JP7532043B2 - Parking Assistance Device - Google Patents

Description

This disclosure relates to a parking assistance device.

Inventions relating to parking assistance devices have been known for some time (see Patent Document 1 below). The parking assistance device described in Patent Document 1 includes a path calculation unit, a movement control unit, and a detection unit (see the document, abstract, etc.). The path calculation unit calculates a movement path from a vehicle position on a road including a path the vehicle has already traveled to a first target position for parallel parking, the movement path including a first planned turning position at which the vehicle will turn before proceeding to the first target position. The movement control unit moves the vehicle to the first target position by steering control based on the movement path. The detection unit detects an object that exists in the traveling direction of the vehicle.

The movement control unit further moves the vehicle according to the movement path, and, if the detection unit detects an object before the vehicle moves to the first planned turning position, causes the vehicle to turn at a first position before contacting the object. The movement control unit then corrects the movement path from the first planned turning position to the first target position based on the positional relationship between the first planned turning position and the first position on the road side of the first planned turning position. The movement control unit then moves the vehicle according to the corrected movement path to a second target position shifted toward the road side from the first target position.

JP 2018-036915 A

In the above conventional parking assistance device, the movement control unit corrects the movement path based on the positional relationship between the first planned turning position that was initially calculated and the first position, which is the turning position before contacting a newly detected object on the road side of the first planned turning position. Therefore, when the movement control unit moves the vehicle to a second target position that is shifted toward the road side from the first target position according to the corrected movement path, the vehicle may stray toward the road side, causing the vehicle occupants to feel unnatural or unsafe.

This disclosure provides a parking assistance device that can park a vehicle in a more appropriate position.

One aspect of the present disclosure is a parking assistance device that calculates a planned parking position and a driving route for a vehicle, and that acquires external environment information around the vehicle from an external environment sensor mounted on the vehicle, recognizes an object based on the external environment information, calculates the planned parking position based on the position of the object, calculates the driving route from a control start position of the vehicle to the planned parking position, and, if an obstacle is recognized based on the external environment information after the vehicle starts moving along the driving route, calculates a correctable range of the planned parking position based on the position of the obstacle, and calculates the driving route to a corrected parking position included in the correctable range.

This disclosure provides a parking assistance device that can park a vehicle in a more appropriate position.

1 is a block diagram of a vehicle equipped with a parking assistance device according to an embodiment of the present disclosure. FIG. 2 is a block diagram showing a schematic configuration of the parking assistance device shown in FIG. 1 . FIG. 2 is a functional block diagram of the parking assistance device of FIG. 1 . FIG. 2 is a flow chart showing an example of a process performed by the parking assistance device of FIG. 1 . FIG. 2 is a plan view showing a scene in which a vehicle equipped with the parking assistance device of FIG. 1 performs parallel parking. 6 is an enlarged view showing the state in which the vehicle in FIG. 5 has stopped in front of an obstacle; FIG. 2 is a plan view showing a scene in which a vehicle equipped with the parking assistance device of FIG. 1 performs parallel parking. 8 is an enlarged view showing the state in which the vehicle in FIG. 7 has stopped in front of an obstacle;

Below, an embodiment of the parking assistance device according to the present disclosure will be described with reference to the drawings.

Figure 1 is a block diagram showing the schematic configuration of a vehicle 1 equipped with a parking assistance device 10 according to this embodiment. The parking assistance device 10 according to this embodiment is an electronic control unit (ECU) that is installed in the vehicle 1, such as a passenger car, truck, or bus, and that provides parking assistance for the vehicle 1.

In the example shown in FIG. 1, the vehicle 1 equipped with the parking assistance device 10 includes, for example, wheels 2, a vehicle sensor 3, an external sensor 4, a steering wheel 5, an electric power steering device 6, a vehicle control device 7, and a display device 8. In the example shown in FIG. 1, the parking assistance system of the vehicle 1 is configured by, for example, the vehicle sensor 3, the external sensor 4, the vehicle control device 7, the parking assistance device 10, and various actuators not shown.

The wheels 2 include, for example, left and right front wheels and left and right rear wheels. The left and right front wheels 2 are steered wheels that are steered by, for example, an electric power steering device 6 via a steering mechanism (not shown). The left and right rear wheels 2 are drive wheels that are driven by, for example, a drive source such as an engine or a motor (not shown) via a power transmission mechanism (not shown). Note that the left and right front wheels 2 may be drive wheels.

The vehicle sensor 3 is a sensor that detects vehicle information Iv such as the speed, acceleration, angular velocity, and position information of the vehicle 1. The vehicle sensor 3 includes, for example, a wheel speed sensor 3a. The wheel speed sensor 3a detects, for example, the rotational speeds rs of the left and right front wheels 2 and the left and right rear wheels 2, and outputs the rotational speeds rs to the parking assistance device 10. The vehicle sensor 3 includes, for example, an acceleration sensor, an angular velocity sensor, and a global navigation satellite system (GNSS), which are not shown.

The external sensor 4 is a sensor that detects external information Ie around the vehicle 1. The external sensor 4 includes, for example, a camera 4a and an ultrasonic sensor 4b. The external sensor 4 may also include sensors other than the camera 4a and the ultrasonic sensor 4b, such as LiDAR.

Camera 4a is, for example, a monocular camera or a stereo camera, and is installed at the front, rear, and left and right sides of vehicle 1 at an appropriate angle and field of view so as to capture images of objects, road surfaces, road markings, and the like around vehicle 1. Camera 4a outputs image information g to parking assistance device 10 as external environment information Ie around vehicle 1.

The ultrasonic sensor 4b is provided, for example, on the front, left and right corners, and left and right sides of the front of the vehicle 1, and on the front, left and right corners, and left and right sides of the rear of the vehicle 1. The ultrasonic sensor 4b transmits ultrasonic waves as a transmission wave and receives a reflected wave reflected by an object around the vehicle 1 to detect the distance d to the object around the vehicle 1, and outputs it to the parking assistance device 10 as external environment information Ie.

The steering wheel 5 rotates at a steering angle according to the steering operation of the driver of the vehicle 1. In addition, the steering wheel 5 is automatically operated, for example, by a steering actuator (not shown).

The electric power steering device 6 assists the driver in operating the steering wheel 5 and steers the wheels 2, which are the steered wheels, according to the steering angle of the steering wheel 5. The electric power steering device 6 includes, for example, a steering angle sensor, a steering assist motor, and a steering ECU, all of which are not shown.

The steering angle sensor detects the steering angle θ of the steering wheel 5 and outputs it to the steering ECU, the vehicle control device 7, and the parking assistance device 10. The steering assist motor assists the steering torque that steers the wheels 2, which are the steered wheels, via a steering mechanism (not shown). The steering ECU is an electronic control device for steering, and controls the steering assist motor according to the steering angle of the steering wheel, thereby controlling the steering torque.

The vehicle control device 7 is an ECU that performs automatic parking or parking assistance for the vehicle 1 based on the driving route Rp and the planned parking position Lp of the vehicle 1 input from the parking assistance device 10. More specifically, the vehicle control device 7 can be configured, for example, by a microcontroller or firmware that includes a central processing unit (CPU) (not shown), storage devices such as ROM and RAM, input/output circuits that input and output data, and a timer.

The vehicle control device 7, for example, executes a program stored in a storage device using a CPU and controls various actuators (not shown) mounted on the vehicle 1 to automatically operate the vehicle 1 or assist the driver in operating the vehicle 1. The operation of the vehicle 1 here is, for example, all or at least one of the steering operation, shift operation, accelerator operation, and brake operation.

The display device 8 is, for example, a liquid crystal display device, an organic EL display device, or a head-up display installed near the driver's seat of the vehicle 1, and displays various information to the driver of the vehicle 1. The display device 8 displays, for example, an image of the surroundings of the vehicle 1 captured by the camera 4a and processed by the parking assistance device 10. The display device 8 also displays, for example, information such as the planned parking position Lp and the driving route Rp calculated by the parking assistance device 10. The display device 8 is equipped with an information input device such as a touch panel, a keyboard, a switch, or a voice input device, and outputs various information Ii input by the driver's operation to the parking assistance device 10.

The configuration of the parking assistance device 10 of this embodiment will be described in detail below with reference to Figures 2 and 3. Figure 2 is a block diagram that shows a schematic configuration of the parking assistance device 10 of this embodiment. Figure 3 is a functional block diagram that explains each function of the parking assistance device 10 of this embodiment.

The parking assistance device 10 of this embodiment is a device that calculates a planned parking position Lp and a driving route Rp of the vehicle 1. The parking assistance device 10 is, for example, an ECU configured with a microcontroller. As shown in FIG. 2, the parking assistance device 10 includes, for example, a circuit board 11 and a CPU 12.

The circuit board 11 includes, for example, an A/D converter 11a, a storage device 11b such as a RAM or ROM, and an input/output circuit (not shown). The parking assistance device 10 is connected to the vehicle sensor 3, the external sensor 4, the electric power steering device 6, and the vehicle control device 7, as shown in FIG. 1, via the input/output circuit of the circuit board 11. The parking assistance device 10 receives, for example, external information Ie output from the external sensor 4 and vehicle information Iv output from the vehicle sensor 3 as input.

More specifically, the parking assistance device 10 receives, for example, image information g output from the camera 4a and the direction and distance d to objects around the vehicle 1 output from the ultrasonic sensor 4b. The parking assistance device 10 also receives, for example, the rotation speed rs of the wheels 2 output from the wheel speed sensor 3a and the steering angle θ of the steering wheel 5 output from the steering angle sensor of the electric power steering device 6.

The CPU 12 is connected to the circuit board 11, for example, via an input/output circuit (not shown), and transmits and receives information between the A/D converter 11a and the memory device 11b mounted on the circuit board 11. The CPU 12 also executes a program stored in the memory device 11b to acquire various information input to the parking assistance device 10 via the input/output circuit (not shown), and executes various processes as shown in FIG. 4.

As shown in FIG. 3, the parking assistance device 10 of this embodiment includes, for example, a position estimation function F11, a calculation analysis function F12, and a path calculation function F13. Each function of the parking assistance device 10 shown in FIG. 3 can be realized, for example, by the CPU 12 executing a program stored in the storage device 11b.

An example of the processing performed by the parking assistance device 10 will be described below. FIG. 4 is a flow diagram showing an example of the processing performed by the parking assistance device 10 of this embodiment. FIG. 5 is a plan view showing a scene in which a vehicle 1 equipped with the parking assistance device 10 of this embodiment performs parallel parking between vehicles V1 and V2 parked on the side of the road.

Assuming that the driver of vehicle 1 equipped with parking assistance device 10 is manually driving on road R as shown in FIG. 5, for example, finds a parking space between parked vehicles V1 and V2 on the side of the road, and decelerates and stops vehicle 1 to park it. The driver operates the touch panel of display device 8, for example, to input information Ii for starting driving assistance to parking assistance device 10.

For example, information Ii for starting driving assistance input via the touch panel of the display device 8 is input to the position estimation function F11 of the parking assistance device 10 as shown in FIG. 3. This starts the processing by the parking assistance device 10 shown in FIG. 4. For example, the driver manually drives the vehicle 1 to the side of the parked vehicle V1 in front of the parking space, and stops the vehicle in a position diagonally forward of the parking space suitable for parallel parking.

During this time, the parking assistance device 10 executes process P1, for example, by using the position estimation function F11 to acquire vehicle information Iv of the vehicle 1 from the vehicle sensor 3 mounted on the vehicle 1 and estimate the position of the vehicle 1. More specifically, in process P1, the position estimation function F11 acquires the rotation speed rs of each wheel 2 from the wheel speed sensor 3a and calculates the speed of the vehicle 1. Also, in process P1, the position estimation function F11 acquires the steering angle θ from the steering angle sensor of the electric power steering device 6 and calculates the traveling direction of the vehicle 1.

Furthermore, in process P1, the position estimation function F11 calculates the coordinate position of the vehicle 1 based on the speed and traveling direction of the vehicle 1. Note that in process P1, the position estimation function F11 may acquire the coordinate position of the vehicle 1 from, for example, the GNSS. The position information of the vehicle 1 calculated or acquired by the position estimation function F11 is input, for example, to the calculation analysis function F12 and the route calculation function F13.

Next, the parking assistance device 10 executes a process P2 in which, for example, the calculation and analysis function F12 acquires external environment information Ie around the vehicle 1 from the external environment sensor 4 mounted on the vehicle 1. More specifically, in the process P2, the calculation and analysis function F12 acquires, for example, image information g from the camera 4a, and acquires the direction and distance d to objects around the vehicle 1 from the ultrasonic sensor 4b.

Next, the parking assistance device 10 executes a process P3 in which the calculation and analysis function F12 recognizes objects around the vehicle 1 based on the external environment information Ie. More specifically, in process P3, the calculation and analysis function F12 performs image processing on the image information g to recognize objects around the vehicle 1.

More specifically, the calculation and analysis function F12, for example, determines the type of object recognized by pattern matching, and calculates the distance to the recognized object based on the parallax image. The calculation and analysis function F12 also corrects the distance to the object based on the direction and distance d of the object obtained by the ultrasonic sensor 4b, for example. In addition, in process P3, the calculation and analysis function F12 calculates the position Po of the object, i.e., coordinate information, based on the direction and distance of the recognized object, for example.

In process P3, the objects recognized by the calculation and analysis function F12 include, for example, parked vehicles V1 and V2 around the vehicle 1, the road R, the sidewalk W, the curb C, road markings, road signs, pedestrians, and other obstacles. In process P3, the calculation and analysis function F12 stores the position Po of the recognized object in the storage device 11b and outputs it to the vehicle control device 7.

Next, the parking assistance device 10 executes process P4, for example, using the calculation and analysis function F12 to calculate the planned parking position Lp based on the object position Po recognized in process P3. In this process P4, the calculation and analysis function F12 compares the space required to park the vehicle 1 based on the specifications of the vehicle 1, such as the overall width, overall length, and overall height, with the space on the side of the road, i.e., the sidewalk W side of the road R, that is free of obstacles.

Furthermore, if the result of the above comparison in process P4 indicates that there is a space on the side of the road necessary to park the vehicle 1, the calculation and analysis function F12 sets the planned parking position Lp in that space based on the position Po of the object recognized in process P3. At this time, the calculation and analysis function F12 sets the planned parking position Lp so that, for example, a predetermined distance is secured between the recognized object and the parked vehicle 1 in both the vehicle width direction and the front-rear direction.

In the example shown in FIG. 5, only one planned parking position Lp is set between parked vehicles V1 and V2. However, if there is a large space around vehicle 1, for example when there are no parked vehicles V1 and V2, multiple planned parking positions Lp may be set behind vehicle 1. In process P4, the calculation and analysis function F12 outputs, for example, the set one or more planned parking positions Lp to the route calculation function F13.

In the example shown in FIG. 5, the parking assistance device 10 recognizes the parked vehicle V1 on the left side of the vehicle 1, the parked vehicle V2 behind the vehicle 1, and the curb C on the sidewalk W side of the intended parking position Lp as objects based on the external environment information Ie. Also, in the example shown in FIG. 5, the parking assistance device 10 recognizes the coordinate point sequence Sc indicating the position of the curb C, which is the object position Po, as a coordinate point sequence Sc on the sidewalk W side of the actual position of the curb C. Similarly, in the example shown in FIG. 5, the parking assistance device 10 recognizes the coordinate point sequence Sb indicating the position of the parked vehicle V2, which is the object position Po behind the vehicle 1, as a coordinate point sequence Sb behind the actual position of the parked vehicle V2.

Such a deviation between the actual position of the object and the position Po of the object recognized by the parking assistance device 10, i.e., the coordinate point sequence Sc and the coordinate point sequence Sb, is due to, for example, the relationship between the distance or angle from the external sensor 4 to the object and the detection accuracy of the external sensor 4. For example, when the distance from the external sensor 4 to the object increases, or when the angle between the optical axis direction or normal direction of the external sensor 4 and the direction of the object increases, the detection accuracy of the object by the external sensor 4 tends to decrease. Also, as shown in FIG. 5, at the control start position Dp before the vehicle 1 first starts to reverse, it may not be possible to recognize part of the curb C at the back of the intended parking position Lp or part of the parked vehicle V2 behind the intended parking position Lp.

Therefore, in process P4, the calculation and analysis function F12 of the parking assistance device 10 may set the planned parking position Lp of the vehicle 1 to a position closer to the curb C than the appropriate position, or to a position closer to the parked vehicle V2, as shown in FIG. 5, for example. In this way, the planned parking position Lp set by the calculation and analysis function F12 before the vehicle 1 first starts backing up is corrected to an appropriate position by the process executed by the parking assistance device 10, which will be described later.

Next, the parking assistance device 10 executes process P5, for example, by using the calculation and analysis function F12 to output the planned parking position Lp calculated in process P4 to the display device 8 for display. In this process P5, the calculation and analysis function F12 processes, for example, the image information g input from the camera 4a to generate an overhead image of the surroundings of the vehicle 1, and displays an image in which the planned parking position Lp is superimposed on the overhead image on the display device 8.

Next, the parking assistance device 10 executes a process P6 in which, for example, the route calculation function F13 determines whether the driver has selected one or more planned parking positions Lp obtained from the calculation analysis function F12. More specifically, the route calculation function F13, for example, selects the planned parking position Lp displayed on the display device 8 using the touch panel or voice input device of the display device 8. Then, information Ii of the planned parking position Lp selected from the display device 8 is input to the route calculation function F13, and the route calculation function F13 determines that the driver has selected the planned parking position Lp (YES). In this case, the route calculation function F13 executes a process P7 in which the next driving route Rp is calculated.

On the other hand, in process P6, for example, if the driver cancels the planned parking position Lp displayed on the display device 8 using the touch panel of the display device 8 or a voice input device, parking assistance cancellation information Ii is input from the display device 8 to the route calculation function F13. Then, the route calculation function F13 determines that the driver did not select the planned parking position Lp (NO). In this case, the parking assistance device 10 returns to process P1 and repeatedly executes processes P1 to P6.

In addition, in the above-mentioned process P4, if the calculation and analysis function F12, for example, compares the specifications of the vehicle 1 with the space around the vehicle 1 and determines that there is no space required to park the vehicle 1, then in the next process P5, the planned parking position Lp is not displayed on the display device 8. Furthermore, in the next process P6, the route calculation function F13 determines, for example, that the planned parking position Lp has not been selected (NO). In this case, the parking assistance device 10 returns to process P1 and repeatedly executes processes P1 to P6.

As described above, when the route calculation function F13 determines in process P6 that the planned parking position Lp has been selected (YES), it executes process P7 to calculate the driving route Rp. In this process P7, the route calculation function F13 calculates the driving route Rp of the vehicle 1 based on, for example, the positions Po of objects around the vehicle 1 input from the position estimation function F11 and the planned parking position Lp input from the calculation analysis function F12 and selected by the driver.

More specifically, in process P7, the route calculation function F13 acquires the coordinate point sequence Sa, Sb, Sc based on the external environment information Ie at the control start position Dp where the vehicle 1 first starts to reverse after stopping, and the planned parking position Lp selected by the driver, as shown in FIG. 5. Then, based on the coordinate point sequence Sa, Sb, Sc and the specifications of the vehicle 1, the route calculation function F13 calculates the driving route Rp from the control start position Dp of the vehicle 1 shown in FIG. 5 to the planned parking position Lp so that the vehicle 1 does not come into contact with the parked vehicles V1, V2 and the curb C. In addition, the route calculation function F13 outputs the calculated driving route Rp to the vehicle control device 7.

Next, the vehicle control device 7 shown in FIG. 1 executes process P8 to move the vehicle 1 shown in FIG. 4. In process P8, when the vehicle control device 7 detects, for example, by a sensor that detects the depression force on the brake pedal (not shown), that the driver of the vehicle 1 has released the brake pedal, the vehicle control device 7 automatically drives the vehicle 1 along the driving route Rp.

More specifically, the vehicle control device 7 controls, for example, various actuators of the vehicle 1 (not shown) to automatically operate the accelerator pedal, brake pedal, shift lever, steering wheel 5, etc. of the vehicle 1, and causes the vehicle 1 to travel along the travel route Rp. Note that, when the travel route Rp includes a forward route and a reverse route, the vehicle control device 7 causes the vehicle 1 to travel forward along the travel route Rp up to a turning position where the vehicle 1 switches between forward and reverse, and stops the vehicle 1 at the turning position, and then the vehicle control device 7 causes the vehicle 1 to initially reverse along the travel route Rp from the control start position Dp, which is the turning position.

When the vehicle control device 7 starts moving the vehicle 1 in process P8, the parking assistance device 10 executes process P9 to acquire external information Ie, for example, by the calculation and analysis function F12. Next, the parking assistance device 10 executes process P10 to determine whether an obstacle has been recognized, for example, by the calculation and analysis function F12.

In this process P10, the calculation and analysis function F12 recognizes an object based on, for example, the external world information Ie. Furthermore, the calculation and analysis function F12 determines whether or not an obstacle that may come into contact with the vehicle 1 has been recognized at a position different from the coordinate point sequence Sa, Sb, Sc, which is the position Po of the object recognized before the vehicle 1 starts moving along the driving path Rp. In this process P10, if the calculation and analysis function F12 determines that an obstacle that may come into contact with the vehicle 1 has not been recognized (NO), the parking assistance device 10 executes the next process P11.

In process P11, the parking assistance device 10, for example, uses the position estimation function F11 to estimate the position of the vehicle 1 based on the vehicle information Iv, and determines whether the vehicle 1 has reached the intended parking position Lp, which is the target position. In this process P11, if the position estimation function F11 determines that the vehicle 1 has not reached the target position (NO), the parking assistance device 10 repeatedly executes processes P8 to P11.

In addition, in process P10, when the calculation and analysis function F12 determines that an obstacle that may come into contact with the vehicle 1 has been recognized (YES), it outputs the position of the obstacle to the vehicle control device 7 as the position Po of a new object. The vehicle control device 7 then executes process P12 to stop the vehicle 1 in front of the obstacle. In this process P12, the vehicle control device 7 calculates the speed of the vehicle 1 based on the rotation speed rs of the wheels 2 acquired from the wheel speed sensor 3a, calculates the braking distance according to the speed of the vehicle 1, and stops the vehicle 1 at a stopping position in front of the obstacle.

Figure 6 is an enlarged view showing the state in which the vehicle 1 shown in Figure 5 has stopped in front of the curb C, which is an obstacle. When the vehicle 1 backs up along the travel path Rp and approaches the curb C and the parked vehicle V2, the external sensor 4 is able to more accurately detect the coordinate point sequence Sc' and the coordinate point sequence Sb' as the positions Po of the curb C and the parked vehicle V2.

As a result, the distance between the intended parking position Lp, which was set or recognized at the control start position Dp before starting movement along the travel path Rp, and the curb C or the parked vehicle V2 becomes closer than expected, or they overlap. This may cause the vehicle 1 to come into contact with an obstacle such as the curb C or the parked vehicle V2, or may cause problems when getting on or off the vehicle 1. In such a case, in process P12, the vehicle control device 7 stops the vehicle 1 in front of the obstacle, the curb C or the parked vehicle V2, as shown in FIG. 6.

Next, the parking assistance device 10 executes a process P13 to calculate a correctable range A of the planned parking position Lp, for example, by using the calculation analysis function F12. Here, the correctable range A is a range in which the planned parking position Lp can be appropriately set. In other words, when the planned parking position Lp is included in the correctable range A, an appropriate distance is ensured between the vehicle 1 parked at the planned parking position Lp and surrounding obstacles, and it is possible to prevent the vehicle 1 from protruding into the road R to an extent that the driver feels unnatural or dangerous.

The road R side boundary Br of the correctable range A can be set, for example, as follows. First, the coordinate point located closest to the road R side is extracted from the coordinate point sequence Sa' and coordinate point sequence Sb' of the parked vehicles V1 and V2, which are obstacles recognized after the vehicle 1 starts moving along the driving route Rp. Next, the road R side boundary Br of the correctable range A is set based on the extracted coordinate point located closest to the road R side in the width direction of the vehicle 1 and the allowable protrusion amount Q of the planned parking position Lp from that coordinate point to the road R side. This allowable protrusion amount Q can be set within a predetermined range that does not cause discomfort, for example, 5 cm or less, 10 cm or less, or 15 cm or less, on the road R side of the coordinate point located closest to the road R side of the parked vehicles V1 and V2 in the vehicle width direction of the vehicle 1.

The sidewalk W side boundary Bw of the correctable range A can be set, for example, as follows. First, the coordinate point located closest to the road R side is extracted from the coordinate point sequence Sc' of the curb C, which is an obstacle recognized after the vehicle 1 starts moving along the driving route Rp. Next, the sidewalk W side boundary Bw of the correctable range A is set based on the minimum width of the gap between the extracted coordinate point of the curb C located closest to the road R side in the width direction of the vehicle 1 and the intended parking position Lp. This minimum width of the gap on the sidewalk W side is, for example, an appropriate range that can reliably avoid contact with the curb C when the vehicle 1 is not getting on or off from the sidewalk W side, and can be set to an appropriate range that does not interfere with getting on or off when the vehicle 1 is getting on or off from the sidewalk W side.

The boundary Bw on the sidewalk W side of the correctable range A can be set, for example, as follows. First, if the obstacle is located on the opposite side of the control start position Dp, i.e., on the sidewalk W side, in the width direction of the vehicle 1 with respect to the intended parking position Lp, the type of obstacle is determined. Next, depending on the type of obstacle determined, the distance Gs between the obstacle and the correctable range A, i.e., the distance Gs between the obstacle and the sidewalk W side boundary Bw of the correctable range A, is set. More specifically, for example, if the obstacle is a curb C, the distance Gs between the correctable range A and the obstacle is set smaller than in the case of an obstacle such as a fence or wall that is higher than the curb C.

Furthermore, the boundaries Bf, Bb of the correctable range A in front and behind the vehicle 1 can be set, for example, based on the coordinate point sequence Sa' and coordinate point sequence Sb' of the parked vehicles V1, V2, which are obstacles recognized after the vehicle 1 starts moving along the driving route Rp. More specifically, the boundaries of the correctable range A in front and behind the vehicle 1 are set so that appropriate intervals Ga, Gb are secured between the vehicle 1 parked at the intended parking position Lp and the coordinate point sequence Sa' and coordinate point sequence Sb' of the parked vehicles V1, V2. These appropriate intervals Ga, Gb are, for example, the intervals Ga, Gb at which the vehicle 1 parked at the intended parking position Lp can exit from between the parked vehicles V1, V2 to the road R.

As described above, in process P13, the parking assistance device 10 can, for example, use the calculation and analysis function F12 to set boundaries Bf, Bb, Br, and Bw in front of and behind the vehicle 1, on the road R side, and on the sidewalk W side of the correction possible range A, and define the correction possible range A. Next, the parking assistance device 10 executes process P14, for example, using the calculation and analysis function F12 to calculate a corrected parking position Lp' within the correction possible range A, and using the route calculation function F13 to calculate a driving route Rp' from the current position of the vehicle 1 to the corrected parking position Lp'.

In this process P14, if the parking assistance device 10 is able to calculate a driving route Rp' from the current position of the vehicle 1 to the corrected parking position Lp' using, for example, the route calculation function F13, it displays, for example, the new driving route Rp' on the display device 8. The driver uses, for example, an input device such as a touch panel to select or cancel the new driving route Rp' displayed on the display device 8.

When the driver selects a new driving route Rp', the vehicle control device 7 executes process P8 to drive the vehicle 1 along the new driving route Rp'. The vehicle control device 7 and the parking assistance device 10 then repeat processes P8 to P11, causing the vehicle 1 to drive along the new driving route Rp' and reach the corrected parking position Lp'. Then, in process P11, the vehicle control device 7 determines that the vehicle 1 has reached the target position (YES), executes process P15 to stop the vehicle 1, and the parking assistance process flow shown in FIG. 4 ends.

In addition, in process P14, if the parking assistance device 10 cannot calculate the driving route Rp' from the current position of the vehicle 1 to the corrected parking position Lp', for example, by using the route calculation function F13, the parking assistance device 10 calculates the driving route to the control start position Dp where the vehicle 1 first started to reverse. Furthermore, the parking assistance device 10 calculates the driving route from the control start position Dp to the corrected parking position Lp' after the correction, for example, by using the route calculation function F13. Thereafter, the vehicle control device 7 and the parking assistance device 10 repeat processes P8 to P11, so that the vehicle 1 drives along the new driving route and reaches the corrected parking position Lp'.

Figure 7 is a plan view showing a scene in which a vehicle 1 equipped with the parking assistance device 10 of this embodiment is parallel parking in a parking space P on the side of a road. Figure 8 is an enlarged view showing the state in which the vehicle 1 shown in Figure 7 has stopped in front of a curb C, which is an obstacle.

In the example shown in Figures 5 and 6, the calculation and analysis function F12 of the parking assistance device 10 calculated the planned parking position Lp by comparing the space required to park the vehicle 1 with the space on the side of the road, i.e., the sidewalk W side of the road R, where there are no obstacles. However, in the example shown in Figures 7 and 8, the calculation and analysis function F12 of the parking assistance device 10 can set the planned parking position Lp, for example, in the area inside the frame line F that defines the parking space P recognized based on the external environment information Ie of the external environment sensor 4.

In the example shown in Figures 7 and 8, similar to the example shown in Figures 5 and 6, at the control start position Dp where the vehicle 1 first starts to reverse, the parking assistance device 10 recognizes the position of the curb C, which is the object position Po, as a coordinate point sequence Sc that is closer to the sidewalk W than the actual position of the curb C. Therefore, in process P4 shown in Figure 4, the calculation analysis function F12 of the parking assistance device 10 may set the planned parking position Lp of the vehicle 1 to a position closer to the curb C than the appropriate position, for example, as shown in Figure 7.

In this case, in process P10 shown in FIG. 4, the calculation and analysis function F12 determines that, for example, a curb C that is an obstacle that may come into contact with the vehicle 1 has been recognized (YES), and in process P12, the vehicle control device 7 stops the vehicle 1 at a stopping position in front of the obstacle. Next, the parking assistance device 10 executes process P13, for example, using the calculation and analysis function F12 to calculate the correction possible range A of the intended parking position Lp.

As shown in FIG. 8, the boundary Bw on the sidewalk W side of the correctable range A can be set in the same way as the example shown in FIG. 6 described above. The boundary Br on the road R side of the correctable range A can be set, for example, as follows. First, the boundary Br on the road R side of the correctable range A is set based on the coordinate points p1 and p2 located closest to the road R side among the coordinate points of the frame line F of the parking space P, which is a road marking recognized after the vehicle 1 starts moving along the driving route Rp.

More specifically, the boundary Br on the road R side of the correctable range A can be set, for example, as a straight line connecting coordinate points p1 and p2 located closest to the road R side of the frame line F that defines the parking space P in front of and behind the vehicle 1. Furthermore, the boundaries Bf and Bb of the correctable range A in front of and behind the vehicle 1 can be set, for example, as a straight line in the width direction of the vehicle 1 that passes through coordinate points p1 and p2. As described above, in process P13, the parking assistance device 10 can, for example, use the calculation analysis function F12 to set the boundaries Bf, Bb, Br, and Bw of the correctable range A in front of and behind the vehicle 1, on the road R side, and on the sidewalk W side, to define the correctable range A.

Then, in the example shown in FIG. 8, similar to the example shown in FIG. 6, the parking assistance device 10 executes process P14 shown in FIG. 4, and the vehicle control device 7 and the parking assistance device 10 repeat processes P8 to P11, causing the vehicle 1 to travel along the new travel path Rp' and reach the corrected parking position Lp'. Then, in process P11, the vehicle control device 7 determines that the vehicle 1 has reached the target position (YES), executes process P15 to stop the vehicle 1, and the parking assistance process flow shown in FIG. 4 ends.

As described above, the parking assistance device 10 of this embodiment is a device that calculates the planned parking position Lp and driving route Rp of the vehicle 1. The parking assistance device 10 acquires external environment information Ie around the vehicle 1 from the external environment sensor 4 mounted on the vehicle 1, recognizes an object based on the external environment information Ie, calculates the planned parking position Lp based on the position of the object, and calculates the driving route Rp from the control start position of the vehicle 1 to the planned parking position Lp. Furthermore, when an obstacle is recognized based on the external environment information Ie after the vehicle 1 starts moving along the driving route Rp, the parking assistance device 10 calculates the correctable range A of the planned parking position Lp based on the position of the obstacle, and calculates the driving route Rp' to the corrected parking position Lp' included in the correctable range A.

With this configuration, the parking assistance device 10 can assist in parallel parking of the vehicle 1, preventing the vehicle 1 from protruding onto the road R while maintaining an appropriate distance between the vehicle 1 and obstacles on the sidewalk W side, such as a curb C. Therefore, the parking assistance device 10 of this embodiment can park the vehicle 1 in a more appropriate position, improving the safety, convenience, and sense of security of the driver and passengers of the vehicle 1.

In addition, when an obstacle is located on the opposite side of the control start position Dp from the intended parking position Lp in the width direction of the vehicle 1, the parking assistance device 10 of this embodiment determines the type of obstacle and sets the distance in the width direction between the obstacle and the correctable range A according to the type. With this configuration, in the case of a low obstacle such as a curb C, it is possible to prevent the distance between the vehicle 1 and the obstacle after parking from becoming wider than necessary. Also, in the case of a high obstacle such as a fence or wall, it is possible to ensure a distance that does not interfere with the driver and passengers getting on and off the vehicle 1.

In addition, the parking assistance device 10 of this embodiment sets the boundary of the correctable range A in the width direction of the vehicle 1 based on the position of the end of the obstacle when an obstacle such as parked vehicles V1, V2 is located in front of or behind the intended parking position Lp in the longitudinal direction of the vehicle 1. This configuration prevents the vehicle 1 from protruding too far toward the road R in the width direction of the vehicle 1 relative to the obstacle such as parked vehicles V1, V2 after the vehicle 1 is parked. This ensures the safety of the driver and passengers of the vehicle 1 and prevents the driver and passengers of the vehicle 1 from feeling unnatural or unsafe.

The parking assistance device 10 of this embodiment also recognizes frame lines F, which are road markings that indicate positions where the vehicle 1 can be parked, based on the external environment information Ie, and sets the correction range A depending on the presence or absence of road markings. This configuration makes it possible to park the vehicle 1 in an appropriate position regardless of the presence or absence of frame lines F, which are road markings that indicate positions where parking can be performed.

As described above, this embodiment provides a parking assistance device 10 that can park the vehicle 1 in a more appropriate position.

Although an embodiment of the parking assistance device according to the present disclosure has been described in detail above using the drawings, the specific configuration is not limited to this embodiment, and even if there are design changes, etc., within the scope that does not deviate from the gist of this disclosure, they are included in this disclosure.

1 Vehicle 4 External sensor 10 Parking assistance device A Correctable range Br Boundary C Curb (object, obstacle)
Dp Control start position F Frame line (object, road marking)
Ie External environment information Lp Planned parking position Lp' Corrected parking position Rp Travel route Rp' Travel route V1 Parked vehicle (object, obstacle)
V2 Parked vehicles (objects, obstacles)

Claims (1)

A parking assistance device that performs parallel parking assistance for a vehicle by calculating a planned parking position and a driving route of the vehicle,
acquiring external environment information around the vehicle from an external environment sensor mounted on the vehicle;
Recognizing an object based on the external environment information;
Calculating the intended parking position based on the position of the object;
Calculating the driving route from a control start position of the vehicle to the planned parking position;
when a parked vehicle, a curb, a fence, or a wall is recognized based on the external environment information after the vehicle has started moving along the travel route , the vehicle is stopped at a stopping position in front of the parked vehicle, the curb, the fence, or the wall, and a correctable range of the intended parking position is calculated based on the position of the parked vehicle, the curb, the fence, or the wall, and the travel route from the stopping position to a corrected parking position included in the correctable range is calculated;
In the calculation of the correction possible range, boundaries of the correction possible range are set in front of and behind the vehicle, on the road side, and on the sidewalk side;
the road side boundary of the correction possible range is set by extracting a coordinate point located closest to the road side from among a sequence of coordinate points of the parked vehicle recognized after the vehicle starts moving along the driving route, and based on the extracted coordinate point located closest to the road side in a width direction of the vehicle and an allowable protrusion amount of the intended parking position from the coordinate point toward the road side;
The sidewalk side boundary of the correctable range is
a coordinate point located closest to the road among a sequence of coordinate points of the curb recognized after the vehicle starts moving along the travel route is extracted, and the parking position is set based on a minimum width of a gap between the extracted coordinate point of the curb located closest to the road in a width direction of the vehicle and the intended parking position ;
When any one of the curb, the fence, and the wall is located on the sidewalk side with respect to the intended parking position in a width direction of the vehicle, determining the type of the curb, the fence, or the wall by pattern matching;
a distance between the sidewalk-side boundary of the correctable range and the curb when the curb is located on the sidewalk side is set to be smaller than a distance between the sidewalk-side boundary of the correctable range and either the fence or the wall when either the fence or the wall is located on the sidewalk side,
the boundaries in front and behind the vehicle of the correction possible range are set between the vehicle parked at the intended parking position and the coordinate point sequences of the parked vehicles in front and behind the vehicle so that a distance is secured between the vehicle parked at the intended parking position and the coordinate point sequences of the parked vehicles in front and behind the vehicle, allowing the vehicle parked at the intended parking position to exit to the road from between the parked vehicles in front and behind the vehicle ;
When the driving route from the stopping position to the corrected parking position included in the correction range cannot be calculated, the driving route from the stopping position to the control start position is calculated, and the driving route from the control start position to the corrected parking position is calculated.
A parking assistance device comprising:

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