Parking control device

Abstract

Provided is a parking control device capable of setting a target parking position and a target parking orientation angle with which it is possible to ensure a large empty space in a parking space which can be used for purposes other than parking of a host vehicle, if possible, in accordance with the shape of the parking space and acquired state of the shape. In this parking control device: in a first case where only one among a left side and a right side is estimated, a target parking position and a target parking orientation angle are set on the basis of said one among the left side and the right side; when both the left side and the right side are estimated and a left-right interval exceeds a first determination distance but falls below a second determination distance, the target parking position and the target parking orientation angle are set to a left-right intermediate position; and when both the left side and the right side are estimated and the left-right interval exceeds the first determination distance and the second determination distance, the target parking position and the target parking orientation angle are set on the basis of one among the left side and the right side.

Description

Parking Control Device

[0001] The present disclosure relates to a parking control device.

[0002] In the technology of Patent Document 1, when the left-right width of the parking space is equal to or greater than a predetermined value, the target parking position is set to the middle position between the left and right of the parking space.

[0003] Japanese Patent Application Laid-Open No. 2004-09791

[0004] However, with the technology of Patent Document 1, even if the parking space is wide enough to accommodate two or more vehicles, the target parking position is set in the middle, and it is not possible to secure a large vacant space that can be used for parking other vehicles or for purposes other than parking. Furthermore, Patent Document 1 does not disclose a method for setting a target parking position when the position of only one of the boundary lines on the left or right side of the parking space has been acquired.

[0005] Therefore, the present disclosure aims to provide a parking control device that can set a target parking position and a target parking attitude angle that can secure a large amount of free space within the parking space that can be used for purposes other than parking the vehicle, if possible, in accordance with the shape of the parking space and the shape acquisition status.

[0006] A first parking control device according to the present disclosure comprises: an information acquisition unit that acquires position information of surrounding targets of the host vehicle and position information of the host vehicle; a shape estimation unit that estimates left and right corner positions of an opening of a parking space and positions of left and right boundary lines of the parking space based on the position information of the surrounding targets and the position information of the host vehicle; and a target parking position setting unit that sets a target parking position and a target parking attitude angle based on the left and right corner positions and the positions of the left and right boundary lines, in a first case in which the corner positions and the boundary line positions of only one of the left and right sides are estimated, the target parking position setting unit sets the target parking position where the host vehicle is to be parked with a margin of clearance from the estimated position of one of the left and right boundary lines, and sets the target parking attitude angle along the estimated position of one of the left and right boundary lines, In a second case where the corner positions and boundary line positions on both the left and right sides are estimated and the distance between the corner positions on the left and right sides exceeds a first judgment distance and is less than a second judgment distance that is longer than the first judgment distance, the target parking position is set at a midpoint between the boundary lines on both the left and right sides, and the target parking posture angle is set along the midpoint between the boundary lines on both the left and right sides; and in a third case where the corner positions and boundary line positions on both the left and right sides are estimated and the distance between the corner positions on the left and right sides exceeds the first judgment distance and the second judgment distance, one of the boundary lines on the left and right sides is selected as a reference boundary line, and the target parking position where the host vehicle will be parked with a margin of clearance from the reference boundary line position is set, and the target parking posture angle is set along the reference boundary line position.

[0007] A second parking control device according to the present disclosure includes: an information acquisition unit that acquires position information of surrounding targets of the host vehicle and position information of the host vehicle; a shape estimation unit that estimates the shape of the parking space based on the position information of the surrounding targets and the position information of the host vehicle; and a target parking position setting unit that sets a target parking position and a target parking attitude angle based on the shape of the parking space, and the target parking position setting unit sets the target parking position and the target parking attitude angle based on the shape of the parking space and the shape of the host vehicle so that the total area of ​​the area in the parking space where it becomes difficult for people to enter or exit through the opening of the parking space due to parking of the host vehicle is minimized.

[0008] A third parking control device according to the present disclosure includes: an information acquisition unit that acquires position information of surrounding targets of the host vehicle and position information of the host vehicle; a shape estimation unit that estimates the left and right corner positions of the opening of the parking space, the positions of the left and right boundary lines of the parking space, and the position of the rear boundary line of the parking space based on the position information of the surrounding targets and the position information of the host vehicle, and determines the estimation reliability of each of the positions of the left and right boundary lines and the estimation reliability of the position of the rear boundary line; and a target parking position setting unit that sets a target parking position and a target parking attitude angle of the host vehicle, wherein when the estimation reliability of both the positions of the left and right boundary lines is below a threshold and the estimation reliability of the position of the rear boundary line is above a threshold, the target parking position setting unit sets the target parking position where the host vehicle is to be parked with a margin of clearance from the position of the rear boundary line, and sets the target parking attitude angle based on the position of the rear boundary line.

[0009] According to the first parking control device of the present disclosure, in a first case in which the corner position and boundary line position of only one of the left and right sides are estimated, the host vehicle can be parked close to one of the boundary lines, thereby expanding the available space on the opposite side, and the device can be used for parking other vehicles or for purposes other than parking. In a second case in which the corner positions and boundary line positions of both the left and right sides are estimated and the distance between the corner positions of the left and right sides exceeds the first judgment distance and is shorter than the second judgment distance, the host vehicle can be parked in a midpoint between the left and right sides of the parking space, allowing the host vehicle to be parked with ample space on both sides. In a third case in which the corner positions and boundary line positions of both the left and right sides are estimated and exceed the first judgment distance and the second judgment distance, the host vehicle can be parked close to one of the reference boundary lines, thereby expanding the available space on the opposite side, and the device can be used for parking other vehicles or for purposes other than parking.

[0010] According to the second parking control device of the present disclosure, by setting the parking position so that the total area that is difficult to enter and exit is minimized, the available space within the parking space that people can enter and exit can be maximized, thereby increasing user convenience.

[0011] According to the third parking control device of the present disclosure, the positions of the left and right boundary lines with low estimation reliability are likely to be not the actual boundary lines of the parking space but temporarily placed luggage or the like, and if the target parking position and target parking attitude angle are set based on these, an unnatural target parking position and target parking attitude angle may be set. Since the position of the far boundary line with high estimation reliability is likely to be the actual boundary line of the parking space, by setting the target parking position and target parking attitude angle based on this, the target parking position and target parking attitude angle can be set with high accuracy.

[0012] 1 is a schematic configuration diagram of a parking control device according to embodiment 1. FIG. 2 is a schematic configuration diagram of a hardware configuration of the parking control device according to embodiment 1. FIG. 3 is a flowchart for explaining a boundary line position estimation process according to embodiment 1. FIG. 4 is a diagram for explaining a boundary line position estimation process according to embodiment 1. FIG. 5 is a diagram for explaining a boundary line position estimation process according to embodiment 1. FIG. 6 is a diagram for explaining a boundary line position estimation process according to embodiment 1. FIG. 7 is a diagram for explaining a target parking position and a target parking posture angle setting in a first case according to embodiment 1. FIG. 8 is a diagram for explaining a target parking position and a target parking posture angle setting in a second case according to embodiment 1. FIG. 9 is a diagram for explaining a target parking position and a target parking posture angle setting in a third case according to embodiment 1. FIG. 10 is a flowchart for explaining processing of the parking control device according to embodiment 1. FIG. 11 is a diagram for explaining a secured shape and a shape for passage determination according to embodiment 2. FIG. 12 is a diagram for explaining calculation of a difficult-to-enter / exit area when a target parking position is set at an intermediate position between the left and right according to embodiment 2. FIG. 13 is a diagram for explaining calculation of a difficult-to-enter / exit area when a target parking position is set close to the left according to embodiment 2. FIG. 14 is a diagram for explaining calculation of a difficult-to-enter / exit area when a target parking position is set close to the right according to embodiment 2. 1 is a diagram for explaining setting of a target parking position and a target parking posture angle based on a boundary line on the far side according to embodiment 3. FIG. 2 is a diagram for explaining setting of a target parking position and a target parking posture angle close to a boundary line on the far side according to embodiment 3. FIG. 3 is a flowchart for explaining processing of a parking control device according to embodiment 3.

[0013] 1. First Embodiment A parking control device 30 according to a first embodiment will be described with reference to the drawings. In this embodiment, the parking control device 30 is provided in the vehicle.

[0014] As shown in FIG. 1 , the vehicle is equipped with a surroundings monitoring device 31, a position detection device 32, a vehicle state detection device 33, a map information database 34, a wireless communication device 35, a parking control device 30, a drive control device 36, a power machine 8, an electric steering device 7, an electric braking device 9, and a human interface device 37.

[0015] The periphery monitoring device 31 is a device such as a camera, radar, or ultrasonic sensor that monitors the periphery of the vehicle. The radar may be a millimeter wave radar, a laser radar (LiDAR: Light Detection and Ranging), or the like. When multiple types of periphery monitoring devices 31 are provided, the detection results may be fused.

[0016] The position detection device 32 detects the current position (latitude, longitude, altitude) of the vehicle. As the position detection device 32, a GNSS (Global Navigation Satellite System) antenna or the like that receives signals output from artificial satellites such as GNSS is used.

[0017] The wireless communication device 35 performs wireless communication with base stations etc. using cellular wireless communication standards such as 4G, 5G etc. The wireless communication device 35 also communicates with surrounding vehicles around the vehicle, monitoring devices such as roadside units, and the user's smartphone etc. via wireless communication to acquire various types of information.

[0018] The map information database 34 stores map data of parking lots or parking spaces. The map data of parking lots or parking spaces includes the locations and shapes of parking spaces, the locations and shapes of aisles, and the locations of entrances and exits of the parking lots. The map information database 34 is mainly composed of a storage device. The map information database 34 also stores general road information such as road shapes, signs, and traffic lights. The map information database 34 may be provided on a server outside the vehicle connected to a network, and the parking control device 30 may obtain the necessary road information from the server outside the vehicle via the wireless communication device 35.

[0019] The drive control device 36 includes a power control device, a brake control device, an automatic steering control device, a light control device, etc. The power control device controls the output of a power machine 8 such as an internal combustion engine or a motor. The brake control device controls the braking operation of the electric braking device 9. The automatic steering control device controls the electric steering device 7. The light control device controls turn signals, hazard lights, etc.

[0020] The vehicle state detection device 33 is a detection device that detects the state of the host vehicle, which is the driving state and traveling state of the host vehicle. In this embodiment, the vehicle state detection device 33 detects the speed, acceleration, yaw rate, steering angle, lateral acceleration, etc. of the host vehicle as the traveling state of the host vehicle. For example, the vehicle state detection device 33 is provided with a wheel rotation speed sensor, an acceleration sensor, an angular velocity sensor, a steering angle sensor, etc. The various sensors detect the acceleration / deceleration operation and steering angle operation by the driver as the driving state of the host vehicle.

[0021] The human interface device 37 is a device that receives input from the driver through a speaker, a display screen, an input device, etc., and transmits information to the driver. The human interface device 37 includes a user's smartphone connected via wireless communication.

[0022] 1-1. Parking Control Device 30 The parking control device 30 includes functional units such as an information acquisition unit 51, a shape estimation unit 52, a target parking position setting unit 53, a parking path planning unit 54, and a vehicle control unit 55. Each function of the parking control device 30 is realized by a processing circuit included in the parking control device 30. Specifically, as shown in Fig. 2, the parking control device 30 includes an arithmetic processing device 90 such as a CPU (Central Processing Unit), a storage device 91, an input / output device 92 that inputs and outputs external signals to the arithmetic processing device 90, and the like.

[0023] The arithmetic processing device 90 may be an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), an AI (Artificial Intelligence) chip, various logic circuits, various signal processing circuits, etc. Furthermore, the arithmetic processing device 90 may be a plurality of the same or different types, and each process may be shared and executed. As the storage device 91, various storage devices such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a hard disk, etc. may be used.

[0024] The input / output device 92 includes a communication device, an A / D converter, an input / output port, a drive circuit, etc. The input / output device 92 is connected to the surroundings monitoring device 31, the position detection device 32, the vehicle state detection device 33, the map information database 34, the wireless communication device 35, the parking control device 30, the drive control device 36, etc., and communicates with these devices.

[0025] The functions of the functional units 51 to 55 of the parking control device 30 are realized by the arithmetic processing device 90 executing software (programs) stored in the storage device 91 and cooperating with other hardware of the parking control device 30, such as the storage device 91 and the input / output device 92. Note that setting data for the determination values ​​and threshold values ​​used by the functional units 51 to 55 is stored in the storage device 91, such as an EEPROM.

[0026] 1-1-1. Information Acquisition Unit 51 The information acquisition unit 51 acquires position information of the host vehicle. In this embodiment, the information acquisition unit 51 acquires the position and attitude angle of the host vehicle using detection information from a wheel rotation speed sensor, a yaw rate sensor, and the like. For example, the information acquisition unit 51 calculates the position and attitude angle of the host vehicle in a two-dimensional plane coordinate system based on a reference position based on the time-varying movement distance of the host vehicle calculated from the wheel rotation speed measured by the wheel rotation speed sensor and the time-varying change in attitude angle of the host vehicle calculated from the yaw rate of the host vehicle measured by the yaw rate sensor. The reference position is set near the parking space, such as the position where parking control is started. The position of the host vehicle is a representative position of the host vehicle, such as the center position of the rear wheel axle. The attitude angle of the host vehicle is the angle in the longitudinal direction of the host vehicle with respect to one axis of the plane coordinate system. Note that the information acquisition unit 51 may also use the position information of the host vehicle acquired based on the position detection device 32.

[0027] The information acquisition unit 51 acquires position information of targets around the vehicle. The targets include various objects and marks that serve as landmarks for parking control. For example, the targets include parked vehicles, walls, pillars, fences, poles, bollards, bicycles, motorcycles, boxes, luggage, plants, planters, and other objects. The targets also include road markings that separate aisles and parking spaces in a parking lot, road markings and signs that indicate restrictions or instructions for vehicle traffic, and the like. The targets may also include pedestrians, etc.

[0028] In this embodiment, the information acquisition unit 51 acquires the position information of the surrounding objects based on the detection information acquired from the surroundings monitoring device 31 and the position information of the vehicle itself.

[0029] For example, the information acquisition unit 51 converts the position information of surrounding targets based on the vehicle, which has been acquired currently and in the past from the surrounding monitoring device 31, into position information in a coordinate system based on a reference position, based on the current and past position information of the vehicle.

[0030] When the information acquisition unit 51 can acquire position information of targets around the vehicle from a monitoring device such as a roadside device, the information acquisition unit 51 acquires the position information of targets around the vehicle from the monitoring device such as a roadside device.

[0031] Furthermore, if map data for the parking lot or parking space where the vehicle is located is stored in the map information database 34, the information acquisition unit 51 acquires the map data for the parking lot or parking space where the vehicle is located from the map information database 34. The map data includes the location and shape of the parking space, the location and shape of the aisle, the location of the entrance and exit of the parking lot, etc. Furthermore, if a monitoring device such as a roadside unit is present around the vehicle, the information acquisition unit 51 acquires from the monitoring device the location information of targets such as the parking positions of other vehicles in the parking lot or parking space and its surroundings.

[0032] When the information acquisition unit 51 acquires position information of surrounding targets from multiple means, it may combine (fuse) the acquired position information of surrounding targets from the multiple means to generate position information of the surrounding targets.

[0033] 1-1-2. Shape Estimation Unit 52 The shape estimation unit 52 estimates the shape of the parking space based on the position information of surrounding objects and the position information of the host vehicle. In this embodiment, the shape estimation unit 52 estimates the positions of the left and right corners of the parking space opening and the positions of the left and right boundary lines of the parking space based on the position information of surrounding objects and the position information of the host vehicle. The shape estimation unit 52 also estimates the position of the boundary line at the back of the parking space based on the position information of surrounding objects and the position information of the host vehicle. Here, the left and right sides refer to the left and right sides when looking at the back of the parking space from the opening side (entrance / exit side) of the parking space.

[0034] The shape estimation unit 52 sets a parking instruction position, which is a rough parking position. For example, the shape estimation unit 52 accepts the user's setting of the parking instruction position via the human interface device 37. For example, the shape estimation unit 52 displays a map of the area around the vehicle on a display screen, with position information of surrounding objects superimposed thereon, and allows the user to specify the parking instruction position on the map. Alternatively, the shape estimation unit 52 allows the user to specify the parking instruction position based on a direction relative to the current position of the vehicle. For example, the direction may be forward, backward, left, right, diagonally forward to the right, diagonally backward to the right, diagonally forward to the left, or diagonally backward to the left. Various methods may be used to specify the parking instruction position. The human interface device 37 may be a device installed in the vehicle or a smartphone owned by the user. In the latter case, the user may specify the parking instruction position by operating the smartphone outside the vehicle.

[0035] The shape estimation unit 52 extracts position information of surrounding targets around the set parking instruction position from the position information of surrounding targets acquired by the information acquisition unit 51, and estimates the left and right corner positions of the opening of the parking space and the positions of the left and right boundary lines of the parking space based on the extracted position information of the surrounding targets around the parking instruction position.

[0036] For example, the left corner position and boundary line position, and the right corner position and boundary line position are determined using the process of determining the inlier set shown in the flowchart of FIG.

[0037] 3 shows a process for estimating the left corner position and the boundary line position. The process for estimating the right corner position and the right boundary line position is similarly configured.

[0038] 4, in step S01, the shape estimation unit 52 extracts a point cloud of position information of peripheral targets corresponding to the left corner position and the left boundary line position from the position information of peripheral targets acquired by the information acquisition unit 51. The shape estimation unit 52 resets the maximum number of inlier points to 0 and the number of calculations to 0.

[0039] In step S02, the shape estimation unit 52 determines whether the number of calculations exceeds the number of judgments set according to the number of point clouds. If the number of calculations exceeds the number of judgments, the process proceeds to step S06. If the number of calculations does not exceed the number of judgments, the process proceeds to step S03.

[0040] As shown in FIG. 5, in step S03, the shape estimation unit 52 randomly selects two points from the point cloud and calculates a line passing through the two points.

[0041] In step S04, the shape estimation unit 52 extracts points (inlier points) whose deviation from the line is within a threshold value from the point cloud, and counts the number of points in the inlier point cloud (number of inlier points).

[0042] In step S05, if the number of inlier points counted in step S04 exceeds the current maximum number of inlier points, the shape estimation unit 52 updates the maximum number of inlier points to the inlier points and stores the inlier point group extracted in step S04 as the extracted inlier point group corresponding to the maximum number of inlier points, and then returns to step S02.

[0043] As shown in Figure 6, in step S06, the shape estimation unit 52 calculates an approximate line for the left boundary line by linear regression (least squares method) using the extracted inlier point group corresponding to the maximum number of inlier points, and determines the range of the approximate line corresponding to the range of the extracted inlier point group.

[0044] In step S07, the shape estimation unit 52 calculates the angle of the approximate line relative to the left and right center lines of the parking space or the boundary line of the aisle, and determines whether the angle is within the allowable range.If the angle is within the allowable range, the process proceeds to step S08, and if the angle is outside the allowable range, the process proceeds to step S09.

[0045] In step S08, the shape estimation unit 52 sets the point closest to the aisle side of the parking space (e.g., the vehicle) among the extracted inlier points corresponding to the maximum number of inlier points as the left corner position, sets the approximate line and its range as the position of the left boundary line, and sets the angle of the approximate line as the angle of the left boundary line. Here, the boundary line angle is calculated based on the position of the boundary line, and therefore is considered to be information that is a subordinate concept to the position of the boundary line.

[0046] In step S09, since the angle of the approximate line is outside the allowable range, shape estimation unit 52 does not set the left corner position, or the position and angle of the left boundary line based on the approximate line.

[0047] Alternatively, the shape estimation unit 52 extracts a point cloud of position information of surrounding targets corresponding to the left side of the parking space from the position information of surrounding targets acquired by the information acquisition unit 51, and also extracts a point cloud of position information of surrounding targets corresponding to the right side of the parking space.

[0048] The shape estimation unit 52 may set a point close to the aisle side of the parking space and close to the inside of the parking space from the point cloud of position information of the left-side peripheral targets as the left corner position without performing linear approximation, and may set a point close to the parking space from the point cloud of position information of the left-side peripheral targets as the left boundary line. Alternatively, the shape estimation unit 52 may set a point close to the aisle side of the parking space and close to the inside of the parking space from the point cloud of position information of the right-side peripheral targets as the right corner position without performing linear approximation, and may set a point close to the parking space from the point cloud of position information of the right-side peripheral targets as the right boundary line. This also allows for cases where the left or right boundary line has an irregular shape that cannot be represented by a straight line.

[0049] The shape estimation unit 52 extracts position information of peripheral targets around the set parking instruction position from the position information of peripheral targets acquired by the information acquisition unit 51, and estimates the position of the rear boundary line of the parking space based on the extracted position information of peripheral targets around the set parking instruction position. As with the method of estimating the positions of the left and right boundary lines of the parking space, a linear approximation of the position of the rear boundary line of the parking space may be performed based on the inlier set determination process, or a point cloud closest to the parking space may be set as the rear boundary line from the point cloud of the position information of the rear peripheral targets.

[0050] 1-1-3. Target parking position setting unit 53 The target parking position setting unit 53 sets the target parking position and the target parking attitude angle based on the shape of the parking space. In this embodiment, the target parking position setting unit 53 sets the target parking position and the target parking attitude angle based on the positions of the left and right corners and the positions of the left and right boundary lines.

[0051] In this embodiment, the target parking position and the target parking attitude angle are set in a two-dimensional plane coordinate system based on a reference position. The target parking position is the target position of the host vehicle when parking is complete, and as described above, the position of the host vehicle is set to a representative position such as the center position of the rear wheel axle of the vehicle. The target parking attitude angle is the target attitude angle of the host vehicle when parking is complete, and as described above, the attitude angle of the host vehicle is the angle in the longitudinal direction of the host vehicle with respect to one axis of the plane coordinate system.

[0052] <First Case of Moving Closer to the Detection Side> As shown in FIG. 7 , in the first case where the corner position and boundary line position of only one of the left and right sides are estimated, the target parking position setting unit 53 sets a target parking position for parking the vehicle with a margin of clearance from the estimated position of one of the left and right boundary lines, and sets a target parking attitude angle along the estimated position of one of the left and right boundary lines.

[0053] The margin is the minimum distance to be maintained between the boundary line and the vehicle. When the vehicle is parked or pulled out unattended, for example, by a user operating a smartphone outside the vehicle to issue a parking instruction, the margin is set without taking into consideration whether people will get on or off. On the other hand, when the vehicle is parked or pulled out while an occupant is present, the margin at the position corresponding to the passenger seat may be increased to take into consideration whether people will get on or off.

[0054] The planar shape of the vehicle is stored in advance in a storage device 91 such as a ROM, and the target parking position setting unit 53 can calculate the distance between the vehicle and the boundary line. The longitudinal position of the parking space at the target parking position is set so that the vehicle fits within the longitudinal width of the parking space. The lateral position of the parking space at the target parking position is set so that the minimum distance between the position of one boundary line and the vehicle is a marginal distance, taking into account the shape of the boundary line, the shape of the vehicle, and the target parking attitude angle. The target parking attitude angle is set parallel to the angle of an approximate line that linearly approximates one of the boundary lines. If one of the boundary lines has an irregular shape, the target parking attitude angle is set parallel to the average angle of that boundary line.

[0055] In this way, when the corner position and boundary line position on only one of the left and right sides are estimated, the vehicle can be parked close to one of the boundary lines, expanding the available space on the other side, which can be used for parking other vehicles or for purposes other than parking.

[0056] <Second Case of Setting to Intermediate Position> As shown in FIG. 8 , in the second case where the positions of both the left and right corners and the boundary lines are estimated and the distance between the left and right corner positions exceeds the first determination distance L1 and is shorter than a second determination distance L2 that is longer than the first determination distance L1, the target parking position setting unit 53 sets the target parking position at the intermediate position between the left and right boundary lines and sets the target parking attitude angle along the intermediate position between the left and right boundary lines.

[0057] The first determination distance L1 is set to the minimum width required to park the host vehicle, and the second determination distance L2 is set to the minimum width required to park two vehicles. Alternatively, the second determination distance L2 may be set to a width greater than the parking width for one vehicle but smaller than the parking width for two vehicles. When the width of the parking space becomes large enough, parking to one side can secure a large vacant space on the other side, which can be used for purposes other than parking other vehicles.

[0058] The longitudinal position of the parking space of the target parking position is set so that the host vehicle fits within the longitudinal width of the parking space, and the lateral position of the parking space of the target parking position is set to the midpoint between the boundary lines on both the left and right sides. The target parking attitude angle is set parallel to the average angle of the boundary lines. If one or both of the boundary lines are irregularly shaped, the average angle of the boundary line of the irregular shape is used.

[0059] In this way, the corner positions and boundary line positions on both the left and right sides are estimated, and if one vehicle can be parked but two cannot, the vehicle can be parked in the middle position between the left and right sides of the parking space, allowing for ample parking space on both sides.

[0060] <Third Case of Pulling Over to Either Side> As shown in FIG. 9 , in the third case where the positions of both the left and right corners and the boundary line are estimated and the distance between the left and right corner positions exceeds the first determination distance L1 and the second determination distance L2, the target parking position setting unit 53 selects one of the left and right boundary lines as a reference boundary line, sets a target parking position where the host vehicle will be parked with a margin of clearance from the position of the reference boundary line, and sets a target parking attitude angle along the position of the reference boundary line.

[0061] The longitudinal position of the parking space at the target parking position is set so that the host vehicle fits within the longitudinal width of the parking space. The lateral position of the parking space at the target parking position is set so that the minimum distance between the reference boundary line position and the host vehicle is a margin distance, taking into account the shape of the reference boundary line, the shape of the host vehicle, and the target parking attitude angle. The target parking attitude angle is set parallel to the angle of an approximate line that is a straight line approximation of the reference boundary line. If the reference boundary line has an irregular shape, the target parking attitude angle is set parallel to the average angle of the reference boundary line.

[0062] In this way, the corner positions and boundary line positions on both the left and right sides are estimated, and if two or more vehicles can be parked, the vehicle can be parked close to one of the reference boundary lines, expanding the available space on the other side, which can be used for parking other vehicles or for purposes other than parking.

[0063] <Selection of Reference Boundary Line> For example, in the third case, the target parking position setting unit 53 selects, as the reference boundary line, the left or right boundary line that corresponds to the left or right corner position closest to the host vehicle.

[0064] With this configuration, the boundary line corresponding to the corner position closest to the vehicle is likely to be the boundary line along which the user intends to park the vehicle, so the parking can be performed in a manner that is close to the user's intention. For example, the selection is made when the user gives an instruction to start parking.

[0065] Alternatively, in the third case, when the difference in distance between the vehicle and the left-side corner position and the distance between the vehicle and the right-side corner position is greater than or equal to the judgment distance difference, the target parking position setting unit 53 may select the left-side or right-side boundary line corresponding to the left-side or right-side corner position closest to the vehicle as the reference boundary line.

[0066] According to this configuration, if the difference in distance between the host vehicle and the left and right corner positions is large, it is highly likely that the user intends to park by pulling over to the left or right side, so parking can be performed in a manner that is close to the user's intention. For example, similarly, the selection is performed when the user issues a parking start command. Note that if the difference in distance is less than the judgment distance difference, the reference boundary line may be selected on any side, such as the side that makes parking easier or the default setting side. Alternatively, if the difference in distance is less than the judgment distance difference, the target parking position and target parking attitude angle may be set at a midpoint between the left and right boundary lines, as in the second case.

[0067] Alternatively, in the third case, the target parking position setting unit 53 may select the left or right boundary line corresponding to the previously detected left or right corner position as the reference boundary line.

[0068] According to this configuration, the corner position detected first is usually the corner position closer to the vehicle, and therefore the corresponding boundary line is likely to be the boundary line along which the user is trying to steer the vehicle, allowing parking to be performed in a manner closer to the user's intention.

[0069] Alternatively, in the third case, the target parking position setting unit 53 may select the left or right boundary line on the side where the size of the left and right targets that make up the left and right boundary lines is larger as the reference boundary line.

[0070] The side with the smaller target is likely to be luggage, a bicycle, a motorcycle, or the like placed in the parking space, while the side with the larger target is likely to be a wall, fence, or dividing line that makes up the parking space. Therefore, by selecting the boundary line on the side with the larger target as the reference boundary line and parking the vehicle close to the reference boundary line, the remaining parking space can be made larger and used for parking other vehicles or for purposes other than parking. For example, the size of the target is defined as the length of the target in the fore-and-aft direction of the parking space.

[0071] Alternatively, in the third case, the target parking position setting unit 53 may select the left or right boundary line on the side where the height of the left and right targets that make up the left and right boundary lines is higher as the reference boundary line.

[0072] The higher side of the target is likely to be a wall that defines the parking space, etc. Therefore, by selecting the boundary line on the higher side of the target as the reference boundary line and parking the vehicle close to the reference boundary line, the remaining parking space can be made larger and can be used for parking other vehicles or for purposes other than parking.

[0073] Alternatively, in the third case, the target parking position setting unit 53 may select the left or right boundary line that has a higher reliability in detection as the reference boundary line.

[0074] For example, the reliability of detection increases as the area detected by the camera, radar, or ultrasonic sensor increases. The side with higher detection reliability is more likely to be a target that constitutes a parking space. Therefore, by selecting the boundary line with higher detection reliability as the reference boundary line and parking the vehicle close to the reference boundary line, the remaining parking space can be made larger and can be used for parking other vehicles or for purposes other than parking. The estimated reliability of the third embodiment, which will be described later, may be used as the reliability.

[0075] Alternatively, in the third case, the target parking position setting unit 53 may determine the left or right boundary line to select as the reference boundary line based on at least one of past trends in parking positions in the parking space, the date and time, and the weather.

[0076] For example, the frequency of left-side or right-side parking positions due to manual driving by the user is stored, and the left-side or right-side boundary line with the higher frequency is selected as the reference boundary line. Alternatively, the frequency of left-side or right-side parking positions due to manual driving by the user is stored for each time period and day of the week, and the left-side or right-side boundary line with the higher frequency for the current time period and day of the week is selected as the reference boundary line. Alternatively, the frequency of left-side or right-side parking positions due to manual driving by the user is stored for each weather condition, and the left-side or right-side boundary line with the higher frequency for the current weather condition is selected as the reference boundary line. Alternatively, the side with a roof is stored, and if the current weather is rainy, the left-side or right-side boundary line of the roof side is selected as the reference boundary line.

[0077] The above-described methods for selecting the reference boundary line may be combined as long as there is no contradiction.

[0078] 1-1-4. Parking Path Planning Unit 54 The parking path planning unit 54 generates a planned path from the parking start position to the target parking position and the target parking attitude angle. Specifically, the parking path planning unit 54 generates a planned path from the parking start position to the target parking position and the target parking attitude angle based on position information of surrounding objects, left and right corner positions, left and right boundary line positions, the target parking position, the target parking attitude angle, the current position of the host vehicle, the current attitude angle of the host vehicle, and the like. Specifically, the parking path planning unit 54 sets a plurality of discrete waypoints from the parking start position to the target parking position, sets a section between two adjacent waypoints along the planned path as a route section, and sets the position, attitude angle of the host vehicle, traveling direction, and the like at each waypoint. The planned path may be regenerated sequentially based on the current position and attitude angle of the host vehicle. Various known methods are used to generate the planned path.

[0079] 1-1-5. Vehicle Control Unit 55 The vehicle control unit 55 controls the running of the host vehicle so that the host vehicle runs along the planned route generated by the parking route planning unit 54.

[0080] Specifically, the vehicle control unit 55 calculates a target steering angle so that the vehicle travels along the planned route, and transmits the target steering angle to the automatic steering control device (drive control device 36), and the automatic steering control device controls the electric steering device 7 so that the steering angle follows the target steering angle.

[0081] Specifically, the vehicle control unit 55 sets a traveling direction and a target speed (e.g., a creep speed) so that the host vehicle travels along the planned route, and transmits each set command value to the power control device and brake control device (drive control device 36). The power control device controls the output of the power machine 8, such as an internal combustion engine or a motor, so that the host vehicle speed follows the target speed. The brake control device controls the braking operation of the electric brake device so that the host vehicle speed follows the target speed.

[0082] <Flowchart> The processing of the parking control device 30 according to this embodiment will be described with reference to the flowchart of FIG.

[0083] In step S11, the parking control device 30 starts parking control when it receives a parking start instruction from the user. For example, the user issues a parking start instruction when the vehicle is positioned in an aisle near the opening of a parking space. At this time, the parking control device 30 receives an instruction from the user to park forward or backward. It also receives a setting of a parking instruction position, which is an approximate parking position, from the user. At this time, the user may issue the parking instruction by operating a smartphone outside the vehicle, or by operating an input device inside the vehicle.

[0084] In step S12, the parking control device 30 drives the host vehicle at a slow speed near the parking instruction position to acquire position information of targets in the vicinity of the parking instruction position. At this time, as described above, the information acquisition unit 51 acquires position information of targets in the vicinity of the parking instruction position. If the position information has already been acquired, it is not necessary to drive the host vehicle to acquire the target position information. Note that the information acquisition unit 51 also acquires position information of targets in the vicinity of the host vehicle and position information of the host vehicle before the start of parking control and while parking control is being executed.

[0085] In step S13, as described above, the shape estimation unit 52 estimates the shape of the parking space based on the position information of the surrounding objects and the position information of the host vehicle. In this embodiment, the shape estimation unit 52 estimates the positions of the left and right corners of the opening of the parking space and the positions of the left and right boundary lines of the parking space based on the position information of the surrounding objects and the position information of the host vehicle.

[0086] In step S14, as described above, the target parking position setting unit 53 determines whether the first case is true, in which the corner position and boundary line position of only one of the left and right sides have been estimated. If the first case is true, the process proceeds to step S15. If the corner positions and boundary line positions of both the left and right sides have been estimated, the process proceeds to step S16.

[0087] In step S15, as described above, the target parking position setting unit 53 sets a target parking position where the vehicle will be parked with a margin of clearance from the position of the estimated left or right boundary line, and sets a target parking attitude angle along the position of the estimated left or right boundary line.

[0088] In step S16, as described above, the target parking position setting unit 53 determines whether the third case is true, in which the distance between the left and right corner positions exceeds the first determination distance L1 and the second determination distance L2. If the third case is true, the process proceeds to step S17, and if the third case is not true, the process proceeds to step S18.

[0089] In step S17, as described above, the target parking position setting unit 53 selects one of the left and right boundary lines as the reference boundary line, sets the target parking position where the host vehicle will be parked with a margin distance from the reference boundary line position, and sets the target parking attitude angle in line with the reference boundary line position. At this time, the reference boundary line is set using the multiple determination methods described above.

[0090] In step S18, as described above, the target parking position setting unit 53 determines whether the second case is true, that is, whether the distance between the left and right corner positions exceeds the first determination distance L1 and falls short of the second determination distance L2, which is longer than the first determination distance L1. If the second case is true, the process proceeds to step S19, and if the distance between the left and right corner positions falls short of the first determination distance L1, the process proceeds to step S20.

[0091] In step S19, as described above, the target parking position setting unit 53 sets the target parking position at the midpoint between the left and right boundary lines, and sets the target parking attitude angle along the midpoint between the left and right boundary lines.

[0092] In step S20, since the distance between the left and right corner positions is less than the first judgment distance L1 and the vehicle cannot be parked, the target parking position setting unit 53 does not set the target parking position and target parking attitude angle and stops parking control.

[0093] In step S21, as described above, the parking path planning unit 54 generates a planned path from the parking start position to the target parking position and the target parking attitude angle.

[0094] In step S22, as described above, the vehicle control unit 55 controls the traveling of the host vehicle so that the host vehicle travels along the planned route generated by the parking route planning unit 54.

[0095] 2. Second Embodiment Next, a parking control device 30 according to a second embodiment will be described. Description of the same components as those in the first embodiment will be omitted. The basic configuration of the parking control device 30 according to this embodiment is the same as that of the first embodiment, but the processing of the target parking position setting unit 53 differs from that of the first embodiment.

[0096] In this embodiment as well, the target parking position setting unit 53 sets the target parking position and the target parking attitude angle based on the shape of the parking space.

[0097] Unlike in the first embodiment, the target parking position setting unit 53 sets a target parking position and a target parking attitude angle based on the shape of the parking space and the shape of the host vehicle, so as to minimize the total area of ​​the area in the parking space where it becomes difficult for people to enter or exit through the opening of the parking space due to the parking of the host vehicle (hereinafter referred to as the total difficult-to-enter area).

[0098] According to this configuration, by setting the parking position so that the total area that is difficult to enter and exit is minimized, the available area of ​​the parking space that people can enter and exit can be maximized, thereby increasing convenience for users.

[0099] In this embodiment, the target parking position setting unit 53 sets a function that uses the target parking position and the target parking attitude angle as input variables and the total difficult-to-enter / exit area as an output variable, and solves an optimization problem that calculates the target parking position and target parking attitude angle that minimizes the total difficult-to-enter / exit area, thereby setting the target parking position and target parking attitude angle.

[0100] The method for calculating the total difficult-to-enter area will now be described. As shown in Figure 11, the target parking position setting unit 53 sets the target parking position shape of the vehicle by adding a margin around the planar shape of the vehicle projected onto the ground. The planar shape of the vehicle is stored in advance in a storage device 91 such as a ROM.

[0101] The margin is the minimum distance to be maintained between the boundary line and the vehicle. When the vehicle is parked or pulled out unattended, for example, by a user operating a smartphone outside the vehicle to issue a parking instruction, the margin is set without taking into consideration whether people will get on or off. On the other hand, when the vehicle is parked or pulled out while an occupant is present, the margin at the position corresponding to the passenger seat may be increased to take into consideration whether people will get on or off.

[0102] The target parking position setting unit 53 sets a shape for determining the passage of the vehicle by adding the minimum passage space required for people to pass around the secured shape of the vehicle.

[0103] Then, the target parking position setting unit 53 sets the target parking position and the target parking attitude angle for each iterative calculation to search for a solution to the optimization problem so that the secured shape of the vehicle falls within the range of the parking space.

[0104] 12 to 14 show examples in which the target parking position and target parking posture angle are set midway between the left and right boundary lines, closer to the left boundary line, and closer to the right boundary line. The target parking position setting unit 53 determines, in the parking space, one or more independent non-overlapping areas that do not overlap with the passage determination shape, and determines whether each non-overlapping area is connected to the opening of the parking space. The target parking position setting unit 53 also determines, in the parking space, one or more independent vacant areas that do not overlap with the reserved shape, and determines whether each vacant area includes a non-overlapping area that is connected to the opening, and calculates the total difficult-to-enter / exit area by adding up the one or more vacant areas that do not include a non-overlapping area that is connected to the opening.

[0105] If the target parking position setting unit 53 cannot obtain a solution to the optimization problem, it does not set the target parking position or the target parking attitude angle and stops parking control.

[0106] Alternatively, the target parking position setting unit 53 may calculate the total difficult-to-enter / exit area when the target parking position and target parking posture angle are set at the midpoint between the left and right boundary lines, as in the second case of embodiment 1, or may calculate the total difficult-to-enter / exit area when the target parking position and target parking posture angle are set based on the position of the left boundary line, as in the third case of embodiment 1, or may calculate the total difficult-to-enter / exit area when the target parking position and target parking posture angle are set based on the position of the right boundary line, as in the third case of embodiment 1, and set the target parking position and target parking posture angle that minimize the total difficult-to-enter / exit area as the final target parking position and target parking posture angle.

[0107] 3. Third Embodiment Next, a parking control device 30 according to a third embodiment will be described. Description of the same components as those in the first embodiment will be omitted. The basic configuration of the parking control device 30 according to this embodiment is the same as that of the first embodiment, but the processing of the target parking position setting unit 53 differs from that of the first embodiment.

[0108] The shape estimation unit 52 estimates the shape of the parking space based on the position information of the surrounding objects and the position information of the host vehicle. As in the first embodiment, the shape estimation unit 52 estimates the positions of the left and right corners of the parking space opening and the positions of the left and right boundary lines of the parking space based on the position information of the surrounding objects and the position information of the host vehicle. In addition, the shape estimation unit 52 estimates the position of the boundary line at the back of the parking space based on the position information of the surrounding objects and the position information of the host vehicle.

[0109] In this embodiment, the shape estimation unit 52 determines the estimation reliability of each of the positions of the left and right boundary lines and the estimation reliability of the position of the boundary line on the far side.

[0110] For example, in the process of determining the inlier sets for each of the left, right, and rear boundary lines, the shape estimation unit 52 calculates the estimation reliability of the position of each boundary line based on the proportion of the number of points (inlier points) used in the final straight-line approximation among the point clouds of position information of peripheral targets corresponding to the position of each boundary line. The larger the proportion of the inlier points to the total number of points, the closer the point cloud at the position of each boundary line is to a straight line, and the higher the reliability.

[0111] 15, the positions of the left and right boundary lines are irregularly shaped, and when linear approximation is performed, the proportion of outliers is large and the proportion of inliers is small, resulting in low estimation reliability of the positions of the left and right boundary lines.On the other hand, the position of the rear boundary line is linear, and when linear approximation is performed, the proportion of outliers is small and the proportion of inliers is large, resulting in high estimation reliability of the position of the rear boundary line.

[0112] Alternatively, for each of the left, right, and far boundary lines, the shape estimation unit 52 may calculate the estimation reliability of the position of each boundary line based on the length, area, or number of points of the detected boundary line position. The greater the length, area, or number of points of the boundary line position, the higher the reliability of the boundary line position. Alternatively, the shape estimation unit 52 may calculate the estimation reliability of each boundary line position based on the reliability of the camera detection result, the reliability of the radar detection result, or the reliability of the ultrasonic sensor detection result, which can be obtained from the periphery monitoring device 31.

[0113] In this embodiment, if the estimated reliability of both the left and right boundary line positions is below the threshold value and the estimated reliability of the rear boundary line position is above the threshold value, the target parking position setting unit 53 sets a target parking position for parking the vehicle with a margin of clearance from the rear boundary line position, and sets a target parking attitude angle based on the rear boundary line position.

[0114] The positions of the left and right boundary lines with low estimation reliability are likely to be not the actual boundary lines of the parking space but temporarily placed luggage or the like, and if the target parking position and target parking attitude angle are set based on these, an unnatural target parking position and target parking attitude angle may be set.The position of the far boundary line with high estimation reliability is likely to be the actual boundary line of the parking space, so by setting the target parking position and target parking attitude angle based on this, the target parking position and target parking attitude angle can be set appropriately.

[0115] For example, the target parking attitude angle is set to be perpendicular to the approximate line of the rear boundary line.

[0116] Even when the parking position is set based on the position of the rear boundary line, the left-right position of the parking space at the target parking position is set at a position with a marginal distance from the left and right boundary lines. It may be set at a position close to the left or right boundary line, or at a midpoint in the left-right direction.

[0117] If the estimated reliability of one of the positions of the left and right boundary lines exceeds a threshold, the target parking position setting unit 53 sets the target parking position and target parking attitude angle based on the position of one of the boundary lines, as in embodiment 1.

[0118] Furthermore, if the estimated reliability of both the left and right boundary line positions exceeds a threshold, the target parking position setting unit 53 sets the target parking position and target parking attitude angle based on one or both of the left and right boundary line positions, as in the first or second embodiment.

[0119] <Flowchart> The processing of the parking control device 30 according to this embodiment will be described with reference to the flowchart of FIG.

[0120] In step S31, the parking control device 30 starts parking control when it receives a parking start instruction from the user. At this time, it receives an instruction from the user to park forward or backward. It also receives a setting of a parking instruction position, which is an approximate parking position, from the user. At this time, the user may issue the parking instruction by operating a smartphone outside the vehicle, or by operating an input device inside the vehicle.

[0121] In step S32, the parking control device 30 drives the host vehicle at a slow speed near the parking instruction position to acquire position information of targets around the parking instruction position. At this time, as described in the first embodiment, the information acquisition unit 51 acquires position information of targets around the host vehicle and position information of the host vehicle.

[0122] In step S33, as described above, the shape estimation unit 52 estimates the left and right corner positions of the parking space opening, the positions of the left and right boundary lines of the parking space, and the position of the boundary line at the back of the parking space, based on the position information of the surrounding objects and the position information of the host vehicle. In addition, the shape estimation unit 52 determines the estimation reliability of each of the positions of the left and right boundary lines and the estimation reliability of the position of the boundary line at the back.

[0123] In step S34, the target parking position setting unit 53 determines whether the estimated reliability of both the left and right boundary line positions exceeds a threshold value, and if so, proceeds to step S35, and if not, proceeds to step S36.

[0124] In step S35, the target parking position setting unit 53 sets the target parking position and the target parking attitude angle based on one or both of the positions of the left and right boundary lines, as in the first or second embodiment.

[0125] In step S36, the target parking position setting unit 53 determines whether the estimated reliability of one of the positions of the left and right boundary lines exceeds a threshold value, and if it does, proceeds to step S37, and if it does not, proceeds to step S38.

[0126] In step S37, the target parking position setting unit 53 sets the target parking position and the target parking attitude angle based on the position of one of the boundary lines, as in the first embodiment.

[0127] In step S38, the target parking position setting unit 53 determines whether the estimated reliability of the position of the rear boundary line exceeds a threshold value, and if it does, proceeds to step S39, and if it does not, proceeds to step S40.

[0128] In step S39, as described above, the target parking position setting unit 53 sets a target parking position where the vehicle will be parked with a margin of clearance from the position of the rear boundary line, and sets a target parking attitude angle based on the position of the rear boundary line.

[0129] In step S40, the target parking position setting unit 53 sets a target parking position and a target parking attitude angle for parking the host vehicle at a distance from the left and right boundary lines and the rear boundary line. For example, as shown in Fig. 16, the target parking position setting unit 53 sets a target parking position and a target parking attitude angle for parking the host vehicle close to the rear boundary line. Alternatively, the target parking position and the target parking attitude angle may be set to an intermediate position in the parking space.

[0130] In step S41, as explained in the first embodiment, the parking path planning unit 54 generates a planned path from the parking start position to the target parking position and the target parking attitude angle.

[0131] In step S42, as described in the first embodiment, the vehicle control unit 55 controls the driving of the vehicle so that the vehicle drives along the planned route generated by the parking route planning unit 54.

[0132] Although various exemplary embodiments and examples are described in this disclosure, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are contemplated within the scope of the technology disclosed in this disclosure specification. For example, this includes cases where at least one component is modified, added, or omitted, or where at least one component is extracted and combined with components of another embodiment.

[0133] 30: Parking control device, 51: Information acquisition unit, 52: Shape estimation unit, 53: Target parking position setting unit, 54: Parking path planning unit

Claims

1. An information acquisition unit that acquires position information of surrounding targets of the vehicle and position information of the vehicle itself; a shape estimation unit that estimates the left and right corner positions of the opening of the parking space and the positions of the left and right boundary lines of the parking space based on the position information of the surrounding targets and the position information of the vehicle itself; and a target parking position setting unit that sets a target parking position and a target parking attitude angle based on the left and right corner positions and the positions of the left and right boundary lines, in a first case where the corner positions and the boundary line positions of only one of the left and right sides are estimated, the target parking position setting unit sets the target parking position for parking the vehicle with a margin of clearance from the estimated position of one of the left and right boundary lines, and sets the target parking attitude angle along the estimated position of one of the left and right boundary lines, In a second case where the corner positions and the boundary line positions on both the left and right sides are estimated and the distance between the corner positions on the left and right sides exceeds a first judgment distance and is less than a second judgment distance that is longer than the first judgment distance, the parking control device sets the target parking position at an intermediate position between the boundary lines on both the left and right sides, and sets the target parking posture angle along the intermediate position between the boundary lines on both the left and right sides; and in a third case where the corner positions and the boundary line positions on both the left and right sides are estimated and the distance between the corner positions on the left and right sides exceeds the first judgment distance and the second judgment distance, the parking control device selects one of the boundary lines on the left and right sides as a reference boundary line, sets the target parking position where the host vehicle will be parked with a margin of clearance from the position of the reference boundary line, and sets the target parking posture angle along the position of the reference boundary line.

2. A parking control device as described in claim 1, wherein in the third case, the target parking position setting unit selects the left or right boundary line that corresponds to the corner position on the left or right side closest to the vehicle as the reference boundary line.

3. A parking control device as described in claim 1, wherein in the third case, when the difference in distance between the vehicle and the corner position on the left side and the distance between the vehicle and the corner position on the right side is equal to or greater than a judgment distance difference, the target parking position setting unit selects the boundary line on the left or right side that corresponds to the corner position on the left or right side that is closest to the vehicle as the reference boundary line.

4. A parking control device as described in claim 1, wherein in the third case, the target parking position setting unit selects the left or right boundary line corresponding to the previously detected left or right corner position as the reference boundary line.

5. A parking control device as described in claim 1, wherein in the third case, the target parking position setting unit selects the left or right boundary line on the side where the size of the left and right targets constituting the left and right boundary lines is larger as the reference boundary line.

6. A parking control device as described in claim 1, wherein in the third case, the target parking position setting unit selects the left or right boundary line on the side with a higher reliability of detection of the left and right boundary lines as the reference boundary line.

7. A parking control device as described in claim 1, wherein in the third case, the target parking position setting unit selects the boundary line on the left or right side where the height of the left and right targets constituting the boundary lines on the left and right sides is higher as the reference boundary line.

8. A parking control device as described in claim 1, wherein in the third case, the target parking position setting unit determines the left or right boundary line to be selected as the reference boundary line based on at least one of past trends of parking positions in the parking space, date and time, and weather.

9. A parking control device comprising: an information acquisition unit that acquires position information of surrounding targets of the host vehicle and position information of the host vehicle; a shape estimation unit that estimates the shape of a parking space based on the position information of the surrounding targets and the position information of the host vehicle; and a target parking position setting unit that sets a target parking position and a target parking attitude angle based on the shape of the parking space, wherein the target parking position setting unit sets the target parking position and the target parking attitude angle based on the shape of the parking space and the shape of the host vehicle so that the total area of ​​an area within the parking space where it will be difficult for people to enter or exit through an opening of the parking space due to parking of the host vehicle will be minimized.

10. A parking control device comprising: an information acquisition unit that acquires position information of surrounding targets of the host vehicle and position information of the host vehicle; a shape estimation unit that estimates the left and right corner positions of the opening of a parking space, the positions of the left and right boundary lines of the parking space, and the position of the back boundary line of the parking space based on the position information of the surrounding targets and the position information of the host vehicle, and determines the estimation reliability of each of the positions of the left and right boundary lines and the estimation reliability of the position of the back boundary line; and a target parking position setting unit that sets a target parking position and a target parking attitude angle of the host vehicle, wherein when the estimation reliability of both the positions of the left and right boundary lines is below a threshold and the estimation reliability of the position of the back boundary line is above a threshold, the target parking position setting unit sets the target parking position for parking the host vehicle with a margin of clearance from the position of the back boundary line, and sets the target parking attitude angle based on the position of the back boundary line.

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