Automatic parking system

Abstract

An automatic parking system (10) for parking a vehicle M by causing the vehicle to travel automatically comprises a vehicle state detecting unit (100) for detecting a vehicle state including at least the position and steering angle of the vehicle, a reference route storage unit (200) for storing a reference route (Wr) comprising a plurality of waypoints (Pw1 to Pw15), which are points at which the vehicle state is indicated when the vehicle travels to a target point by being driven by a driver, a parking route setting unit (300) for setting a parking route (Wp) from an automatic parking start point (Pst) to the target point, and a vehicle control unit (400) for controlling the vehicle to travel along the parking route, wherein the parking route setting unit sets the parking route with a neutral point, which is a point at which the steering angle is neutral, among the plurality of waypoints, as a provisional end point.

Description

Automatic Parking System CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Japanese Application No. 2023-92858 filed on June 6, 2023, the contents of which are incorporated herein by reference.

[0002] The present disclosure relates to an automated parking system.

[0003] Conventionally, there has been known an automatic parking system that stores a driving path of a vehicle when the vehicle is parked in a parking space by a driver as a reference path, sets a parking path along the stored reference path, and automatically drives the vehicle. In a driver assistance method described in Patent Document 1 that realizes such an automatic parking system, a merging point with the reference path is determined so that the traveling angle of the vehicle with respect to the reference path is smaller than a predetermined angle, and the vehicle is driven.

[0004] Patent Application No. 2013-513607

[0005] However, if the merging point onto the reference route is determined based only on the traveling angle of the vehicle relative to the reference route, there may be cases where the traveling angle of the vehicle relative to the reference route is smaller than a predetermined angle but the vehicle merges into the reference route with a large steering angle, resulting in an unstable driving state of the vehicle. Furthermore, depending on the position of the vehicle when parking assistance is started, the difference between the reference route and the vehicle may become large, and it may be impossible to determine a merging point where the traveling angle of the vehicle relative to the reference route is smaller than the predetermined angle.

[0006] The present disclosure can be realized in the following forms.

[0007] According to one aspect of the present disclosure, there is provided an automatic parking system that automatically drives a vehicle to park the vehicle, the automatic parking system including: a vehicle state detection unit that detects vehicle states including at least a position and a steering angle of the vehicle; a reference route storage unit that stores a reference route consisting of a plurality of waypoints that are points that indicate the vehicle state when the vehicle is driven by a driver to a target point; a parking route setting unit that sets a parking route from an automatic parking start point to the target point; and a vehicle control unit that controls the vehicle to drive along the parking route, wherein the parking route setting unit sets the parking route using a neutral point, among the plurality of waypoints, that is a point where the steering angle is neutral, as a tentative end point.

[0008] According to this type of automatic parking system, the parking path setting unit sets the parking path using the neutral point as a temporary end point, so that the vehicle can merge with the reference path with the steering angle neutral, and this can prevent the vehicle's running state from becoming unstable compared to a configuration in which the merging point with the reference path is determined only by the vehicle's traveling angle relative to the reference path. Also, compared to a configuration in which the parking path is set using a way point where the steering angle is swayed to either the left or right as a temporary end point, the vehicle can easily take a path to the left or right on the parking path after reaching the temporary end point, and this can prevent the traveling direction from being restricted on the parking path after reaching the temporary end point.

[0009] According to another aspect of the present disclosure, there is provided an automatic parking system for parking a vehicle by automatically driving the vehicle, the automatic parking system including: a vehicle state detection unit that detects vehicle states including at least a position and a steering angle of the vehicle; a reference path storage unit that stores a reference path including a plurality of waypoints that are points that indicate the vehicle state when the vehicle is driven to a target point by a driver; a parking path setting unit that sets a parking path from an automatic parking start point to the target point; and a vehicle control unit that controls the vehicle to travel along the parking path, wherein, when a difference between the parking path set with a first waypoint that is one of the plurality of waypoints as a tentative end point and the reference path is equal to or greater than a predetermined threshold distance, the parking path setting unit resets the parking path using a second waypoint that is different from the first waypoint and is located closer to the vehicle than the first waypoint as a tentative end point.

[0010] According to this type of automatic parking system, if the difference between the parking route set with the first via point as the temporary end point and the reference route is equal to or greater than a predetermined threshold distance, the parking route is re-set with a second via point among the multiple via points, which is different from the first via point and is located closer to the vehicle than the first via point, as the temporary end point. This makes it easier to set a parking route that merges more quickly from the automatic parking start point to the reference route and has a smaller difference from the reference route.

[0011] The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which Fig. 1 is a block diagram showing a schematic configuration of an automatic parking system according to this embodiment, Fig. 2 is a flowchart showing the steps of a parking path setting process according to this embodiment, Fig. 3 is a flowchart showing the steps of a parking path setting process according to this embodiment, Fig. 4 is a flowchart showing the steps of a parking path setting process according to this embodiment, Fig. 5 is a flowchart showing the steps of a reference point selection process according to this embodiment, and Fig. 6 is an explanatory diagram showing an example of a reference path and a parking path.

[0012] A. Embodiments: A-1. System Configuration: The automatic parking system 10 of this embodiment is mounted on a vehicle M, and automatically drives the vehicle M in accordance with the driving state of the vehicle M and the environment around the vehicle M, thereby assisting in parking the vehicle M. As shown in FIG. 1 , the automatic parking system 10 includes a vehicle state detection unit 100, a reference route storage unit 200, a parking route setting unit 300, and a vehicle control unit 400.

[0013] The vehicle state detection unit 100 detects the vehicle state of the vehicle M. The vehicle state includes at least the position of the vehicle M and the steering angle at that position. The automatic parking system 10 of this embodiment includes an image sensor 110 and a steering angle sensor 120 as the vehicle state detection unit 100. The image sensor 110 is mounted on the vehicle M so as to capture images of the front, rear, left, and right sides of the vehicle M, for example. The image sensor 110 captures images of objects and markers (hereinafter also referred to as "reference objects") present around the vehicle M and acquires the captured images. The steering angle sensor 120 detects the steering angle of the steering wheels while the vehicle M is traveling. In addition to these configurations, the automatic parking system 10 may also be equipped with, as the vehicle state detection unit 100, various sensors such as millimeter-wave radar, ultrasonic sensors, and LiDAR (Light Detection And Ranging) that detect targets around the vehicle M, a GNSS receiver that receives navigation signals from artificial satellites that make up the GNSS (Global Navigation Satellite System) to detect the current position (longitude and latitude) of the vehicle M, and a vehicle speed sensor that detects the speed of the vehicle M.

[0014] The reference route storage unit 200 of this embodiment is configured as an ECU including a CPU 210 and a memory 220. The reference route storage unit 200 stores a reference route. The "reference route" refers to a travel route when the vehicle M travels a section from an arbitrary start point to a destination point (hereinafter also referred to as a "learning section") driven by the driver. The reference route is made up of a plurality of waypoints, which are points that indicate the vehicle state in the learning section. The start point of the reference route is set to the position of the vehicle M at the time when the driver operates a button to instruct the start of a learning mode that stores the reference route. Furthermore, the destination point is set to the position of the vehicle M at the time when the driver operates a button to instruct the end of the learning mode. Note that if an upper limit route length that can be stored as a reference route is predetermined, the destination point is set to the position of the vehicle M at the time when the route length from the start point reaches the upper limit route length.

[0015] In this embodiment, the reference route storage unit 200 stores a plurality of waypoints indicating the vehicle state acquired by the vehicle state detection unit 100 as waypoint data Pw in the memory 220 every time the vehicle travels a predetermined distance. More specifically, the reference route storage unit 200 calculates the position of the vehicle M relative to a reference object by analyzing images acquired from the image sensor 110 at each point every time the vehicle travels a predetermined distance, and stores the calculated position of the vehicle M as waypoint data Pw in the memory 220. The reference route storage unit 200 also acquires a steering angle at each point from the steering angle sensor 120 every time the vehicle travels a predetermined distance, and stores the acquired steering angle in the memory 220 as waypoint data Pw. In this embodiment, data indicating a waypoint that is the start point of a learning section (hereinafter also simply referred to as a "start point") among the waypoint data Pw includes at least the position of the start point relative to the reference object and the steering angle at the start point. Furthermore, among the way point data Pw, data indicating other way points following the starting point includes at least the position of each way point relative to the starting point and the steering angle at each way point.

[0016] The parking route setting unit 300 of this embodiment is configured as an ECU including a CPU 310 and a memory 320. The parking route setting unit 300 sets a parking route from the automatic parking start point to the target point of the learning section described above. The automatic parking start point may be any point that does not coincide with the start point of the reference route described above. The parking route setting unit 300 also stores parking route candidates set as parking route candidates. In FIG. 1, four parking route candidates RT1 to RT4 are stored in the memory 320, but the number of parking route candidates stored in the memory 320 is not limited to four. Specific steps of the parking route setting method will be described later.

[0017] The vehicle control unit 400 of this embodiment is configured as an ECU including a CPU 410 and a memory 420. The vehicle control unit 400 controls the vehicle operation device 500 so that the vehicle M travels in accordance with the operation of the accelerator pedal, the brake pedal, or the steering wheel by the driver, or according to the parking route set by the parking route setting unit 300.

[0018] The vehicle operation device 500 includes a drive device 510, a brake device 520, and a steering device 530. The drive device 510 outputs a drive force for driving the vehicle M. The drive device 510 is, for example, an internal combustion engine, a motor, or the like. The drive device 510 is electrically connected to the vehicle control unit 400, and the drive force is controlled by a control signal transmitted from the vehicle control unit 400. The brake device 520 outputs a braking force for braking the vehicle M. The brake device 520 is electrically connected to the vehicle control unit 400, and the braking force is controlled by a control signal transmitted from the vehicle control unit 400. The steering device 530 outputs a steering force for steering the vehicle M. The steering device 530 is, for example, a power steering device, or the like. The steering device 530 is electrically connected to the vehicle control unit 400, and the steering force is controlled by a control signal transmitted from the vehicle control unit 400.

[0019] A-2. Parking Path Setting Process: The automatic parking system 10 of this embodiment executes the parking path setting process shown in Figures 2 to 4 to set a parking path. The parking path is set so that it merges with the reference path from the current position of the vehicle M and leads to the learned target point. The parking path setting process is started when the driver issues an instruction to start the parking path setting process, for example, by operating a button. Once the parking path from the current position of the vehicle M to the learned target point has been set by the parking path setting process, the automatic parking system 10 controls the vehicle operation device 500 to drive the vehicle M along the set parking path.

[0020] In step S110 shown in FIG. 2, the parking route setting unit 300 acquires the via point data Pw from the reference route storage unit 200.

[0021] In step S120 , the parking path planning unit 300 acquires a captured image of the surroundings of the vehicle M from the vehicle state detection unit 100 .

[0022] In step S130, the parking path setting unit 300 identifies the position of the start point of the reference path using the acquired via point data Pw and the captured image. More specifically, the parking path setting unit 300 identifies a reference object in the acquired captured image and identifies the position of the start point by comparing the position of the start point indicated by the via point data Pw, which is based on the reference object. Note that the identification of the reference object in the captured image can be achieved by, for example, well-known image processing such as pattern matching.

[0023] In step S140, the parking path setting unit 300 executes a reference point selection process to select a reference point from the multiple via points indicated by the acquired via point data Pw. The "reference point" refers to a via point among the multiple via points that is to be prioritized as a junction point from the current position to the reference path. In explaining the procedure of the reference point selection process shown in FIG. 5, the example shown in FIG. 6 will be referred to as appropriate. FIG. 6 shows a reference path Wr consisting of via points Pw1 to Pw15. In FIG. 6, of the via points Pw1 to Pw15, via points Pw5, Pw7, Pw11, and Pw15 selected as reference points by the reference point selection process are indicated by black circles, while the other via points are indicated by white circles. Among the via points indicated by white circles, via point Pw3, which is indicated by hatching, will be described later.

[0024] In step S142 shown in Fig. 5, the parking path setting unit 300 selects a via point where the steering angle is neutral (hereinafter also referred to as a "neutral point") from among the multiple via points as a reference point. Note that in the straight portion of the reference path, the reference points are selected at predetermined intervals. In the example shown in Fig. 6, via points Pw7 and Pw11 are selected as reference points for the neutral point.

[0025] Unlike the present embodiment, in a configuration in which a waypoint where the steering angle is to the left or right is set as a reference point and merging onto the reference route is attempted from the current position, for example, if a waypoint where the steering angle is the limit angle to the right is set as a reference point and merging is attempted, it may be impossible to take a route further to the right after merging, and the traveling direction on the parking route may be restricted. In a configuration in which merging is attempted at a neutral point as in the present embodiment, it is possible to easily take a route to the left or right after merging, thereby preventing the traveling direction after merging from being restricted as described above.

[0026] In step S144, the parking path setting unit 300 determines whether the distance between the vehicle M and the reference path is equal to or greater than a predetermined threshold. As shown in Fig. 6, in this embodiment, the parking path setting unit 300 calculates, as the distance between the vehicle M and the reference path, a distance d1 along the rear wheel axis Ar from a vehicle reference point Cr, which is the intersection of the central axis Ac of the vehicle M in the width direction and the rear wheel axis Ar of the vehicle M, to the reference path.

[0027] As shown in FIG. 5 , if it is determined that the distance between the vehicle M and the reference route is equal to or greater than the threshold (step S144: Yes), in step S146, the parking path setting unit 300 selects, as a reference point, a way point that is equal to or greater than a predetermined allowable distance from the vehicle M. The "allowable distance" is a distance between the vehicle M and the way point that allows the vehicle M to merge onto the reference route without abrupt steering, and is determined and set in advance through simulations, etc. By selecting, as a reference point, a way point that is equal to or greater than the allowable distance from the vehicle M, it is possible to prevent the vehicle M from attempting to merge at a way point close to the vehicle M, which would result in a steep steering angle and thus an unstable driving state of the vehicle M. FIG. 6 shows an example in which it is determined that the distance d1 is equal to or greater than the threshold. As shown in FIG. 6 , in this embodiment, the parking path setting unit 300 selects, as a reference point, a way point that is equal to or greater than the allowable distance from the vehicle reference point Cr along the center axis Ac. 6 shows an example in which way point Pw5 is selected as the reference point because the distance d2 along the center axis Ac from the vehicle reference point Cr is equal to or greater than the allowable distance. Note that way point Pw3, which is located on the straight path and shown with hatching, has a neutral steering angle, but is not selected as the reference point because the distance along the center axis Ac from the vehicle reference point Cr is less than the allowable distance. Way point Pw3 corresponds to the "nearest neutral point" in this disclosure.

[0028] As shown in FIG. 5, if it is determined that the distance between the vehicle M and the reference route is less than the threshold value (step S144: No), the parking route setting unit 300 proceeds to step S148 without executing step S146.

[0029] In step S148, the parking path setting unit 300 selects the via point located at the end of the reference path from among the multiple via points as the reference point. In the example shown in Figure 6, the via point Pw15 located at the end of the reference path Wr is selected as the reference point. This completes the reference point selection process.

[0030] 2, the parking path setting unit 300 sets the automatic parking start point of the vehicle M as the starting point and the first reference point as the tentative end point. In the example shown in Fig. 6, the automatic parking start point Pst, which is the vehicle reference point Cr at the start of the parking path generation process, is set as the starting point, and the via point Pw5 is set as the tentative end point.

[0031] In step S160, the parking path setting unit 300 sets a circular path from the set start point to the tentative end point. A circular path means a path in which the start point and the tentative end point are connected by a single arc. In this embodiment, the circular path is formed as an arc that is tangent to the reference path with the tentative end point as the tangent point. Note that the end point of the set circular path does not necessarily have to coincide with the tentative end point, and the circular path may be a path that ends near the tentative end point. Because a circular path does not require changing the steering angle midway along the path, it is possible to prevent the running state of the vehicle M from becoming unstable compared to a two-circular path, which will be described later.

[0032] In step S170 shown in FIG. 3 , the parking path setting unit 300 determines whether the radius of curvature of the set circular path is less than a predetermined threshold. If it is determined that the radius of curvature is less than the threshold (step S170: Yes), in step S180, the parking path setting unit 300 sets a two-circular path from the set start point to a tentative end point. A two-circular path is a path in which the start point and the tentative end point are connected by two arcs. In this embodiment, of the two arcs forming the two-circular path, the arc connecting to the tentative end point is formed as an arc tangent to the reference path with the tentative end point as the tangent point. This is because a one-circular path with a small radius of curvature is undesirable because it may require a steep steering angle, which may cause the vehicle's driving state to become unstable. Note that the end point of the set two-circular path does not necessarily have to coincide with the tentative end point; the two-circular path may be a path that ends near the tentative end point. 6 shows a parking path Wp that is set as a two-circular path connecting an automatic parking start point Pst, which is a starting point, and a via point Pw5, which is a tentative end point. The parking path Wp is an S-shaped path formed by two circumscribing circles.

[0033] In step S190 shown in FIG. 3, the parking route setting unit 300 selects, as a parking route candidate, the route between the set one-circle route and the set two-circle route, whichever route has the closest end point to the set tentative end point.

[0034] If it is determined that the curvature radius of the set circular route is equal to or greater than the threshold value (step S170: No), in step S192, the parking route setting unit 300 selects the circular route as a parking route candidate.

[0035] In step S200, the parking route setting unit 300 determines whether the distance between the tentative end point and the end point of the parking route candidate is less than a predetermined threshold. If it is determined that the distance between the tentative end point and the end point of the parking route candidate is less than the threshold (step S200: Yes), in step S210, the parking route setting unit 300 adopts the parking route candidate selected in step S190 as the parking route.

[0036] In step S220, the parking route setting unit 300 determines whether route setting has been completed up to the last reference point in the adopted parking route.

[0037] If it is determined that the route setting has been completed up to the last reference point (step S220: Yes), the parking route setting unit 300 ends the parking route setting process.

[0038] If it is determined that the route setting has not been completed up to the last reference point (step S220: No), in step S222, the parking route setting unit 300 sets the end point of the adopted parking route as a new start point and the next reference point as a new tentative end point. In the example shown in Figure 6, the next reference point is the via point Pw7. As shown in Figure 2, the parking route setting unit 300 then executes the above-mentioned step S160 again.

[0039] As shown in FIG. 3 , if it is determined that the distance between the tentative end point and the end point of the parking route candidate is equal to or greater than the threshold (step S200: No), in step S230 shown in FIG. 4 , the parking route setting unit 300 determines whether the difference between the parking route candidate and the reference route is less than the threshold. The reference route can be said to be a route that reflects the driver's intention for parking the vehicle M, such as avoiding obstacles such as flower beds. If automatic parking is performed using a parking route that is significantly different from such a route, there is a risk of the vehicle hitting an obstacle contrary to the driver's intention. To avoid such a problem, the parking route setting unit 300 performs the determination in step S230. For example, the parking route setting unit 300 calculates the distances between the reference route and a plurality of points located at predetermined intervals on the parking route candidate along a direction perpendicular to the parking route candidate, and determines the average of these distances as the difference between the parking route candidate and the reference route.

[0040] If it is determined that the difference between the parking route candidate and the reference route is less than the threshold value (step S230: Yes), then in step S240, the parking route setting unit 300 temporarily stores the parking route candidate in the memory 320. On the other hand, if it is determined that the difference between the parking route candidate and the reference route is equal to or greater than the threshold value (step S230: No), then in step S242, the parking route setting unit 300 rejects the parking route candidate and does not temporarily store it in the memory 320.

[0041] In step S250, the parking route setting unit 300 determines whether a route has been set with the via point immediately preceding the via point set as the temporary end point as the temporary end point. The "previous via point" refers to another via point adjacent to the via point set as the temporary end point and located closer to the vehicle M. In the example shown in FIG. 6, the via point Pw4 corresponds to the "previous via point" of the via point Pw5. By making such a determination, it is possible to avoid re-attempting route setting for a via point for which route setting has already been attempted in the processing described below, and to suppress an increase in the processing load in the parking route setting processing.

[0042] 4, if it is determined that the route has not been set with the previous via point as the tentative end point (step S250: No), in step S252, the parking route setting unit 300 sets the previous via point as a new tentative end point without changing the start point. Then, the parking route setting unit 300 executes step S160 again. Thus, even if the parking route setting unit 300 attempts to set a route by setting a reference point as the tentative end point, if the distance between the tentative end point and the end point of the parking route candidate is equal to or greater than the threshold (step S200: No), the parking route setting unit 300 attempts to set a route by tracing back each via point. 6, the parking route setting unit 300 attempts to set a route using the via point Pw5, which is the reference point, as the tentative end point, and then sets the via points Pw4, Pw3, Pw2, and Pw1 as the tentative end points in this order and attempts to set a route until a parking route candidate is set in which the distance between the tentative end point and the end point of the parking route candidate is less than the threshold (step S200: Yes). By attempting to set a route by tracing back each via point in this way, it is possible to more quickly merge from the automatic parking start point with the reference route and to more easily set a parking route that is less different from the reference route.

[0043] 4, if it is determined that the route has been set with the previous via point as the temporary end point (step S250: Yes), in step S260, the parking route setting unit 300 determines whether the route has been set with the last reference point as the temporary end point. In other words, in this step, the parking route setting unit 300 determines whether the route has been set for all via points.

[0044] If it is determined that the route has not been set with the last reference point as the temporary end point (step S260: No), in step S262, the parking route setting unit 300 sets the next reference point as a new temporary end point without changing the starting point. Then, the parking route setting unit 300 executes step S160 again. In the example shown in FIG. 6 , the parking route setting unit 300 attempts to set a route with the via point Pw1 as the temporary end point, and then attempts to set a route with the via point Pw7, which is the reference point after the via point Pw5 as the new temporary end point. Then, the parking route setting unit 300 attempts to set a route by setting the via points Pw6, Pw11, Pw10, Pw9, Pw8, Pw15, Pw14, Pw13, and Pw12 as the temporary end points in this order until a parking route candidate is set in which the distance between the temporary end point and the end point of the parking route candidate is less than the threshold (step S200: Yes).

[0045] As shown in FIG. 4, if it is determined that the route has been set with the last reference point as the temporary end point (step S260: Yes), in other words, if it is determined that route setting has been attempted for all via points, in step S270, the parking route setting unit 300 determines whether there are any parking route candidates temporarily stored in the memory 320.

[0046] If it is determined that there is a temporarily saved parking route candidate (step S270: Yes), in step S280, the parking route setting unit 300 adopts the parking route candidate with the shortest distance between the end point of the parking route candidate and the tentative end point as the parking route. After that, the parking route setting unit 300 executes the above-mentioned step S220 again.

[0047] If it is determined that there are no temporarily saved parking route candidates (step S270: No), in step S282, the parking route setting unit 300 determines that there are no usable parking routes, and ends the parking route setting process.

[0048] According to the embodiment of the automatic parking system 10 described above, the parking path setting unit 300 sets a parking path using the neutral point as a temporary end point, so that the vehicle can merge with the reference path with the steering angle neutral. This can prevent the vehicle M from becoming unstable in its traveling state, compared to a configuration in which the merging point with the reference path is determined only by the traveling angle of the vehicle M relative to the reference path. Also, compared to a configuration in which a parking path is set using a way point where the steering angle is tilted to either the left or the right as a temporary end point, the vehicle can easily take a course to the left or the right on the parking path after reaching the temporary end point. This can prevent the traveling direction from being restricted on the parking path after reaching the temporary end point.

[0049] Furthermore, if the difference between the parking route set with the first via point as the tentative end point and the reference route is equal to or greater than a predetermined threshold distance, the parking route is re-set with a second via point among the multiple via points, which is different from the first via point and is located closer to the vehicle M than the first via point, as the tentative end point, thereby making it easier to set a parking route that merges more quickly from the automatic parking start point to the reference route and has a smaller difference from the reference route.

[0050] In addition, if an attempt has already been made to set a parking route with the second via point as a tentative end point, a parking route is not set for the second via point, but a parking route is set again with another via point for which no attempt has been made to set a parking route as a tentative end point. This makes it possible to avoid attempting to set a route again for a via point for which route setting has already been attempted, thereby suppressing an increase in the processing load in the parking route setting process.

[0051] In addition, if the distance between the nearest intermediate point and vehicle M is less than the allowable distance, a parking route is not set with the nearest intermediate point as the temporary end point, but rather a via point among multiple via points whose distance from vehicle M is equal to or greater than the allowable distance is set as the temporary end point, thereby preventing sudden steering when merging from the automatic parking start point Pst to the reference route.

[0052] B. Other Embodiments: (B1) In the above embodiment, if the parking path setting unit 300 has not already generated a route using the previous via point as a temporary end point in step S250 of the parking path setting process (step S250: No), the parking path setting unit 300 sets the previous via point as a new temporary end point (step S252). However, the present disclosure is not limited to this. In such a case, the parking path setting unit 300 may set a via point two or more points before as a new temporary end point. This type of automatic parking system 10 also achieves the same effects as the above embodiment. In addition, because a via point closer to the vehicle M than the previous via point is set as the temporary end point, it is easier to set a parking path that merges more quickly from the automatic parking start point to the reference path.

[0053] (B2) In the above embodiment, if the parking route setting unit 300 has already generated a route with the previous via point as a tentative end point in step S250 of the parking route setting process (step S250: Yes), the parking route setting unit 300 does not attempt to generate a route by setting the previous via point as a new tentative end point, but the present disclosure is not limited to this. Even in such a case, the parking route setting unit 300 may attempt to generate a route by setting the previous via point as a new tentative end point.

[0054] (B3) In the above embodiment, if the parking route setting unit 300 has not yet generated a route with the last reference point as the temporary end point in step S260 of the parking route setting process (step S260: No), it sets the next reference point as a new temporary end point (step S262). However, the present disclosure is not limited to this. In such a case, the parking route setting unit 300 may set a waypoint that is not a reference point as the temporary end point.

[0055] (B4) In the above embodiment, the parking path setting unit 300 selects the neutral point as the reference point in step S142 of the reference point selection process, but the present disclosure is not limited to this. The parking path setting unit 300 does not have to select the neutral point as the reference point. Even with this type of automatic parking system 10, by resetting the parking path using a second way point, which is a way point different from the first way point and located closer to the vehicle M than the first way point, as a temporary end point, it is possible to more quickly merge from the automatic parking start point with the reference path and to more easily set a parking path that is less different from the reference path.

[0056] (B5) In the above embodiment, if the distance between vehicle M and the reference route is less than the threshold value in step S144 of the reference point selection process (step S144: No), the parking path setting unit 300 does not select a way point that is more than the permissible distance away from vehicle M as a reference point, but the present disclosure is not limited to this. Even if the distance between vehicle M and the reference route is more than the threshold value (step S144: No), the parking path setting unit 300 may select a way point that is more than the permissible distance away from vehicle M as a reference point. This type of automatic parking system 10 can also prevent abrupt steering when merging from the automatic parking start point Pst to the reference route.

[0057] (B6) In the above embodiment, the parking path setting unit 300 executes the processes of steps S230 to S282 when the distance between the tentative end point and the parking path candidate is equal to or greater than a threshold value in step S200 of the parking path setting process (step S200: No). However, the present disclosure is not limited to this. In such a case, the parking path setting unit 300 does not need to execute the processes of steps S230 to S282. Even with this type of automatic parking system 10, the parking path is set using the neutral point as the tentative end point, so that the vehicle M can merge with the reference path with the steering angle neutral, preventing the vehicle M from becoming unstable in its traveling state. Furthermore, it is possible to prevent the traveling direction of the parking path from being restricted after reaching the tentative end point.

[0058] The automated parking system 10 and the method described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the automated parking system 10 and the method described herein may be implemented by a special-purpose computer configured with a processor configured with one or more dedicated hardware logic circuits. Alternatively, the automated parking system 10 and the method described herein may be implemented by one or more special-purpose computers configured with a processor and memory programmed to perform one or more functions in combination with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium.

[0059] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in each embodiment corresponding to the technical features in the form described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. (Mode 1) An automatic parking system (10) that automatically drives a vehicle (M) and parks the vehicle, comprising: a vehicle state detection unit (100) that detects a vehicle state including at least a position and a steering angle of the vehicle; a reference path storage unit (200) that stores a reference path (Wr) made up of a plurality of way points (Pw1 to Pw15) that are points that indicate the vehicle state when the vehicle is driven by a driver to a target point; a parking path setting unit (300) that sets a parking path (Wp) from an automatic parking start point (Pst) to the target point; and a vehicle control unit (400) that controls the vehicle to drive along the parking path, wherein the parking path setting unit sets the parking path using a neutral point, which is a point where the steering angle is neutral, among the plurality of way points as a temporary end point.(Mode 2) An automatic parking system that parks a vehicle by automatically driving the vehicle, comprising: a vehicle state detection unit that detects vehicle states including at least the position and steering angle of the vehicle; a reference route storage unit that stores a reference route consisting of a plurality of waypoints that are points that indicate the vehicle state when the vehicle is driven by a driver to a target point; a parking route setting unit that sets a parking route from an automatic parking start point to the target point; and a vehicle control unit that controls the vehicle to travel along the parking route, wherein when a difference between the parking route that has been set with a first waypoint that is one of the plurality of waypoints as a temporary end point and the reference route is equal to or greater than a predetermined threshold distance, the parking route setting unit resets the parking route using a second waypoint among the plurality of waypoints that is different from the first waypoint and is located closer to the vehicle than the first waypoint as a temporary end point. (Mode 3) The automatic parking system according to Mode 2, wherein the parking path setting unit sets the parking path so that the reference path and the parking path merge at the neutral point, with a neutral point among the plurality of via points, which is a point where the steering angle is neutral, as the first via point. (Mode 4) The automatic parking system according to Mode 2 or Mode 3, wherein, when the parking path setting unit has already attempted to set the parking path with the second via point as a temporary end point, the parking path setting unit does not set the parking path targeting the second via point, and sets the parking path again with another via point, for which setting of the parking path has not yet been attempted, as a temporary end point. (Form 5) An automatic parking system according to form 1 or form 3, wherein, when the distance between the vehicle and a nearest neutral point, which is the neutral point closest to the vehicle, is less than a predetermined allowable distance, the parking path setting unit does not set the parking path with the nearest neutral point as a temporary end point, and sets the parking path with a via point among the plurality of via points, the distance from which to the vehicle is equal to or greater than the allowable distance, as a temporary end point.

Claims

1. An automatic parking system (10) that automatically drives a vehicle (M) and parks the vehicle, a vehicle state detection unit (100) that detects a vehicle state including at least the position and steering angle of the vehicle; a reference route storage unit (200) for storing a reference route (Wr) consisting of a plurality of waypoints (Pw1 to Pw15) which are points indicating the vehicle state when the vehicle is driven by a driver to a target point; a parking route setting unit (300) that sets a parking route (Wp) from an automatic parking start point (Pst) to the target point; a vehicle control unit (400) that controls the vehicle to travel along the parking path; Equipped with the parking path setting unit sets the parking path using a neutral point, which is a point where the steering angle is neutral, among the plurality of via points as a temporary end point. Automatic parking system.

2. An automatic parking system that automatically drives a vehicle and parks the vehicle, a vehicle state detection unit that detects a vehicle state including at least a position and a steering angle of the vehicle; a reference route storage unit that stores a reference route consisting of a plurality of waypoints that are points that indicate the vehicle state when the vehicle travels to a target point under the driving of a driver; a parking route setting unit that sets a parking route from an automatic parking start point to the target point; a vehicle control unit that controls the vehicle to travel along the parking path; Equipped with When a difference between the parking route, which is set with a first via point that is one of the plurality of via points as a temporary end point, and the reference route is equal to or greater than a predetermined threshold distance, the parking route setting unit sets the parking route again with a second via point that is a via point different from the first via point and is located closer to the vehicle than the first via point as a temporary end point, the parking path setting unit sets a neutral point, which is a point where the steering angle is neutral, among the plurality of via points as the first via point, as a temporary end point, and sets the parking path so that the reference path and the parking path merge at the neutral point. Automatic parking system.

3. 3. The automatic parking system according to claim 2, When the parking route setting unit has already attempted to set the parking route with the second via point as a temporary end point, the parking route setting unit does not set the parking route with the second via point as a target, and sets the parking route again with another via point for which setting of the parking route has not yet been attempted as a temporary end point. Automatic parking system.

4. 3. The automatic parking system according to claim 1 or 2, When the distance between the vehicle and a nearest neutral point, which is the neutral point closest to the vehicle, is less than a predetermined allowable distance, the parking route setting unit does not set the parking route with the nearest neutral point as a temporary end point, and sets the parking route with a via point among the plurality of via points, the distance from which to the vehicle is equal to or greater than the allowable distance as a temporary end point. Automatic parking system.