parking Assistance Device According to Second Modification> Next, a specific operation of the parking assistance device 10 according to the second modification will be described. The CPU of the ECU 90 of the parking assistance device 10 according to the second modification is configured to execute the routine shown in FIG. 14 at predetermined time intervals in addition to the routines shown in FIGS. 7, 8, 11, and 12. Therefore, at a predetermined timing, the CPU starts processing from step 1400 of the routine shown in FIG. 14, proceeds to step 1405, and determines whether the start point vicinity condition is met. The start point vicinity condition is met when the host vehicle 100 is stopped near a registered parking space but is stopped away from the start point range Astart, so the start point condition is not met and manual parking of the host vehicle 100 into the registered parking space is initiated.

[0159] If the determination in step 1405 is "Yes," the CPU sets the value of the detection processing in progress flag X6 to "1." The value of the detection processing in progress flag X6 is set to "1" when the midpoint feature point detection processing is being executed, and is set to "0" when the midpoint feature point detection processing is not being executed.

[0160] The CPU then proceeds to step 1420.

[0161] On the other hand, if the CPU determines "No" in step 1405, it proceeds to step 1415 and determines whether the value of the detection processing in progress flag X6 is "1." If the CPU determines "Yes" in step 1415, it proceeds to step 1420.

[0162] When the CPU proceeds to step 1420, it executes intermediate point feature point detection processing. Next, the CPU proceeds to step 1425, where it determines whether or not a target intermediate point feature point has been detected. If the CPU determines "Yes" in step 1425, it proceeds to step 1430, where it executes intermediate reference movement path setting processing. Next, the CPU proceeds to step 1435, where it sets the value of the reference movement path set flag X5 to "1." Next, the CPU proceeds to step 1440, where it sets the value of the tracking in progress flag X3 to "1." Next, the CPU proceeds to step 1445, where it sets (resets) the value of the detection processing in progress flag X6 to "0." Next, the CPU proceeds to step 1495, where it temporarily ends the processing of this routine.

[0163] On the other hand, if the CPU determines "No" in step 1425, it proceeds directly to step 1495 and temporarily ends the processing of this routine.

[0164] Also, if the CPU determines "No" in step 1415, it proceeds directly to step 1495 and temporarily ends the processing of this routine.

[0165] The above is the specific operation of the parking assistance device 10 according to the second modified example.

[0166] The present invention is not limited to the above-described embodiment and modifications, and various modifications can be adopted within the scope of the present invention. [Explanation of symbols]

[0167] 10...Parking assistance device, 20...Traveling device, 42...Registration start button, 43...Registration confirmation button, 44...Automatic parking button, 90...ECU, 100...Own vehicle, 200...Parking space, Rref...Reference movement path, Rtgt...Target movement path< / ecu>

Claims

1. and executing information storage control to detect a feature point from a photographed image as a starting feature point when the host vehicle is stopped near a parking space, store the starting feature point as a registered starting feature point, and to associate information representing a movement path of the host vehicle from the detection of the starting feature point until manual parking of the host vehicle into the parking space by a driver's driving operation is completed with the registered starting feature point and store the information as path information; When a feature point corresponding to the registered start feature point is detected and automatic parking of the host vehicle is requested, a target movement route is set based on the route information stored in association with the registered start feature point corresponding to the detected feature point, and automatic parking control is executed to drive the host vehicle along the target movement route and park it in the parking space. In a parking assistance device having a control device configured as described above, The control device When a feature point corresponding to the registered start feature point is detected, if automatic parking of the host vehicle is not requested and manual parking of the host vehicle is started through a driving operation by the driver, a reference movement route is set based on the route information that is associated with the registered start feature point that corresponds to the detected feature point, Thereafter, when automatic parking of the host vehicle is requested, if a positional relationship between the host vehicle and the reference movement path satisfies a predetermined condition, the automatic parking control is executed. It is structured as follows: the predetermined condition is that the host vehicle is located at a position within a predetermined distance range from the reference movement path; Parking assistance device.

2. In the parking assistance device according to claim 1, the route information is a change in steering amount of the host vehicle relative to a traveling distance of the host vehicle from when the start characteristic point is detected until manual parking of the host vehicle into the parking space is completed by a driving operation of the driver; Parking assistance device.

3. In the parking assistance device according to claim 1, The control device When the information storage control is executed, feature points are detected from the captured image as intermediate feature points during the period from when the start feature point is detected until manual parking of the host vehicle into the parking space is completed by the driver's driving operation, and the intermediate feature points are stored as registered intermediate feature points, and first information representing a movement route of the host vehicle from when the start feature point is detected until when the registered intermediate feature point is detected, and second information representing a movement route of the host vehicle after the registered intermediate feature point is detected are stored as the route information, When the reference movement path is set when a feature point corresponding to the registered start feature point is detected, the reference movement path is set based on the first information; When the reference movement path is set when a feature point corresponding to the registered intermediate feature point is detected, the reference movement path is set based on the second information. It is configured as follows: Parking assistance device.

Images