JP2014100957A - Parking support device and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device and a control device that can properly support a parking operation.SOLUTION: The parking support device 1 comprises: a detection device 3 for detecting an object around an own vehicle 2; a support device 6 that is mounted in the own vehicle 2 and can support a parking operation of the own vehicle 2; and a control device 7 that controls the support device 6 on the basis of the detection result by the detection device 3 and supports the parking operation of the own vehicle 2. The control device 7 sets a target parking position for the own vehicle 2 on the basis of edge positions near the own vehicle 2 of a plurality of parked vehicles detected by the detection device 3. Therefore, the parking support device 1 and the control device 7 can properly support the parking operation.

Description

  The present invention relates to a parking assistance device and a control device.

  As a conventional parking assistance device and a control device mounted on a vehicle, for example, Patent Document 1 discloses a parking space based on the direction of a parking lot line recognized in an image in a parking assistance device that supports parking in a parking space. A parking assistance device that determines the direction of a vehicle to be realized when parking is completed is disclosed.

JP 2009-196408 A

  By the way, the parking assistance apparatus of the above-mentioned patent document 1 has the room for further improvement at the point of parking assistance in the parking lot etc. which should incline with respect to a passage, for example.

  This invention is made | formed in view of said situation, Comprising: It aims at providing the parking assistance apparatus and control apparatus which can perform parking assistance appropriately.

  In order to achieve the above object, a parking support device according to the present invention includes a detection device that detects an object around the host vehicle, and a support device that is mounted on the host vehicle and can support parking of the host vehicle. A control device capable of controlling the support device based on a detection result of the detection device and performing parking support of the host vehicle, wherein the control device includes a plurality of parked vehicles detected by the detection device. The target parking position of the host vehicle is set based on the tip position on the host vehicle side.

  In the parking assist device, the control device limits a target area of a target parking position of the host vehicle based on tip positions on the host vehicle side of the plurality of parked vehicles detected by the detection device. Can be.

  Further, in the parking assist device, the control device sets a target parking position of the host vehicle based on an average position of tip positions on the host vehicle side of the plurality of parked vehicles detected by the detection device. Can be.

  In the parking assist device, the control device sets a target parking position of the host vehicle based on a maximum protruding position of a tip position on the host vehicle side of the plurality of parked vehicles detected by the detection device. Can be.

  Further, in the parking assist device, the control device sets a tip position of a target parking position of the host vehicle based on tip positions on the host vehicle side of the plurality of parked vehicles detected by the detection device. Can be.

  In the parking assistance device, the control device sets an inclination angle of a target parking position of the host vehicle based on an inclination angle of the plurality of parked vehicles detected by the detection device. it can.

  In the parking assistance device, the control device may set a parking interval at a target parking position of the host vehicle based on the intervals between the plurality of parked vehicles detected by the detection device. .

  In order to achieve the above object, a control device according to the present invention is based on a target parking position of the host vehicle according to tip positions on the host vehicle side of a plurality of parked vehicles detected around the host vehicle. Further, it is possible to execute control for supporting parking of the host vehicle.

  The parking assistance device and the control device according to the present invention have an effect that parking assistance can be appropriately performed.

FIG. 1 is a schematic configuration diagram of a parking assistance device according to an embodiment. Drawing 2 is a mimetic diagram explaining the target parking angle in the parking assistance device concerning an embodiment. Drawing 3 is a mimetic diagram explaining the parking position object area in the parking assistance device concerning an embodiment. Drawing 4 is a mimetic diagram explaining the target parking interval in the parking assistance device concerning an embodiment. Drawing 5 is a mimetic diagram explaining the target parking position in the parking assistance device concerning an embodiment. FIG. 6 is a flowchart for explaining an example of control by the ECU of the parking assistance apparatus according to the embodiment. FIG. 7 is a schematic diagram illustrating a parking assistance device according to a comparative example.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

[Embodiment]
FIG. 1 is a schematic configuration diagram of a parking assistance device according to an embodiment. Drawing 2 is a mimetic diagram explaining the target parking angle in the parking assistance device concerning an embodiment. Drawing 3 is a mimetic diagram explaining the parking position object area in the parking assistance device concerning an embodiment. Drawing 4 is a mimetic diagram explaining the target parking interval in the parking assistance device concerning an embodiment. Drawing 5 is a mimetic diagram explaining the target parking position in the parking assistance device concerning an embodiment. FIG. 6 is a flowchart for explaining an example of control by the ECU of the parking assistance apparatus according to the embodiment. FIG. 7 is a schematic diagram illustrating a parking assistance device according to a comparative example.

  The parking assistance apparatus 1 of this embodiment is mounted in the vehicle 2 as the own vehicle, as shown in FIG. The parking assistance device 1 is a parking assistance system that performs parking assistance for assisting parking of the vehicle 2. Typically, the parking assistance device 1 is a parking assistance device that determines the target parking angle by recognizing the side surface of the first vehicle parked in the parking space, and at least the first vehicle and the first vehicle. The tip position of the second vehicle parked in the vicinity is detected, and the tip position of the planned parking position (target parking position) of the host vehicle is determined based on the detected tip position. That is, when parking assistance is performed, the parking assistance device 1 sets the target parking position of the host vehicle based on the tip positions of the plurality of parked vehicles. The parking assistance device 1 is realized by mounting the components shown in FIG.

  Specifically, as shown in FIG. 1, the parking assistance device 1 includes a laser sensor 3 as a detection device, a host vehicle state detection device 4, a system switch 5, a support device 6, and an ECU 7 as a control device. With.

  The laser sensor 3 detects an object such as a parked vehicle around the vehicle 2. As the laser sensor 3 of this embodiment, for example, a wide-angle laser radar using laser light can be used. The laser sensor 3 irradiates a predetermined range with a laser beam from the irradiating unit, scans the surroundings of the vehicle 2, and receives the reflected light from the object of the laser beam by the light receiving unit, thereby parked vehicles around the vehicle 2 Detect objects such as. The laser sensor 3 can detect the position of the object, the distance to the object, the shape of the object, and the like by receiving the reflected light reflected by the object existing in the area scanned by the laser light with the light receiving unit. .

  In addition, although the detection apparatus of this embodiment is demonstrated as what is the laser sensor 3, it is not restricted to this. The detection apparatus of the present embodiment uses, for example, millimeter wave radar, radar using infrared rays, short-range radar such as UWB (Ultra Wide Band) radar, sonar using audible sound waves or ultrasonic waves, and the like. Also good. In addition, the detection device analyzes an object around the vehicle 2 by analyzing image data obtained by imaging the periphery of the vehicle 2 with a peripheral monitoring CCD camera (imaging device) such as a front camera, a back camera, and left and right side cameras. You may use the image recognition apparatus etc. which detect.

  The own vehicle state detection device 4 detects the state of the vehicle (own vehicle) 2 on which the parking assistance device 1 is mounted. The own vehicle state detection device 4 may include at least one of a vehicle speed sensor, a yaw rate sensor, a rudder angle sensor, an acceleration sensor, a GPS receiver, and the like, for example. The vehicle speed sensor detects the vehicle speed of the vehicle 2. The yaw rate sensor detects the yaw rate of the vehicle 2. The steering angle sensor detects the steering angle of the vehicle 2. The acceleration sensor detects acceleration generated in the vehicle body of the vehicle 2. The GPS receiver receives GPS information (latitude and longitude coordinates) of the vehicle 2. For example, the ECU 7 determines the travel point (current position) and travel of the vehicle 2 based on the GPS information received by the GPS receiver of the host vehicle state detection device 4 and map information such as road information stored in the database. The direction can be calculated.

  The system switch 5 is a switch for turning on / off the parking assistance by the parking assistance device 1 by the operation of the driver. The parking assistance device 1 can arbitrarily switch the parking assistance function on and off according to the driver's intention, for example, according to the driver's switching operation via the system switch 5. The parking assistance device 1 is not limited to this, and may be configured to automatically switch the parking assistance on and off according to the state of the vehicle 2 (for example, vehicle speed, current position, etc.).

  The support device 6 is mounted on the vehicle 2 and can support parking of the vehicle 2. The support device 6 performs parking support. Here, parking assistance is driving assistance for safely parking the vehicle 2 at a target parking position (hereinafter sometimes referred to as “target parking position”). The parking support may include at least one of automatic driving of the vehicle 2 for parking the vehicle 2 at the target parking position, auxiliary driving, provision of parking guidance information, and the like. In other words, the target parking position of the vehicle 2 corresponds to a target parking frame targeted by the vehicle 2.

  The support device 6 can automatically brake the steering device that can automatically steer the steered wheels of the vehicle 2, a power train that includes a driving power source for the vehicle 2 such as an internal combustion engine and an electric motor, and the vehicle 2, for example. You may include at least one, such as a braking device. In this case, the support device 6 performs automatic adjustment of the steering angle of the steered wheels, automatic adjustment of the driving force of the vehicle 2, automatic adjustment of the braking force of the vehicle 2, and the like so that the vehicle 2 is brought to the target parking position by automatic driving. Automatic parking support for parking can be performed. In this case, the support device 6 may be configured to move the vehicle 2 to the target parking position without any intervention by the driver, or after allowing the intervention of the operation by the driver to some extent, The vehicle 2 may be moved to the target parking position so as to assist the vehicle.

  Further, the support device 6 may include, for example, an information providing device that is mounted on the vehicle 2 and provides various information to the driver. That is, the support device 6 may assist the driver in parking operation by outputting the parking guidance information to the driver in order to safely park the vehicle 2 at the target parking position. In this case, the support device 6 provides information providing driving support by providing parking guidance information to the driver. The support device 6 may be configured to include, for example, at least one of a display, a speaker, and the like provided in the vehicle interior of the vehicle 2 as an information providing device. The display is a visual information display device that outputs visual information (graphic information, character information). The speaker is an auditory information (voice) output device that outputs auditory information (voice information, sound information). As the support device 6, an existing device in the passenger compartment of the vehicle 2, for example, a display or a speaker of a navigation system may be used as the information providing device. The support device 6 provides information by outputting visual information, auditory information, etc., and guides the driver's parking driving operation. The support device 6 may be configured to include, for example, a tactile information output device that outputs tactile information such as steering wheel vibration, seat vibration, pedal reaction force, and the like as an information providing device in addition to the display and the speaker. Good.

  The ECU 7 controls driving of each part of the vehicle 2 and includes an electronic circuit mainly composed of a known microcomputer including a CPU, a ROM, a RAM, and an interface. For example, the ECU 7 is electrically connected to various sensors and detectors such as the laser sensor 3, the host vehicle state detection device 4, and the system switch 5 described above, and receives an electrical signal corresponding to the detection result. Moreover, ECU7 is electrically connected to each part of vehicles 2, such as support device 6, and outputs a drive signal to these. The ECU 7 outputs a drive signal to each part of the vehicle 2 by executing a stored control program based on various input signals and various maps input from various sensors, detectors, etc. Control.

  The ECU 7 according to the present embodiment is a control device capable of controlling the support device 6 based on the detection result of the laser sensor 3 and executing the parking support of the vehicle 2. Here, the ECU 7 sets the target parking position based on the detection result by the laser sensor 3. Then, the ECU 7 generates a parking route from the current position of the vehicle 2 to the target parking position, and controls the support device 6 based on this to execute parking assistance such as automatic parking assistance and information providing driving assistance. To do.

  In the following description, the control device of the parking assist device 1 is described as being shared by the ECU 7, but is not limited thereto. The control device of the parking assistance device 1 may be configured separately from the ECU 7 and may exchange information such as a detection signal, a drive signal, and a control command with each other. The ECU 7 also controls a travel control ECU that controls the overall travel of the vehicle 2, a parking support control ECU that performs parking support for the vehicle 2, a steering control ECU that controls the steering device of the vehicle 2, and a power train of the vehicle 2. The drive control ECU, the brake control ECU that controls the braking device of the vehicle 2, and the like may be configured separately to exchange information such as a detection signal, a drive signal, and a control command with each other.

  The ECU 7 of the present embodiment sets the target parking position of the vehicle 2 based on the tip positions on the vehicle 2 (own vehicle) side of the plurality of parked vehicles detected by the laser sensor 3. Thereby, the parking assistance apparatus 1 can perform the parking assistance of the vehicle 2 appropriately, for example, even if it is a parking lot etc. which should incline with respect to a passage. Here, the ECU 7 detects a parked vehicle in a parking lot or the like in the course of an approach until the vehicle 2 that is the host vehicle reaches a target parking planned position (target parking position) or the like. Then, the ECU 7 accurately sets a more detailed position, an inclination angle, an interval, and the like of the target parking position based on the detected plurality of parked vehicles.

  Specifically, as shown in FIG. 1, the ECU 7 functionally conceptually includes a parked vehicle detection unit 71, a parking angle detection unit 72, a parking position detection unit 73, a parking interval detection unit 74, and target parking. The position setting unit 75 and the support control unit 76 are included.

  The parked vehicle detection unit 71 detects parked vehicles around the vehicle 2 based on the detection result by the laser sensor 3. The parked vehicle detection unit 71 detects parked vehicles around the vehicle 2 existing in the scanning area by the laser sensor 3, and when a parked vehicle exists, the position of the parked vehicle, the distance to the parked vehicle, parking The shape of the vehicle is detected.

  The parking angle detection unit 72 detects the tilt angle of the parked vehicle based on the detection result of the parked vehicle by the parked vehicle detection unit 71. The parking angle detection unit 72 detects the tilt angle by recognizing the side surface of the parked vehicle detected by the laser sensor 3 and detected by the parked vehicle detection unit 71. Here, the tilt angle of the parked vehicle may be detected, for example, as an angle formed by a predetermined reference line and a center line in the longitudinal direction of the parked vehicle (for example, see tilt angle α in FIG. 2 described later). As the predetermined reference line, for example, a line that is substantially parallel to a travel path that the vehicle 2 travels when parking, or a line along a predetermined direction can be used. In FIG. 2 to be described later, a case where the predetermined reference line is a line substantially parallel to the travel path is illustrated.

  The parking position detection unit 73 detects the tip position of the parked vehicle on the vehicle 2 side based on the detection result of the parked vehicle by the parked vehicle detection unit 71. The parking position detection unit 73 detects the tip position on the vehicle 2 side of the parked vehicle detected by the laser sensor 3 and detected by the parked vehicle detection unit 71. Here, the tip position on the vehicle 2 side of the parked vehicle is typically a tip position in a direction orthogonal to a line substantially parallel to a travel path on which the vehicle 2 travels when parking (for example, a diagram described later). 3 at the tip position P1).

  The parking interval detection unit 74 detects an interval between a plurality of parked vehicles based on the detection result of the parked vehicle by the parked vehicle detection unit 71. The parking interval detection unit 74 detects an interval between a plurality of parked vehicles detected by the laser sensor 3 and detected by the parked vehicle detection unit 71. Here, the interval between the plurality of parked vehicles is, for example, an interval along the vehicle width direction of the detected parked vehicle, an interval along a direction substantially parallel to the travel path that the vehicle 2 travels when parking, Or what is necessary is just to detect as a space | interval (for example, refer to space | interval D1 of FIG. 4 mentioned later) etc. which mutually mutually oppose in a several parked vehicle. In FIG. 4 to be described later, the interval between the plurality of parked vehicles is exemplified by using the interval between the side surfaces facing each other in the plurality of parked vehicles.

  The target parking position setting unit 75 sets the target parking position of the vehicle 2 based on the detection result of the parked vehicle by the parked vehicle detection unit 71. The target parking position setting unit 75 automatically sets the target parking position based on the detection result of the parked vehicle by the parked vehicle detection unit 71.

  Here, the target parking position setting unit 75 sets the target parking position based on the detection result of the parked vehicle by the parked vehicle detection unit 71 (hereinafter may be referred to as “target parking angle”). Is calculated. As illustrated in FIG. 2, the target parking position setting unit 75 sets the target parking position TP of the vehicle (host vehicle) 2 based on the inclination angles α of the plurality of parked vehicles 8 detected by the parking angle detection unit 72. To set a target parking angle β. As an example, the target parking position setting unit 75 calculates an average value of the inclination angles α of the plurality of parked vehicles 8 by using a method such as weighted average or outlier exclusion. Then, the target parking position setting unit 75 sets the average value of the inclination angles α of the plurality of parked vehicles 8 as the target parking angle β. This target parking angle β corresponds to an angle formed by a predetermined reference line and a vehicle longitudinal direction center line of the vehicle 2 when the vehicle 2 is parked at the target parking position TP.

  The target parking position setting unit 75 is a target area for setting the target parking position based on the detection result of the parked vehicle by the parked vehicle detection unit 71 (hereinafter, may be referred to as “parking position target area”). To decide. As illustrated in FIG. 3, the target parking position setting unit 75 sets the target parking position TP based on the tip positions P <b> 1 on the vehicle 2 side of the plurality of parked vehicles 8 detected by the parking position detection unit 73. Set the parking location target area. As an example, the target parking position setting unit 75 calculates the average position of the tip positions P1 on the vehicle 2 side of the plurality of parked vehicles 8 by using a method such as weighted average or outlier exclusion. And the target parking position setting part 75 restrict | limits a parking position object area based on the average position of the front-end | tip position P1 by the side of the vehicle 2 of the said several parked vehicles 8. FIG. The target parking position setting unit 75 sets the area on the travel path side with respect to the average position of the tip position P1 with respect to a direction orthogonal to a line that is substantially parallel to the travel path that the vehicle 2 travels when parking. It excludes from a parking position object area, and makes the area on the side away from the said travel path into a parking position object area.

  Furthermore, the target parking position setting unit 75 sets a parking interval for setting the target parking position based on the detection result of the parked vehicle by the parked vehicle detection unit 71 (hereinafter, may be referred to as “target parking interval”). calculate. As illustrated in FIG. 4, the target parking position setting unit 75 sets the target parking interval D2 for setting the target parking position TP based on the intervals D1 of the plurality of parked vehicles 8 detected by the parking interval detection unit 74. Set. As an example, the target parking position setting unit 75 calculates an average value of the intervals D1 of the plurality of parked vehicles 8 by using a method such as a weighted average or outlier exclusion. And the target parking position setting part 75 makes the average value of the space | interval D1 of the said several parked vehicle 8 the target parking space | interval D2. This target parking interval D2 corresponds to an interval between side surfaces facing each other in the vehicle 2 and the adjacent parked vehicle 8 when the vehicle 2 is parked at the target parking position TP.

  And the target parking position setting part 75 is based on the vehicle grade of the vehicle 2 memorize | stored in the memory | storage part, the target parking angle calculated and determined as mentioned above, a parking position object area, a target parking space | interval, etc. Set the position. As illustrated in FIG. 5, the target parking position setting unit 75 vacates a space in which the vehicle 2 having a stored vehicle character can be parked at the target parking angle β and the target parking interval D2 in the set parking position target area. Explore. And the target parking position setting part 75 makes the said empty space the target parking position TP, when the empty space which can park the vehicle 2 is detected.

  As a result, the target parking position setting unit 75 restricts the parking position target area of the target parking position of the vehicle 2 based on the tip positions on the vehicle 2 side of the plurality of parked vehicles detected by the laser sensor 3, and A target parking position can be set in the position target area. Here, the target parking position setting unit 75 can set the target parking position of the vehicle 2 based on the average position of the tip positions on the vehicle 2 side of the plurality of parked vehicles detected by the laser sensor 3. Furthermore, the target parking position setting unit 75 can set the inclination angle of the target parking position of the vehicle 2 based on the inclination angle of the plurality of parked vehicles detected by the laser sensor 3 on the vehicle 2 side. Further, the target parking position setting unit 75 can set the parking interval at the target parking position of the vehicle 2 based on the intervals between the plurality of parked vehicles detected by the laser sensor 3. At this time, the target parking position setting unit 75 may set the front end position of the target parking position of the vehicle 2 based on the front end positions on the vehicle 2 side of the plurality of parked vehicles detected by the laser sensor 3. In this case, as long as the target parking position setting unit 75 is allowed according to, for example, the vehicle size of the vehicle 2, the position of the wheel stopper, the presence or absence of an obstacle behind the vehicle, the front ends of the plurality of parked vehicles on the vehicle 2 side You may make it make the average position of a position correspond with the front-end | tip position of a target parking position.

  The support control unit 76 causes the support device 6 to actually perform parking support. Based on the target parking position set by the target parking position setting unit 75, the support control unit 76 outputs and controls a control signal to the support device 6 to cause the support device 6 to perform parking support. The assistance control unit 76 generates a parking route from the current position of the vehicle 2 to the target parking position, and controls the assistance device 6 based on this, and performs parking assistance such as automatic parking assistance and information providing driving assistance. To do.

  Next, an example of control by the ECU 7 will be described with reference to the flowchart of FIG.

  First, the parked vehicle detection part 71 of ECU7 detects a parked vehicle by the laser sensor 3 (step ST1). For example, when the vehicle speed of the vehicle 2 is equal to or lower than a preset detection start vehicle speed, the parked vehicle detection unit 71 can determine that the vehicle 2 is located in the parking lot based on GPS information, map information, or the like. The detection of the parked vehicle by the laser sensor 3 is started.

  Next, the parking angle detection unit 72, the parking position detection unit 73, and the parking interval detection unit 74 of the ECU 7 are based on the detection result of the parked vehicle detected by the parked vehicle detection unit 71 in step ST1. Then, the tip position and interval on the vehicle 2 side are calculated (step ST2).

  Next, the parking angle detection unit 72, the parking position detection unit 73, and the parking interval detection unit 74 store the data of the tilt angle of the parked vehicle, the tip position on the vehicle 2 side, and the interval calculated in step ST2, respectively, in the storage unit. Hold (step ST3).

  Next, the target parking position setting unit 75 of the ECU 7 determines whether or not the driver intends to start parking assistance by determining whether or not the system switch 5 is on (ON) ( Step ST4). The target parking position setting unit 75 determines, for example, whether or not the vehicle 2 is located in the parking lot and the vehicle speed is equal to or lower than a support start vehicle speed (support start vehicle speed <detection start vehicle speed) set in advance, Alternatively, it may be determined whether or not the driver intends to start parking assistance by determining whether or not the vehicle 2 has temporarily stopped at a position adjacent to the parking space.

  The ECU 7 shifts the process to step ST1 when the target parking position setting unit 75 determines that the system switch 5 is off, that is, the driver does not intend to start parking assistance (step ST4: No). The subsequent processing is repeatedly executed.

  When the target parking position setting unit 75 determines that the system switch 5 is on, that is, the driver has an intention to start parking assistance (step ST4: Yes), based on the detection result by the laser sensor 3, It is determined whether a parking space has been detected (step ST5). Here, the target parking position setting unit 75 determines whether or not a parking space for parking the vehicle 2 has been detected according to the presence or absence of an object such as a parked vehicle detected by the laser sensor 3.

  When it is determined by the target parking position setting unit 75 that the parking space is not detected (step ST5: No), the ECU 7 shifts the process to step ST1, and repeatedly executes the subsequent processes.

  If it is determined that the parking space is detected (step ST5: Yes), the target parking position setting unit 75 is stored in the storage unit by the parking angle detection unit 72, the parking position detection unit 73, and the parking interval detection unit 74 in step ST3. A target parking angle, an average position of the tip positions, and a target parking interval are calculated based on the held tilt angle of the plurality of parked vehicles, the tip position on the vehicle 2 side, and the interval data (step ST6). At this time, the target parking position setting unit 75 restricts the parking position target area based on the average position of the tip positions.

  Next, the target parking position setting unit 75, the parking position target area based on the average position of the tip position calculated in step ST6, the target parking angle, the target parking interval, the vehicle case of the vehicle 2 stored in the storage unit, etc. Based on the above, a target parking position (including an angle) is set (step ST7). In this case, the target parking position setting unit 75 can park the vehicle 2 of the stored vehicle type at the target parking angle and the target parking interval in the set parking position target area in the parking space detected in step ST5. An empty space is detected and the empty space is set as a target parking position.

  Next, the assistance control unit 76 of the ECU 7 performs the parking assistance by controlling the assistance device 6 based on the target parking position set by the target parking position setting unit 75 in step ST7 (step ST8). End the cycle and move to the next control cycle.

  In addition, ECU7 memorize | stored in the memory | storage part by step ST3 etc., for example, when vehicle 2 withdraws from a parking lot when the IG-OFF is made, or when the vehicle speed exceeds a preset data clear vehicle speed, etc. What is necessary is just to clear data suitably.

  In the parking assistance device 1 configured as described above, the inclination angle of the target parking position of the vehicle 2 is set based on the inclination angles of the plurality of parked vehicles detected by the laser sensor 3. Thereby, the parking assistance apparatus 1 sets the inclination angle of the target parking position according to the inclination angle of another parked vehicle, for example, even if it is a parking lot without a parking area, and is a self-vehicle according to this. The vehicle 2 can be parked at an appropriate angle so as to align with the tilt of other parked vehicles.

  At this time, the parking assistance device 1 is not only one parking vehicle adjacent to the planned parking position (target parking position) or the like, but also the vehicle 2 at the target parking position set based on the inclination angle of a plurality of parked vehicles. Park. Thereby, the parking assistance apparatus 1 can park the vehicle 2 at an appropriate angle with higher accuracy. For example, FIG. 7 shows the operation of the parking assistance apparatus according to the comparative example. The parking assist device according to the comparative example sets the inclination angle of the target parking position according to the inclination angle of one parked vehicle 8 adjacent to the planned parking position or the like. In this case, in the parking assist device according to the comparative example, the inclination angle of the target parking position may be excessively dependent on the inclination angle of the adjacent parked vehicle 8. For this reason, for example, the parking assist device according to the comparative example aligns the inclination angle of the target parking position with the inclination angle of the adjacent parked vehicle 8, so that the tilt angle of the adjacent parked vehicle 8 is not appropriate. As a result, there is a risk that the parking angles will not be uniform as a whole. On the other hand, as illustrated in FIG. 5, the parking assist device 1 according to the present embodiment sets the inclination angle of the target parking position based on the inclination angle of the plurality of parked vehicles 8, thereby adjacent parking. The inclination angle of the target parking position can be set without excessively depending on the inclination angle of the vehicle 8. As a result, the parking assistance device 1 sets the target parking position with an accurate and appropriate inclination angle with respect to the ideal parking angle in the parking lot, for example, even in a parking lot without a parking section, and It can be parked.

  And the parking assistance apparatus 1 restrict | limits the parking position target area of the vehicle 2 based on the front end position by the side of the vehicle 2 of the several parked vehicle which the laser sensor 3 detected, and carries out target parking in the said parking position target area. Set the position. Here, the target parking position setting unit 75 can set the tip position of the target parking position of the vehicle 2 based on the average position of the tip positions on the vehicle 2 side of the plurality of parked vehicles detected by the laser sensor 3. . As a result, as illustrated in FIG. 5, the parking assist device 1 actually parks even if it is a parking lot or the like that is inclined with respect to the traveling path that the vehicle 2 travels when parking. It can suppress that a target parking position shifts back and forth with respect to the power position. For example, the parking assist device 1 may have the target parking position too far forward, as in the case where the target parking position is set in accordance with the tip position of one parked vehicle 8 adjacent to the planned parking position or the like ( For example, it is possible to prevent the target parking position from being retracted too far back (for example, see dotted line B in FIG. 5). That is, the parking assistance apparatus 1 sets the target parking position according to the tip positions of the plurality of parked vehicles 8, and sets the vehicle 2 so that the tip of the vehicle 2 that is the host vehicle becomes an appropriate position according to the target parking position. It can be parked. As a result, the parking assistance device 1 can appropriately perform parking assistance even in a parking lot or the like that should be parked with a slant with respect to the travel path that the vehicle 2 travels when parking.

  Furthermore, the parking assistance apparatus 1 sets the parking interval at the target parking position of the vehicle 2 based on the intervals between the plurality of parked vehicles detected by the laser sensor 3. Thereby, even if there is no parked vehicle adjacent to the planned parking position (target parking position) or the like, the parking assist device 1 sets the target parking position according to the interval of other parked vehicles, and accordingly Thus, the vehicle 2 that is the host vehicle can be parked at appropriate intervals so as to be aligned with the intervals of other parked vehicles.

  According to the parking support apparatus 1 according to the embodiment described above, the laser sensor 3 that detects an object around the host vehicle, and the support apparatus 6 that is mounted on the host vehicle and can support parking of the host vehicle. And an ECU 7 that controls the support device 6 based on the detection result of the laser sensor 3 and can support parking of the host vehicle. Then, the ECU 7 sets the target parking position of the host vehicle based on the tip positions on the host vehicle side of the plurality of parked vehicles detected by the laser sensor 3. Furthermore, the ECU 7 performs control for assisting parking of the host vehicle based on the target parking position of the host vehicle according to the tip positions on the host vehicle side of a plurality of parked vehicles detected around the host vehicle. It is feasible. Therefore, the parking assist device 1 and the ECU 7 set the target parking position according to the tip positions of the plurality of parked vehicles, and park the host vehicle so that the tip of the host vehicle becomes an appropriate position according to the target parking position. Therefore, parking assistance can be appropriately performed even in a parking lot or the like that should be parked at a slant with respect to the travel path that the vehicle travels when parking.

  In addition, the parking assistance apparatus and control apparatus which concern on embodiment of this invention mentioned above are not limited to embodiment mentioned above, A various change is possible in the range described in the claim.

  For example, the target parking position setting unit 75 of the ECU 7 described above replaces the average position of the tip positions on the vehicle 2 side of the plurality of parked vehicles with the maximum protruding position of the tip position on the vehicle 2 side of the plurality of parked vehicles. You may make it calculate. In this case, the target parking position setting unit 75 calculates, from the front end positions on the vehicle 2 side of a plurality of parked vehicles, the front end position where the protrusion amount to the traveling path side where the vehicle 2 travels when parking is maximum. This is the maximum projecting position of the front end position of the plurality of parked vehicles on the vehicle 2 side. And the target parking position setting part 75 restrict | limits a parking position object area based on the maximum protrusion position of the front-end | tip position at the side of the vehicle 2 of the said several parked vehicles. The target parking position setting unit 75 excludes, from the parking position target area, the area on the traveling path side where the vehicle 2 travels when parking, with the maximum protruding position of the tip position on the vehicle 2 side of a plurality of parked vehicles as a reference. The area on the side away from the travel path is the parking position target area. That is, in this case, the ECU 7 sets the target parking position of the vehicle 2 based on the maximum protruding position of the front end position on the vehicle 2 side of the plurality of parked vehicles detected by the laser sensor 3. In this case, the parking assist device 1 and the ECU 7 can reliably suppress the target parking position of the vehicle 2 from being excessively forward with respect to the travel path that the vehicle 2 travels when parking. Parking assistance can be performed more appropriately.

  Moreover, the parking assistance apparatus 1 and ECU7 demonstrated above perform parking assistance appropriately, even if it is a parking lot etc. which should park substantially orthogonally with respect to the driving | running | working path | route which the own vehicle drive | works when parking. Can do.

  In the parking lot or the like, the ECU 7 sets a single parked vehicle when a plurality of parked vehicles cannot be detected before the own vehicle reaches the target parking planned position (target parking position). The target parking position may be set based on this, or the target parking position may be set based on various other known methods.

1 Parking support device 2 Vehicle (own vehicle)
3 Laser sensor (detection device)
4 Self-vehicle state detection device 5 System switch 6 Support device 7 ECU (control device)
8 Parking vehicle 71 Parking vehicle detection unit 72 Parking angle detection unit 73 Parking position detection unit 74 Parking interval detection unit 75 Target parking position setting unit 76 Support control unit

Claims (8)

A detection device for detecting objects around the host vehicle;
A support device mounted on the host vehicle and capable of supporting parking of the host vehicle;
A control device capable of controlling the support device based on a detection result by the detection device and executing support for parking of the host vehicle;
The control device sets a target parking position of the host vehicle based on tip positions on the host vehicle side of a plurality of parked vehicles detected by the detection device.
Parking assistance device. The control device limits a target area of a target parking position of the host vehicle based on a tip position on the host vehicle side of the parked vehicles detected by the detection device.
The parking assistance device according to claim 1. The control device sets a target parking position of the host vehicle based on an average position of tip positions on the host vehicle side of the plurality of parked vehicles detected by the detection device.
The parking assistance device according to claim 1 or 2. The control device sets a target parking position of the host vehicle based on a maximum protruding position of a tip position on the host vehicle side of the parked vehicles detected by the detection device.
The parking assistance device according to claim 1 or 2. The control device sets a tip position of a target parking position of the host vehicle based on a tip position on the host vehicle side of the plurality of parked vehicles detected by the detection device.
The parking assistance device according to any one of claims 1 to 4. The control device sets an inclination angle of a target parking position of the host vehicle based on an inclination angle of the plurality of parked vehicles detected by the detection device.
The parking assistance device according to any one of claims 1 to 5. The control device sets a parking interval at a target parking position of the host vehicle based on the intervals of the plurality of parked vehicles detected by the detection device.
The parking assistance device according to any one of claims 1 to 6. Control capable of supporting parking of the host vehicle can be executed based on a target parking position of the host vehicle corresponding to a tip position on the host vehicle side of a plurality of parked vehicles detected around the host vehicle. Characterized by the
Control device.

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