Automatic parking system and automatic parking method

Abstract

PURPOSE: To provide an automatic parking device capable of improving convenience.SOLUTION: A processor can execute: a first registration processing for acquiring, on the basis of manual parking information consisting of a plurality of pieces of information acquired from a sensor at the time of manual entering in which an own vehicle enters a parking spot PSa by manual operation, first information for moving the own vehicle by automatic operation along a route Ra from the outside of the parking spot PSa to the parking spot PSa, and storing the first information in a storage device; and a second registration processing for acquiring, on the basis of the manual parking information if a parking spot PS adjacent to the parking spot PSa exists, second information for moving the own vehicle by automatic operation along a route Rb from the outside of the second parking spot to the parking spot PSb, and storing the second information in the storage device.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an automatic parking device and an automatic parking method for automatically parking a host vehicle in a parking spot.

Background Art

[0002] A parking assistance device that can assist in the driving operation of parking the host vehicle in a parking spot has been proposed (see Patent Document 1 below). The processor of this parking assistance device sequentially acquires the current position of the host vehicle from a navigation system. When the processor detects that the host vehicle has reached the vicinity of a pre-registered parking spot based on the current position, the processor executes a predetermined parking assistance process corresponding to the parking spot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] By the way, an automatic parking device that can store information (operation pattern of the driving operation device) representing the route traveled by the host vehicle when the driver subjectively performs a driving operation to park the host vehicle in a parking spot has been proposed. The processor of this automatic parking device (hereinafter referred to as the "conventional device") can execute an automatic storage process for automatically parking the host vehicle in the parking spot by controlling the drive device, brake device, steering device, etc. of the host vehicle based on the stored information when entering the parking spot for the next time and later. However, when there is an obstacle (for example, another vehicle) in the parking spot, the processor cannot execute the automatic storage process. Therefore, in this case, the driver needs to search for another available parking spot and subjectively perform a driving operation to park the host vehicle in the other parking spot.

[0005] One of the objectives of the present invention is to provide an automatic parking system that improves convenience.

[0006] To achieve the above objective, the automatic parking device (1) of the present invention is: A sensor (20) that acquires information about targets located around the vehicle and information about the operation of the vehicle's control devices, A processor (10) controls the vehicle based on predetermined information and automatically parks the vehicle in a designated parking spot (PSa, PSb), It is equipped with. The aforementioned processor, A first registration process is performed to acquire first information (PDa) for automatically moving the vehicle along a first path (Ra) from outside the first parking spot to the first parking spot, based on manual parking information (D1) consisting of multiple pieces of information acquired from the sensor at the time of manual parking when the vehicle is manually entered into the first parking spot by manual operation, and to store this information in a storage device (10b), and If a second parking spot (PSb) exists adjacent to the first parking spot, a second registration process is performed to acquire second information (PDb) for automatically moving the vehicle along a second path (Rb) from outside the second parking spot to the second parking spot, based on the manual parking information, and to store it in the storage device. A first automatic parking process that, when it is possible to park in the first parking spot, automatically parks the vehicle in the first parking spot based on the first information, A second automatic parking process is performed to automatically park the vehicle in the second parking spot based on the second information when it is not possible to park in the first parking spot but it is possible to park in the second parking spot. It is configured to be executable.

[0007] The automatic parking system of the present invention acquires and stores first and second information based on the manual parking information obtained when the driver manually parks their vehicle in the first parking spot. The automatic parking system can control the vehicle according to the existing first information and automatically park the vehicle in the first parking spot. Furthermore, if the automatic parking system cannot park the vehicle in the first parking spot, it can control the vehicle according to the existing second information and automatically park the vehicle in the second parking spot. As described above, the second information is acquired and stored even if the driver does not manually park the vehicle in the second parking spot. Thus, the automatic parking system of the present invention is more convenient than conventional systems.

[0008] In an automatic parking device according to one aspect of the present invention, The aforementioned processor, When the vehicle reaches a predetermined position outside the first parking spot while the first and second information are stored in the storage device, the vehicle is controlled from that predetermined position based on the first information to start moving, and during the vehicle's movement, it is determined whether or not the vehicle can enter the first parking spot based on the information acquired from the sensor. If it is determined that the vehicle can enter the first parking spot, the first automatic parking process is executed. The second automatic parking process is executed when it is determined that the vehicle cannot enter the first parking spot and can enter the second parking spot.

[0009] According to this, even if the sensor cannot detect the availability of the first and second parking spots when the vehicle reaches the predetermined location, the automatic parking operation can be initiated.

[0010] In another embodiment of the present invention, the processor stores in a storage device, as initial position information (ID), information relating to an object present around the vehicle obtained from the sensor at the predetermined position, among a plurality of pieces of information constituting the manual parking information. Subsequently, each time information is obtained from the sensor, the processor calculates the similarity between that information and the initial position information, and determines whether the vehicle has reached the predetermined position based on the similarity.

[0011] According to this, the processor can determine with relatively high accuracy whether or not its own vehicle has reached a predetermined location.

[0012] In another embodiment of the present invention, the first information and the second information include information for controlling the driving force of the vehicle (AD), information for controlling the braking force of the vehicle (BD), and information for controlling the direction of travel of the vehicle (SP, θ).

[0013] According to this, the processor can control its own vehicle (such as the drive system) by directly using information that has been pre-calculated and stored.

[0014] Furthermore, the automatic parking method according to the present invention includes steps performed by each device constituting the automatic parking system described above. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a block diagram of an automatic parking system according to one embodiment of the present invention. [Figure 2] Figure 2 is a time chart illustrating the function of retaining acquired driving operation information and target information for a certain period of time. [Figure 3] Figure 3 is a plan view showing the process of parking your vehicle in the first parking spot. [Figure 4] Figure 4 is a plan view showing the process of parking your vehicle in the second parking spot. [Figure 5] Figure 5 is a flowchart of the program for implementing the parking spot registration function. [Figure 6] FIG. 6 is a flowchart of a program for implementing an automatic warehousing function.

Embodiment for Implementing the Invention

[0016] (Schematic) An automatic parking device 1 according to an embodiment of the present invention is mounted on a vehicle V (hereinafter referred to as "own vehicle") having an automatic driving function. The automatic parking device 1 has a function (automatic warehousing function) of automatically warehousing the own vehicle into a parking spot.

[0017] (Specific Configuration) As shown in FIG. 1, the automatic parking device 1 includes an automatic parking ECU 10, an in-vehicle sensor 20, a driving device 30, a braking device 40, and a steering device 50.

[0018] The automatic parking ECU 10 includes a CPU 10a, a ROM 10b (flash memory), a RAM 10c, a timer 10d, and the like.

[0019] The in-vehicle sensor 20 includes a surrounding sensor that acquires information on targets existing around the own vehicle (hereinafter referred to as "target information"). The in-vehicle sensor 20 includes, for example, a millimeter-wave radar 21, a sonar 22, and a camera 23 as surrounding sensors.

[0020] The millimeter-wave radar 21 includes a transmission / reception unit and a signal processing unit. The transmission / reception unit radiates radio waves in the millimeter-wave band (hereinafter referred to as "millimeter waves") forward of the own vehicle and receives the millimeter waves (reflected waves) reflected by a three-dimensional object located within the radiation range. The signal processing unit recognizes the distance between the own vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the own vehicle, etc. based on the time from when the transmission / reception unit radiates the millimeter waves until the reflected waves are received, the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation degree of the reflected waves, etc., and transmits the recognition result to the automatic parking ECU 10.

[0021] The sonar 22 intermittently emits ultrasonic waves into the area surrounding the vehicle and receives ultrasonic waves (reflected waves) reflected by three-dimensional objects. Based on the time from the transmission of ultrasonic waves to the reception of reflected waves, the sonar 22 recognizes the distance between the vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object to the vehicle, etc., and transmits the recognition results to the automatic parking ECU 10.

[0022] Camera 23 includes an imaging device and an image analysis device. The imaging device incorporates, for example, a CCD. The imaging devices are installed on the front, rear, left side, and right side of the vehicle. The imaging devices each capture images of the area surrounding the vehicle at a predetermined frame rate and acquire image data. Each imaging device transmits the image data to the image analysis device. The image analysis device analyzes the acquired image data and recognizes objects present around the vehicle from the images. For example, the image analysis device recognizes other vehicles parked in an area adjacent to the parking spot, the wall of the parking spot, parking lines drawn on the road surface, etc., and transmits the recognition results to the automatic parking ECU 10.

[0023] Furthermore, the on-board sensor 20 includes an operation sensor that acquires information related to the operation of the driving control devices (hereinafter referred to as "driving operation information"). The on-board sensor 20 includes, for example, an accelerator pedal sensor 24, a brake pedal sensor 25, a shift lever position sensor 26, and a steering sensor 27, which are operation sensors.

[0024] The accelerator pedal sensor 24 detects the depression depth AD of the vehicle's accelerator pedal AP. The accelerator pedal sensor 24 transmits the depression depth AD to the automatic parking ECU 10. The brake pedal sensor 25 detects the depression depth BD of the vehicle's brake pedal BP. The brake pedal sensor 25 transmits the depression depth BD to the automatic parking ECU 10. The shift lever position sensor 26 detects the shift lever position SP ("forward", "reverse", "park", etc.), which is the position of the vehicle's shift lever SL. The shift lever position sensor 26 transmits the shift lever position SP to the automatic parking ECU 10.

[0025] The steering sensor 27 detects the steering angle (also called steering angle or turning angle) θ of the vehicle's steering wheel SW. The steering sensor 27 transmits the steering angle θ to the automatic parking ECU 10.

[0026] Furthermore, the in-vehicle sensor 20 includes a navigation system 28. The navigation system 28 detects the vehicle's current location (latitude and longitude) based on multiple GPS signals. The navigation system 28 transmits the detected current location to the automatic parking ECU 10.

[0027] Furthermore, the on-board sensor 20 includes a switch 29. The switch 29 includes an operating device for the driver to request that the automatic parking process described later be initiated.

[0028] The drive unit 30 applies driving force to the drive wheels. The drive unit 30 includes an engine ECU, an internal combustion engine, a transmission, and a driving force transmission mechanism that transmits driving force to the wheels. The engine ECU obtains information (control signals) representing the target driving force from another ECU (automatic parking ECU 10), and based on this information, drives the throttle valve of the internal combustion engine to control the driving force applied to the drive wheels. The driving force generated by the internal combustion engine is transmitted to the drive wheels via the transmission and the driving force transmission mechanism. The engine ECU also obtains information (control signals) regarding the shift position of the transmission from another ECU, and controls the shift position based on this information.

[0029] Furthermore, if the vehicle to which the automatic parking system 1 is applied is a hybrid electric vehicle (HEV), the engine ECU can control the vehicle's driving force generated by either the internal combustion engine or the electric motor, or both, as the vehicle's power source. Also, if the vehicle to which the automatic parking system 1 is applied is an electric electric vehicle (BEV), an electric motor ECU that controls the vehicle's driving force generated by the electric motor, as the vehicle's power source, may be used instead of the engine ECU.

[0030] The braking system 40 applies braking force to the wheels (brake discs). The braking system 40 includes a brake ECU, brake calipers, etc. The brake ECU obtains information (control signals) representing the target braking force from other ECUs, and controls the brake calipers based on this information to control the braking force applied to the brake discs.

[0031] The steering system 50 controls the steering angle of the steering wheels (left front wheel and right front wheel). The steering system 50 includes a steering ECU, a steering mechanism, and the like. The steering system 50 further includes actuators that drive the steering mechanism to change the steering angle. The steering ECU obtains information (control signals) representing a target steering angle from other ECUs and controls the steering angle of the steering wheels by driving the actuators based on this information.

[0032] (Operation) The automatic parking ECU 10 sequentially acquires driving operation information (pedal depression depth AD, pedal depression depth BD, shift lever position SP, and steering angle θ) from operation sensors (accelerator pedal sensor 24, brake pedal sensor 25, shift lever position sensor 26, and steering sensor 27) while the driver is performing driving operations. The automatic parking ECU 10 then stores the acquired driving operation information in the RAM 10c (ring buffer). In other words, as shown in Figure 2, the automatic parking device 1 stores multiple driving operation information acquired within a period T from the current time t1 to time t0, which is a predetermined time Δt back, as time-series data D1, and discards driving operation information prior to time t0. This time-series data D1 represents the manner of driving operations within period T. Based on this time-series data D1, the automatic parking ECU 10 controls the vehicle's drive system, etc., to move the vehicle along a path that is approximately the same as the path the vehicle traveled during period T. Here, the length of period T (i.e., time Δt) is predetermined based on the time required from the start of parking to the completion of parking in a typical parking area. However, the driver may manually set the length of period T.

[0033] In addition, the automatic parking ECU 10 sequentially acquires target information from surrounding sensors (millimeter-wave radar 21, sonar 22, and camera 23) while the driver is performing driving operations. The automatic parking ECU 10 then stores the acquired target information in RAM 10c (ring buffer). In other words, the automatic parking device 1 stores the target information acquired within period T as time-series data D2 and discards target information prior to time t0.

[0034] <Registering Parking Spots> As a preliminary step to using the automatic parking function, the driver registers parking spots PSa and PSb (location Pa and control patterns PDa and PDb, described below).

[0035] <First Registration Process> Figure 3 is a plan view showing a scenario in which the driver proactively performs driving operations and manually parks the vehicle into parking spot PSa from a position P0 near the parking spot PSa (manual parking scenario). In this example, at time t0, which is time Δt back from time t1 when the vehicle's parking is completed, the vehicle is located at position P0. At this time t0, the vehicle is relatively far from parking spots PSa and PSb, so the surrounding sensors cannot recognize any objects within the parking spots. From time t0, the driver moves the vehicle forward and backward while adjusting its direction in order to park it in reverse at parking spot PSa, and at time t1, the vehicle's parking is completed. In the following explanation, when the vehicle is parked by manual operation, i.e., during manual parking, the path the vehicle travels will be referred to as "path Rm". At the time t1 when the parking is completed, the manual parking information (time-series data D1 consisting of multiple driving operation information and time-series data D2 consisting of multiple landmark information) acquired during the preceding period T (i.e., the period from the start to the completion of parking) is stored in RAM10c.

[0036] The automatic parking ECU 10 monitors the shift lever position SP when the ignition switch is ON. When the automatic parking ECU 10 detects that the shift lever position SP has moved to the parking position, it determines that the vehicle has completed parking. When the automatic parking ECU 10 determines that the vehicle has completed parking, it displays an image on a display unit (not shown) to allow the driver to choose whether or not to register the parking spot PSa. If the driver operates switch 29 to choose to register the parking spot PSa, the automatic parking ECU 10 obtains the latitude and longitude of the vehicle's center of gravity from the navigation system 28. The automatic parking ECU 10 then stores this latitude and longitude in ROM 10b as the location Pa (location information) of the parking spot PSa. In addition, the automatic parking ECU 10 stores the time-series data D1 stored in RAM 10c in ROM 10b as the control pattern PDa (first information). As will be explained in more detail later, the automatic parking ECU 10 controls the drive system and other components based on the control pattern PDa, thereby automatically moving the vehicle along a path Ra (first path) that is approximately the same as path Rm.

[0037] In addition, the automatic parking ECU 10 stores the target information corresponding to time t0 among the target information that constitutes the time-series data D2 in the ROM 10b as the initial position information ID.

[0038] <Second Registration Process> When the automatic parking ECU 10 determines that the vehicle has completed entering the parking spot PSa, it determines whether or not there is a parking spot PSb adjacent to parking spot PSa. If the automatic parking ECU 10 determines that there is a parking spot PSb, it displays an image on a display unit (not shown) to allow the driver to choose whether or not to use parking spot PSb as an alternative parking spot to parking spot PSa. When the driver operates switch 29 and chooses to use parking spot PSb, the automatic parking ECU 10 identifies the location Px closest to location P0 among the points on the route Rm, based on the time-series data D1 and D2, and where it can detect targets within parking spots PSa and PSb (see Figures 3 and 4). Then, based on the time-series data D1 and D2, the automatic parking ECU 10 calculates a route Rb (second route (time-series data of relative position information between the vehicle and each target)) that will allow the vehicle to reach parking spot PSb while avoiding obstacles from location Px. The automatic parking ECU 10 then calculates a control pattern PDb for controlling the drive system and other components so that the vehicle moves along the path Rb from position Px, and stores it in the ROM 10b.

[0039] <First Automatic Parking Process> When the first registration process is complete (position Pa and control pattern PDa are stored), the automatic parking ECU 10 sequentially acquires the current position from the navigation system 28. The automatic parking ECU 10 then sequentially determines whether the vehicle has entered a circular area A with radius R meters centered on position Pa. If the automatic parking ECU 10 determines that the vehicle has entered area A, it determines whether the vehicle has reached position P0, as described below. Specifically, the automatic parking ECU 10 sequentially acquires target information from surrounding sensors. Each time the automatic parking ECU 10 acquires target information from surrounding sensors, it performs a pattern matching process between the target information and the initial position information ID. If the result (matching degree) exceeds a threshold (for example, 90%), the automatic parking ECU 10 determines that the vehicle has reached position P0.

[0040] When the automatic parking ECU 10 determines that its vehicle has reached position P0, it displays an image on the display to allow the driver to choose whether or not to start the automatic parking process (automatic parking control). If the driver operates switch 29 and selects to start the automatic parking process, the automatic parking ECU 10 controls the drive system and other components based on control pattern PDa. As a result, the vehicle automatically proceeds along a path Ra that is approximately the same as path Rm. When the automatic parking ECU 10 brings its vehicle to position Px (advancing control pattern PDa to the step corresponding to position Px), it acquires object information from surrounding sensors at that point and determines whether or not it is possible to park the vehicle in the parking spot PSa (whether or not it is empty) based on this object information. If there are no objects (obstacles) in the parking spot PSa that would hinder the vehicle's entry, the automatic parking ECU 10 determines that it is possible to park the vehicle in the parking spot PSa. On the other hand, if there is an obstacle in the parking spot PSa (for example, if another vehicle is parked in the parking spot PSa), the automatic parking ECU 10 determines that it is not possible to park its own vehicle in the parking spot PSa.

[0041] When the automatic parking ECU 10 determines that it is possible to park its vehicle in the parking spot PSa, it continues to control the drive system and other components according to the control pattern PDa to move the vehicle forward and park it in the parking spot PSa.

[0042] <Second Automatic Parking Process> On the other hand, if the automatic parking ECU 10 determines that it is not possible to park its vehicle in parking spot PSa at position Px, it determines whether the second registration process has been completed (whether the control pattern PDb has been stored). If the second registration process has been completed, the automatic parking ECU 10 determines whether it is possible to park its vehicle in parking spot PSb based on the target information acquired from the surrounding sensors.

[0043] When the automatic parking ECU 10 determines that it is possible to park its vehicle in the parking spot PSb, it controls the drive system and other components according to the control pattern PDb to move the vehicle forward and park it in the parking spot PSb.

[0044] On the other hand, if the automatic parking ECU 10 determines that it is not possible to park its vehicle in the parking spot PSb, it displays on the display that the automatic parking process cannot be continued and terminates (interrupts) the automatic parking process.

[0045] The automatic parking ECU 10 continuously acquires object information from surrounding sensors while executing the automatic parking process. Based on this object information, the automatic parking ECU 10 corrects the control pattern PDa (PDb) to avoid obstacles located in the area the vehicle is scheduled to pass through. If the automatic parking ECU 10 cannot avoid a newly detected obstacle, it notifies the driver that the automatic parking process cannot be continued and terminates (interrupts) the automatic parking process.

[0046] Next, referring to Figure 5, we will explain the program PR1 executed by the CPU 10a (hereinafter referred to as "CPU") of the automatic parking ECU 10 in order to realize the above-mentioned parking spot registration function.

[0047] If the ignition switch is ON, the CPU starts executing program PR1 at a predetermined interval. The CPU starts executing program PR1 from step 100 and proceeds to step 101.

[0048] When the CPU proceeds to step 101, it determines whether the driver has manually parked the vehicle (whether manual parking has been completed). The CPU determines that manual parking has been completed when it detects that the shift lever position SP has moved to the parking position. If the CPU determines that manual parking has been completed (101: Yes), it proceeds to step 102. On the other hand, if the CPU does not determine that manual parking has been completed (101: No), it returns to step 101.

[0049] When the CPU proceeds to step 102, it displays an image on the display screen for the driver to choose whether or not to register the parking spot Psa where the vehicle is parked. If the driver chooses to register the parking spot Psa (102: Yes), the CPU proceeds to step 103. On the other hand, if the driver does not choose to register the parking spot Psa (102: No), the CPU proceeds to step 107 and terminates the execution of program PR1.

[0050] When the CPU proceeds to step 103, it registers the parking spot PSa. That is, the CPU stores the current location as location Pa in ROM 10b. The CPU also stores the control pattern PDa and the initial location information ID in ROM 10b. Then the CPU proceeds to step 104.

[0051] When the CPU proceeds to step 104, it determines, based on information obtained from the surrounding sensors, whether or not a parking spot PSb exists to the right or left of its vehicle. If the CPU determines that a parking spot PSb exists (104: Yes), it proceeds to step 105. On the other hand, if the CPU determines that a parking spot PSb does not exist (104: No), it proceeds to step 107.

[0052] When the CPU proceeds to step 105, it displays an image on the display for the driver to choose whether or not to register the parking spot PSb. If the driver chooses to register the parking spot PSb (105: Yes), the CPU proceeds to step 106. On the other hand, if the driver does not choose to register the parking spot PSb (105: No), the CPU proceeds to step 107.

[0053] When the CPU proceeds to step 106, it registers the parking spot PSb. That is, the CPU calculates the control pattern PDb based on the time-series data D1 and D2 and stores it in ROM 10b. Then the CPU proceeds to step 107.

[0054] Next, referring to Figure 6, we will explain the program PR2 that CPU 10a executes to realize the above-mentioned automatic storage function.

[0055] The CPU starts executing program PR2 at predetermined intervals when the ignition switch is ON.

[0056] When the CPU proceeds to step 201, it determines whether the parking spot PSa is registered or not. If the parking spot PSa is registered (201: Yes), the CPU proceeds to step 202. On the other hand, if the parking spot PSa is not registered (201: No), the CPU proceeds to step 215 and terminates the execution of program PR2.

[0057] When the CPU proceeds to step 202, it determines whether the vehicle is located within area A based on the information obtained from the navigation system 28. If the vehicle is located within area A (202: Yes), the CPU proceeds to step 203. On the other hand, if the vehicle is located outside area A (202: No), the CPU proceeds to step 215.

[0058] When the CPU proceeds to step 203, it determines whether the vehicle has reached position P0 based on the matching result between the information obtained from the surrounding sensors and the initial position information ID. If the CPU determines that the vehicle has reached position P0 (203: Yes), it proceeds to step 204. On the other hand, if it determines that the vehicle has not reached position P0 (203: No), the CPU returns to step 202.

[0059] When the CPU proceeds to step 204, it displays an image on the display that allows the driver to choose whether or not to start automatic parking. If the driver chooses to start automatic parking (204: Yes), the CPU proceeds to step 205. On the other hand, if the driver does not choose to start automatic parking (204: No), the CPU proceeds to step 215.

[0060] When the CPU proceeds to step 205, it controls the vehicle (drive system, etc.) according to control pattern PDa. Then the CPU proceeds to step 206.

[0061] When the CPU proceeds to step 206, it determines whether the vehicle has reached position Px based on the progress of control pattern PDa. If the CPU determines that the vehicle has reached position Px (206: Yes), it proceeds to step 207. On the other hand, if the CPU determines that the vehicle has not yet reached position Px (206: No), it returns to step 205.

[0062] When the CPU proceeds to step 207, it determines whether or not it is possible to park the vehicle in the parking spot PSa based on the information obtained from the surrounding sensors. If the CPU determines that it is possible to park the vehicle in the parking spot PSa (207: Yes), it proceeds to step 208. On the other hand, if the CPU determines that it is not possible to park the vehicle in the parking spot PSa (207: No), it proceeds to step 210, which will be described later.

[0063] When the CPU proceeds to step 208, it continues to control the vehicle (drive system, etc.) according to the control pattern PDa, causing the vehicle to move a predetermined distance Δd. Then the CPU proceeds to step 209.

[0064] When the CPU proceeds to step 209, it determines whether the vehicle's entry into the parking lot is complete (whether it has reached the end of control pattern PDe). If the CPU determines that the vehicle's entry into the parking lot is complete, it proceeds to step 215. On the other hand, if the CPU determines that the vehicle's entry into the parking lot is not yet complete (209: No), it returns to step 208.

[0065] When the CPU proceeds to step 210, it determines whether the parking spot PSb is registered or not. If the parking spot PSb is registered (210: Yes), the CPU proceeds to step 211. On the other hand, if the parking spot PSb is not registered (2101: No), the CPU proceeds to step 214.

[0066] When the CPU proceeds to step 211, it determines whether or not it is possible to park the vehicle in parking spot PSb based on the information obtained from the surrounding sensors. If the CPU determines that it is possible to park the vehicle in parking spot PSb (211: Yes), it proceeds to step 212. On the other hand, if the CPU determines that it is not possible to park the vehicle in parking spot PSb (212: No), it proceeds to step 214, which will be described later.

[0067] When the CPU proceeds to step 212, it controls the vehicle (drive unit, etc.) according to control pattern PDb to move the vehicle a predetermined distance Δd. Then the CPU proceeds to step 213.

[0068] When the CPU proceeds to step 213, it determines whether the vehicle has completed parking (whether it has reached the end of control pattern PDb). If the CPU determines that the vehicle has completed parking, it proceeds to step 215. On the other hand, if the CPU determines that the vehicle has not yet completed parking (213: No), it returns to step 212.

[0069] When the CPU proceeds to step 214, it informs the driver that the automatic parking process cannot be performed. Then the CPU proceeds to step 215.

[0070] (Effect) When the driver manually parks their vehicle into a parking spot PSa, the automatic parking system 1 acquires and stores control patterns PDa and PDb based on the manual parking information (time-series data D1 and time-series data D2) acquired at that time. The automatic parking system 1 can control its vehicle from a position P0 near the parking spot PSa according to the existing control pattern PDa and automatically park the vehicle into the parking spot PSa. Furthermore, if the automatic parking system 1 cannot park its vehicle into the parking spot PSa because an obstacle exists within the parking spot PSa, it can control its vehicle according to the existing control pattern PDb and automatically park the vehicle into the parking spot PSb. As described above, even if the driver does not manually park their vehicle into the parking spot PSb, the control pattern PDb for automatically parking the vehicle into the parking spot PSb is calculated and stored. Thus, the convenience of the automatic parking system is higher compared to conventional systems.

[0071] Furthermore, when the driver manually parks their vehicle in a parking spot PSa, high-precision information about a nearby landmark is acquired when the vehicle approaches that landmark closest to the route Rm. The control pattern PDb is calculated based on this high-precision landmark information. Therefore, the control pattern PDb is more accurate than a control pattern calculated based only on landmark information acquired at a relatively distant location from the parking spot PSb (for example, location Px).

[0072] It should be noted that the present invention is not limited to the above embodiments, and various modifications can be adopted within the scope of the present invention. For example, the automatic parking ECU 10 may store a path Ra (Rb) in the ROM 10b instead of a control pattern PDa (PDb). In this case, the automatic parking ECU 10 only needs to calculate the control pattern PDa (PDb) based on the path Ra (Rb) when executing the first parking process (second parking process). [Explanation of Symbols]

[0073] 1...Automatic parking system, 10...Automatic parking ECU, 20...On-board sensors, 30...Drive system, 40...Brake system, 50...Steering system

Claims

1. A sensor that acquires information about targets located around the vehicle and information about the operation of the vehicle's control devices, A processor that controls the vehicle based on predetermined information and automatically parks the vehicle in a designated parking spot, An automatic parking system equipped with, The aforementioned processor, A first registration process is performed to acquire first information for automatically moving the vehicle along a first route from outside the first parking spot to the first parking spot, based on manual parking information consisting of multiple pieces of information acquired from the sensor at the time of manual entry when the vehicle is manually entered into the first parking spot by manual operation, and to store this information in a storage device. If a second parking spot exists adjacent to the first parking spot, a second registration process is performed to acquire second information for automatically moving the vehicle along a second route from outside the second parking spot to the second parking spot, based on the manual parking information, and to store this information in the storage device. A first automatic parking process that, when it is possible to park in the first parking spot, automatically parks the vehicle in the first parking spot based on the first information, A second automatic parking process is performed to automatically park the vehicle in the second parking spot based on the second information when it is not possible to park in the first parking spot but it is possible to park in the second parking spot. An automatic parking system configured to be operational.

2. An automatic parking device according to claim 1, The aforementioned processor, When the vehicle reaches a predetermined position outside the first parking spot while the first and second information are stored in the storage device, the vehicle is controlled from that predetermined position based on the first information to start moving, and during the vehicle's movement, it is determined whether or not the vehicle can enter the first parking spot based on the information acquired from the sensor. If it is determined that the vehicle can enter the first parking spot, the first automatic parking process is executed. The second automatic parking process is executed when it is determined that the vehicle cannot enter the first parking spot and can enter the second parking spot. Automatic parking system.

3. In the automatic parking device according to claim 2, The aforementioned processor, An automatic parking device that, among the multiple pieces of information constituting the manual parking information, stores in a storage device as initial position information (ID) information about objects present around the vehicle obtained from the sensor at the predetermined position, and thereafter, each time information is obtained from the sensor, calculates the similarity between that information and the initial position information, and determines whether or not the vehicle has reached the predetermined position based on the similarity.

4. An automatic parking device according to any one of claims 1 to 3, An automatic parking system in which the first and second pieces of information include information for controlling the driving force of the vehicle, information for controlling the braking force of the vehicle, and information for controlling the direction of travel of the vehicle.

5. An information acquisition step in which a processor controlling the vehicle acquires information about targets located around the vehicle and information about the operation of the vehicle's control devices, The processor controls the vehicle based on predetermined information and automatically parks the vehicle in a predetermined parking spot in an automatic parking step, An automatic parking method including, A first registration step in which, when the vehicle is manually parked in a first parking spot by manual operation, the processor acquires first information for automatically moving the vehicle along a first path from outside the first parking spot to the first parking spot, based on manual parking information consisting of multiple pieces of information acquired from sensors that acquire information about landmarks located around the vehicle and information about the operation of the vehicle's control devices, and stores this information in a storage device. If a second parking spot exists adjacent to the first parking spot, a second registration step is performed in which the processor, based on the manual parking information, acquires second information for automatically moving its vehicle along a second path from outside the second parking spot to the second parking spot and stores it in the storage device. Includes, The aforementioned automated storage step is: A first automatic parking step in which, if it is possible to park in the first parking spot, the vehicle is automatically parked in the first parking spot by operation based on the first information, A second automatic parking step in which, if it is not possible to park in the first parking spot but it is possible to park in the second parking spot, the vehicle is automatically parked in the second parking spot based on the second information, Automatic parking methods, including

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