JP6827285B2 - Parking support method and parking support device - Google Patents

Description

The present invention relates to a parking support method and a parking support device that support driving when traveling on a traveling path in a parking lot while searching for an empty parking frame when the own vehicle is parked.

Conventionally, there is known a parking support method that generates a movement route from a predetermined warehousing position to an empty parking frame for parking the own vehicle and guides the own vehicle to the empty parking frame (see, for example, Patent Document 1).

JP-A-2015-74321

By the way, when searching for an empty parking frame that can be parked while traveling on a driving path in a parking lot, the empty parking frame is generally searched for due to the influence of the shooting range of the camera mounted on the own vehicle and the sensor range of the radar. The possible range is limited. Therefore, if the traveling route in the traveling path is inappropriate, it may not be possible to search for an empty parking frame.

The present invention has been made by paying attention to the above problem, and provides a parking support method and a parking support device that can facilitate the search for a vacant parking frame when traveling in a parking lot while searching for a vacant parking frame. The purpose is.

In order to achieve the above object, the present invention is a parking support method that supports a parking frame search run of the own vehicle by a parking controller mounted on the own vehicle, and is a road width detection step and a parking frame search route setting step. And a vehicle guidance step.
Wherein in the road width detecting step, runs parallel to the arrangement direction of the parking frame that exists along a travel path that is in a parking lot, when searching for free parking space available parking by vehicle-mounted device for detecting the parking space, run Detect the width of the route.
In the parking frame search route setting step, a parking frame search route for searching for an empty parking frame during traveling is set in the travel path according to the road width of the travel path.
In the own vehicle guidance step, the own vehicle is guided based on the parking frame search route.
Further, in the parking frame search route setting step, when the road width of the traveling path is wider than a predetermined road width threshold set in advance, the parking frame is along a position biased to the left or right from the center position in the width direction of the traveling path. A search route is set, and when the road width of the travel path is equal to or less than the road width threshold value, the parking frame search route is set along the center position in the width direction of the travel path.

As a result, when traveling in the parking lot while searching for an empty parking frame, it is possible to easily search for an empty parking frame.

It is a system configuration diagram which shows the structure of the vehicle equipped with the parking support device of Example 1. FIG. It is a block diagram which shows the system structure of the parking support ECU of Example 1. FIG. It is explanatory drawing which shows the traveling path, the road width and the parking frame search route when parking a vehicle. It is 1st explanatory drawing at the time of estimating the position of own vehicle based on a parking frame. It is a 2nd explanatory diagram at the time of estimating the position of own vehicle based on a parking frame. It is a 3rd explanatory diagram at the time of estimating the position of own vehicle based on a parking frame. It is 1st explanatory drawing at the time of estimating the position of the own vehicle from the own vehicle position information. It is a 2nd explanatory diagram at the time of estimating the position of the own vehicle from the own vehicle position information. It is 1st explanatory drawing at the time of estimating the position of own vehicle based on the position of the object in the parking lot. It is a 2nd explanatory diagram at the time of estimating the position of own vehicle based on the position of the object in a parking lot. It is 1st explanatory drawing which shows the road width detection method of a traveling path. It is a 2nd explanatory diagram which shows the road width detection method of a traveling path. It is 1st explanatory drawing at the time of detecting the road width of a traveling path from the passage width information. It is a 2nd explanatory diagram at the time of detecting the road width of a traveling path from the passage width information. It is explanatory drawing which shows the setting position of the parking frame search route when the road width of a traveling path is wider than the road width threshold value. It is explanatory drawing which shows the setting position of the parking frame search route when the road width of a traveling path is narrower than a road width threshold value. It is explanatory drawing which shows the straight line fitted to the parking frame and the parking frame search route. It is explanatory drawing which shows the lateral deviation and yaw angle deviation of a vehicle estimated position and a parking route or a parking frame search route. It is explanatory drawing which shows the lateral deviation between a vehicle estimated position and a parking route or a parking frame search route when the gazing distance is used. It is a flowchart which shows the parking support processing procedure which the parking support ECU of Example 1 executes. It is a flowchart which shows the vacant parking frame search route setting processing procedure executed by the parking support ECU of Example 1. FIG. It is 1st explanatory diagram which shows the problem at the time of searching for an empty parking frame. It is a 2nd explanatory diagram which shows the problem at the time of searching for an empty parking frame. It is 1st explanatory view which shows the position of own vehicle at the time of execution of parking support. It is a 2nd explanatory diagram which shows the position of own vehicle at the time of execution of parking support. It is 1st explanatory diagram in the 1st pattern of the vacant parking frame search. It is a 2nd explanatory diagram in the 1st pattern of the vacant parking frame search. It is 1st explanatory diagram in the 2nd pattern of the vacant parking frame search. It is a 2nd explanatory diagram in the 2nd pattern of the vacant parking frame search. It is a 3rd explanatory diagram in the 2nd pattern of the vacant parking frame search. It is 1st explanatory diagram in the 3rd pattern of the vacant parking frame search. It is a 2nd explanatory diagram in the 3rd pattern of the vacant parking frame search. It is a 3rd explanatory diagram in the 3rd pattern of the vacant parking frame search. It is 1st explanatory diagram in the 4th pattern of the vacant parking frame search. It is a 2nd explanatory diagram in the 4th pattern of the vacant parking frame search. It is a 3rd explanatory diagram in the 4th pattern of the vacant parking frame search. It is explanatory drawing which shows the preceding vehicle traveling on the road. It is explanatory drawing which shows the oncoming vehicle running on the traveling road. It is explanatory drawing which shows the other 1st example of the setting method of the parking frame search route. It is explanatory drawing which shows the other 2nd example of the setting method of the parking frame search route. This is an example of a map showing the relationship between the recognition accuracy of the parking frame and the distance from the straight line fitted to the parking frame to the parking frame search route. It is explanatory drawing which shows the deviation between the true value of a parking frame and the parking frame recognition position. This is an example of an error map showing the amount of deviation between the true value of the parking frame and the parking frame recognition position with respect to the distance from the own vehicle to the parking frame.

Hereinafter, a mode for implementing the parking support method and the parking support device of the present invention will be described with reference to the first embodiment shown in the drawings.

(Example 1)
First, the configuration of the parking support device of the first embodiment will be described separately for "vehicle configuration", "parking support ECU system configuration", "parking support processing procedure", and "vacant parking frame search route setting processing procedure".

[Vehicle configuration]
FIG. 1 is a system configuration diagram showing a configuration of a vehicle equipped with the parking support device of the first embodiment. Hereinafter, the configuration of the vehicle equipped with the parking support device of the first embodiment will be described with reference to FIG.

The parking support device of the first embodiment includes a parking support ECU (Electiric Control Unit, parking controller) 100 mounted on the vehicle S. Here, as shown in FIG. 1, the vehicle S is a four-wheeled vehicle in which the engine 10 is used as a traveling drive source and wheel speed sensors 21, 22, 23, 24 are provided on the wheels 11, 12, 13, and 14, respectively. Is. The wheel speed sensors 21 to 24 transmit a wheel speed signal to the parking support ECU 100. Further, the cameras 25, 26, are located at the center position of the front end of the vehicle S, the lower left end position of the left side mirror 15L, the lower right end position of the right side mirror 15R, and the center position of the rear end of the vehicle S, respectively. 24 and 28 are provided. The cameras 25 to 28 transmit the photographed image signal around the vehicle to the parking support ECU 100.

Here, the engine 10 is a 4-cycle, spark ignition type, multi-cylinder, gasoline fuel, internal combustion engine. The engine 10 is provided with an engine actuator 31. The engine actuator 31 includes a fuel injection valve, an ignition device, and a throttle actuator for changing the throttle valve opening degree, and is an actuator that performs operations necessary for operating the engine 10. A control signal from the parking support ECU 100 is input to the engine actuator 31, and a driving force corresponding to the control signal is output from the engine 10.

Further, the steering wheel 16 is rotated (steered) by the driver to steer the vehicle S. Here, when the rotation of the steering wheel 16 is transmitted to the pinions constituting the steering mechanism 17 through the steering shaft and the connecting shaft, the rack reciprocates due to the rotation of the pinions, and the reciprocating movement of the rack reciprocates through the front wheels 11, 12 through the tie rods. The steering of the vehicle S is executed by being transmitted to. Further, the steering mechanism 17 is provided with a steering actuator 32. The steering actuator 32 is an actuator that applies a steering force to the steering mechanism 17 and causes the steering mechanism 17 to steer according to a control signal from the parking support ECU 100. Further, the steering angle of the steering wheel 16 is detected by the steering angle sensor 29. The steering angle sensor 29 transmits a steering angle signal to the parking support ECU 100.

The range position sensor 30 is a so-called inhibitor switch that detects a range position (P (parking), R (reverse), D (drive), M (manual mode), etc.) selected by a select lever (not shown). The range position selection signal is transmitted to the parking support ECU 100. Further, the select lever is provided with a range actuator 33. The range actuator 33 is an actuator that applies a lever driving force to the select lever to select a range position according to a control signal from the parking support ECU 100.

Further, the vehicle S is provided with a brake actuator 34. The brake actuator 34 is an actuator that opens and closes the pressure boosting control valve and the pressure reducing control valve provided in the brake hydraulic circuit to output a braking force according to a control signal from the parking support ECU 100.

An in-vehicle monitor 18 using a liquid crystal display device or the like is provided on the upper part of the center console (not shown) of the vehicle S. The parking support ECU 100 displays an image of the surroundings of the vehicle taken by the cameras 25 to 28 on the in-vehicle monitor 18. It is displayed or the parking route set by the parking support ECU 100 is displayed on the vehicle-mounted monitor 18. The in-vehicle monitor 18 may be shared with a display unit of a navigation device (not shown).

Further, a search mode switch 19 and a passage traveling mode switch 20 are provided around the driver's seat of the vehicle S. The search mode switch 19 is a switch that inputs an ON signal to the driving support ECU 100 by being turned ON and executes a search for an empty parking frame. When the own vehicle S detects an empty parking frame, the parking support process described later is performed. In the parking support process according to the first embodiment, the own vehicle S is operated by the control signal from the parking support ECU 100 regardless of whether or not the driver is seated in the driver's seat to perform fully automatic driving.
Further, the passage traveling mode switch 20 is a switch that inputs an ON signal to the driving support ECU 100 by being turned ON and executes an empty parking frame search route setting process described later. In the own vehicle S, after setting the parking frame search route, the parking frame search support process described later is performed. In the parking frame search support process of the first embodiment, the own vehicle S is operated by the control signal from the parking support ECU 100 regardless of whether or not the driver is seated in the driver's seat to perform fully automatic driving.

[Parking support ECU system configuration]
FIG. 2 is a block diagram showing a system configuration of the parking support ECU of the first embodiment. Hereinafter, the system configuration of the parking support ECU included in the parking support device of the first embodiment will be described with reference to FIG.

As shown in FIG. 2, the parking support ECU 100 of the first embodiment includes wheel speed sensors 21 to 24, cameras 25 to 28, a steering angle sensor 29, a range position sensor 30, a search mode switch 19, and a passage. Predetermined input information is input from the traveling mode switch 20.

Then, in this parking support ECU 100, when the own vehicle S is stored in the target parking frame M, when an ON signal from the search mode switch 19 is input, various sensors such as wheel speed sensors 21 to 24 and cameras 25 to 28 are used. An empty parking lot is detected based on the predetermined input information input from.

Here, can not be detected vacant parking frame, and when the ON signal from the passage running mode switch 20 is input, the parking assist ECU 100, first, the position O ₁ of the vehicle S in the parking P shown in FIG. 3 Is estimated, and the road width W of the travel path R in the parking lot P is detected. Then, when the road width W of the travel path R is detected, a parking frame search route α for searching for an empty parking frame while traveling on the travel path R is set in the travel path R according to the road width W of the travel path R. Further, after the parking frame search route α is set, the own vehicle S is guided along the parking frame search route α to support the search for an empty parking frame.
That is, in the parking support ECU 100, after setting the parking frame search path α, control signals are output to the engine actuator 31, the steering actuator 32, the range actuator 33, and the brake actuator 34, respectively, and the own vehicle S is set to the parking frame search path α. Drive along the road so that you can properly search for empty parking spaces.

Further, in the parking assist ECU 100, when it detects an available parking parking frame (the vacant parking space) sets a position of the target parking frame M, from the current position O ₁ of the vehicle S to the target parking frame M parking Set the route. Then, control signals are output to the engine actuator 31, the steering actuator 32, the range actuator 33, and the brake actuator 34, respectively, the own vehicle S is driven along the parking route, and the vehicle S is parked in the target parking frame M. If the position of the target parking frame M is updated while traveling along the parking route, that is, during the parking operation, the vehicle corrects the parking route according to the updated position of the target parking frame M. Induce S. Further, the parking support ECU 100 outputs a display signal for displaying the parking route search route α and the parking route on the in-vehicle monitor 18.

As shown in FIG. 2, the parking support ECU 100 of the first embodiment includes a parking frame recognition unit 101, a target parking frame setting unit 102, a parking start position setting unit 103, a parking route generation unit 104, and parking. The frame search route setting unit 105, the switch 106, the route follow control unit 107, the target speed generation unit 108, the parking route position estimation unit 109, the search route position estimation unit 110, the switch 111, and the like. It includes a steering angle control unit 112 and a speed control unit 113.

When the ON signal from the search mode switch 19 is input, the parking frame recognition unit 101 detects the parking frame by analyzing the bird's-eye view image generated by converting the image signals detected by the cameras 25 to 28 into a bird's-eye view. Then, the parking frame position information is output. Further, the parking frame recognition unit 101 determines whether or not there is a parking frame (vacant parking frame) capable of parking the own vehicle S, and outputs a "parking signal" when it is determined that there is an empty parking frame. When it is determined that there is no empty parking frame, a "parking frame search signal" is output. The parking frame position information, the "parking signal" and the "parking frame search signal" are input to the target parking frame setting unit 102, the parking frame search route setting unit 105, and the search route position estimation unit 110, respectively.

When the "parking signal" and the parking frame position information are input from the parking frame recognition unit 101, the target parking frame setting unit 102 sets an appropriate area from the detected parking frames based on the parking frame position information as the target parking frame. Set as M. The target parking frame setting unit 101 outputs a display signal for displaying the set position information of the target parking frame M on the vehicle-mounted monitor 18, and the vehicle-mounted monitor 18 superimposes the position information on the images obtained by the cameras 25 to 28. The target parking frame M may be displayed. The target parking frame setting unit 102 sets the target parking position inside the set target parking frame M. This target parking position is the center position of the rear wheel axle when the own vehicle S is parked.

When the target parking frame M is set by the target parking frame setting unit 102, the parking start position setting unit 103 sets the parking start position based on the position and posture (traveling direction) of the own vehicle S at that time. Here, "setting the parking start position" means that the position of the own vehicle S (parking start position) at the time when the target parking frame M is set is set as the origin of the XY coordinate system, and the posture at this time (own vehicle). The XY coordinate system in which the traveling direction of S is the Y direction is set. The position of the own vehicle S is based on the center position of the rear wheel axle in the left-right direction. Then, in the parking support ECU 100 of the first embodiment, the parking frame search route α and the parking route are generated by the XY coordinate system set by the parking start position setting unit 103.

The parking route generation unit 104 is based on the position information of the target parking frame M set by the target parking frame setting unit 102 and the position information of the parking start position of the own vehicle S set by the parking start position setting unit 103. To generate a parking route.

Here, the parking route is set by combining any one or more of an arc, a clothoid curve, and a straight line. Then, for example, this parking route is assumed to be a straight line → clothoid curve → constant curvature arc → clothoid curve from the parking start position to the target parking position, and is also a map showing the relationship between the curvature of the preset route and the distance. It can be calculated based on.

In the parking frame search route setting unit 105, when the "parking frame search signal" and the parking frame position information are input from the parking frame recognition unit 101 and the ON signal from the passage traveling mode switch 20 is input, first, the parking frame is parked. estimating the position O ₁ of the own vehicle S in Kurumajo the P. After estimating the position O ₁ of the vehicle S, it detects a road width W of the travel path R which is in the parking lot P. Then, when the road width W of the traveling road R is detected, the parking frame search route α for searching the parking frame during traveling is set in the traveling road R according to the detected road width W.
The "parking frame search route α" means that when the own vehicle S travels on the travel path R, the parking frame existing along the travel path R is within the shooting range of the cameras 25 to 28 mounted on the own vehicle S. It is a route that you can drive while putting it in. Further, the "running path R" is a passage set in the parking lot P, and the position of the running path R is a bird's-eye view image generated by converting the image signals detected by the cameras 25 to 28 into a bird's-eye view. It is detected by analyzing or receiving travel path information from the base station A installed in the parking lot P.

Here, the position estimation of the own vehicle S in the parking lot P is carried out by, for example, the following method.
-Estimate the position of the own vehicle S based on the parking frame position information.
-Receives the position information of the own vehicle and estimates the position of the own vehicle S.
-The position of the own vehicle S is estimated based on the positions of objects such as walls and other vehicles existing in the parking lot P.

That is, as shown in FIG. 4, the lateral position of the own vehicle S with respect to the parking frame K detected based on the parking frame position information input from the parking frame recognition unit 101 is calculated, and based on the calculated horizontal position information. estimates the current position O ₁ of the vehicle S.

Further, as shown in FIG. 5, when a plurality of parking frames K are detected based on the parking frame position information input from the parking frame recognition unit 101, the positions of the plurality of parking frames K are indicated by an approximate function. The curve (straight line) K ₁ to be fitted is fitted, and the lateral position of the own vehicle S with respect to the fitted curve (straight line) K ₁ is calculated. Then, the position O ₁ of the own vehicle S is estimated based on the calculated lateral position information.
When fitting to a linear function, it can be obtained by the following equation (1). Also, the approximation function does not have to be a linear function. Further, the coefficients A and B are obtained by the following equations (2) and (3) by the least squares method.
Here, Cov (X, Y): Covariance of X, Y
σX: Variance of X
σY: Variance of Y
μX: Average of X
μY: The average of Y.

When fitting the curve (straight line) K ₁ shown by the approximation function to a plurality of parking frames K, if the detection accuracy of the parking frames K is low, first, the fittingable parking frames are ordered one by one. The correlation coefficient σ is obtained from the following equation (4) by excluding from. Then, the curve (straight line) K _{1 represented} by the approximate function is fitted by the combination of X and Y having the highest correlation coefficient σ (see FIG. 6).
Here, Cov (X, Y): Covariance of X, Y
σX: Variance of X
σY: Variance of Y

Further, in the case of estimating the current position O ₁ of the vehicle S from the vehicle position information, as shown in FIG. 7A, detects the position O ₁ of the vehicle S by the installed base station X to the parking lot P Then, the vehicle position information is received from this base station X. As shown in FIG. 7B, the own vehicle position information may be detected from the relative positional relationship with another vehicle (parked vehicle B) already parked in the parking frame K.

Furthermore, in the case of estimating the current position O ₁ of the own vehicle S based on the wall C present in parking P, as shown in FIG. 8A, measure the distance C ₁ between the wall C and the vehicle S and estimates the position O ₁ of the vehicle S from the distance information between the wall C measured. Further, when estimating the position O ₁ of the own vehicle S based on the parking space K already parked other vehicles in (parked vehicle B), as shown in FIG. 8B, the parked vehicle B and the subject vehicle S The distance B ₁ of the own vehicle S is measured, and the position O ₁ of the own vehicle S is estimated from the measured distance information with the parked vehicle B.

Then, the detection of the road width W of the traveling path R in the parking lot P is carried out by, for example, the following method.
-The road width W of the travel path R is detected based on the parking frame position information.
-Receives the passage width information and detects the road width W of the travel path R.

That is, as shown in FIG. 9A, when the parking frame K is detected only on one side of the own vehicle S, the own vehicle S is sandwiched from the end of the detected parking frame K. Let the distance to the object (wall C in this case) existing on the opposite side be the road width W of the traveling path R.

Further, as shown in FIG. 9B, when parking frames A and B are detected on both sides of the own vehicle S, the relative distance between the left and right parking frames A and B (parking existing on the left side of the own vehicle S). The road width W of the traveling path R is defined as the distance from the end of the frame A on the own vehicle S side to the end of the parking frame B on the right side of the own vehicle S on the own vehicle S side).

Further, when the road width W of the travel path R is detected from the passage width information, as shown in FIG. 10A, the passage width information of the travel path R in the parking lot P is previously provided to the base station X installed in the parking lot P. Is stored, and the passage width information is received from this base station X. When another vehicle (not shown) stores the passage width information, the passage width information may be received from the other vehicle.
Further, as shown in FIG. 10B, the passage width information of the traveling path R in the parking lot P included in the parking lot information recorded in the database 31 based on the position information of the own vehicle S possessed by the car navigation system 30. May be searched and the passage width information may be read from this database 31.

Further, when the road width W of the traveling road R is wider than a predetermined road width threshold Th, the parking frame search route α is set along a position biased to the left or right of the center position β in the width direction of the traveling road R. (See FIG. 11A). Further, the parking frame search route α in the travel path R is a parking frame search route along the width direction center position β of the travel path R when the road width W of the travel path R is equal to or less than a predetermined road width threshold Th. Set α (see FIG. 11B).
Here, the "road width threshold Th" is a value obtained by adding the passing margin distance (the clearance dimension required when vehicles pass each other) to twice the vehicle body width of the own vehicle S, and the parking frame of the own vehicle S. The value obtained by subtracting the recognition margin distance (recognition error range dimension) from the width dimension of the search range S ₁ is set to the smaller value. The "parking frame search range" is a range that can be photographed by the cameras 25 to 28 mounted on the own vehicle S.

Then, the parking frame search route α is set along the position biased to the left or right of the center position β in the width direction of the traveling path R, for example, by the following method.
-Determine whether or not there are parking slots on the left and right sides of the road R. When it is determined that the parking frame exists only on either the left or right side of the travel path R, an approximate function is fitted to the parking frame. Then, the parking frame search path α is set along a position separated by a predetermined distance set in advance from the straight line indicated by the fitted approximation function. That is, the parking frame search route α is set at a position closer to the parking frame existing along either the left or right side of the travel path R.
-Determine whether or not there are parking slots on the left and right sides of the road R. When it is determined that the parking frame exists on either the left or right side of the travel path R, an approximation function is fitted to the parking frame. Then, the parking frame search path α is set along a position separated by a predetermined distance set in advance from the straight line indicated by the approximation function existing at a position closer to the position of the own vehicle S. That is, the parking frame search route α is set at a position closer to the parking frame existing along either the left or right side of the travel path R.
-Determine whether or not there are parking slots on the left and right sides of the road R. If it is determined that there is no parking frame on either the left or right side of the travel path R, the parking frame search route α is set along a position separated from the center position β in the width direction of the travel path R by a predetermined distance to the left. To do. That is, when the parking frame does not exist along the travel path R, the parking frame search route α is set based on a predetermined travel rule.

As shown in FIG. 12, the distance L between the parking frame search path α and the straight line K ₁ indicated by the approximation function fitted to the parking frame K can be arbitrarily set, for example, the own vehicle S. Set the distance to half of the parking frame recognition range. Further, the distance L from the straight line K ₁ to the parking frame search route α is constant, and the straight line K ₁ and the parking frame search route α are set in parallel.

The switch 106 is a switching circuit for switching between the parking support mode and the empty parking frame search support mode, and when the parking route generated by the parking route generation unit 104 is input, the switch 106 is regarded as the parking support mode and parked. The route information of the route is input to the route tracking control unit 107. On the other hand, when the parking frame search route α set by the parking frame search route setting unit 105 is input to the switch 106, the route information of the parking frame search route α is input as the vacant parking frame search support mode. Input to the path tracking control unit 107.

In the route tracking control unit 107, in the parking support mode, first, the route information of the parking route generated by the parking route generation unit 104 and the current position information of the own vehicle S input from the parking route position estimation unit 109 Based on the above, the target steering angle for driving the own vehicle S following the parking route is obtained.
The parking path position estimation unit 109 sets the parking start position in the parking start position setting unit 103 based on the wheel speed information from the wheel speed sensors 21 to 24 and the steering angle information from the steering angle sensor 29. The current position and attitude (traveling direction) of the vehicle S existing on the XY coordinates, which has moved from, is estimated. The estimated current position information of the own vehicle S in the parking route is input to the route tracking control unit 107 via the switch 111.

On the other hand, in the route tracking control unit 107, in the empty parking frame search support mode, first, the route information of the parking frame search route α set by the parking frame search route setting unit 105 and the position estimation unit in the search route. Based on the current position information of the own vehicle S input from 110, the target steering angle for driving the own vehicle S following the parking frame search path α is obtained.
The position estimation unit 110 in the search route estimates the current position and posture (traveling direction) of the own vehicle S with respect to the detected parking frame based on the frame position information input from the parking frame recognition unit 101. The estimated current position information of the own vehicle S in the parking frame search path α is input to the route tracking control unit 107 via the switch 111.

Here, the switch 111 is a switching circuit for switching between the parking support mode and the vacant parking frame search support mode, and the vehicle position information in the parking route estimated by the parking route position estimation unit 109 is input. At that time, the vehicle position information in the parking route is input to the route tracking control unit 107 as the parking support mode. On the other hand, when the vehicle position information in the parking frame search path α estimated by the search route position estimation unit 110 is input to the switch 106, it is regarded as the empty parking frame search support mode and the parking frame search is performed. The vehicle position information in the route α is input to the route tracking control unit 107.

Then, the target steering angle can be calculated by the following equation (5).
Here, K _str-ρ = coefficient
ρ _traj = _{Curvature of the} parking path or parking frame search path α.

Next, in the path tracking control unit 107, after setting the target steering angle, the target is set according to the lateral deviation between the current position (estimated value) of the own vehicle S shown in FIG. 13A and the parking route or the parking frame search path α. The steering angle correction amount is calculated from the following equation (6).
Here, K _{FB_ydiff} = lateral deviation feedback gain
y _diff = lateral deviation from the parking route or parking frame search route α.

The correction amount of the target steering angle is as follows according to the yaw angle deviation between the yaw angle at the current position (estimated value) of the own vehicle S shown in FIG. 13A and the yaw angle of the parking route or the parking frame search route α. It may be calculated from the formula (7).
Here, K _{FB_yawdiff} = yaw angle deviation feedback gain
yaw _diff = yaw angle deviation with respect to the parking route or parking frame search route α.
Further, for the correction amount of the target steering angle, the gazing distance is set on the front side in the traveling direction of the vehicle S shown in FIG. 13B, and the point P separated from the vehicle S by the forward gazing distance and the parking route or the parking frame search route. It may be calculated from the following equation (8) according to the lateral deviation from α.
Here, K _{FB_ydiff} = lateral deviation feedback gain
y _diff = Lateral deviation from the parking route or parking frame search route α at the forward gazing distance
Is.

Then, the information of the target steering angle and the target steering angle correction amount obtained by the path tracking control unit 107 is input to the steering angle control unit 112. The steering angle control unit 112 outputs a control signal for making the actual steering angle of the own vehicle S follow the input target steering angle to the steering actuator 32. The steering angle of the own vehicle S is detected by the steering angle sensor 29, and feedback control is performed.

The target speed control unit 108 sets a vehicle speed preset according to the curvature of the route as the target speed based on the route information of the parking route or the route information of the parking frame search route α input via the switch 106. .. Then, the target speed information set by the target speed control unit 108 is input to the speed control unit 113. The speed control unit 113 outputs a control signal for making the actual speed of the own vehicle S follow the input target speed to the engine actuator 31 and the brake actuator 34. The speed of the own vehicle S is detected by the wheel speed sensors 21 to 24, and feedback control is performed.

Further, in the parking support ECU 100, when it is determined that the vehicle S has reached the turning position based on the current position (estimated value) of the vehicle S and the parking route or the parking frame search route α, the forward / backward switching signal is sent to the range actuator 33. Is output, and the traveling direction of the own vehicle S is switched.

[Parking support processing procedure]
Next, the parking support processing procedure in the first embodiment will be described with reference to the flowchart shown in FIG.

In step S101, it is determined whether or not the search mode switch 19 has been turned ON. If YES (with ON operation), the process proceeds to step S102. If NO (no ON operation), parking assistance is not required and the process proceeds to the end.
Here, the ON operation of the search mode switch 19 is determined by the input of the ON operation signal from the search mode switch 19.

In step S102, following the determination that the search mode switch 19 has been turned on in step S101, the parking frame is detected based on the image signals detected by the cameras 25 to 28, and the own vehicle S can be parked. Determine if there is a parking slot. If YES (there is an empty parking space), the process proceeds to step S103. If NO (no empty parking space), the process proceeds to step S109.
Here, the presence or absence of an empty parking frame is also determined based on the image signal.

In step S103, following the determination that there is an empty parking frame in step S102, the target parking frame is set and the parking start position is set. Then, a parking route from the parking start position to the target parking frame is generated, and the process proceeds to step S104.
Here, the target parking frame is set based on the image signals detected by the cameras 25 to 28. In addition, when setting the parking start position, the position of the own vehicle S (parking start position) at the time when the target parking frame is set is set as the origin of the XY coordinate system, and the posture (traveling direction of the own vehicle S) at this time is Y. This is done by setting the XY coordinates as the direction. Further, the parking route is generated by combining any one or more of an arc, a clothoid curve, and a straight line.

In step S104, following the generation of the parking route in step S103, the current position and posture (traveling direction) of the own vehicle S in the parking route are estimated, and the process proceeds to step S105.
Here, the current position of the own vehicle S is estimated based on the wheel speed information from the wheel speed sensors 21 to 24 and the steering angle information from the steering angle sensor 29.

In step S105, following the vehicle position estimation in step S104, the target steering angle for guiding the own vehicle S from the parking start position to the target parking frame is set according to the curvature of the parking route generated in step S103. , Step S106.
Here, the target steering angle is set based on the above equation (5). Further, the target steering angle is appropriately corrected by the target steering angle correction amount calculated based on the equations (6), (7), (8) and the like.

In step S106, following the setting of the target steering angle in step S105, the target speed for guiding the own vehicle S from the parking start position to the target parking frame is set according to the curvature of the parking path generated in step S103. Then, the process proceeds to step S107.
Here, the target speed is preset according to the curvature of the path.

In step S107, following the setting of the target speed in step S106, the own vehicle S is controlled while controlling the steering angle and speed of the own vehicle S so that the traveling path of the own vehicle S follows the parking route generated in step S103. And proceed to step S108.
Here, in order to make the traveling path of the own vehicle S follow the parking route, first, the select lever outputs a control signal for selecting the D (drive) range to the range actuator 33, and the select lever selects the D range. And drive the own vehicle S. Then, a control signal for causing the speed of the own vehicle S to follow the target speed is output to the engine actuator 31 and the brake actuator 34, and the own vehicle S is driven at a speed corresponding to the target speed. Further, a control signal corresponding to the target steering angle is output to the steering actuator 32, and the own vehicle S is driven along the parking route.

In step S108, following the execution of the following running along the parking route in step S107, it is determined whether or not the own vehicle S has parked in the target parking frame. If YES (parking completed), the select lever outputs a control signal for selecting the P (parking) range to the range actuator 33, and proceeds to the end. As a result, the P range is selected by the select lever, and the parking support process is completed.
If NO (parking is not completed), the process returns to step S104.

In step S109, following the determination in step S102 that there is no empty parking frame, it is determined whether or not the aisle travel mode switch 20 has been turned ON. If YES (with ON operation), the process proceeds to step S200. If NO (no ON operation), the setting of the parking frame search route α is unnecessary and the process proceeds to step S102.
Here, the ON operation of the passage travel mode switch 20 is determined by the input of the ON operation signal from the passage travel mode switch 20. Further, when it is determined that the setting of the parking frame search route α is unnecessary and the process returns to step S102, the own vehicle S is driven by the driver's manual operation to search for an empty parking frame.

In step S200, following the determination that the passage traveling mode switch 20 is turned on in step S109, the vacant parking frame search route setting process described later is executed, and the process proceeds to step S110.
Here, by executing the empty parking frame search route setting process, the parking frame search route α is set in the traveling path R in the parking lot P.

In step S110 (own vehicle guidance step), the parking frame search route α is set by executing the empty parking frame search route setting process in step S200, and the current position of the own vehicle S in the parking frame search route α and The posture (traveling direction) is estimated, and the process proceeds to step S111.
Here, the current position of the own vehicle S is estimated based on the wheel speed information from the wheel speed sensors 21 to 24 and the steering angle information from the steering angle sensor 29.

In step S111 (own vehicle guidance step), following the vehicle position estimation in step S110, the own vehicle S is moved along the parking frame search path α according to the curvature of the parking frame search path α set in step S200. The target steering angle at the time of guidance is set, and the process proceeds to step S112.
Here, the target steering angle is set based on the above equation (5). Further, the target steering angle is appropriately corrected by the target steering angle correction amount calculated based on the equations (6), (7), (8) and the like.

In step S112 (own vehicle guidance step), following the setting of the target steering angle in step S111, the own vehicle S is set to this parking frame search path α according to the curvature of the parking frame search path α generated in step S200. The target speed for guiding along the line is set, and the process proceeds to step S113.
Here, the target speed is preset according to the curvature of the path.

In step S113 (own vehicle guidance step), following the setting of the target speed in step S112, the steering angle of the own vehicle S so that the traveling path of the own vehicle S follows the parking frame search path α generated in step S200. And the own vehicle S is driven while controlling the speed, and the process returns to step S102.
Here, in order to make the traveling path of the own vehicle S follow the parking frame search path α, first, the select lever outputs a control signal for selecting the D (drive) range to the range actuator 33, and the select lever outputs the D range. Is selected to drive the own vehicle S. Then, a control signal for causing the speed of the own vehicle S to follow the target speed is output to the engine actuator 31 and the brake actuator 34, and the own vehicle S is driven at a speed corresponding to the target speed. Further, a control signal corresponding to the target steering angle is output to the steering actuator 32, and the own vehicle S is made to travel along the parking frame search path α.

[Vacant parking frame search route setting processing procedure]
Next, the vacant parking frame search route setting process in the first embodiment will be described with reference to the flowchart shown in FIG.

In step S201 (road width detection step), following the determination that the passage travel mode switch 20 is turned on in step S109 in the parking support process, the own vehicle S exists or is about to travel in the parking lot P. Along with detecting the travel path R, the road width W of the detected travel path R is detected, and the process proceeds to step S202.
Here, the travel path R and the road width W of the travel path R are detected based on, for example, the parking frame position information, or the passage width information is received and detected.

In step S202 (parking frame search route setting step), following the road width detection of the travel path R and the travel path R in step S201, the detected road width W of the travel path R is set from a preset predetermined road width threshold Th. Judge whether it is wide or not. If YES (travel road width> road width threshold Th), the process proceeds to step S203. If NO (travel road width ≤ road width threshold Th), the process proceeds to step S213.

In step S203 (parking frame search route setting step), following the determination in step S202 that travel road width> road width threshold Th, it is determined whether or not there is a parking frame on the left side of the travel path R. If YES (there is a parking frame on the left side of the road), the process proceeds to step S204. If NO (no parking frame on the left side of the road), the process proceeds to step S209.
Here, the "left side of the traveling path R" is the left side in the traveling direction of the own vehicle S, and when the own vehicle S is in the traveling path R, it is the left side of the own vehicle S.

In step S204 (parking frame search route setting step), following the determination that there is a parking frame on the left side of the travel path in step S203, the first straight line is fitted to the parking frame existing on the left side of the travel path R, and the step is taken. Proceed to S205.
Here, the first straight line is obtained by the linear function represented by the above equations (1) to (3).

In step S205 (parking frame search route setting step), following the fitting of the first straight line in step S204, it is determined whether or not there is a parking frame on the right side of the traveling path R. If YES (there is a parking frame on the right side of the road), proceed to step S206. If NO (no parking frame on the right side of the road), the process proceeds to step S208.
Here, the "right side of the traveling path R" is the right side in the traveling direction of the own vehicle S, and when the own vehicle S is in the traveling path R, it is the right side of the own vehicle S.

In step S206 (parking frame search route setting step), following the determination that there is a parking frame on the right side of the driving path in step S205, the second straight line is fitted to the parking frame existing on the right side of the driving path R, and the step Proceed to S207.
Here, the second straight line is obtained by the linear function represented by the above equations (1) to (3).

In step S207 (parking frame search route setting step), following the fitting of the second straight line in step S206, the own vehicle is out of the first straight line fitted in step S204 and the second straight line fitted in step S206. Identify the straight line with the shorter distance from S. Then, the parking lot search route α is set along a position separated by a predetermined distance preset from the straight line determined to be close to the own vehicle S, and the vehicle proceeds to the end. As a result, the own vehicle S travels in the traveling path R at a position closer to the parking frame to which the straight line determined to be close to the own vehicle S is fitted.
The distance from the straight line determined to be close to the own vehicle S to the parking lot search route α is arbitrarily set, for example, half the distance of the parking frame recognition range of the own vehicle S.

In step S208 (parking frame search route setting step), following the determination that there is no parking frame on the right side of the traveling path in step S205, along a position separated by a predetermined distance preset from the first straight line fitted in step S204. Set the parking lot search route α and proceed to the end. As a result, the own vehicle S travels in a position closer to the parking frame existing on the left side of the travel path R to which the first straight line is fitted, even in the travel path R.
The distance from the first straight line to the parking lot search route α is arbitrarily set, for example, a distance that is half of the parking frame recognition range of the own vehicle S.

In step S209 (parking frame search route setting step), following the determination in step S203 that there is no parking frame on the left side of the travel path, it is determined whether or not there is a parking frame on the right side of the travel path R. If YES (there is a parking frame on the right side of the road), proceed to step S210. If NO (no parking frame on the right side of the road), the process proceeds to step S212.

In step S210 (parking frame search route setting step), following the determination that there is a parking frame on the right side of the driving path in step S209, the second straight line is fitted to the parking frame existing on the right side of the driving path R, and the step Proceed to S211.
Here, the second straight line is obtained by the linear function represented by the above equations (1) to (3).

In step S211 (parking frame search route setting step), following the fitting of the second straight line in step S210, the parking lot search route α is set along a position separated by a predetermined distance preset from the second straight line. Proceed to the end. As a result, the own vehicle S travels in a position closer to the parking frame existing on the right side of the travel path R to which the second straight line is fitted even in the travel path R.
The distance from the second straight line to the parking lot search route α is arbitrarily set, for example, a distance that is half of the parking frame recognition range of the own vehicle S.

In step S212 (parking frame search route setting step), following the determination that there is no parking frame on the right side of the driving path in step S209, it is assumed that there are no parking frames on either the left or right side of the driving path R, and a preset driving rule is set. , Here, the parking frame search route α is based on the travel rule that “the parking lot search route α is set along a position separated by a predetermined distance preset on the left side of the center position β in the width direction of the travel path R”. Set and proceed to the end. As a result, the own vehicle S travels on the traveling path R at a position closer to the left side than the central position β in the width direction.
The "left side of the center position β in the width direction of the traveling path R" is the left side in the traveling direction of the own vehicle S. Further, the distance L ₃ from the β widthwise center position of the travel path R to the parking lot searched route α is, for example half the distance or the like of the parking space purview of the vehicle S, arbitrarily set.

In step S213 (parking frame search route setting step), following the determination of the travel path width ≤ road width threshold Th in step S202, the parking lot search route α is set along the center position in the width direction of the travel path R, and the end. Proceed to. As a result, the own vehicle S travels in the center of the travel path R in the width direction.

Next, the action will be described.
First, the "problem at the time of searching for an empty parking frame" will be described, and then the "parking frame search support action" in the parking support method and the parking support device of the first embodiment will be described.

[Issues when searching for empty parking spaces]
In the own vehicle S of the first embodiment, an empty parking frame that can be parked is searched based on the image signals detected by the cameras 25 to 28. Here, the camera 25 to 28, both have decided photographable range, the parking space search range S ₁ of the vehicle S is limited by the photographable range of the camera 25 to 28. That is, even if there is an empty parking frame, it cannot be detected by the own vehicle S unless it is within the parking frame search range S ₁ (capable range of the cameras 25 to 28) of the own vehicle S.

In contrast, traveling along the traveling path R of the wide road width W than the parking space search range S ₁ of the vehicle S, it is possible to search for the vacant parking space in the parking P.
However, in this case, as shown in FIG. 16A, when the own vehicle S travels along the center position β in the width direction of the travel path R, the parking frames A and B existing on the left and right of the travel path R and the self and the parking space detection range S ₁ of the vehicle S there is no overlap. That is, the parking space A present on the left and right of the travel path R, if traveling along a position close to one of the B, a parking space A or parking frame B, the parking space detection range S ₁ of the vehicle S Do not overlap. Therefore, even if there is an empty parking space, there arises a problem that it cannot be detected properly.

On the other hand, as shown in FIG. 16B, the road width W of the travel path R in the parking P is traveling along the traveling path R of the narrow road width W than the parking space search range S _1, for example, the vehicle S, parking P We may also search for empty parking lots.
However, in this case, as shown in FIG. 16B, when the own vehicle S travels along the position closer to the parking frame A existing on the left side of the traveling path, the parking frame B existing on the right side of the traveling path R never a parking space detection range S ₁ of the vehicle S overlap. That is, when the road width W of the travel path R is narrow, if the vehicle travels along the center position β in the width direction of the travel path R, the own vehicle S simultaneously with respects the parking frames A and B existing on the left and right of the travel path R. it is possible to overlay the parking space detection range S _1. However, if the vehicle travels along a position closer to either of the parking frames A and B existing on the left and right sides of the travel path R, it is not possible to search for the availability of the parking frame on the opposite side. Therefore, in order to detect an empty parking frame, it is necessary to make a round trip on the travel path R, which causes a problem that it takes time to search for an empty parking frame.

As described above, unless the traveling route of the own vehicle S in the traveling path R is set at an appropriate position, there arises a problem that it is difficult to search for an empty parking frame and the parking frame cannot be searched appropriately.

[Parking frame search support action]
(Parking support)
When parking the own vehicle S of the first embodiment, first, the own vehicle S is stopped at an arbitrary position such as the entrance of the parking lot P as shown in FIG. 17A. It should be noted that the vehicle may travel to the arbitrary position by manual operation by the driver, or may be driven by automatic driving based on a control signal from the parking support ECU 100 mounted on the own vehicle S.

When the own vehicle S is stopped, the driver turns on the search mode switch 19 to perform the parking support process shown in FIG. That is, in the flowchart shown in FIG. 14, the process proceeds from step S101 to step S102 to determine whether or not there is an empty parking frame in which the own vehicle S can be parked.

Here, as shown in FIG. 17A, if an empty parking frame can be detected, the process proceeds from step S102 to step S103, the target parking frame M is set, and the current position (parking start position) O ₁ of the own vehicle S is set. A parking route Z up to the target parking frame O ₂ is generated (see FIG. 17B). Then, after the parking path Z is generated, the process proceeds to step S104 → step S105 → step S106, and the current position of the own vehicle S, the target steering angle and the target speed for traveling following the parking path Z are set.

After setting the target steering angle and the target speed, the process proceeds to step S107 to drive the vehicle S while controlling the steering angle and speed, and to follow the traveling route of the own vehicle S to the parking path Z. Then, the flow of step S104 → step S105 → step S106 → step S107 → step S108 is repeated until the own vehicle S parks in the target parking frame M, and the own vehicle S is parked in the target parking frame M.
If the position of the target parking frame M is corrected while the traveling route of the own vehicle S is being made to follow the parking route Z, the parking route Z is also corrected as appropriate. Then, the traveling path of the own vehicle S is made to follow the corrected parking path Z.

(Search for empty parking space: 1st pattern)
On the other hand, if the vacant parking frame cannot be detected as a result of determining the presence or absence of the vacant parking frame, the process proceeds from step S102 to step S109. Then, when the passage traveling mode switch 20 is turned on, the process proceeds to step S200 to perform the empty parking frame search route setting process.
If the passage traveling mode switch 20 is not turned on, the parking frame search route α is not set, and the driver searches for an empty parking frame while traveling on an arbitrary route.

When executing the vacant parking frame search route setting process, that is, in the flowchart shown in FIG. 15, the process proceeds from step S201 to step S202, the road width W of the travel path R and the travel path R is detected, and then this travel path. It is determined whether or not the road width W of R is wider than a preset predetermined road width threshold Th.

As shown in FIG. 18A, when the road width W of the travel road R is equal to or less than the road width threshold value Th, the process proceeds from step S202 to step S213, and the parking frame search route α is set along the width direction center position β of the travel road R. Set. Then, after setting the parking frame search route α, the process proceeds to step S110 → step S111 → step S112 shown in FIG. 14, and the current position of the own vehicle S, the target steering angle when traveling following the parking frame search route α, and Set each target speed.

After setting the target steering angle and the target speed, the process proceeds to step S113, the vehicle S is driven while controlling the steering angle and speed, and the traveling route of the own vehicle S is made to follow the parking frame search path α. Then, the flow of step S109 → step S200 → step S110 → step S111 → step S112 → step S113 is repeated until the own vehicle S detects an empty parking frame, and the empty parking frame is searched.

At this time, as shown in FIG. 18B, by setting the parking frame search path α along the center position in the width direction of the travel path R, the own vehicle S travels along the center position in the width direction of the travel path R. .. Therefore, it is possible to simultaneously search for the presence or absence of an empty parking frame for the parking frames A and B existing on the left and right sides of the travel path R.
That is, by vehicle S is traveling in the width direction center position of the travel path R, overlapping the parking space search range S ₁ of the vehicle S, the parking space A present on both right and left sides of the travel path R, each of B be able to. As a result, it is possible to detect an empty parking frame in a short time without going back and forth on the travel path R.

(Search for empty parking space: 2nd pattern)
Further, as shown in FIG. 19A, when the road width W of the traveling road R is wider than the road width threshold Th, the process proceeds from step S202 to step S203, and whether or not there is a parking frame on the left side of the traveling road R is determined. to decide. In the case shown in FIG. 19A, since the left side of the road R it can be determined that the parking space A is present, the process proceeds to step S204, the travel path relative to the left parking frame A, fitting the first straight line A ₁ (FIG. See 19B).

After fitting the first straight line A _1, the routine proceeds to step S205, the parking space is determined whether there on the right side of the travel path R. In the state shown in FIG. 19B, the parking space search range S ₁ of the vehicle S do not overlap in the parking space B of the road right, it is not possible to detect the parking space B of the traveling path right. Therefore, it is determined that there is no parking frame on the right side of the travel path R, and the process proceeds to step S208.
As a result, as shown in FIG. 19C, sets the parking space search path α along the position away from the first straight line A ₁ of fitting a predetermined distance L ₁ with respect to the running path left parking frame A.

Then, after setting the parking frame search route α, the process proceeds to step S110 → step S111 → step S112 shown in FIG. 14, and the target steering angle when traveling following the current position of the own vehicle S and the parking frame search route α. And set the target speed respectively.

After setting the target steering angle and the target speed, the process proceeds to step S113, the vehicle S is driven while controlling the steering angle and speed, and the traveling route of the own vehicle S is made to follow the parking frame search path α. Then, the flow of step S109 → step S200 → step S110 → step S111 → step S112 → step S113 is repeated until the own vehicle S detects an empty parking frame, and the empty parking frame is searched.

In this case, as shown in FIG. 19C, it was set from the first straight line A ₁ of fitting a predetermined distance L ₁ away parking space search path along the position α with respect to the parking space A present roadway left , The own vehicle S travels at a position closer to the parking frame A than the center position β (see FIG. 19C) in the width direction of the travel path R. Therefore, the parking frame A on the left side of the traveling path can be appropriately searched, and the empty parking frame can be easily detected.

(Search for empty parking space: 3rd pattern)
Further, when the road width W of the traveling road R is wider than the road width threshold Th, the process proceeds from step S202 to step S203, and when it is determined whether or not there is a parking frame on the left side of the traveling road R, it is shown in FIG. 20A. As described above, when it cannot be determined that the parking frame exists on the left side of the travel path R, the process proceeds to step S209, and it is determined whether or not the parking frame exists on the right side of the travel path R. In the case shown in FIG. 20A, since the right side of the travel path R it can be determined that the parking frame B is present, the process proceeds to step S210, the travel path relative to the right side of the parking frame B, fitting a second straight line B ₁ (Fig. See 20B).

When the second fitting a straight line B _1, proceeds to step S211, as shown in FIG. 20C, a position away from the second straight line B ₁ of fitting by a predetermined distance L ₂ to the traveling path right parking frame B A parking frame search route α is set along the route.

Then, after setting the parking frame search route α, the process proceeds to step S110 → step S111 → step S112 shown in FIG. 14, and the target steering angle when traveling following the current position of the own vehicle S and the parking frame search route α. And set the target speed respectively.

After setting the target steering angle and the target speed, the process proceeds to step S113, the vehicle S is driven while controlling the steering angle and speed, and the traveling route of the own vehicle S is made to follow the parking frame search path α. Then, the flow of step S109 → step S200 → step S110 → step S111 → step S112 → step S113 is repeated until the own vehicle S detects an empty parking frame, and the empty parking frame is searched.

At this time, as shown in FIG. 20C, the parking frame search route α is set along a position separated by a predetermined distance L ₂ from the second straight line B ₁ fitted to the parking frame B existing on the right side of the traveling path. The own vehicle S travels at a position closer to the parking frame B than the center position β (see FIG. 20C) in the width direction of the travel path R. Therefore, the parking frame B on the right side of the traveling path can be appropriately searched, and the vacant parking frame can be easily detected.

(Search for empty parking space: 4th pattern)
Further, when it is determined whether or not there is a parking frame on the left side of the travel path R when the road width W of the travel path R is wider than the road width threshold Th, as shown in FIG. 21A, on the left side of the travel path R. If it is determined that the parking frame A exists and that the parking frame B exists on the right side of the travel path R, the process proceeds to step S202 → step S203 → step S204 → step S205 → step S206. That is, for roadway left parking frame A, the first straight line A ₁ fitted, with respect to the running path right parking frame B, and fitting a second straight line B ₁ (see FIG. 21B). Thus, first, second straight line A _1, B ₁ is fitted to the left and right sides of the travel path R.

Then, in Example 1, first, when the second fitting a straight line A _1, B _1, the process proceeds to step S207, among the first straight line A ₁ and the second straight line B _1, the vehicle S at that time setting the parking space search path α along the near and the determined straight line (first straight line in FIG. 21C a ₁₎ at a position a predetermined distance L ₁ by position.

Then, after setting the parking frame search route α, the process proceeds to step S110 → step S111 → step S112 shown in FIG. 14, and the target steering angle when traveling following the current position of the own vehicle S and the parking frame search route α. And set the target speed respectively.

After setting the target steering angle and the target speed, the process proceeds to step S113, the vehicle S is driven while controlling the steering angle and speed, and the traveling route of the own vehicle S is made to follow the parking frame search path α. Then, the flow of step S109 → step S200 → step S110 → step S111 → step S112 → step S113 is repeated until the own vehicle S detects an empty parking frame, and the empty parking frame is searched.

In this case, as shown in FIG. 21C, it was set from the first straight line A ₁ of fitting a predetermined distance L ₁ away parking space search path along the position α with respect to the parking space A present roadway left The own vehicle S travels at a position closer to the parking frame A than the center position β (see FIG. 21C) in the width direction of the travel path R. Therefore, the parking frame A on the left side of the traveling path can be appropriately searched, and the empty parking frame can be easily detected.

(Search for empty parking space: 5th pattern)
Although not shown, when it is determined that there is no parking frame on either side of the traveling path R, the process proceeds to step S202 → step S203 → step S209 → step S212 in the flowchart shown in FIG. Then, the parking based preset to "parking searched route alpha, roadway than widthwise middle position β of R is set along a position a predetermined distance L ₃ which is set in advance to the left" of travel rule The frame search path α is set.

Then, after setting the parking frame search route α, the process proceeds to step S110 → step S111 → step S112 shown in FIG. 14, and the target steering angle when traveling following the current position of the own vehicle S and the parking frame search route α. And set the target speed respectively.

After setting the target steering angle and the target speed, the process proceeds to step S113, the vehicle S is driven while controlling the steering angle and speed, and the traveling route of the own vehicle S is made to follow the parking frame search path α. Then, the flow of step S109 → step S200 → step S110 → step S111 → step S112 → step S113 is repeated until the own vehicle S detects an empty parking frame, and the empty parking frame is searched.

In this way, by setting the parking frame search route α based on the preset travel rule, it is possible to improve the search accuracy of the parking frame as compared with the case of unplanned travel in the travel path R. The parking frame on the side of the road R can be appropriately searched, and the vacant parking frame can be easily detected.

Next, the effect will be described.
In the parking support method and the parking support device of the first embodiment, the effects listed below can be obtained.

(1) In the parking support method for supporting the vacant parking frame search run of the own vehicle S by the parking controller (parking support ECU 100) mounted on the own vehicle S.
A road width detection step (step S201) for detecting the road width W of the traveling path R in the parking lot P when entering the parking lot, and
A parking frame search route setting step (steps S202 to S213) for setting a parking frame search route α for searching an empty parking frame during traveling according to the road width W of the travel path R in the travel path R.
The own vehicle guidance step (step S110 to step S113) for guiding the own vehicle S based on the parking frame search route α, and
It was configured to have.
This makes it easier to search for an empty parking frame when traveling in the parking lot while searching for an empty parking frame.

(2) In the parking frame search route setting step (steps S202 to S213), when the road width W of the travel path R is wider than a predetermined road width threshold Th, the center position β in the width direction of the travel path R The parking frame search route α is set along a position biased to the left or right, and when the road width W of the travel path R is equal to or less than the road width threshold Th, the parking frame search path α is set along the center position β in the width direction of the travel path R. The parking frame search route α is set.
As a result, in addition to the effect of (1), it is possible to appropriately search for an empty parking frame even when the road width W of the traveling road R is wide, and to search for an empty parking frame when the road width W of the traveling road R is narrow. It can be done efficiently.

(3) In the parking frame search route setting step (steps S202 to S213), when the parking frame search route α is set along a position biased to the left or right of the center position β in the width direction of the travel path R. The parking frame search route α is set along a position separated by a predetermined distance L ₁ and L ₂ from the parking frames A and B existing along the travel path R.
As a result, in addition to the effect of (2), it is possible to travel along the positions closer to the parking frames A and B existing along the travel path R, and it is possible to further facilitate the search for an empty parking frame. ..

(4) In the parking frame search route setting step (steps S202 to S213), when the parking frame search route α is set along a position biased to the left or right of the center position β in the width direction of the travel path R. , The parking frame search route α is set based on a predetermined driving rule.
As a result, in addition to the effect of (2), even if the existence of the parking frame is unclear, it is possible to make it easier to search for an empty parking frame than when traveling unplanned.

(5) A parking support device equipped with a parking controller (parking support ECU) that supports the search for an empty parking frame of the own vehicle S.
The parking controller (parking support ECU)
When entering the parking lot, the road width W of the driving path R in the parking lot P is detected.
A parking frame search route α for searching for an empty parking frame during traveling is set in the travel path R according to the road width W of the travel path R.
The own vehicle S is guided based on the parking frame search route α.
This makes it easier to search for an empty parking frame when traveling in the parking lot while searching for an empty parking frame.

Although the parking support method and the parking support device of the present invention have been described above based on the first embodiment, the specific configuration is not limited to this embodiment, and the claims are included in the claims. Design changes and additions are permitted as long as they do not deviate from the gist of the invention.

In the first embodiment, when the parking frame cannot be detected on either the left or right side of the travel path R, the “parking lot search route α is set to the left side of the center position β in the width direction of the travel path R in advance at a predetermined distance L ₃ An example of setting the parking frame search route α based on the driving rule of "setting along a position separated by a distance" is shown. However, the driving rule is not limited to this and can be set arbitrarily.
That is, for example, preset driving rule information is received from the base station X installed in the parking lot P or another vehicle (parked vehicle B) already parked in the parking lot P, and the received driving rule information is used. The parking frame search route α may be set based on the above.

Further, the parking frame search route α may be set according to the content of the sign installed in the parking lot P and the position of the lane provided on the travel path R, and according to the content of the sign and the position of the lane.

Further, as a traveling rule, "the parking frame search route α may be set based on the traveling position of the preceding vehicle or the following vehicle traveling on the traveling road R". Here, the "preceding vehicle" is another vehicle traveling in front of the own vehicle S (see FIG. 22). Further, the "following vehicle" is another vehicle traveling immediately after the own vehicle S.
In addition, "based on the traveling position of the preceding vehicle (or the following vehicle)" means traveling along the route on which the preceding vehicle (or the following vehicle) is traveling. That is, when the preceding vehicle (or the following vehicle) is traveling on the left side of the center position β in the width direction of the traveling road R, the traveling road R is on the left side (two lanes of two-way traveling) as shown in FIG. It is determined that there is, and the parking frame search route α is set on the left side of the center position β in the width direction of the travel path R. Further, when the preceding vehicle (or the following vehicle) is traveling on the right side of the center position β in the width direction of the traveling road R, it is determined that the traveling road R is on the right side (two lanes of two-way traveling), and the traveling road is determined. The parking frame search route α is set on the right side of the center position β in the width direction of R. Further, when the preceding vehicle (or the following vehicle) is traveling in a region within the set width from the center position β in the width direction of the traveling road R, it is determined that the traveling road R is one-way, and the road width W of the traveling road R is determined. If is equal to or less than the road width threshold value Th, the parking frame search route α is set along the center position β in the width direction of the travel path R.

Further, as a traveling rule, "a parking frame search route α may be set based on a traveling position of an oncoming vehicle traveling on the traveling path R". Here, the "oncoming vehicle" is another vehicle traveling from the front of the own vehicle S toward the own vehicle S (see FIG. 23).
Note that "based on the traveling position of the oncoming vehicle" means that the vehicle travels along a position offset from the route on which the oncoming vehicle is traveling. That is, when the oncoming vehicle is traveling on the right side of the center position β in the width direction of the traveling road R, it is determined that the traveling road R is on the left side (two lanes of two-way traveling), and as shown in FIG. The parking frame search route α is set on the left side of the center position β in the width direction of the travel path R. Further, when the oncoming vehicle is traveling on the left side of the center position β in the width direction of the travel path R, it is determined that the travel path R is on the right side (two lanes of two-way traveling), and the center in the width direction of the travel path R. The parking frame search route α is set on the right side of the position β.

Furthermore, as shown in FIG. 24, when setting the parking frame searched route alpha, away from the vehicle side end portion of the parked vehicle B parked in parking frame in K which lies along the travel path R by a predetermined distance L ₄ The parking frame search route α may be set along the position.
In this case, it is possible to secure the distance between the already parked parked vehicle B and the own vehicle S during the search for an empty parking frame of the own vehicle S, for example, when the parked vehicle B suddenly leaves the garage. However, it is possible to reduce the influence on the running of the own vehicle S.

Further, as shown in FIG. 25, when setting the parking frame search path α, an object such as a human being is located between the parking frame K existing along the travel path R and the center position β in the width direction of the travel path R. when D is present, it may set the parking space search path α along the travel path away from the object D present in the R by a predetermined distance L ₅ position.
In this case, the distance between the object D and the own vehicle S can be secured in the empty parking frame search run of the own vehicle S, and even when the object D suddenly moves, for example, the own vehicle S runs. Can be less likely to be affected.

Then, in the first embodiment, when the road width W of the traveling road R is wider than the road width threshold Th, the distance L _{1 is} separated from the first straight line A ₁ fitted to the parking frame A existing along the traveling road R. An example of setting the parking frame search route α along the threshold value and the like is shown. Further, an example is shown in which the predetermined distance L _{1 and the} like are set to half the distance of the parking frame recognition range S ₁ of the own vehicle S. However, not limited to this, a predetermined distance from the straight line fitted to the parking frame to the parking frame search route α can be arbitrarily set.
Further, by using the map shown in FIG. 26, it may be variable in length, such as a predetermined distance L ₁ in accordance with the height of the parking frame A or other vehicles such recognition accuracy. In other words, setting a predetermined distance L ₁ within the region indicated by hatching in FIG. 26, the recognition accuracy of such parking space A to be able to be set higher increase the length of the predetermined distance L _1.

As a result, the lower the recognition accuracy of the parking frame A or the like, the closer the parking frame search route α can be to the parking frame A or the like, and the search accuracy of the empty parking frame can be improved. Further, the higher the recognition accuracy of the parking frame A or the like, the more the parking frame search route α can be separated from the parking frame A or the like, and the degree of freedom in setting the parking frame search route α can be increased.

The "recognition accuracy of the parking frame A or the like" is expressed by an error of the recognition position with respect to the true value of the position of the parking frame A, and the smaller the error, the higher the "recognition accuracy of the parking frame A or the like".
Further, as the cause of the "error of the recognition position with respect to the true value of the position of the parking frame A", for example, there are the following.
-Error due to distortion of the lenses of cameras 25 to 28 mounted on the own vehicle S. In this case, the error increases as the distance from the center of the imaging surface increases.
-Error during bird's-eye view conversion when generating a bird's-eye view image from image signals detected by cameras 25 to 28. In this case, the error increases as the distance from the own vehicle S (cameras 25 to 28) increases.
-Error due to road surface inclination and distortion. In this case, the larger the inclination or distortion of the road surface, the larger the error.

Then, in order to obtain this "recognition accuracy of the parking frame A or the like", first, the difference between the true value of the parking frame K and the recognition value of the own vehicle S is actually measured using a surveying device or the like (see FIG. 27A). ), The error map shown in FIG. 27B is created. Here, an error based on parameters such as the frame position on the imaging surface, the inclination of the road surface, and the distortion may be included in this error map.
Then, the position errors X and Y and the angle error are obtained based on the distance between the own vehicle S and the parking frame when the parking frame is detected and the error map shown in FIG. 27B. Then, the "recognition accuracy of the parking frame A or the like" is set from each of the obtained errors.

Further, a function for obtaining each error may be designed, and the position error X, Y and the angle error may be obtained using the designed function. Further, the function for obtaining the error may be obtained as an approximate function from the bird's-eye view image. , It may be calculated from the lenses of the cameras 25 to 28 and the model of the bird's-eye view conversion.

Further, in the first embodiment, an example is shown in which the parking frame, the traveling path R, and the like are detected by analyzing the bird's-eye view image generated by converting the image signals detected by the cameras 25 to 28 into a bird's-eye view. , Not limited to this. For example, a laser scanner or a sonar sensor may be mounted on the own vehicle S, and a parking frame or the like may be detected based on a detection signal by the laser scanner or the like. Further, a laser scanner or the like and cameras 25 to 28 may be used in combination.
The shape of the parking frame detection range when a laser scanner or the like is used may be different from the shape of the parking frame detection range when the cameras 25 to 28 are used. However, even if the shape of the parking frame detection range is different, the method of setting the parking frame search path α can be similarly implemented.

Further, in the first embodiment, after the parking frame search path α is generated, the own vehicle S is controlled along the parking frame search path α, and the parking support method of searching for an empty parking frame by automatic driving by the parking support ECU 100 is performed. Although shown, it is not limited to this. For example, it may be a parking support method in which the generated parking frame search route α is displayed on the vehicle-mounted monitor 18 so that the driver can perform the parking operation while visually observing the displayed parking frame search route α. In addition, although the driver performs operations during the vacant parking frame search run, if the travel path of the own vehicle S deviates significantly from the parking frame search route α, the parking support method by semi-automatic driving that corrects the steering angle, etc. There may be. Further, the parking frame search route α may be guided by voice.

100 Parking support ECU (controller)
S Own vehicle 10 Engine 11-14 Wheel 16 Steering wheel 25-28 Camera 101 Parking frame recognition unit 102 Target parking frame setting unit 103 Parking start position setting unit 104 Parking route generation unit 105 Parking frame search route setting unit 107 Route tracking control unit 108 Target speed generation unit 109 Parking route position estimation unit 110 Search route position estimation unit 112 Steering angle control unit 113 Speed control unit

Claims (7)

In the parking support method that supports the search for an empty parking frame of the own vehicle by the parking controller mounted on the own vehicle.
Runs parallel to the parking space which lies along the travel path that is in a parking lot, when searching for available parking free parking space by the vehicle-mounted device for detecting the parking space, the road width detector for detecting a road width of the travel path Steps and
A parking frame search route setting step for setting a parking frame search route for searching for an empty parking frame in the travel path according to the road width of the travel path, and a parking frame search route setting step.
The own vehicle guidance step that guides the own vehicle based on the parking frame search route, and
Have a,
In the parking frame search route setting step, when the road width of the travel path is wider than a predetermined road width threshold set in advance, the parking frame search is performed along a position biased to the left or right from the center position in the width direction of the travel path. A parking support method comprising setting a route and setting the parking frame search route along the center position in the width direction of the travel path when the road width of the travel path is equal to or less than the road width threshold value . In the parking support method according to claim 1 ,
Wherein the parking frame searched route setting step, when setting along the parking frame search path at a position offset either to the left or to the right than the widthwise central position of the travel path, given a parking space that exists along said travel path A parking support method characterized in that the parking frame search route is set along a position separated by a distance. In the parking support method according to claim 1 ,
In the parking frame search route setting step, when the parking frame search route is set to a position deviated to the left or right from the center position in the width direction of the travel path, the parking frame search route is set based on a predetermined travel rule. A parking assistance method characterized by setting. In the parking support method according to claim 1 ,
In the parking frame search route setting step, when the parking frame search route is set to a position deviated to the left or right from the center position in the width direction of the travel path, the vehicle is parked in the parking frame existing along the travel path. A parking support method characterized in that the parking frame search route is set along a position separated from a parked vehicle by a predetermined distance. In the parking support method according to claim 1 ,
In the parking frame search route setting step, when the parking frame search route is set to a position deviated to the left or right from the center position in the width direction of the travel path, the parking frame search route is separated from an object existing in the travel path by a predetermined distance. A parking support method characterized in that the parking frame search route is set along the position. In the parking support method according to claim 1 ,
In the parking frame search route setting step, when the parking frame search route is set to a position deviated to the left or right from the center position in the width direction of the travel path, the parking is based on the parking position recognition performance of the own vehicle. A parking support method characterized by setting a frame search route. It is a parking support device equipped with a parking controller that supports the search for an empty parking frame of the own vehicle.
The parking controller
Runs parallel to the parking space which lies along the travel path that is in a parking lot, when searching for free parking space available parking by vehicle-mounted device for detecting the parking space, and detects the road width of the travel path,
A parking frame search route for searching for an empty parking frame during traveling is set in the travel path according to the road width of the travel path.
In addition to guiding the own vehicle based on the parking frame search route ,
When the road width of the traveling road is wider than a predetermined road width threshold value set in advance, the parking frame search route is set along a position deviated to the left or right from the center position in the width direction of the traveling road, and the parking frame search route is set. A parking support device characterized in that when the road width is equal to or less than the road width threshold value, the parking frame search route is set along the central position in the width direction of the travel path .