Parking assistance device and parking assistance method

Abstract

To provide a parking support device and a parking support method suppressing occurrence of error in a route follow-up during automatic parking.SOLUTION: A parking support device performs parking support on the basis of a route of a vehicle during a teacher travel, and includes: a determination part determining whether or not an operation amount of a driver during the teacher travel of the vehicle exceeds a prescribed range; and an execution part executing a prescribed treatment when the operation amount exceeds the prescribed range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, there is known a parking assistance device that can park a vehicle in a specific parking space based on a teacher driving. Such a parking assistance device stores the driving path of the vehicle when parked in the parking space by the driver as a teacher path, and automatically parks the vehicle in the parking space based on the teacher path (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

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

[0004] However, when automatic parking is performed based on the driver's operation during supervision, errors may occur in the path tracking during automatic parking. As a result, in situations where precise path tracking is required, such as in narrow parking spaces, the distance to surrounding obstacles may become shorter than the distance the system can tolerate, which could result in the system being forced to suspend automatic parking, or other failures in automatic parking.

[0005] An object of the present disclosure is to provide a parking assistance device and a parking assistance method that can suppress the occurrence of errors in path following during automatic parking. [Means for solving the problem]

[0006] The parking assistance device according to the present disclosure comprises: A parking assistance device that performs parking assistance based on a vehicle route during teacher driving, a storage unit that stores a route of the vehicle during the teacher driving; During the teacher driving, a determination unit that determines whether an operation amount by a driver during instruction driving of the vehicle exceeds a predetermined range; During the teacher driving, an execution unit that executes a predetermined process when the manipulated variable exceeds the predetermined range; Equipped with 、 the predetermined process is a process of notifying the driver by a voice output device or a display device, the operation amount is a steering angle, the execution unit notifies the driver through the audio output device or the display device when the steering angle is equal to or greater than a predetermined angle; the predetermined angle includes a first predetermined angle and a second predetermined angle, When the speed of the instructor traveling is a second speed that is faster than a first speed, the execution unit notifies the driver of the second predetermined angle that is smaller than the first predetermined angle at the first speed. .

[0007] The parking assistance method according to the present disclosure includes: A parking assistance method for providing parking assistance based on a route of a vehicle during teacher driving, comprising: storing a route of the vehicle during the teacher driving; During the teacher driving, determining whether the driver's operation amount during instruction driving of the vehicle exceeds a predetermined range; During the teacher driving, When the manipulated variable exceeds the predetermined range, a predetermined process is executed; the predetermined process is a process of notifying the driver by a voice output device or a display device, the operation amount is a steering angle, When the steering angle is equal to or greater than a predetermined angle during the execution of the predetermined process, the driver is notified by the audio output device or the display device; the predetermined angle includes a first predetermined angle and a second predetermined angle, In the execution of the predetermined process, if the speed of the instructor driving is a second speed that is faster than the first speed, the driver is notified at the second predetermined angle that is smaller than the first predetermined angle at the first speed. . [Effects of the Invention]

[0008] According to the present disclosure, it is possible to suppress the occurrence of errors in path following during automatic parking. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram illustrating an example configuration of a vehicle to which a parking assistance device according to an embodiment of the present disclosure is applied. [Figure 2] FIG. 10 is a diagram showing an example of a teacher travel route. [Figure 3]FIG. 10 is a diagram showing an example of a route reproduced by automatic parking from a teacher driving route. [Figure 4] FIG. 10 is a diagram showing an example of a display on the display unit before a predetermined process is executed. [Figure 5] 10A and 10B are diagrams illustrating an example of a display on the display unit after a predetermined process is executed. [Figure 6] 10 is a flowchart showing an example of a control operation during instructor driving in the parking assistance device. [Figure 7] FIG. 10 is a block diagram showing an example of the configuration of a vehicle to which a parking assistance device according to a modified example is applied. [Figure 8] FIG. 10 is a block diagram showing an example of the configuration of a vehicle to which a parking assistance device according to a modified example is applied. [Figure 9] FIG. 10 is a block diagram showing an example of the configuration of a vehicle to which a parking assistance device according to a modified example is applied. DETAILED DESCRIPTION OF THE INVENTION

[0010] (Embodiment) DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Fig. 1 is a block diagram showing an example of the configuration of a vehicle 1 to which a parking assistance device 100 according to an embodiment of the present disclosure is applied.

[0011] As shown in FIG. 1, the vehicle 1 has an automatic parking assistance function (so-called home zone parking assistance) that automatically parks the vehicle in a specified parking space, and includes an operation unit 10, a detection unit 20, a display unit 30, and a parking assistance device 100.

[0012] The operation unit 10 includes a steering wheel, an accelerator pedal, and the like that are used by the driver to operate the vehicle 1. The operation of driving the vehicle 1 is, for example, an operation related to driving the vehicle 1, such as steering the vehicle 1 or running the vehicle 1.

[0013] The detection unit 20 detects the amount of operation of the operation unit 10. The detection unit 20 may be, for example, a known sensor capable of detecting the steering angle, the accelerator opening, and the like.

[0014] The display unit 30 is, for example, a display unit of a car navigation device or the like. For example, when the driver performs supervised driving for automatic parking, the display unit 30 displays the predicted course line of the vehicle 1 (see the solid line P in FIG. 4, etc.). Note that the display unit may be a device other than a car navigation device, such as a head-up display (including an augmented reality head-up display).

[0015] The parking assistance device 100 is equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and input / output circuits (not shown), and performs automatic parking control to automatically park the vehicle in a predetermined parking space. Specifically, the parking assistance device 100 stores the route taken when the vehicle is parked in the predetermined parking space by the driver's driving operation and the driver's operation of the operation unit 10 as teacher driving data. Then, the next time the vehicle 1 parks in a predetermined parking space, it performs control to automatically park (automatic parking control) based on the teacher driving data.

[0016] In this embodiment, the parking assistance device 100 performs not only automatic parking control but also a predetermined process to make the driver recognize that the amount of operation by the driver during teacher driving is outside the operation range in which automatic parking can be performed. The parking assistance device 100 has a determination unit 110 and an execution unit 120.

[0017] The determination unit 110 determines whether the driver's operation amount during instructor driving of the vehicle 1 exceeds a predetermined range. The driver's operation amount is, for example, a steering angle. The predetermined range is an operation range in which automatic parking can be performed.

[0018] The operation range in which automatic parking can be performed is, for example, an operation range in which the route of the instructor driving can be followed when automatic parking is reproduced based on the operation of the operation unit 10 by the driver during the instructor driving.

[0019] For example, there is a case where a driver enters a parking space with the steering angle of the steering wheel (operation unit 10) at a state close to the maximum angle during teacher driving. In this case, if the route during teacher driving and the operation of the operation unit 10 are reproduced in automatic parking, it is likely that the automatic parking route (automatic parking route) will not be able to follow the teacher driving route (teacher driving route) and will be a route that diverges from the teacher driving route.

[0020] To explain this in more detail, the starting position for automatic parking is generally offset from the starting position for teacher driving. Therefore, in order to reproduce the teacher driving route, the vehicle is controlled to cancel out this offset, and automatic parking is performed so that the vehicle follows (reproduces) the teacher driving route.

[0021] However, if the steering angle during teacher driving is at its maximum angle, in the area where the steering angle is at its maximum angle, even if you try to align the vehicle from a deviated position to the teacher driving route, the steering wheel will not turn any further, and the automatic parking route will not be able to align with the teacher driving route, resulting in a route that bulges out from the teacher driving route.

[0022] For example, as shown in Figure 2, suppose there is a parking space that can be accessed by turning from a road extending in the X direction toward the negative side in the Y direction.

[0023] In the explanation of Fig. 2 etc., a Cartesian coordinate system (X, Y) is used. The same Cartesian coordinate system (X, Y) is used in the drawings described later. For example, the X direction indicates the left-right direction, and the Y direction indicates the front-back direction.

[0024] When the driver performs a teacher driving test with the steering angle of the operation unit 10 set to the maximum angle, the driver follows a route that follows the shape of the road, that is, proceeds to the + side of the X direction, turns relatively smoothly at the corners, proceeds to the - side of the Y direction, and enters the parking space (see arrow T).

[0025] However, as shown in Figure 3, because the steering angle of the operation unit 10 is set to the maximum angle during teacher driving and the starting position for automatic parking is deviated from the starting position for teacher driving, automatic parking may result in the vehicle entering a parking space along a path that bulges out to the positive X-direction at a corner (see arrow R). This is because the path during teacher driving is a path achieved with the maximum steering angle, and if the starting position is deviated, the steering angle cannot be increased any further, making it impossible to correct the deviation.

[0026] In this way, if a deviation in the starting position, a delay in steering control, or other errors occur in path tracking during automatic parking, the automatic parking path may deviate significantly from the teacher driving path. Therefore, for example, when precise path tracking is required, such as in a narrow parking space, the vehicle 1 may be more likely to collide with the surrounding walls, which may result in automatic parking failure.

[0027] In contrast, in this embodiment, when the steering angle is equal to or greater than a predetermined angle, the determination unit 110 determines that the driver's operation amount is outside the operation range in which automatic parking can be performed. The predetermined angle may be set appropriately, for example, to 90% of the maximum steering angle.

[0028] The execution unit 120 executes a predetermined process to notify the driver that the amount of operation by the driver is outside a predetermined range, according to the determination result of the determination unit 110. That is, the execution unit 120 executes the predetermined process when the amount of operation by the driver exceeds the predetermined range. The predetermined process is, for example, a process of changing a predetermined display on the display unit 30 of the vehicle 1 from the display before the execution of the predetermined process.

[0029] For example, as shown in FIG. 4, when parking in supervised driving, a predicted course line P of the vehicle 1 is displayed as a predetermined display on the display unit 30. The predicted course line P is, for example, a path along which the vehicle 1 is predicted to travel based on the current steering angle of the vehicle 1. The predicted course line P may be displayed as a line indicating the outer edge of the area in which the vehicle 1 will move. As another example, the shape of the predicted course line P is not limited to a straight line, but may be displayed as a curved line. As another example of a predetermined display, an area surrounded by the predicted course line P may be superimposed in a predetermined color and displayed as a predicted course area. When the outer edge of the predicted course area is displayed as a line, the predicted course area may be displayed in a color different from the outer edge. By displaying the predicted course area in a color different from the outer edge, the predicted course area can be displayed in an emphasized manner.

[0030] Changes from the display before the specified processing is executed may be any change, such as changing the color of the predicted course line, changing the line type, or changing from normal display to flashing display, as long as the driver can recognize that the display has changed from before the specified processing is executed.

[0031] For example, as shown in FIG. 5, when the steering angle of the operation unit 10 reaches the maximum angle during teacher driving, a predetermined process is performed to change the solid line display as shown in FIG. 4 to a broken line display.

[0032] This allows the driver to recognize that the current operation amount of the operation unit 10 is outside the operation range in which automatic parking can be performed. As a result, the driver can take actions such as correcting the operation of the operation unit 10 during teacher driving, thereby suppressing errors from occurring in path following during automatic parking.

[0033] The predetermined processing may also be processing to display, for example, a guide regarding driving operations such as an instruction to reduce the steering angle, or a warning notice indicating that automatic parking will not be possible due to a large steering angle. Such processing may be processing to display, for example, text such as "Please reduce the steering angle" or "The steering angle is large" on the display unit 30.

[0034] Furthermore, the determination unit 110 may change the operation range in which automatic parking can be performed according to the speed of the vehicle 1.

[0035] For example, if the speed of the vehicle 1 is relatively fast during instruction driving, the driver will turn the steering wheel relatively quickly. Therefore, when reproducing this operation in automatic parking, there is a possibility that the operation control of the operation unit 10 cannot keep up, which may result in an error in path tracking.

[0036] In this case, for example, the determination unit 110 narrows the operation range in which automatic parking can be performed, and sets the determination threshold value for the steering angle to an angle smaller than the above-mentioned predetermined angle.

[0037] This allows the predetermined process to be executed at a timing when the steering angle is not relatively large, making it possible to make the driver aware at a relatively early stage that the amount of operation is outside the operation range for automatic parking. As a result, it is possible to suppress errors in path following during automatic parking caused by the speed of vehicle 1 during instructor driving.

[0038] Furthermore, if the driver does not correct the operation of the operation unit 10 after the execution unit 120 executes the predetermined processing, or if the driver does not sufficiently correct the operation of the operation unit 10, the execution unit 120 continues to execute the predetermined processing.

[0039] This makes it possible to prompt the driver to correct the operation of the operation unit 10. At this time, processing may be performed to prompt the driver to correct the operation (for example, processing to instruct the driver to reduce the steering angle).

[0040] Furthermore, if the execution unit 120 executes a predetermined process and the teacher driving ends without the driver correcting the operation of the operation unit 10, or if the teacher driving ends without the driver correcting the operation of the operation unit 10 sufficiently, the execution unit 120 may execute a process to notify the driver that the teacher driving has failed.

[0041] The process of notifying the driver that the instructor driving has failed is, for example, a process of displaying this fact on the display unit 30, or, in the case of a configuration having an audio output unit 40 described below, a process of outputting this fact by voice.

[0042] In this case, the execution unit 120 may also perform processing to notify the user that the teacher run needs to be redone, or processing to notify the user to confirm whether or not to redo the teacher run.

[0043] Next, we will explain an example of the operation of the parking assistance device 100. Figure 6 is a flowchart showing an example of the control operation during supervised driving in the parking assistance device 100. The processing in Figure 6 is executed, for example, when supervised driving is started.

[0044] 6, the parking assistance device 100 determines whether the amount of operation by the driver is outside the operation range (step S101). If the result of the determination is that the amount of operation is not outside the operation range (step S101, NO), the process proceeds to step S103.

[0045] On the other hand, if the operation amount is outside the operation range (step S101, YES), the parking assistance device 100 executes a predetermined process (step S102). Next, the parking assistance device 100 determines whether the teacher driving has ended (step S103).

[0046] If the result of the determination is that the teacher travel has not ended (step S103, NO), the process returns to step S101. On the other hand, if the teacher travel has ended (step S103, YES), this control ends.

[0047] According to the present embodiment configured as described above, a predetermined process is executed depending on the result of the determination as to whether the amount of operation by the driver during teacher driving is outside the operation range in which automatic parking can be performed, so the driver can recognize that the current amount of operation of the operation unit 10 is outside the operation range in which automatic parking can be performed. As a result, the driver can take actions such as correcting the operation of the operation unit 10 during teacher driving, thereby suppressing the occurrence of errors in path following during automatic parking.

[0048] This makes it possible to prevent automatic parking failures and the need to redo the teacher driving when performing automatic parking.

[0049] In the above embodiment, the predetermined process is a process related to the display unit 30, but the present disclosure is not limited to this. For example, as shown in Fig. 7, if the vehicle 1 has an audio output unit 40, the predetermined process may be a process of outputting audio from the audio output unit 40 of the vehicle 1.

[0050] The audio output unit 40 is, for example, an in-vehicle device capable of outputting audio such as a car navigation device.

[0051] Examples of the audio output process include a process of issuing an audio warning that the driver's current operation amount (steering angle) is large, and a process of issuing an audio guide to reduce the steering angle.

[0052] By processing by voice, the driver can audibly recognize that the current operation amount of the operation unit 10 is outside the operation range in which automatic parking can be performed.

[0053] Furthermore, for example, as shown in FIG. 8, if the vehicle 1 has a resistance force applying unit 50, the predetermined processing may be processing for applying a resistance force to an operation by the driver.

[0054] The resistance force applying unit 50 applies a reaction force (resistance force) to the steering when the steering angle of the operation unit 10 (steering wheel) becomes equal to or greater than the predetermined angle. Known technology can be used for the resistance force applying unit 50.

[0055] Processing based on resistance force allows the driver to tactilely recognize that the current amount of operation of the operation unit 10 is outside the operation range in which automatic parking can be performed.

[0056] Furthermore, for example, as shown in FIG. 9, if the vehicle 1 has a vibration applying unit 60, the predetermined process may be a process of applying vibration in response to an operation by the driver.

[0057] For example, when the steering angle of the operation unit 10 (steering wheel) becomes equal to or greater than the predetermined angle, the vibration applying unit 60 applies vibration to the steering wheel. Known technology can be used for the vibration applying unit 60.

[0058] The vibration processing allows the driver to tactilely recognize that the current operation amount of the operation unit 10 is outside the operation range in which automatic parking can be performed.

[0059] Furthermore, in each of the above embodiments, the specified processing was processing by any one of the display unit 30, the audio output unit 40, the resistance force applying unit 50, and the vibration applying unit 60, but the present disclosure is not limited to this, and may be processing that combines two or more of the display unit 30, the audio output unit 40, the resistance force applying unit 50, and the vibration applying unit 60.

[0060] In addition, in the above embodiment, the steering angle is exemplified as the amount of operation by the driver, but the present disclosure is not limited to this, and may be, for example, the speed at which the operation unit 10 (steering wheel) is turned. Specifically, for example, when the speed at which the operation unit 10 is turned is equal to or greater than a predetermined threshold (which can be set arbitrarily), the determination unit 110 determines that the amount of operation by the driver exceeds a predetermined range.

[0061] If the speed at which the operation unit 10 is turned is relatively fast (above a predetermined threshold), the control of the parking assistance device 100 cannot keep up during automatic parking, and errors are likely to occur in path following.

[0062] Therefore, as a predetermined process, a process is performed in which the driver is notified by voice or display to turn the operating unit 10 slowly, so that the driver can recognize that the current amount of operation of the operating unit 10 is outside the operating range in which automatic parking can be performed.

[0063] The amount of operation by the driver may also be, for example, the speed of the vehicle 1 based on the operation unit 10 (accelerator pedal). Specifically, for example, when the speed of the vehicle 1 based on the operation unit 10 is equal to or greater than a predetermined speed (which can be arbitrarily set), the determination unit 110 determines that the amount of operation by the driver exceeds a predetermined range.

[0064] For example, if the speed of vehicle 1 during instruction driving is relatively fast (above a specified speed), the driver's steering speed will also be faster, which may result in a delay in steering control during automatic parking, resulting in a delay in path following.

[0065] In this case, as a predetermined process, a process is performed to notify the driver by voice or display that the speed of the vehicle 1 should be reduced, so that the driver can recognize that the current amount of operation of the operating unit 10 is outside the operating range in which automatic parking can be performed.

[0066] Furthermore, during supervised driving, the driver may turn the steering wheel while vehicle 1 is stopped (when the speed of vehicle 1 is 0). In this case, if the steering wheel is controlled while vehicle 1 is moving during automatic parking, the relationship between the steering wheel operation and the speed of vehicle 1 will differ between supervised driving and automatic parking, which may result in deviations in path following.

[0067] In this case, as a predetermined process, a process is performed to notify the driver by voice or display that the vehicle 1 will be moved and steering operation will be performed, so that the driver can recognize that the current amount of operation of the operating unit 10 is outside the operating range in which automatic parking can be performed.

[0068] Furthermore, the above-described embodiments are merely examples of specific embodiments for carrying out the present disclosure, and the technical scope of the present disclosure should not be interpreted as being limited by these embodiments. In other words, the present disclosure can be carried out in various forms without departing from its gist or main features. [Industrial Applicability]

[0069] The parking assistance device of the present disclosure is useful as a parking assistance device and parking assistance method that can suppress the occurrence of errors in path following during automatic parking. [Explanation of symbols]

[0070] 1 vehicle 10 Control section 20 Detector 30 Display section 40 Audio output section 50 Resistance applying section 60 Vibration applying part 100 Parking assistance device 110 Judgment section 120 Executive Department

Claims

1. A parking assistance device that performs parking assistance based on a vehicle route during teacher driving, a storage unit that stores a route of the vehicle during the teacher driving; a determination unit that determines whether an operation amount of the driver of the vehicle during instructor driving exceeds a predetermined range; an execution unit that executes a predetermined process when the operation amount exceeds the predetermined range during the teacher traveling; Equipped with the predetermined process is a process of notifying the driver by a voice output device or a display device, the operation amount is a steering angle, the execution unit notifies the driver through the audio output device or the display device when the steering angle is equal to or greater than a predetermined angle; the predetermined angle includes a first predetermined angle and a second predetermined angle, When the speed of the teacher traveling is a second speed that is faster than a first speed, the execution unit notifies the driver of the second predetermined angle that is smaller than the first predetermined angle at the first speed. Parking assistance device.

2. The predetermined process is a process for notifying the driver that the operation amount is outside the predetermined range. The parking assistance device according to claim 1.

3. the predetermined processing changes a predetermined display on the display device of the vehicle from a display before the predetermined processing is executed. The parking assistance device according to claim 1.

4. The predetermined display is a predicted course line of the vehicle.

4. The parking assistance device according to claim 3.

5. the predetermined processing is processing for outputting audio from the audio output device of the vehicle. The parking assistance device according to claim 1.

6. A parking assistance method for providing parking assistance based on a route of a vehicle during teacher driving, comprising: storing a route of the vehicle during the teacher driving; During the instructor driving, it is determined whether an operation amount of the driver of the vehicle during the instructor driving exceeds a predetermined range; When the operation amount exceeds the predetermined range during the teacher running, a predetermined process is executed. the predetermined process is a process of notifying the driver by a voice output device or a display device, the operation amount is a steering angle, When the steering angle is equal to or greater than a predetermined angle during the execution of the predetermined process, the driver is notified by the audio output device or the display device; the predetermined angle includes a first predetermined angle and a second predetermined angle, In the execution of the predetermined process, when the speed of the instructor traveling is a second speed that is faster than the first speed, the driver is notified of the second predetermined angle that is smaller than the first predetermined angle at the first speed. Parking assistance methods.

7. The predetermined processing is processing for notifying the driver that the operation amount is outside the predetermined range. The parking assistance method according to claim 6.

8. The predetermined processing changes a predetermined display on the display device of the vehicle from a display before the predetermined processing is executed. The parking assistance method according to claim 6.

9. The predetermined display is a predicted course line of the vehicle. The parking assistance method according to claim 8.

10. The predetermined processing is processing for outputting audio from the audio output device of the vehicle. The parking assistance method according to claim 6.

11. A parking assistance method for providing parking assistance based on a driving route of a teacher driving by a driver, comprising: storing the travel route in the teacher travel; During the instructor driving, when the steering angle of the vehicle due to the driver's operation is equal to or greater than a predetermined angle, the driver is notified by a voice output device or a display device; the predetermined angle includes a first predetermined angle and a second predetermined angle, In notifying the driver, when the speed of the teacher traveling is a second speed that is faster than the first speed, the driver is notified at the second predetermined angle that is smaller than the first predetermined angle at the first speed. Parking assistance methods.

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