Parking assistance method and parking assistance device

Abstract

A controller (10) of a parking assistance device (100) displays, on a screen of an output unit provided with a touch input function, a display image including a first parking path from a parking start position to a target parking position of a host vehicle (1), and generates, when a change operation for changing the first parking path has been performed by an operator's touch-inputting on the screen with a finger, a second parking path by changing the first parking path in accordance with the change operation.

Description

Parking assistance method and parking assistance device

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

[0002] A technology is known in which a driver sets a target parking path by inputting the target parking path using a touch panel, and the vehicle's steering load, which is a reaction force to the driver's steering operation, is controlled so that the path the vehicle actually travels becomes the target parking path (Patent Document 1).

[0003] JP 2002-362271 A

[0004] However, in the technology described in Patent Document 1, only the position of the vehicle and the target parking position are displayed on the monitor, and the driver must set a parking route between the position of the vehicle and the target parking position by himself / herself, which causes a problem that it is troublesome for the driver to set the parking route that he / she intends.

[0005] An object of the present invention is to provide a parking assistance method and a parking assistance device that allow a vehicle operator to easily set an intended parking path.

[0006] The present invention solves the above problem by displaying a display image including a first parking route from the vehicle's parking start position to the target parking position on a screen equipped with a touch input function of the output unit, and when an operator performs a change operation to change the first parking route by touching the screen with their finger, changing the first parking route in accordance with the change operation to generate a second parking route.

[0007] According to the present invention, the vehicle operator can easily set the parking route that the operator intends.

[0008] Fig. 1 is a block diagram showing the configuration of a parking assistance system including a parking assistance device according to an embodiment of the present invention. Fig. 2 is a diagram showing an example of a change operation in which an operator changes a parking route on a screen of an output device. Fig. 3 is a flowchart showing an example of the procedure of a parking assistance method executed by the parking assistance device. Fig. 4 is a flowchart showing an example of the procedure of a parking assistance method executed by the parking assistance device.

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a block diagram showing the configuration of a parking assistance system including a parking assistance device according to this embodiment. As shown in Fig. 1, the parking assistance system 2 includes a parking assistance device 100, a detection device 101, a host vehicle position acquisition device 102, an input device 103, an output device 104, a drive control device 105, and a storage device 106. These devices are mounted on the host vehicle 1 and are connected via a Controller Area Network (CAN) or other in-vehicle LAN, allowing them to exchange information with each other.

[0010] The parking assistance device 100 uses the controller 10 to assist the host vehicle 1 in parking at the target parking position when the host vehicle 1 arrives near the target parking position. In the parking assistance, the controller 10 autonomously controls parking of the host vehicle 1 along a parking path. In this embodiment, the controller 10 changes the parking path in response to a change operation by the operator before the parking assistance is performed. Each device will be described below.

[0011] The detection device 101 is a sensor mounted on the host vehicle 1 and detects the surrounding environment of the host vehicle 1. For example, the detection device 101 is an exterior camera and / or radar. The exterior cameras are image sensors such as CCD wide-angle cameras, and are provided in front, behind, and on both sides of the host vehicle 1 to capture images of the surrounding environment of the host vehicle 1 (vehicle surrounding images). The exterior cameras may be stereo cameras or omnidirectional cameras, and may include multiple image sensors. The detection device 101 may generate a field of view image (bird's-eye view image) for an around view monitor by combining images captured by the multiple exterior cameras.

[0012] The radars are provided in front of, behind, and on both sides of the vehicle 1, and irradiate millimeter waves or ultrasonic waves around the vehicle 1 to scan a predetermined range around the vehicle 1. The vehicle surroundings information detected by the detection device 101 is output to the parking assistance device 100.

[0013] The vehicle position acquisition device 102 acquires the current position of the vehicle 1. The vehicle position acquisition device 102 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc. The vehicle position acquisition device 102 detects radio waves transmitted from multiple satellite communications using the GPS unit, periodically acquires position information of the vehicle 1, and detects the current position of the vehicle 1 based on the acquired position information of the vehicle 1, angle change information acquired from the gyro sensor, and vehicle speed acquired from the vehicle speed sensor.

[0014] The input device 103 is an input interface that accepts input from an operator. The input device 103 is composed of one or more devices. The input device 103 may be an in-vehicle device or a device mounted on a portable terminal such as a mobile phone or tablet terminal. For example, the input device 103 may be composed of a steering switch that allows the user to input and a microphone that allows the user to input voice. The input device 103 has a screen with a touch input function, such as a touch panel. Note that, when a touch panel display is used as the input device 103, it can also be used as the output device 104. In other words, the display is a touch panel display with input and output functions. The user performs touch input by touching the screen with their finger. Information input to the input device 103 is, for example, information on a change operation to change the parking route. The change operation will be described later. Furthermore, the information input to the input device 103 may include information on an instruction operation to instruct the start of parking assistance, a decision operation to determine a target parking route, and a registration operation to register a parking route. For example, the output device 104 displays a button for instructing the start of parking assistance and a button for determining a parking route. The operator touches each button to input each operation. In this embodiment, information input to the input device 103 is output to the controller 10.

[0015] The output device 104 is an output interface that outputs information to an operator. The output device 104 is composed of one or more devices. The output device 104 may be an in-vehicle device or a device mounted on a portable terminal such as a mobile phone or a tablet terminal. For example, the output device 104 is a device that displays information, and examples thereof include a liquid crystal display (LCD) display and a projector. The output device 104 may also be a device that outputs audio information. For example, the output device 104 is a speaker. In this embodiment, the output device 104 displays a display image when a display image including a parking path is input from the parking assistance device 100. When the output device 104 also serves as the input device 103, the output device 104 displays the display image on a screen equipped with a touch input function. The output device 104 is an example of an "output unit" as defined in the claims.

[0016] The drive control device 105 controls the traveling of the host vehicle 1 using an autonomous control function. The autonomous control function includes an autonomous speed control function and an autonomous steering control function. The drive control device 105 uses the autonomous speed control function to control acceleration or deceleration, the operation of the drive mechanism for adjusting the vehicle speed (including the operation of the internal combustion engine in an engine vehicle, the operation of the traction motor in an electric vehicle, and the torque distribution between the internal combustion engine and the traction motor in a hybrid vehicle), and braking operation. The drive control device 105 also controls the operation of the steering actuator using an autonomous steering control function, thereby performing steering control of the host vehicle 1. In this embodiment, when a control signal is input from the parking assistance device 100, the drive control device 105 uses the autonomous control function to control the parking operation of the host vehicle 1 in accordance with the control signal.

[0017] The storage device 106 is a storage medium that stores various information. The storage device 106 stores position information of the destination of the vehicle 1. Furthermore, when a target parking position at the destination is set as the destination, information about the target parking position may be stored in the storage device 106. The information about the target parking position includes the position information of the target parking position, a parking start position corresponding to the target parking position, captured images of the surrounding environment of the parking start position and the target parking position, or a map image including the surrounding environment of the parking start position and the target parking position. Furthermore, as described below, when a parking route to each parking position is registered, the storage device 106 may store the parking route in association with the parking position. Note that the storage device 106 is not a required component and may be configured appropriately as needed. For example, the storage device 106 may be provided in a server located outside the vehicle 1. The storage device 106 is an example of a "storage unit" as defined in the claims.

[0018] The parking assistance device 100 performs parking assistance for the vehicle 1. The parking assistance device 100 includes a controller 10. The controller 10 includes a ROM storing a program for assisting parking of the vehicle 1, a CPU that executes the program stored in the ROM, and a RAM that functions as an accessible storage device. Note that an MPU, DSP, ASIC, FPGA, or the like can be used as the operating circuit instead of or in addition to the CPU. The controller 10 includes functional blocks, such as a target parking position setting unit 11, a parking start position setting unit 12, a parking path generation unit 13, a display unit 14, an input information acquisition unit 15, and a parking control unit 16. The controller 10 executes a program for realizing each function. Note that in this embodiment, the functions of the controller 10 are divided into six blocks, and the functions of each functional block are described. However, the functions of the controller 10 do not necessarily have to be divided into six blocks; they may be divided into five or fewer functional blocks, or seven or more functional blocks. During parking assistance, the parking assistance device 100 displays a parking route on the output device 104, and changes the parking route in response to an operator's operation to change the displayed parking route. A specific method will be described below.

[0019] The target parking position setting unit 11 searches for parking positions around the vehicle 1. A parking position is, for example, a parking space defined by white lines as parking compartment lines. The target parking position setting unit 11 sets the searched parking position as the target parking position. If multiple parking positions are detected, the target parking position setting unit 11 prompts the operator to select a desired parking position from among available parking positions and acquires position information (such as relative position coordinates from the current position of the vehicle, latitude, and longitude) of the selected target parking position. Note that the target parking position setting unit 11 may automatically set a target parking position from among available parking positions based on predetermined conditions without the operator having to make a selection. For example, the target parking position setting unit 11 sets the parking position closest to the vehicle 1 as the target parking position.

[0020] In this embodiment, when a destination of the host vehicle 1 is set, the host vehicle 1 travels to the destination. When the host vehicle 1 arrives near the destination, the target parking position setting unit 11 acquires vehicle surroundings information, which is detected from the detection device 101, of the surrounding environment of the host vehicle 1. For example, the target parking position setting unit 11 determines that the host vehicle 1 has arrived near the destination when the host vehicle 1 is located within a predetermined range from the destination based on the current position of the host vehicle 1 acquired by the host vehicle position acquisition device 102 and the position of the destination. When the target parking position setting unit 11 acquires the vehicle surroundings information, it searches for a parking position at the destination based on the vehicle surroundings information. For example, the vehicle surroundings information is image information including white lines as parking space lines at the destination. The target parking position setting unit 11 performs image recognition processing on the image and sets a parking space defined by the recognized white lines as the target parking position. Note that, when information on the target parking position is stored in the storage device 106, the target parking position setting unit 11 may set the target parking position based on the target parking position information acquired from the storage device 106.

[0021] The parking start position setting unit 12 sets a parking start position for starting parking assistance to a target parking position. For example, the parking start position setting unit 12 periodically acquires position information of the host vehicle 1 from the host vehicle position acquisition device 102 and sets the acquired current position of the host vehicle 1 as the parking start position. When the target parking position is set based on the vehicle surroundings information, the current position of the host vehicle 1 at that time is set as the parking start position. Furthermore, when the operator inputs an instruction operation to the input device 103 to instruct the start of parking assistance and the parking start position setting unit 12 acquires information of the instruction operation from the input device 103, the parking start position setting unit 12 may set the current position of the host vehicle 1 at that time as the parking start position. Furthermore, the parking start position setting unit 12 may calculate from what position automatic parking control should be started in order for the host vehicle 1 to park at the target parking position set by the target parking position setting unit 11, and set the parking start position.

[0022] The parking path generation unit 13 generates a parking path from the parking start position of the host vehicle 1 to the target parking position. The parking path may include a turning point required to move to the target parking position. A publicly known method known at the time of filing can be used for the parking path generation process. The parking path is defined as a line, and also as a strip-shaped area corresponding to the occupied area of ​​the host vehicle 1 according to the vehicle width. In other words, the parking path is a path through which the center of the host vehicle 1 passes. The occupied area of ​​the host vehicle 1 is defined taking into consideration the vehicle width and a margin width secured for movement.

[0023] The parking path generating unit 13 calculates a parking path based on information about the host vehicle, information about the target parking position, and the parking start position. The information about the host vehicle includes the current position of the host vehicle and pre-stored size of the host vehicle (vehicle width, vehicle length, minimum turning radius, etc.). In this embodiment, the parking path generated by the parking path generating unit 13 is the first parking path or the second parking path. The first parking path is a path generated before the display image is displayed on the output device 104. In other words, the first parking path is the parking path before change and is the parking path that is subject to change operation by the operator.

[0024] The second parking path is a path generated after the display image including the first parking path is displayed. The second parking path is a parking path changed by a change operation performed by the operator, i.e., the changed parking path. The parking path generation unit 13 changes the first parking path in accordance with the change operation input by the operator to generate the second parking path. When the operator performs a change operation to change the first parking path on the screen on which the display image is displayed, the parking path generation unit 13 changes the first parking path in accordance with the change operation to generate the second parking path.

[0025] In the present embodiment, the parking path generating unit 13 may also set a changeable range within which the position of the parking path can be changed. That is, the second parking path is a parking path that can be changed within the changeable range. The parking path generating unit 13 acquires vehicle surrounding information, including the surrounding environment of the position of the first parking path, from the detection device 101 and sets a range around the first parking path other than the range in which obstacles exist. Obstacles are objects that obstruct parking of the host vehicle 1, such as other vehicles, buildings, and pillars. The set changeable range is superimposed on the display image along with the first parking path. When the operator performs a change operation to change the position of the first parking path within the changeable range, the parking path generating unit 13 changes the first parking path in accordance with the change operation to generate a second parking path. Furthermore, when there is a step on the road surface around the first parking path that the host vehicle 1 can overcome, the parking path generating unit 13 may also set a range other than the range in which the step exists as the changeable range.

[0026] Here, an example of the change operation will be described. The change operation is an operation performed by touching a finger on a screen having a touch input function displayed on the output device 104. The change operation is, for example, a first change operation. The first change operation is an operation in which the operator touches a first predetermined position on the first parking path with the finger on the screen, moves the finger while still touching the screen, touches a second predetermined position on the first parking path, and then releases the finger from the screen. The second predetermined position is a position different from the first predetermined position. The first predetermined position and the second predetermined position are positions arbitrarily selected by the operator. When the operator performs the first change operation, the parking path generation unit 13 changes the path between the first predetermined position and the second predetermined position of the first parking path along the trajectory of the finger moving on the screen, thereby generating a second parking path. Specifically, the parking path generation unit 13 acquires information on the input first change operation from the input device 103, identifies the first predetermined position, the second predetermined position, and the trajectory of the finger movement on the screen based on the information on the first change operation, and generates a parking path along the trajectory as the second parking path. This allows the operator to generate the second parking path by tracing the screen with their finger.

[0027] Furthermore, the second parking path may be a parking path generated by a change operation that changes the position of the first parking path in a predetermined direction starting from a predetermined position on the first parking path. For example, the change operation is a second change operation. The second change operation is an operation in which the operator touches a position on the first parking path with a finger on the screen, moves the finger vertically relative to the first parking path from the touched position as a starting point, and then releases the finger from the screen. The range in which the finger can be moved vertically is a predetermined vertical length, for example, a changeable range. The predetermined length may be a preset length. When the operator performs the second change operation, the parking path generation unit 13 changes the first parking path to a path that runs from the parking start position, passes through the position where the finger is released, and reaches the target parking position, thereby generating a second parking path. Specifically, the parking route generation unit 13 acquires information on the input second change operation from the input device 103, and based on the information on the second change operation, identifies the position on the screen where the operator released his / her finger, and generates a parking route that passes through that position as the second parking route.

[0028] The change operation may also be, for example, a third change operation. The third change operation is an operation in which the operator touches a position on the first parking path with his / her finger on the screen, moves the finger horizontally or vertically from the touched position on the screen as a starting point, and then releases the finger from the screen. The range in which the finger can be moved horizontally or vertically is a range of a predetermined length in the horizontal or vertical direction, for example, the changeable range. The predetermined length may be a length set in advance. When the operator performs the third change operation, the parking path generation unit 13 changes the first parking path to a path that passes through the position where the operator released the finger from the parking start position and reaches the target parking position, thereby generating a second parking path. Specifically, the parking path generation unit 13 acquires information about the third change operation input from the input device 103, identifies the position on the screen where the operator released the finger based on the information about the third change operation, and generates a parking path that passes through the position as the second parking path.

[0029] The change operation may also be, for example, a fourth change operation. The fourth change operation is an operation in which the operator touches a predetermined position on the screen. The predetermined position on the screen is any position selected by the operator. When the operator performs the fourth change operation, the parking path generation unit 13 changes the first parking path to a path from the parking start position, passing through the predetermined position touched by the operator, and leading to the target parking position, thereby generating a second parking path. Specifically, the parking path generation unit 13 acquires information about the fourth change operation input from the input device 103, identifies the predetermined position touched by the operator on the screen based on the information about the fourth change operation, and generates a parking path that passes through the position as the second parking path. Note that the operator may touch multiple predetermined positions. For example, even if steering is required at multiple locations during a single parking maneuver, a parking path that requires multiple steering turns can be generated.

[0030] Here, an example of a change operation performed by the operator on the screen displayed on the output device 104 will be described using FIG. 2 . FIG. 2 is a diagram showing an example of a change operation performed by the operator to change a parking route on the screen of the output device 104. In FIG. 2 , a display image is displayed on the screen S, in which a parking start position PP1, a target parking position PP2, and a parking route from the parking start position PP1 to the target parking position PP2 are superimposed. The display image is a map image including the surrounding environment of the parking start position and the target parking position. First, a first parking route R1 is displayed on the screen S as the parking route. The operator performs a change operation for the first parking route by touching the screen S with a finger. For example, the operator first touches the first parking route, moves the finger in a predetermined direction while keeping the finger touching the screen S, and then releases the finger from the screen S.

[0031] In FIG. 2 , the operator touches position TP1 on the first parking route R1. In this embodiment, while touching the screen S with his / her finger, the operator moves the finger in a direction D1 perpendicular to the first parking route R1 starting from position TP1 on the first parking route R1, and then releases the finger at position TP2 on the screen S. When the operator performs a change operation on the screen S, information about the change operation is input to the input device 103. The parking assistance device 100 acquires information about the change operation from the input device 103 and generates a second parking route R2 by changing the first parking route R1 in accordance with the acquired information about the change operation. In the example of FIG. 2 , the parking assistance device 100 generates a second parking route R2 that runs from the parking start position PP1, passing through position TP2 where the operator released his / her finger, to the target parking position PP2. The generated second parking route R2 is superimposed on a map image and displayed on the screen S.

[0032] Furthermore, in this embodiment, the direction in which the operator moves their finger while touching the screen S is not limited to the perpendicular direction D1 relative to the first parking path, but may also be the horizontal direction D2 or vertical direction D3 of the screen S. In the example of FIG. 2 , for example, the range in which the finger can be moved in a predetermined direction may be displayed by a slide bar of a predetermined length extending in a predetermined direction from position TP1. Furthermore, instead of being limited to any one direction, a combination of the perpendicular direction relative to the first parking path, the horizontal direction, and the vertical direction of the screen may also be used. Change operations may be performed at multiple locations on one first parking path. In this case, for example, there may be multiple locations on the first parking path that the operator touches. For example, even if steering is required at multiple locations during a single parking maneuver, a parking path that requires multiple steering turns can be generated.

[0033] The display unit 14 displays a display image on the output device 104. First, the display unit 14 generates a display image to be displayed. The display image includes a parking path and a changeable range. In this embodiment, the parking path included in the display image is the first parking path or the second parking path. The display unit 14 may also generate a display image in which the parking path is superimposed on a captured image (vehicle surroundings image) of the surrounding environment of the vehicle's parking start position and the target parking position. Instead of the captured image, the parking path may be superimposed on a map image including the surrounding environment. The display unit 14 transmits a control signal to the output device 104 to display the generated display image.

[0034] The input information acquisition unit 15 acquires operation information input by the operator. The acquired operation information includes information on a change operation. The change operation is an operation in which the user changes the first parking path on a screen including a display image displayed on the output device 104. The input information acquisition unit 15 may acquire information on an instruction operation, a decision operation, and a registration operation by the operator.

[0035] The parking control unit 16 executes parking control so that the host vehicle 1 follows the parking path. For example, after the first parking path or the second parking path is displayed on the output device 104, when a determination operation is performed to determine the first parking path or the second parking path as the target parking path, the parking control unit 16 calculates a control amount for controlling the host vehicle 1 to follow the target parking path. The parking control unit 16 calculates a target steering angle for the host vehicle 1 to follow the target parking path based on information about the target parking path and the acquired current position of the host vehicle 1. The parking control unit 16 calculates the target steering angle at predetermined time intervals according to the current position of the host vehicle 1. The parking control unit 16 generates a control signal for controlling the steering actuator of the host vehicle 1 based on the target steering angle. The parking control unit 16 outputs the control signal to the drive control device 105 so that the host vehicle 1 moves along the target parking path to the target parking position.

[0036] Next, an example of a control procedure for executing the parking assistance method according to this embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of a flowchart of the control process of the parking assistance method executed by the parking assistance device according to this embodiment.

[0037] In step S101, the controller 10 displays a display image including a first parking path on the output device 104. Specifically, the controller 10 generates a display image in which the first parking path from the parking start position of the vehicle to the target parking position is superimposed on a captured image or a map image, and displays the generated display image on the output device 104. In addition, a changeable range may be superimposed on the captured image or the map image of the display image. In step S102, the controller 10 acquires a change operation by the operator. Specifically, when the operator performs a change operation on a screen including the display image, information about the change operation is input to the input device 103. The controller 10 acquires the information about the change operation input to the input device 103. In step S103, the controller 10 displays a display image including a second parking path on the output device 104. Specifically, the controller 10 changes the first parking path in accordance with the change operation to generate a second parking path, and displays a display image including the generated second parking path on the output device 104. In step S104, the controller 10 executes parking assistance. Specifically, the controller 10 autonomously controls the host vehicle 1 to park to the target parking position along the second parking path.

[0038] Next, an example of a control procedure for executing the parking assistance method according to this embodiment will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of a flowchart of the control process of the parking assistance method executed by the parking assistance device according to this embodiment. In Fig. 4, when a destination of the host vehicle is set, the parking assistance method according to this embodiment is applied in a scene where parking assistance is performed to a parking position at the destination.

[0039] In step S201, the controller 10 acquires position information indicating the current position of the host vehicle 1 from the host vehicle position acquisition device 102. In step S202, the controller 10 determines whether the host vehicle 1 has arrived near the destination parking position. If it is determined that the host vehicle 1 has arrived near the destination parking position, the controller 10 proceeds to step S203. If it is determined that the host vehicle 1 has not arrived near the destination parking position, the controller 10 returns to step S201 and repeats the subsequent steps. In step S203, the controller 10 acquires vehicle surroundings information obtained by detecting the surrounding environment of the host vehicle 1. In step S204, the controller 10 acquires a target parking position. For example, the controller 10 recognizes white lines as parking space lines included in the vehicle surroundings information, and acquires the position of the parking space defined by the white lines as the target parking position.

[0040] In step S205, the controller 10 generates a first parking path from the parking start position of the host vehicle 1 to the target parking position. In step S206, the controller 10 displays a display image including the first parking path on the output device 104. In step S207, the controller 10 acquires a change operation by the operator. Specifically, when the operator performs a change operation on a screen including the display image, information about the change operation is input to the input device 103. The controller 10 acquires the information about the change operation input to the input device 103. In step S208, the controller 10 generates a second parking path in response to the change operation. The second parking path is generated by changing the first parking path in response to the change operation. In step S209, the controller 10 executes parking assistance. Specifically, the controller 10 autonomously controls parking of the host vehicle 1 to the target parking position along the second parking path.

[0041] In this embodiment, when an operator creates a parking route, a reference parking route is presented in advance, and the operator can easily set the intended parking route by simply changing the presented parking route. Furthermore, by limiting the change operation to changes within the changeable range or changes from the parking route to a predetermined direction, the degree of freedom of the change operation is limited, and a more appropriate parking route is set. Note that the above-mentioned specific examples of the changeable range and change operation are not essential components of the present invention, and may be configured appropriately as needed.

[0042] Next, an example of the parking assistance method and parking assistance device according to this embodiment will be described. The storage device 106 included in the parking assistance device 100 stores a parking route for parking at each parking location at a destination in advance. When providing parking assistance to a vehicle that has arrived at the destination, the parking assistance device 100 acquires the pre-stored parking route from the storage device 106 and performs parking assistance based on the acquired parking route. In this case, the operator may change the parking route not only during parking assistance but also when registering the parking route. Registering a parking route is a process of storing a parking route in the storage device 106 in association with a parking location. For example, after completing parking at a target parking location, when the operator registers the parking location to store information about the target parking location in the storage device 106, the operator registers the parking route together with the parking location.

[0043] For example, when the operator completes parking the vehicle by manual driving, after parking is completed, a parking route to the parking position where the vehicle is parked (target parking position) is registered. When registering the parking route, the operator performs an operation to change the parking route. For example, after the operator completes parking the vehicle by manual driving, the parking assistance device 100 displays a display image including a first parking route on the output device 104. The first parking route may be a route along which the host vehicle 1 traveled by manual driving by the operator during the parking operation, or may be a route newly generated after parking is completed. After displaying the display image including the first parking route on the output device 104, the parking assistance device 100 acquires information on the change operation performed by the operator and generates a second parking route in accordance with the change operation. The specific method for changing the parking route is the same as the method performed during parking assistance described above, so a detailed description will be omitted, and the method performed during parking assistance will be used as appropriate.

[0044] Furthermore, when registering a parking path, the operator may select whether to register or change the first parking path. After a display image including the first parking path is displayed on the output device 104, if the operator performs a registration operation to register the first parking path on the input device 103, the parking assistance device 100 acquires information about the registration operation from the input device 103. When the parking assistance device 100 acquires information about the registration operation, the parking assistance device 100 associates the first parking path with the target parking position and stores the information in the storage device 106. The registration operation is an operation input to the input device 103, such as an operation of touching a button displayed on the output device 104 to register the first parking path. Furthermore, if the operator performs a change operation, the parking assistance device 100 displays a display image including a second parking path generated in response to the change operation on the output device 104. After the second parking path is displayed, if the operator performs a registration operation to register the second parking path, the parking assistance device 100 associates the second parking path with the target parking position and stores the information in the storage device 106.

[0045] Furthermore, when a parking route is pre-stored in the storage device 106, the parking assistance device 100 is not limited to displaying the generated first parking route, but may also acquire a registered parking route from the storage device 106 and display the acquired registered parking route as the first display route. A registered parking route is a parking route pre-stored in the storage device 106 as a parking route to a target parking position. After the parking assistance device 100 displays a display image including the first parking route on the output device 104 using the registered parking route as the first parking route, if information on a change operation is acquired, the parking assistance device 100 generates a second parking route in accordance with the change operation. The specific method for changing the parking route is the same as the method executed during parking assistance, so a detailed description will be omitted, and the method executed during parking assistance will be used as appropriate.

[0046] As described above, in the parking assistance method and parking assistance device according to this embodiment, the controller displays a display image including a first parking path from the parking start position of the vehicle to the target parking position on a screen equipped with a touch input function of the output unit, and when the operator performs a change operation to change the first parking path by touching the screen with a finger, the controller changes the first parking path in accordance with the change operation and generates a second parking path, thereby enabling the vehicle operator to easily set the parking path that the operator intends.

[0047] In the parking assistance method and the parking assistance device according to this embodiment, the controller displays on the screen a display image in which the first parking path is superimposed on a captured image of the surrounding environment of the parking start position and the target parking position or a map image including the surrounding environment, thereby allowing the operator to grasp the surrounding conditions of the actual target parking position.

[0048] In addition, in the parking assistance method and parking assistance device according to this embodiment, the controller displays a display image including a first parking path on the screen after the operator has completed parking the vehicle by manual driving, and when the operator performs a registration operation to register the first parking path, stores the first parking path in the memory unit in association with the target parking position, and when the operator performs a change operation, displays a display image including a second parking path generated in response to the change operation on the screen, and when the operator performs a registration operation to register the second parking path, stores the second parking path in association with the target parking position in the memory unit. This allows the operator to register the parking path that he or she intends.

[0049] In the parking assistance method and the parking assistance device according to this embodiment, the controller acquires a registered parking route from the storage unit before starting parking assistance to the target parking position, and displays a display image including the acquired registered parking route as a first parking route on the screen. The registered parking route is a parking route that is pre-stored in the storage unit as a parking route to the target parking position. This allows the operator to change the registered parking route to a parking route that the operator intends to use during parking assistance.

[0050] In the parking assistance method and device according to this embodiment, the controller displays on the screen a display image including a first parking path and a changeable range in which the position of the first parking path can be changed, and when the operator performs a change operation to change the position of the first parking path within the changeable range, the controller changes the first parking path in accordance with the change operation to generate a second parking path, thereby allowing the operator to change the intended parking path within an appropriate driving path.

[0051] In the parking assistance method and parking assistance device according to this embodiment, the change operation includes a first change operation in which the operator touches a first predetermined position on the first parking path with his / her finger on the screen, moves the finger while still touching the screen, touches a second predetermined position on the first parking path different from the first predetermined position, and then releases the finger from the screen. When the operator performs the first change operation, the controller changes the path between the first and second predetermined positions on the first parking path along the trajectory of the finger moving on the screen to generate a second parking path. This allows the operator to set the parking path he / she intends in a simpler manner.

[0052] In the parking assistance method and parking assistance device according to this embodiment, the change operation includes a second change operation in which the operator touches a position on the first parking path with his / her finger on the screen, moves the finger from the touched position as a starting point in a direction perpendicular to the first parking path, and then releases the finger from the screen, and when the operator performs the second change operation, the controller changes the first parking path to a path that extends from the parking start position, passes through the position where the finger is released, and reaches the target parking position, thereby generating a second parking path. This allows the operator to set the intended parking path in an easier manner.

[0053] Furthermore, in the parking assistance method and parking assistance device according to this embodiment, the change operation includes a third change operation in which the operator touches a position on the first parking path with his / her finger on the screen, moves the finger horizontally or vertically from the touched position as a starting point on the screen, and then releases the finger from the screen, and when the operator performs the third change operation, the controller changes the first parking path to a path that passes through the position where the finger is released from the parking start position and leads to the target parking position, thereby generating a second parking path. This allows the operator to set the intended parking path in an easier manner.

[0054] In the parking assistance method and the parking assistance device according to this embodiment, the change operation is a fourth change operation in which the operator touches a predetermined position on the screen, and when the operator performs the fourth change operation, the controller changes the first parking path to a path from the parking start position, passing through the predetermined position, and reaches the target parking position, thereby generating a second parking path. This allows the operator to set the intended parking path with a method that has a higher degree of freedom.

[0055] It should be noted that the above-described embodiments have been described to facilitate understanding of the present invention, and are not intended to limit the present invention. Therefore, each element disclosed in the above-described embodiments is intended to include all design modifications and equivalents that fall within the technical scope of the present invention.

[0056] 2...Parking assistance system 1...Own vehicle 100...Parking assistance device 10...Controller 11...Target parking position setting unit 12...Parking start position setting unit 13...Parking path generation unit 14...Display unit 15...Input information acquisition unit 16...Parking control unit 101...Detection device 102...Own vehicle position acquisition device 103...Input device 104...Output device 105...Drive control device 106...Storage device

Claims

1. A parking assistance method executed by a controller, wherein the controller displays a display image including a first parking route from a parking start position to a target parking position of a vehicle on a screen having a touch input function of an output unit, and when an operator performs a change operation of changing the first parking route by touching the screen with a finger, the first parking route is changed according to the change operation to generate a second parking route.

2. The parking assistance method according to claim 1, wherein the controller displays the display image in which the first parking route is superimposed on an imaging image obtained by imaging the surrounding environment of the parking start position and the target parking position or a map image including the surrounding environment on the screen.

3. The parking assistance method according to claim 1 or 2, wherein after the operator completes parking of the vehicle by manual driving, the controller displays the display image including the first parking route on the screen, and when the operator performs a registration operation of registering the first parking route, the first parking route is associated with the target parking position and stored in a storage unit, and when the operator performs the change operation, after displaying a display image including the second parking route generated according to the change operation on the screen, when the operator performs a registration operation of registering the second parking route, the second parking route is associated with the target parking position and stored in the storage unit.

4. The parking assistance method according to any one of claims 1 to 3, wherein before starting parking assistance to the target parking position, the controller acquires a registered parking route from a storage unit, uses the acquired registered parking route as the first parking route, and displays the display image including the first parking route on the screen, and the registered parking route is a parking route previously stored in the storage unit as a parking route to the target parking position.

5. The parking assistance method according to any one of claims 1 to 4, wherein the controller displays the display image including the first parking path and a changeable range in which the position of the first parking path can be changed on the screen, and when the operator performs the change operation of changing the position of the first parking path within the changeable range, the first parking path is changed according to the change operation to generate a second parking path.

6. The parking assistance method according to any one of claims 1 to 5, wherein the change operation includes a first change operation in which the operator touches a first predetermined position on the first parking path with a finger on the screen, moves the finger while keeping the finger in contact with the screen, touches the finger at a second predetermined position different from the first predetermined position on the first parking path, and then releases the finger from the screen. When the operator performs the first change operation, the controller changes a path between the first predetermined position and the second predetermined position on the first parking path along a locus where the finger moves on the screen to generate the second parking path.

7. The parking assistance method according to any one of claims 1 to 5, wherein the change operation includes a second change operation in which the operator touches a position on the first parking path with a finger on the screen, moves the finger in a direction perpendicular to the first parking path starting from the position touched with the finger, and then releases the finger from the screen. When the operator performs the second change operation, the controller changes the first parking path to a path passing through the position where the finger is released from the parking start position and reaching the target parking position to generate the second parking path.

8. The parking assistance method according to any one of claims 1 to 5, wherein the change operation includes a third change operation in which the operator touches a position on the first parking path with a finger on the screen, moves the finger in a horizontal or vertical direction with respect to the screen starting from the position touched with the finger, and then releases the finger from the screen. When the operator performs the third change operation, the controller changes the first parking path to a path passing through the position where the finger is released from the parking start position and reaching the target parking position to generate the second parking path.

9. A parking assistance method according to any one of claims 1 to 5, wherein the change operation is a fourth change operation in which the operator touches a predetermined position on the screen, and the controller, when the operator performs the fourth change operation, changes the first parking route to a route that passes through the predetermined position from the parking start position and reaches the target parking position to generate the second parking route.

10. A parking assistance device including a controller, wherein the controller displays, on a screen having a touch input function of an output unit, a display image including a first parking route from a parking start position to a target parking position of a vehicle, and when an operator performs a change operation of changing the first parking route by touching the screen with a finger, changes the first parking route according to the change operation to generate a second parking route.

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