Parking assistance method and parking assistance device

Abstract

A processor 10 of this parking assistance device 200 assists parking control of causing a host vehicle V1 to move to a target parking position TP1 / TP2, the parking control assisting parking control of: acquiring, when the host vehicle V1 enters a parking facility PA, one or more first waiting positions AW1 to AW7 where vehicles, including the host vehicle V1 and other vehicles V2 and V3, waited in the past after entering the parking facility PA before reaching a target parking position, from waiting information 52 stored in a storage device 5; determining the first waiting position as a target waiting position in a case where no obstacles exist within a prescribed distance range of the first waiting position; calculating a second waiting position different from the first waiting position and determining the second waiting position as the target waiting position in a case where an obstacle exists within the prescribed distance range of the first waiting position; outputting the target waiting position to the host vehicle V1; and causing the host vehicle V1 to move to the target waiting position, stop, and wait until it is possible to move to the target parking position, and then move to the target parking position.

Description

Parking assistance method and parking assistance device

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

[0002] A technology is known in which a stop area where an autonomous vehicle can wait is set in front of a parking space in a mechanical parking system, and the autonomous vehicle waits in the stop area when other autonomous vehicles enter or exit the parking system (Patent Document 1).

[0003] Patent No. 6785582

[0004] However, the prior art only targets autonomous vehicles and does not take into account cases where autonomous and manually driven vehicles coexist. The routes and waiting positions of manually driven vehicles from entering to exiting a parking facility vary depending on the driver, and if all vehicles are made to wait in a fixed waiting position uniformly, there is a possibility that the vehicle will come too close to obstacles such as other vehicles.

[0005] The problem to be solved by the present invention is to set an appropriate waiting position for a vehicle in a parking facility, regardless of whether the vehicle is being driven manually or autonomously.

[0006] The present invention solves the above problem by, when the vehicle enters a parking facility, obtaining from stored waiting information for the parking facility one or more first waiting positions where the vehicle has previously waited after entering the parking facility and before reaching the target parking position, and if there is no obstacle within a predetermined distance range of the first waiting position, determining the first waiting position as the target waiting position, and if there is an obstacle within the predetermined distance range of the first waiting position, determining a second waiting position different from the first waiting position as the target waiting position, outputting the determined target waiting position to the vehicle, moving the vehicle to the target waiting position, stopping the vehicle, and waiting until it is possible to move to the target parking position, and then moving the vehicle to the target parking position.

[0007] According to the present invention, an appropriate waiting position can be set for a vehicle in a parking facility regardless of whether the vehicle is being driven manually or autonomously.

[0008] Fig. 1 is a block diagram showing the configuration of a parking assistance system, Fig. 2 is a flowchart showing an example of a control procedure for parking assistance, and Fig. 3 is a diagram explaining the control procedure for parking assistance.

[0009] First Embodiment A first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a parking assistance system 100 including a parking assistance device 200 mounted on a vehicle according to this embodiment and a server 300 located remotely therefrom. A communication device 40 of the parking assistance device 200 and a communication device 340 of the server 300 are equipped with wireless communication capabilities, and they exchange information with each other via a communication network 400. The parking assistance device 200 assists in parking control, moving and stopping the host vehicle at a determined target waiting position or target parking position. The parking assistance control includes executing autonomous parking control, which autonomously moves the host vehicle to the target waiting position or target parking position and autonomously stops it at the target waiting position or target parking position, and executing presentation control, which presents, via an output device 30, to a manually driven driver of the host vehicle, one or more parking assistance information including the target waiting position, the target parking position, the location of obstacles including other vehicles, and map information about parking facilities. The autonomous parking control includes autonomous parking control using a so-called memory function, which refers to reference features 53 stored in advance as features of the target waiting position or target parking position and their surroundings, identifies the reference features 53 to match with captured features detected around the parking facility, calculates the target waiting position or target parking position using the position, size, and arrangement (including the positional relationship between the features) of one or more features of the reference features 53 as landmarks, and autonomously moves the vehicle to the target waiting position or target parking position.

[0010] The parking assistance device 200 assists in parking control to park the vehicle at a target waiting position or target parking position provided in a parking facility. The parking assistance device 200 includes a control device 1, a sensor 2, a navigation device 3, a vehicle controller 4, and a storage device 5. Each device is connected via a CAN (Controller Area Network) or other wired / wireless in-vehicle LAN, and exchanges information with each other. Each device may be a device mounted on the vehicle, or may be a portable terminal device that can be brought into the vehicle and connected to the in-vehicle LAN. A parking assistance device is provided in each vehicle. The parking assistance device 200 provided in the vehicle and the parking assistance devices 200-1 to 200-n (hereinafter referred to as 200n) provided in the other vehicles have the same functions.

[0011] Sensor 2 acquires detection information of the surroundings, including the target waiting or parking position where the vehicle will be parked. Sensor 2 includes one or more cameras 21 mounted on the vehicle. The cameras 21 include image sensors with imaging elements such as CCDs, ultrasonic cameras, and infrared cameras, and capture images of the vehicle's surroundings in all directions. Sensor 2 also includes a radar device 22 that detects (measures) the presence, position, and position changes of objects around the vehicle. The radar device 22 measures the distance and direction to the object by emitting electromagnetic waves toward the object and measuring the reflected waves. The radar device 22 includes laser radar, millimeter-wave radar (LRF), a light detection and ranging (LiDAR) unit, ultrasonic radar, and sonar. Sensor 2 acquires detection information of objects present in the parking facility, including the target parking position and each target waiting position. The target parking position is the location where the user wishes to park. The target waiting position is one or more positions where the vehicle will stop and wait between the entrance to the parking facility and the target parking position. When the position of the vehicle obtained from the position detection device 31 of the navigation device 3 approaches within a predetermined distance to a parking facility or a target parking position, the sensor 2 starts acquiring detection information and continues to do so until parking control is completed, acquiring detection information of the parking facility including the target parking position and the target waiting position.

[0012] The navigation device 3 includes a position detection device 31 and map information 32. The position detection device 31 includes a receiver for signals from a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System), a gyro sensor, and a vehicle speed sensor, and uses these to detect the position of the vehicle. The map information 32 includes locations including parking facilities. The navigation device 3 may store parking facility information 51 and map information MP.

[0013] The vehicle controller 4 includes a steering control device 41 and a drive control device 42. The vehicle controller 4 calculates a travel path to a target waiting position or a target parking position, autonomously moves the vehicle along the travel path, and realizes an autonomous parking control function that parks the vehicle at the target waiting position or the target parking position. The autonomous parking control function can also be realized by remote operation. The vehicle controller 4 acquires command values ​​for autonomous parking control and causes the vehicle to travel along a parking path according to the command values. Based on the command values, the vehicle controller 4 inputs longitudinal and lateral forces that control the traveling position of the vehicle to the drive control device 42. Based on these inputs, the drive control device 42 controls the behavior of the vehicle body and the behavior of the wheels so that the vehicle autonomously travels along a path to the target waiting position or the target parking position. Based on these controls, at least one of the drive actuator and the brake actuator of the vehicle body's drive mechanism and the steering actuator of the steering control device 41, which is activated as needed, operate autonomously, thereby executing autonomous parking control that causes the vehicle to autonomously travel along a target path. The command values ​​for parking control are generated by the vehicle controller 4 or the processor 10. The vehicle controller 4 can perform manual parking in accordance with command values ​​based on manual operations of the driver input via the input device 20. When the processor 10 requests manual driving, the vehicle controller 4 performs parking in accordance with manual operations of the driver input via the input device 20, such as the steering, accelerator, and brake, without performing autonomous parking control.

[0014] The storage device 5 of the parking assistance device 200 stores parking information 50. The parking information 50 includes parking facility information 51, map information MP, waiting information 52, and reference features 53. This information may be stored in the storage device 305 of the server 300 as parking information 350, parking facility information 351, map information MP, waiting information 352, and reference features 353, and the parking assistance device 200 may acquire this information from the server 300 via the communication device 40. The parking facility information 51 includes the target parking position (the position of the transport pallet) of the parking facility, each waiting position, an area in which the vehicle can move (a vehicle pool area), the positions (ranges) of facility structures (obstacles such as pillars and walls), and the positions of other vehicles. The parking facility information 51 also includes map information MP that indicates the status of these parking facilities. 3, the map information MP is information that indicates the area of ​​the parking facility PA based on coordinate axes (X, Y) such as latitude and longitude, and associates the target parking position TP, waiting positions AW1 to AW7 (hereinafter also referred to as AW), positions of facility structures, positions of other vehicles V21 to V22 (hereinafter also referred to as V2), V31 to V33 (hereinafter also referred to as V3), positions of moving objects such as pedestrians, and the position of the host vehicle V1. The parking facility information 51 includes specific information on prohibited areas where vehicles are prohibited from waiting. The prohibited area includes one or more of the following: the entrance area of ​​the parking facility entrance IN (e.g., RO1 in FIG. 3 ), the area from the entrance IN to the target parking position TP1 / TP2 (hereinafter also referred to as TP) (e.g., RO5 and RO6 in FIG. 3 ), the entry / exit area of ​​the target parking position TP (e.g., RO3 and RO4 in FIG. 3 ), the area from the target parking position TP to the parking facility exit EX (e.g., RO7 in FIG. 3 ), the parking facility exit area (e.g., RO2 in FIG. 3 ), and the area on the predicted vehicle movement trajectory (e.g., RO1 to RO7 in FIG. 3 ). The map information MP may be two-dimensional information as shown in FIG. 3 , or three-dimensional information. The waiting information 52 includes one or more first waiting positions where vehicles, including the subject vehicle and other vehicles, have previously waited after entering the parking facility and before reaching the target parking position. The waiting information 52 is set based on the positions where each vehicle has previously stopped in the parking facility. If the layout of the parking facilities is the same, it is assumed that each vehicle will stop while maintaining an appropriate distance from other vehicles and structures, so the waiting position where the vehicle actually stopped is stored as the first waiting position.The waiting information 52 includes the number of times the vehicle has actually stopped in association with the first waiting position, and the position where the number of times the vehicle has stopped may be designated as the first waiting position. The waiting information 52 includes first waiting positions associated with location information or identification information of the parking facility and identification information of the target parking position of the parking facility. Each first waiting position is assigned an order in which the vehicle stops from entering the parking facility until reaching the target parking position. The vehicle moves through the first waiting positions according to the stopping order and heads toward the target parking position. The waiting information 52 also includes first waiting positions associated with an order of waiting for the target parking position of the parking facility. For example, a first waiting position close to the target parking position is assigned an earlier order, which is relatively closer to 1, and a first waiting position farther from the target parking position is assigned a later order. Each time parking at the target parking position is completed, a process of moving up the waiting order is performed. Furthermore, the waiting information 52 may include the parking mode (forward parking, backward parking) and the type of parking control (remote parking, manned autonomous parking, manned manual parking) of the parking control that parked the vehicle at the target parking position. The parking mode or type of parking control may be associated with the target parking position where the vehicle was parked and the first waiting position where the vehicle stopped.

[0015] The reference features 53 are information referenced by the processor 10 when performing parking control using the memory function. The reference features 53 are stored for each target parking position or target waiting position. The processor 10 performs parking control or movement control using the memory function using the reference features 53 stored in the storage device 5. The reference features 53 are features recognized from the detection information of each sensor 2, including each target parking position or target waiting position where the host vehicle has previously stopped. The features are features recognized from image information and / or features recognized from radar measurement information. The acquired features are feature vectors including feature elements recognized from the detection information of each sensor 2 and their quantities. The processor 10 reads the reference features 53 when performing parking control or movement control using the memory function and identifies reference features 53 having features that match the acquired features. There is a high probability that the location where the identified reference features 53 were obtained will match the location where the acquired features were obtained. The processor 10 compares each feature of the reference features 53 with each feature of the acquired features and calculates the current position of the host vehicle and the target parking position or waiting position in the reference features 53. The processor 10 corrects the current position if there is a discrepancy between the positions of the captured feature and the reference feature 53, calculates a target parking position or a target waiting position, and calculates a target route from the current position of the vehicle to the target parking position or the target waiting position. The vehicle controller 4 moves the vehicle along the target route and stops it at the target parking position or the target waiting position.

[0016] The parking assistance method is used in a processor 10. The processor 10 included in the control device 1 of the parking assistance device 200 includes a ROM (Read Only Memory) 12 storing a program for assisting in the execution of manual parking control or autonomous parking control, a CPU (Central Processing Unit) 11 that executes the program stored in the ROM 12, and a RAM (Random Access Memory) 13 that functions as accessible memory. The processor 10 may use an MPU (Micro Processing Unit) or a GPU (Graphics Processing Unit) instead of a CPU, or may be configured with an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The processor 10 implements the parking assistance method using each piece of hardware in the parking assistance system 100. The processor 10 assists in parking control by moving the host vehicle to a target waiting position, stopping the host vehicle, waiting until it is possible to move to the target parking position, and then moving the host vehicle to the target parking position.

[0017] The parking assistance device 200 includes an input device 20 and an output device 30. The input device 20 has an input function for accepting user information input, and the output device 30 has an output function for presenting the processor 10's judgment and the surrounding situation. The input device 20 includes a touch panel display, a pointer or cursor switch for moving an object, a microphone, a steering wheel, an accelerator, and a brake. The output device 30 includes a display, a touch panel display, and a speaker. A touch panel display may also be used as an input / output device with input and output functions. Input information includes designation of a waiting position, change of waiting position, approval of a target waiting position, approval of a target parking position, a manual parking command, an autonomous parking command, and a remote parking command. Output information includes parking facility information including map information MP, a first waiting position, a second waiting position, a target waiting position, a target parking position, a surrounding image, a parking route, and a travel route. The communication device 40 exchanges information with each device in the parking assistance device 200 and the server 300.

[0018] In this embodiment, the server 300 is a parking information device 301 installed in a parking facility. The parking information device 301 includes multiple sensors 302 installed in the parking facility and detects the number of vehicles entering and exiting the parking facility, the order in which each vehicle entered, and the location of each vehicle. The sensors 302 include a camera 321 similar to the previously described camera 21 and a radar device 322 similar to the previously described radar device 22, and monitor the location and movement (position changes) of each object. The storage device 305 includes parking information 350 similar to the previously described parking information 50, parking facility information 351 similar to the previously described parking facility information 51, waiting information 352 similar to the previously described waiting information 52, and reference features 353 similar to the previously described reference features 53. Since the information content is common, redundant explanations will be omitted and the previous explanations will be incorporated herein by reference. The communication device 340 communicates with the communication device 40 of the parking assistance device 200 and provides the parking assistance device 200 with one or more of the detection information from the sensor 302, parking information 350, parking facility information 351, waiting information 352, and reference features 353.

[0019] The processor 10 executes a parking assistance method for assisting parking control to park a vehicle at a target waiting position or target parking position provided in a parking facility. The control procedure of the parking assistance method for assisting a vehicle in parking at a target waiting position or target parking position will be described with reference to FIG. 2 . The processor 10 acquires the current position of the vehicle from the position detection device 31 and determines whether the vehicle has entered the parking facility based on the distance between the current position and the parking facility (S1). The parking facility is a parking lot where a vehicle that has entered the parking facility waits until it is possible to move to a target parking position and then moves to that target parking position. The parking facility is, for example, a multi-story tower-type mechanical parking lot with parking spaces on multiple floors. In a parking facility with such a structure, a transport pallet for moving to a parking space on another floor is provided at the target parking position. One or more vehicles that have entered the parking facility wait until it is possible to move to a target parking position and then move to that target parking position. Each vehicle moves to a target parking position in order of entry, stops there, waits until it is possible to move to the target parking position, and then moves to one target parking position. Because the number of target parking positions is fewer than the number of parking spaces available, there are often situations in which a parking facility has more vehicles than the number of target parking positions, waiting for their turn to move to a target parking position. In such a multi-layered mechanical parking facility, it is preferable to appropriately set waiting positions for multiple vehicles waiting to move to one target parking position. When the waiting vehicles include a mixture of manually driven vehicles and autonomously driven vehicles, the appropriate waiting position for each vehicle will differ. Specifically, the route and waiting position of a manually driven vehicle from entering the parking facility to exiting it will vary depending on the driver. If a manually driven vehicle freely determines its waiting position, it may get too close to the waiting position set for the autonomously driven vehicle. Therefore, when an autonomously driven vehicle is moved to a predetermined waiting position, an automatically driven vehicle may get too close to the manually driven vehicle. In addition, it may be difficult for a manually driven vehicle to move to a waiting position set for an automatically driven vehicle.

[0020] FIG. 3 shows an example of a multi-story parking facility as viewed from above. This plan view is used as the map information MP of the parking facility information 51 described above. The map information MP detects the vehicle's location based on images captured by a camera 321 installed at an elevated location in the parking facility or a camera 21 installed in each vehicle, and displays the detection results superimposed on pre-stored area information for the parking facility PA. The location of each vehicle may also be detected using measurement results from a radar device 322 installed in the parking facility or a radar device 22 installed in each vehicle. The processor 10 calculates the location of each vehicle at a predetermined interval and updates the current location of each vehicle in the map information MP of the parking facility information 51. The parking facility includes an entrance (IN), an exit (EX), and multi-story tower-type parking lots TWP1 and TWP2. The tower-type parking lot has a single target parking location where a vehicle can drive itself and multiple parking locations at different heights. The multi-story structure may extend into the sky or underground. The two-dimensional positions of the target parking position and the actual parking position of the transfer destination may be the same or different. A pallet that can be transferred up and down (and also left and right) is provided at the target parking position. The pallet carries a vehicle and moves up and down (and also left and right) to move the vehicle from the target parking position to the actual parking position.

[0021] Returning to FIG. 2 , when the host vehicle V1 moves from the road to the entrance IN of the parking facility PA and determines that the host vehicle has entered the parking facility PA (S1), the processor 10 acquires detection information from the sensor 2 of the host vehicle V1 or the sensor 302 of the server 300 (S2). The processor 10 then determines whether a waiting state is occurring before moving to the target parking position TP1 / TP2 (S3). If a waiting state is not occurring (NO in S3), setting a waiting position is unnecessary, and the process returns to START. The presence or absence of waiting (necessity) is determined based on the detection information from the sensors 2 and 302 regarding the presence or absence of a vehicle at the first waiting position and whether or not moving to the target parking position TP1 / TP2 is possible. If the target parking position TP1 / TP2 is vacant and the movement trajectory can be calculated, it is determined that moving to the target parking position TP1 / TP2 is possible. If a waiting state is occurring (YES in S3), the processor 10 calculates the positions of the vehicles, including the host vehicle V1 and the other vehicles V2 / V3, based on the detection information (S4). The processor 10 refers to the map information MP included in the parking facility information 51 (S5) and calculates the positions of the host vehicle V1 and the other vehicles V2 / V3 in the parking facility (S6). The host vehicle V1, which entered the parking facility after the other vehicles V2 and V3, waits in line in a location that does not obstruct the movement of the other vehicles V2, V3, and the newly entering other vehicles until the other vehicles V2 / V3 have completed parking.

[0022] The processor 10 accesses the storage device 5 and reads the waiting information 52 stored in the storage device 5 (S7). The waiting information 52 includes a first waiting position. The first waiting position is stored in association with identification information of the target parking position at which the vehicle will wait. This is because there is a possibility that different waiting positions will be required to approach different target parking positions. The processor 10 can set the position where the closest vehicle ahead of the vehicle is located as the first waiting position. When the vehicle is waiting behind a vehicle that entered the parking facility earlier according to the waiting order, the vehicle can move to the waiting position where the previous vehicle was located, following the example of the previous vehicle, allowing the vehicle to move to the target parking position according to the waiting order without disrupting the line of waiting vehicles.

[0023] The processor 10 acquires one or more first waiting positions where vehicles, including the own vehicle and other vehicles, have previously waited after entering the parking facility and before reaching the target parking position from the waiting information 52 (S8). The first waiting positions are stopping positions of vehicles (including the own vehicle) that have previously used the parking facility. Although not particularly limited, the first waiting positions may be stopping positions where the own vehicle or other vehicles have actually waited a predetermined number of times or more.

[0024] The first waiting position (and the second waiting position as well) may be a first waiting position assigned a type that is the same as the type of parking control used when the host vehicle was previously parked at a target parking position in a parking facility. The types of parking control include unmanned remote parking, manned autonomous parking, and manned manual parking. The first waiting position (and the second waiting position as well) may be a first waiting position assigned a type that is the same as the type of parking control planned for the host vehicle. The type of parking control used for the host vehicle may be stored in advance, may be input by the user, may determine whether the vehicle is manned or unmanned based on a vehicle occupancy sensor, or may determine whether remote parking is being performed based on a signal emitted by a remote controller used for remote parking. Furthermore, the processor 10 can select a waiting position according to the type of parking control. When the processor 10 determines that the type of parking control is unmanned autonomous remote parking control, it selects, as the first waiting position, one of a position with a relatively high ease of entry and exit, a position with a relatively high ease of remote operation, and a position with a relatively low amount of user movement during remote operation. As one example, the first standby position may be selected so that the distance between the remote operator and the vehicle is within a predetermined distance (e.g., 6 m) as a location where the ease of remote operation is relatively high. The first standby position may be selected so that a predetermined percentage or more of the route from the standby position to the target parking position is within a predetermined distance (e.g., 6 m) from the walking area where the remote operator is located as a location where the amount of movement of the user during remote operation is relatively low. This reduces the burden on the operator executing remote parking control. When the processor 10 determines that the type of parking control is manned autonomous parking control, it selects as the first standby position a location where the ease of getting in and out of the vehicle for the driver or passengers and / or the ease of loading and unloading luggage is relatively high. As a location with a relatively high ease of getting on and off, a location that satisfies one or more of the following may be selected as the first waiting location: a location where the occupant can walk after getting off (a location where the vehicle cannot enter), a location with a roof that blocks rain and snow, a location with a relatively large clearance between the door and obstacles (including structures such as walls), and a location close to the entrance and exit of the parking facility. This information is stored in waiting information 52 in association with each first waiting location.This improves occupant convenience, such as making it easier to get in and out of the vehicle after autonomous parking control. When the parking control type is manned manual parking control, processor 10 selects as the first waiting position a location that does not interfere with the flow of other vehicles, a location that is relatively easy for the driver to get in and out of, a location that is relatively easy for passengers to get in and out of, and a location with a roof. For example, when manual parking control is used, a location that requires fewer turns and / or a relatively large turning radius and allows the vehicle to move to the target parking position via a relatively easy route may be selected as the first waiting position. Location characteristics that contribute to improving the ease of getting in and out of the vehicle (close to a sidewalk, covered, wide clearance, close to an entrance / exit) are stored in waiting information 52. This reduces the burden on the driver who performs manual parking control.

[0025] The processor 10 determines whether an obstacle exists within a predetermined distance range of the first waiting position (S9). Obstacles include moving objects such as other vehicles and pedestrians, structures such as pillars and walls, fixtures such as fire hydrants, and other objects. The distance between the first waiting position and the obstacle may be calculated based on an image captured by the camera 21 or the camera 321, or based on measurement information from the radar device 22 or the radar device 322. If no obstacle exists within the predetermined distance range of the first waiting position (NO in S9), the processor 10 determines the first waiting position as the target waiting position (S11). If an obstacle exists within the predetermined distance range of the first waiting position, the processor 10 calculates a second waiting position different from the first waiting position (S10). The processor 10 calculates the second waiting position based on detection information of the locations of vehicles, including the subject vehicle and other vehicles, present in the parking facility by referring to the parking facility information 51 or the map information MP for the parking facility. The processor 10 determines the calculated second waiting position as the target waiting position (S11). In this way, by calculating the second waiting position according to the status of the parking facility and the status of the vehicles using the parking facility, it is possible to calculate a second waiting position as a target waiting position that suits the current situation. For example, a position to which vehicles, including the vehicle and other vehicles present in the parking facility, can move can be calculated as the second waiting position.

[0026] The processor 10 determines the number of vehicles using the parking facility or the interference between the host vehicle and the other vehicle's position as the status of the vehicles using the parking facility, and calculates the second waiting position accordingly. Specifically, the processor 10 calculates the second waiting position so that the number of vehicles using the parking facility is relatively large. As an example of the calculation process of the second waiting position, the processor 10 may execute an optimization process that satisfies an optimization evaluation index that maximizes the number of vehicles present in a pool area of ​​the parking facility where vehicles can move, calculate an optimized second waiting position, and determine the second waiting position as the target waiting position. By performing an optimization process using such an optimization evaluation index in the calculation process, it is possible to calculate a second waiting position that is a target waiting position suitable for both the host vehicle and the other vehicle while maximizing the number of vehicles using the parking facility. Furthermore, the processor 10 executes an optimization process that satisfies an optimization evaluation index that minimizes interference between the other vehicle's current position or the other vehicle's predicted movement trajectory and the waiting position candidate, calculate an optimized second waiting position, and determine the second waiting position as the target waiting position. The optimization evaluation index that minimizes interference may be defined as an evaluation index that minimizes one or more of the maximum value, median value, average value, and deviation value of the distance between the location of the other vehicle or the predicted movement trajectory of the other vehicle and the candidate waiting position. By performing optimization processing using such an optimization evaluation index, it is possible to calculate a second waiting position as a target waiting position that is suitable for both the host vehicle and the other vehicle, while minimizing the possibility of interference between the location of the other vehicle or the predicted movement trajectory of the other vehicle and the candidate waiting position where the host vehicle will wait.

[0027] The processor 10 refers to the parking facility information 51 and does not determine a target waiting position that includes a prohibited area (e.g., any one or more of RO1 to RO7 shown in FIG. 3 ). By preventing the host vehicle from stopping in a location where multiple vehicles pass, multiple vehicles can move smoothly to their target parking positions in the parking facility. As a result, the number of vehicles that can wait in the parking facility can be kept high while keeping the user's waiting time short. The processor 10 also stores the waiting order of the target parking positions in association with the first waiting positions as waiting information 52 in the storage device 5. Waiting order number 1 is the first waiting position where the waiting vehicle that moves to the target parking position first waits. The first waiting position associated with waiting order number 1 is the waiting position closest to or easiest to reach the target parking position. It is preferable that the first waiting position in the waiting order be a position that allows the vehicle to enter the target parking position by driving straight ahead. The first waiting position in the waiting order number 2, which is the next waiting position after waiting order number 1, is the waiting position that is second closest to or easiest to reach the target parking position. Similarly, a first waiting position is defined according to the waiting order from number 3 onwards. The waiting order of the host vehicle using the parking facility is determined based on the entry order to the parking facility. A first waiting position is proposed according to the waiting order of the host vehicle. Since the first waiting position where the host vehicle should wait can be determined according to the waiting order of the host vehicle, overtaking and cutting in can be suppressed, and each vehicle can be smoothly guided to the target parking position.

[0028] The processor 10 presents (outputs) the target waiting position to the user using the output device 30 of the parking assistance device 200 of the host vehicle (S12). The user manually drives the host vehicle V1 to the presented target waiting position (S13). The processor 10 also outputs the target waiting position to the vehicle controller 4 that executes parking control of the host vehicle (S12). The vehicle controller 4 autonomously drives the host vehicle to the target waiting position (S13). It is determined whether the target waiting position is the position closest to the target parking position (S14). The target waiting position closest to the target parking position may be the entrance position of the target parking position. The target waiting position closest to the target parking position may be the waiting position that is first in the waiting order of the target parking position. If the target waiting position is not the position closest to the target parking position (NO in S14), a waiting position closest to the target parking position is determined as the target waiting position (S15). The newly determined target waiting position is output to the output device 30 or the vehicle controller 4 (S12), and the host vehicle is moved to the newly determined target waiting position. If the target waiting position is closest to the target parking position (YES in S14), the processor 10 stops the host vehicle at the target waiting position and then moves the host vehicle to the target parking position (S16). The processor 10 moves the host vehicle to the target parking position by autonomous driving, autonomous driving using a memory function, or manual driving. This allows an appropriate waiting position to be set in the parking facility regardless of whether manual driving or autonomous driving is used. Unless the layout of the parking facility has been significantly changed, the stopping positions at which vehicles stop from the entrance to the target parking position are likely to be the same. However, the number and locations of other vehicles are not always the same. This process allows the host vehicle to select an appropriate waiting position when waiting occurs in the parking facility and indicate an appropriate waiting position based on the situation of the parking facility when the host vehicle enters the parking facility.

[0029] After the movement, the processor 10 stores the target waiting position to which the host vehicle was moved as the first waiting position in the waiting information 52 in the storage device 5 (S17). Since the actual location where the host vehicle stopped is stored in the waiting information 52 as the first waiting position, a waiting position appropriate for the actual conditions of the parking facility can be provided as the first waiting position the next time the parking facility is used. The processor 10 updates the waiting information each time the first waiting position is calculated (S18). If the same location is stored as the first waiting position, the number of times the first waiting position has been used is counted up and updated. Furthermore, the processor 10 may store one or more waiting positions (including the first waiting position, the second waiting position, and the target waiting position) at which the host vehicle stopped on the way from the entrance IN to the target parking position after moving to the target parking position as the first waiting position in the waiting information 52, with a stopping order attached. The stopping order may be stored as the waiting order. Furthermore, in the storage process of S17, if vehicles, including the host vehicle and other vehicles, have waited at a common target waiting position a predetermined number of times or more, the processor 10 updates the first waiting position in the waiting information. This allows the first waiting position, where the own vehicle or another vehicle has waited a predetermined number of times or more, to be proposed as the first parking position the next time the parking facility is used. In the storage process of S17, processor 10 determines whether the parking control executed at the target parking position was unmanned remote parking control, manned parking control, or manual parking control, and stores the determined type of parking control as waiting information in association with the first waiting position. This allows the first waiting position associated with the same type of parking control executed by the own vehicle or another vehicle in the past to be proposed as the first parking position the next time the parking facility is used.

[0030] Specifically, the parking assistance process of this embodiment will be described based on the state shown in FIG. 3. The host vehicle V1 moves from the driveway to the entrance IN of the parking facility PA and enters the parking facility PA. The parking information providing device 301 determines the order in which the vehicles will enter the parking facility PA based on the detection information and detection time of the sensors 2 and 302. The processor 10 calculates the waiting order from the entry order. In this example, six other vehicles have already entered the parking facility PA in the order of other vehicle V21, other vehicle V31, other vehicle V22, other vehicle V32, other vehicle V23, and other vehicle V33, and the host vehicle V1 will enter the parking facility PA seventh, following other vehicle V33. The processor 10 advances the waiting order when a vehicle moves to a target parking position and is transferred to another level. In the parking lot TWP1 of the parking facility PA in FIG. 3, the other vehicle V21 is moving to another level above or below, and the other vehicles V22 and V23 are waiting. In parking lot TWP2 of parking facility PA, another vehicle V31 is moving to target parking position TP2, and other vehicles V32 and V33 are waiting. Excluding two other vehicles V21 and V31 moving to parking positions on other levels, the host vehicle V1's waiting order is fifth. The entry order determination result is provided to processor 10. Furthermore, when the host vehicle enters parking facility PA, processor 10 obtains, from waiting information 52 stored in storage device 5, one or more first waiting positions AW1-AW7 where vehicles, including the host vehicle V1 and other vehicles V2 and V3, have previously waited after entering parking facility PA and before reaching target parking position TP. At this time, processor 10 may obtain first waiting positions AW5-AW7 where other vehicles are already waiting, excluding first waiting positions AW1-AW4 where other vehicles are already waiting. The first waiting positions AW1-AW7 are stored for each parking facility PA, each parking facility TWP1 / TWP2, and each target parking position TP1 / TP2. The first waiting positions AW1 to AW7 are stored in association with a waiting order based on the entry order to the parking facility PA. As an example, the first waiting position AW1 is number 1 in the waiting order, the first waiting position AW3 is number 2 in the waiting order, the first waiting position AW2 is number 3 in the waiting order, the first waiting position AW4 is number 4 in the waiting order, the first waiting position AW5 is number 5 in the waiting order, the first waiting position AW6 is number 6 in the waiting order, and the first waiting position AW7 is number 7 in the waiting order.The processor 10 determines that the host vehicle V1 is number 5 in the waiting order and acquires the first waiting position AW5 and first waiting positions AW6 and AW7 where the host vehicle V1 can wait (where no other vehicles are waiting). By assigning waiting orders to the first waiting positions in this way, the processor 10 can select a first waiting position according to the waiting order of the host vehicle V1 when the host vehicle V1 enters the parking facility PA. The processor 10 prepares a parking plan including a movement trajectory for the host vehicle V1 to move to one of the waiting positions AW5 to AW7 where the host vehicle V1 will wait before moving to the target parking position TP1, stop the host vehicle V1, and wait for the preceding other vehicles V21, V22, and V23 to complete parking, and then move to the target parking position TP1 after the preceding other vehicles V21, V22, and V23.

[0031] In the example of FIG. 3, the processor 10 acquires a first waiting position AW5. The processor 10 determines whether an obstacle exists within a predetermined distance range of the selected first waiting position AW5. The processor 10 determines that an obstacle OB exists at a position at a distance D less than the predetermined distance from the first waiting position AW5. In this case, the processor 10 calculates a second waiting position different from the first waiting position AW5. Specifically, the processor 10 calculates a second waiting position AW6 associated with a second waiting order that is next to the first waiting order associated with the first waiting position AW5. The processor 10 sets the second waiting position AW6 as the target waiting position. On the other hand, if no obstacle exists within the predetermined distance range of the selected first waiting position AW5, the processor 10 sets the first waiting position AW5 as the target waiting position. The processor 10 outputs the target waiting position to the host vehicle V1. The processor 10 presents the target waiting position or map information MP including the target waiting position on a display having an input / output function as the output device 30. The processor 10 outputs position information of the target waiting position to the vehicle controller 4 and uses the vehicle controller 4 to autonomously drive the host vehicle V1 to the target waiting position AW6. The processor 10 may also move the host vehicle V1 to the target waiting position AW6 through autonomous parking control using a memory function. In the case of manual driving, the user manually drives the host vehicle V1 to the target waiting position AW6 displayed on the display. The processor 10 then determines that the target waiting position AW6 is not the closest position to the target parking position TP and moves the host vehicle to another target waiting position AW that is closer to the target parking position TP. When the other vehicles V21 and V22 move to the target parking position TP (pallet) in the parking lot TWP1 and move to parking positions on other levels, the host vehicle V1 becomes first in the waiting order. The processor 10 moves the host vehicle V1, which is waiting at the target waiting position AW6, to the target waiting position AW1 that is closest to the target parking position TP. The host vehicle V1 moves from the target waiting position AW6 to the target waiting position AW1 via waiting positions V11, V12, and V13. The processor 10 stops the host vehicle at the target waiting position AW1 and then moves the host vehicle to the target parking position TP1.

[0032] Second Embodiment In the second embodiment, a position change command is received from a user regarding the first standby position acquired in S8 of FIG. 2. The processor 10 presents the first standby position on an output device and accepts an input of a position change command for the first standby position. Specifically, the processor 10 presents the acquired first standby position on a touch-panel display serving as an output device 30 equipped with input / output functions (S1a). The processor 10 determines whether an input signal for a position change command for the first standby position has been input (S1b). If an input signal for a position change command has been input (YES in S1b), the processor 10 changes the first standby position according to the position change command (S1c). The position change command is a command to set a new first standby position AW5a by sliding a finger in one or more directions SL1, SL2, SL3, SL4, and SL5 while touching the frame of the presented first standby position AW5, as shown in FIG. 3. The user may use a pointer or cursor switch (not shown) to move the presentation frame (object) of the first waiting position AW5 to the first waiting position AW5a. The processor 10 may request input of a command to complete setting a new first waiting position AW5a. This allows the user to change the pre-stored first waiting position. The appropriate waiting position varies depending on the user. This is because the distance required to avoid approaching other vehicles varies from user to user. One user may prioritize ease of movement to the target parking position and want to shorten the distance to obstacles, while another user may prioritize increasing the distance to obstacles and want to wait at a location farther away from the target parking position. In this way, the first waiting position can be adjusted in response to the user's position change command, allowing the user to set a waiting position that feels optimal. The processor 10 can calculate the first waiting position in response to the position change command (S1d). The processor 10 calculates the first waiting position from detection information about the vehicle's current location and presents the calculated first waiting position on the output device 30. For example, a position to which vehicles, including the vehicle itself and other vehicles, present in the parking facility can move can be calculated as the first waiting position. For example, in the calculation process of S1c, the processor 10 may perform an optimization process as a calculation process in the process of determining the first waiting position AW5a.When a position change command is input, the processor 10 may refer to the parking facility information 51 and perform optimization processing based on detection information of the locations of vehicles, including the subject vehicle and other vehicles, present in the parking facility. While not particularly limited, the processor 10 may execute optimization processing to satisfy the aforementioned optimization evaluation index of maximizing the number of vehicles present in the pool area within which vehicles in the parking facility can move, and minimizing interference between the locations or predicted movement trajectories of other vehicles and candidate waiting positions. Changing the first waiting position may affect the waiting positions of other vehicles. If other waiting positions are changed by the optimization processing, map information MP including the changed first waiting position and the other waiting positions may be displayed on the display. This allows the user to confirm the optimal waiting position that changes in response to the input of the position change command, allowing the user to determine the appropriateness of the position change command at the time of input. This allows the user to optimize the stored first waiting position in accordance with the user's preferences and the current vehicle layout. Furthermore, the processor 10 calculates a changeable area for the first waiting position, presents the first waiting position and the changeable area on the output device 30, and accepts an input of a position change command for the first waiting position. Specifically, when presenting (S1a) the acquired first waiting position (S8), the processor 10 calculates (S2a) the changeable area for the first waiting position by referring to the parking facility information 51. The processor 10 calculates the changeable area including the first waiting position. The processor 10 calculates the area other than the prohibited area and into which the host vehicle V1 can move as the changeable area for the first waiting position. In the example shown in FIG. 3, the first waiting position AW5 and the changeable area AW5b are presented on the touch panel display serving as the output device 30 (S2b). The changeable area AW6b is set for the first waiting position AW6, and the changeable area AW7b is set for the first waiting position AW7. By presenting the changeable area together with the first standby position to the user, the user can recognize to what extent the first standby position can be changed, and can change the first standby position within an appropriate range.

[0033] Third Embodiment Similarly, the processor 10 receives a position change command from the user for the second standby position calculated in S10 of FIG. 2. In the example of FIG. 3, the distance D between the first standby position AW5 and the obstacle OB is less than a predetermined value, and a portion of the changed first standby position AW5a overlaps with the obstacle OB (the distance between the two is less than the predetermined value). Therefore, a second standby position AW6 different from the first standby positions AW5 and AW5a is calculated. A position change command from the user is received for the second standby position acquired in S10 of FIG. 2. Specifically, the processor 10 displays the calculated second standby position on a touch-panel display serving as the output device 30 with input / output capabilities (S3a). The processor 10 determines whether an input signal for a position change command for the second standby position has been input (S3b). If an input signal for a position change command has been input (YES in S3b), the processor 10 changes the second standby position in accordance with the position change command (S3c). The method for inputting the position change command is the same as that for the first standby position, and the description thereof is incorporated herein. As in the second embodiment, the first waiting position can be adjusted in response to a user's position change command, allowing the user to set a waiting position that they feel is optimal. The processor 10 can calculate a second waiting position in response to the position change command (S3d). The processor 10 calculates the second waiting position from detection information on the vehicle's current location and presents the calculated second waiting position on the output device 30. For example, the processor 10 can calculate a position to which vehicles, including the user's vehicle and other vehicles, present in the parking facility can move as the second waiting position. For example, in the calculation process of S3c, an optimization process may be performed based on the calculated second waiting position as an example of the calculation process (S3d). When a position change command is input, the processor 10 may refer to the parking facility information 51 and perform the optimization process based on detection information on the current locations of vehicles, including the user's vehicle and other vehicles, present in the parking facility (S3d). The optimization process is the same as for the first waiting position, and the description thereof is incorporated herein. This allows the calculated second waiting position to be optimized in accordance with the current vehicle layout. Furthermore, the processor 10 calculates a changeable area of ​​the second standby position, presents the second standby position and the changeable area on the output device 30, and accepts input of a position change command for the second standby position.Specifically, when presenting (S3a) the calculated (S10) second standby position, the processor 10 calculates (S4a) a changeable area of ​​the calculated (S10) second standby position by referring to the parking facility information 51. The method for calculating the changeable area of ​​the second standby position is the same as that for the first standby position, and therefore the description of the second embodiment is incorporated herein. In the example shown in FIG. 3 , the second standby position (AW6 in FIG. 3 ) and a changeable area AW6b are presented on a touch panel display serving as the output device 30 (S4b). The changeable area AW6b is set for the second standby position AW6, and the changeable area AW7b is set for the second standby position AW7. By presenting the changeable area together with the second standby position to the user, the user can recognize the extent to which the second standby position can be changed, allowing the user to change the first standby position within an appropriate range.

[0034] 100... parking assistance system, 200, 200n... parking assistance device, 1... control device, 10... processor, 11... CPU, 12... ROM, 13... RAM, 20... input device, 30... output device, 40... communication device, 2... sensor, 21... camera, 22... radar device, 3... navigation device, 31... position detection device, 32... map information, 4...vehicle controller, 41...steering control device, 42...drive control device, 5...storage device, 50...parking information, 51...parking facility information, MP...map information, 52...waiting information, 53...reference feature, 400...communication network, 300...server, 301...parking information providing device, 302...server sensor, 321...server camera, 322...server radar device, 340...server communication device, 305...server storage device, 350...parking information stored in server, 351...parking facility information stored in server, 3MP...map information stored in server, 352...waiting information stored in server, 353...reference feature stored in server

Claims

1. A parking assistance method used in a processor to assist parking control to park a host vehicle at a target parking position provided in a parking facility, wherein the processor, when the host vehicle enters the parking facility, obtains, from waiting information of the parking facility stored in a storage device, one or more first waiting positions where vehicles, including the host vehicle and other vehicles, have waited in the past after entering the parking facility and before reaching the target parking position, and if no obstacle is present within a predetermined distance range of the first waiting position, determines the first waiting position as the target waiting position, and if the obstacle is present within the predetermined distance range of the first waiting position, calculates a second waiting position different from the first waiting position and determines the second waiting position as the target waiting position, and outputs the target waiting position to the host vehicle, and moves the host vehicle to the target waiting position, stops the host vehicle, and waits until it is possible to move the host vehicle to the target parking position, and then moves the host vehicle to the target parking position.

2. The parking assistance method according to claim 1, wherein the parking facility is a parking lot in which the vehicle that has entered the parking facility waits until it is possible to move to one of the target parking positions, and then moves to that one of the target parking positions.

3. The parking assistance method according to claim 1 or 2, wherein the processor refers to parking facility information of the parking facility, calculates the second waiting position based on detection information of the location of the vehicle in the parking facility, and determines the calculated second waiting position as the target waiting position.

4. A parking assistance method according to any one of claims 1 to 3, wherein the processor stores the target waiting position to which the host vehicle has been moved in the storage device as the first waiting position of the waiting information.

5. A parking assistance method according to any one of claims 1 to 4, wherein the processor presents the first waiting position or the second waiting position on an output device and accepts input of a position change command for the first waiting position or the second waiting position.

6. A parking assistance method according to any one of claims 1 to 4, wherein the processor calculates a changeable area of ​​the first waiting position or the second waiting position, presents the first waiting position or the second waiting position and the changeable area on an output device, and accepts input of a position change command for the first waiting position or the second waiting position.

7. A parking assistance method as described in claim 5 or 6, wherein, when the position change command is input, the processor refers to parking facility information of the parking facility, calculates the first waiting position or the second waiting position based on detection information of the location of the vehicle in the parking facility, and presents the calculated first waiting position or the second waiting position on the output device.

8. The parking facility information of the parking facility includes, as prohibited areas, one or more of the following areas: the entrance area of ​​the parking facility, the area from the entrance of the parking facility to the target parking position, the entry / exit area of ​​the target parking position, the area from the target parking position to the exit of the parking facility, the exit area of ​​the parking facility, and the area on the predicted movement trajectory of the vehicle; and the processor refers to the parking facility information and does not determine the target waiting position to include the prohibited area.

9. A parking assistance method according to any one of claims 1 to 8, wherein the processor stores the waiting order of the target parking position as the waiting information in association with the first waiting position.

10. A parking assistance method according to any one of claims 1 to 9, wherein the processor updates the first waiting position in the waiting information when the vehicle has stopped at the common target waiting position a predetermined number of times or more.

11. A parking assistance method as described in any one of claims 1 to 10, wherein the processor determines whether the parking control executed at the target parking position is unmanned remote parking control, manned parking control, or manual parking control, and stores the determined type of parking control as the waiting information in association with the first waiting position.

12. A parking assistance device comprising a processor and assisting parking control to park a vehicle at a target parking position provided in a parking facility, wherein the processor, when the vehicle enters the parking facility, obtains, from waiting information of the parking facility stored in a storage device, one or more first waiting positions where vehicles, including the vehicle and other vehicles, have waited in the past after entering the parking facility and before reaching the target parking position, and determines the first waiting position as the target waiting position if no obstacle is present within a predetermined distance range of the first waiting position, and calculates a second waiting position different from the first waiting position and determines the second waiting position as the target waiting position if an obstacle is present within the predetermined distance range of the first waiting position, and outputs the target waiting position to the vehicle, and assists parking control to move the vehicle to the target waiting position, stop the vehicle, wait until it is possible to move the vehicle to the target parking position, and then move the vehicle to the target parking position.

Images