Vehicle parking assist system

Abstract

To provide a parking support device which can reduce trouble of vehicle movement and time when a vehicle stops at a location where a vehicle door cannot be opened during execution of remote parking.SOLUTION: A parking support device 20 stops, when determining that a vehicle 10 cannot park at a target parking location during movement of the vehicle 10, the vehicle 10 and determines whether there is a space where a vehicle door 11 can be opened in the periphery of the vehicle 10 at the location where the vehicle stops. The parking support device recommends an operator of a portable terminal 300, when determining that there is no space, that the vehicle moves to a location where the vehicle door can be opened, and makes, when the recommendation is accepted, the vehicle 10 travel in a specified direction.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a parking assistance apparatus.

Background Art

[0002] The parking assistance apparatus is configured to be able to execute parking assistance control that performs at least part or all of a vehicle's driving operation so that the vehicle is parked in a parking slot. Note that the parking slot is a space where one vehicle is expected to be parked. In connection with such a parking assistance apparatus, the standard ISO20900 (Partially automated parking systems: PAPS) and ISO16787 (Assisted parking systems: APS) specify vehicle control related to parking of a vehicle.

[0003] The parking assistance apparatus may suspend remote parking control for reasons such as being unable to park the vehicle in the parking slot during execution of parking assistance control, that is, remote parking control, which causes the vehicle to automatically travel and move to the parking slot according to an operation of a terminal device performed by the driver outside the vehicle. In this case, the driver moves the vehicle by getting on board and driving the vehicle. However, if there is no space available to open a door around the stopped vehicle, the driver cannot get on board (or it is difficult for the driver to get on board). Further, even if the driver can get on board the vehicle, the driver has to perform an operation for starting remote parking control again in order to resume the suspended remote parking control.

[0004] The parking assistance apparatus disclosed in Patent Document 1 performs control to interrupt automatic travel and allow the driver to determine whether or not to continue parking assistance control when an object exists within or around the automatic travel route of the vehicle. However, although Patent Document 1 discloses control when automatic travel is temporarily interrupted when automatic travel can be continued, it does not disclose control when automatic travel cannot be continued.

Prior Art Literature

[0005] [Patent Document 1] Japanese Patent Publication No. 2021-62715 [Overview of the project]

[0006] This invention was made to address the above-mentioned problems. Specifically, one of the objectives of this invention is to provide a parking assistance device that facilitates subsequent vehicle movement even when remote parking control is discontinued because autonomous driving cannot be continued.

[0007] To achieve the above objective, the parking assistance device according to the present invention is a parking assistance device that can park a vehicle at a target parking position by automatically driving the vehicle in response to a driving command signal received wirelessly from a mobile terminal, and if it is determined that the vehicle cannot be parked at the target parking position while the vehicle is automatically driving, the device stops the vehicle, determines whether there is space around the vehicle at the position where the vehicle has stopped so that the vehicle doors provided on the vehicle can be opened, and if it is determined that there is no space, the device performs a process to notify the user that it is proposed to move the vehicle to a position where there is space, and if a signal to accept the proposal is detected, the device drives the vehicle in a predetermined direction in response to a driving command signal received from the mobile terminal.

[0008] According to the present invention, if the vehicle cannot be parked in the target parking position by remote parking control and the vehicle stops in a position where there is no space to open the vehicle doors, the driver can move the vehicle to a position where they can get in by accepting the suggestion notified by the parking assist device. Furthermore, since the driver does not need to restart the remote parking control to move the vehicle, the effort and time required to move the vehicle can be reduced. [Brief explanation of the drawing]

[0009] [Figure 1]Figure 1 shows the configuration of the vehicle and parking assist system. [Figure 2] Figure 2(a) shows an example of a remote control image, and Figure 2(b) shows an example of a first termination image. [Figure 3] Figure 3(a) shows an example of an aborted image, Figure 3(b) shows an example of a proposed image, and Figure 3(c) shows an example of a second termination image. [Figure 4] Figure 4 is a flowchart showing the processes performed by the CPU of the parking ECU. [Figure 5] Figure 5 is a flowchart showing the processes executed by the CPU of the terminal ECU. [Modes for carrying out the invention]

[0010] (Device configuration) Figure 1 shows an example configuration of vehicle 10. The parking assist system 20 is installed in vehicle 10 equipped with an autonomous driving function. The parking assist system 20 includes a parking ECU 201, a PVM (Panoramic View Monitor) ECU 202, a drive ECU 203, an SBW (Shift-by-Wire) ECU 204, a brake ECU 205, an EPS (Electric Power Steering) ECU 206, a NAVI 207 (Navigation System), a start switch 210, and surrounding sensors (sonar sensor 212 and camera 212).

[0011] ECU stands for Electronic Control Unit. Each ECU is a control device that primarily consists of a microcomputer including a CPU, ROM, RAM, and I / F. Each ECU is configured to achieve predetermined control by having the CPU read computer programs stored in ROM, load them into RAM, and execute them. Furthermore, each ECU is connected to each other via a CAN (Controller Area Network) or similar network to send and receive signals.

[0012] The parking ECU 201 is configured to perform parking assistance control, including automatic parking control and remote parking control. Automatic parking control includes control to park the vehicle 10 in a parking slot set as a parking target position by controlling at least one of the drive unit 240 that generates driving force for the vehicle 10, the brake unit 241 that brakes the vehicle 10, and the steering unit 242 that changes the direction of travel of the vehicle 10, without driver operation. Therefore, control that performs all control of the drive unit 240, brake unit 241, and steering unit 242 without driver operation is also automatic parking control, and control that performs only the control of the steering unit 242 without driver operation is also automatic parking control. Remote parking control is control that parks the vehicle 10 in a parking slot by controlling all of the drive unit 240, brake unit 241, and steering unit 242 in response to operation of a device other than the device mounted on the vehicle 10, for example, a mobile terminal owned by the operator of the vehicle 10.

[0013] The start switch 210 is a switch that is operated when an occupant instructs the parking assist device 20 to perform predetermined processes and controls included in the parking assist control, as described later. The parking ECU 201 can detect when the start switch 210 has been operated.

[0014] The surrounding sensors are sensors for acquiring information about the area around the vehicle 10 (hereinafter sometimes referred to as "surrounding information"). The surrounding information includes information about objects (three-dimensional objects) present in the area surrounding the vehicle 10 (within a predetermined distance from the vehicle 10's position), information about markings on the road surface in the area surrounding the vehicle 10 (such as lane markings), and information about parking slots. The information about objects also includes the distance between the vehicle 10 and the object, and the direction of the object as seen from the vehicle 10. Objects include, for example, moving objects such as other vehicles, pedestrians and bicycles, as well as fixed objects such as guardrails, curbs, wheel stops and fences. The information about parking slots includes information indicating the shape and dimensions of the parking slots. The surrounding sensors include multiple sonar sensors 211 and multiple cameras 212 (Note: In Figure 1, for simplification, one sonar sensor 211 and one camera 212 are shown).

[0015] Each sonar sensor 211 is configured to intermittently emit ultrasonic waves into the area surrounding the vehicle 10 and to receive ultrasonic waves (reflected waves) reflected by objects in the area surrounding the vehicle 10. The multiple sonar sensors 211 include at least one sonar sensor capable of detecting the distance from the outer surface of the vehicle door 11 to an object. Each camera 212 is a digital camera that captures the area surrounding the vehicle 10 and generates image data. Each camera 212 transmits the generated image data to the PVM / ECU 202. The multiple cameras 212 are arranged to capture the area surrounding the vehicle 10 in all directions.

[0016] The PVM / ECU 202 acquires surrounding information by performing image processing on image data acquired from each camera 212. For example, the PVM / ECU 202 acquires the size, shape, and position relative to the vehicle 10 of installed objects (such as pylons), buildings (such as walls and fences), moving objects (such as pedestrians and other vehicles), and parking lines marked on the road surface that exist in the area surrounding the vehicle 10. The PVM / ECU 202 also analyzes (determines) whether the detected three-dimensional object is a moving object such as a pedestrian or bicycle, or a fixed object such as a wall or fence. In other words, the PVM / ECU 202 can detect moving objects that exist in the area surrounding the vehicle 10.

[0017] NAVI207 comprises a NAVI-ECU222, an in-vehicle display device 223, and a wireless communication device 224. The in-vehicle display device 223 is a touch-panel display device that displays various information and allows the driver to input various instructions. The wireless communication device 224 is configured to communicate wirelessly with a mobile terminal 300, which will be described later. For example, the wireless communication device 224 is configured to communicate wirelessly in accordance with the Bluetooth standard ("Bluetooth" is a registered trademark of Bluetooth SIG, Inc.).

[0018] The parking ECU 201 can display various images on the in-vehicle display device 223 via the NAVI ECU 222, and can also detect operations (such as taps) on the in-vehicle display device 223.

[0019] The drive ECU 204 is configured to control the drive source 215 by driving the drive actuator 214. The SBW ECU 204 is configured to change the shift range of the transmission 217 by controlling the SBW actuator 216. The drive ECU 204 is also connected to the vehicle speed sensor 213 and can acquire the vehicle speed detected by the vehicle speed sensor 213. The brake ECU 205 is configured to control the braking force of the vehicle 10 by the brake mechanism 219 by controlling the brake actuator 218. The EPS ECU 206 can change the steering angle of the vehicle 10 by driving the steering motor 221 under the control of the steering motor driver 220.

[0020] The mobile terminal 300 (portable terminal device) comprises a terminal ECU 301, a wireless communication device 302, and a terminal display device 303. The terminal ECU 301 of the mobile terminal 300 has an application for remotely controlling the vehicle 10 (hereinafter referred to as the "operation application") pre-installed. The wireless communication device 302 is configured to wirelessly communicate with the wireless communication device 224 of the parking assist device 20 when the mobile terminal 300 is outside the vehicle 10. The wireless communication device 302 is a wireless communication device compliant with the Bluetooth standard. The terminal display device 303 is a touch panel type display device that can display various information and allows the driver to input various instructions. The terminal ECU 301 can display various images on the terminal display device 303 and can detect operations on the screen of the terminal display device 303 (such as taps and swipes). For example, a smartphone can be used as the mobile terminal 300.

[0021] Next, the content of the parking assist control will be described. When a predetermined condition (hereinafter referred to as a "search condition") is satisfied while the vehicle 10 is traveling, the parking ECU 201 starts "a process of searching for a parking slot in which the vehicle 10 can be parked" (hereinafter referred to as a "search process"), which is a process included in the parking assist control. For example, the parking ECU 201 determines that the search condition is satisfied when the vehicle speed becomes equal to or lower than a predetermined vehicle speed (for example, 10 km / h or lower) while the vehicle 10 is traveling. A conventionally known method can be applied to the search process (see, for example, Japanese Patent Application Laid-Open No. 2021-62736 and Japanese Patent Application Laid-Open No. 2021-62715).

[0022] When a parking slot in which the vehicle 10 can be parked is detected by the search process, and thereafter an operation on the start switch 210 is detected, the parking ECU 201 executes a process of determining a parking slot for parking the vehicle 10 (which can also be referred to as a process of having the driver determine the parking slot for parking the vehicle 10), and a process of having the driver determine whether to park the vehicle 10 by remote parking control. The remote parking control in the present embodiment is control for parking the vehicle 10 in a parking slot in accordance with an operation of the portable terminal 300 outside the vehicle 10. After determining the parking slot that is the target parking position for parking the vehicle 10, the parking ECU 201 calculates a guidance route for the vehicle 10 to move the vehicle 10 from the current position of the vehicle 10 to the parking slot, and calculates a steering angle pattern and a speed pattern for moving (traveling) the vehicle 10 to the parking slot by automatic driving along the guidance route. A known method can be applied to the calculation method of the guidance route, the steering angle pattern, and the speed pattern (see, for example, Japanese Patent Application Laid-Open No. 2015-3565).

[0023] When the parking ECU 201 completes calculation of the guidance route, steering angle pattern and speed pattern of the vehicle 10, the parking ECU 201 causes an in-vehicle display device 223 to display an image including a "message prompting the driver to alight from the vehicle and activate an application for performing remote parking using a portable terminal 300". Then, the parking ECU 201 causes a drive ECU 203 to start first remote control (it can also be expressed that "the parking ECU 201 cooperates with the drive ECU 203 to start the first remote control"). The first remote control is remote parking control, which is control for automatically causing the vehicle 10 to travel (autonomous driving control) toward a parking slot along the guidance route calculated by the parking ECU 201.

[0024] When an operation application is activated by an operation of the driver and the portable terminal 300 becomes communicable with a parking assist device 20, the portable terminal 300 causes a terminal display device 303 to display a remote operation image 500 shown in FIG. 2(a). The remote operation image 500 includes a swipe area image 501 which is an image indicating an area for the driver to swipe. Then, while a swipe on the swipe area image 501 is detected, the portable terminal 300 transmits a signal instructing automatic traveling of the vehicle 10 (hereinafter referred to as a "traveling instruction signal") to a NAVI 207 via wireless communication.

[0025] While the NAVI 207 is receiving the traveling instruction signal, the drive ECU 203, a SBW·ECU 204 and a brake ECU 205 cooperatively control a driving force source, a SBW actuator 216 and a brake actuator 218 such that the vehicle 10 automatically travels in accordance with the calculated steering angle pattern and speed pattern. Accordingly, while the driver is swiping the swipe image of the remote operation image 500 of the portable terminal 300, the vehicle 10 automatically travels toward the parking slot.

[0026] When the vehicle 10 reaches a predetermined parking position within the parking slot, the parking ECU 201 stops the vehicle 10 and wirelessly transmits a first completion signal to the mobile terminal 300, which indicates that the vehicle 10 has reached the parking slot. Upon receiving the first completion signal, the mobile terminal 300 displays the first completion image 510 shown in Figure 2(b) on the terminal display device 303. The first completion image 510 is an image used to notify that parking is complete. Subsequently, the parking ECU 201 terminates the parking assistance control, and the mobile terminal 300 terminates the operation application.

[0027] While the vehicle 10 is automatically driving toward the parking slot due to the execution of the first remote control, the parking ECU 201 and PVM-ECU 202 continue to determine whether there are any objects on the guidance path, in the parking slot, or in their vicinity that could obstruct the movement and parking of the vehicle 10. The PVM-ECU 202 also continues to determine whether there are any objects on the guidance path, in the parking slot, or in their vicinity based on image data acquired from the camera 212, and if there are objects, it continues to identify the type of object (whether it is a moving object such as a pedestrian or bicycle, a portable object such as a pylon, or a fixed object that cannot be removed). The PVM-ECU 202 also continues to determine whether the parking slot has the shape and dimensions to accommodate the vehicle 10.

[0028] Furthermore, during the automatic driving of vehicle 10, it may be discovered that vehicle 10 cannot be parked in the parking slot. In this case, the parking ECU 201 continuously determines whether a condition indicating that vehicle 10 cannot be parked in the parking slot (hereinafter referred to as the cancellation condition) has been met from the time the preparation for the first remote control is completed until vehicle 10 reaches the parking slot. If the cancellation condition is met, the parking ECU 201 transmits a cancellation signal to the mobile terminal 300 indicating that the cancellation condition has been met. Upon receiving the cancellation signal, the mobile terminal 300 erases the remote control image 500 and displays the cancellation image 520 shown in Figure 3(a). The cancellation image 520 is an image used to notify that the automatic parking control has been canceled.

[0029] The termination condition is met when it is found that vehicle 10 cannot be parked in the parking slot originally designated as the target parking position. Specifically, the termination condition is met when the driver or occupants outside vehicle 10 cannot resolve the situation that prevents vehicle 10 from being parked in the parking slot, or when there is no prospect of resolving the situation that prevents vehicle 10 from being parked in the parking slot. More specifically, the termination condition is met when it is found that "the parking slot does not have the dimensions and shape to accommodate vehicle 10," or when "the parking slot has the dimensions and shape to accommodate vehicle 10, but there is an object in the parking slot that cannot be removed (in other words, when it is unclear whether the object is a movable or portable object)."

[0030] The parking ECU 201 stops the vehicle 10 from moving if the stop condition is met. When the vehicle 10 stops moving, if there is an object (for example, another vehicle or a building such as a wall) close to the side of the vehicle 10, the driver will not be able to open the vehicle door 11 and will not be able to get in (or will have difficulty getting in). Therefore, in this embodiment, if the vehicle door 11 cannot be opened when the vehicle 10 stops moving, the parking ECU 201 performs processing and control to move the vehicle 10 to a position where the vehicle door 11 can be opened.

[0031] Specifically, when the parking ECU 201 stops the vehicle 10 due to the fulfillment of the termination condition, it determines whether or not such an object exists within a predetermined distance from the outer surface of each vehicle door 11 (in other words, on the trajectory of the vehicle door 11 when it opens or closes). If the parking ECU 201 determines that such an object exists, it determines that there is not enough space to open the vehicle door 11 to allow the driver to get in, and therefore determines that the vehicle door 11 cannot be opened. The parking ECU 201 also determines whether or not all vehicle doors 11 for passenger entry and exit can be opened. If the vehicle 10 is equipped with a vehicle door for cargo (e.g., a back door), this vehicle door is excluded. If the parking ECU 201 determines that all vehicle doors 11 for passenger entry and exit cannot be opened, it determines that the door opening condition indicating that the vehicle door 11 can be opened has not been met, and transmits a door opening impossible signal to the mobile terminal 300.

[0032] When the mobile terminal 300 receives a signal indicating that the door cannot be opened, it displays the cancellation image 520 shown in Figure 3(a) on the terminal display device 303 for a predetermined time (for example, 3 seconds), and then erases the cancellation image 520 and displays the proposal image 530 shown in Figure 3(b). The proposal image 530 includes a message (message image 531) that proposes moving the vehicle 10 to a position where the vehicle door 11 can be opened, an acceptance switch image 532 which is an image that the driver taps when accepting this proposal, and a rejection switch image 533 which is an image that the driver taps when not accepting this proposal. The message image 531 informs the driver of a proposal to move the vehicle 11 to a position where the vehicle door 11 can be opened, that is, a position where there is enough space to open the vehicle door 11 so that the driver can get in.

[0033] When the mobile terminal 300 detects a tap on the acceptance switch image 532, it sends an acceptance signal to the NAVI 207 to indicate this. In this case, the mobile terminal 300 then erases the suggestion image 530 and displays the remote control image 500. On the other hand, when the mobile terminal 300 detects a tap on the rejection switch image 533, it sends a rejection signal to the NAVI 207 to indicate this. In this case, the mobile terminal 300 terminates the operation application. If the NAVI 207 receives a rejection signal, the parking ECU 201 terminates the parking assistance control.

[0034] When the NAVI 207 receives an acceptance signal, the parking ECU 201 instructs the HV ECU 203 to start the second remote control (it can also be said that "the parking ECU 201 starts the second remote control in cooperation with the HV ECU 203, etc."). The second remote control is a control included in the parking assistance control, and is a control that makes the vehicle 10 move automatically while receiving a driving command signal from the mobile terminal 300. However, in the second remote control, the calculated steering angle pattern and speed pattern are not used, and the vehicle 10 is made to move straight in the opposite direction to the direction of travel just before stopping. For example, if the parking ECU 201 stops the vehicle 10 due to the fulfillment of the cancellation condition while the vehicle 10 is reversing (while reverse parking), the parking ECU 201 will make the vehicle 10 move straight forward.

[0035] The parking ECU 201, while automatically driving the vehicle 10 by executing the second remote control, determines whether the conditions for opening the door are met, that is, whether there is space to open the vehicle door 11. If the parking ECU 201 determines that the conditions for opening the door are met while the vehicle 10 is automatically driving (straight), it instructs the HV ECU 203 to stop the vehicle 10 and sends a door-open signal, which indicates that the conditions for opening the door are met, to the mobile terminal 300. Upon receiving the door-open signal, the mobile terminal 300 clears the remote control image 500 and displays the second termination image 540 shown in Figure 3(c). The second termination image 540 is an image to notify that the vehicle 10 has reached a position where the vehicle door 11 can be opened. The parking ECU 201 then terminates the parking assistance control, and the mobile terminal 300 terminates the operation application.

[0036] Furthermore, if the door-opening condition is met at the position where the vehicle 10 has stopped due to the fulfillment of the cancellation condition, the driver outside the vehicle can get in. In this case, the parking ECU 201 sends a cancellation signal and a door-opening signal to the mobile terminal 300, and then terminates the parking assistance control. When the mobile terminal 300 receives the cancellation signal and the door-opening signal, it displays the cancellation image shown in Figure 3(a) on the terminal display device 303, and then terminates the operation application.

[0037] Furthermore, if the parking ECU 201 is unable to move the vehicle toward the parking slot due to a temporary cause or a cause that can be resolved by the driver, etc., it will not determine that the termination condition has been met, but rather that the interruption condition has been met. For example, even if the parking ECU 201 detects an object on the guidance path and within the parking slot that obstructs the movement and parking of the vehicle 10, if the parking slot has dimensions and shape that allow the vehicle 10 to be parked, and the object is a moving object (e.g., a pedestrian or bicycle) or a portable object (e.g., a pylon), it will not determine that the termination condition has been met, but rather that the interruption condition has been met.

[0038] If the interruption condition is met while the parking ECU 201 is receiving a driving command signal, it temporarily suspends the driving of the vehicle 10. Then, when the interruption condition is no longer met, the parking ECU 201 resumes control to drive the vehicle 10 in response to a swipe on the terminal display device 303. In other words, if the interruption condition is met, the parking ECU 201 temporarily suspends the driving of the vehicle 10, but continues the parking assistance control without terminating it.

[0039] Here, we will explain the processes performed by the parking ECU 201. Figure 4 is a flowchart showing an example of the processes performed by the CPU of the parking ECU 201 (hereinafter simply referred to as "CPU") in order to realize the parking assistance control described above. The CPU detects operation on the start switch 210 while the vehicle 10 is stopped, then determines the parking slot in which the vehicle 10 will be parked, calculates the guidance path for the vehicle 10 to the parking slot, and calculates the steering angle pattern and speed pattern for driving the vehicle 10 along the calculated guidance path. After completing these calculations, the CPU starts the series of processes shown in Figure 4.

[0040] In step S101, the CPU instructs the HV / ECU203 to start (or continue if already started) the first remote control. Specifically, while the CPU receives a driving command signal from the mobile terminal 300 via NAVI207, it instructs the HV / ECU203 to drive the vehicle 10 toward the target parking position. Then, the CPU proceeds to step S102.

[0041] In step S102, the CPU determines whether the termination condition has been met. If the termination condition has not been met, the CPU proceeds to step S103; if the termination condition has been met, the CPU proceeds to step S105.

[0042] In step S103, the CPU determines whether the first termination condition is met. If the first termination condition is not met, the CPU returns to step S101; if the first termination condition is met, the CPU proceeds to step S104.

[0043] In step S104, the CPU instructs the HV ECU 203 to stop the vehicle 10 from running and sends a first termination signal to the mobile terminal 300. The CPU then terminates the series of processes.

[0044] In step S105, the CPU determines whether the conditions for opening the door are met. If the conditions for opening the door are met, the CPU proceeds to step S106; otherwise, the CPU proceeds to step S108.

[0045] In step S106, the CPU sends a cancellation signal and a door open signal to the mobile terminal 300. Then, the CPU terminates the series of processes.

[0046] In step S108, the CPU sends a cancellation signal and a door opening disabled signal to the mobile terminal 300. Then, the CPU proceeds to step S108.

[0047] In step S108, the CPU determines whether it has received an acceptance signal or a rejection signal. If it has received an acceptance signal, the CPU proceeds to step S109; if it has received a rejection signal, the CPU terminates the series of processes.

[0048] In step S109, the CPU instructs the HV·ECU203 to start (or continue if already started) the second remote control. Then, the CPU proceeds to step S110.

[0049] In step S110, the CPU determines whether the conditions for opening the door have been met. If the CPU determines that the conditions for opening the door have not been met, it returns to step S109. If the CPU determines that the conditions for opening the door have been met, it proceeds to step S111.

[0050] In step S111, the CPU instructs the HV ECU 203 to stop the vehicle 10 from moving and sends a second termination signal. After that, the CPU terminates the series of processes.

[0051] Next, we will explain the processes performed by the CPU (hereinafter sometimes simply referred to as CPU) of the terminal ECU 301 of the mobile terminal 300. Figure 5 is a flowchart showing an example of the processes performed by the CPU of the mobile terminal 300. When the operation application is launched, the CPU starts the series of processes shown in Figure 5.

[0052] In step S201, the CPU displays the remote control image 500 on the terminal display device 303 and accepts a swipe on the swipe area image 501. While the CPU is detecting a swipe on the swipe area image 501, it continues to transmit a drive command signal to the NAVI 207. Then, the process proceeds to step S202.

[0053] In step S202, the CPU determines whether or not it has received a cancellation signal from NAVI207. If the CPU has not received a cancellation signal, it proceeds to step S203; if it has received a cancellation signal, it proceeds to step S205.

[0054] In step S203, the CPU determines whether or not it has received the first termination signal from NAVI207. If the CPU has not received the first termination signal, it returns to step S201; if it has received the first termination signal, it proceeds to step S204.

[0055] In step S204, the CPU erases the remote control image 500 and displays the first termination image 510. After that, the CPU terminates the operation application.

[0056] In step S205, the CPU determines whether it has received a door-opening signal or a door-opening-not-allowable signal. If the CPU receives a door-opening signal, it proceeds to step S206; if it receives a door-opening-not-allowable signal, it proceeds to step S207.

[0057] In step S206, the CPU erases the remote control image 500 and displays the cancellation image 520. After that, the CPU terminates the application.

[0058] In step S207, the CPU erases the remote control image 500 and displays the cancellation image 520. After continuing to display the cancellation image 520 for a predetermined time, the CPU erases the cancellation image 520 and displays the proposal image 530, and starts accepting operations for the accept switch image 532 and reject switch image 533 included in the proposal image 530. The CPU then proceeds to step S208.

[0059] In step S208, the CPU determines whether a tap has been made on either the accept switch image 532 or the reject switch image 533. If the CPU detects a tap on the reject switch image 533, it terminates the operation application. If it detects a tap on the accept switch image 532, it proceeds to step S209.

[0060] In step S209, the CPU erases the suggested image 530 and displays the remote control image 500. The CPU then continuously transmits a drive command signal wirelessly to the NAVI 207 while detecting a swipe on the swipe area image 501. The CPU then proceeds to step S210.

[0061] In step S210, the CPU determines whether or not it has received the second termination signal. If the CPU has not received the second termination signal, it returns to step S209; if it has received the second termination signal, it proceeds to step S211.

[0062] In step S211, the CPU erases the remote control image 500 and displays the second termination image 540. After that, the CPU terminates the series of processes. Then, the CPU terminates the operation application.

[0063] As described above, if the parking assist device 20 determines that the termination condition has been met during the automatic driving of the vehicle 10 by the execution of the first remote control, it stops the vehicle 10 from moving. The parking assist device 20 then determines whether there is space around the vehicle 10 at the position where the vehicle 10 has stopped to open the vehicle doors 11, that is, whether the vehicle doors 11 can be opened. If the vehicle doors 11 can be opened, the parking assist device 200 terminates the parking assist control. In this case, the driver who was operating the mobile terminal 300 outside the vehicle can open the vehicle doors 11 and get into the vehicle 10, and then drive the vehicle 10 to move it.

[0064] On the other hand, if the parking assist device 20 determines that the vehicle door 11 cannot be opened at the position where the vehicle 10 has stopped (i.e., there is no space to open the vehicle door 11), it displays a suggestion image 530 on the terminal display device 303 to suggest moving the vehicle 10. When the parking assist device 20 detects a signal to accept this suggestion (acceptance signal), it causes the vehicle 10 to move straight ahead in accordance with the driving command signal received from the mobile terminal 300. In this case, since the vehicle 10 cannot be driven toward the parking slot, the parking assist device 20 causes the vehicle 10 to move straight ahead in the opposite direction to the direction of travel immediately before the termination condition was met. When the vehicle 10 reaches a position where the vehicle door 11 can be opened, the parking assist device 20 stops the vehicle 10 and terminates the parking assist control. As a result, the driver outside the vehicle can get into the vehicle 10 and drive it to move it.

[0065] Furthermore, even if the vehicle 10 cannot be parked in the parking slot, the parking assistance control will not be stopped (terminated), so the driver can move the vehicle 10 without having to restart the parking assistance control. This reduces the effort and time required to move the vehicle 10. In other words, it improves the convenience of performing automatic parking control by the parking assistance device 20.

[0066] Furthermore, the parking assist device 20 moves the vehicle 10 in the opposite direction to the direction of travel immediately before stopping. This moves the vehicle 10 away from "objects that hinder the fulfillment of the conditions for opening the doors." Also, by moving the vehicle 10 in a straight line, it is easier to move the vehicle to a position where there is space to open the vehicle doors 11 in a short distance. Therefore, the vehicle 10 can be moved to a position where it can be boarded in a short time.

[0067] Furthermore, in this embodiment, the parking ECU 201 determines that the door opening condition is not met if none of the vehicle doors 11 can be opened. With this configuration, if there is a vehicle door 11 that can be used for entry, the driver can immediately get in through that vehicle door 11 and drive the vehicle without having to perform an operation to respond to the suggestion.

[0068] Although embodiments of the present disclosure have been described above, this disclosure should not be interpreted as being limited to the above embodiments. For example, the parking ECU 201 may determine that the door opening condition is not met if at least the driver's side vehicle door 11 is not openable, even if other vehicle doors 11 are openable. In addition, the parking assist device 10 may move the vehicle toward the position of the vehicle 10 at the time the first remote control is initiated.

[0069] Furthermore, the technology disclosed herein is applicable to technologies that comply with the standards ISO 20900 (Partially automated parking systems: PAPS) and ISO 16787 (Assisted parking systems: APS). [Explanation of Symbols]

[0070] 10...Vehicle, 11...Vehicle door, 20...Parking assist device, 300...Mobile device, 530...Proposed image

Claims

1. A parking assist device that can park a vehicle at a target parking position by automatically driving the vehicle in response to a driving command signal received wirelessly from a mobile terminal, If it is determined that the vehicle cannot park at the target parking position while it is automatically driving, the vehicle is stopped, and it is determined whether there is space around the vehicle at the stopped position where the vehicle doors can be opened. If it is determined that there is no space, the system notifies the system that it is proposed to move the vehicle to a location where such space exists, and if a signal to accept the proposal is detected, the system drives the vehicle in a predetermined direction according to a driving command signal received wirelessly from the mobile terminal. Parking assist device.

2. A parking assistance device according to claim 1, If a signal accepting the above proposal is detected, the vehicle shall be made to move straight ahead in the opposite direction to the direction of travel immediately before the vehicle stopped. Parking assist device.

3. A parking assistance device according to claim 1, The system determines whether the space exists at the position where the vehicle is stopped, and if it is determined that the space does not exist for any of the vehicle doors used for boarding or alighting, it performs a process to suggest to the operator of the mobile terminal that the vehicle move to a position where the space exists. Parking assist device.

4. A parking assistance device according to claim 1, If a signal accepting the above proposal is detected, the system will determine whether there is space to open the vehicle doors while the vehicle is driven in a predetermined direction according to the driving command signal, and if it is determined that such space exists, the system will stop the vehicle. Parking assist device.

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