Parking control method and parking control device

Abstract

In a parking control method for a controller that executes parking control for automatically causing a vehicle to travel to a target parking position, the controller starts, stops, and resumes parking control in response to a first operation performed on a switch by a user of the vehicle (S3, S10, S12), and continues travel under parking control in a state in which the speed of the vehicle is reduced in response to a second operation which is different from the first operation and is performed by the user on the same switch (S7).

Description

Parking control method and parking control device

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

[0002] The following Patent Document 1 describes a parking assistance system in which the driver's operation to start the automatic parking process and the driver's operation to start the vehicle's autonomous movement to the target position are performed on the same push button switch.

[0003] Patent No. 7041118

[0004] In automatic parking control, which automatically drives a vehicle to a target parking position, depending on the environment, it may be difficult to drive the vehicle with complete safety confirmed by automatic control. Uniformly prohibiting parking control in such environments reduces the convenience of vehicles with automatic parking functions. The present invention aims to execute automatic parking control under the safety confirmation of the vehicle user, even in environments where it is difficult to drive the vehicle with complete safety confirmed by automatic control.

[0005] According to one aspect of the present invention, there is provided a parking control method for a controller that executes parking control to automatically drive a vehicle to a target parking position, in which the controller starts, stops, and resumes parking control in response to a first operation of a switch by a vehicle user, and continues driving under parking control while reducing the vehicle's speed in response to a second operation of the same switch by the user that is different from the first operation.

[0006] According to the present invention, automatic parking control can be performed under the safety confirmation of the vehicle user even in an environment where it is difficult to drive a vehicle under automatic control with complete safety confirmation. The objects and advantages of the present invention are realized and achieved by using the elements and combinations recited in the claims. It should be understood that both the foregoing general description and the following detailed description are merely exemplary and explanatory and are not intended to limit the invention as defined by the claims.

[0007] 1 is a diagram illustrating an example of a schematic configuration of a parking control device according to an embodiment; (a) and (b) are schematic diagrams illustrating an example of a first automatic parking function; (a) and (b) are schematic diagrams illustrating an example of a second automatic parking function; (b) is a flowchart of an example of a parking control method according to a first embodiment; (c) is a flowchart of an example of a parking control method according to a second embodiment; (d) is a flowchart of an example of a parking control method according to a third embodiment; (e) is a flowchart of an example of a parking control method according to a fourth embodiment; and (f) is a flowchart of an example of a parking control method according to a fifth embodiment.

[0008] (First embodiment) (Configuration) Fig. 1 is a diagram showing an example of the schematic configuration of a parking control device according to an embodiment. A vehicle 1 is equipped with a parking control device 10 that executes parking control to automatically drive the vehicle 1 along a target parking path from the current position of the vehicle 1 to a target parking position. In this specification, parking control to automatically drive the vehicle 1 along a target parking path means control to automatically drive all or part of the vehicle 1 along the target parking path by controlling all of the steering angle, driving force, and braking force of the vehicle 1. In the following description, parking control to automatically drive the vehicle 1 along the target parking path may be simply referred to as "parking control."

[0009] The parking control device 10 includes an external sensor 11, a vehicle sensor 12, a map database (map DB) 13, a switch 14, a controller 15, and an actuator (ACTR) 16. The external sensor 11 detects objects within a predetermined distance range from the vehicle 1. The external sensor 11 detects the environment surrounding the vehicle 1, such as the relative position between the vehicle 1 and an object present around the vehicle 1, the distance between the vehicle 1 and the object, and the direction in which the object exists. The external sensor 11 may include, for example, a camera that captures the environment surrounding the vehicle 1. The external sensor 11 may include a distance measuring device such as a laser range finder, radar, or LiDR (Light Detection and Ranging).

[0010] The vehicle sensor 12 detects various information (vehicle information) about the vehicle 1. The vehicle sensor 12 may include, for example, a vehicle speed sensor that detects the traveling speed of the vehicle 1, a wheel speed sensor that detects the rotational speed of each tire of the vehicle 1, a three-axis acceleration sensor (G sensor) that detects the acceleration (including deceleration) of the vehicle 1 in three axial directions, a steering angle sensor that detects the steering angle, a steering angle sensor that detects the steering angle of the steered wheels, a gyro sensor, and a yaw rate sensor. The map database 13 stores map data. For example, the map database 13 may store high-precision map data suitable for use as map data for navigation or maps for autonomous driving. The switch 14 is an operation element that accepts an operation input from the user of the vehicle 1 to the parking control device 10. For example, the switch 14 may be a push button switch. The switch 14 may be provided inside the vehicle cabin or on a remote control that can operate the vehicle from outside the vehicle cabin.

[0011] The controller 15 is an electronic control unit that performs parking control of the vehicle 1. The controller 15 includes a processor 17 and peripheral components such as a storage device 18. The processor 17 may be, for example, a CPU or an MPU. The storage device 18 may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The functions of the controller 15 described below are realized, for example, by the processor 17 executing a computer program stored in the storage device 18. The actuator 16 operates the steering device, drive device, and braking device of the vehicle 1 in response to control signals generated by the controller 15 to generate vehicle behavior of the vehicle 1, thereby automatically driving the vehicle 1. The actuator 16 includes a steering actuator that operates the steering device, an accelerator opening actuator that operates the drive device, and a brake control actuator that operates the braking device.

[0012] Next, an overview of the parking control function of the parking control device 10 will be described. In this specification, a first automatic parking function and a second automatic parking function will be exemplified. For example, the parking control device 10 may have either or both of the first automatic parking function and the second automatic parking function. The first automatic parking function is a function that automatically drives the vehicle 1 to the target parking position based on information on known targets around the target parking position, information on the target parking position, and position information of targets detected around the vehicle 1 by sensors mounted on the vehicle 1.

[0013] 2(a) and 2(b) are schematic diagrams illustrating an example of the first automatic parking function. When using the first automatic parking function, a target parking position 31 where the vehicle 1 should be parked is registered in advance in the parking control device 10. Specifically, targets present around the target parking position 31 are extracted and stored (registered) in the storage device 18. In the following description, the targets around the target parking position 31 stored in the storage device are referred to as "learned targets." In FIG. 2(a), circle plots schematically represent learned targets.

[0014] For example, when the vehicle 1 is positioned near the target parking position 31 (for example, when a user manually parks the vehicle 1 at the target parking position 31), the parking control device 10 detects targets around the vehicle 1 using the external sensor 11 mounted on the vehicle 1 and stores the targets as learned targets. For example, targets may be detected from a surrounding image obtained by capturing an image of the surroundings of the vehicle 1 with a camera. For example, edge points where the brightness of adjacent pixels changes by a predetermined amount or more or points with characteristic shapes (feature points), such as edges or corners of targets such as road markings, road boundaries, and obstacles, on the captured image obtained by the camera, may be detected as targets.

[0015] The parking control device 10 stores parking assistance information, which is data related to the target parking position 31, in the storage device. For example, the parking assistance information may include data representing the feature amounts of the learned target (hereinafter referred to as "feature amount data") and data representing the relative positional relationship between the target parking position 31 and the learned target (hereinafter referred to as "relative position data"). As the relative position data, for example, the relative position of the learned target with respect to the target parking position 31 may be stored. For example, the parking control device 10 can acquire the position of the learned target detected when the vehicle 1 is parked at the target parking position 31 as the relative position of the learned target with respect to the target parking position 31. The coordinates of the learned target and the target parking position 31 in a coordinate system with a fixed point as the reference point (hereinafter referred to as "map coordinate system") may also be stored.

[0016] FIG. 2(b) shows a scene in which the vehicle 1 is parked using the first automatic parking function (hereinafter, this may be referred to as "when parking assistance is being performed"). When parking assistance is being performed, the external sensor 11 extracts targets around the vehicle 1. In the following description, targets around the vehicle 1 extracted when parking assistance is being performed are referred to as "surrounding targets." In FIG. 2(b), triangular plots schematically represent surrounding targets. The parking control device 10 matches the learned targets with the surrounding targets to associate identical feature points, and calculates the relative position of the target parking position 31 with respect to the vehicle 1 based on the relative positional relationship between the surrounding targets and the vehicle 1 detected when parking assistance is being performed, and the relative positional relationship between the learned targets associated with the surrounding targets and the target parking position 31.

[0017] For example, the parking control device 10 calculates the position of the target parking position 31 on a coordinate system (hereinafter referred to as the "vehicle coordinate system") based on the current position of the vehicle 1. Note that if the relative position data includes coordinates on the map coordinate system of the learned targets and the target parking position 31, the coordinates of the target parking position 31 on the map coordinate system may be converted to coordinates on the vehicle coordinate system based on the positions of the surrounding targets detected when parking assistance is performed and the positions of the learned targets in the map coordinate system. The parking control device 10 calculates a target parking path 34 from the current position 33 of the vehicle 1 to the target parking position 31 based on the relative position of the target parking position 31 with respect to the vehicle 1. The parking control device 10 performs parking control of the vehicle 1 based on the calculated target parking path 34.

[0018] FIG. 3 is a schematic diagram illustrating an example of the second automatic parking function. The second automatic parking function detects the relative positional relationship between the current position of the vehicle 1 and a target parking position, and automatically drives the vehicle 1 to the target parking position based on the detected relative positional relationship. When parking control using the second automatic parking function is started, the parking control device 10 uses the external sensor 11 to find an available vacant space 41 around the vehicle 1 and set it as the target parking position. For example, the parking control device 10 may find the vacant space 41 based on the detection results of parking frame lines 40 that indicate the parking space. Alternatively, for example, the parking control device 10 may detect parked vehicles as objects around the vehicle 1 and find the space between the parked vehicles as the vacant space 41.

[0019] The parking control device 10 detects the relative position of a target parking position (vacant space) 41 with respect to a current position 33 of the vehicle 1 using an external sensor 11, and calculates a target parking path 34 from the current position 33 of the vehicle 1 to the target parking position 41. The parking control device 10 performs parking control of the vehicle 1 based on the calculated target parking path 34. For example, the second automatic parking function may be a function (FAP: Full Auto Parking) that automatically controls all of the steering angle, driving force, and braking force of the vehicle 1 so that the vehicle 1 travels along the target parking path from the current position of the vehicle 1 to the target parking position 41.

[0020] When the parking control device 10 executes parking control using the first automatic parking function or the second automatic parking function, depending on the surrounding environment, it may be difficult for the parking control device 10 to drive the vehicle 1 while confirming complete safety. For example, when the driving distance from the current position of the vehicle 1 to the target parking position is long, parking control may be performed under various environments. For example, when parking control is performed near a crosswalk where pedestrians are present, it may be difficult for the parking control device 10 alone to ensure complete safety. On the other hand, if parking control is uniformly prohibited in such environments, the convenience of the automatic parking function of the vehicle 1 will be reduced.

[0021] Therefore, the parking control device 10 accepts a first operation and a second operation, which is different in operation mode from the first operation, as operations on the switch 14 by the user of the vehicle 1. For example, the first operation may be a short press of the switch 14, which is a push button switch, and the second operation may be a long press of the switch 14, which is a push button switch. The parking control device 10 starts, stops, and resumes parking control in response to the first operation, while continuing to drive the vehicle 1 under parking control while reducing its speed in response to the second operation. For example, the parking control device 10 may continue to drive the vehicle under parking control while the switch 14 is being pressed and held. This allows automatic parking control to be easily started, stopped, and resumed by the first operation, and parking control can be continued based on the second operation, which is based on the user's intention. As a result, parking control can be continued based on the user's safety confirmation, even if the parking control device 10 does not have an advanced recognition and judgment function.

[0022] (Operation) Figure 4 is a flowchart of an example of the parking control method of the first embodiment. In step S1, the controller 15 determines a target parking position and calculates a target parking path. In step S2, the controller 15 determines whether or not a user operation of the switch 14 has been detected. For example, the controller 15 determines whether or not a short press of the switch 14 has been detected. If operation of the switch 14 has not been detected (step S2: N), the process returns to step S2. If operation of the switch 14 has been detected (step S2: Y), the process proceeds to step S3.

[0023] In step S3, the controller 15 starts normal parking control. In normal parking control, the controller 15 drives the vehicle 1 at a normal speed (for example, approximately 15 km / h) as the upper limit speed. The normal speed is an example of the "second vehicle speed" in the claims. In step S4, the controller 15 determines whether the vehicle 1 has reached the target parking position. If the vehicle 1 has reached the target parking position (step S4: Y), the process ends (i.e., the parking control is completed). If the vehicle 1 has not reached the target parking position (step S4: N), the process proceeds to step S5.

[0024] In step S5, the controller 15 determines whether or not a user operation of the switch 14 has been detected. If an operation of the switch 14 has not been detected (step S5: N), the process returns to step S4. If an operation of the switch 14 has been detected (step S5: Y), the process proceeds to step S6. In step S6, the controller 15 determines whether or not the operation of the switch 14 was a long press (i.e., the second operation). If the operation of the switch 14 was a short press (i.e., the first operation) rather than a long press (step S6: N), the process proceeds to step S10. If the operation of the switch 14 was a long press (step S6: Y), the process proceeds to step S7.

[0025] In step S7, the controller 15 continues parking control by causing the vehicle 1 to travel along the target parking path at a vehicle speed whose upper limit is a creep speed (e.g., approximately 5 to 10 km / h) lower than the normal speed. The creep speed is an example of the "first vehicle speed" in the claims. In step S8, the controller 15 determines whether the long press of the switch 14 has ended. If the long press of the switch 14 has not ended (step S8: N), the process returns to step S7. As a result, parking control at the creep speed continues. If the long press of the switch 14 has ended (step S8: Y), the process proceeds to step S9. In step S9, the controller 15 returns the upper limit speed of the vehicle 1 to the normal speed and continues parking control. That is, the process returns to normal parking control. Then, the process returns to step S4.

[0026] In step S10, the controller 15 stops the parking control and stops the vehicle 1. In step S11, the controller 15 determines whether or not a user operation of the switch 14 has been detected. For example, the controller 15 determines whether or not a short press of the switch 14 has been detected. If the operation of the switch 14 has not been detected (step S11: N), the process returns to step S11. If the operation of the switch 14 has been detected (step S12: Y), the process proceeds to step S12. In step S12, the controller 15 resumes normal parking control. Thereafter, the process returns to step S4.

[0027] Second Embodiment In a second embodiment, the controller 15 causes the vehicle 1 to move slowly when the switch 14 is pressed and held, and stops the vehicle 1 when the switch 14 is released from the pressed and held state. When the controller 15 causes the vehicle 1 to continue moving slowly by pressing and holding the switch 14, the controller 15 may control the speed and acceleration of the vehicle 1 according to the amount of pressing of the switch 14. For example, the controller 15 may control the actuator 16 so that the speed and acceleration of the vehicle 1 increase as the amount of pressing increases.

[0028] 5 is a flowchart of an example of a parking control method according to the second embodiment. Steps S20 to S25 are the same as steps S1 to S6 in FIG. 4. If the switch 14 is pressed briefly rather than long (step S25: N), the process proceeds to step S31. Steps S31 to S33 are the same as steps S10 to S12 in FIG. 4. If the switch 14 is pressed long (step S25: Y), the process proceeds to step S26.

[0029] In step S26, the controller 15 continues parking control to drive the vehicle 1 toward the target parking position at a vehicle speed whose upper limit is the creep speed. In step S27, the controller 15 determines whether the long press of the switch 14 has ended. If the long press of the switch 14 has not ended (step S27: N), the process returns to step S26. If the long press of the switch 14 has ended (step S27: Y), the process proceeds to step S28. In step S28, the controller 15 stops the parking control and stops the vehicle 1. Thereafter, the process proceeds to step S29. The processes of steps S29 to S30 are the same as the processes of steps S11 to S12 in FIG. 4.

[0030] (Third Embodiment) In a third embodiment, when the clearance between the vehicle 1 and an obstacle around the vehicle 1 becomes equal to or less than the threshold distance while the vehicle 1 is traveling under parking control, the controller 15 stops the parking control and stops the vehicle 1. When normal parking control is being performed, i.e., when parking control is started in response to a first operation (a state in which the switch 14 is not pressed and held), the controller 15 sets the threshold distance to a first predetermined value. When parking control at a slow speed is continuing, i.e., when traveling under parking control is continuing in response to a second operation (a state in which the switch 14 is detected as being pressed and held), the controller 15 sets the threshold distance to a second predetermined value that is less than the first predetermined value.

[0031] The controller 15 may stop the vehicle 1 if the distance between the vehicle 1 and an obstacle is equal to or less than a first predetermined value when the switch 14 is released from the long-pressed state during parking control at a slow speed due to a long press of the switch 14. Alternatively, the controller 15 may allow the vehicle 1 to travel under normal parking control if the distance between the vehicle 1 and the obstacle is greater than the first predetermined value when the switch 14 is released from the long-pressed state. FIG. 6 is a flowchart illustrating an example of a parking control method according to a third embodiment. The processes of steps S40 to S43 are the same as those of steps S1 to S4 in FIG. 4. In step S42, the controller 15 sets the threshold distance to a first predetermined value when starting normal parking control. If the vehicle 1 has reached the target parking position (step S43: Y), the process ends. If the vehicle 1 has not yet reached the target parking position (step S43: N), the process proceeds to step S44.

[0032] In step S44, the controller 15 determines whether the clearance between the vehicle 1 and an obstacle detected around the vehicle 1 is equal to or less than a threshold distance (first predetermined value). If the clearance is not equal to or less than the threshold distance (step S44: N), the process returns to step S43. If the clearance is equal to or less than the threshold distance (step S44: Y), the process proceeds to step S45. In step S45, the controller 15 stops the parking control and stops the vehicle 1. In step S46, the controller 15 determines whether or not a user operation of the switch 14 has been detected. If an operation of the switch 14 has not been detected (step S46: N), the process returns to step S46. If an operation of the switch 14 has been detected (step S46: Y), the process proceeds to step S47.

[0033] In step S47, the controller 15 determines whether the switch 14 was operated by a long press. If the switch 14 was not operated by a long press (step S47: N), the parking control is stopped, the vehicle 1 is stopped, and the process ends. If the switch 14 was operated by a long press (step S47: Y), the process proceeds to step S48. In step S48, the controller 15 performs parking control to drive the vehicle 1 toward the target parking position at a vehicle speed up to the slow speed. At this time, the controller 15 sets the threshold distance to a second predetermined value. Therefore, if the clearance between the vehicle 1 and the obstacle becomes equal to or less than the second predetermined value while parking control at the slow speed is continuing, the controller 15 stops the parking control and stops the vehicle 1.

[0034] In step S49, the controller 15 determines whether or not the long press of the switch 14 has ended. If the long press of the switch 14 has not ended (step S49: N), the process returns to step S49. If the long press of the switch 14 has ended (step S49: Y), the process proceeds to step S50. In step S50, the controller 15 stops the parking control and stops the vehicle 1. In step S51, the controller 15 determines whether or not a user operation of the switch 14 has been detected. If an operation of the switch 14 has not been detected (step S51: N), the process returns to step S51. If an operation of the switch 14 has been detected (step S51: Y), the process proceeds to step S52.

[0035] In step S52, the controller 15 determines whether the switch 14 was operated by a long press. If the switch 14 was operated by a long press (step S52: Y), the process returns to step S48. If the switch 14 was operated by a short press (step S52: N), the process proceeds to step S53. In step S53, the controller 15 determines whether the vehicle 1 has already avoided the obstacle. For example, the controller 15 determines whether the clearance between the vehicle 1 and the obstacle is greater than a first predetermined value. If the clearance is equal to or less than the first predetermined value (step S53: N), the controller 15 stops parking control and ends the process. If the clearance is greater than the first predetermined value (step S53: Y), the process proceeds to step S54. In step S54, the controller 15 resumes normal parking control. Thereafter, the process returns to step S43.

[0036] (Fourth Embodiment) In the fourth embodiment, while continuing parking control in which the vehicle 1 travels at a creeping speed by pressing and holding the switch 14, the controller 15 detects obstacles around the vehicle 1 using the external sensor 11 and executes automatic steering control to travel the vehicle 1 while avoiding the obstacles. FIG. 7 is a flowchart of an example of a parking control method according to the fourth embodiment. The processing of steps S60 to S67 is the same as the processing of steps S40 to S47 in FIG. 6 . The processing of steps S69 to S74 is the same as the processing of steps S49 to S54 in FIG. 6 . In step S68, the controller 15 performs parking control to travel the vehicle 1 toward the target parking position at a vehicle speed whose upper limit is the creeping speed. At this time, the controller 15 regenerates a target parking path so that the vehicle 1 travels to the target parking position while avoiding the obstacle detected in step S44. The controller 15 controls the actuator 16 so that the vehicle 1 travels along the regenerated target parking path. As a result, the controller 15 realizes automatic steering control that causes the vehicle 1 to travel while avoiding obstacles.

[0037] Fifth Embodiment In the fifth embodiment, the controller 15 recognizes a slow-down required area (e.g., an area with a pedestrian crossing) around the vehicle 1 where the vehicle 1 should slow down at a speed equal to or less than the first vehicle speed. For example, the controller 15 may recognize the slow-down required area by image recognition processing based on an image captured by the camera of the external sensor 11, or may recognize the slow-down required area based on the positioning results of the vehicle 1 obtained by a positioning device (e.g., a global positioning system receiver, etc.) not shown and the map database 13. When the switch 14 is released from the long-pressed state, the controller 15 stops the vehicle 1 if the distance between the vehicle 1 and the slow-down required area is equal to or less than a threshold. When the distance between the vehicle 1 and the slow-down required area is greater than the threshold, the controller 15 causes the vehicle 1 to travel using normal parking control (i.e., performs parking control that causes the vehicle 1 to travel at a speed whose upper limit is the normal speed).

[0038] FIG. 8 is a flowchart of an example of a parking control method according to the fifth embodiment. The processing in steps S80 to S83 is the same as the processing in steps S1 to S4 in FIG. 4. If the vehicle 1 has reached the target parking position (step S83: Y), the processing ends. If the vehicle 1 has not reached the target parking position (step S83: N), the processing proceeds to step S84. In step S84, the controller 15 determines whether the vehicle 1 has approached a slow-down required area. For example, the controller 15 determines whether the distance between the vehicle 1 and the slow-down required area is equal to or less than a threshold. If the vehicle 1 has not approached the slow-down required area (step S84: N), the processing returns to step S83. If the vehicle 1 has approached the slow-down required area (step S84: Y), the processing proceeds to step S85.

[0039] In step S85, the controller 15 determines whether or not a long press of the switch 14 by the user has been detected. If a long press of the switch 14 has been detected (step S85: Y), the process proceeds to step S89. If a long press of the switch 14 has not been detected (step S85: N), the process proceeds to step S86. In step S86, the controller 15 automatically stops parking control just before the slow-down area and stops the vehicle 1. In step S87, the controller 15 determines whether or not a user operation of the switch 14 has been detected. If an operation of the switch 14 has not been detected (step S87: N), the process returns to step S87. If an operation of the switch 14 has been detected (step S87: Y), the process proceeds to step S88. In step S88, the controller 15 resumes normal parking control. Thereafter, the process returns to step S83.

[0040] In step S89, the controller 15 continues parking control by driving the vehicle 1 toward the target parking position at a vehicle speed with the slow-down speed as the upper limit. In step S90, the controller 15 determines whether the long press of the switch 14 has ended. If the long press of the switch 14 has not ended (step S90: N), the process returns to step S90. If the long press of the switch 14 has ended (step S90: Y), the process proceeds to step S91. In step S91, the controller 15 determines whether the vehicle 1 has left the slow-down required area. For example, the controller 15 determines whether the distance between the vehicle 1 and the slow-down required area is greater than a threshold. If the vehicle 1 has not left the slow-down required area (step S91: N), the process proceeds to step S93. If the vehicle 1 has left the slow-down required area (step S91: Y), the process proceeds to step S92. In step S92, the controller 15 returns the upper speed limit of the vehicle 1 to the normal speed and continues parking control. That is, the process returns to normal parking control. Thereafter, the process returns to step S83.

[0041] In step S93, the controller 15 stops the parking control and stops the vehicle 1. In step S94, the controller 15 determines whether or not a user operation of the switch 14 has been detected. If an operation of the switch 14 has not been detected (step S94: N), the process returns to step S94. If an operation of the switch 14 has been detected (step S94: Y), the process proceeds to step S95. In step S95, the controller 15 resumes normal parking control. Thereafter, the process returns to step S83.

[0042] (Effects of the Embodiment) (1) The controller 15 executes parking control to automatically drive the vehicle 1 to a target parking position. The controller 15 may start, stop, and resume parking control in response to a first operation of a switch by a vehicle user, and may continue driving under parking control with the vehicle speed reduced in response to a second operation of the same switch by the user that is different from the first operation. This allows automatic parking control to continue under the user's safety confirmation, even in an environment where it is difficult to drive the vehicle while confirming complete safety through automatic control.

[0043] (2) The controller 15 may continue to slow down the vehicle 1 in response to the second operation. This can improve safety when continuing to drive under parking control in response to the second operation. (3) When continuing to drive the vehicle 1 in response to the second operation, the controller 15 may detect an obstacle around the vehicle 1 using a sensor and execute automatic steering control to avoid the obstacle. This can continue parking control to automatically park the vehicle 1 even if the vehicle 1 approaches an obstacle as long as the user has confirmed safety and is performing the second operation.

[0044] (4) When the second operation is not performed, the controller 15 may set the threshold distance of the clearance for stopping the vehicle 1 according to the clearance between the vehicle 1 and the obstacle to a first predetermined value, and when driving under parking control is continued in response to the second operation, the controller 15 may set the threshold distance to a second predetermined value less than the first predetermined value. When the user performs the second operation after confirming safety, it becomes easier to continue parking control for automatically parking the vehicle 1 even if the vehicle 1 approaches an obstacle.

[0045] (5) The first operation and the second operation are respectively a short press and a long press of a push button switch, which is a switch, and the controller 15 may stop the vehicle 1 when the push button switch is released from the long press state. This allows the user to easily stop the parking control when the parking control is being continued by the second operation.

[0046] (6) When continuing to drive the vehicle 1 in response to the second operation, the controller 15 may control the speed of the vehicle 1 according to the amount of depression of the push button switch. This allows, for example, the user to adjust the speed of the vehicle 1 according to how safe it is to drive the vehicle 1 when continuing parking control by the second operation.

[0047] (7) When continuing the driving of the vehicle 1 in response to the second operation, the controller 15 may control the acceleration of the vehicle 1 in accordance with the amount of depression of the push button switch. This allows, for example, the user to adjust the speed of the vehicle 1 in accordance with how safe the driving of the vehicle 1 is when continuing parking control by the second operation.

[0048] (8) The controller 15 may recognize a slow-down required area where the vehicle 1 should slow down at a speed equal to or less than a first vehicle speed, and may stop the vehicle 1 if the distance between the vehicle 1 and the slow-down required area is equal to or less than a threshold value when the push button switch is released from the long-pressed state, or may run the vehicle 1 at a second vehicle speed higher than the first vehicle speed by parking control if the distance between the vehicle 1 and the slow-down required area is greater than the threshold value. This enables parking control according to the surrounding environment when the vehicle 1 approaches the slow-down required area during execution of parking control.

[0049] (9) The first operation and the second operation may be a short press and a long press of a push button switch, respectively. When the push button switch is not pressed and held, the controller 15 may set a clearance threshold distance for stopping the vehicle 1 according to the clearance between the vehicle 1 and an obstacle to a first predetermined value. When the push button switch is pressed and held, causing the vehicle 1 to continue traveling at a speed limited to or less than the first vehicle speed, the controller 15 may set the threshold distance to a second predetermined value less than the first predetermined value. When the push button switch is released from the pressed and held state, the controller 1 may stop the vehicle 1 if the distance between the vehicle 1 and the obstacle is less than the first predetermined value, and may cause the vehicle 1 to travel at a second vehicle speed higher than the first vehicle speed by parking control if the distance between the vehicle 1 and the obstacle is greater than the first predetermined value. This enables parking control according to the surrounding environment when the vehicle 1 approaches an obstacle during parking control.

[0050] All examples and conditional terms described herein are intended for educational purposes to aid the reader in understanding the present invention and the concepts provided by the inventor for the advancement of technology, and should be construed without limitation to the specifically described examples and conditions above, and the configuration of examples herein for illustrating the advantages and disadvantages of the present invention. Although the embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the present invention.

[0051] 1...vehicle, 10...parking control device, 11...external sensor, 12...vehicle sensor, 13...map database, 14...switch, 15...controller, 16...actuator, 17...processor, 18...storage device

Claims

1. A parking control method for a controller that executes parking control to automatically drive a vehicle to a target parking position, wherein the controller starts, stops, and resumes the parking control in response to a first operation on a switch by a user of the vehicle, and continues driving under the parking control while reducing the speed of the vehicle in response to a second operation by the user on the same switch as the first operation, which is an operation mode different from the first operation.

2. The parking control method according to claim 1, wherein the vehicle continues to move slowly in response to the second operation.

3. A parking control method as described in either claim 1 or 2, characterized in that when the vehicle continues to travel in response to the second operation, an obstacle around the vehicle is detected by a sensor and automatic steering control is executed to avoid the obstacle.

4. A parking control method as described in any one of claims 1 to 3, characterized in that, when the second operation is not performed, the clearance threshold distance for stopping the vehicle depending on the clearance between the vehicle and an obstacle is set to a first predetermined value, and when driving under the parking control is continued in response to the second operation, the threshold distance is set to a second predetermined value less than the first predetermined value.

5. A parking control method as claimed in any one of claims 1 to 4, characterized in that the first operation and the second operation are a short press and a long press of a push button switch, which is the switch, respectively, and when the push button switch is released from the long press state, the vehicle is stopped.

6. A parking control method as described in claim 5, characterized in that when the vehicle continues to travel in response to the second operation, the speed of the vehicle is controlled according to the amount of depression of the push button switch.

7. A parking control method as described in claim 5, characterized in that when the vehicle continues to travel in response to the second operation, the acceleration of the vehicle is controlled according to the amount of depression of the push button switch.

8. A parking control method as claimed in any one of claims 5 to 7, characterized in that it recognizes a slow-down required area in which the vehicle should slow down at a speed equal to or less than a first vehicle speed, and when the push button switch is released from a long-pressed state, stops the vehicle if the distance between the vehicle and the slow-down required area is equal to or less than a threshold, and causes the vehicle to travel at a second vehicle speed higher than the first vehicle speed by the parking control if the distance between the vehicle and the slow-down required area is greater than the threshold.

9. The parking control method according to any one of claims 1 to 3, characterized in that the first operation and the second operation are respectively a short press and a long press of a push button switch which is the switch, and when the push button switch is not pressed and held down, the clearance threshold distance for stopping the vehicle in accordance with the clearance between the vehicle and an obstacle is set to a first predetermined value, and when the push button switch is pressed and held down to continue traveling of the vehicle at a speed limited to not more than a first vehicle speed, the threshold distance is set to a second predetermined value which is less than the first predetermined value, and when the push button switch is released from the pressed and held down state, if the distance between the vehicle and the obstacle is not more than the first predetermined value, the vehicle is stopped, and if the distance between the vehicle and the obstacle is greater than the first predetermined value, the vehicle is caused to travel by the parking control at a second vehicle speed which is higher than the first vehicle speed.

10. A parking control device that performs parking control to automatically drive a vehicle to a target parking position, comprising: a switch operated by a user of the vehicle; and a controller that performs the following processes in response to a first operation on the switch by the user: starting, pausing, and resuming the parking control; and in response to a second operation by the user on the same switch as the switch, which is an operation mode different from the first operation, continuing the driving under the parking control while reducing the speed of the vehicle.

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