Parking assistance method and parking assistance device

Abstract

A parking assistance method according to the present invention comprises: setting a passage width range in the width direction of a passage on which an own vehicle travels toward an entrance of a target parking space (S1); setting an entrance width range, which is of a range in the width direction of the entrance of the target parking space and in which the own vehicle travels (S2); generating a target parking path up to the target parking space such that the vehicle travels within the passage width range and within the entrance width range (S3); changing the passage width range and the entrance width range upon receiving user operation input for setting at least one of the passage width range or the entrance width range (S5); and changing the target parking path on the basis of the changed passage width range and the changed entrance width range and providing parking assistance such that the vehicle travels along the changed target parking path (S6).

Description

Technical Field

[0001] The present invention relates to a parking assistance method and a parking assistance device.

Background Art

[0002] The following Patent Document 1 describes a parking assistance device capable of changing the passage width for setting a parking route by an operation of an occupant.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the case of the parking assistance device described in Patent Document 1, even if there are obstacles that cannot be detected by a sonar or areas that the user does not want to pass around the target parking space, there is a possibility that a target parking route is generated without considering these. An object of the present invention is to improve the degree of freedom of user setting when specifying the shape of a target parking route to reach a target parking space.

Means for Solving the Problems

[0005] According to one aspect of the present invention, a parking assistance method is provided for a controller that generates a target parking path from the current position of the vehicle to a target parking space and provides parking assistance so that the vehicle travels along the target parking path. The controller sets a passage width range, which is the widthwise range of the passage on which the vehicle travels toward the entrance of the target parking space, and sets an entrance width range, which is the range within the widthwise range of the entrance of the target parking space on which the vehicle travels. The controller generates a target parking path to the target parking space so that the vehicle travels within both the passage width range and the entrance width range. When the controller receives user input to set at least one of the passage width range or the entrance width range, it changes the passage width range and the entrance width range, changes the target parking path based on the changed passage width range and the changed entrance width range, and provides parking assistance so that the vehicle travels along the changed target parking path. [Effects of the Invention]

[0006] According to the present invention, the degree of freedom in setting the shape of the target parking path leading to the target parking space can be improved. [Brief explanation of the drawing]

[0007] [Figure 1] This is a schematic diagram of an example of a parking assist system. [Figure 2] (a) and (b) are schematic diagrams illustrating the parking assist control in the first assist mode. [Figure 3] This is a schematic diagram illustrating the parking assist control in the second assistance mode. [Figure 4] (a) to (c) are schematic diagrams illustrating the aisle width range and the range of accessible entrances. [Figure 5] This is a flowchart of an example of a parking assistance method according to the first embodiment. [Figure 6] Figure 1 is a block diagram showing an example of the controller's functional configuration. [Figure 7] (a) to (d) are schematic diagrams showing examples of setting the aisle width and entrance width. [Figure 8]This is an explanatory diagram illustrating an example of how to set the aisle width. [Figure 9] This is a flowchart of an example of a parking assistance method according to the second embodiment. [Modes for carrying out the invention]

[0008] (First Embodiment) (composition) Refer to Figure 1. The vehicle 1 is equipped with a parking assist device 10. The parking assist device 10 assists in driving the vehicle 1 along a target parking path from its current position to the target parking space. For example, the steering angle, driving force, and braking force of the vehicle 1 may be automatically controlled in whole or in part to automatically drive the vehicle 1 along the target parking path in whole or in part. Parking of the vehicle 1 may also be assisted by displaying the target parking path and the current position of the vehicle 1 on a display device that can be seen by the user (e.g., the driver or other occupant) in the vehicle 1.

[0009] The positioning device 11 measures the current position of the vehicle 1. The positioning device 11 includes, for example, a Global Navigation Satellite System (GNSS) receiver. Map data is stored in the map database (map DB) 12. The map database 12 may store, for example, high-precision map data suitable for navigation or autonomous driving. The human-machine interface (HMI) 13 exchanges information between the parking assist device 10 and the user. The HMI 13 may include a display device visible to the user as an interface for presenting visual information. It may also include a speaker or buzzer for presenting auditory information. The HMI 13 may include a touch panel, buttons, switches, levers, dials, keyboard, etc., for receiving user input.

[0010] The shift switch (shift SW) 14 is a switch used by the driver or the parking assist device 10 to switch the shift position of the vehicle 1. The external sensor 15 detects the surrounding environment of the vehicle 1, such as the relative position of the vehicle 1 to objects present around the vehicle 1, the distance between the vehicle 1 and the objects, and the direction in which the objects are located. The external sensor 15 may include, for example, a camera that takes pictures of the surrounding environment of the vehicle 1, or distance measuring devices such as a laser rangefinder, radar, LiDAR (Light Detection and Ranging), or sonar. The vehicle sensor 16 detects various information (vehicle information) of the vehicle 1. For example, the vehicle sensor 16 may include a vehicle speed sensor, a 3-axis acceleration sensor, and sensors that detect the steering angle of the steering wheel and the steering angle of the steering wheels.

[0011] The controller 17 is an electronic control unit that includes a processor 20 and peripheral components such as a storage device 21. The processor 20 may be, for example, a CPU or an MPU. The storage device 21 may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The functions of the controller 17 are realized, for example, by the processor 20 executing a computer program stored in the storage device 21. The parking brake 18 generates frictional braking force on the wheels according to user operation or a control signal from the controller 17. The steering actuator 19a controls the steering direction and steering amount of the vehicle 1 according to a control signal from the controller 17. The accelerator actuator 19b controls the drive device according to a control signal from the controller 17. The brake actuator 19c controls the braking device according to a control signal from the controller 17.

[0012] The controller 17 may perform parking assistance control to assist in parking in a pre-registered target parking space. In the following description, parking assistance control to assist in parking in a pre-registered target parking space will be referred to as "parking assistance control in first assistance mode." The controller 17 may also perform parking assistance control to assist in parking in a target parking space that is not pre-registered. In the following description, parking assistance control to assist in parking in a target parking space that is not pre-registered will be referred to as "parking assistance control in second assistance mode." The controller 17 may be capable of switching between and executing parking assistance control in both assistance modes, first assistance mode and second assistance mode.

[0013] Figures 2(a) and 2(b) are schematic diagrams illustrating the parking assistance control in the first assistance mode. When using the parking assistance control in the first assistance mode, the target parking space 30 in which the vehicle 1 should be parked is registered in the parking assistance device 10 in advance. Specifically, landmarks existing around the target parking space 30 are extracted and stored (registered) in the storage device 21 in advance. In the following explanation, the target parking space stored in the storage device 21 is... Space 30 Targets in the vicinity of the vehicle are referred to as "learned targets." In Figure 2(a), the circle plot schematically represents learned targets. For example, when the vehicle 1 is located near the target parking space 30 (for example, when a user manually drives the vehicle 1 into the target parking space 30), the controller 17 stores targets detected around the vehicle 1 as learned targets. For example, targets may be detected from a surrounding image obtained by taking a picture of the area around the vehicle 1 with a camera. For example, in an image captured by a camera, edge points where the brightness of adjacent pixels changes by a predetermined amount or points with distinctive shapes (feature points) may be detected as targets. The controller 17 stores learned target data related to learned targets in the storage device 21. For example, the learned target data may include data representing the feature quantities of the learned targets (hereinafter referred to as "feature quantity data") and data on the relative positional relationship between the target parking position 31 set within the target parking space 30 and the learned targets (hereinafter referred to as "relative position data"). As relative position data, for example, the relative position of a learned object relative to the target parking position 31 may be stored. For example, the controller 17 can acquire the position of a learned object detected when its own vehicle 1 parks at the target parking position 31 as the relative position of the learned object relative to the target parking position 31. The coordinates of the learned object and the target parking position 31 in a coordinate system with a fixed point as the reference point (hereinafter referred to as the "map coordinate system") may also be stored.

[0014] Figure 2(b) is an explanatory diagram of an example of the process during parking support. When an operation by the user (hereinafter sometimes referred to as the "activation operation") that instructs the activation of the parking support control of the host vehicle 1 to the target parking space 30 is performed, the controller 17 starts the parking support of the host vehicle 1. The controller 19 may automatically start the parking support control when the host vehicle 1 approaches the registered target parking position 31. When the parking support control starts, the controller 17 extracts targets around the host vehicle 1 using the external sensor 15. In the following description, the targets around the host vehicle 1 extracted during parking support are referred to as "surrounding targets". In Figure 2(b), the triangular plots represent the surrounding targets. The controller 17 matches the learned targets and the surrounding targets and associates the same feature points with each other. Based on the relative positional relationship between the surrounding targets detected during parking support and the host vehicle 1, and the relative positional relationship between the learned targets associated with the surrounding targets and the target parking position 31, the relative position of the host vehicle 1 with respect to the target parking position 31 is calculated.

[0015] For example, the controller 17 calculates the position of the target parking position 31 in a coordinate system (hereinafter referred to as the "vehicle coordinate system") based on the current position of the host vehicle 1. When the coordinates of the learned targets and the target parking position 31 in the map coordinate system are stored in the storage device 21, based on the position of the surrounding targets detected during parking support and the position of the learned targets in the map coordinate system, the coordinates of the target parking position 31 in the map coordinate system may be converted into coordinates in the vehicle coordinate system. Based on the position of the surrounding targets detected during parking support and the position of the learned targets in the map coordinate system, the self-position of the host vehicle 1 in the map coordinate system is obtained, and the relative position of the host vehicle 1 with respect to the target parking position 31 is calculated from the difference between the coordinates of the host vehicle 1 and the coordinates of the target parking position 31 in the map coordinate system. Based on the relative position of the host vehicle 1 with respect to the target parking position 31, the controller 17 calculates the driving trajectory from the current position 33 of the host vehicle 1 to the target parking position 31 as the target parking route 34 from the current position 33 to the target parking space 30. The controller 17 performs the parking support control of the host vehicle 1 based on the calculated target parking route 34.

[0016] FIG. 3 is a schematic diagram for explaining parking support control in the second support mode. Also in the case of the second support mode, when the user performs an activation operation for instructing the activation of the parking support control, the controller 17 starts the parking support for the host vehicle 1. For example, when there is a registered target parking space 30 near the current position of the host vehicle 1, the controller 17 starts the parking support control in the first support mode, and when there is no registered target parking space 30 near the current position of the host vehicle 1 when the activation operation is received, the controller 17 may start the parking support control in the second support mode. When starting the parking support control in the second support mode, the controller 17 detects the parking available spaces around the host vehicle 1 as the target parking spaces 30a to 30d based on the detection results of the external sensor 15 detecting the white lines 35 around the host vehicle 1 and the objects around the host vehicle 1. Hereinafter, the target parking spaces 30a to 30d may be collectively referred to as the "target parking space 30".

[0017] For example, the controller 17 may detect the parking available spaces around the host vehicle 1 as the target parking space 30 based on the detection results of the parking frame lines 35 indicating the parking space. Also, for example, the controller 17 may detect a parked vehicle as an object around the host vehicle 1 and detect the inter-vehicle space of the parked vehicle as the target parking space 30. The controller 17 calculates a target parking route 34 from the current position 33 of the host vehicle 1 to the target parking space 30. The controller 17 performs parking support control for the host vehicle 1 based on the calculated target parking route 34.

[0018] When calculating the target parking route 34 in the parking support control in the first support mode and the parking support control in the second support mode, the controller 17 sets the range of the place where the target parking route 34 can be set (that is, the spatial range in which the host vehicle 1 that parks in the target parking space 30 can travel) as the setable range of the target parking route 34. The controller 17 calculates the target parking route 34 so as not to exceed the setable range. For example, the controller 17 may calculate candidate driving trajectories that the vehicle 1 can achieve to the target parking space 30 based on the vehicle specifications of the vehicle 1, and adopt a candidate driving trajectory that does not exceed the settable range as the target parking path 34. Alternatively, the target parking path 34 may be calculated using, for example, the relative position and attitude between the vehicle 1 and the target parking space 30 at the start of parking, the settable range, and a learning model that has learned the target parking path.

[0019] Referring to Figures 4(a) to 4(c), an example of the settable range of the target parking route 34 will be explained. Reference numeral PW denotes a passage through which the vehicle 1 parked in the target parking space 30 can travel, and the target parking space 30 is provided so as to face passage PW. In the following explanation, the width direction of passage PW may be denoted as "passage width direction Dw", and the direction of travel in passage PW may be denoted as "depth direction Dd". Figure 4(a) is an explanatory diagram illustrating the settable range of the target parking path 34 that the controller 17 sets when the vehicle 1 is to be parked at a right angle in the target parking space 30. Right-angle parking means parking at a right angle to the direction of traffic (i.e., the depth direction Dd) of the passage PW that the target parking space 30 faces.

[0020] As a settable range for the target parking route 34, a passage width range Rp, such as a hatched area, may be set. The passage width range Rp is the range in the width direction of the passage PW on which the vehicle 1 travels toward the entrance of the target parking space 30 (i.e., the range in the width direction of the passage PW on which the vehicle 1 can move away from the target parking space 30 in the passage width direction Dw of the passage PW). For example, of the boundaries Bn and Bf at both ends of the passage width range Rp, the near-end boundary Bn, which is close to the target parking space 30, may be set at the position of the passage boundary of the passage PW that is adjacent to the target parking space 30. The far-end boundary Bf, which is far from the target parking space 30, may be set to be separated from the near-end boundary Bn by the passage setting width Wp. The passage setting width Wp is the set value of the width in the passage width direction Dw of the passage PW within the passage width range Rp.

[0021] For example, as a settable range for the target parking route 34, an entrance width range Re may be set at the entrance EN of the target parking space 30, as shown by the thick line. The entrance width range Re is the range within the width direction of the entrance EN of the target parking space 30 that the vehicle 1 can travel (i.e., the range within the width direction range Rea of ​​the entrance EN of the target parking space that the vehicle 1 can travel). For example, as the entrance width range Re, a range with a width We centered on the center point of the width direction range Rea of ​​the entrance EN may be set. In the following explanation, the width We of the entrance width range Re will be referred to as the "entrance setting width". Furthermore, as shown in Figures 4(b) and 4(c), the same aisle width range Rp, entrance width range Re, aisle setting width Wp, and entrance setting width We are set for angle parking and parallel parking, respectively. Angle parking means parking at an angle to the direction of traffic in aisle PW, and parallel parking means parking parallel to the direction of traffic in aisle PW.

[0022] When the parking assist control is activated, the controller 17 sets the aisle width range Rp and the entrance width range Re. The aisle width Wp and entrance width We immediately after the activation operation are initial values ​​Wp0 and We0, respectively. The controller 17 generates a target parking path 34 such that the vehicle 1 does not move away from the target parking space 30 in the aisle width direction Dw beyond the aisle width range Rp in aisle PW, and the range in which the vehicle 1 travels through the entrance EN is limited to the entrance width range Re. The controller 17 then superimposes the target parking path 34, the aisle width range Rp, and the entrance width range Re and displays them on the display device of the HMI 13. Here, if there are obstacles around the target parking space 30 that cannot be detected by the external sensor 15 or areas that the user does not want to pass through, it is preferable that the user can specify that the target parking path 34 be generated away from these obstacles and areas.

[0023] Therefore, the controller 17 of this embodiment receives user input via the HMI 13 to change the aisle setting width Wp and / or the entrance setting width We. When the controller receives user input to change at least one of the aisle setting width Wp or the entrance setting width We, the controller 17 changes both the aisle setting width Wp and the entrance setting width We. Then, based on the changed aisle setting width Wp and entrance setting width We, the controller 17 resets the aisle width range Rp and the entrance width range Re and regenerates the target parking path 34. The reset aisle width range Rp and entrance width range Re, along with the regenerated target parking path 34, are superimposed and displayed on the HMI 13's display device. In this way, the user can specify the shape of the target parking path 34 by selecting either or both of the aisle width setting Wp or entrance width setting We, thereby increasing the user's flexibility in settings. Furthermore, if it is not possible to generate a target parking path 34 that the vehicle 1 can travel on based on the aisle width Wp or entrance width We specified by the user, the parking assistance control may be discontinued.

[0024] (operation) Figure 5 is a flowchart of an example of a parking assistance method according to the first embodiment. In step S1, the controller 17 sets the aisle width range Rp. In step S2, the controller 17 sets the entrance width range Re. In step S3, the controller 17 generates a target parking path according to the aisle width range Rp and the entrance width range Re. In step S4, the controller 17 determines whether or not it has received an operation input to change at least one of the aisle width range Rp or the entrance width range Re. If an operation input is received (S4:Y), the process proceeds to step S5.

[0025] If no input is received (S4:N), the controller 17 performs parking assistance control to assist in parking by driving along the target parking path to the target parking space 30 and then terminates the process. In step S5, the controller 17 changes the aisle width range Rp and the entrance width range Re. In step S6, the controller 17 regenerates the target parking path 34 based on the changed aisle width range Rp and entrance width range Re. The controller 17 performs parking assistance control to assist in parking by driving along the target parking path to the target parking space 30 and then terminates the process.

[0026] (Second Embodiment) Figure 6 is a block diagram of an example of the functional configuration of the controller 17. The HMI control unit 50 detects user operations on the HMI 13. The image conversion unit 52 converts the camera's captured image into an overhead view image seen from a virtual viewpoint directly above the vehicle 1. The image conversion unit 52 converts the captured image into an overhead view image at predetermined intervals and generates an ambient image, which is an image of the area surrounding the vehicle 1, by accumulating the converted overhead view images along the vehicle 1's travel path.

[0027] The self-position calculation unit 53 calculates the current position of the vehicle 1 on the map coordinate system as its own position by performing odometry (e.g., dead reckoning) based on vehicle information output from the vehicle sensor 16. The target detection unit 54 detects targets from the surrounding image output from the image conversion unit 52. The target detection unit 54 may detect the position of the target's feature points and their image features. The target detection unit 54 outputs the detected feature point positions and image features as target data to the map generation unit 55 and the target parking space detection unit 57. In addition, the self-position obtained from the self-position calculation unit 53 is output to the map generation unit 55 and the target parking space detection unit 57 in synchronization with the target detection. When registering a target parking space 30 with the parking assistance device 10, the map generation unit 55 generates learned target data and stores it in the storage device 21 as map data 56. For example, the map generation unit 55 receives target data and the self-position of the vehicle 1 on the map coordinate system synchronized with the target data from the target detection unit 54. The map generation unit 55 acquires the position information of the target parking position 31 in the map coordinate system. For example, when the vehicle 1 is located at the target parking position 31, the self-position calculated by the self-position calculation unit 53 may be acquired as the position information of the target parking position 31. The map generation unit 55 generates relative position data based on the positions of feature points included in the target data, the position information of the vehicle 1 synchronized with these points, and the position information of the target parking position 31. The map generation unit 55 acquires feature data from the target data output from the target detection unit 54. The learned target data, including the relative position data and feature data, is stored in the storage device 21 as map data 56.

[0028] Next, when the HMI 13 detects an operation to activate parking assistance control to the registered target parking space 30, it outputs a control start command to the parking assistance control unit 51 to start parking assistance control to the target parking space 30. The parking assistance control unit 51 determines whether the current position of the vehicle 1 is near the registered target parking space 30. If the current position of the vehicle 1 is near the registered target parking space 30, the parking assistance control unit 51 executes parking assistance control in the first assistance mode. If the current position of the vehicle 1 is not near the registered target parking space 30, the parking assistance control unit 51 executes parking assistance control in the second assistance mode. The parking assistance control unit 51 may also automatically start parking assistance control in the first assistance mode when the vehicle 1 approaches the registered target parking position 31. When parking assistance control is initiated, the parking assistance control unit 51 outputs a parking position calculation command to the target parking space detection unit 57. In the case of parking assistance control in the first assistance mode, the target parking space detection unit 57 receives the target data output from the target detection unit 54 as target data for surrounding targets, and simultaneously receives the self-position of the vehicle 1 in the map coordinate system. The target parking space detection unit 57 detects the target parking space 30 by matching learned targets with surrounding targets and associating targets with the same feature points. Based on the relative positional relationship between the surrounding targets and the vehicle 1, and the relative positional relationship between the learned targets associated with the surrounding targets and the target parking position 31, the target parking space detection unit 57 calculates the relative position of the vehicle 1 with respect to the target parking position 31.

[0029] In the second support mode of parking assistance control, the target parking space detection unit 57 detects a parking space around the vehicle 1 as a target parking space 30 based on the detection results obtained by the external sensor 15, which detects white lines around the vehicle 1 and objects around the vehicle 1 (e.g., parked vehicles). The target parking space detection unit 57 sets a target parking position 31 within the detected target parking space 30. For example, the target parking space detection unit 57 may set the center point of the target parking space 30 as the target parking position 31.

[0030] The parameter setting unit 58 sets setting parameters used for generating the target parking path by the target trajectory generation unit 59. The setting parameters may include, for example, the aisle setting width Wp and the entrance setting width We. The setting state of the entrance setting width We can be switched between the first setting state, "Standard," and the second setting state, "Narrow." Similarly, the setting state of the aisle setting width Wp can be switched between the third setting state, "Standard," and the fourth setting state, "Narrow." The parameter setting unit 58 switches the setting state of the entrance setting width We between "Standard" and "Narrow" in response to user input received via the HMI 13. Likewise, it switches the setting state of the aisle setting width Wp between "Standard" and "Narrow" in response to user input. In the initial state immediately after the activation operation of the parking assist control, the parameter setting unit 58 selects "Standard" as the setting state for both the entrance setting width We and the aisle setting width Wp.

[0031] When "Standard" is selected as the setting state for the entrance setting width We and the passage setting width Wp (which may be referred to as the "initial state" in the following description), the parameter setting unit 58 sets the values ​​of the entrance setting width We and the passage setting width Wp to "We0" and "Wp0", respectively, as shown in Figure 7(a). In the case of right-angle parking, for example, the parameter setting unit 58 recognizes the width range Rea of ​​the entrance EN by the external sensor 15 (e.g., sonar) and sets a measured value Wed and a predetermined entrance width upper limit We. U The smaller of the two values, WeL and the larger of the predetermined lower limit of the entrance width, is set as the entrance width We. That is, the entrance width We may be set based on the following calculation formula (1). We=max(min(Wed,WeU),WeL) …(1) For example, the upper limit of the entrance width WeU may be "3.2m". Also, for example, in the case of parking assist control in the first support mode, the lower limit of the entrance width WeL may be set to the width of the vehicle itself. In the case of parking assist control in the second support mode, the lower limit of the entrance width WeL may be set to a value greater than the width of the vehicle itself. For example, the lower limit of the entrance width WeL may be "1.8m".

[0032] Figure 8 is an explanatory diagram of an example of how to set the aisle width Wp. In the case of right-angle parking, for example, the parameter setting unit 58 recognizes the lateral position Wpslf of the part of the vehicle body of the vehicle 1 that is furthest from the aisle boundary Bn of the aisle PW adjacent to the target parking space 30, and the measured value Wpd of the aisle width of the aisle PW, using the external sensor 15. The parameter setting unit 58 sets a predetermined movable width W p The sum of amp and horizontal position Wpslf is Wpadd = Wpslf + W p The smaller of amp and the measured value Wpd, and the larger of the predetermined lower limit of aisle width WpL, are set as the aisle width Wp. That is, the aisle width Wp may be set based on the following calculation formula (2). Wp=max(min(Wpd,Wpadd),WpL) …(2) In its initial state, the range of motion is W. p amp is set to the initial movable width Wa0. The initial movable width Wa0 may be, for example, "3m", and the lower limit of the passage width WpL may be, for example, "4.5m".

[0033] In the case of diagonal parking, the entrance width We and aisle width Wp may be set based on the above calculation formulas (1) and (2). However, the upper limit WeU and lower limit WeL of the entrance width should be set to larger values ​​than in the case of perpendicular parking. For example, the upper limit WeU and lower limit WeL of the entrance width may be "3.7m" and "2.2m", respectively. Also, the movable width W p Set smaller values ​​for amp and the lower limit of aisle width WpL than in the case of perpendicular parking. For example, the initial movable width Wa0 and the lower limit of aisle width WpL may be "2m" and "4m". In the case of parallel parking, set the measured value Wep as the aisle setting width Wp and set a predetermined value (e.g., "8.8m") as the entrance setting width We.

[0034] Refer to Figure 6. The target trajectory generation unit 59 calculates a target parking path from the current position of the vehicle 1 in the vehicle coordinate system to the target parking position 31. At that time, the target trajectory generation unit 59 sets the aisle width range Rp and the entrance width range Re based on the aisle width setting Wp and entrance width setting We set as described above. The target trajectory generation unit 59 generates a target parking path 34 such that the vehicle 1 does not move away from the target parking space 30 in the aisle width direction Dw beyond the aisle width range Rp in aisle PW, and the range in which the vehicle 1 travels through the entrance EN is limited to the entrance width range Re. The HMI control unit 50 displays the generated target parking path, aisle width range Rp, and entrance width range Re superimposed on the display device of the HMI 13.

[0035] Subsequently, when the user inputs a change in the setting state of the entrance setting width We from the initial state to "narrow", "narrow" is selected as the selected state for the entrance setting width We, and "standard" is selected as the setting state for the passage setting width Wp. In this case, the parameter setting unit 58 sets the values ​​of the entrance setting width We and passage setting width Wp to "We1" and "Wp1", respectively, as shown in Figure 7(b). The parameter setting unit 58 sets the entrance setting width We1 to be smaller than the entrance setting width We0 described above, and sets the passage setting width Wp1 to be larger than the passage setting width Wp0 described above. For example, the entrance width setting We is the upper limit of the entrance width We mentioned above. Uyo It may be set to a smaller predetermined value W1. For example, the predetermined value W1 may be set to the minimum value (e.g., "2m") that allows the generation of a parking path in which the vehicle 1 does not exceed the target parking space 30. In addition, the passage setting width Wp may be set based on the above calculation formula (2). However, the movable width W p Set amp to a predetermined movable width Wa1 that is greater than the initial movable width Wa0. For example, the predetermined movable width Wa1 may be "4m", and the lower limit of the passage width WpL may be "4.5m".

[0036] Even in the case of diagonal parking, the entrance width setting We may be set to a predetermined value W2 that is smaller than the upper limit of the entrance width WeU mentioned above. The predetermined value W2 may be set to a value larger than the predetermined value W1 in the case of perpendicular parking. For example, the predetermined value W2 may be "2.2m". In addition, the aisle width setting Wp may be set based on the calculation formula (2) mentioned above. However, the movable width W p Set amp to a smaller value than in the case of perpendicular parking. For example, the predetermined movable width Wa1 may be "3m", and the lower limit of the aisle width WpL may be "4m". In the case of parallel parking, set the measured value Wep as the aisle setting width Wp, and set a predetermined value (for example, "6m") as the entrance setting width We.

[0037] On the other hand, when the user changes the setting state of the passage width Wp from the initial state to "narrow" through user input, "standard" is selected as the setting state of the entrance width We, and "narrow" is selected as the setting state of the passage width Wp. In this case, the parameter setting unit 58 sets the values ​​of the entrance width We and passage width Wp to "We2" and "Wp2", respectively, as shown in Figure 7(c). The parameter setting unit 58 sets the entrance width We2 to be larger than the entrance width We0 described above, and sets the passage width Wp2 to be smaller than the passage width Wp0 described above. For example, the entrance width setting We may be set based on the above calculation formula (1). However, the upper limit of the entrance width WeU should be set to a value greater than the initial state. For example, the upper limit of the entrance width WeU may be "4.7m" and the lower limit of the entrance width WeL may be "1.8m". The passageway width setting Wp may be set based on the above calculation formula (2). However, the movable width W p Set amp to a predetermined movable width Wa2 that is smaller than the initial movable width Wa0. For example, the predetermined movable width Wa2 may be "1m", and the lower limit of the passage width WpL may be "4.5m". Even in the case of diagonal parking, the entrance width setting We may be set based on the above calculation formula (1). For example, the upper limit of the entrance width WeU may be "3.7m" and the lower limit of the entrance width WeL may be "2.2m". The aisle setting width Wp may be set based on the above calculation formula (2). However, the movable width W pSet amp to a predetermined movable width Wa2 which is smaller than the initial movable width Wa0. For example, the predetermined movable width Wa2 may be "1m" and the lower limit of the aisle width WpL may be "4m". In the case of parallel parking, set the measured value Wep as the aisle setting width Wp and set a predetermined value (for example, "8.8m") as the entrance setting width We.

[0038] Furthermore, if the user changes the setting state of the entrance setting width We and the passage setting width Wp from the initial state to "narrow" through user input, "narrow" is selected as the setting state for the entrance setting width We and the passage setting width Wp. In this case, the parameter setting unit 58 sets the values ​​of the entrance setting width We and the passage setting width Wp to "We" as shown in Figure 7(d). 3 " and "Wp 3 Set to ". The parameter setting unit 58 sets the inlet setting width We 3 Set the entrance width We0 to be smaller than the entrance width We0 mentioned above, and set the passage width Wp 3 Set the width smaller than the passage setting width Wp0 described above. For example, the entrance setting width We may be set to the predetermined value W1 (e.g., "2m") described above. The passage setting width Wp may be set based on the calculation formula (2) described above. However, the movable width W p Set amp to a predetermined movable width Wa2 which is smaller than the initial movable width Wa0. For example, the predetermined movable width Wa2 may be "1m", and the lower limit of the passage width WpL may be "4.5m". Note that the entrance setting width We 3 Setting the predetermined value W1 may prevent the target parking path 34 from being regenerated, therefore, in other embodiments, the entrance setting width We 3 You may set the initial inlet setting width We to the same value. 3 When the value W1 is set to a predetermined value, it is determined whether the target parking path 34 can be regenerated, and if it can be regenerated, the entrance setting width We 3 Set the value to the predetermined value W1, and if it cannot be regenerated, set the entrance width We 3 You may also set it to the same value as the entrance setting width We0.

[0039] Even in the case of diagonal parking, the entrance setting width We may be set to the predetermined value W2 (for example, "2.2m") as described above. Furthermore, the aisle setting width Wp may be set based on the calculation formula (2) described above. However, the movable width W p The amp may be set to a predetermined movable width Wa2 that is smaller than the initial value (e.g., "2m"). For example, the predetermined movable width Wa2 may be "1m", and the lower limit of the passage width WpL may be "4m". Note that the movable width W p Setting amp to a predetermined movable width Wa2 may prevent the target parking path 34 from being regenerated; therefore, in other embodiments, the aisle setting width Wp 3 You may also set this to the same value as the initial passage width Wp0. p When amp is set to a predetermined movable width Wa2, it is determined whether the target parking path 34 can be regenerated, and if it can be regenerated, the movable width W p Set amp to the predetermined movable width Wa2, and if it cannot be regenerated, set the passage width Wp 3 You may set this to the same value as the aisle setting width Wp0. In the case of parallel parking, set the measured value Wep as the aisle setting width Wp, and set a predetermined value (for example, "6m") as the entrance setting width We.

[0040] Refer to Figure 6. The target trajectory generation unit 59 regenerates the target parking path 34 by resetting the aisle width range Rp and the entrance width range Re based on the aisle width setting Wp and entrance width setting We that have been changed as described above. Note that if "narrow" is selected as the setting state for the entrance width setting We and the aisle width setting Wp, both of these widths are set to be smaller, so the amount of change in the direction of the vehicle 1 that can be changed in one forward movement or one reverse movement becomes smaller. For this reason, the target trajectory generation unit 59 calculates the target parking path 34 so as not to exceed the settable range by increasing the number of reversals. In addition, in the initial state where "standard" is selected as the setting state for the entrance width setting We and the aisle width setting Wp, the target trajectory generation unit 59 may construct the target parking path 34 using a clothoid curve in order to suppress the increase in steering angle relative to the distance traveled. On the other hand, if "narrow" is selected as the setting state for at least one of the entrance width setting We and the aisle width setting Wp, the target parking path 34 may be constructed without using a clothoid curve so as not to restrict the degrees of freedom of the target parking path 34.

[0041] The HMI control unit 50 superimposes the regenerated target parking path, the aisle width range Rp, and the entrance width range Re and displays them on the HMI 13 display device. The target trajectory generation unit 59 calculates a target vehicle speed profile, which is the target value of the vehicle speed of the vehicle 1 on the target parking path. The steering control unit 60 controls the steering actuator 19a so that the vehicle 1 travels along the target parking path. The vehicle speed control unit 61 controls the accelerator actuator 19b and brake actuator 19c so that the vehicle speed of the vehicle 1 changes according to the target vehicle speed profile. When the vehicle 1 reaches the target parking position 31 and parking assistance control is completed, the parking assistance control unit 51 activates the parking brake 18 and switches the shift position to the parking range.

[0042] Figure 9 is a flowchart of an example of a parking assistance method according to the second embodiment. In step S11, the parameter setting unit 58 selects "Standard" as the setting state for the entrance setting width We and the aisle setting width Wp. As a result, the values ​​of the entrance setting width We and the aisle setting width Wp are set to "We0" and "Wp0", respectively. In step S12, the target trajectory generation unit 59 sets the aisle width range Rp and the entrance width range Re based on the aisle setting width Wp and the entrance setting width We, and calculates the target parking path based on these ranges Rp and Re.

[0043] In step S13, the parameter setting unit 58 determines whether it has received an operation input to change at least one of the aisle width range Rp or the entrance width range Re. If an operation input is received (S13:Y), the process proceeds to step S14. If no operation input is received (S13:N), the controller 17 performs parking assistance by driving along the target parking path to the target parking space 30 and then terminates the process. In step S14, the parameter setting unit 58 determines the setting status of the aisle setting width Wp. If the setting status of the aisle setting width Wp is "standard" (S14:standard), it means that the setting status of the entrance setting width We has been changed to "narrow". In this case, the process proceeds to step S15. If the setting status of the aisle setting width Wp is "narrow" (S14:narrow), the process proceeds to step S16.

[0044] In step S15, the parameter setting unit 58 sets the values ​​of the entrance setting width We and the aisle setting width Wp to "We1" and "Wp1", respectively. The process then proceeds to step S19. In step S16, the parameter setting unit 58 determines the setting state of the entrance setting width We. If the setting state of the entrance setting width We is standard (S16: standard), the process proceeds to step S17. If it is not standard (S16: narrow), the process proceeds to step S18. In step S17, the parameter setting unit 58 sets the values ​​of the entrance setting width We and the aisle setting width Wp to "We2" and "Wp2", respectively. The process then proceeds to step S19. In step S18, the parameter setting unit 58 sets the values ​​of the entrance setting width We and the aisle setting width Wp to "We3" and "Wp3", respectively. The process then proceeds to step S19. In step S19, the target trajectory generation unit 59 regenerates the target parking path 34 based on the changed aisle setting width Wp and entrance setting width We. The controller 17 performs parking assistance by driving along the target parking path to the target parking space 30, and then terminates the process.

[0045] (Effects of the embodiment) (1) When the controller 17 receives user input to set at least one of the aisle width range Rp or the entrance width range Re, it changes at least the one of the aisle width range Rp and the entrance width range Re that the user input to change has been received and regenerates the target parking path. This improves the degree of freedom of the user when specifying the shape of the target parking path leading to the target parking space. (2) The selectable entrance width range Re settings via user input may include a first setting state selected when vehicle assistance is initiated, and a second setting state smaller than the first setting state. When the first setting state is selected, the controller 17 may set the entrance width range Re to the smaller of a predetermined value or a measured value of the width of the entrance to the target parking space. This allows the user to arbitrarily change the entrance width range Re. (3) The selectable aisle width range Rp settings may include a third setting state, which is selected when vehicle assistance is started, and a fourth setting state, which is smaller than the third setting state. When the third setting state is selected, the controller 17 may set the aisle width range Rp to the smaller of a predetermined value or a measured value of the width of the aisle through which the vehicle 1 travels. This allows the user to change the aisle width range Rp as they see fit.

[0046] (4) When the setting is changed from the first setting state to the second setting state, the controller 17 may decrease the entrance width range Re and increase the aisle width range Rp. This makes it possible to generate a target parking path that avoids obstacles, etc., at the entrance of the parking space. It also makes it possible to generate a target parking path when the length of the aisle in the depth direction is limited. (5) When the setting is changed from the third setting state to the fourth setting state, the aisle width range Rp may be reduced and the entrance width range Re may be increased to regenerate the target parking path. This allows the target parking path to be generated while avoiding obstacles in the aisle. (6) When the setting changes from the first setting state to the second setting state, and from the third setting state to the fourth setting state, the entrance width range Re and the aisle width range Rp may be reduced, and the number of turns may be increased to regenerate the target parking path. This makes it possible to generate the target parking path even when both the entrance width range Re and the aisle width range Rp are reduced.

[0047] (7) Lower limits for the entrance width range Re and the aisle width range Rp may be set in advance. This allows the entrance width range Re and aisle width range Rp to be limited to the range in which the target parking route can be generated. (8) The vehicle width of the vehicle itself may be set as the lower limit of the entrance width range Re in the first support mode. By setting the lower limit of the entrance width range Re to a smaller value in this way, the degree of freedom in calculating the target parking route can be increased. In addition, in the first support mode, it is possible to park in parking areas with narrow entrance widths, such as at home, which are not public parking lots. (9) In the second support mode, the lower limit of the entrance width range Re may be set to a value greater than the width of the vehicle itself. In the second support mode, in general, when there is sufficient spacing between white lines, such as in public parking lots, there is no need to particularly narrow the entrance width range, so by setting a larger lower limit of the entrance width range Re, a target parking path that allows for more reliable parking can be calculated. [Explanation of Symbols]

[0048] 1...Vehicle, 10...Parking assist system, 17...Controller

Claims

1. A parking assistance method for a controller that generates a target parking path from the vehicle's current position to a target parking space, and assists the vehicle in driving along the target parking path, The aforementioned controller, A passage width range is defined, which is the range in the width direction of the passage through which the vehicle travels toward the entrance of the target parking space. The entrance width range is defined as the range in the width direction of the entrance to the target parking space in which the vehicle itself travels. A target parking path is generated to reach the target parking space so that the vehicle travels within the width of the passage and within the width of the entrance. When a user input is received to set at least one of the aforementioned passage width range or the aforementioned entrance width range, the passage width range and the aforementioned entrance width range are changed. Based on the modified aisle width range and the modified entrance width range, the target parking route is modified, and parking assistance is provided so that the vehicle travels along the modified target parking route. A parking assistance method characterized by the following features.

2. The setting state of the entrance width range that can be selected by the aforementioned operation input includes a first setting state selected when the parking assistance is started, and a second setting state that is smaller than the first setting state. When the first setting state is selected, the entrance width range is set to the smaller of a predetermined value or a measured value of the width of the entrance to the target parking space. The parking assistance method according to feature 1.

3. The setting state of the aisle width range that can be selected by the aforementioned operation input includes a third setting state selected when the parking assistance is started, and a fourth setting state that is smaller than the third setting state. When the third setting state is selected, the aisle width range is set to the smaller of a predetermined value or a measured value of the width of the aisle through which the vehicle travels. The parking assistance method according to feature 1 or 2.

4. The parking assistance method according to claim 2, characterized in that when the setting state of the entrance width range is changed from the first setting state to the second setting state by the operation input, the entrance width range is reduced and the passage width range is increased, and the target parking route is changed based on the changed passage width range and the changed entrance width range.

5. The parking assistance method according to claim 3, characterized in that, when the setting state of the passage width range is changed from the third setting state to the fourth setting state by the operation input, the passage width range is reduced and the entrance width range is increased, and the target parking path is generated based on the changed passage width range and the changed entrance width range.

6. The setting state of the aisle width range that can be selected by the aforementioned operation input includes a third setting state selected when the parking assistance is started, and a fourth setting state that is smaller than the third setting state. When the third setting state is selected, the aisle width range is set to the smaller of a predetermined value or a measured value of the width of the aisle through which the vehicle travels. The parking assistance method according to claim 2 or 4, characterized in that, when the setting state of the entrance width range is set from the first setting state to the second setting state and the setting state of the passage width range is set from the third setting state to the fourth setting state as a result of the operation input, the entrance width range and the passage width range are reduced and changed, and the number of turns is increased based on the changed passage width range and the changed entrance width range to generate the target parking path.

7. The parking assistance method according to claim 1 or 2, characterized in that a lower limit value of the aforementioned entrance width range is set in advance.

8. The parking assistance method according to claim 1 or 2, characterized in that a lower limit value of the aforementioned aisle width range is set in advance.

9. Prior to this, data representing the relative positional relationship between the targets present around the target parking space and the target parking position set in the target parking space is stored in the memory device as learned target data. The position of surrounding targets, which are objects present around the vehicle, is detected. Based on the learned target data and the positions of the surrounding targets, the relative position of the target parking location to the current position of the vehicle is detected. When generating the target parking route from the current position of the vehicle to the target parking position based on the relative positional relationship between the target parking position and the current position of the vehicle, the vehicle width is set as the lower limit of the entrance width range. The parking assistance method according to feature 7.

10. Based on the detection results obtained by the sensor from detecting white lines or objects around the vehicle, the system detects the available parking space around the vehicle as the target parking space. The parking assistance method according to claim 7, characterized in that when generating the target parking route from the current position of the vehicle to the detected target parking position, a value greater than the vehicle width of the vehicle is set as the lower limit of the entrance width range.

11. A parking assistance device that generates a target parking path from the vehicle's current position to a target parking space, and assists the vehicle in parking by ensuring it travels along the target parking path, A user interface that accepts user input, A controller that sets a passage width range which is the widthwise range of the passage through which the vehicle travels toward the entrance of the target parking space, sets an entrance width range which is the range within the widthwise range of the entrance of the target parking space through which the vehicle travels, generates a target parking route to the target parking space so that the vehicle travels within the passage width range and the entrance width range, and when it receives user input to set at least one of the passage width range or the entrance width range, changes the passage width range and the entrance width range, changes the target parking route based on the changed passage width range and the changed entrance width range, and assists the vehicle in parking so that it travels along the changed target parking route, A parking assistance device characterized by being equipped with the following features.

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