JP2007076496A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To securely perform safety confirmation through a driver's visual recognition at the time of retreat parking, promptly set a target parking position and improve safety by automatically stopping a vehicle if an obstacle should be detected. <P>SOLUTION: This parking support device is provided with surrounding information acquiring parts 21, 22, 23 acquiring surrounding environment information on the vehicle; a determination part 11 determining whether or not the surrounding of the vehicle satisfies a parking safety condition based on the environment information acquired by the surrounding information acquiring parts 21, 22, 23; and a control part 12 changing a parking support function when the determination part 11 determines that the parking safety condition is not satisfied. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a parking assist technique for assisting a driving operation when a vehicle is parked.

2. Description of the Related Art Conventionally, a reverse parking assist system that assists a driver is known so that a driver can smoothly perform a parking operation when a vehicle such as an automobile is parked backward.
For example, the following Patent Document 1 discloses a method of displaying a vehicle travel prediction track line linked to a vehicle width extension line or a steering together with an image of a rear part of a vehicle taken by a monitor camera provided at the rear part of the vehicle on a back guide monitor. It is shown.

In recent years, as shown in Non-Patent Document 1 below, a reverse parking support system that performs a steering operation on behalf of the driver at the time of reverse parking has also been put into practical use, which allows the driver to perform complicated steering operation. Without doing so, it is possible to concentrate on the safety of the surroundings and adjust the speed by operating the brake, and perform reverse parking.
FIG. 7 is a diagram showing an example of a target parking position setting screen displayed on the back guide monitor during parallel parking in the conventional reverse parking support system, and FIG. 8 is displayed on the back guide monitor when entering the garage in the conventional reverse parking support system. It is a figure which shows the example of a target parking position setting screen.

The back guide monitor that displays the screens shown in FIGS. 7 and 8 is installed at a position where the driver can see in the vehicle compartment space of the vehicle, and is configured as a display with a touch panel. It is assumed that the driver can perform input operations such as selection and setting by touching the back guide monitor surface.
The target parking position setting screen 200a shown in FIG. 7 includes a target parking position frame (two-dot chain line) 201 and cursors 202-1 and 202-2 together with an image of the rear of the vehicle taken by a monitor camera provided at the rear of the vehicle. , 202-3, 202-4 are displayed.

  The target parking position frame 201 indicates the target parking position of the vehicle, and indicates the position of the vehicle when the parking is completed by a frame line. The target parking position frame 201 is set in advance in accordance with the parking space when performing reverse parking, and the reverse parking support system calculates the target trajectory to guide the vehicle to the position indicated by the target parking position frame 201. Steering is performed.

  The cursors 202-1, 202-2, 202-3, and 202-4 are for moving and arranging the target parking position frame 201. In the example shown in FIG. It is configured as a four-way cursor with -1 to 202-4. The cursor 202-2 is for moving the target parking position frame 201 upward with respect to the target parking position setting screen 200a, and the cursor 202-4 is downward with respect to the target parking position setting screen 200a. For moving the target parking position frame 201, the cursor 202-1 is to the left of the target parking position setting screen 200a, and the cursor 202-3 is to the right of the target parking position setting screen 200a. Each is for moving the target parking position frame 201.

Each time the cursor 202-1 to 202-4 is pressed or selected, the target parking position frame 201 is displayed on the target parking position setting screen 200a. 4 is moved by a predetermined distance in a direction corresponding to 4 (direction indicated by each cursor shape).
When performing parallel parking using such a conventional reverse parking support system, the driver first presses a parking support switch (not shown), then puts the shift lever into the R range, touches the touch display, etc. Use to select / input to park in parallel.

  Then, the driver repeatedly presses any of the cursors 202-1 to 202-4 on the target parking position setting screen 200a until the target parking position frame 201 moves to a desired position (parallel parking position) on the back guide monitor.・ Set the target parking position by selecting. Thereafter, the driver presses and selects the confirm button 203 to complete the setting of the target parking position.

The reverse parking assist system calculates the target trajectory to detect the brakes by the driver in order to guide the vehicle to the position indicated by the target parking position frame 201, and detects the reverse of the vehicle and the steering. Start steering. During this time, the driver checks the safety around the vehicle, and adjusts the speed by operating the brake as necessary.
The target parking position setting screen 200b shown in FIG. 8 includes a target parking position frame (two-dot chain line) 201, an eight-direction cursor 204, an image of the rear part of the vehicle taken by a monitor camera provided at the rear part of the vehicle, and The rotation direction cursors 205a and 205b are displayed.

In the figure, the same reference numerals as those already described indicate the same or substantially the same parts, and the description thereof will be omitted.
The eight-direction cursor 204 is for moving and arranging the target parking position frame 201, and is configured with eight arrows arranged radially outward and pointing in different directions from each other. Each arrow can be pressed and selected.

Then, when any arrow is pressed / selected on the eight-direction cursor 204, the target parking position setting screen 200b has a target in a direction (direction indicated by each arrow) corresponding to the pressed / selected arrow. The parking position frame 201 moves a predetermined distance.
The rotation direction cursors 205a and 205b rotate the target parking position frame 201 on the target parking position setting screen 200b, respectively. The rotation direction cursor 205a moves the target parking position frame 201 counterclockwise on the target parking position setting screen 200b. Moreover, the rotation direction cursor 205b rotates the target parking position frame 201 in the clockwise direction on the target parking position setting screen 200b.

  Even when a garage is placed using such a conventional reverse parking assistance system, the driver first presses a parking assistance switch (not shown), then puts the shift lever into the R range, and touches the display. The garage is used to perform a selection process, and then any arrow of the eight-direction cursor 204 on the target parking position setting screen 200b until the target parking position frame 201 moves to a desired position (garage position). The target parking position is set by repeatedly pressing and selecting. Then, when the driver presses / selects the confirmation button 203, the setting of the target parking position is completed.

The reverse parking assist system calculates the target trajectory to guide the vehicle to the position indicated by the target parking position frame 201, detects that the brake is released by the driver, and reverses the vehicle and steers the steering. To start. During this time, the driver checks the safety around the vehicle, and adjusts the speed by operating the brake as necessary.
JP 2000-127851 A Toyota, “Intelligent Parking Assist”, [online], [Search July 5, 2005], Internet <http://www.toyota.co.jp/company/prius/advanced_eq/ipa.html>

However, in the conventional reverse parking support system as described above, if the vehicle travel prediction track line is always displayed on the back monitor during reverse parking, the driver depends on the information displayed on the back monitor. There is a risk of performing reverse parking without sufficiently confirming safety around the vehicle by visual recognition.
Further, in a conventional reverse parking support system that performs a steering operation on behalf of the driver during reverse parking, target parking performed by repeatedly pressing the arrows of the cursors 202-1 to 202-4 and the eight-direction cursor 204 Setting the position is complicated, and it takes time to set the target parking position, and there is a problem that the backward parking cannot be performed quickly.

  The present invention has been devised in view of such a problem. In reverse parking, the driver can confirm safety by visual recognition, and can quickly set a target parking position. An object is to improve safety by automatically stopping the vehicle when an obstacle is detected.

  For this reason, the parking support device of the present invention (Claim 1) is a parking support device having a parking support function that can be provided to the driver of the vehicle when the vehicle is parked, and is environmental information around the vehicle. A surrounding information acquisition unit that acquires the vehicle information, a determination unit that determines whether or not the surroundings of the vehicle satisfy a parking safety condition based on the environmental information acquired by the surrounding information acquisition unit, and the determination unit And a controller that changes the parking assist function when it is determined that the parking safety condition is not satisfied.

  The ambient information acquisition unit is configured as an imaging unit that captures the surrounding environment of the vehicle, and is configured to include a display unit that can display an image captured by the imaging unit. A predicted travel trajectory display function for displaying a predicted travel trajectory of the vehicle on the display unit together with an image of the surrounding environment of the vehicle captured by the photographing unit, and the determination unit satisfies the parking safety condition When it is determined that there is not, the control unit may suppress the operation of the progress prediction trajectory display function (claim 2).

Further, as the parking support function, a vehicle width extension line display function for displaying a vehicle width extension line indicating the vehicle width of the vehicle on the display unit together with an image of the surrounding environment of the vehicle photographed by the photographing unit. (Claim 3).
Further, the ambient information acquisition unit is a temperature sensor that measures the ambient temperature of the vehicle, and the parking safety is determined when the ambient temperature of the vehicle exceeds a preset reference temperature. It may be determined that the condition is not satisfied (claim 4).

Furthermore, when the ambient information acquisition unit is an illuminance sensor that measures the brightness of the surroundings of the vehicle, and the determination unit is less than a preset reference illuminance, It may be determined that the parking safety condition is not satisfied (claim 5).
Furthermore, the surrounding information acquisition unit is an obstacle sensor capable of detecting the presence or absence of an obstacle around the vehicle, and the determination unit has the obstacle around the vehicle by the obstacle sensor. May be determined that the parking safety condition is not satisfied (Claim 6).

In addition, when the determination unit detects that there is the obstacle around the vehicle by the obstacle sensor while the parking support function is operating, the vehicle is automatically stopped and the driving is performed. Guidance regarding brake operation and surrounding confirmation may be given to a person (claim 7).
Furthermore, a parking target position setting unit capable of setting a parking target position for parking the vehicle may be provided (claim 8), and the target parking set by the parking target position setting unit from the current position of the vehicle. A target trajectory calculation unit that calculates a trajectory of the vehicle to a position as a target trajectory may be provided (claim 9), and the vehicle is moved along the target trajectory calculated by the target trajectory calculation unit. You may provide the automatic steering control part which performs steering control of a vehicle (Claim 10).

The parking target position setting unit determines whether the parking target position can be set. The parking target position setting determination unit is configured to determine whether the parking target position can be set. When it is determined that the setting of the parking target position by the position setting unit is impossible, a notification unit that notifies the driver of the fact may be provided (claim 11).
In addition, a display control unit that displays a parking target position candidate by the parking target position setting unit together with an image captured by the imaging unit on the display unit is provided, and the display unit causes a contact object to contact the surface. This is configured as a display device with a touch panel in which an input operation is performed, and the display control unit follows the contact movement of the contact object on the touch panel and moves and displays the parking target position candidate on the display unit. (Claim 12).

  Further, the parking support function includes a guidance function that provides guidance to the driver, and the control unit changes the guidance pattern based on the environmental information acquired by the surrounding information acquisition unit. (Claim 13).

According to the present invention, at least one of the following effects or advantages can be obtained.
(1) When it is determined that the parking safety conditions are not met, the parking assistance function is changed, and the driver is alerted to the surrounding environment, thereby improving safety during reverse parking. To do.
(2) When it is determined that the parking safety condition is not satisfied, by not displaying the travel prediction trajectory on the display unit, it is easier for the driver to see the surrounding image on the display unit, and the display unit It is easy to perform safety confirmation using the image displayed on the screen. It can also be expected to avoid conflict with the Product Liability Act (PL Act).

(3) The parking target position candidates can be easily moved and set, and operability can be improved.
(4) Safety can be improved by the obstacle detection and automatic stop function around the vehicle.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram schematically showing a configuration of a parking support system (parking support apparatus) as an embodiment of the present invention. The parking assist system 100 is mounted on a vehicle 1 (see FIG. 2A) and assists the driver of the vehicle 1 when parking.
As shown in FIG. 1, the parking support system 100 includes a temperature sensor 21, an illuminance sensor 22, an obstacle sensor 23, a speaker 25, a monitor camera 24, a touch display 31 (display unit, input unit), a CPU (Central Processing Unit). 10) The brake pedal SW41 and the parking assist SW51 are provided.

  The parking assist system 100 is communicably connected to the steering control unit 101 and the vehicle speed control unit 102 of the vehicle 1, and receives information related to steering (such as the amount of steering angle displacement) from the steering control unit 101. 1 is received from the vehicle speed controller 102, such as information on the speed of 1 and the position (R position, etc.) of a shift lever (not shown) of the transmission. Further, as will be described later, the parking assist system 100 controls the steering control unit 101 and the vehicle speed control unit 102 to cause the vehicle 1 to be steered and moved backward, and also controls the braking control unit 103 to control the vehicle 1. It is supposed to stop.

  2 (a), (b), (c), (d), (e), (f), and (g) are provided in a vehicle 1 provided with a parking assistance system 100 as an embodiment of the present invention. 2A and 2B are diagrams for explaining various sensors, in which FIG. 2A is a diagram showing a mounting position of various sensors in the vehicle 1, FIG. 2B is a diagram showing a mounting position of a clearance sonar in a vehicle front portion, FIG. (C) is a diagram showing the mounting position of the clearance sonar in the rear part of the vehicle, FIG. 2 (d) is a diagram showing the mounting position of the back camera, FIG. 2 (e) is a diagram showing the mounting position of the illuminance sensor, FIG. f) is a diagram schematically showing an overview of the illuminance sensor, and FIG. 2G is a diagram schematically showing an overview of the outside air sensor.

  The temperature sensor (ambient information acquisition unit) 21 measures the ambient temperature of the vehicle 1. In the example shown in FIGS. 2 (a) and 2 (g), the temperature sensor 21 is configured as an outside air sensor provided in an air intake opening at the front of the vehicle 1, and the temperature of the outside air entering the air intake is measured. By measuring, the ambient temperature of the vehicle 1 is measured.

  The illuminance sensor (ambient information acquisition unit) 22 measures the brightness (illuminance) around the vehicle 1. In the example shown in FIGS. 2 (a) and 2 (e), the front of the vehicle 1. Illuminance sensor 22 attached to the upper part of the glass integrally with the rearview mirror is shown, and in the example shown in FIGS. 2 (a) and 2 (f), the illuminance sensor attached to the lower part of the windshield of vehicle 1 is shown. 22 is shown.

  The obstacle sensor (ambient information acquisition unit) 23 detects the presence or absence of an obstacle around the vehicle 1. For example, the obstacle sensor (ambient information acquisition unit) 23 emits an ultrasonic wave and measures the ultrasonic wave bounced off the object. It is configured as an ultrasonic sonar (clearance sonar) that detects the presence and distance of the object. In the example shown in FIGS. 2 (a) and 2 (b), an obstacle sensor 23 is attached at both front corners of the vehicle 1, and in the example shown in FIGS. 2 (a) and 2 (c). Obstacle sensors 23 are attached to both rear corners of the vehicle 1, and when there are some obstacles in the traveling direction of the vehicle 1, the presence and distance are detected by these obstacle sensors 23. ing.

The brake pedal SW (switch) 41 is a switch that changes its state as the brake pedal (not shown) is depressed, detects that the brake pedal has been depressed, and stops the vehicle 1 based on the driver's intention. Thus, it is possible to detect whether or not the operation has been performed, and to function as a driver operation detection unit.
The parking assistance SW (switch) 51 is a switch (input unit) for setting ON / OFF of a parking assistance function (automatic steering function at the time of reverse parking; details will be described later) by the parking assistance system 100. The person sets the parking assist SW 51 to ON in order to enable the automatic steering function during reverse parking. The parking assistance SW 51 may be displayed on the touch display 31 by software, or may be provided as hardware in the passenger compartment space of the automobile.

In addition, the parking support SW 51 can be used to perform an ON / OFF operation of the entire parking support system 100.
The monitor camera (ambient information acquisition unit, photographing unit) 24 photographs the surrounding environment of the vehicle, and is attached to the rear position of the vehicle 1 in the example shown in FIGS. 2 (a) and 2 (d). A monitor camera 24 configured as a back camera for photographing the rear of the vehicle 1 is shown.

In the following, in the present embodiment, as shown in FIGS. 2A and 2D, the monitor camera 24 captures the surrounding environment on the rear side of the vehicle 1 when the vehicle 1 moves backward. Will be described.
The touch display 31 is configured as a display device with a touch panel (hereinafter referred to as a touch display), and includes, for example, a CRT (Cathode Ray Tube), an LCD (Liquid Crystal Display), and a transparent film switch. A function (display) as a display unit for displaying various information and images taken by the monitor camera 24, and an input unit (for driving various information and instructions) by an automobile passenger (driver) It also has a function as a touch panel).

Moreover, this touch display 31 is arrange | positioned in the position which a driver | operator can see in the compartment space of the vehicle 1, for example on an instrument panel or a dashboard.
Furthermore, in the parking assist system 100, when the driver sets the shift lever of the vehicle 1 to R (reverse), an image photographed by the monitor camera 24 is displayed on the touch display 31. ing.

Further, hereinafter, in the parking assistance system 100, when the vehicle 1 moves backward, displaying the rear image of the vehicle 1 taken by the monitor camera 24 on the touch display 31 may be referred to as a back guide monitor.
The speaker 25 outputs various sounds, and reproduces guidance and warning sounds as well as music by car audio based on control by the control unit 12 and the like which will be described later. .

  A CPU (Central Processing Unit) 10 performs various processes and computations in the parking support system 100. The CPU 10 executes a parking support program, and will be described later with a determination unit 11 and a control unit 12. , A display control unit 13, a notification unit 14, a parking target position setting enablement determination unit 15, a parking target position setting unit 16, a target trajectory calculation unit 17, an automatic steering control unit 18, and a parking support unit 19. .

  As a determination unit 11, a control unit 12, a display control unit 13, a notification unit 14, a parking target position setting possibility determination unit 15, a parking target position setting unit 16, a target trajectory calculation unit 17, an automatic steering control unit 18, and a parking support unit 19 When realizing this function, a program (parking support program) stored in an internal storage device (a RAM or a ROM not shown in the present embodiment) is executed by a microprocessor of the computer (a CPU 10 in the present embodiment). At this time, the computer may read and execute the program recorded on the recording medium.

  The determination unit 11, the control unit 12, the display control unit 13, the notification unit 14, the parking target position setting possibility determination unit 15, the parking target position setting unit 16, the target trajectory calculation unit 17, the automatic steering control unit 18, and the parking Programs for realizing the function as the support unit 19 include, for example, a flexible disk, CD (CD-ROM, CD-R, CD-RW, etc.), DVD (DVD-ROM, DVD-RAM, DVD-R, DVD + R, (DVD-RW, DVD + RW, etc.), magnetic disk, optical disk, magneto-optical disk, etc., may be provided in a form recorded on a computer-readable recording medium. Then, the computer reads the program from the recording medium, transfers it to the internal storage device or the external storage device, and uses it. The program may be recorded in a storage device (recording medium) such as a magnetic disk, an optical disk, or a magneto-optical disk, and provided from the storage device to the computer via a communication path.

  In the present embodiment, the computer is a concept including hardware and an operating system (OS), and means hardware that operates under the control of the operating system. Further, when an operating system is unnecessary and hardware is operated by an application program alone, the hardware itself corresponds to a computer. The hardware includes at least a microprocessor such as a CPU and means for reading a computer program recorded on a recording medium. In this embodiment, the parking support system 100 has a function as a computer. -ing

  Furthermore, as a recording medium in the present embodiment, in addition to the flexible disk, CD, DVD, magnetic disk, optical disk, and magneto-optical disk described above, an IC card, ROM cartridge, magnetic tape, punch card, computer internal storage device (RAM) In addition, various computer-readable media such as an external storage device or a printed matter on which a code such as a barcode is printed can be used.

The display control unit 13 performs control for displaying various images and information on the touch display 31.
The parking support unit 19 provides a parking support function to the driver when the vehicle 1 is parked. In this embodiment, when the vehicle 1 is parked backward, an automatic steering function, a guidance function, A width extension line display function and a progress prediction trajectory display function are provided as parking support functions.

  The automatic steering function performs a steering operation or the like on behalf of the driver during reverse parking with respect to the parking space, sets a parking target position as will be described later, and a current position of the vehicle 1 by a target trajectory calculation unit 17 (described later). To calculate a target trajectory for parking at the set parking target position, and further, by an automatic steering control unit 18 (described later), reverse and automatic steering for parking at the parking target position along the target trajectory. Is supposed to do.

The guidance function assists the driver by providing various guidance to the driver by voice or image (still image, moving image, character image, etc.).
FIG. 3 is a diagram illustrating an example of guidance displayed on the touch display 31 in the parking support system 100 according to the embodiment of the present invention. The parking support unit 19 starts the reverse parking of the vehicle 1, for example. A guidance screen 311 as shown in FIG. 3 is displayed on the touch display 31.

As shown in FIG. 3, this guidance screen 311 displays a message (character image) with a message (character image) “* Caution * Be careful about the safety of the surroundings and apply the brakes when it is dangerous” This is shown as guidance 1).
In the parking assistance system 100, when the vehicle 1 starts to park backward, the guidance 1 is displayed on the touch display 31 as default guidance.

  In addition to the guidance 1 described above, the parking support unit 19 provides “an obstacle has been detected. Operate the brakes after confirming the surrounding conditions and release the parking support” (Guidance 2), “Because the surroundings are dark, check the surroundings carefully. Please perform the brake operation at your own risk” (Guidance 3), “The road surface is slippery. Please pay attention to the brake operation ”(hereinafter referred to as guidance 4) and other messages (character images) can be displayed on the touch display 31 as guidance. Accordingly, these guidances 1 to 4 are selectively displayed on the touch display 31.

These guidances 1 to 4 are guidance related to brake operation and surrounding confirmation, and are intended to prompt the driver to check the surroundings and to provide caution and advice regarding brake operation.
In addition, when the parking assistance part 19 performs the above guidance functions, for example, the character image showing each message mentioned above is prepared beforehand, and display control is performed so that these character images are displayed on the touch display 31. The unit 13 is instructed.

Moreover, the parking assistance part 19 may not only display the above guidance on the touch display 31, but may perform guidance by reproducing the same message by voice through the speaker 25.
The vehicle width extension line display function displays a line (vehicle width extension line) indicating the vehicle width of the vehicle 1 on the touch display 31 so as to overlap the image of the surrounding environment of the vehicle 1 taken by the monitor camera 24. is there.

FIG. 4 is a diagram showing an example of a screen displayed on the touch display 31 during reverse parking in the parking support system 100 as an embodiment of the present invention. The back monitor screen 313 shown in FIG. 4 displays a vehicle width extension line (broken line) 502 and a travel prediction trajectory line (one-dot chain line) 501 superimposed on an image of the surrounding environment of the vehicle 1 taken by the monitor camera 24. ing.
As shown in FIG. 4, for example, the vehicle width extension line 502 is arranged so as to be separated by the vehicle width of the vehicle 1 and includes two lines extending in the rearward direction of the vehicle 1. The length and shape of the vehicle width extension line 502 are set in advance in accordance with the mounting position, mounting posture, shooting range, and the like of the monitor camera 24, and the parking support unit 19 uses the vehicle width extension line 502 during reverse parking. Is displayed on the touch display 31 so as to be superimposed on the video photographed by the monitor camera 24. Various known methods can be used to create and set the vehicle width extension line 502.

  The progress prediction trajectory display function predicts the travel trajectory of the vehicle 1 when reversing, and displays the trajectory (travel prediction trajectory) on the touch display 31 as a progress prediction trajectory line (course prediction line) 501. Specifically, the parking support unit 19 predicts / calculates a travel prediction trajectory of the vehicle 1 based on information on the steering angle and vehicle speed received from the steering control unit 101 and the vehicle speed control unit 102, and based on the calculation result. Thus, a predicted travel trajectory line 501 is created. Various known methods can be used for prediction / calculation of the progress prediction trajectory and creation of the progress prediction trajectory line 501.

Further, as shown in FIG. 4, the predicted travel trajectory line 501 and the vehicle width extension line 502 created by the parking support unit 19 are touched by the display control unit 13, which will be described later, overlaid with an image photographed by the monitor camera 24. It is displayed on the display 31.
In other words, the parking support unit 19 displays the vehicle width extension line 502 along with the surrounding image captured by the monitor camera 24 on the touch display 31, so that the current state (orientation, posture, etc.) of the vehicle 1 Thus, the driver can quickly and objectively grasp the current state of the vehicle 1 and the like. In particular, when the driver manually steers and performs reverse parking, the driver can easily perform reverse parking and support safer driving.

  In addition, the parking assist unit 19 displays the predicted travel trajectory line 501 together with the surrounding image on the touch display 31 so that the driver can easily understand the steering operation angle and the operation amount at the time of reverse, and the effects associated therewith. The driver can quickly and objectively grasp the traveling trajectory of the vehicle 1, and particularly when the driver manually steers and performs reverse parking, the reverse parking can be easily performed, and safer driving is possible. To help make this possible.

  Further, in the parking assistance system 100, the driver can arbitrarily set display / non-display of the predicted travel trajectory line 501 and the vehicle width extension line 502 on the touch display 31 when the vehicle 1 moves backward. For example, a route display switch (S / W) and a route deletion switch (S / W) (not shown) are provided, and the driver proceeds to the touch display 31 by setting the route display switch to ON. The predicted trajectory line 501 can be displayed, and the progress predicted trajectory line 501 can be hidden on the touch display 31 by the driver setting the course deletion switch to ON.

  Note that these route display switches and route deletion switches may be displayed on the touch display 31 by software, or may be provided as hardware in the interior space of the automobile. Further, instead of providing the two switches of the route display switch and the route deletion switch, a single switch that can selectively switch the display / non-display of the travel prediction trajectory line 501 may be provided.

In the parking support system 100, as the initial setting (default), both the travel prediction track line 501 and the vehicle width extension line 502 are set to be displayed on the touch display 31.
The determination unit 11 determines whether or not the surroundings of the vehicle 1 satisfy the parking safety condition based on environmental information acquired by the temperature sensor 21, the illuminance sensor 22, and the obstacle sensor 23.

Specifically, when the outside air temperature measured by the temperature sensor 21 is equal to or lower than a preset reference temperature (for example, 4 ° C.), the determination unit 11 may freeze the road surface (“ As the road surface freeze ”), it is determined that the parking safety condition is not satisfied.
Further, when the brightness around the vehicle 1 measured by the illuminance sensor 22 is equal to or less than a preset reference illuminance (for example, 100 lux), the determination unit 11 may be dark and have poor visibility ( As “background is dark”), it is determined that the parking safety condition is not satisfied.

Furthermore, when any obstacle is detected in the traveling direction of the vehicle 1 by the obstacle sensor 23, the determination unit 11 determines that “there is an obstacle” and does not satisfy the parking safety condition. Yes.
For this reason, in the parking support system 100, the reference temperature, the reference illuminance, and various threshold values used for detecting the presence of the obstacle by the obstacle sensor 23 are recorded in advance in a memory or the like (not shown) as set values. Has been.

The control unit 12 changes the parking support function provided by the parking support unit 19 when the determination unit 11 determines that the parking safety condition is not satisfied.
Specifically, for example, regarding the guidance function, when the obstacle sensor 23 detects an obstacle in the traveling direction of the vehicle 1 and the determination unit 11 determines that the parking safety condition is not satisfied, the control unit 12 The guidance 2 described above is controlled to be displayed on the touch display 31. When the brightness around the vehicle 1 measured by the illuminance sensor 22 is equal to or lower than a preset reference illuminance and the determination unit 11 determines that the parking safety condition is not satisfied, the control unit 12 Control is performed so that the above-described guidance 3 is displayed on the touch display 31. Further, when it is determined that the outside air temperature measured by the temperature sensor 21 is equal to or lower than a preset reference temperature and does not satisfy the parking safety condition, the control unit 12 displays the guidance 4 described above on the touch display 31. Control is performed to display.

That is, the control unit 12 changes the guidance pattern in the guidance function based on the environmental information acquired by the temperature sensor 21, the illuminance sensor 22, and the obstacle sensor 23.
Further, the control unit 12 detects an obstacle in the traveling direction of the vehicle 1 by the obstacle sensor 23, or the brightness around the vehicle 1 measured by the illuminance sensor 22 is less than a preset reference illuminance, When the outside air temperature measured by the temperature sensor 21 is equal to or lower than a preset reference temperature, the progress prediction trajectory display function is suppressed when the determination unit 11 determines that the parking safety condition is not satisfied. Then, control is performed so that the predicted travel trajectory line 501 is not displayed on the touch display 31, or the vehicle 1 is stopped when the obstacle sensor 23 has an obstacle within a predetermined value.

As for the vehicle width extension line display function, it is easier to understand the position and posture of the vehicle 1 with respect to the parking target position when the vehicle width extension line 502 is displayed. Even if it is determined that the safety condition is not satisfied, it is desirable not to suppress the display of the vehicle width extension line 502.
In addition, when the determination unit 11 determines at least one of “background dark” and “road surface freezing” based on the environmental information acquired by the illuminance sensor 22 and the temperature sensor 21, the control unit 12 The vehicle speed control unit 102 is controlled to move backward at a speed lower than the normal reverse speed (normal speed) by the automatic steering function of the parking assist unit 19.

Furthermore, when the determination unit 11 determines that “there is an obstacle” based on the environmental information acquired by the obstacle sensor 23, the control unit 12 causes the braking control unit 103 to move the vehicle 1 backward. Control is performed so as to stop.
The parking target position setting unit 16 is for setting a parking target position where the vehicle 1 is parked, and has a parking target position detection function, for example, approaching a space where the driver wants to park (parking space). In this state, the position of the parking space is detected by temporarily stopping, so that the parking target position setting unit 16 detects the position of the parking space (parking section), and then The driver stops the vehicle 1 at a position having a predetermined relationship with respect to the parking space, and inputs that the garage or parallel parking is performed. It is automatically recognized as a parking target position candidate for parallel parking, and then an input operation for confirming the parking target position candidate is performed on the touch display 31 or the like. Position candidates are adapted to be set as the target parking position.

  FIG. 5 is a diagram showing an example of a screen displayed on the touch display 31 at the start of parallel parking in the parking assist system 100 according to the embodiment of the present invention. The back monitor screen 312 shown in FIG. 5 displays the progress prediction trajectory line 501 superimposed on the surrounding image of the rear of the vehicle 1 photographed by the monitor camera 24 and “Please directly check the surroundings of the vehicle”. "Is displayed.

  The back monitor screen 312 has a garage entry switch 312-1 at the lower left position of the screen and a parallel parking switch 312-2 at the lower right position of the screen. The garage entry switch 312-1 is pressed and selected by the driver when starting the garage entry. When the garage entry switch 312-1 is selected, the parking target position setting unit 16 detects the garage entry switch 312-1. The recognized parking space is automatically recognized as a parking target position candidate by garage parking. The parallel parking switch 312-2 is pressed and selected by the driver when starting parallel parking. When the parallel parking switch 312-2 is selected, the parking target position setting unit 16 The detected parking space is automatically recognized as a parking target position candidate by parallel parking.

Various known methods can be used for setting the parking target position detection function and the parking target position candidates by the parking target position setting unit 16.
The parking target position setting unit 16 in the parking support system 100 is a space surrounded by white lines and obstacles based on the surrounding image of the vehicle 1 captured by the monitor camera 24, and is sufficient to park the vehicle 1. A space having various dimensions is detected, and this space is automatically recognized as a parking target position candidate.

In addition, the parking target position setting unit 16 has a parking target position adjustment function for adjusting automatically recognized parking target position candidates, as will be described later.
The display control unit 13 performs various display controls on the touch display 31. For example, the display control unit 13 displays an image of the monitor camera 24 on the touch display 31 as a back guide monitor. In the target parking position setting screens 200a and 200b (see FIGS. 7 and 8), the parking target position candidates set by the target position setting unit 16 are superimposed on the surrounding images and framed (target parking position frame 201; FIG. As shown in FIG. 8, etc., it is displayed on the touch display 31.

  In addition, the display control unit 13 displays the parking target position candidates on the target parking position setting screens 200a and 200b displayed on the touch display 31 as colors that stand out on the touch display 31 such as red, green, and white, and broken lines. By displaying using a noticeable line type or the like on the touch display 31 such as a dotted line or the like, the rear of the set parking target position is easily shown to the driver.

When the parking target position candidate displayed on the touch display 31 matches the desired parking space, the driver performs an input operation to confirm the parking target position candidate using the touch display 31 or the like. Thus, the parking target position candidate is set as the parking target position.
Further, in the parking support system 100, in a state where the parking target position candidate is displayed on the touch display 31 (target parking position setting screen), the parking target position candidate (target parking position frame) is moved (adjustment). (Parking target position adjustment function).

  That is, in the state where the parking target position candidate is displayed on the touch display 31 (target parking position setting screen), the touch display 31 moves (contact movement) while the touched object (for example, the operator's finger) is in contact with the touch display 31. In this case, the display control unit 13 follows the contact movement and moves the target parking position frame on the touch display 31 to display it.

  Specifically, in the state where the target parking position setting screen is displayed on the touch display 31 by the parking target position setting unit 16, the contact with the touch object is detected, and the contact object moves in contact with the touch display 31. In addition, the display control unit 13 detects the movement direction, the movement distance (amount), and the movement speed, and performs display control so that the target parking position frame is moved on the touch display 31 by following the contact movement. .

  Thereby, in the state where the target parking position setting screen is displayed on the touch display 31 and the parking target position frame is displayed, for example, the parking space where the driver desires the parking target position candidate displayed on the touch display 31. If it is determined that the position does not match, the driver can move or change the position of the parking target position frame at any position on the touch display 31 (for example, a specific position within the parking target position frame). Touch the, and the parking target position frame reaches the parking space where parking is desired, for a predetermined distance in a predetermined direction (for example, the direction from the current parking target position frame to the desired parking space on the touch display 31). When you slide your finger (contact movement), the parking target position frame moves in real time as the finger slides. It is. The driver releases his / her finger from the touch display 31 when the parking target position frame comes to a desired position.

Accordingly, the driver can easily move the parking target position frame on the touch display 31 so as to match the desired parking space.
Then, when the driver presses / selects the confirm button 203 on the target parking position setting screen, the parking target position candidate indicated by the parking target position frame is confirmed as the target parking position.

That is, when setting the target parking position, the driver can set and change the target parking position without performing complicated operations such as pressing and selecting the cursor displayed on the target parking position setting screen many times. It can be done.
In the parking support system 100, as in the target parking position setting screens 200a and 200b in the conventional reverse parking support system shown in FIGS. 7 and 8, a cursor (cursors 202-1 to 202) is displayed on the touch display 31. -4, rotation direction cursors 205a and 205b) are displayed, and the target parking position frame can be moved by pressing and selecting these cursors and their arrows.

Further, when displaying the cursors (cursors 202-1 to 202-4, rotation direction cursors 205a and 205b) on the touch display 31, the touch display 31 touches a place other than these cursors (and its arrows). While the object is in contact, it is desirable to hide the cursor from the touch display 31.
Further, in the parking target position setting unit 16 described above, when the parking target position candidate cannot be automatically recognized by the parking target position detection function, the driver can manually set the parking target position. In the same manner as the above-described movement of the parking target position candidate (target parking position frame), the parking target position candidate is manually set by moving the target parking position frame temporarily displayed on the touch display 31. Can be done.

  The parking target position setting possibility determination unit 15 determines whether or not the parking target position setting unit 16 can set the parking target position. For example, the parking switch 312-on the back monitor screen 312 described above. 1 or when the parallel parking switch 312-2 is pressed / selected, the position and posture of the vehicle 1 at that time, the position of the parking space recognized as a parking target position candidate by the parking target position setting unit 16, and the minimum Is it possible to set the parking target position by determining whether or not the positional relationship between the position and posture of the vehicle 1 and the parking space at the time satisfies a predetermined condition based on vehicle characteristics such as the turning radius It is to judge whether or not.

Here, the positional relationship between the position and posture of the vehicle 1 and the parking space is, for example, the distance or direction from the vehicle to the parking space, and the parking target position when these values are equal to or less than a predetermined threshold value. The setting possibility determination unit 15 determines that the parking target position can be set.
Note that various known methods can be used to determine whether or not the parking target position setting unit 16 can set the parking target position by the parking target position setting possibility determination unit 15.

The notification unit 14 notifies the driver when the parking target position setting enablement determination unit 15 determines that the parking target position setting unit 16 cannot set the parking target position. It is.
Specifically, the notification unit 14 displays, for example, a message such as “The parking area cannot be set at the current position” on the touch display 31, or a similar message is reproduced by voice from the speaker 25. By doing so, the driver is notified that setting of the parking target position is impossible. When the driver sees (or hears) such a message, for example, the driver moves the vehicle 1 and moves the vehicle 1 to a position where it can be automatically parked with respect to the parking space, or other parking. Move to space.

  The target trajectory calculation unit 17 calculates the target trajectory of the vehicle 1 based on the current position and posture of the vehicle 1 and the target parking position set by the parking target position setting unit 16. For example, the target trajectory calculation unit 17 calculates the target trajectory of the vehicle 1 to the target parking position using the method disclosed in Japanese Patent Application Laid-Open No. 2002-240661. Various known methods can be used for calculating the target trajectory by the target trajectory calculating unit 17.

  The automatic steering control unit 18 performs steering control of the vehicle 1 so as to move the vehicle 1 along the target track calculated by the target track calculation unit 17. When the automatic steering control unit 18 monitors the current position of the vehicle 1 and detects that the vehicle 1 deviates from the target track calculated by the target track calculation unit 17, the vehicle 1 is instructed to the steering control unit 101. By steering a steering system (electric power steering or the like; not shown) of the vehicle 1 so as to return to the target track, feedback control is performed so that the vehicle 1 moves along the target track.

The display control method of the touch display 31 when the vehicle 1 is parked backward in the parking support system 100 as an embodiment of the present invention configured as described above will be described according to the flowchart (steps A10 to A350) shown in FIG. . This process is repeated while the engine (motor in the case of a motor vehicle) is operating.
When the driver parks the vehicle 1, he / she operates the steering and the brake pedal to stop the vehicle 1 at a position having a predetermined relationship with respect to the parking space, and turns on the parking assist SW 51 (step A 10). The shift lever is moved to the R (reverse) position (step A15). By detecting these (see YES route in step A15), parking assistance is substantially started.

Here, when the parking assist SW 51 is not set to ON (see NO route at step A10), or when another operation is performed without moving / setting the shift lever to R (step A15). (See “Other Operations” route).
The display control unit 13 causes the touch display 31 to display an image (back guide monitor) of the rear part of the vehicle 1 taken by the monitor camera 24 as shown in FIGS. 4 and 5 (step A20). Note that, as described above, in the parking support system 100, the travel prediction track line 501 and the vehicle width extension line 502 are displayed by default.

  Based on the environmental information acquired by the temperature sensor 21, the illuminance sensor 22, and the obstacle sensor 23, the control unit 12 determines whether at least one of “background dark” and “road surface freezing” is determined by the determination unit 11. (Step A30), and when the determination unit 11 determines at least one of “dark background” and “road surface freezing” (see YES route in Step A30), the process proceeds to the touch display 31. The predicted trajectory line 501 is not displayed (step A50).

Next, the control unit 12 determines whether or not the course display switch is ON (step A70). When the course display switch is ON (see YES route in step A70), the control unit 12 proceeds to the touch display 31. The predicted trajectory line 501 is displayed (step A80), and it is determined whether or not the course deletion switch is ON (step A40).
Further, when neither the “dark background” nor the “road surface freezing” is determined by the determination unit 11 (see NO route in Step A30), the process proceeds to Step A40.

Here, when the course deletion switch is ON (see YES route in step A40), the predicted travel trajectory line 501 to the touch display 31 is not displayed (step A60), and the process proceeds to step A70.
Further, when the route deletion switch is not set to ON (refer to the NO route in step A40) or when the route display switch is not set to ON (refer to the NO route in step A70), the control unit 12 Next, it is confirmed whether or not the parallel parking switch 312-2 or the garage entry switch 312-1 is selected on the touch display 31 (step A90).

If neither the parallel parking switch 312-2 nor the garage entry switch 312-1 is selected (see NO route in step A90), the image of the monitor camera 24 is displayed on the touch display 31 as a back guide monitor (step A140). ), The process is terminated.
When the parallel parking switch 312-2 or the garage entry switch 312-1 is selected (see YES route in Step A90), the parking target position setting unit 16 automatically recognizes the parking target position candidate (parking section). (Step A100). The display control unit 13 causes the target parking position setting screens 200a and 200b to display the parking target position candidates (parking spaces) by the parking target position setting unit 16 on the touch display 31 (step A110).

  That is, the display control unit 13 touches the parking target position candidate in red, green, white, or the like on the target parking position setting screens 200a and 200b displayed on the touch display 31 together with the image taken by the monitor camera 24. The display is performed using a color that stands out on the display 31 or a line type that stands out on the touch display 31 such as a broken line or a dotted line.

  If necessary, the driver moves the parking target position candidate displayed on the touch display 31 (step A150), and the display control unit 13 displays the parking target position candidate on the touch display 31 ( In the target parking position setting screen), when the touch movement by the contact object is performed on the touch display 31, control is performed so that the target parking position frame is moved and displayed on the touch display 31 by following the contact movement. Do.

  Then, the parking target position setting possibility determination unit 15 determines whether or not the parking target position candidate can be set (step A155), and when the parking section cannot be set (step A155). For example, the notification unit 14 displays a message such as “Cannot set parking area at the current position” on the touch display 31 or reproduces the same message from the speaker 25 by voice. As a result, the driver is instructed that the target parking position cannot be set (step A130), and the process proceeds to step A140.

If the parking section can be set (see YES route at step A155), a parking target position candidate is set.
Here, the setting of the parking target position candidate by the parking target position setting unit 16 is completed when the confirmation switch 203 on the target parking position setting screen 200a, 200b of the touch display 31 is selected (step A160).

When the confirmation switch 203 is selected (see YES route in step A160), the control unit 12 is based on the environment information acquired by the determination unit 11 by the temperature sensor 21, the illuminance sensor 22, and the obstacle sensor 23. Then, it is determined whether or not at least one of “dark background” and “road surface freezing” has been determined (step A170).
If neither “background dark” nor “road surface freezing” is determined by the determination unit 11 (see NO route in step A170), the display control unit 13 causes the touch display 31 to “* caution * pay attention to the surrounding safety” After the guidance screen 311 (see FIG. 3) is displayed (Step A180), the automatic steering is performed while reversing at a normal speed (Step A190, A310).

Further, when the determination unit 11 determines at least one of “dark background” and “road surface freezing” (see YES route in step A170), the control unit 12 performs various guidance based on the determination. (Step A200).
For example, if the control unit 12 determines that the background is dark by the determination unit 11, “Be sure to check the surroundings because the surroundings are dark. The brake operation is the responsibility of the driver. "Through the touch display 31 and the speaker 25. Further, when the determination unit 11 determines that the road surface is frozen, the control unit 12 gives a guidance that the road surface is easy to slip. This is done through the speaker 25.

  Thereafter, the control unit 12 waits for an input to be accepted by the driver via the consent SW (switch; not shown) or the like of the touch display 31 (step A210), and the consent SW is pressed / selected. In this case (see YES route at step A210), automatic steering is performed (step A310) while the vehicle is moved backward at a lower speed than the normal speed (step A220).

Next, it is detected that the parking assistance SW 51 is turned off or the shift position is operated to a position other than R (step A315). If these are detected (see YES route of step A315), the process is terminated.
If these are not detected (see NO route in step A315), it is detected by the obstacle sensor 23 that an obstacle has approached the vehicle 1 within a predetermined distance (for example, 30 cm), that is, It is determined whether there is an obstacle (step A320). If no obstacle is detected (see NO route in step A320), the process returns to step A310. If an obstacle is detected (see YES route in step A320), braking control for stopping the vehicle 1 is performed (see FIG. Step A330).

Thereafter, for example, guidance is displayed on the touch display 31 to display a message that “An obstacle has been detected. Check the surroundings and operate the brake to cancel parking assistance” (step A340). ).
It is detected by the brake pedal SW41 that the driver has confirmed according to this guidance and operated the brake (step A350), and when the brake operation is performed (see YES route of step A350), the process is terminated.

  As described above, according to the parking support system 100 as one embodiment of the present invention, the vehicle is in spite of the guidance for prompting the driver to check the surrounding situation and brake operation before entering the parking operation. When an obstacle approaches around 1, the parking assistance system 100 stops the vehicle 1 and provides guidance to the driver again to improve safety.

  In addition, when the vehicle 1 is parked backward, the determination unit 11 determines that at least one of “dark background” and “road surface freezing” is determined, that is, if it is determined that the parking safety condition is not satisfied. By hiding the predicted travel trajectory line 501 on the display 31, the driver becomes aware of the necessity of confirming safety behind the vehicle 1. That is, by alerting the driver to the surrounding environment (especially the rear of the vehicle 1), safety during reverse parking is improved.

Also, by not displaying the predicted travel trajectory on the touch display 31, it becomes easier for the driver to see the surrounding image on the touch display 31, and safety confirmation is performed using the image displayed on the touch display 31. easy.
Further, for the manufacturer of the parking assist device 1, for example, when an obstacle is detected in the traveling direction of the vehicle 1 by the obstacle sensor 23, the predicted travel trajectory is not displayed on the touch display 31. The progress prediction trajectory line 501 that may hit an obstacle is not displayed on the touch display 31, and it can be expected to avoid conflict with the Product Liability Act (PL Act).

  Further, when the vehicle 1 is parked backward, when the determination unit 11 determines at least one of “There is an obstacle”, “dark background”, and “road freeze”, that is, the parking safety condition is not satisfied. When the determination is made, the control unit 12 provides various guidance based on the determination, so that the driver can grasp the surrounding environment of the vehicle 1 in more detail, and this also ensures safety during reverse parking. Will improve.

  Further, in a state where the parking target position candidates are displayed on the touch display 31 (target parking position setting screen), the driver causes the touch display 31 to move a finger or the like so that the display control unit 13 performs the contact. Since the target parking position frame is moved and displayed on the touch display 31 following the movement, the target parking position setting can be easily moved and set, and the operability is improved. Can do.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above-described embodiment, an example is described in which parking assistance is performed at the time of reverse parking in which the vehicle 1 is moved backward, but the present invention is not limited thereto, and the vehicle 1 is moved forward and parked. The parking assistance system 100 may be used as parking assistance during forward parking, and various modifications can be made without departing from the spirit of the present invention.

  In the above-described embodiment, the guidance 1 is displayed as the default guidance displayed on the touch display 31 when the vehicle is parked backward. However, the present invention is not limited to this. For example, the control unit 12 The obstacle sensor 23 detects no obstacle in the traveling direction of the vehicle 1, the brightness around the vehicle 1 measured by the illuminance sensor 22 is higher than a preset reference illuminance, and the temperature sensor When the outside air temperature measured by 21 is higher than a preset reference temperature and the judgment unit 11 judges that the parking safety condition is satisfied, the guidance function by the parking assistance unit 19 is suppressed and driving is performed. It is also possible to perform reverse parking as it is without giving guidance to the person, so that reverse parking can be performed quickly. .

In the above-described embodiment, as the display method of the progress prediction trajectory display, as shown in FIG. 4, two progress prediction trajectory lines 501 arranged apart from each other by the vehicle width of the vehicle 1 are shown. However, the present invention is not limited to this.
For example, the progress prediction trajectory gland may be indicated by one or three or more progress prediction trajectory lines such as one progress prediction trajectory line through which the center position of the vehicle passes. The progress prediction trajectory may be indicated by painting a range corresponding to, and the painting may be performed in a translucent state.

  In the above-described embodiment, the cursors (cursors 202-1 to 202-4) are displayed on the touch display 31 in the same manner as the target parking position setting screens 200a and 200b in the conventional backward parking support system shown in FIGS. , Rotation direction cursors 205a and 205b) are displayed, and the target parking position frame can be moved by pressing and selecting these cursors and their arrows. However, the present invention is not limited to this. Instead, these cursors (cursors 202-1 to 202-4, rotation direction cursors 205a and 205b) may not be displayed.

  Furthermore, in the above-described embodiment, when at least one of “background dark” and “road surface freezing” is determined by the determination unit 11 when the vehicle 1 is parked backward, the predicted travel trajectory line to the touch display 31. 501 is not displayed, but is not limited to this. Even when the determination unit 11 determines that “there is an obstacle”, the progress prediction trajectory line 501 to the touch display 31 is also not displayed. Of course, various modifications can be made without departing from the spirit of the present invention.

  In addition, if each embodiment of this invention is disclosed, this invention can be implemented and manufactured by those skilled in the art.

  The present invention can be applied not only to reverse parking but also to forward parking of a vehicle, and also to various parking support functions.

It is a figure which shows typically the structure of the parking assistance system as one Embodiment of this invention. (A), (b), (c), (d), (e), (f), (g) are various sensors provided in the vehicle 1 provided with the parking assistance system as one embodiment of the present invention. It is a figure for demonstrating. It is a figure which shows the example of the guidance displayed on the touch display in the parking assistance system as one Embodiment of this invention. It is a figure which shows the example of a screen displayed on a touch display at the time of reverse parking in the parking assistance system as one Embodiment of this invention. It is a figure which shows the example of a screen displayed on a touch display at the time of the parallel parking start in the parking assistance system as one Embodiment of this invention. It is a flowchart for demonstrating the display control method of the touch display at the time of the reverse parking of a vehicle in the parking assistance system as one Embodiment of this invention. It is a figure which shows the example of the target parking position setting screen displayed on a back guide monitor at the time of parallel parking in the conventional reverse parking assistance system. It is a figure which shows the example of the target parking position setting screen displayed on a back guide monitor at the time of entering the garage in the conventional reverse parking assistance system.

Explanation of symbols

1 vehicle 10 CPU
DESCRIPTION OF SYMBOLS 11 Determination part 12 Control part 13 Display control part 14 Notification part 15 Parking target position setting possibility judgment part 16 Parking target position setting part 17 Target track calculation part 18 Automatic steering control part 19 Parking assistance part 21 Temperature sensor (ambient information acquisition part)
22 Illuminance sensor (Ambient information acquisition unit)
23 Obstacle Sensor (Ambient Information Acquisition Unit)
24 Monitor camera (shooting unit)
25 Speaker 31 Touch display (display unit, input unit)
41 Brake pedal SW (Driver operation detector)
51 Parking support SW (input unit)
100 Parking support system (parking support device)
DESCRIPTION OF SYMBOLS 101 Steering control part 102 Vehicle speed control part 103 Braking control part 501 Progress prediction track line 502 Vehicle width extension line

Claims (13)

A parking support device having a parking support function that can be provided to a driver of the vehicle when the vehicle is parked,
An ambient information acquisition unit that acquires environmental information around the vehicle;
A determination unit that determines whether or not the surroundings of the vehicle satisfy a parking safety condition based on the environmental information acquired by the surrounding information acquisition unit;
A parking support device comprising: a control unit that changes the parking support function when the determination unit determines that the parking safety condition is not satisfied. The ambient information acquisition unit is configured as an imaging unit that captures the surrounding environment of the vehicle,
A display unit configured to display an image captured by the imaging unit;
The parking support function is a travel prediction trajectory display function for displaying a travel prediction trajectory of the vehicle on the display unit together with an image of the surrounding environment of the vehicle photographed by the photographing unit,
The parking assist device according to claim 1, wherein when the determination unit determines that the parking safety condition is not satisfied, the control unit suppresses the operation of the progress prediction trajectory display function.   The parking support function includes a vehicle width extension line display function for displaying a vehicle width extension line indicating the vehicle width of the vehicle on the display unit together with an image of the surrounding environment of the vehicle photographed by the photographing unit. The parking support apparatus according to claim 2, wherein the parking support apparatus is characterized. The ambient information acquisition unit is a temperature sensor that measures the ambient temperature of the vehicle,
The determination unit determines that the parking safety condition is not satisfied when a temperature around the vehicle exceeds a preset reference temperature. The parking assistance device according to any one of claims. The ambient information acquisition unit is an illuminance sensor that measures the brightness around the vehicle,
5. The determination unit according to claim 1, wherein the determination unit determines that the parking safety condition is not satisfied when the brightness around the vehicle is equal to or less than a preset reference illuminance. The parking assistance device according to any one of claims. The surrounding information acquisition unit is an obstacle sensor capable of detecting the presence or absence of an obstacle around the vehicle,
The determination unit determines that the parking safety condition is not satisfied when the obstacle sensor detects that the obstacle is around the vehicle. The parking assistance device according to claim 5.   When the determination unit detects that the obstacle is around the vehicle by the obstacle sensor while the parking support function is in operation, the vehicle is automatically stopped and the driver The parking assistance device according to claim 6, wherein guidance regarding brake operation and surrounding confirmation is performed.   The parking assist device according to any one of claims 1 to 7, further comprising a parking target position setting unit capable of setting a parking target position for parking the vehicle.   9. The parking according to claim 8, further comprising a target trajectory calculation unit that calculates a trajectory of the vehicle from the current position of the vehicle to the target parking position set by the parking target position setting unit as a target trajectory. Support device.   10. The parking assist device according to claim 9, further comprising an automatic steering control unit that performs steering control of the vehicle to move the vehicle along the target track calculated by the target track calculation unit. A parking target position setting determination unit configured to determine whether the parking target position can be set by the parking target position setting unit;
When the parking target position setting enablement determination unit determines that the parking target position setting unit cannot set the parking target position, the parking target position setting determination unit includes a notification unit that notifies the driver of the fact. The parking support apparatus according to any one of claims 8 to 10, wherein A display control unit for displaying a parking target position candidate by the parking target position setting unit together with an image captured by the imaging unit on the display unit, and
The display unit is configured as a display device with a touch panel in which an input operation is performed by bringing a contact object into contact with the surface thereof,
The parking support apparatus according to claim 11, wherein the display control unit causes the display target unit to move and display the parking target position candidate by following the contact movement of the contact object on the touch panel. . As the parking support function, a guidance function for providing guidance to the driver is provided.
The said control part changes the pattern of this guidance based on this environmental information acquired by this surrounding information acquisition part, The parking of any one of Claims 1-12 characterized by the above-mentioned. Support device.

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