Parking assistance device

Abstract

A parking assistance device according to an embodiment of the present invention performs parking assistance for a vehicle on the basis of periphery information which has been collected by a plurality of sensors that are provided in a vehicle, said parking assistance device comprising: a detection unit that, on the basis of the periphery information from the plurality of sensors, detects a parking area where the vehicle can be parked; a route calculation unit that, on the basis of the periphery information from the plurality of sensors, calculates a movement route of the vehicle to the parking area; and a movement control unit that moves the vehicle along the movement route, wherein when the movement control of the vehicle to a first parking area is started after detection of the first parking area and then a second parking area is detected after the start of the movement control, the detection unit presents, to a user of the vehicle, the second parking area as a second candidate of a parking target of the vehicle.

Description

Parking assistance device

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

[0002] There is a parking assistance system that automatically parks a vehicle. In the technology disclosed in Patent Document 1, when multiple parking spaces are detected, the system presents the driver with a parking space that meets the driver's needs based on criteria specified by the driver in advance.

[0003] Japanese Patent Application Laid-Open No. 2017-065455

[0004] However, in parking lots where multiple parking spaces are arranged vertically, such as a flagpole lot, or in L-shaped parking lots where multiple parking spaces are arranged in a crank shape, the parking space at the back may not be detected when parking assistance is initiated. If the driver wishes to park at the back of the flagpole lot or at the end of an L-shaped crank, for example, it is difficult to address this issue using the technology disclosed in Patent Document 1.

[0005] The present invention has been made in consideration of the above, and provides a parking assistance device that can park in a desired parking space even if a parking space at the back is not detected when starting parking assistance.

[0006] In order to solve the above-mentioned problems and achieve the object, a parking assistance device of an embodiment is a parking assistance device that provides parking assistance to a vehicle based on surrounding information collected by a plurality of sensors provided on the vehicle, and includes: a detection unit that detects a parking area where the vehicle can be parked based on the surrounding information from the plurality of sensors; a path calculation unit that calculates a movement path of the vehicle to the parking area based on the surrounding information from the plurality of sensors; and a movement control unit that moves the vehicle along the movement path, wherein the detection unit starts movement control of the vehicle to the first parking area after detecting a first parking area, and when it detects a second parking area after the start of the movement control, presents the second parking area to a user of the vehicle as a second candidate parking target for the vehicle.

[0007] The parking assistance device of the embodiment can park in a desired parking space even if a parking space at the rear is not detected when parking assistance is started.

[0008] FIG. 1 is a top view of a vehicle equipped with a parking assistance device according to an embodiment. FIG. 2 is a block diagram showing an example of the overall configuration of a parking assistance system according to an embodiment. FIG. 3 is a block diagram showing an example of the functional configuration of the parking assistance device according to an embodiment. FIG. 4 is a schematic diagram illustrating an example of parking assistance operation when parking a vehicle on a flagpole lot using the parking assistance device according to an embodiment. FIG. 5 is an example of a screen displayed during parking assistance operation by the parking assistance device according to an embodiment. FIG. 6 is a schematic diagram illustrating an example of parking assistance operation when parking a vehicle on a flagpole lot using the parking assistance device according to an embodiment. FIG. 7 is a schematic diagram illustrating an example of parking assistance operation when parking a vehicle on a flagpole lot using the parking assistance device according to an embodiment. FIG. 8 is an example of a screen displayed during parking assistance operation by the parking assistance device according to an embodiment. FIG. 9 is a schematic diagram illustrating an example of parking assistance operation when parking a vehicle on a flagpole lot using the parking assistance device according to an embodiment. FIG. 10 is a schematic diagram illustrating an example of parking assistance operation when parking a vehicle on a flagpole lot using the parking assistance device according to an embodiment. FIG. 11 is a schematic diagram illustrating an example of a parking assist operation when parking a vehicle on a curved lot by the parking assist device according to the embodiment. FIG. 12 is a schematic diagram illustrating an example of a parking assist operation when parking a vehicle on a curved lot by the parking assist device according to the embodiment. FIG. 13 is a flow diagram showing an example of a procedure for parking assist processing by the parking assist device according to the embodiment. FIG. 14 is a schematic diagram illustrating an example of a parking assist operation on a flagpole lot by the parking assist device according to Modification 1 of the embodiment. FIG. 15 is a schematic diagram illustrating an example of a parking assist operation on a curved lot by the parking assist device according to Modification 1 of the embodiment. FIG. 16 is a schematic diagram illustrating an example of a parking assist operation on a curved lot by the parking assist device according to Modification 1 of the embodiment. FIG. 17 is a schematic diagram illustrating an example of a parking assist operation on a curved lot by the parking assist device according to Modification 1 of the embodiment. FIG. 18 is a schematic diagram illustrating an example of a parking assist operation when parking a vehicle on a flagpole lot by the parking assist device according to Modification 2 of the embodiment.Fig. 19 is an example of a screen displayed during parking assist operation by the parking assist device according to Modification 2 of the embodiment. Fig. 20 is a schematic diagram showing an example of a setting screen for setting a control method for the parking assist device according to Modification 3 of the embodiment. Fig. 21 is a schematic diagram showing an example of a setting screen for setting a control method for the parking assist device according to Modification 3 of the embodiment.

[0009] Similar components in the following exemplary embodiments will be given the same reference numerals, and duplicated descriptions will be omitted as appropriate.

[0010] (Example of Vehicle Configuration) Fig. 1 is a top view of a vehicle 10 equipped with a parking assistance device 20 according to an embodiment. The front, rear, left, and right of the vehicle 10 in Fig. 1 indicate directions when viewed from the driver's seat of the vehicle 10.

[0011] The vehicle 10 of the embodiment may be, for example, an internal combustion engine vehicle using an internal combustion engine as a power source, an electric vehicle or fuel cell vehicle using an electric motor as a power source, or a hybrid vehicle using both of these as a power source.

[0012] The vehicle 10 can be equipped with various transmissions and various systems, parts, and other devices required to drive the internal combustion engine or electric motor. The type, number, and layout of the devices related to driving the wheels 13 of the vehicle 10 can be set in various ways.

[0013] 1, a vehicle 10 includes a vehicle body 12, a plurality of wheels 13, a plurality of distance measuring units 14a-14l, and a plurality of image capturing units 16a-16d. When it is not necessary to distinguish between the distance measuring units 14a-14l, they will be simply referred to as distance measuring unit 14. When it is not necessary to distinguish between the image capturing units 16a-16d, they will be simply referred to as image capturing unit 16. These distance measuring units 14a-14l and image capturing units 16a-16d are examples of sensors that collect information about the surroundings of the vehicle 10.

[0014] The vehicle body 12 constitutes a vehicle cabin in which passengers ride. The vehicle body 12 is equipped with a plurality of wheels 13, a plurality of distance measuring units 14, and a plurality of image capturing units 16. In the example of Fig. 1, the vehicle body 12 is equipped with four wheels 13, twelve distance measuring units 14, and four image capturing units 16. However, the number of distance measuring units 14 and image capturing units 16 attached to the vehicle body 12 is arbitrary.

[0015] The four wheels 13 are provided on the front, rear, left and right sides of the vehicle body 12. The two front wheels 13 function as steering wheels, for example, and the two rear wheels 13 function as driving wheels, for example.

[0016] The distance measuring unit 14 is, for example, a sonar provided on the outer periphery of the vehicle 10, which transmits sound waves such as ultrasonic waves as detection waves and captures the detection waves reflected by objects such as obstacles present around the vehicle 10. Note that the distance measuring unit 14 may also be a radar that transmits detection waves such as laser light, a millimeter wave radar, or the like.

[0017] The distance measuring unit 14 collects surrounding information indicating the situation around the vehicle 10 and outputs it to the parking assistance device 20. The distance measuring unit 14 collects, for example, a response time, which is the time from transmitting a detection wave to receiving it, as surrounding information for determining the distance between an object and the vehicle 10. Based on the surrounding information collected by the distance measuring unit 14, the parking assistance device 20 can detect the presence or absence of obstacles, etc. around the vehicle 10 and the distance to those obstacles.

[0018] In addition, if the ranging unit 14 receives multiple detection waves reflected from multiple points on the object in response to a single detection wave transmission, it may include only the response time of the earliest received detection wave in the surrounding information.

[0019] The distance measuring units 14a to 14d are provided at the front of the vehicle body 12. Of these distance measuring units 14a to 14d, the distance measuring units 14b and 14c are also called front sonars and are provided at the front end of the vehicle 10. The distance measuring units 14b and 14c detect objects ahead of the vehicle 10 and collect information about the surroundings ahead of the vehicle 10. The distance measuring units 14a and 14d are also called corner sonars and are provided at the corners of the front of the vehicle 10. The distance measuring units 14a and 14d detect objects ahead of the vehicle 10 and collect information about the surroundings ahead of the vehicle 10.

[0020] The distance measuring units 14e to 14h are provided at the rear of the vehicle body 12. Of these distance measuring units 14e to 14h, distance measuring units 14f and 14g are also called rear sonars and are provided at the rear end of the vehicle 10. The distance measuring units 14f and 14g detect objects behind the vehicle 10 and collect information about the surroundings behind the vehicle 10. The distance measuring units 14e and 14h are also called corner sonars and are provided at the corners of the rear of the vehicle 10. The distance measuring units 14e and 14h detect objects on the outside behind the vehicle 10 and collect information about the surroundings behind the vehicle 10.

[0021] The distance measuring units 14i to 14l are also called side sonars and are provided on the sides of the vehicle body 12. Of the distance measuring units 14i to 14l, the distance measuring units 14i and 14j are provided on the front sides of the vehicle 10. The distance measuring units 14k and 14l are provided on the rear sides of the vehicle 10. The distance measuring units 14i to 14l detect objects on the sides of the vehicle 10 and collect peripheral information on the sides of the vehicle 10.

[0022] The imaging unit 16 is a digital camera incorporating an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor), etc. The imaging unit 16 generates a moving image including a plurality of frame images captured at a predetermined frame rate, or a still image.

[0023] The imaging units 16 are provided on the outer periphery of the vehicle body 12, and each has a wide-angle lens or a fisheye lens, and can capture images in a range of, for example, 140° to 190° in the horizontal direction. The optical axis of the imaging units 16 is set to face diagonally downward.

[0024] As a result, the imaging unit 16 collects surrounding information by capturing an image of the surroundings of the vehicle 10, including the road surface, and outputs the collected information to the parking assistance device 20. The parking assistance device 20 can detect the presence or absence of obstacles, etc., around the vehicle 10 and the positions of those obstacles based on the surrounding information collected by the imaging unit 16. Furthermore, the parking assistance device 20 can detect parking areas around the vehicle 10 and the positions of those parking areas based on the surrounding information collected by the imaging unit 16.

[0025] The imaging unit 16a is provided in the center in the longitudinal direction of the left end of the vehicle body 12, for example, on the underside of the left side mirror. The imaging unit 16a collects captured images of the area below and to the left of the vehicle 10 as peripheral information. The imaging unit 16b is provided in the center in the longitudinal direction of the right end of the vehicle body 12, for example, on the underside of the right side mirror. The imaging unit 16b collects captured images of the area below and to the right of the vehicle 10 as peripheral information.

[0026] The imaging unit 16c is provided in the center in the left-right direction of the front end of the vehicle body 12, for example, on the front bumper. The imaging unit 16c collects captured images of the area in front of the vehicle 10 as peripheral information. The imaging unit 16d is provided in the center in the left-right direction of the rear end of the vehicle body 12, for example, on the rear bumper. The imaging unit 16d collects captured images of the area behind the vehicle 10 as peripheral information.

[0027] 2 is a block diagram showing an example of the overall configuration of a parking assistance system 200 according to an embodiment. The parking assistance system 200 is mounted on, for example, a vehicle 10, and assists the vehicle 10 in parking a parking area, etc.

[0028] 2, the parking assistance system 200 includes a parking assistance device 20, a monitor device 30, a braking system 40, an acceleration system 50, a steering system 60, a gear shift system 70, a vehicle speed sensor 83, a distance measurement unit 14, and an imaging unit 16. These components are connected via an in-vehicle network NT so that they can send and receive information to and from each other.

[0029] The in-vehicle network NT includes, for example, a controller area network (CAN) and a local interconnect network (LIN), etc. The in-vehicle network NT may be included as part of the parking assistance system 200.

[0030] The parking assistance device 20 is configured as a microcomputer such as an ECU (Electronic Control Unit), and assists the vehicle 10 in parking.

[0031] The parking assistance device 20 includes a CPU (Central Processing Unit) 21, a display control circuit 23, an SSD (Solid State Drive) 24, a ROM (Read Only Memory) 25, and a RAM (Random Access Memory) 26. The CPU 21, the ROM 25, and the RAM 26 may be integrated in the same package.

[0032] The CPU 21 is an example of a hardware processor, and reads out a program stored in a nonvolatile storage device such as the ROM 25, and executes various types of arithmetic processing and control in accordance with the program.

[0033] The ROM 25 stores various programs and parameters necessary for executing the programs. The RAM 26 temporarily stores various data used in calculations by the CPU 21. The SSD 24 is a rewritable non-volatile storage device that maintains data even when the parking assistance device 20 is powered off.

[0034] The display control circuit 23 performs the calculation processing performed by the parking assistance device 20, mainly image processing of images obtained by the imaging unit 16, data conversion of images to be displayed on the display unit 31 described below provided in the monitor device 30, etc.

[0035] The braking system 40 includes a braking unit 41 , a braking control unit 42 , and a braking unit sensor 43 , and controls the deceleration of the vehicle 10 .

[0036] The braking unit 41 is a device including, for example, a brake and a brake pedal, and decelerates the vehicle 10. The braking control unit 42 is a microcomputer having a hardware processor such as a CPU. The braking control unit 42 controls the braking unit 41 based on instructions from the parking assistance device 20 to control the deceleration of the vehicle 10. The braking unit sensor 43 is, for example, a position sensor, and detects the position of the brake pedal included in the braking unit 41. The braking unit sensor 43 outputs the detected brake pedal position to the in-vehicle network NT.

[0037] The acceleration system 50 includes an acceleration unit 51 , an acceleration control unit 52 , and an acceleration sensor 53 , and controls the acceleration of the vehicle 10 .

[0038] The acceleration unit 51 is a device including, for example, an accelerator pedal and accelerates the vehicle 10. The acceleration control unit 52 is a microcomputer having a hardware processor such as a CPU. The acceleration control unit 52 controls the acceleration unit 51 based on instructions from the parking assistance device 20 to control the acceleration of the vehicle 10. The acceleration sensor 53 is, for example, a position sensor and detects the position of the accelerator pedal included in the acceleration unit 51. The acceleration sensor 53 outputs the detected accelerator pedal position to the in-vehicle network NT.

[0039] The steering system 60 has a steering unit 61 , a steering control unit 62 , and a steering unit sensor 63 , and controls the direction of travel of the vehicle 10 .

[0040] The steering unit 61 is a device including, for example, a steering wheel, and steers the steered wheels of the vehicle 10 to steer the traveling direction of the vehicle 10. The steering control unit 62 is, for example, a microcomputer having a hardware processor such as a CPU. The steering control unit 62 controls the steering unit 61 based on instructions from the parking assistance device 20 to control the traveling direction of the vehicle 10. The steering unit sensor 63 is, for example, an angle sensor including a Hall element, and detects the steering angle, which is the rotation angle of the steering unit 61. The steering unit sensor 63 outputs the detected steering angle of the steering unit 61 to the in-vehicle network NT.

[0041] The transmission system 70 has a transmission unit 71 , a transmission control unit 72 , and a transmission unit sensor 73 , and controls the gear ratio of the vehicle 10 .

[0042] The transmission unit 71 is a device that includes, for example, a shift lever and changes the gear ratio of the vehicle 10. The transmission control unit 72 is a microcomputer that includes, for example, a hardware processor such as a CPU. The transmission control unit 72 controls the transmission unit 71 based on instructions from the parking assistance device 20 to control the gear ratio of the vehicle 10. The transmission sensor 73 is, for example, a position sensor that detects the position of a shift lever included in the transmission unit 71. The transmission sensor 73 outputs the detected position of the shift lever to the in-vehicle network NT.

[0043] The vehicle speed sensor 83 has, for example, a Hall element provided near the wheel 13 of the vehicle 10, and detects the amount of rotation or the number of rotations per unit time of the wheel 13. The vehicle speed sensor 83 outputs the number of wheel speed pulses indicating the detected amount of rotation or number of rotations to the in-vehicle network NT as a sensor value for calculating the speed (vehicle speed) of the vehicle 10. The parking assistance device 20 can calculate the speed, movement amount, etc. of the vehicle 10 based on the sensor value acquired from the vehicle speed sensor 83.

[0044] The monitor device 30 is provided on a dashboard or the like inside the vehicle 10 and includes a display unit 31 and an input unit 32 .

[0045] The display unit 31 is a display device such as a liquid crystal display (LCD) or an organic electroluminescent display (OELD). The display unit 31 displays, for example, an image based on image data transmitted by the parking assistance device 20, an image for receiving an operation instruction to switch between automatic driving and manual driving, and the like.

[0046] The input unit 32 is, for example, a touch panel provided on the display screen of the display unit 31. The input unit 32 is configured to be transparent to the content displayed on the display screen of the display unit 31. This allows the input unit 32 to allow the occupant to visually recognize the display content of the display unit 31.

[0047] The input unit 32 receives instructions input by the occupant touching a position corresponding to the display content of the display unit 31, and transmits the instructions via the in-vehicle network NT to the parking assistance device 20. Note that the input unit 32 is not limited to a touch panel, and may be a hard switch such as a push button.

[0048] 3 is a block diagram showing an example of the functional configuration of the parking assistance device 20 according to the embodiment. As shown in FIG. 3, the parking assistance device 20 includes a display control unit 201, an acquisition unit 202, a detection unit 203, a path calculation unit 204, a movement control unit 205, and a storage unit 206 as functional units.

[0049] These functional units are realized, for example, by the CPU 21 reading and executing a program stored in a storage device such as the ROM 25. Alternatively, they are realized by the display control circuit 23, SSD 24, ROM 25, RAM 26, etc. operating under the control of the CPU 21 in accordance with the program.

[0050] Note that some or all of these functional units may be configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit).

[0051] The display control unit 201 generates content to be displayed on the display unit 31 of the monitor device 30 and causes it to be displayed on the display unit 31. That is, the display control unit 201 causes the display unit 31 to display, for example, a notification screen that a parking area in which the vehicle 10 can be parked has been detected, a selection screen for starting, pausing, or canceling parking assistance, an image of the surroundings of the vehicle 10 during parking assistance, and the like.

[0052] The acquisition unit 202 acquires, as information about the surroundings of the vehicle 10 , information about the transmission and reception of sound waves from the distance measurement unit 14 and captured images of the surroundings of the vehicle 10 from the imaging unit 16 .

[0053] The detection unit 203 detects obstacles, parking areas, etc. around the vehicle 10 based on the surrounding information acquired by the acquisition unit 202.

[0054] Obstacles include various objects such as other vehicles, walls, pillars, fences, protrusions, steps, wheel chocks, etc. Obstacles may also be, for example, people walking in a parking lot.

[0055] Furthermore, parking spaces in parking lots and the like are often divided by, for example, demarcation lines, frame lines, straight lines, bands, steps, etc. The detection unit 203 detects, as parking areas, parking spaces that are divided by these demarcation lines, frame lines, straight lines, bands, steps, etc. and that can accommodate the vehicle 10, i.e., parking spaces that do not contain obstacles such as other vehicles that would hinder the parking of the vehicle 10.

[0056] In this way, the above-mentioned dividing lines, frame lines, straight lines, stripes, steps, etc. become targets when the parking assistance device 20 assists the vehicle 10 in parking the parking area and causes the vehicle 10 to enter the parking area.

[0057] When a command to start parking assistance is received from the driver of the vehicle 10 or the like, the detection unit 203 detects the presence or absence of an obstacle, the distance from the vehicle 10 to the obstacle, and the like, based on, for example, the detection result of the distance measurement unit 14. Furthermore, the detection unit 203 detects the presence or absence of an obstacle, as well as the position (orientation) of the obstacle relative to the vehicle 10, and the shape, size, height, and the like of the obstacle, for example, by image processing based on the image captured by the imaging unit 16.

[0058] By combining these detection results, the detection unit 203 extracts information such as whether there are any obstacles around the vehicle 10, whether the obstacles may interfere with the driving of the vehicle 10, whether it is possible to park the vehicle 10 in a parking space around the vehicle 10, that is, whether it can be used as a parking area.

[0059] The route calculation unit 204 calculates a target position to which the vehicle 10 is to be guided based on the detection result by the detection unit 203, and calculates a travel route for moving the vehicle 10 to the target position within the parking area.

[0060] In addition, the route calculation unit 204 may calculate a turning position as necessary. One or more turning positions are set when parking is difficult after a single back or forward movement.

[0061] The route calculation unit 204 calculates a travel route of the vehicle 10 from the current position of the vehicle 10 to the target position so as to guide the vehicle 10 to the target position calculated as described above. The travel route may include a turning point as described above. In this case, the route calculation unit 204 calculates a travel route from the current position of the vehicle 10 to the target position via the turning point.

[0062] In this manner, the route calculation unit 204 calculates a travel route for parking, such as reverse parking or forward parking.

[0063] When assisting parking of the vehicle 10, the movement control unit 205 controls each unit of the vehicle 10 to move the vehicle 10. Specifically, the movement control unit 205 controls all or part of the braking system 40, acceleration system 50, steering system 60, and transmission system 70 to move the vehicle 10 to the target position according to the movement path. At this time, the movement control unit 205 moves the vehicle 10 while receiving feedback from each sensor, such as the braking unit sensor 43, acceleration unit sensor 53, steering unit sensor 63, transmission unit sensor 73, and vehicle speed sensor 83.

[0064] Even after the movement control unit 205 starts moving the vehicle 10, the detection unit 203 continues to acquire surrounding information from the distance measurement unit 14 and the imaging unit 16. The above-mentioned route calculation unit 204 appropriately recalculates the route of movement based on the detection result by the detection unit 203. When the route of movement is recalculated, the movement control unit 205 continues moving the vehicle 10 so as to fine-tune the position of the vehicle 10 accordingly.

[0065] The storage unit 206 stores, for example, a program executed by the CPU 21 of the parking assistance device 20 , various control parameters required for the operation of the parking assistance device 20 , and the like.

[0066] (Operation Example of Parking Assistance Apparatus) Next, an operation example of the parking assistance apparatus 20 according to the embodiment will be described with reference to FIGS.

[0067] 4 to 10, except for Fig. 5 and Fig. 8, are schematic diagrams illustrating an example of a parking assistance operation when parking the vehicle 10 at a flagpole lot FL by the parking assistance device 20 according to the embodiment. Fig. 5 and Fig. 8 are examples of screens displayed during the parking assistance operation by the parking assistance device 20 according to the embodiment.

[0068] 4 to 10, an example in which the vehicle 10 is parked in reverse will be described.

[0069] As shown in Fig. 4, the flagpole lot FL is a parking lot in which multiple parking spaces PAs are arranged vertically. In the example shown in Fig. 4, the flagpole lot FL has two parking spaces PAs, one at the front and one at the back, for two vehicles. To start parking assistance for such a flagpole lot FL, the vehicle 10 is parked next to the flagpole lot FL near the entrance.

[0070] At this time, the parking assistance device 20 may recognize, for example, only the front parking space PAs of the front and rear parking spaces PAs as the parking area to be targeted for parking assistance. This is because the parking area is recognized within a range that can be detected with high accuracy from the stopping position of the vehicle 10 at the entrance to the flagpole lot FL, from the viewpoints of the angle of view and resolution of the imaging unit 16 and the sensing distance of the distance measuring unit 14. Furthermore, at the flagpole lot FL, the surrounding scenery may not change much from the front side to the rear side, which may limit the range in which the target position can be identified to the front side.

[0071] 4, the detection unit 203 of the parking assistance device 20 recognizes the parking space PAs in front of the vehicle 10 as the parking area PAa out of the two parking spaces PAs. In this case, the display control unit 201 of the parking assistance device 20 causes the display unit 31 of the monitor device 30 to display, for example, an image of the detected parking area PAa and a selection screen on which the start of parking assistance can be selected. An example of such a selection screen is shown in FIG. 5.

[0072] 5, the display unit 31 of the monitor device 30 displays a line LNa indicating the parking area PAa detected by the detection unit 203 and a button for selecting to start parking assistance, superimposed on the image of the flagpole ground FL captured by the imaging unit 16. Here, it is assumed that the driver has selected to start parking assistance.

[0073] In the flagpole lot FL described above, the parking space PAs in front of the vehicle 10 is an example of the first parking space. Also, the parking area PAa detected at the beginning of the parking assistance is, for example, an example of the first parking area.

[0074] 6, the route calculation unit 204 of the parking assistance device 20 calculates a travel route TRa. The travel route TRa starts from the current position PPa of the vehicle 10, for example, parked next to the entrance of the flagpole lot FL, passes through a turning position SPa in the forward direction of the vehicle 10, and reaches a target position DPa located within the parking area PAa in the backward direction of the vehicle 10 at the turning position SPa.

[0075] The movement control unit 205 of the parking assistance device 20 starts moving the vehicle 10 on the movement route TRa in accordance with the calculation result of the route calculation unit 204. Initially, the movement control unit 205 moves the vehicle 10 forward from the current position PPa toward the turning position SPa. During this time, the display control unit 201 may display information such as "Parking assistance in progress" on the display unit 31 of the monitor device 30, which indicates that the vehicle 10 is currently receiving parking assistance.

[0076] 7, the movement control unit 205 is still in the process of backing up the vehicle 10 toward the target position DPa. At this time, the vehicle 10 has entered the area in front of the flagpole lot FL, so that the rear parking space PAs is included in the detection range of the imaging unit 16 and the distance measurement unit 14. Therefore, it is assumed that the detection unit 203 has detected the rear parking space PAs as the second candidate parking area PAb.

[0077] The display control unit 201 displays, for example, an image of the newly detected parking area PAb and a change screen that allows the target position to be changed from the parking area PAa to the parking area PAb on the display unit 31 of the monitor device 30. An example of such a selection screen is shown in FIG.

[0078] 8, the display unit 31 of the monitor device 30 displays a line LNb indicating the parking area PAb detected by the detection unit 203 and a button for selecting a change of the target position, superimposed on the image of the flagpole ground FL captured by the imaging unit 16. Here, it is assumed that the driver has selected to change the target position.

[0079] In the flagpole lot FL described above, the parking space PAs at the rear of the vehicle 10 is an example of a second parking space. Also, the parking area PAb newly detected after the start of parking assistance is, for example, an example of the second parking area.

[0080] As shown in Figure 9, the route calculation unit 204 calculates a travel route TRb from the current position PPb of the vehicle 10 at the time the target position to the parking area PAb is changed to a predetermined position within the parking area PAb that can be reached by backing up the vehicle 10 as the target position DPb.

[0081] The movement control unit 205 starts the movement of the vehicle 10 on the movement route TRb in accordance with the new calculation result of the route calculation unit 204.

[0082] 10 , the movement control unit 205 further reverses the vehicle 10 toward the target position DPb. As a result, the vehicle 10 is parked at the target position DPb within the parking area PAb, and the parking assistance ends. At this time, the display control unit 201 may cause the display unit 31 of the monitor device 30 to display information such as "Parking assistance ended," which indicates that the parking assistance for the vehicle 10 has ended.

[0083] This completes the parking assistance at the flagpole lot FL by the parking assistance device 20 of the embodiment.

[0084] 11 and 12 are schematic diagrams illustrating an example of the parking assistance operation when parking the vehicle 10 at a curved ground CL by the parking assistance device 20 according to the embodiment. In Fig. 11 and Fig. 12, an example in which the vehicle 10 is reverse-parked is described.

[0085] As shown in Figure 11, when there are multiple parking spaces PAs, another example where all of them are likely not to be recognized at the same time is a crank-shaped parking lot such as an L-shape. Here, such a crank-shaped parking lot is called a curved lot CL.

[0086] 11 , the curved area CL has two parking spaces PAs, one near the front and one at the rear after turning a curve. To start parking assistance for the curved area CL, the vehicle 10 is parked alongside the curved area CL near the entrance. In this case, for example, from the vicinity of the entrance of the curved area CL, the rear area after turning a curve is likely to be outside the detection range of the imaging unit 16 and the distance measurement unit 14.

[0087] 11 , the detection unit 203 recognizes the parking space PAs on the front side of the vehicle 10 as the parking area PAc out of the two parking spaces PAs. In this case, the display control unit 201 causes the display unit 31 of the monitor device 30 to display, for example, an image of the detected parking area PAc and a selection screen on which the start of parking assistance can be selected.

[0088] In the curved area CL described above, the parking space PAs on the front side of the vehicle 10 is an example of the first parking space. Also, the parking area PAc detected at the beginning of the parking assistance is, for example, an example of the first parking area.

[0089] As shown in Figure 12, when the driver instructs the start of parking assistance, the movement control unit 205 moves the vehicle 10 along the movement route TRc calculated by the route calculation unit 204 and leading to the target position DPc within the parking area PAc.

[0090] At this time, the vehicle 10 has entered the area on the near side of the curved area CL, so that the parking space PAs on the far side of the curved area CL is included within the detection range of the imaging unit 16 and the distance measurement unit 14. Therefore, it is assumed that the detection unit 203 has detected the parking space PAs on the far side as the second candidate parking area PAd.

[0091] As a result, the parking area PAd is presented to the driver as a new target position by, for example, the display control unit 201. The driver can select whether or not to change the target position from the parking area PAc to the parking area PAd.

[0092] In the curved area CL described above, the parking space PAs at the rear of the vehicle 10 is an example of a second parking space. Also, a parking area PAd that is newly detected after the start of parking assistance is, for example, an example of a second parking area.

[0093] 4 to 12 have been described above with reference to examples in which the vehicle 10 is reversed and parked on a flagpole lot FL or a curved lot CL. However, the parking assistance device 20 controls the vehicle 10 in the same manner not only in reverse parking but also in forward parking and the like.

[0094] (Processing Example of Parking Assistance Apparatus) Next, an example of parking assistance processing by the parking assistance apparatus 20 according to the embodiment will be described with reference to Fig. 13. Fig. 13 is a flow diagram showing an example of the procedure of the parking assistance processing by the parking assistance apparatus 20 according to the embodiment.

[0095] 13 , when the detection unit 203 of the parking assistance device 20 detects a parking area PA where the vehicle 10 can be parked (step S101), the display control unit 201 displays a selection screen on the display unit 31 of the monitor device 30, for example, and waits for an instruction to start parking assistance from the driver (step S102). If the driver does not select to start parking assistance (step S102: No), the parking assistance process is canceled and terminated (step S103).

[0096] When the driver issues a command to start parking assistance (step S102: Yes), the route calculation unit 204 calculates a movement route TR (step S104), and the movement control unit 205 starts movement control of the vehicle 10 (step S105).

[0097] Furthermore, the detection unit 203 continues searching for other parking areas PA (step S106) during movement control of the vehicle 10. If the detection unit 203 newly detects another parking area PA (step S106: Yes), the display control unit 201 presents the driver with a change screen that allows the driver to change the target position to the newly detected parking area PA (step S107).

[0098] If the driver instructs to change the target position (step S107: Yes), the route calculation unit 204 recalculates a movement route TR to the changed target position (step S104), and the movement control unit 205 starts movement control of the vehicle 10 to the changed target position (step S105). The detection unit 203 then continues searching for other parking areas PA (step S106).

[0099] If no other parking area PA is detected (step S106: No), the process of step S107 is skipped. Also, if the driver does not select to change the target position to the newly detected parking area PA (step S107: No), the process from step S104 onward is not repeated.

[0100] Thereafter, the movement control unit 205 determines whether the parking assistance process has ended, for example, when the vehicle 10 reaches the target position (step S108). If the parking assistance process is ongoing (step S108: No), the process from step S105 is repeated until the parking assistance process ends (step S108: Yes).

[0101] This completes the parking assistance process by the parking assistance device 20 of the embodiment.

[0102] (Overview) A parking assistance device assists a vehicle in parking based on information about the vehicle's surroundings from various sensors such as a distance measurement unit and an image capture unit. When parking assistance begins, a parking area in which the vehicle can be parked is detected based on information from the various sensors.

[0103] In parking lots with flagpole or curved ground, the rear parking space may not be detected when the parking assistance starts. Therefore, the problem arises of how to make it possible to park in a parking space that is not detected at the beginning.

[0104] For example, by using a satellite positioning system (GNSS: Global Navigation Satellite System), it is possible to simultaneously detect all parking spaces for multiple vehicles, but even in this case, it is difficult to determine whether the detected parking spaces are vacant spaces or not.

[0105] Furthermore, even if multiple parking areas are recognizable at the same time in a parking lot such as a flagpole lot or a curved lot, the driver may wish to park in one of these parking areas from time to time.

[0106] According to the parking assistance device 20 of the embodiment, after a predetermined parking area PA is detected, movement control of the vehicle 10 to that parking area PA is initiated, and if another parking area PA is detected after the start of movement control of the vehicle 10, the newly detected parking area PA is presented to the driver of the vehicle 10 as a second candidate parking target for the vehicle 10. As a result, even if no parking spaces PAs at the rear are detected when parking assistance is initiated, the vehicle can be parked in the desired parking space PAs.

[0107] According to the parking assistance device 20 of the embodiment, the initially detected parking area PA and the other parking areas PA detected after the start of movement control of the vehicle 10 correspond to the parking spaces PAs on the near side and the parking spaces PAs on the far side arranged vertically, respectively, or correspond to the parking spaces PAs on the near side and the parking spaces PAs on the far side arranged in a crank shape, respectively. In this way, even in the case of a so-called flagpole lot FL or a curved lot CL, it is possible to present, for example, the parking spaces PAs on the far side as candidates for parking targets.

[0108] In the above embodiment, a very simple control example for a flagpole lot FL or a curved lot CL has been described. In the following modification 1, several examples will be shown in which multiple parking areas PA are detected at the same time.

[0109] 14 is a schematic diagram illustrating an example of the parking assist operation at a flagpole lot FL by the parking assist device 20 according to the first modified example of the embodiment. More specifically, FIG. 14 illustrates an example in which a plurality of parking areas PAa and PAb are simultaneously detected at the flagpole lot FL.

[0110] In the example shown in Figure 14, both the near side and the far side parking spaces PAs in the flagpole lot FL are detected as parking areas PAa and PAb at the same time. As in the cases of Figures 4 and 5, the display control unit 201 of the parking assistance device 20 causes the display unit 31 of the monitor device 30 to display at least a selection screen on which the user can select whether to start parking assistance, together with images of the detected parking areas PAa and PAb.

[0111] In addition, several methods can be considered for determining which of the multiple parking areas PAa, PAb detected simultaneously should be used as the parking target.

[0112] That is, for example, a button or the like for selecting either the parking area PAa or PAb may be displayed on the selection screen, allowing the driver to select from the screen. Alternatively, rules defining a control method when multiple parking areas are detected may be set in advance in the storage unit 206 (see FIG. 3 ) or the like. In this case, for example, it may be possible to set the system so that the side of the multiple parking areas closest to the vehicle 10 is automatically selected as the parking target. Alternatively, it may be possible to set the system so that the side that is easier to park on is automatically selected as the parking target.

[0113] 15 is a schematic diagram illustrating an example of the parking assistance operation at a curved area CL2 by the parking assistance device 20 according to the first modified example of the embodiment. More specifically, FIG. 15 illustrates an example in which multiple parking areas PAd and PAe are simultaneously detected at the curved area CL2.

[0114] As shown in Fig. 15, the curved area CL2 is, for example, a T-shaped parking lot. That is, the curved area CL2 shown in Fig. 15 has three parking spaces PAs in total, one for a car at the front and one for a car at the back after turning left and right.

[0115] When the vehicle 10 is pulled up to the entrance of the curved area CL2 to start parking assistance, the parking space PAs for one vehicle on the front side is detected as the parking area PAc. After that, while the parking assistance is started and the vehicle 10 is being controlled to move to the target position DPc within the parking area PAc, the parking spaces PAs for two vehicles on the rear side are detected as the parking areas PAd and PAe at the same time, for example.

[0116] The display control unit 201 causes the display unit 31 of the monitor device 30 to display at least a change screen, for example, an image of the detected parking areas PAd and PAe, as well as a question as to whether or not to change the parking target from the initial parking area PAc to one of the parking areas PAd and PAe, as in the case of Figures 7 and 8 described above.

[0117] In the above case, there are several possible methods for determining which of the multiple parking areas PAd, PAe detected simultaneously should be used as the parking target. For example, as described above, the driver may be allowed to select one of the parking areas PAd, PAe, or the parking assistance device 20 may automatically select one of the parking areas PAd, PAe according to a preset rule.

[0118] 16 and 17 are schematic diagrams illustrating an example of the parking assist operation at a curved area CL3 by the parking assist device 20 according to the first modified example of the embodiment. More specifically, Fig. 16 and Fig. 17 show an example in which a plurality of parking areas PAf and PAg are simultaneously detected at the curved area CL3, and then a parking area PAh is detected.

[0119] As shown in Fig. 16, the curved area CL3 has parking spaces PAs for multiple vehicles, for example, at the end of a curved road. That is, the curved area CL3 shown in Fig. 16 has one parking space PAs for a vehicle at the front and three parking spaces PAs for a vehicle at the back of the curve, for a total of four parking spaces. The three parking spaces PAs at the back are arranged horizontally, that is, parallel to each other.

[0120] In this curved area CL3, when the vehicle 10 is pulled up alongside the entrance to the curved area CL3 to start parking assistance, the parking space PAs for one vehicle on the front side is detected as the parking area PAc. After that, when parking assistance is started and the vehicle 10 is controlled to move to the target position DPc within the parking area PAc, the two front parking spaces PAs for three vehicles around the bend are detected as the parking areas PAf and PAg at the same time, for example. That is, of these three parking spaces PAs, the rearmost parking space PAs is outside the detection range of the image capturing unit 16 and the distance measuring unit 14 at this point.

[0121] The display control unit 201 causes the display unit 31 of the monitor device 30 to display, for example, images of the detected parking areas PAf, PAg, as well as at least a change screen indicating that multiple parking areas PAf, PAg have been newly detected and asking whether or not to change the parking target from the original parking area PAc to one of the parking areas PAf, PAg.

[0122] In the above case, the driver may select one of the multiple parking areas PAf, PAg detected simultaneously, or the parking assistance device 20 may automatically select one of the parking areas PAf, PAg according to a predetermined rule. In the example of Fig. 16, it is assumed that the parking area PAf on the near side of the parking areas PAf, PAg is selected as the new parking target by a predetermined method.

[0123] As shown in Figure 17, a movement route TRf leading to a target position DPf within the parking area PAf is calculated anew, and while controlling the movement of the vehicle 10 along the movement route TRf, the innermost parking space PAs for one vehicle is detected as the parking area PAh.

[0124] 7 and 8, the display control unit 201 displays, on the display unit 31 of the monitor device 30, for example, an image of the detected parking area PAh, together with a change screen that asks whether or not to change the parking target from the parking area PAf to the parking area PAh. This allows the driver to select whether or not to further change the parking target on the change screen.

[0125] In this way, the parking assistance device 20 may be able to present multiple parking target candidates at multiple times, such as presenting one or more first candidate parking areas PA, then presenting one or more second candidate parking areas PA, and then presenting one or more third candidate parking areas PA.

[0126] According to the parking assist operation of the parking assist device 20 of the first modification, when multiple parking areas PA are detected at the same time, the driver can select one of the multiple parking areas PA as the parking target, or the driver can select one of the multiple parking areas PA as the parking target based on a preset rule. This allows the parking assist control to be performed appropriately even when multiple parking areas PA are detected at the same time.

[0127] (Modification 2) Next, a parking assistance device according to Modification 2 of the embodiment will be described. The parking assistance device according to Modification 2 differs from the embodiment described above in the timing at which a newly detected parking area PA is presented to the driver.

[0128] In the following description, the configurations of Modification 2 corresponding to the respective configurations of the above-described embodiment will be referred to in FIGS. 1 to 3 and will be denoted by the same reference numerals.

[0129] FIG. 18 is a schematic diagram illustrating an example of the parking assist operation when parking the vehicle 10 at a flagpole lot FL by the parking assist device according to the second modification of the embodiment.

[0130] 18, in order to start parking assistance, it is assumed that the parking space PAs on the near side of the vehicle 10 parked next to the entrance of the flagpole lot FL is initially detected as the parking area PAa. Furthermore, it is assumed that the parking space PAs on the far side is newly detected as the parking area PAb at a predetermined timing during the movement control of the vehicle 10 toward the target position DPa within the parking area PAa.

[0131] In this case, the parking assistance device of Modification 2 continues to assist parking at the original target position DPa. After parking in the parking area PAa is completed, the display control unit 201 displays, on the display unit 31 of the monitor device 30, an image of the newly detected parking area PAb, as well as a change screen that allows the parking position of the vehicle 10 to be changed. An example of such a change screen is shown in FIG. 19 .

[0132] Fig. 19 is an example of a screen displayed during parking assistance operation by the parking assistance device according to Modification 2 of the embodiment. As shown in Fig. 19, the display unit 31 of the monitor device 30 displays a line LNb indicating the parking area PAb detected by the detection unit 203 and a button for selecting whether or not to resume parking assistance control in order to change the target position, superimposed on the image of the flagpole ground FL captured by the imaging unit 16.

[0133] The driver can press either button to terminate the parking assistance with the parking area PAa as the parking target, or to resume the parking assistance with the parking area PAb as the new parking target.

[0134] The parking assistance device of the second modification provides the same effects as the parking assistance device 20 of the embodiment.

[0135] (Modification 3) Next, a parking assistance device according to Modification 3 of the embodiment will be described. The parking assistance device according to Modification 3 differs from the above-described embodiment in that the driver can customize the control method during parking assistance.

[0136] In the following description, the configurations of Modification 3 corresponding to the respective configurations of the above-described embodiment will be referred to in FIGS. 1 to 3 and will be denoted by the same reference numerals.

[0137] 20 and 21 are schematic diagrams showing an example of a setting screen for setting a control method for a parking assistance device according to the third modification of the embodiment.

[0138] In the above-described embodiment, during the control of the movement of the vehicle 10 to a predetermined parking area PA, the new parking area PA is presented to the driver when the parking area PA is detected. In the above-described second modification, the new parking area PA is presented to the driver when the movement control that is already being executed is completed.

[0139] As shown in FIG. 20, in the parking assistance device of the third modification, the timing for presenting such a new parking area PA can be set in advance by, for example, the driver.

[0140] That is, in variant example 3, the display control unit 201 displays a setting screen in response to instructions from the driver, and the setting screen allows the driver to set whether to accept suggestions for changing the target during control at any time, or to accept them once parking in the specified parking area PA has been completed.

[0141] In addition, the setting screen may also allow various settings such as setting an audio mode that notifies various information by voice, or setting the speed during parking assistance.

[0142] In addition, in the above-described first modification, several methods for selecting a parking target when a plurality of parking areas PA are detected simultaneously have been described.

[0143] As shown in Fig. 21, in the parking assistance device of Modification 3, the driver or the like can preset which of a plurality of parking areas PA to select. In the example of Fig. 21, the front or rear parking area PA can be selected at all times, or the driver can select as appropriate. Also, for frequently used parking lots A, B, C, etc., such as a home parking lot or an office parking lot, it may be possible to set the front or rear parking area to be selected at all times.

[0144] According to the parking assistance device of the third modification, when multiple parking areas PA are detected at the same time, one of the multiple parking areas PA is selected as the parking target based on rules set in advance by the driver, thereby allowing the vehicle 10 to be parked in the parking area PA that best suits the driver's desire.

[0145] The parking assistance device of the third modification provides other effects similar to those of the parking assistance device 20 of the embodiment.

[0146] In the above embodiment, the parking assistance device 20 is mounted on the vehicle 10, but the parking assistance device 20 does not necessarily have to be mounted on the vehicle 10. For example, the parking assistance device may be located at a location away from the vehicle, acquire information about the surroundings of the vehicle from various sensors, and provide parking assistance for the vehicle by remote control.

[0147] Summary of the embodiment The parking assistance device (20) of the embodiment includes at least the following components.

[0148] A parking assistance device (20) according to an embodiment is a parking assistance device (20) that provides parking assistance for a vehicle (10) based on peripheral information collected by a plurality of sensors (14a to 14l, 16a to 16d) provided on the vehicle (10), and includes: a detection unit (203) that detects a parking area (PA) in which the vehicle (10) can be parked based on the peripheral information from the plurality of sensors (14a to 14l, 16a to 16d); a path calculation unit (204) that calculates a movement path (TR) of the vehicle (10) to the parking area (PA) based on the peripheral information from the plurality of sensors (14a to 14l, 16a to 16d); and a movement control unit (205) that moves the vehicle (10) along the movement path (TR), and the detection unit (203) After a first parking area (PAa, PAc) is detected, movement control of the vehicle (10) to the first parking area (PAa, PAc) is started, and when a second parking area (PAb, PAd) is detected after the start of the movement control, the second parking area (PAb, PAd) is presented to the user of the vehicle (10) as a second candidate parking target for the vehicle (10).

[0149] This allows the vehicle to park in the desired parking space PAs even if no parking space PAs at the rear side is detected when parking assistance is started.

[0150] As an example, the first and second parking areas (PAa-PAd) may correspond to a first parking space (PAs) at the front and a second parking space (PAs) at the back arranged vertically, respectively, or may correspond to a first parking space (PAs) at the front arranged in a crank shape and a second parking space (PAs) at the end of the crank, respectively.

[0151] In this way, even if the vehicle is on a so-called flagpole lot FL or curved lot CL, it is possible to present, for example, the parking space PAs at the rear side as a parking target candidate.

[0152] When the detection unit (203) detects a plurality of parking areas (PA) at the same time, it is preferable that the detection unit (203) is configured to allow the user to select any one of the plurality of parking areas (PA) as a parking target, or to allow the user to select any one of the plurality of parking areas (PA) as a parking target based on a preset rule.

[0153] This allows parking assistance control to be performed appropriately even when multiple parking areas PA are detected at the same time.

[0154] Preferably, the rules are preconfigurable by the user.

[0155] This allows the vehicle 10 to be parked in a parking area PA that more closely matches the driver's desire.

[0156] The effects of the dependent claims and embodiments are additional effects that are different from the effects of the independent claims.

[0157] REFERENCE SIGNS LIST 10 Vehicle 14 Distance measurement unit 16 Imaging unit 20 Parking assistance device 200 Parking assistance system 201 Display control unit 202 Acquisition unit 203 Detection unit 204 Path calculation unit 205 Movement control unit 206 Storage unit CL, CL2, CL3 Bent ground FL Flagpole ground PA Parking area PAs Parking space

Claims

1. A parking assistance device that provides parking assistance for a vehicle based on peripheral information collected by a plurality of sensors provided on the vehicle, comprising: a detection unit that detects a parking area in which the vehicle can be parked based on the peripheral information from the plurality of sensors; a path calculation unit that calculates a movement path for the vehicle to the parking area based on the peripheral information from the plurality of sensors; and a movement control unit that moves the vehicle along the movement path, wherein the detection unit starts movement control of the vehicle to the first parking area after detecting a first parking area, and when it detects a second parking area after the start of the movement control, presents the second parking area to a user of the vehicle as a second candidate parking target for the vehicle.

2. The parking assistance device of claim 1, wherein the first and second parking areas correspond to a first parking space in the front and a second parking space in the back that are aligned vertically, respectively, or correspond to a first parking space in the front that is arranged in a crank shape and a second parking space at the end of the crank, respectively.

3. The parking assistance device of claim 1, wherein when the detection unit detects a plurality of parking areas simultaneously, the user is configured to be able to select one of the plurality of parking areas as a parking target, or the user is configured to be able to select one of the plurality of parking areas as a parking target based on a preset rule.

4. The parking assistance device according to claim 3, wherein the rules can be preset by the user.

Images