Parking assistance device and parking assistance method

Abstract

To set vehicular behavior to a state suited for travel by automatic operation, when a vehicle travels automatically on a travel route based on teacher travel.SOLUTION: A parking support device performs automatic travel of a vehicle based on teacher travel by a driver. The parking support device comprises a learning part, a change part, a vehicle control part, and an output control part. The learning part learns a travel route, the speed, the steering angle of the vehicle, and a brake operation for parking the vehicle at a parking position, based on teacher travel by a driver. The change part changes the speed or brake operation in automatic travel from the speed or brake operation in the teacher travel, based on either regulations related to automatic travel or geographical information. The change part changes the speed or the brake operation of automatic travel on the travel route learned in the teacher travel. The vehicle control part moves the vehicle by automatic operation based on the travel route. The output control part notifies a vehicle occupant when the speed or the brake operation has been changed.SELECTED DRAWING: Figure 5

Claims

1. A parking assist system that performs automatic vehicle driving based on driver-guided driving, A learning unit learns the driving path for parking the vehicle in the parking position, as well as the speed, steering angle, and braking action of the vehicle during the aforementioned teacher driving, based on the aforementioned teacher driving. A modification unit that changes the speed or braking operation during the vehicle's automatic driving from the speed or braking operation during the teacher driving, based on either the regulations concerning the vehicle's automatic driving or geographic information concerning the road conditions around the vehicle. A vehicle control unit that moves the vehicle by automatic driving based on the aforementioned travel path, An output control unit that notifies the occupant of the vehicle that the vehicle will behave differently from the trained vehicle when the modified unit changes the speed or the braking operation, Equipped with, The modification of the speed or braking operation during the automatic driving of the vehicle by the modification unit includes changing the speed of the vehicle during automatic driving on the driving path learned in the teacher driving from the speed in the teacher driving, or changing the braking operation of the vehicle so that the vehicle makes a stop at locations on the driving path where the vehicle did not make a stop during the teacher driving. Parking assist device.

2. The provisions concerning the automatic driving of the aforementioned vehicle are provisions concerning the speed of the vehicle or whether a temporary stop is required when the vehicle is driving automatically. The parking assistance device according to claim 1.

3. The regulations concerning the automated driving of the aforementioned vehicle shall be stipulated by law or standard. Parking assistance device according to claim 1 or 2.

4. The regulations concerning the autonomous driving of the aforementioned vehicle are based on the ride comfort of the occupants or the impact on those around the vehicle during autonomous driving. Parking assistance device according to claim 1 or 2.

5. The vehicle control unit moves the vehicle to the parking position by automatic driving based on the speed or braking operation changed by the modification unit. A parking assistance device according to any one of claims 1 to 4.

6. The modification unit performs a change to the speed or the braking operation when automatic driving based on the driving path is initiated. A parking assistance device according to any one of claims 1 to 5.

7. The modification unit performs a change to the speed or the braking operation when the driving path is generated based on the teacher's driving. A parking assistance device according to any one of claims 1 to 6.

8. The modification unit changes the speed or braking action of the vehicle during automatic driving from the speed or braking action during the teacher driving, based on a trained model in which map information and stopping positions have been learned. A parking assistance device according to any one of claims 1 to 7.

9. The aforementioned teacher drive is a drive in which the driver manually moves the vehicle from a starting position outside the parking position to the parking position. The learning unit learns the starting position of the driving in the teacher's driving as the starting position of the driving path. A parking assistance device according to any one of claims 1 to 8.

10. The aforementioned teacher drive is a drive in which the driver manually moves the vehicle from the parking position to the teacher drive end position outside the parking position. The learning unit learns the route in which the vehicle travels in the opposite direction to the teacher's journey, with the teacher's journey ending position as the starting position of the journey path. A parking assistance device according to any one of claims 1 to 8.

11. The speed of the vehicle during automatic driving, as modified by the aforementioned modification, is slower than the speed of the vehicle during the teacher's driving. The vehicle's speed during autonomous driving is slower than 10 km / h. A parking assistance device according to any one of claims 1 to 10.

12. The modified part is located on the driving path learned during the teacher driving, and modifies the braking action of the vehicle so that the vehicle stops at locations where it did not stop during the teacher driving. A parking assistance device according to any one of claims 1 to 11.

13. The modified part is located on the driving path learned during the teacher driving, and modifies the braking action of the vehicle so that the vehicle does not stop at locations where the vehicle stopped during the teacher driving. The parking assistance device according to claim 12.

14. A learning step in which the system learns the driving path for parking the vehicle in the parking position, as well as the speed, steering angle, and braking action of the vehicle during the teacher's driving, based on the teacher's driving; A modification step in which the speed or braking action in the automated driving of the vehicle is changed from the speed or braking action in the training drive, based on either the regulations relating to the automated driving of the vehicle or geographic information relating to the road conditions around the vehicle, A vehicle control step in which the vehicle is moved by automatic driving based on the aforementioned travel path, An output step that notifies the occupant of the vehicle that the vehicle will behave differently from the teacher's driving when the speed or braking action is changed in the modification step, Includes, The modification step involves changing the speed of the vehicle during automatic driving on the driving path learned during the teacher driving, or changing the braking action of the vehicle so that the vehicle comes to a temporary stop. Parking assistance methods.

15. A parking assist system that performs automatic vehicle driving based on driver-guided driving, A learning unit learns a driving path that parks the vehicle in the parking position based on the aforementioned teacher driving, A vehicle control unit that moves the vehicle by automatic driving based on the aforementioned travel path, The vehicle includes a modification unit that changes the braking operation during automatic driving from the braking operation during teacher driving, The modified part is located on the driving path learned during the teacher driving, and modifies the braking operation of the vehicle so that the vehicle makes a stop at a location where the vehicle did not make a stop during the teacher driving, or modifies the braking operation of the vehicle so that the vehicle does not make a stop at a location where the vehicle made a stop during the teacher driving. Parking assist device.

16. A parking assist system that performs automatic vehicle driving based on driver-guided driving, A learning unit learns the driving path for parking the vehicle in the parking position, as well as the speed, steering angle, and braking action of the vehicle during the aforementioned teacher driving, based on the aforementioned teacher driving. A modification unit that changes the speed or braking operation during the vehicle's automatic driving from the speed or braking operation during the teacher driving, based on either the regulations concerning the vehicle's automatic driving or geographic information concerning the road conditions around the vehicle. A vehicle control unit that moves the vehicle by automatic driving based on the aforementioned travel path, Equipped with, The modification unit changes the speed of the vehicle's automatic driving on the driving path learned during the teacher's driving, or changes the vehicle's braking operation so that the vehicle comes to a temporary stop. The regulations concerning the automated driving of the aforementioned vehicle shall be stipulated by law or standard. Parking assist device.

17. A parking assist system that performs automatic vehicle driving based on driver-guided driving, A learning unit learns the driving path for parking the vehicle in the parking position, as well as the speed, steering angle, and braking action of the vehicle during the aforementioned teacher driving, based on the aforementioned teacher driving. A vehicle control unit that moves the vehicle by automatic driving based on the aforementioned travel path, A modification unit that changes the speed or braking operation during the vehicle's automatic driving from the speed or braking operation during the teacher driving, based on either the regulations concerning the vehicle's automatic driving or geographic information concerning the road conditions around the vehicle. Equipped with, The modification unit changes the speed of the vehicle's automatic driving on the driving path learned during the teacher's driving, or changes the vehicle's braking operation so that the vehicle comes to a temporary stop. The modification unit changes the speed or braking action of the vehicle during automatic driving from the speed or braking action during the teacher driving, based on a trained model in which map information and stopping positions have been learned. Parking assist device.

18. A parking assistance method that performs automatic vehicle driving based on driver-guided driving, Based on the aforementioned teacher's driving, the system learns a driving path that parks the vehicle in the parking position. Based on the aforementioned travel path, the vehicle is moved by autonomous driving. The braking action in the automated driving of the aforementioned vehicle is changed from the braking action in the teacher driving, On the aforementioned driving path learned during the teacher driving, the vehicle makes a stop at a location where it did not make a stop during the teacher driving, or the vehicle does not make a stop at a location where it did make a stop during the teacher driving. Parking assistance methods.

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