Parking assistance device

Abstract

To provide a parking assistance system that is able to park an own vehicle in a parking spot without repeating parking in the parking spot.SOLUTION: A parking assistance device 1 includes: a parking assistance ECU 10 configured to execute automatic parking control for assisting in an own vehicle's operation for parking the own vehicle in a predetermined target parking spot while a driver of the own vehicle is seated on a driver's seat of the own vehicle; and a display device 70 controlled by the parking assistance ECU 10 and configured to display predetermined information. The parking assistance ECU 10 is configured to calculate a frontage M of the target parking spot in advance before the execution of the automatic parking control is started, and to control the display device 70 such that the display device 70 displays information related to a size of a getting-off space in accordance with the frontage M.SELECTED DRAWING: Figure 13

Description

[Technical Field]

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

[0002] Automatic parking control is a control that assists the driver in operating the vehicle to park the vehicle in a predetermined target parking spot while the driver is seated in the driver's seat of the vehicle. Remote parking control is a control that assists the driver in operating the vehicle to park the vehicle in a target parking spot while the driver is located outside the vehicle. Patent Document 1 discloses a parking assistance device that can perform automatic parking control and remote parking control.

[0003] The parking assistance device disclosed in Patent Document 1 (hereinafter referred to as the "conventional device") calculates a guide route for moving the host vehicle to the target parking spot based on the host vehicle's current position and the position of the target parking spot where the host vehicle should be parked during automatic parking control. The conventional device moves the host vehicle along the guide route to the parking spot using automatic parking control while determining the distance between the host vehicle and obstacles around the host vehicle. When the host vehicle reaches the target parking spot, the conventional device determines whether the distance between the host vehicle and the obstacle is less than a predetermined distance threshold that ensures sufficient space for the driver to dismount. If the distance between the host vehicle and the obstacle is less than the distance threshold, the conventional device moves the host vehicle from the target parking spot by retracing the guide route to a position where the distance between the host vehicle and the obstacle is equal to or greater than the distance threshold. If the host vehicle reaches a position where the distance between the host vehicle and the obstacle is equal to or greater than the distance threshold, the conventional device stops the host vehicle and waits until the driver dismounts. When it is determined that the driver has exited the vehicle, the conventional device uses remote parking control to move the vehicle again along the guide route to the target parking spot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-252854 Summary of the Invention

[0005] With conventional devices, if there is not enough space for the driver to disembark at the target parking spot, the driver will have to repeatedly park at the target parking spot, which makes the vehicle's movements until it is parked at the parking spot complicated and takes a long time to park.

[0006] An object of the present disclosure is to provide a parking assistance device that can solve the above-mentioned problems.

[0007] A parking assistance device according to the present disclosure includes a control device configured to execute automatic parking control that assists a driver of the vehicle in moving the vehicle to park the vehicle in a predetermined target parking spot while the driver is seated in the driver's seat of the vehicle, and an alarm device controlled by the control device and that notifies predetermined information. The control device of the parking assistance device according to the present disclosure is configured to calculate the width of the target parking spot in advance before execution of the automatic parking control is started, and to control the alarm device so that the alarm device notifies information related to the width of the driver's disembarkation space when the vehicle is parked in the target parking spot by the automatic parking control according to the calculated width.

[0008] According to the parking assistance device of the present disclosure, the driver of the host vehicle is notified of information related to the size of the disembarkation space by the notification device, allowing the driver to predict the size of the disembarkation space that the driver will need if the host vehicle is parked at the target parking spot by automatic parking control, before the automatic parking control begins. For example, the driver of the host vehicle can recognize in advance whether the disembarkation space will be narrow or wide if the host vehicle is parked at the target parking spot by automatic parking control, before the automatic parking control begins. Therefore, based on the information notified by the notification device, the driver of the host vehicle can consider in advance whether to park the host vehicle at the target parking spot by automatic parking control, use a parking method other than automatic parking control, such as remote parking control, or search for a parking spot other than the target parking spot. Therefore, by adopting parking behavior based on the consideration results, it is possible to prevent the driver from repeatedly parking the host vehicle because they find that the disembarkation space is narrow after parking the host vehicle at the target parking spot. This reduces parking time.

[0009] Furthermore, according to the parking assistance device of the present disclosure, the control device calculates the width of the target parking spot. The width of the target parking spot is related to the size of the disembarking space when the driver disembarks from the host vehicle parked at the target parking spot through automatic parking control. For example, a narrow entrance is considered to provide a narrow disembarking space, while a wide entrance is considered to provide a wide disembarking space. Therefore, by calculating the width of the target parking spot, the control device can control the notification device to provide information related to the size of the disembarking space according to the entrance. Furthermore, the entrance of the target parking spot is the side that defines the target parking spot and serves as the entrance through which the host vehicle enters the target parking spot, and is therefore likely to be located near the host vehicle. Therefore, the width of the target parking spot can be calculated by the host vehicle before the automatic parking control begins, and as a result, information regarding the size of the driver's disembarking space can be provided to the driver before the automatic parking control begins.

[0010] The automatic parking control executed by the control device of the parking assistance device according to the present disclosure is a control in which the parking assistance device executes some or all of the operations of the host vehicle required for parking, provided that the driver is seated in the driver's seat of the host vehicle. Therefore, during execution of the automatic parking control, the parking assistance device may execute only control of the steering device of the host vehicle, or may execute control of all of the steering device, drive device, braking device, and shift switching device.

[0011] In one aspect of the parking assistance device according to the present disclosure, the parking assistance device includes a surrounding information sensor that acquires information about landmarks or signs around the vehicle, and the control device calculates the entrance of the target parking spot based on the information acquired by the surrounding information sensor. This allows the control device to relatively easily calculate the entrance of the target parking spot based on the information from the surrounding information sensor when the vehicle is located near the entrance of the target parking spot.

[0012] In another aspect of the parking assistance device according to the present disclosure, the control device controls the notification device so that, when the calculated frontage satisfies a condition that is met when the driver's disembarkation space is narrow when the host vehicle is parked at the target parking spot by automatic parking control, the notification device notifies the driver of the information related to the width of the disembarkation space. In this way, by the notification device notifying the driver of the host vehicle of the narrow width of the disembarkation space, the driver of the host vehicle can recognize in advance that the disembarkation space will be narrow when the host vehicle is parked at the target parking spot by automatic parking control.

[0013] In another aspect of the parking assistance device according to the present disclosure, the control device controls the notification device to issue information indicating that the disembarking space is narrow and / or proposal information proposing a parking method other than the parking method for parking the vehicle at the target parking spot by executing automatic parking control when the calculated frontage satisfies a condition that is met when the driver's disembarking space is narrow if the vehicle is parked at the target parking spot by automatic parking control. In this manner, the notification device issues information indicating that the disembarking space is narrow, allowing the driver of the vehicle to recognize in advance that the disembarking space is narrow. Furthermore, the notification device issues proposal information proposing a parking method other than the parking method for parking the vehicle at the target parking spot by automatic parking control, allowing the driver of the vehicle to consider in advance how to park the vehicle based on the proposal information.

[0014] In another aspect of the parking assistance device according to the present disclosure, when the target parking spot is defined by two parallel parking frame lines, the control device calculates the distance between the two parking frame lines as the frontage. In this way, the control device can relatively easily calculate the frontage of the target parking spot by calculating the distance between the two parallel parking frame lines that define the target parking spot, which are recognized by, for example, a surrounding information sensor.

[0015] In another aspect of the parking assistance device according to the present disclosure, when there is a parking spot adjacent to the target parking spot and the parking spot is adjacent to the driver's side of the vehicle when the vehicle is parked at the target parking spot through automatic parking control, the control device controls the notification device so that the notification device does not notify information indicating that the disembarkation space is narrow and / or suggested information. When there is a parking spot adjacent to the driver's side of the vehicle parked at the target parking spot, even if the entrance of the target parking spot is narrow, the driver's side door can be opened wide to enter the area within the adjacent parking spot. This provides a wide disembarkation space for the driver. Therefore, by not notifying information related to the narrow disembarkation space and / or suggested information in such cases, the notification device can prevent erroneous information from being notified.

[0016] In another aspect of the parking assistance device according to the present disclosure, the control device is configured to execute remote parking control to assist the driver in moving the vehicle to park the vehicle at the target parking spot while the driver is located outside the vehicle, and the proposal information is remote parking proposal information that proposes a parking method for parking the vehicle at the target parking spot using the remote parking control. According to this, the remote parking proposal information is notified from the notification device, so that the driver of the vehicle can consider in advance a parking method for parking the vehicle at the target parking spot using the remote parking control.

[0017] In another aspect of the parking assistance device according to the present disclosure, the control device controls the notification device to notify the remote parking suggestion information when the calculated entrance or the ratio of the calculated entrance to the vehicle width of the host vehicle is less than a predetermined threshold. This allows the notification device to appropriately notify the remote parking suggestion information when the entrance of the target parking spot is narrow. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a block diagram of a parking assistance device according to an embodiment of the present disclosure. FIG. [Figure 2] FIG. 2 is a diagram illustrating an example of a mounting position of a sonar sensor. [Figure 3] FIG. 2 is a diagram illustrating an example of an attachment position of a camera sensor. [Figure 4] FIG. 4 is a diagram illustrating an example of the location of a control request switch. [Figure 5] 1 shows an example of a plan view represented by a two-dimensional map. [Figure 6] 1 shows a two-dimensional map depicting a host vehicle parked in a target parking spot by automatic parking control. [Figure 7] 10 shows an example of a first peripheral display image displayed on a display. [Figure 8] FIG. 10 is a diagram showing a forward path and a backward path as guide paths. [Figure 9] FIG. 10 is a diagram showing an example of a mode setting image displayed on a display. [Figure 10] 10 shows an example of a remote parking suggestion image displayed on a display. [Figure 11] 10 shows an example of a second peripheral display image displayed on the display. [Figure 12] 10 shows an example of an operation image displayed on a smartphone that has launched a remote parking application. [Figure 13] 4 is a flowchart showing an example of the flow of a parking assistance processing routine executed by a CPU of a parking assistance ECU. DETAILED DESCRIPTION OF THE INVENTION

[0019] 1, a parking assistance device 1 according to an embodiment of the present disclosure is mounted on a vehicle 1000 equipped with an automatic driving function. Hereinafter, the vehicle 1000 may also be referred to as the host vehicle. In other words, the parking assistance device 1 is mounted on the host vehicle.

[0020] The parking assistance device 1 includes a parking assistance ECU 10, an on-board sensor 20, a drive device 30, a braking device 40, a steering device 50, a shift switching device 60, a display device 70, a navigation device 80, and a communication ECU 90. ECU is an abbreviation for electronic control unit.

[0021] The parking assistance ECU 10 mainly comprises a microcomputer including a CPU 10a, a ROM 10b, a RAM 10c, and an interface 10d. The parking assistance ECU 10 is a control device configured to perform various controls, including automatic parking control and remote parking control, by having the CPU 10a execute instructions, programs, or routines stored in the ROM 10b. The automatic parking control is a control that assists the driver of the host vehicle in moving the host vehicle to park it in a predetermined target parking spot while the driver is seated in the driver's seat. The remote parking control is a control that assists the driver of the host vehicle in moving the host vehicle to park it in a target parking spot while the driver is located outside the host vehicle.

[0022] The parking assist ECU 10 may be configured with multiple ECUs. The parking assist ECU 10 is also connected to multiple other ECUs via a CAN (Controller Area Network). For example, as shown in Fig. 1, the parking assist ECU 10 is connected to a drive ECU 31, a braking ECU 41, a steering ECU 51, a SBW-ECU 61, a display ECU 71, a navigation ECU 81, and a communication ECU 90, and can exchange necessary information with each of the connected ECUs.

[0023] The on-board sensor 20 includes a surrounding information sensor 20A that acquires information about objects or signs present around the vehicle. For example, the on-board sensor 20 includes a sonar sensor 21 and a camera sensor 22 as the surrounding information sensor 20A.

[0024] The sonar sensor 21 intermittently emits ultrasonic waves into the area surrounding the vehicle and receives the ultrasonic waves (reflected waves) reflected by a three-dimensional object (object). The sonar sensor 21 calculates the distance between the vehicle and the object, the relative positional relationship between the vehicle and the object, etc. based on the time from when the ultrasonic waves are transmitted to when the reflected waves are received. The sonar sensor 21 transmits information indicating the calculated distance and positional relationship to the parking assistance ECU 10.

[0025] In this embodiment, a plurality of sonar sensors 21 are provided on the host vehicle. The plurality of sonar sensors 21 are provided on the host vehicle so as to be able to emit ultrasonic waves substantially all around the host vehicle. For example, as shown in FIG. 2, the plurality of sonar sensors 21 may include front sonar sensors 21a and 21b, rear sonar sensors 21c and 21d, right sonar sensors 21e and 21f, left sonar sensors 21g and 21h, right front sonar sensor 21i, left front sonar sensor 21j, right rear sonar sensor 21k, and left rear sonar sensor 21l. The front sonar sensors 21a and 21b emit ultrasonic waves forward from the right and left portions of the front end of the host vehicle, respectively. The rear sonar sensors 21c and 21d emit ultrasonic waves rearward from the right and left portions of the rear end of the host vehicle, respectively. Right sonar sensors 21e and 21f emit ultrasonic waves to the right from the front and rear portions of the right edge of the vehicle, respectively. Left sonar sensors 21g and 21h emit ultrasonic waves to the left from the front and rear portions of the left edge of the vehicle, respectively. Right front sonar sensor 21i emits ultrasonic waves diagonally forward and to the right from the front right edge of the vehicle. Left front sonar sensor 21j emits ultrasonic waves diagonally forward and to the left from the front left edge of the vehicle. Right rear sonar sensor 21k emits ultrasonic waves diagonally rearward and to the right from the rear right edge of the vehicle. Left rear sonar sensor 21l emits ultrasonic waves diagonally rearward and to the left from the rear left edge of the vehicle.

[0026] The camera sensor 22 includes a camera device and an image analysis device. The camera device is, for example, a digital camera with a built-in imaging element configured by a CCD (charge coupled device) or a CIS (CMOS image sensor). The camera device captures images of the surrounding area of ​​the vehicle at a predetermined frame rate and acquires image data. The camera device transmits each image data to the image analysis device. The image analysis device analyzes the acquired image data and acquires information about objects and displays around the vehicle from the images. For example, the image analysis device recognizes the shapes and colors of walls, fences, and the like of parking spots, as well as parking frame lines displayed on the road surface, and transmits information representing the recognition results together with the image data to the parking assistance ECU 10.

[0027] The camera sensor 22 has multiple camera devices so as to be able to capture images of the entire surroundings of the vehicle. For example, as shown in FIG. 3, the multiple camera devices include a front camera device 22a, a rear camera device 22b, a right side camera device 22c, and a left side camera device 22d. The front camera device 22a captures images of the area in front of the vehicle. The rear camera device 22b captures images of the area behind the vehicle. The right side camera device 22c captures images of the area to the right of the vehicle. The left side camera device 22d captures images of the area to the left of the vehicle. The multiple camera devices may also include an infrared camera device so as to be able to capture images of the surroundings of the vehicle even at night. Furthermore, so as to enable the camera sensor 22 to recognize the three-dimensional shape of an object, one camera device may be configured as a stereo camera or may be configured as a camera device with a depth sensor.

[0028] The on-board sensor 20 may include a radar sensor as the surrounding information sensor 20A. The radar sensor is configured to be able to detect objects present around the vehicle using millimeter wave band radio waves. In this case, the radar sensor may include a front radar sensor that emits radio waves in front of the vehicle, a rear radar sensor that emits radio waves behind the vehicle, a right side radar sensor that emits radio waves to the right side of the vehicle, and a left side radar sensor that emits radio waves to the left side of the vehicle.

[0029] The on-vehicle sensor 20 further includes a control request switch 23. The control request switch 23 is an operating device that allows the driver to request parking of the vehicle using the parking assistance device 1. The control request switch 23 is attached in a position inside the vehicle that is easy for the driver to operate. The control request switch 23 includes, for example, a push-button type normally open switch device. The parking assistance ECU 10 monitors the on / off state of the control request switch 23.

[0030] The drive unit 30 generates a drive force and applies the drive force to the drive wheels of the vehicle. The drive unit 30 includes a drive ECU 31, a drive actuator 32, a drive source 33, a transmission 34, and a drive force transmission mechanism (not shown) that transmits the drive force to the drive wheels. The drive ECU 31 is electrically connected to the drive actuator 32 so as to be able to control the operation of the drive actuator 32. The drive actuator 32 is configured to be able to adjust the drive force of the drive source 33 by operating.

[0031] The drive ECU 31 controls the operation of the drive actuator 32 to control the drive force generated by the drive source 33. The drive force generated by the drive source 33 is transmitted to the drive wheels of the host vehicle via a transmission 34 and a drive force transmission mechanism. Therefore, the drive ECU 31 can control the drive force of the host vehicle by controlling the drive actuator 32. Furthermore, while automatic parking control or remote parking control is being executed, the parking assist ECU 10 can control the drive actuator 32 via the drive ECU 31 so that the drive force coincides with the target drive force by transmitting a drive control signal including information representing a target drive force to the drive ECU 31. Furthermore, the drive device 30 can also generate drive force when the driver operates an accelerator pedal provided on the host vehicle.

[0032] If the drive source 33 is an internal combustion engine, the drive ECU 31 controls the drive force generated by the internal combustion engine. If the host vehicle is a hybrid vehicle (HEV), the drive ECU 31 controls the drive force generated by either the internal combustion engine or an electric motor, or both, as the drive source 33. If the host vehicle is an electric vehicle (BEV), the drive ECU 31 controls the drive force generated by the electric motor, as the drive source 33.

[0033] The braking device 40 applies braking force to the wheels of the vehicle. The braking device 40 includes a braking ECU 41, a braking actuator 42, and a braking mechanism 43. The braking ECU 41 is electrically connected to the braking actuator 42 so as to control the operation of the braking actuator 42. The braking actuator 42 includes a known hydraulic circuit, including a reservoir, an oil pump, and various valve devices (not shown). The braking mechanism 43 includes a brake disc, a caliper, a piston, and brake pads, and generates a frictional braking force when the brake pads are pressed against the brake disc by the hydraulic pressure (i.e., braking pressure) supplied from the braking actuator 42. The frictional braking force generated by the braking mechanism 43 brakes the vehicle.

[0034] The brake actuator 42 adjusts the hydraulic pressure (braking pressure) supplied to the brake mechanism 43 in response to an instruction from the brake ECU 41. The frictional braking force generated on the wheels changes depending on the braking pressure. Therefore, the brake ECU 41 can control the braking force of the host vehicle by controlling the brake actuator 42. Furthermore, while automatic parking control or remote parking control is being executed, the parking assist ECU 10 can control the brake actuator 42 via the brake ECU 41 so that the braking force coincides with the target braking force by transmitting a brake control signal including information indicating a target braking force to the brake ECU 41. Furthermore, the brake device 40 can also apply braking force to the wheels of the host vehicle when the driver operates a brake pedal provided on the host vehicle.

[0035] The steering device 50 is a device for steering the host vehicle. The steering device 50 includes a steering ECU 51, a steering actuator 52, and a steering mechanism 53. The steering ECU 51 is electrically connected to the steering actuator 52 so as to control the operation of the steering actuator 52. The steering mechanism 53 includes a steering wheel, a steering shaft, a steering gearbox, a tie rod, etc. The steering mechanism 53 is configured to steer the steered wheels by rotating the steering wheel. The steering actuator 52 is, for example, an electric motor, and is connected to the steering mechanism 53 so as to apply power to the steering mechanism 53 for steering the steered wheels. The steering actuator 52 can also be configured to generate a steering assist force that assists the driver in operating the steering wheel. The steering ECU 51 controls the operation of the steering actuator 52, thereby controlling the operation of the steering mechanism 53. Therefore, the steering ECU 51 can control the steering angle of the steered wheels of the host vehicle by controlling the steering actuator 52. In addition, while automatic parking control or remote parking control is being performed, the parking assist ECU 10 can control the steering actuator 52 via the steering ECU 51 so that the steering angle of the steered wheels matches the target steering angle by transmitting a steering control signal including information representing the target steering angle to the steering ECU 51.

[0036] The shift-changing device 60 changes the shift position (gear stage) of the transmission 34. In this example, the shift positions include at least a park position, a neutral position, a forward position, and a reverse position. When the shift position is the park position, the shift-changing device 60 mechanically locks the wheels so that driving force is not transmitted to the drive wheels and the wheels cannot rotate. Specifically, when the shift position is in the park position, the output shaft of the transmission 34 is locked so that the output shaft does not rotate. This state is also referred to as a parking lock (P lock) state. When the shift position is in the neutral position, the shift-changing device 60 does not transmit driving force to the drive wheels. However, when the shift position is in the neutral position, the shift-changing device 60 does not mechanically lock the wheels. When the shift position is in the forward position, the shift-changing device 60 transmits driving force to the drive wheels to move the vehicle forward. When the shift position is in the reverse position, the shift-changing device 60 transmits driving force to the drive wheels to move the vehicle backward.

[0037] The shift switching device 60 includes an SBW-ECU 61, a shift lever sensor 62, an SBW actuator 63, and a shift switching mechanism 64. SBW is an abbreviation for shift-by-wire. The SBW-ECU 61 is connected to the shift lever sensor 62 and the SBW actuator 63. The shift lever sensor 62 detects the position of the shift lever. The SBW-ECU 61 receives the position of the shift lever from the shift lever sensor 62 and controls the SBW actuator 63 based on the shift lever position. The SBW actuator 63 operates the shift switching mechanism 64 in response to a command from the SBW-ECU 61, and switches the shift position of the transmission 34 to one of a plurality of shift positions (parking position, neutral position, forward position, and reverse position). In addition, the parking assist ECU 10 can control the SBW actuator 63 via the SBW-ECU 61 so that the shift position coincides with the target shift position by transmitting a shift control signal including information representing the target shift position to the SBW-ECU 61 while automatic parking control or remote parking control is being executed.

[0038] The display device 70 includes a display ECU 71 and a display 72. The display ECU 71 is connected to the display 72 so as to be able to control the display 72. An example of the display 72 is a multi-information display attached to an instrument panel provided in front of the driver's seat of the host vehicle. The parking assist ECU 10 can control the display device 70 so that predetermined image information is displayed on the display 72 by transmitting a predetermined display control signal to the display ECU 71. The display device 70 is an example of an alarm device. In addition to or instead of the display device 70, an example of the alarm device is a speech device or a sound generating device that generates voice or sound.

[0039] The navigation device 80 includes a navigation ECU 81 and a GPS receiver 82. The GPS receiver 82 receives GPS signals to detect the latitude and longitude of the vehicle's current position. The navigation device 80 also includes a map database that stores map information. The navigation ECU 81 performs various calculations based on the latitude and longitude of the vehicle obtained from the GPS signals received by the GPS receiver 82, as well as the map information, to identify the vehicle's position on the map. The identified vehicle position is transmitted to the parking assistance ECU 10 and used for automatic parking control or remote parking control.

[0040] The communication ECU 90 includes a communication device. The communication ECU 90 is configured to be able to transmit and receive signals representing predetermined information to and from an external communication device, such as a smartphone 100, via wireless communication. A remote parking application used when parking the vehicle by remote parking control is installed on the smartphone 100 as an application that realizes functions related to the parking assistance device 1 according to the present disclosure. When parking the vehicle by remote parking control, a user of the smartphone 100, for example, a driver of the vehicle, launches the remote parking application outside the vehicle and performs a predetermined operation. This causes a remote control permission signal to be transmitted from the smartphone 100. This remote control permission signal is received by the communication ECU 90.

[0041] When parking the vehicle using the parking assistance device 1 having the above configuration, the driver moves the vehicle to the vicinity of a predetermined target parking spot. Then, the driver temporarily stops the vehicle near the target parking spot. The temporary stopping position is preferably a position where the sonar sensor 21 and camera sensor 22 of the vehicle can acquire information about the target parking spot and its surroundings.

[0042] After temporarily stopping the vehicle at a predetermined position near the target parking spot, the driver presses the control request switch 23. This control request switch 23 is provided below a display 72 embedded in an instrument panel provided inside the vehicle, for example, as shown in FIG.

[0043] When the parking assistance ECU 10 detects that the control request switch 23 has been pressed, the parking assistance ECU 10 determines that the driver intends to park the host vehicle in the target parking spot. The parking assistance ECU 10 then executes a process for detecting an available parking area. In the process, the parking assistance ECU 10 acquires information about objects present around the host vehicle as object information based on information acquired from the sonar sensor 21 and the camera sensor 22. The parking assistance ECU 10 plots the object information on a two-dimensional map. This two-dimensional map may be, for example, a planar map in which the center position G of the host vehicle is the origin, the X axis extends from the origin in the longitudinal direction of the host vehicle, and the Y axis extends from the origin in the width direction of the host vehicle. Here, the center position G of the host vehicle is the intersection of an axis parallel to the longitudinal direction of the host vehicle that passes through the center of the host vehicle in the width direction, and an axis parallel to the width direction of the host vehicle that passes through the center of the host vehicle in the longitudinal direction. The object identified by the object information depicted on the two-dimensional map is recognized by the parking assist ECU 10 as a three-dimensional object.

[0044] Furthermore, the parking assistance ECU 10 acquires display information of the surrounding area of ​​the host vehicle based on the image data acquired from the camera sensor 22, and detects parking frame lines displayed on the road surface in the surrounding area of ​​the host vehicle from the acquired display information. The parking assistance ECU 10 draws the detected parking frame lines on the above-mentioned two-dimensional map. The parking frame lines drawn on the two-dimensional map are recognized by the parking assistance ECU 10 as non-three-dimensional objects.

[0045] The parking assistance ECU 10 detects an "object-free area" around the host vehicle based on object information shown on the two-dimensional map and information on parking frame lines displayed on the road surface. If an object-free area has a size and shape that allows the host vehicle to be parked, the parking assistance ECU 10 determines the area as a parking area. For example, a parking area is an area sandwiched between two parking frame lines or two objects, where no objects exist and the planar shape of the host vehicle can be included.

[0046] Fig. 5 shows an example of a plan view represented by a two-dimensional map. As shown in Fig. 5, the host vehicle (vehicle 1000) is stopped in front of a space occupying an object-free area S sandwiched between two parallel parking frame lines 201 and 202. In addition, other vehicles 2001 and 2002 are parked adjacent to both sides of the space. When such a two-dimensional map is drawn, the parking assistance ECU 10 detects the area S sandwiched between the two parking frame lines 201 and 202 as an area where no objects exist around the host vehicle. Then, the parking assistance ECU 10 detects an area that has a size and shape that allows the host vehicle to be parked as a parking available area, among the areas where no objects exist around the host vehicle.

[0047] After detecting a parking area by executing the parking area detection process, the parking assistance ECU 10 sets a target parking spot. Here, if only one parking area is detected by executing the parking area detection process, that parking area is set as the target parking spot. Also, if multiple parking areas are detected by executing the parking area detection process, one of the multiple parking areas is set as the target parking spot. In this case, the set target parking spot may be configured to be changeable.

[0048] Next, the parking assistance ECU 10 executes a width calculation process. The execution of the width calculation process calculates the width M of the target parking spot. Here, the width of the target parking spot refers to the width of the side defining the parking spot that is the vehicle's entrance. For example, as shown in FIG. 5, if the target parking spot PS is a rectangular area S defined by two parking frame lines, the width M of the target parking spot PS is the length of the short side S1, which is one of the two parallel short sides defining the area S and is closer to the vehicle. The length of this short side S1 is the distance between the two parking frame lines. The parking assistance ECU 10 can recognize the two parking frame lines defining the target parking spot based on information acquired from the camera sensor 22, which is the surroundings information sensor 20A equipped on the vehicle. Therefore, the parking assistance ECU 10 can calculate the width M based on the information about the parking frame lines acquired from the camera sensor 22. For example, the parking assistance ECU 10 can calculate the width M of the target parking spot based on the coordinate values ​​of the two parking frame lines drawn on a two-dimensional map. When the target parking spot is defined by two parking frame lines, the frontage M of the target parking spot is equal to the width W of the target parking spot.

[0049] After calculating the frontage M of the target parking spot by executing the frontage calculation process, the parking assistance ECU 10 determines whether the calculated frontage M satisfies a condition that is met when the driver's disembarking space is narrow when the host vehicle is parked in the target parking spot by automatic parking control. Here, the driver's disembarking space can be defined as the volume of the space that the driver can occupy when disembarking from the host vehicle. Therefore, if the driver's side door is opened only slightly when disembarking, the disembarking space is narrow, and if the door is opened more widely, the disembarking space is wide. An example of a condition that is met when the disembarking space is narrow is when the frontage M is less than a predetermined distance threshold Mth.

[0050] For example, if the vehicle width is 1.7 m and the calculated target parking spot entrance M is 2.5 m, the distance obtained by subtracting the vehicle width from the entrance M is 80 cm. When parking the vehicle in a target parking spot using automatic parking control, the vehicle enters the target parking spot through the entrance M and is parked in the target parking spot so that the front or rear end of the vehicle faces the target parking spot entrance M and the width of the vehicle is approximately aligned with the width of the target parking spot. Figure 6 shows the vehicle parked in the target parking spot PS by automatic parking control, indicated by a dashed line on the two-dimensional map shown in Figure 5. As shown in Figure 6, the vehicle (vehicle 1000) is parked approximately in the center of the target parking spot PS in the width direction (W direction in Figure 5). At this time, the vehicle is parked in the center of the target parking spot so that the available space on the right and left sides of the vehicle within the target parking spot is approximately equal. Therefore, assuming that the target parking spot's frontage M is the same as the target parking spot's width, the vehicle width of the vacant space on the driver's side of the host vehicle within the target parking spot is 40 cm. If the driver's seat of the host vehicle is in the front right seat, the vehicle width of the vacant space on the driver's side of the host vehicle is indicated by distance L in Figure 6. Furthermore, if the driver's side door of the host vehicle parked in the target parking spot is opened so that it extends beyond the target parking spot, the driver's side door of the host vehicle may come into contact with an object adjacent to the target parking spot or another vehicle parked adjacent to the target parking spot. To prevent such contact, the driver's side door of the host vehicle is opened within the target parking spot. Therefore, in the above example, the maximum vehicle widthwise opening distance of the driver's side door of the host vehicle is 40 cm. If the maximum vehicle widthwise door opening distance is 40 cm, the driver's exit space is considered to be narrow. In other words, if the frontage M is 2.5 m, the exit space can be determined to be narrow.

[0051] On the other hand, if the vehicle width is 2.0 m and the calculated target parking spot entrance M is 4.0 m, the length obtained by subtracting the vehicle width from the entrance M is 2.0 m. In this case, when the vehicle is parked in the target parking spot using automatic parking control, the length of the open space on the driver's side of the vehicle in the vehicle width direction within the target parking spot is 1.0 m. Therefore, when the driver's side door of the vehicle is opened within the target parking spot, the maximum opening amount of the driver's side door in the vehicle width direction is 1.0 m. If the maximum door opening amount in the vehicle width direction is 1.0 m, it is considered that the driver's disembarkation space is large. In other words, if the entrance M is 4.0 m, it can be determined that the disembarkation space is large.

[0052] Thus, the width M of the target parking spot is related to the size of the driver's disembarking space when the host vehicle is parked at the target parking spot through automatic parking control. The smaller the width M of the target parking spot, the narrower the driver's disembarking space tends to be. Therefore, the condition that the width M of the target parking spot is less than the predetermined distance threshold Mth is a condition that is met when the driver's disembarking space is narrow when the host vehicle is parked at the target parking spot through automatic parking control (a condition indicating a narrow disembarking space). In other words, the parking assistance ECU 10 can determine whether the calculated width M is less than the distance threshold Mth and thus whether the driver's disembarking space is narrow when the host vehicle is parked at the target parking spot through automatic parking control.

[0053] Furthermore, if the vehicle width of the host vehicle is small, the drop-off space may be large even if the entrance M of the target parking spot is relatively small. In this case, the distance threshold Mth can be set relatively small. Conversely, if the vehicle width of the host vehicle is large, the drop-off space may be small even if the entrance M is relatively large. In this case, the distance threshold Mth must be set sufficiently large. In this way, it is preferable to set the distance threshold Mth according to the vehicle width of the host vehicle. For example, the distance threshold Mth can be set to be larger as the vehicle width of the host vehicle increases.

[0054] Furthermore, the condition that is met when the disembarking space is narrow may be, for example, a condition that the ratio B of the calculated entrance M to the vehicle width, i.e., the value obtained by dividing the calculated entrance M by the vehicle width, is less than a predetermined ratio threshold Bth. In this case, the parking assistance ECU 10 can determine whether the driver's disembarking space will be narrow when the vehicle is parked in the target parking spot by automatic parking control, depending on whether the ratio B is less than the predetermined ratio threshold Bth. The ratio threshold Bth can be set to a value in the range of, for example, 1.5 times or more and 2.0 times or less.

[0055] If the calculated width M or the magnification B of the width M to the vehicle width is equal to or greater than a predetermined threshold (distance threshold Mth or magnification threshold Bth), the condition that the driver's disembarking space is narrow is not met. In this case, the parking assistance ECU 10 determines that the disembarking space is wide. On the other hand, if the calculated width M or magnification B is less than the predetermined threshold (distance threshold Mth or magnification threshold Bth), the condition that the driver's disembarking space is narrow is met. In this case, the parking assistance ECU 10 determines that the disembarking space is narrow.

[0056] The parking assistance ECU 10 executes a first display process when it determines that the disembarking space is large. In the first display process, the parking assistance ECU 10 generates surrounding image information using image data acquired from the camera sensor 22. The image generated based on the surrounding image information is called a "surrounding image." The surrounding image is an image corresponding to at least a portion of the area around the host vehicle, and includes a camera viewpoint image and a virtual viewpoint image.

[0057] The camera viewpoint image is an image starting from the position where each lens of a plurality of camera devices is disposed. The virtual viewpoint image is an image of the host vehicle and its surroundings viewed from a virtual viewpoint set at any position around the host vehicle. Methods for generating virtual viewpoint images are well known (see, for example, Japanese Patent Application Laid-Open Nos. 2012-217000, 2016-192772, and 2018-107754).

[0058] The parking assistance ECU 10 controls the display device 70 so that a predetermined peripheral image from among the generated peripheral images is displayed on the display 72. As a result, a first peripheral display image is displayed on the display 72. The first peripheral display image is an image that is displayed to start the execution of automatic parking control. FIG. 7 shows an example of the first peripheral display image that is displayed on the display 72. As shown in FIG. 7, the first peripheral display image G10 includes a first viewpoint image G11 and a second viewpoint image G12. The first viewpoint image G11 is an image displayed in the left area of ​​the first peripheral display image G10, and the second viewpoint image G12 is an image displayed in the right area of ​​the first peripheral display image G10.

[0059] The first viewpoint image G11 is a virtual viewpoint image of the target parking spot PS viewed from slightly above the temporary stopping position of the host vehicle. The first viewpoint image G11 also displays an image of the periphery of the target parking spot PS. For example, as shown in FIG. 7, the first viewpoint image G11 displays portions of other vehicles 2001 and 2002 parked on both sides of the target parking spot PS. The first viewpoint image G11 also displays an image V showing a portion of the host vehicle at the temporary stopping position of the host vehicle. Furthermore, the first viewpoint image G11 may display an image H showing the host vehicle parked in a predetermined area of ​​the target parking spot PS.

[0060] The second viewpoint image G12 is a virtual viewpoint image in which the surrounding area of ​​the host vehicle, including the target parking spot PS, is viewed from directly above the host vehicle. As shown in FIG. 7, the second viewpoint image G12 displays the host vehicle (vehicle 1000), a portion of the target parking spot PS, and other vehicles adjacent to the target parking spot PS. Also, a parking position display symbol C1 marked with "P" is displayed in the second viewpoint image G12. The area indicated by this parking position display symbol C1 is the available parking area. When there is one available parking area indicated by the parking position display symbol C1, the available parking area indicated by the parking position display symbol C1 is the target parking spot PS. When there are multiple available parking areas indicated by the parking position display symbol C1, one of the available parking areas indicated by the multiple parking position display symbols C1 is the target parking spot PS. The parking position display symbol C1 corresponding to the target parking spot PS is displayed in a different display format from the parking position display symbol C1 corresponding to the available parking area that is not the target parking spot PS. For example, the background color of the parking position display symbol C1 corresponding to the target parking spot PS is blue, and the background color of the parking position display symbol C1 corresponding to a parking available area that is not the target parking spot PS is white.

[0061] Furthermore, a control start icon C2 is displayed in the lower area of ​​the second viewpoint image G12. When this control start icon C2 is tapped, a control start signal for automatic parking control is transmitted from the display ECU 71 to the parking assistance ECU 10. Furthermore, a remote parking icon C3, a setting icon C4, etc. are displayed in the area on the right side of the second viewpoint image G12.

[0062] When the control start icon C2 is tapped to send a control start signal for automatic parking control to the parking assist ECU 10, the parking assist ECU 10 starts executing automatic parking control. When execution of automatic parking control is started, the parking assist ECU 10 calculates a guide path for moving the center position G of the host vehicle, which is in a temporary stop position, to a predetermined target parking position C within the target parking spot PS and for the host vehicle to stop at that position in a predetermined orientation. The guide path is calculated according to a pre-set parking mode. For example, in a backward parallel parking mode in which the host vehicle reverses and parks parallel, the parking assist ECU 10 calculates a forward path R1 and a backward path R2, as shown in FIG. 8. The forward path R1 is a path along which the center position G of the host vehicle moves forward from the temporary stop position to a turning point P1. The backward path is a path along which the center position G of the host vehicle moves backward from the turning point P1 to a target parking position C within the target parking spot PS.

[0063] The guided route is calculated so that the vehicle can move from the temporary stopping position to a predetermined parking area within the target parking spot PS without coming into contact with any object. For example, the guided route is calculated as a route that allows the vehicle to move from the temporary stopping position to a predetermined parking area within the target parking spot PS while maintaining a predetermined distance between the vehicle and an object such as a fence or an adjacent vehicle.

[0064] After calculating the guidance route, the parking assistance ECU 10 determines the direction of movement of the vehicle (specifically, the target shift position of the transmission 34), the steering angle pattern, and the speed pattern in order to move the vehicle along the guidance route.

[0065] When the parking assistance ECU 10 has determined the direction of movement of the vehicle, it transmits a shift control signal including information indicating the determined target shift position via the CAN to the SBW-ECU 61. When the SBW-ECU 61 receives the shift control signal from the parking assistance ECU 10, it drives the SBW actuator 63 to operate the shift switching mechanism 64 so that the shift position of the transmission 34 is changed to the target shift position specified by the shift control signal.

[0066] The steering angle pattern is data that associates the steering angle with the center position G of the host vehicle on the guided route, and represents a pattern of change in the target steering angle when the center position G of the host vehicle moves along the guided route. When the parking assistance ECU 10 determines the steering angle pattern, it transmits a steering control signal including information representing the target steering angle to the steering ECU 51 via the CAN in accordance with the determined steering angle pattern. When the steering ECU 51 receives the steering control signal from the parking assistance ECU 10, it drives the steering actuator 52 so that the steering angle of the host vehicle coincides with the target steering angle corresponding to the center position G of the host vehicle on the guided route.

[0067] The speed pattern is data that associates the center position G of the host vehicle on the guided route with the vehicle speed, and represents a pattern of change in the target vehicle speed as the host vehicle's center position G moves along the guided route. The speed pattern is set so that the vehicle speed will match a predetermined final target vehicle speed when the host vehicle's center position G reaches the target parking position C. The final target vehicle speed may be zero. After determining the speed pattern, the parking assistance ECU 10 transmits, via the CAN, a drive control signal including information representing a target drive force to the drive ECU 31 and a brake control signal including information representing a target braking force to the brake ECU 41 so that the host vehicle's speed matches the target vehicle speed corresponding to the host vehicle's center position G on the guided route. When the drive ECU 31 receives the drive control signal from the parking assistance ECU 10, it controls the drive actuator 32 so that the drive force of the drive source 33 matches the target drive force. When the brake ECU 41 receives the brake control signal from the parking assistance ECU 10, it controls the brake actuator 42 so that the braking force matches the target braking force.

[0068] In this manner, the parking assist ECU 10 transmits control signals to each ECU, thereby controlling the drive unit 30, the braking unit 40, the steering unit 50, and the shift-switching unit 60 so that the host vehicle moves along the guided path. Thus, the parking assist device 1 assists the host vehicle in moving the host vehicle to park it at the target parking spot PS. At this time, the driver is seated in the driver's seat of the host vehicle. Therefore, the driver in the host vehicle also moves along the guided path. Then, when the center position G of the host vehicle reaches the target parking position C within the target parking spot PS, the parking assist ECU 10 executes an end process. In the end process, the parking assist ECU 10 activates the SBW actuator 63 so that the shift position of the host vehicle is in the parking position. This causes the host vehicle to be placed in a parking lock. Furthermore, in the end process, the parking assist ECU 10 controls the display device 70 or the speech device so that the display 72 displays a message indicating that the host vehicle has been parked, or the speech device issues a voice guidance indicating that the host vehicle has been parked. After the end process is performed, the parking assist ECU 10 ends the automatic parking control.

[0069] If a predetermined termination condition is met during execution of the automatic parking control, the parking assist ECU 10 terminates the execution of the automatic parking control. Specifically, the termination condition is met when the driver starts to operate one or more of the accelerator pedal, brake pedal, steering wheel, and shift lever of the host vehicle during execution of the automatic parking control.

[0070] If the automatic parking control ends without satisfying the termination condition, the driver exits the vehicle parked in a predetermined area within the target parking spot PS. Here, the entrance M calculated by executing the entrance calculation process described above, or the ratio B of the entrance M to the vehicle width, is equal to or greater than a threshold value, so it is determined that the driver's exit space is large. Therefore, the driver who parks the vehicle in the target parking spot PS can open the driver's side door without coming into contact with adjacent vehicles and exit the vehicle with ease.

[0071] The above-described automatic parking control is executed by tapping the control start icon C2 in the first peripheral display image G10. On the other hand, if the control start icon C2 is not tapped but the remote parking icon C3 in the first peripheral display image G10 is tapped, the display ECU 71 transmits a remote parking request signal to the parking assistance ECU 10. When the parking assistance ECU 10 receives the remote parking request signal, it controls the display device 70 so that a mode setting image is displayed on the display 72. FIG. 9 shows an example of the mode setting image. As shown in FIG. 9, the mode setting image G20 displays a first mode selection image G21 and a second mode selection image G22. When the first mode selection image G21 is tapped, a parking mode in which the host vehicle is parked in a predetermined parking space by moving the host vehicle forward or backward is selected. When the second mode selection image G22 is tapped, a parking mode in which the host vehicle is parked perpendicularly or perpendicularly is selected. The driver of the host vehicle can select a parking mode by tapping either the first mode selection image G21 or the second mode selection image G22. In this embodiment, the second mode selection image G22 is tapped. When the first mode selection image G21 or the second mode selection image G22 is tapped, the parking assist ECU 10 stores the selected parking mode and executes a second display process, which will be described later.

[0072] Furthermore, as described above, the parking assistance ECU 10 determines that the driver's disembarkation space is narrow if the entrance M or magnification B calculated by executing the entrance calculation process is less than a threshold value. When the parking assistance ECU 10 determines that the disembarkation space is narrow, it determines whether an adjacent parking spot exists, which is a parking available area adjacent to the target parking spot and is a parking available area adjacent to the driver's seat side of the host vehicle when the host vehicle is parked at the target parking spot by automatic parking control. The existence of an adjacent parking spot can be determined by executing the parking available area detection process described above. Even if an area adjacent to the target parking spot is defined by, for example, two parking frame lines, if an object such as another vehicle exists in that area, that area is not a parking available area and therefore is not an adjacent parking spot.

[0073] If it is determined that an adjacent parking spot exists, the parking assistance ECU 10 executes the first display process described above. On the other hand, if it is determined that an adjacent parking spot does not exist, the parking assistance ECU 10 executes a suggestion image display process. In the suggestion image display process, the parking assistance ECU 10 controls the display device 70 to display a remote parking suggestion image on the display 72.

[0074] FIG. 10 shows an example of a remote parking proposal image displayed on the display 72. As shown in FIG. 10, the remote parking proposal image G30 includes a first character image G31 and a second character image G32 each composed of a predetermined character string. The character string constituting the first character image G31 indicates information indicating that the exit space for the driver to exit the vehicle is small if the vehicle is parked at the target parking spot PS by executing automatic parking control. The character string constituting the second character image G32 indicates content encouraging the driver to park the vehicle at the target parking spot PS by remote parking control rather than automatic parking control, i.e., proposal information (remote parking proposal information) suggesting remote parking control. The information represented by the first character image G31 and the second character image G32 is information related to the size of the exit space for the driver if the vehicle is parked at the target parking spot by automatic parking control.

[0075] Further, an affirmative icon C5 and a negation icon C6 are displayed on the remote parking proposal image G30. The affirmative icon C5 is provided to notify the parking assistance ECU 10 that the proposal to park the host vehicle by remote parking control is agreed to. The negation icon C6 is provided to notify the parking assistance ECU 10 that the host vehicle will be parked by automatic parking control without executing remote parking control. When the negation icon C6 is tapped, a negation signal is sent from the display ECU 71 to the parking assistance ECU 10. When the parking assistance ECU 10 receives the negation signal, it executes the first peripheral display process described above. On the other hand, when the affirmative icon C5 is tapped, a negation signal is sent from the display ECU 71 to the parking assistance ECU 10. When the parking assistance ECU 10 receives the negation signal, it executes the second display process.

[0076] In the second display process, the parking assistance ECU 10 controls the display device 70 to display a second peripheral display image on the display 72. The second peripheral display image is an image displayed to start the execution of remote parking control. FIG. 11 shows an example of the second peripheral display image. As shown in FIG. 11, the second peripheral display image G40 is basically the same as the first peripheral display image G10. The differences are that a character image G41 consisting of the character string "RemotoPark" is displayed at the top of the first viewpoint image G11, a remote parking icon C3 displayed at the right of the second viewpoint image G12 is highlighted, and a setting completion icon C7 is displayed at the bottom of the second viewpoint image G12 instead of the control start icon C2. Note that when the affirmative icon C5 of the remote parking suggestion image G30 is tapped, the display 72 displays the second peripheral display image G40 without displaying the mode setting image G20 shown in FIG. 9. In this case, the parking assistance ECU 10 sets the optimal parking mode. This eliminates the need for the driver to set the parking mode, improving convenience.

[0077] When the setting completion icon C7 is tapped, the display ECU 71 transmits a control start signal for remote parking control to the parking assistance ECU 10. When the parking assistance ECU 10 receives the control start signal for remote parking control, it starts executing the remote parking control. When the execution of the remote parking control starts, the parking assistance ECU 10 first calculates the above-mentioned guide route. Next, the parking assistance ECU 10 controls the display device 70 so that a message urging the driver to get out of the host vehicle is displayed on the display 72. Alternatively, the parking assistance ECU 10 controls a speech device provided in the host vehicle so that audio guidance urging the driver to get out of the vehicle is played from the speech device. This causes the driver to get out of the host vehicle, which is temporarily stopped at a stop position.

[0078] Thereafter, the driver starts the remote parking application installed on the smartphone 100 carried by the driver at a predetermined position outside the vehicle. When the remote parking application starts, a predetermined initial image is displayed on the smartphone 100. In this state, the driver performs a predetermined authentication operation (input of a login ID and password). When the authentication operation is completed, a connection between the smartphone 100 and the parking assistance ECU 10 is established. Thereafter, the smartphone 100 displays an operation image G50 shown in FIG. 12. A ring-shaped dial image G51 and an end icon C8, which is an image for ending the remote parking control, are displayed on the operation image G50.

[0079] When the driver, while positioned outside the vehicle, rotates his / her finger (rotation operation) as if tracing the dial image G51 in the operation image G50 displayed on the smartphone 100, the smartphone 100 transmits a remote control permission signal that permits the vehicle to proceed along the guided route. This remote control permission signal is received by the parking assistance ECU 10 via the communication ECU 90. The remote control permission signal is transmitted while the driver is performing the rotation operation. When the driver stops the rotation operation, the transmission of the remote control permission signal stops. While receiving the remote control permission signal, the parking assistance ECU 10 supplies control signals to the drive unit 30, the brake unit 40, the steering unit 50, and the shift switching unit 60 to move the vehicle along the guided route. As a result, the drive unit 30, the brake unit 40, the steering unit 50, and the shift switching unit 60 are controlled so that the vehicle moves along the guided route.

[0080] When the center position G of the host vehicle reaches the target parking position C within the target parking spot PS as a result of the remote parking control, the parking assist ECU 10 executes an end process. In the end process, the parking assist ECU 10 controls the SBW actuator 63 so that the shift position of the host vehicle is set to the parking position. Furthermore, the parking assist ECU 10 controls the door ECU (not shown in FIG. 1) so that the doors of the host vehicle are locked. This causes the host vehicle to be locked. After executing the end process described above, the parking assist ECU 10 ends the remote parking control.

[0081] If a predetermined termination condition is met during execution of the remote parking control, the parking assistance ECU 10 terminates the execution of the remote parking control. Specifically, the termination condition is met when the end icon C8 in the operation image G50 of the smartphone 100 is tapped. The termination condition is also met when the driver gets into the vehicle and begins to operate one or more of the accelerator pedal, brake pedal, steering wheel, and shift lever of the vehicle. The termination condition is also met when the duration of a state in which communication between the parking assistance ECU 10 and the smartphone 100 is interrupted (a state in which the user does not rotate the smartphone 100) exceeds a threshold.

[0082] 13 is a flowchart showing an example of the flow of a parking assistance processing routine executed by the CPU 10a (hereinafter referred to as "CPU") of the parking assistance ECU 10 in order to execute the automatic parking control and remote parking control described above. The parking assistance processing routine shown in this flowchart is started when the control request switch 23 is pressed. When the parking assistance processing routine is started, the CPU starts execution of this parking assistance processing routine from step (hereinafter, step will be abbreviated as S) 100, and proceeds to S101.

[0083] The CPU executes a parking area detection process in S101. Next, the CPU proceeds to S102 to determine whether a parking area has been detected in the parking area detection process. If it determines that a parking area has not been detected (S102: No), the CPU proceeds to S120. In S120, the CPU controls the display device 70 to display a message on the display 72 indicating that there is no parking area around the host vehicle or that the host vehicle cannot be parked around the host vehicle. Thereafter, the CPU proceeds to S121 to end this routine.

[0084] If it is determined in S102 that a parking area has been detected (S102: Yes), the CPU proceeds to S103. In S103, the CPU sets a target parking spot. Next, the CPU proceeds to S104. In S104, the CPU executes a width calculation process to calculate the width M of the target parking spot PS. Next, the CPU proceeds to S105. In S105, the CPU determines whether the calculated width M is less than the distance threshold Mth. This determination determines whether the calculated width M satisfies a condition that is established when the driver's disembarking space is narrow when the host vehicle is parked at the target parking spot by automatic parking control. If it is determined that the width M is equal to or greater than the distance threshold Mth (S105: No), the CPU determines that the disembarking space is wide, and proceeds to S113. In S113, the CPU executes a first display process. As a result, a first peripheral display image G10 as shown in FIG. 7 is displayed on the display 72.

[0085] After executing the first display process in S113, the CPU proceeds to S114. In S114, the CPU determines whether or not it has received a control start signal for automatic parking control, which is transmitted from the display ECU 71 when the control start icon C2 in the first peripheral display image G10 displayed on the display 72 is tapped. If it determines that it has received a control start signal for automatic parking control (S114: Yes), the CPU proceeds to S115 and starts executing automatic parking control. As a result, the parking assistance device 1 assists the driver in moving the host vehicle to park the host vehicle in the target parking spot PS while the driver is seated in the driver's seat of the host vehicle. Specifically, the CPU controls the drive device 30, braking device 40, steering device 50, and shift switching device 60 of the host vehicle so that the host vehicle moves from the current temporary stop position along the guidance route to a predetermined parking area within the target parking spot PS.

[0086] Next, the CPU proceeds to S118. In S118, the CPU determines whether the center position G of the host vehicle has reached the target parking position C within the target parking spot PS. If it determines that the center position G of the host vehicle has not reached the target parking position C (S118: No), the CPU repeats the determination of S118. If it determines that the center position G of the host vehicle has reached the target parking position C (S118: Yes), the CPU proceeds to S119. In S119, the CPU executes an end process. By executing this end process, a notification is issued that parking of the host vehicle has been completed. Thereafter, the CPU proceeds to S121 and ends this program.

[0087] Furthermore, if it is determined in S114 that a control start request signal for automatic parking control has not been input (S114: No), the CPU proceeds to S116. In S116, the CPU determines whether or not a remote parking request signal has been received, which is transmitted from the display ECU 71 to the parking assistance ECU 10 when the remote parking icon C3 in the first peripheral display image G10 is tapped. If it is determined that a remote parking request signal has not been received (S116: No), the CPU returns to S114 and repeats the processes from S114 onward. On the other hand, if it is determined in S116 that a remote parking request signal has been received (S116: Yes), the CPU proceeds to S117. In S117, the CPU executes a parking mode setting process. As a result, a mode setting image G20 as shown in FIG. 9 is displayed on the display 72. The parking assistance ECU 10 stores the parking mode set by this mode setting image G20. Next, the CPU proceeds to S110. The process of S110 will be described later.

[0088] Furthermore, if it is determined in S105 that the frontage M is less than the distance threshold Mth (S105: Yes), the CPU determines that the drop-off space is narrow and proceeds to S106. In S106, the CPU determines whether a parking area has been detected in an area adjacent to the target parking spot that is adjacent to the driver's seat side of the vehicle when the vehicle is parked at the target parking spot by automatic parking control, i.e., whether an adjacent parking spot exists. If it is determined that an adjacent parking spot exists (S106: Yes), the CPU proceeds to S113 and executes the processes from S113 onwards. On the other hand, if it is determined that an adjacent parking spot does not exist (S106: No), the CPU proceeds to S107. Note that if another vehicle is parked in the adjacent parking spot, that area is not a parking area, and the determination result in S106 is No.

[0089] In S107, the CPU executes a suggestion image display process, whereby a remote parking suggestion image G30 as shown in FIG.

[0090] After executing the suggestion image display process in S107, the CPU proceeds to S108. In S108, the CPU determines whether or not a signal (positive signal or negative signal) transmitted from the display ECU 71 by tapping the positive icon C5 or negative icon C6 in the remote parking suggestion image G30 has been received. If it is determined that a signal has not been received (S108: No), the CPU repeats the determination of S108. If it is determined that a signal has been received (S108: Yes), the CPU proceeds to S109.

[0091] In S109, the CPU determines whether the received signal is a positive signal, i.e., whether the positive icon C5 of the remote parking suggestion image G30 has been tapped. If the CPU determines that the received signal is not a positive signal (S109: No), i.e., if the received signal is a negative signal, the CPU proceeds to S113 and executes the processes from S113 onwards.

[0092] If it is determined in S109 that the received signal is a positive signal (S109: Yes), the CPU proceeds to S110. In S110, the CPU executes a second display process. As a result, a second peripheral display image G40 as shown in FIG. 11 is displayed on the display 72.

[0093] Next, the CPU proceeds to S111. In S111, the CPU determines whether or not a control start signal for remote parking control has been received, which is transmitted from the display ECU 71 when the setting completion icon C7 in the second peripheral display image G40 is tapped. If the CPU determines that a control start signal for remote parking control has not been received (S111: No), the CPU repeats the determination of S111. If the CPU determines that a control start signal for remote parking control has been received (S111: Yes), the CPU proceeds to S112. In S112, the CPU starts executing remote parking control. As a result, while the driver is located outside the host vehicle, the parking assistance device 1 assists the driver in moving the host vehicle to park the host vehicle in the target parking spot PS. Specifically, the CPU first notifies the driver by displaying on the display 72 or by audio guidance that the driver will be getting off the host vehicle, which is located at the current position (temporary stopping position). If the CPU recognizes that the driver has gotten off the host vehicle upon receiving the notification, the CPU executes processes such as authentication with the smartphone 100 located outside the host vehicle. When the authentication process is completed, the CPU controls the drive unit 30, braking unit 40, steering unit 50, and shift switching unit 60 of the vehicle so that the vehicle moves to a specified parking area within the target parking spot PS while receiving a remote control permission signal transmitted from the smartphone 100.

[0094] After starting execution of remote parking control in S112, the CPU proceeds to S118. In S118, the CPU determines whether the center position G of the host vehicle has reached the target parking position C within the target parking spot PS. If it determines that the center position G of the host vehicle has not reached the target parking position C (S118: No), the CPU repeats the processing of S118. If it determines that the center position G of the host vehicle has reached the target parking position C (S118: Yes), the CPU proceeds to S119.

[0095] In S119, the CPU executes a termination process. When the termination process is completed, the CPU proceeds to S121 and ends this routine.

[0096] As described above, the parking assistance ECU 10 of the parking assistance device 1 according to this embodiment pre-calculates the frontage M of the target parking spot PS before starting execution of automatic parking control (before executing the process of S115) (S104). Then, if the frontage M satisfies the condition that is met when the driver's disembarking space is narrow if the host vehicle is parked at the target parking spot through automatic parking control, specifically, if the frontage M is less than a predetermined distance threshold Mth (S105: Yes), the parking assistance ECU 10 controls the display device 70 to display the remote parking suggestion image G30 on the display 72 before starting execution of automatic parking control (S107). This allows the driver of the host vehicle to park the host vehicle through remote parking control without parking the host vehicle through automatic parking control. This prevents the driver from repeatedly parking the host vehicle at the target parking spot PS because the driver finds that the disembarking space is narrow after parking the host vehicle at the target parking spot PS through automatic parking control. As a result, the parking time can be reduced.

[0097] Furthermore, the parking assistance ECU 10 of the parking assistance device 1 according to this embodiment calculates the width M of the target parking spot before the execution of automatic parking control starts (before the execution of the process of S114) and after it is determined that the driver intends to park the vehicle at the target parking spot (after the control request switch 23 is pressed), and controls the display device 70 so that the display 72 displays the remote parking suggestion image G30 if the calculated width M is less than the distance threshold Mth. This allows the driver of the vehicle to receive parking suggestions made by the remote parking control at the timing when the driver is to park the vehicle.

[0098] Furthermore, when the target parking spot is defined by two parallel parking frame lines, the parking assist ECU 10 of the parking assist device 1 according to this embodiment calculates the distance between the two parking frame lines as the entrance M. This allows the parking assist ECU 10 to relatively easily calculate the entrance M of the target parking spot based on information from the surroundings information sensor (camera sensor 22) when the host vehicle is located near the entrance of the target parking spot.

[0099] Furthermore, even if the frontage M calculated by executing the frontage calculation process is less than the predetermined distance threshold Mth (S105: Yes), the parking assistance ECU 10 of the parking assistance device 1 according to this embodiment does not execute the proposal image display process of S107 if there is a parking spot adjacent to the target parking spot (adjacent parking spot) that is adjacent to the driver's seat side of the vehicle when the vehicle is parked at the target parking spot by automatic parking control (S106: Yes). If there is an adjacent parking spot, even if the frontage of the target parking spot is narrow, the driver's seat door can be opened wide to enter the area within the adjacent parking spot. This provides a large disembarking space for the driver. Therefore, by not executing the proposal image display process in such cases to notify information related to the narrow disembarking space and / or proposal information, it is possible to prevent erroneous information from being displayed.

[0100] Although the embodiments of the parking assistance device according to the present disclosure have been described above, the parking assistance device according to the present disclosure should not be construed as being limited to the above embodiments. For example, in the above embodiments, when the calculated width M satisfies the condition that is met when the disembarking space is narrow, specifically when the width M or the magnification B is less than a predetermined threshold, the parking assistance ECU 10 controls the display device 70 to display on the display 72 a remote parking suggestion image G30 including a text image (G31) indicating that the disembarking space is narrow and a text image (G32) indicating that parking in the target parking spot using remote parking control is suggested. However, the parking assistance ECU 10 may control the display device 70 to display only information indicating that the disembarking space is narrow on the display 72, or may control the display device 70 to display only information suggesting remote parking control on the display 72.

[0101] Furthermore, in the above embodiment, when the calculated width M satisfies the condition that is met when the disembarking space is narrow, the parking assistance ECU 10 controls the display device 70 to display on the display 72 a remote parking suggestion image G30 including information suggesting parking at the target parking spot PS through remote parking control. However, the suggested information in this case is not limited to suggesting parking at the target parking spot through remote parking control. For example, the suggested information may be information suggesting parking the vehicle at a parking spot other than the target parking spot PS. Furthermore, the suggested information may be suggestion information that does not recommend parking at the target parking spot PS through automatic parking control.

[0102] Furthermore, in the above embodiment, the parking assistance ECU 10 executes the proposed image display process to control the display device 70 to display predetermined information when the calculated width M satisfies the condition that is met when the disembarking space is narrow. However, when the pre-calculated width M satisfies the condition that is met when the disembarking space is wide, for example, when the width M is equal to or greater than a predetermined distance threshold, the parking assistance ECU 10 can control the display device 70 to display information indicating that the disembarking space is wide, or information indicating that the wide disembarking space allows the driver to safely disembark if the host vehicle is parked at the target parking spot PS by automatic parking control. In other words, the parking assistance ECU 10 can control the display device 70 to display predetermined information on the display 72 according to the calculated width M.

[0103] Furthermore, the information displayed on the display 72 according to the calculated width M is not limited to the information shown in the above embodiment. For example, the parking assistance ECU 10 can also control the display device 70 so that the calculated width M is displayed on the display 72. That is, the parking assistance ECU 10 can control the display device 70 so that information related to the size of the space for the driver to get off when the host vehicle is parked in the target parking spot by automatic parking control is displayed on the display 72 according to the calculated width M.

[0104] Furthermore, in the above embodiment, the parking assistance ECU 10 controls the display device 70 in accordance with the calculated width M. However, the parking assistance ECU 10 can control a notification device other than the display device 70. For example, the parking assistance ECU 10 can control a speech device or a sound device so that information related to the size of the exit space is notified by voice or sound.

[0105] In this way, the present disclosure can be modified without departing from the spirit thereof. [Explanation of symbols]

[0106] 1...Parking assistance device, 10...Parking assistance ECU, 20...In-vehicle sensor, 20A...Surrounding information sensor, 21...Sonar sensor, 22...Camera sensor, 30...Drive device, 40...Braking device, 50...Steering device, 60...Shift switching device, 70...Display device, 80...Navigation device, 90...Communication ECU, 100...Smartphone, G30...Remote parking suggestion image, G31...First character image, G32...Second character image, M...Width of target parking spot, Mth...Distance threshold

Claims

1. a control device configured to execute automatic parking control that assists a driver of the vehicle in moving the vehicle to park the vehicle in a predetermined target parking spot while the driver is seated in the driver's seat of the vehicle; an alarm device controlled by the control device and configured to be able to notify predetermined information; A parking assistance device comprising: The control device Before the execution of the automatic parking control is started, the width of the target parking spot is calculated in advance, and when the calculated width satisfies a condition that is established when the driver's disembarking space is narrow when the host vehicle is parked at the target parking spot by the automatic parking control, the notification device is controlled so that the notification device issues information indicating that the disembarking space is narrow and / or suggestion information that suggests a parking method other than the parking method for parking the host vehicle at the target parking spot by executing the automatic parking control. It is structured as follows: Furthermore, the control device When the target parking spot is defined by two parallel parking frame lines, the distance between the two parking frame lines is calculated as the frontage; When there is an adjacent parking spot that is adjacent to the driver's seat side of the host vehicle and that has no object in the available parking area defined by two parking frame lines adjacent to the target parking spot when the host vehicle is parked at the target parking spot by the automatic parking control, the notification device is controlled so as not to notify the information indicating that the disembarking space is narrow and / or the suggested information. Parking assistance device.

2. 2. The parking assistance device according to claim 1, a surrounding information sensor that acquires information about objects or signs that exist around the vehicle; The control device calculates the frontage based on information acquired by the surrounding information sensor. Parking assistance device.

3. 3. The parking assistance device according to claim 1, The control device is configured to be able to execute remote parking control to assist a driver in moving the vehicle to park the vehicle in the target parking spot while the driver is located outside the vehicle, The proposal information is remote parking proposal information that proposes a parking method for parking the host vehicle at the target parking spot by the remote parking control. Parking assistance device.

4. 4. The parking assistance device according to claim 3, The control device controls the notification device to notify the remote parking suggestion information when a condition that the calculated frontage or a ratio of the calculated frontage to the vehicle width of the host vehicle is less than a predetermined threshold is satisfied. Parking assistance device.

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