Parking assistance method and driving assistance device

Abstract

Provided is a parking assistance method that: determines whether or not travel assistance control is being performed, said travel assistance control including at least one of control to assist a vehicle in traveling in a travel lane, control to assist the vehicle in traveling at a constant speed, and control to assist keeping a uniform inter-vehicle distance between the vehicle and a preceding vehicle (S2); determines whether or not the vehicle is located near a preregistered target parking position (S1); displays, on a display device, guidance regarding a parking assistance function for assisting the vehicle in parking at the target parking position, when the travel assistance control is not performed and the vehicle is located near the target parking position (S3); and does not display, on the display device, the guidance regarding the parking assistance function when the travel assistance control is being performed, or when the vehicle is not located near the target parking position (S4).

Description

Technical Field

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

Background Art

[0002] The following Patent Document 1 describes a parking assistance method that stores a parking route and a target parking position in a past parking operation and notifies a user of a message prompting the start of parking assistance when the vehicle approaches the target parking position.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a vehicle having a parking assistance function that assists parking at a target parking position, if a guidance of the parking assistance function is displayed on a display device only when the vehicle approaches the target parking position, there is a risk that the user may feel bothered when the user does not intend to park the vehicle at the target parking position. An object of the present invention is to suppress unnecessary display of guidance of a parking assistance function in a vehicle having a parking assistance function that assists parking at a target parking position.

Means for Solving the Problems

[0005] According to one aspect of the present invention, a parking assistance method is provided that assists in parking the vehicle at a target parking position. The parking assistance method determines whether or not driving assistance control is being performed, which includes at least one of the following: control to assist the vehicle in driving within a driving lane, control to assist the vehicle in driving at a constant speed, or control to assist in maintaining a constant distance between the vehicle and a preceding vehicle. It also determines whether or not the vehicle is located near a pre-registered target parking position. If driving assistance control is not being performed and the vehicle is located near the target parking position, guidance for the parking assistance function that assists in parking the vehicle at the target parking position is displayed on the display device. If driving assistance control is being performed or the vehicle is not located near the target parking position, guidance for the parking assistance function is not displayed on the display device. [Effects of the Invention]

[0006] According to the present invention, in a vehicle having a parking assistance function that assists in parking to a target parking position, it is possible to suppress unnecessary displays of guidance for the parking assistance function. The objectives and advantages of the present invention are embodied and achieved using the elements and combinations thereof set forth in the claims. Both the general description above and the detailed description below are merely illustrative and descriptive, and should be understood not to limit the invention in any way that would be limited by the claims. [Brief explanation of the drawing]

[0007] [Figure 1] This figure shows a schematic example of the configuration of the driving assistance device according to the embodiment. [Figure 2] (a) and (b) are schematic diagrams illustrating parking assist control. [Figure 3] This is a schematic diagram of an example of the first guidance screen. [Figure 4] This is a schematic diagram of an example of the second guidance screen. [Figure 5] This is a flowchart of the 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]This is a flowchart of the parking assistance method according to the second embodiment. [Modes for carrying out the invention]

[0008] (First Embodiment) (composition) Figure 1 is a diagram showing a schematic configuration example of a driver assistance device according to an embodiment. The vehicle 1 is equipped with a driver assistance device 10 having a parking assistance function and a driving assistance function. The driver assistance device 10 is an example of the "driver assistance device" described in the claims. The parking assist function is a function that assists in driving the vehicle 1 along a target parking path from its current position to the target parking position. For example, the driver assistance device 10 may perform automated driving, controlling the vehicle 1 to drive along its target parking path to the target parking position. Automated driving that controls the vehicle 1 to drive along its target parking path to the target parking position means controlling all or part of the steering angle, driving force, and braking force of the vehicle 1 to automatically perform all or part of driving along the target parking path. Alternatively, the parking of the vehicle 1 may be assisted by displaying the target parking path and the current position of the vehicle 1 on a display device that is visible to the user (e.g., the driver or other occupant) inside the vehicle 1.

[0009] The driving assistance function may include, for example, a lane keeping assist function that helps the vehicle 1 stay within its lane. The driving assistance function may also include a constant speed driving assist function that helps the vehicle 1 maintain a constant speed. The driving assistance function may also include a distance keeping assist function that helps maintain a constant distance between the vehicle 1 and the vehicle ahead. The driving assistance function provided by the driver assistance device 10 may include only one or two of the lane keeping assist function, constant speed driving assist function, or distance keeping assist function, or it may include all of them. For example, the driving assistance function provided by the driver assistance device 10 may be an autonomous driving function that allows the vehicle 1 to drive autonomously to a set destination. The autonomous driving function may include all of the lane keeping assist function, constant speed driving assist function, and distance keeping assist function. In the following explanation, the control by the driver assistance device 10 to realize the parking assist function, driving assist function, lane keeping assist function, constant speed driving assist function, and distance keeping assist function may be referred to as "parking assist control," "driving assist control," "lane keeping assist control," "constant speed driving assist control," and "distance keeping assist control," respectively.

[0010] 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 data stored in the map database 12 may be, for example, high-precision map data suitable for navigation or autonomous driving. The Human-Machine Interface (HMI) 13 is an interface device that exchanges information between the driver assistance device 10 and the user. For example, the HMI 13 may be equipped with a display device that is visible to the user as an interface for presenting visual information to the user. The HMI 13 may also be equipped with a speaker or buzzer as an interface for presenting auditory information to the user. The HMI 13 may also be equipped with an interface (touch panel, buttons, switches, levers, dials, keyboard, etc.) for receiving operational input from the user.

[0011] The shift switch (shift SW) 14 is a switch used by the driver or the driver assistance device 10 to switch the shift position of the vehicle 1. The external sensor 15 detects objects within a predetermined distance range from the vehicle 1. The external sensor 15 detects the surrounding environment of the vehicle 1, such as the relative position of objects around the vehicle 1 and 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 photographs the surrounding environment of the vehicle 1. The external sensor 15 may also include 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 that detects the driving speed of the vehicle 1, a three-axis acceleration sensor that detects the acceleration (including deceleration) of the vehicle 1 in three axes, and sensors that detect the steering angle of the steering wheel and the steering angle of the steering wheels.

[0012] The parking switch (parking SW) 17 is a switch that receives user input to instruct the activation of parking assistance control by the driver assistance device 10. The parking position selection switch (parking position selection SW) 18 is a switch that accepts an operation by the user to select one of several candidate target parking positions when there are multiple candidate target parking positions around the vehicle 1. For example, the HMI 13 display device may be equipped with a touch panel, and the operation by the user touching the image of the parking position selection switch 18 displayed on the display device may be detected by the touch panel.

[0013] The parking brake 20 generates frictional braking force on the wheels of the vehicle 1 according to user operation or control signals from the controller 19. The steering actuator 21a controls the steering direction and amount of the steering mechanism of the vehicle 1 in accordance with the control signal from the controller 19. The accelerator actuator 21b controls the accelerator opening of the drive unit, such as the engine or drive motor, in accordance with the control signal from the controller 19. The brake actuator 21c activates the braking unit in accordance with the control signal from the controller 19.

[0014] The controller 19 is an electronic control unit that performs parking support control and driving support control for the host vehicle 1. The controller 19 includes a processor 19a and peripheral components such as a storage device 19b. The processor 19a may be, for example, a CPU or an MPU. The storage device 19b may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The functions of the controller 19 described below are realized, for example, when the processor 19a executes a computer program stored in the storage device 19b. For example, in the lane keeping support function, the controller 19 recognizes the lane dividing lines of the driving lane in which the host vehicle 1 is traveling based on the detection signal of the external sensor 15, and controls the steering actuator 21a so that the host vehicle 1 travels along the driving lane (for example, so that the host vehicle communicates a notification prompting the user's steering operation from the HMI 13.

[0015] Also, for example, in the constant speed cruise control, the controller 19 controls the accelerator actuator 21b and the brake actuator 21c based on the traveling speed of the host vehicle 1 detected by the vehicle speed sensor of the vehicle sensor 16 so that the host vehicle 1 travels at a constant speed, or outputs a notification prompting the user's acceleration / deceleration operation from the HMI 13. Also, for example, in the inter-vehicle distance maintenance support control, the controller 19 recognizes the inter-vehicle distance between the host vehicle 1 and the preceding vehicle based on the detection signal of the external sensor 15, and controls the accelerator actuator communicates a notification prompting the user's acceleration / deceleration operation from the HMI 13.

[0016] Next, the parking support control by the controller 19 will be described. When using the parking support control, a target parking position 31 where the host vehicle 1 is to be parked is registered in the driving support device 10 in advance. Fig. 2(a) is an explanatory diagram of an example of the processing in the scene where the target parking position 31 is registered in the driving support device 10 in advance. When registering the target parking position 31 in the driving support device 10, objects around the target parking position 31 are extracted and stored (registered) in the storage device 19b in advance. In the following description, the objects around the target parking position 31 stored in the storage device 19b are referred to as "learned objects". In FIG. 2(a), the round plots schematically represent the learned objects. When registering the target parking position 31 in the driving support device 10, the user performs an operation (hereinafter sometimes referred to as a "registration operation") for instructing the registration of the target parking position 31.

[0017] For example, when the host vehicle 1 is located near the target parking position 31 (for example, when the user parks the host vehicle 1 at the target parking position 31 by manual driving), the controller 19 detects objects around the host vehicle 1 with the external sensor 15 and stores them as learned objects. For example, objects may be detected from the surrounding image obtained by photographing the surroundings of the host vehicle 1 with a camera. For example, on the captured image obtained by photographing with a camera, points (feature points) having features in the form of edges or corners of objects such as road markings, road boundaries, and obstacles, where the luminance of adjacent pixels changes by a predetermined amount or more, may be detected as objects. The controller 19 stores learned object data regarding the learned objects in the storage device 19b. For example, the learned object data may include data representing the feature amounts of the learned objects (hereinafter referred to as "feature amount data"), data on the relative positional relationship between the target parking position 31 and the learned objects (hereinafter referred to as "relative position data"), and position data of the target parking position 31 in a coordinate system (hereinafter referred to as a "map coordinate system") with a fixed point as a reference point. As the relative position data, for example, the relative position of the learned object with respect to the target parking position 31 may be stored. For example, the controller 19 can obtain the position of the learned object detected when the host vehicle 1 parks at the target parking position 31 as the relative position of the learned object with respect to the target parking position 31. The coordinates of the learned object and the target parking position 31 in the map coordinate system may also be stored.

[0018] Figure 2(b) is an explanatory diagram of an example of the processing in a scene where parking assistance is performed to help park the vehicle 1 at the target parking position 31. When assisting the vehicle 1 to park at the target parking position 31, the controller 19 extracts objects around the vehicle 1 using the external sensor 15. In the following explanation, objects around the vehicle 1 extracted during parking assistance will be referred to as "surrounding objects". In Figure 2(b), the triangular plot represents surrounding objects. The controller 19 detects the target parking position 31 that exists around the vehicle 1 by matching learned objects with surrounding objects and associating identical feature points. Based on the relative positional relationship between the surrounding objects detected during parking assistance and the vehicle 1, and the relative positional relationship between the learned objects associated with the surrounding objects and the target parking position 31, the controller 19 calculates the relative position of the vehicle 1 with respect to the target parking position 31.

[0019] For example, the controller 19 calculates the position of the target parking position 31 on a coordinate system (hereinafter referred to as the "vehicle coordinate system") that is based on the current position of the vehicle 1. If the coordinates of the learned targets and the target parking position 31 on the map coordinate system are stored in the storage device 19b, the coordinates of the target parking position 31 on the map coordinate system may be converted to coordinates on the vehicle coordinate system based on the positions of the surrounding targets detected during parking assistance and the positions of the learned targets on the map coordinate system. Alternatively, the self-position of the vehicle 1 on the map coordinate system may be determined based on the positions of the surrounding targets detected during parking assistance and the positions of the learned targets on the map coordinate system, and the relative position of the vehicle 1 with respect to the target parking position 31 may be calculated from the difference between the coordinates of the vehicle 1 on the map coordinate system and the coordinates of the target parking position 31. The controller 19 calculates a target parking path 34 from the vehicle's current position 33 to the target parking position 31. Based on the calculated target parking path 34, the controller 19 performs parking assistance control for the vehicle.

[0020] When assisting in parking the vehicle 1 at the target parking position 31, the controller 19 displays guidance for the parking assistance function on the display device of the HMI 13. For example, as guidance for the parking assistance function, the controller 19 may display a first guidance screen that informs the user that the controller 19 is searching for the target parking position 31 located around the vehicle 1. Figure 3 is a schematic diagram of an example of the first guidance screen. The first guidance screen 40a includes an image 41 generated by capturing images of the area around the vehicle 1, an overhead image 42 generated by converting the image of the area around the vehicle 1, a GUI (Graphical User Interface) for the parking position selection switch 18, a message display area 43 where notifications such as visual messages are displayed, a parking start button 44, and an end button 45. When the user operates the parking position selection switch 18 or the end button 45 displayed on the display device, the touch panel provided on the display device detects these operations. However, in the first guidance screen 40a, the parking start button 44 is disabled. An icon 42a representing the current position of the vehicle 1 is superimposed on the overhead view image 42. The message display area 43 of the first guidance screen 40a may display notifications, such as a visual message informing the user that the system is searching for a target parking position. When the end button 45 is pressed, the controller 19 stops the parking assistance control. The same applies when the end button 45 on the second guidance screen 40b, shown in Figure 4 and described later, is pressed.

[0021] Furthermore, if the controller 19 successfully detects a target parking position 31 located around the current position of the vehicle 1, it may display a second guidance screen that accepts user input to initiate driving assistance control to the detected target parking position 31, as guidance for the parking assistance function. Figure 4 is a schematic diagram of an example of the second guidance screen. The second guidance screen 40b includes an captured image 41, an overhead view image 42, a message display area 43, a GUI for the parking position selection switch 18, a parking start button 44, and an end button 45. When the user operates the parking start button 44, the touch panel provided on the display device detects these operations.

[0022] The overhead view image 42 displays an icon 42a representing the current position of the vehicle 1 and a target parking position mark 42b representing the target parking position 31 detected around the current position of the vehicle 1, superimposed on each other. In the example of the overhead view image 42 of the second guidance screen 40b in Figure 4, the scale is reduced compared to the overhead view image 42 of the first guidance screen 40a in Figure 3, thereby reducing the range of the parking space of the target parking position 31 by a predetermined size. Second information screen 40b This is represented in the example in Figure 4, which shows the entire parking space. When the parking start button 44 is pressed, the controller 19 begins assisting in parking the vehicle 1 at the target parking position 31. As described above, the parking start button 44 is disabled on the first guidance screen 40a in Figure 3, and even if the parking start button 44 is pressed on the first guidance screen 40a, the controller 19 does not begin assisting with parking.

[0023] When the user parks their vehicle 1 at the target parking position 31, the convenience of the parking assistance function is improved if such guidance is automatically displayed on the HMI 13's display device. However, if the guidance for the parking assistance function is displayed on the HMI 13's display device even when the user does not intend to park their vehicle 1, it becomes cumbersome for the user. The controller 19 then determines whether or not driving assistance control is being performed. It also determines whether or not the vehicle 1 is located near the target parking position 31 (for example, whether or not the vehicle 1 is located within a predetermined distance range of the target parking position 31). For example, it determines whether or not the current position of the vehicle 1 measured by the positioning device 11 is within a predetermined distance range from the location of the target parking position 31 stored as learned target data. The controller 19 automatically displays guidance for the parking assistance function on the HMI 13 display device when driving assistance control is not being performed and the vehicle 1 is located near the target parking position 31. If driving assistance control is being performed or the vehicle 1 is not located near the target parking position 31, the guidance for the parking assistance function is not automatically displayed on the display device. When driving assistance control is in operation, it is presumed that the user does not intend to park vehicle 1. Therefore, even if vehicle 1 is located near the target parking position 31, if driving assistance control is in operation, the parking assistance function guidance will not be displayed, thereby suppressing the display of unnecessary parking assistance function guidance.

[0024] (operation) Figure 5 is a flowchart of the parking assistance method of the first embodiment. In step S1, the controller 19 determines whether the current position of the vehicle 1 is near the target parking position 31. If the current position is not near the target parking position 31 (step S1:N), the process proceeds to step S4. If the current position is near the target parking position 31 (step S1:Y), the process proceeds to step S2. In step S2, the controller 19 determines whether driving assistance control is being executed. If driving assistance control is not being executed (step S2:N), the process proceeds to step S4. If driving assistance control is being executed (step S2:Y), the process proceeds to step S3. In step S3, the controller 19 displays guidance for the parking assistance function. The process then ends. In step S4, the controller 19 does not display guidance for the parking assistance function. The process then ends.

[0025] (Second Embodiment) Figure 6 is a block diagram of an example of the functional configuration of the parking assistance function by the controller in Figure 1. When the HMI control unit 50 detects a user registering a target parking position 31, it outputs a map generation command to the map generation unit 55 to store the learned target data in the storage device 19b. The image conversion unit 52 converts the image captured by the camera into an overhead view image 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 accumulates the converted overhead view images along the vehicle 1's travel path to generate an ambient image, which is an image of the area surrounding the vehicle 1.

[0026] 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 position 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 position detection unit 57 in synchronization with the target detection. When the map generation unit 55 receives a map generation command from the HMI control unit 50 (i.e., when the registration operation for the target parking position 31 is performed), it generates learned target data and stores it in the storage device 19b as map data 56. For example, the map generation unit 55 receives target data and the 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, the position calculated by the self-position calculation unit 53 when the vehicle 1 is located at the target parking position 31 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. These relative position data and feature data, along with the position data of the target parking location 31, are stored in the storage device 19b as map data 56, along with the learned target data.

[0027] The parking support control unit 51 performs parking support control to assist in parking the vehicle 1 at the target parking position 31 registered in the storage device 19b. The parking assistance control unit 51 can be switched between an "automatic start mode" that automatically starts detecting the target parking position 31 located around the vehicle 1, and a "manual start mode" that starts detecting the target parking position 31 when a user performs an operation (hereinafter sometimes referred to as "start operation") to instruct the activation of the parking assistance control of the vehicle 1. For example, the start operation may be an operation of the parking switch 17 by the user. The user can set the parking assistance control unit 51 to either automatic start mode or manual start mode by operating the HMI 13.

[0028] In automatic start mode, the detection of the target parking position 31 will start automatically when all of the following start conditions (A) to (C) are met. (A) The vehicle 1 is located near the target parking position 31 (for example, the vehicle 1 is located within a predetermined distance range of the target parking position 31). (B) The speed of vehicle 1 is below the threshold (for example, vehicle 1 is stopped). (C) Driving assistance control is not being performed. Or, user driving action occurs while driving assistance control is being performed (for example, user braking is detected while driving assistance control is being performed, or user intervention on the steering wheel is detected while lane keeping assistance control is being performed). In determining whether vehicle 1 is stopped, for example, one can determine whether the speed detected by the vehicle speed sensor is 0 km / h, and if the speed detected by the vehicle speed sensor is 0 km / h, it can be determined that vehicle 1 is stopped. Alternatively, a margin can be set, and it can be determined that vehicle 1 is stopped if the speed detected by the vehicle speed sensor is below a predetermined speed.

[0029] In automatic start mode, if all of the above start conditions (A) to (C) are satisfied, or in manual start mode, if the user initiates a start operation, the parking support control unit 51 outputs a parking position calculation command to the target parking position detection unit 57. The target parking position 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 position detection unit 57 detects the target parking position 31 by matching the learned targets with the surrounding targets and associating targets with the same feature points. That is, it determines whether or not the target parking position 31 can be detected based on whether or not the matching between the learned targets and the surrounding targets is successful. If the matching is successful (i.e., the target parking position 31 is detected), the target parking position detection unit 57 calculates the relative position of the vehicle 1 with respect to the target parking position 31 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.

[0030] When the target parking position detection unit 57 begins detecting target parking positions 31 around the vehicle 1, the HMI control unit 50 displays guidance for the parking assistance function on the display device of the HMI 13. For example, while the parking assistance control unit 51 is searching for target parking positions 31 around the vehicle 1, the HMI control unit 50 displays the first guidance screen 40a shown in Figure 3 on the display device of the HMI 13. When the target parking position 31 located around the vehicle 1 is detected, the target parking position detection unit 57 automatically sets the detected target parking position 31 as the target parking position for the vehicle 1 to be supported by the parking assistance function (the target parking position in which the vehicle 1 is parked by the parking assistance function). The HMI control unit 50 also displays the second guidance screen 40b shown in Figure 4 on the display device of the HMI 13.

[0031] Thus, when the user sets the parking assistance control unit 51 to automatic start mode, the function that automatically displays guidance for the parking assistance function when all of the start conditions (A) to (C) are met becomes enabled. Furthermore, if the user sets the parking assistance control unit 51 to manual start mode, the function that automatically displays guidance for the parking assistance function is disabled. In this case, when the user initiates the operation, the target parking position detection unit 57 starts detecting the target parking position 31, and the HMI control unit 50 displays guidance for the parking assistance function accordingly.

[0032] Refer to Figure 4. When the target parking position detection unit 57 detects multiple target parking positions 31 around the vehicle 1, the HMI control unit 50 may display the number of detected target parking positions 31 on the second guidance screen 40b. Figure 4 shows an example in which the number "2", representing the number of detected target parking positions 31, is displayed at the position of the parking position selection switch 18 when the target parking position detection unit 57 detects two target parking positions 31. In this manner, when multiple target parking positions 31 are detected around the vehicle 1, the HMI control unit 50 may determine the priority of the target parking positions 31 according to predetermined rules and present the target parking positions 31 with higher priority on the second guidance screen 40b, prioritizing them over the target parking positions 31 with lower priority. For example, the HMI control unit 50 may display a target parking position mark 42b representing the target parking position 31 with the highest priority. For example, target parking positions 31 closer to the vehicle 1 may be assigned a higher priority. Alternatively, all of the multiple target parking locations that exist around the vehicle 1 may be presented, or all of the multiple target parking locations that exist within a predetermined distance from the vehicle 1 may be presented.

[0033] Alternatively, the user may select one of several target parking positions 31 by operating the parking position selection switch 18, and set it as the target parking position for their own vehicle 1 to be assisted by the parking assistance function. For example, when the HMI control unit 50 starts displaying the second guidance screen 40b, it may display a target parking position mark 42b representing the target parking position 31 with the highest priority. When the HMI control unit 50 detects operation of the parking position selection switch 18, it may sequentially select each of the multiple target parking positions 31 in order of priority and display a target parking position mark 42b representing the selected target parking position 31.

[0034] When the parking start button 44 is pressed, assistance for parking the vehicle 1 at the target parking position 31 begins. (See Figure 6.) The target trajectory generation unit 59 calculates the target parking path from the current position of the vehicle 1 in the vehicle coordinate system to the target parking position 31. The target trajectory generation unit 59 calculates the target vehicle speed profile, which is the target value of the vehicle speed of the vehicle 1 along the target parking path. The steering control unit 60 controls the steering actuator 21a so that the vehicle 1 travels along the target parking path. The vehicle speed control unit 61 controls the accelerator actuator 21b and brake actuator 21c 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 20 and switches the shift position to the parking range.

[0035] Figure 7 is a flowchart of the parking assistance method of the second embodiment. In step S10, the parking assistance control unit 51 determines whether the current position of the vehicle 1 is near the target parking position 31. If the current position is not near the target parking position 31 (step S10:N), the process proceeds to step S17. If the current position is near the target parking position 31 (step S10:Y), the process proceeds to step S11. In step S11, the parking assistance control unit 51 determines whether the vehicle speed of the vehicle is below a threshold. If the vehicle speed is not below a threshold (step S11:N), the process proceeds to step S17. If the vehicle speed is below a threshold (step S11:Y), the process proceeds to step S12.

[0036] In step S12, the parking assistance control unit 51 determines whether or not driving assistance control is being performed. If driving assistance control is not being performed (step S12:N), the process proceeds to step S14. If driving assistance control is being performed (step S12:Y), the process proceeds to step S13. In step S13, the parking assistance control unit 51 determines whether or not a driving operation has occurred by the user. If no driving operation has occurred (step S13:N), the process proceeds to step S17. If a driving operation has occurred (step S13:Y), the process proceeds to step S14. In step S14, the parking assistance control unit 51 determines whether or not it is set to automatic start mode. If it is set to automatic start mode (step S14:Y), the process proceeds to step S16. If it is not set to automatic start mode (step S14:N), the process proceeds to step S15.

[0037] In step S15, the parking assistance control unit 51 determines whether or not the parking switch 17 has been operated. If the parking switch 17 has not been operated (step S15:N), the process proceeds to step S17. If the parking switch 17 has been operated (step S15:Y), the process proceeds to step S16. In step S16, the controller 19 displays a message about the parking assist function. The process then ends. In step S17, the controller 19 does not display a message about the parking assist function. The process then ends.

[0038] (Effects of the embodiment) (1) The controller 19 determines whether driving assistance control is being performed, which includes at least one of the following: control to assist the vehicle 1 in driving within the driving lane, control to assist the vehicle 1 in driving at a constant speed, or control to assist in maintaining a constant distance between the vehicle 1 and the preceding vehicle. It also determines whether the vehicle 1 is located near a pre-registered target parking position. If driving assistance control is not being performed and the vehicle 1 is located near the target parking position, the controller displays a parking assistance function notification on the display device to assist in parking the vehicle 1 at the target parking position. If driving assistance control is being performed, or if the vehicle 1 is not located near the target parking position, the controller does not display a parking assistance function notification on the display device. In this way, by assuming that the user does not intend to park the vehicle 1 when driving assistance control is being performed and not displaying a parking assistance function notification, unnecessary displays of parking assistance function notifications can be suppressed.

[0039] (2) The controller 19 may display guidance for the parking assistance function on the display device when the vehicle speed is below the threshold, driving assistance control is not being performed, and the vehicle 1 is located near the target parking position. The controller 19 does not need to display guidance for the parking assistance function on the display device when the vehicle speed is above the threshold, when driving assistance control is being performed, or when the vehicle 1 is not located near the target parking position. In this way, when the vehicle speed is above the threshold, it is assumed that the user does not intend to park the vehicle 1 and guidance for the parking assistance function is not displayed, thereby suppressing unnecessary displays of guidance for the parking assistance function.

[0040] (3) The controller 19 may display guidance for the parking assistance function on the display device when the vehicle 1 is stopped, driving assistance control is not being performed, and the vehicle 1 is located near the target parking position. The controller 19 does not need to display guidance for the parking assistance function on the display device when the vehicle 1 is not stopped, when driving assistance control is being performed, or when the vehicle 1 is not located near the target parking position. In this way, when the vehicle 1 is not stopped, it is assumed that the user does not intend to park the vehicle 1, and guidance for the parking assistance function is not displayed, thereby suppressing unnecessary displays of guidance for the parking assistance function.

[0041] (4) The controller 19 may display guidance for the parking assistance function and select a pre-registered target parking position detected near the vehicle 1 as the target parking position for the vehicle 1 to be assisted by the parking assistance function. This reduces the manual operation required by the user to set the target parking position. (5) The controller 19 may store data representing the relative positional relationship between the target parking position and the objects present around the target parking position in a memory device as learned object data, detect surrounding objects which are objects present around the vehicle 1, and detect the target parking position present around the vehicle 1 based on the learned object data and the surrounding objects. This allows the user to use parking assistance control that assists the vehicle 1 in parking to a pre-registered target parking position.

[0042] (6) The controller 19 may display target parking positions on the display device in order of proximity to the current position of the vehicle 1 as guidance for parking assistance. This allows the controller to suggest target parking positions in order of likelihood of the user selecting them, thereby reducing the manual operation required by the user to select a target parking position. (7) The function of displaying guidance for the parking assist function on the display device may be disabled by setting it through input from the user of the vehicle 1 to the user interface. If the function of displaying guidance for the parking assist function on the display device is disabled by setting it through input from the user to the user interface, the guidance for the parking assist function may be displayed on the display device when the user inputs an operation to instruct the activation of the parking assist function. This allows the guidance for the parking assist function to be displayed on the display device according to the user's preference.

[0043] (8) If a brake operation is detected while driving assistance control is being performed and the vehicle 1 is located near the target parking position, guidance for the parking assistance function may be displayed on the display device. Also, if an intervention operation on the steering wheel is detected while driving assistance control is being performed to help the vehicle 1 drive within the driving lane and the vehicle 1 is located near the target parking position, guidance for the parking assistance function may be displayed on the display device. In this way, even when driving assistance control is being performed, if a user operation occurs, the system can assume that the user intends to park the vehicle 1 and display guidance for the parking assistance function, thereby reducing the manual operation required by the user to activate the parking assistance function.

[0044] All examples and conditional terms set forth herein are intended for educational purposes to help the reader understand the concepts given by the inventors for the advancement of the invention and the art, and should be interpreted without limitation to the examples and conditions specifically described herein, as well as the configuration of examples relating to demonstrating the superiority and inferiority of the invention. Although embodiments of the invention are described in detail, it should be understood that various changes, substitutions, and modifications are possible without departing from the spirit and scope of the invention. [Explanation of Symbols]

[0045] 1...Own vehicle, 10...Driving assistance system, 11...Positioning device, 12...Map database, 13...Human-machine interface, 14...Shift switch, 15...External sensor, 16...Vehicle sensor, 17...Parking switch, 18...Parking position selection switch, 19...Controller, 19a...Processor, 19b...Storage device, 20...Parking brake, 21a...Steering actuator, 21b...Accelerator actuator, 21c...Brake actuator, 50...HMI control unit, 51...Parking assistance control unit, 52...Image conversion unit, 53...Self-position calculation unit, 54...Target detection unit, 55...Map generation unit, 56...Map data, 57...Target parking position detection unit, 59...Target trajectory generation unit, 60...Steering control unit, 61...Vehicle speed control unit

Claims

1. A parking assistance method that assists in parking one's own vehicle in a target parking position, It is determined whether or not driving assistance control is being performed, which includes at least one of the following: control to assist the vehicle in driving within the driving lane, control to assist the vehicle in driving at a constant speed, or control to assist in maintaining a constant distance between the vehicle and the preceding vehicle. It is determined whether the vehicle is located near the pre-registered target parking position. If it is determined that the aforementioned driving assistance control is not being performed and the vehicle is located near the target parking position, the display device will show guidance for the parking assistance function that assists in parking the vehicle at the target parking position. If it is determined that the aforementioned driving assistance control is being performed, or if the vehicle is not located near the target parking position, the guidance for the parking assistance function will not be displayed on the display device. A parking assistance method characterized by the following features.

2. When the vehicle speed of the vehicle is below a threshold, the driving assistance control is not being executed, and the vehicle is located near the target parking position, the guidance for the parking assistance function is displayed on the display device. If the vehicle speed is higher than the threshold, if the driving assistance control is being performed, or if the vehicle is not located near the target parking position, the guidance for the parking assistance function will not be displayed on the display device. The parking assistance method according to feature 1.

3. When the vehicle is stopped, the driving assistance control is not being performed, and the vehicle is located near the target parking position, the parking assistance function guidance is displayed on the display device. If the vehicle is not stopped, if the driving assistance control is being performed, or if the vehicle is not located near the target parking position, the guidance for the parking assistance function will not be displayed on the display device. The parking assistance method according to feature 1.

4. The parking assistance method according to any one of claims 1 to 3, characterized in that it displays guidance for the parking assistance function and selects a pre-registered target parking position detected near the vehicle as the target parking position for the vehicle to be assisted by the parking assistance function.

5. Prior to this, data representing the relative positional relationship between the target parking position and the targets existing around the target parking position is stored in a memory device as learned target data. The system detects surrounding targets, which are objects present around the vehicle. Based on the learned target data and the surrounding targets, the system detects the target parking position located around the vehicle. The parking assistance method according to any one of the features 1 to 3.

6. The parking assistance method according to claim 4, characterized in that, as guidance for the parking assistance function, the target parking positions are displayed on the display device in order of proximity to the current position of the vehicle.

7. The function that displays the parking assistance function guidance on the display device can be disabled by input from the user of the vehicle to the user interface. The parking assistance method according to any one of claims 1 to 3, characterized in that, if the function for displaying the parking assistance function guidance on the display device is disabled by input from the user to the user interface, when the user inputs an operation to instruct the activation of the parking assistance function, the guidance for the parking assistance function is displayed on the display device.

8. The parking assistance method according to any one of claims 1 to 3, characterized in that when a brake operation is detected during the execution of the driving assistance control and the vehicle is located near the target parking position, guidance for the parking assistance function is displayed on the display device.

9. The parking assistance method according to any one of claims 1 to 3, characterized in that, when an intervention operation on the steering wheel is detected during the execution of the driving assistance control that assists the vehicle to drive within the driving lane, and the vehicle is located near the target parking position, guidance for the parking assistance function is displayed on the display device.

10. A parking assist device that assists in parking the vehicle at a target parking position, Display device and A controller that determines whether driving assistance control is being performed, which includes at least one of the following: control to assist the vehicle in driving within the driving lane, control to assist the vehicle in driving at a constant speed, or control to assist in maintaining a constant distance between the vehicle and the preceding vehicle; determines whether the vehicle is located near the pre-registered target parking position; if it is determined that the driving assistance control is not being performed and the vehicle is located near the target parking position, displays a message on the display device indicating a parking assistance function to assist in parking the vehicle at the target parking position; and if it is determined that the driving assistance control is being performed, or if the vehicle is not located near the target parking position, does not display a message on the display device indicating a parking assistance function. A driver assistance device characterized by being equipped with the following features.

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