JP7457276B2 - automatic parking device - Google Patents

Description

The present invention relates to an automatic parking device configured to enable automatic operation of a vehicle to park the vehicle within a specific parking area.

2. Description of the Related Art Automatic parking devices that enable vehicles such as automobiles to be automatically driven to park within a specific parking area are becoming increasingly popular. Automatic parking systems employ various technologies to improve convenience and comfort for drivers. An example of such an automatic parking device is a device that displays the time required from the start of parking to the completion of parking by automatic driving on the display of the vehicle. (For example, see Patent Document 1.)

JP2013-241087A

However, in the example of the automatic parking device described above, the vehicle may approach an obstacle immediately before turning back from the start of parking to the completion of parking. In this case, the driver may feel uneasy about the vehicle approaching the obstacle. The driver may feel uneasy due to automatic vehicle driving that includes such turnarounds. Furthermore, the driver may perform unnecessary brake operations due to this feeling of anxiety. Therefore, automatic parking devices still have room for improvement in order to improve driver convenience and comfort.

In light of this situation, it is desirable for an automatic parking device to reduce the driver's anxiety associated with automatic vehicle driving and improve the driver's convenience and comfort.

In order to solve the problem, an automatic parking device according to one aspect executes parking control that enables automatic forward movement, automatic backward movement, and automatic stop of a vehicle in order to park the vehicle in a specific parking area. The automatic parking device includes a parking control unit configured to enable automatic forward movement and automatic backward movement, and is connected to a display device configured to display the state of the vehicle, the parking control unit configured to perform automatic forward movement and automatic backward movement. A basic remaining time calculation that calculates the basic remaining time required from the start point or halfway point of one of them to the automatic stop including a stop for switching to the other of the automatic forward movement and automatic backward movement is enabled. The parking control unit is configured to change the display value of the basic remaining time used for displaying on the display device to the calculated value of the basic remaining time calculated by the basic remaining time calculation over time. The display value of the basic remaining time represents the timing for executing the automatic stop including a stop for turning back during the parking control. ing.
The automatic parking device according to another aspect is capable of executing parking control that enables automatic forward movement, automatic backward movement, and automatic stop of the vehicle in order to park the vehicle within a specific parking area. an automatic parking device connected to a display device configured to be able to display the state of the vehicle, the parking control unit configured to initiate one of the automatic forward movement and automatic reverse movement; The basic remaining time calculation is configured to calculate the basic remaining time required from a point in time or an intermediate point to the automatic stop including a stop for switching to the other of the automatic forward movement and the automatic backward movement, The parking control unit is configured to reduce the display value of the basic remaining time used for displaying on the display device by the calculated value of the basic remaining time calculated by the basic remaining time calculation as time passes. The parking control unit is configured to be able to execute remaining time control, and the parking control unit is configured to execute the automatic stop when the displayed value of the basic remaining time becomes 0 seconds.
The automatic parking device according to another aspect is capable of executing parking control that enables automatic forward movement, automatic backward movement, and automatic stop of the vehicle in order to park the vehicle within a specific parking area. an automatic parking device connected to a display device configured to be able to display the state of the vehicle, the parking control unit configured to initiate one of the automatic forward movement and automatic reverse movement; The basic remaining time calculation is configured to calculate the basic remaining time required from a point in time or an intermediate point to the automatic stop including a stop for switching to the other of the automatic forward movement and the automatic backward movement, The parking control unit is configured to reduce the display value of the basic remaining time used for displaying on the display device by the calculated value of the basic remaining time calculated by the basic remaining time calculation as time passes. The parking controller is configured to execute the automatic remaining time control when the displayed value of the basic remaining time reaches 0 seconds, and the parking control unit is configured to execute the automatic stop when the displayed value of the basic remaining time becomes 0 seconds. The control unit is configured to be able to execute time change control for changing the display value of the basic remaining time when starting the other of the automatic forward movement and automatic backward movement after the automatic stop is executed. .
The automatic parking device according to another aspect is capable of executing parking control that enables automatic forward movement, automatic backward movement, and automatic stop of the vehicle in order to park the vehicle within a specific parking area. an automatic parking device connected to a display device configured to be able to display the state of the vehicle, the parking control unit configured to initiate one of the automatic forward movement and automatic reverse movement; The basic remaining time calculation is configured to calculate the basic remaining time required from a point in time or an intermediate point to the automatic stop including a stop for switching to the other of the automatic forward movement and the automatic backward movement, The parking control unit is configured to reduce the display value of the basic remaining time used for displaying on the display device by the calculated value of the basic remaining time calculated by the basic remaining time calculation as time passes. The parking control unit is configured to be able to execute remaining time control, and the parking control unit executes one of the automatic forward movement and automatic backward movement after calculating the basic remaining time by the basic remaining time calculation. The parking control unit is configured to be able to execute a corrected remaining time calculation that calculates the corrected remaining time required until the automatic stop from the timing between When a time difference base value based on the absolute value of the time difference between the calculated value of the corrected remaining time calculated by the calculation becomes equal to or more than a first time difference base threshold, the rate of decrease of the displayed value of the basic remaining time is changed. is configured to perform time reduction control.
The automatic parking device according to another aspect is capable of executing parking control that enables automatic forward movement, automatic backward movement, and automatic stop of the vehicle in order to park the vehicle within a specific parking area. an automatic parking device connected to a display device configured to be able to display the state of the vehicle, the parking control unit configured to initiate one of the automatic forward movement and automatic reverse movement; The basic remaining time calculation is configured to calculate the basic remaining time required from a point in time or an intermediate point to the automatic stop including a stop for switching to the other of the automatic forward movement and the automatic backward movement, The parking control unit is configured to reduce the display value of the basic remaining time used for displaying on the display device by the calculated value of the basic remaining time calculated by the basic remaining time calculation as time passes. The parking controller is configured to be able to execute remaining time control, and the parking control unit is configured to be able to execute route calculation for calculating a travel route of the vehicle in order to execute the parking control, The parking control unit is configured to execute the parking control according to the calculation result of the movement route calculated by the route calculation, and the parking control unit is configured to perform the parking control based on the situation of the parking area or the surrounding area of the parking area. The parking control unit is configured to be able to execute the route calculation in order to change the calculation result of the movement route according to the basic remaining time calculation, and the parking control unit The parking controller is configured to be able to calculate the corrected remaining time required for the automatic stop from the timing while one of forward movement and automatic reverse movement is being executed, and the parking control unit When the time difference base value based on the absolute value of the time difference between the displayed value of the basic remaining time and the calculated value of the corrected remaining time calculated by the corrected remaining time calculation is equal to or greater than the second time difference base, the movement When the calculation result of the route is changed, or when a new obstacle that obstructs parking of the vehicle is detected while executing the parking control, the parking control unit changes the display value of the basic remaining time. Execute time adaptation control to change the value to match the calculated value of the corrected remaining time calculated by the corrected remaining time calculation, and execute the remaining time control based on the changed display value of the basic remaining time. and is configured to execute reason notification control for displaying the reason for executing the basic remaining time change on the display device.
The automatic parking device according to another aspect is capable of executing parking control that enables automatic forward movement, automatic backward movement, and automatic stop of the vehicle in order to park the vehicle within a specific parking area. an automatic parking device connected to a display device configured to be able to display the state of the vehicle, the parking control unit configured to initiate one of the automatic forward movement and automatic reverse movement; The basic remaining time calculation is configured to calculate the basic remaining time required from a point in time or an intermediate point to the automatic stop including a stop for switching to the other of the automatic forward movement and the automatic backward movement, The parking control unit is configured to reduce the display value of the basic remaining time used for displaying on the display device by the calculated value of the basic remaining time calculated by the basic remaining time calculation as time passes. The parking controller is configured to be able to execute remaining time control, and the parking control unit is configured to be able to execute route calculation for calculating a travel route of the vehicle in order to execute the parking control, The parking control unit is configured to execute the parking control according to the calculation result of the movement route calculated by the route calculation, and the parking control unit is configured to perform the parking control based on the situation of the parking area or the surrounding area of the parking area. The parking control unit is configured to be able to execute the route calculation in order to change the calculation result of the movement route according to the basic remaining time calculation, and the parking control unit The parking controller is configured to be able to calculate the corrected remaining time required for the automatic stop from the timing while one of forward movement and automatic reverse movement is being executed, and the parking control unit When the time difference base value based on the absolute value of the time difference between the displayed value of the basic remaining time and the calculated value of the corrected remaining time calculated by the corrected remaining time calculation is equal to or greater than the second time difference base, the movement A time period during which the display value of the basic remaining time stops decreasing when the calculation result of the route is changed or when a new obstacle that obstructs parking of the vehicle is detected while executing the parking control. The vehicle is configured to execute stop control, execute forced stop control to forcibly stop the vehicle, and execute stop notification control to notify that the vehicle has stopped due to the forced stop control.

In the automatic parking device according to one embodiment, it is possible to reduce a driver's sense of anxiety associated with automatic driving of a vehicle, and it is possible to improve convenience and comfort for the driver.

FIG. 1 is a side view schematically showing a vehicle equipped with an automatic parking device according to an embodiment. FIG. 2 is a plan view schematically showing a vehicle equipped with an automatic parking device according to an embodiment. FIG. 3 is a block diagram of a vehicle including an automatic parking device according to an embodiment. FIG. 4 is a diagram schematically showing an example of a display state on a display unit of a display device connected to an automatic parking device according to an embodiment. FIG. 5 is a plan view schematically showing an example of the vehicle and its surroundings at the time when the automatic parking device according to the embodiment starts moving on the second backward section of the travel route during parking control. FIG. 6(a) schematically shows an example of the vehicle and its surrounding situation at the time when the movement of the second backward section of the movement route is completed for the first turnaround during parking control of the automatic parking device according to one embodiment. FIG. FIG. 6(b) is a diagram schematically showing an example of the second display area of the display device at the time of FIG. 6(a). FIG. 7A is a plan view schematically illustrating an example of a vehicle and its surrounding situation at a time point in the middle of a first forward section of a travel route during parking control of an automatic parking device according to an embodiment. FIG. 7(b) is a diagram schematically showing an example of the second display area of the display device at the time of FIG. 7(a). FIG. 8A is a plan view schematically showing an example of a vehicle and its surrounding situation at the time when parking is completed in parking control of an automatic parking device according to an embodiment. FIG. 8(b) is a diagram schematically showing an example of the second display area of the display device at the time of FIG. 8(a). FIG. 9 is a plan view schematically showing an example of a vehicle and its surroundings at the time when a new obstacle, a pedestrian, is detected during parking control of the automatic parking device according to an embodiment. FIG. 10 is a plan view schematically showing an example of the vehicle and its surrounding situation at the time when the travel route is changed by detecting a new obstacle, a pedestrian, during parking control of the automatic parking device according to an embodiment. It is a diagram. FIG. 11 is a plan view schematically showing an example of a vehicle and its surroundings at the time when a new obstacle, a car stop, is detected during parking control of the automatic parking device according to an embodiment. Figure 12 is a plan view showing a schematic example of a vehicle and its surrounding conditions at a time when the travel route is changed due to the detection of a new obstacle, a car stop, during parking control of an automatic parking device according to one embodiment. FIG. 13 is a flowchart for explaining an example of a method for controlling an automatic parking device according to an embodiment. FIG. 14 is a flowchart for explaining an example of parking control execution in the automatic parking device control method according to one embodiment.

An automatic parking device according to one embodiment will be described below. Note that the vehicle to which the automatic parking device according to this embodiment is applied is an automobile. However, the automatic parking device can also be applied to vehicles other than automobiles. In addition, in the following description, the left side refers to the left side when facing the front of the vehicle, and the right side refers to the right side when facing the front of the vehicle.

"Outline of automatic parking device and vehicle"
With reference to FIGS. 1 to 12, an outline of an automatic parking device 10 according to the present embodiment and a vehicle 1 equipped with the same will be described. In FIGS. 1, 2, and 5 to 12, the front side of the vehicle 1 is indicated by arrow F, and the rear side of the vehicle 1 in FIGS. 1, 2, and 4 to 12 is indicated by arrow B. show. In addition, in FIG. 1, a side portion of the vehicle 1 in the width direction is partially omitted so that the inside of the vehicle compartment 2 can be visually recognized.

The automatic parking device 10 and the vehicle 1 equipped with it are generally configured as follows. As shown in FIG. 3, the vehicle 1 has the automatic parking device 10. The automatic parking device 10 has a parking control unit 10a. As shown in FIGS. 4 to 12, the parking control unit 10a is capable of executing parking control that enables the vehicle 1 to automatically move forward, backward, and stop in order to park the vehicle 1 within a specific parking area P.

As shown in Figures 1 and 3, the vehicle 1 has a display device 11. As shown in Figure 3, the display device 11 is electrically connected to the automatic parking device 10. As shown in Figure 4, the display device 11 is capable of displaying the status of the vehicle 1. The display device 11 is preferably a liquid crystal display. However, the display device is not limited to a liquid crystal display. For example, the display device may be an organic EL display or the like.

As shown in FIGS. 5 to 8, the parking control unit 10a is operated from the start point or midway point of one of automatic forward and reverse to automatic stop, including a stop for switching back to the other of automatic forward and reverse. The basic remaining time calculation that calculates the basic remaining time required for the process can be executed. The basic remaining time calculation may be performed before starting one of automatic forward movement and automatic backward movement, which is the object of the basic remaining time calculated thereby. The parking control unit 10a also executes basic remaining time setting to set the calculated value C of the basic remaining time calculated by the basic remaining time calculation to the display value H of the basic remaining time used for displaying on the display device 11. possible. The parking control unit 10a is capable of executing remaining time control in which the display value H of the basic remaining time is controlled so that the calculated value of the basic remaining time calculated by calculating the basic remaining time is decreased as time passes.

Furthermore, the automatic parking device 10 can be roughly configured as follows. The automatic stop includes a stop for completing parking in addition to the stop for turning as described above. The parking control unit 10a can execute a basic remaining time determination to determine whether the display value H of the basic remaining time has become 0 (seconds). As shown in FIG. 6, the parking control unit 10a can execute an automatic stop for turning or completing parking when it is determined by the basic remaining time determination that the display value H of the basic remaining time has become 0 (seconds). With reference to FIG. 6 and FIG. 7, the parking control unit 10a can execute a time change control to change the display value H of the basic remaining time when starting the other of automatic forward or reverse after executing an automatic stop for turning.

The parking control unit 10a calculates the correction remaining time after calculating the basic remaining time by calculating the basic remaining time and from the timing while executing one of automatic forward movement and backward movement to the automatic stop for turning around or completing parking. It is possible to execute corrected remaining time calculation for calculating time. The corrected remaining time calculation may be repeatedly performed while one of automatic forward movement and backward movement, which is the target of the corrected remaining time calculated thereby, is being performed. Furthermore, the parking control unit 10a is also configured to be able to perform time difference calculation to calculate the time difference between the displayed value H of the basic remaining time and the calculated value K of the corrected remaining time calculated by the corrected remaining time calculation. The parking control unit 10a determines that the time difference base value based on the absolute value D of the time difference calculation value (=display value H of basic remaining time - calculated value K of corrected remaining time) calculated by time difference calculation is the first time difference base threshold. It is possible to perform a first time difference determination to determine whether or not the time difference is greater than or equal to the above. When it is determined by the first time difference determination that the time difference base value is equal to or greater than the first time difference base threshold, the parking control unit 10a executes time reduction control to change the reduction rate of the display value H of the basic remaining time. .

As shown in FIGS. 4 to 12, the parking control unit 10a is configured to be able to perform route calculation to calculate a travel route for the vehicle 1 in order to perform parking control. The parking control unit 10a calculates the movement route calculated by route calculation, for example, the pre-change calculation result M (shown in FIGS. 4 to 9 and 11) or the post-change calculation result N (shown in FIGS. 10 and 11), which will be described below. Parking control is executed according to the method shown in FIG. 12). The parking control unit 10a can execute route calculation in order to change the calculation result of the movement route according to the situation of the parking area P or the surrounding area of this parking area P. For example, as shown in FIGS. 4 to 12, in changing the calculation result of the movement route, the calculation result M before the movement route change is changed to the calculation result N after the movement route change.

Furthermore, the parking control unit 10a is capable of executing a second time difference determination that determines whether the time difference base value is equal to or greater than the second time difference base threshold. The second time difference based threshold may be larger than the first time difference based threshold. The parking control unit 10a is capable of executing route change determination for determining whether or not the pre-change calculation result M of the travel route has been changed to the post-change calculation result N. The parking control unit 10a can perform new obstacle determination to determine whether or not new obstacles U1 and U2 that impede parking of the vehicle 1 are detected while executing parking control.

When any of the following first, second, and third notification conditions are met, the parking control unit 10a executes time adaptation control to change the display value H of the basic remaining time to match the calculated value K of the corrected remaining time, executes remaining time control based on the changed display value H of the basic remaining time, and executes reason notification control to display the reason for the execution of the change in the basic remaining time on the display device 11. Furthermore, when any of the following second and third notification conditions are met, instead of or before such time adaptation control, remaining time control, and reason notification control, the parking control unit 10a can also execute time stop control to stop the decrease in the display value H of the basic remaining time, execute forced stop control to forcefully stop the vehicle 1, and execute stop notification control to notify the stop of the vehicle 1 due to this forced stop control.

The first notification condition is when the second time difference judgment determines that the time difference base value is equal to or greater than the second time difference base threshold. The second notification condition is when the route change judgment determines that the movement route has been changed from the pre-change calculation result M to the post-change calculation result N. The third notification condition is when the new obstacle judgment determines that a new obstacle U1, U2 that impedes parking of the vehicle 1 has been detected while parking control is being executed. For example, new obstacles U1, U2 include a pedestrian U1 shown in Figures 9 and 10, and a car stopper U2 shown in Figures 11 and 12.

"Vehicle details"
The vehicle 1 equipped with the automatic parking device 10 according to this embodiment can be configured as follows in detail. As shown in FIGS. 1 and 3, the display device 11 includes a display section 11a that can display images. As shown in FIG. 1, the display section 11a is arranged inside the cabin 2 of the vehicle 1. The display section 11a is arranged in the vehicle interior 2 in front of the front row seat 3 including the driver's seat so as to be visible to the driver. The display section 11a may be disposed on the instrument panel 4 located in front of the vehicle with respect to the front row seats 3 in the vehicle interior 2.

As shown in FIGS. 1 to 3, the vehicle 1 includes a notification device 12 that notifies the driver of various information. The notification device 12 notifies the driver of various information visually, audibly, and the like. For example, the notification device 12 can be configured to include a monitor, a speaker, a lamp, a meter, a buzzer, and the like. In particular, the notification device 12 includes the display device 11 described above. However, the notification device can also be configured not to include the display device.

The vehicle 1 includes a surroundings detection device 13 that is capable of detecting objects such as an obstacle R and new obstacles U1 and U2 located around the vehicle 1. The surroundings detection device 13 detects the distance to objects existing around the vehicle 1 by transmitting and receiving laser light, ultrasonic waves, millimeter waves, and the like.

Such a surroundings detection device 13 can have at least one sonar sensor 13a, 13b. The surroundings detection device 13 can have a plurality of sonar sensors 13a and 13b. Furthermore, as shown in FIGS. 1 and 2, the surrounding detection device 13 includes at least one rear sonar sensor 13a disposed in the rear portion 1a of the vehicle 1, and at least one front sonar sensor 13a disposed in the front portion 1b of the vehicle 1. 13b. However, the surrounding detection device can also have an infrared lidar, millimeter wave radar, etc. instead of or in addition to the sonar sensor.

As shown in FIGS. 1 and 3, the vehicle 1 includes an operation input device 14 that receives operation inputs to the vehicle 1 by the driver. The operation input device 14 can be configured to include a touch sensor, a switch, a microphone, an accelerator pedal, a steering wheel, a brake pedal, and the like.

The operation input device 14 has a parking control input section 14a that allows an input to switch between a parking control ON state in which parking control is executed and a parking control OFF state in which parking control is not executed. The vehicle 1 may also include a touch panel 15 that integrates the parking control input section 14a and the display section 11a of the display device 11.

As shown in Figures 1 to 3, the vehicle 1 has an imaging device 16 configured to be able to capture images of the surrounding area of the vehicle 1. The imaging device 16 has multiple imaging units 16a, 16b, 16c, and 16d configured to be able to capture images of the surrounding area including the rear area, front area, left side area, and right side area of the vehicle 1. Each of the imaging units 16a to 16d can be a camera. However, the imaging units are not limited to cameras.

For example, the imaging device 16 includes rear, front, left, and right imaging sections 16a, 16b, 16c, and 16d configured to be able to image the rear, front, left, and right regions of the vehicle 1, respectively. be able to. As shown in FIGS. 1 and 2, the rear and front imaging sections 16a and 16b are arranged at the rear and front portions 1a and 1b of the vehicle 1, respectively. The rear imaging section 16a is arranged at the rear end of the rear section 1a, and the front imaging section 16b is arranged at the front end of the front section 1b. As shown in FIG. 2, the left side imaging section 16c is arranged on the left side mirror 5 of the vehicle 1, and the right side imaging section 16d is arranged on the right side mirror 6 of the vehicle 1. However, the arrangement of the imaging section is not limited to these.

As shown in FIG. 3, the vehicle 1 includes an engine 17 that is a drive device that can generate driving force for driving the vehicle 1. However, the drive device is not limited to an engine. For example, the drive device can also be a motor or the like.

The vehicle 1 has a brake device 18 capable of generating a braking force for braking the vehicle 1. The brake device 18 can apply a mechanical braking force to the wheels (not shown) according to the amount of depression input to a brake pedal (not shown) by the driver. Furthermore, the brake device 18 can apply a braking force under the control of the automatic parking device 10.

The vehicle 1 has a steering device 19 that allows the vehicle 1 to be steered. The steering device 19 can steer the vehicle 1 according to a steering angle input to a steering wheel (not shown) by the driver. Furthermore, the steering device 19 can steer the vehicle 1 under the control of the automatic parking device 10.

The vehicle 1 includes a shift device 20 that enables switching between a D range for driving the vehicle 1 forward, an R range for driving the vehicle 1 backward, and a P range for stopping the vehicle 1. have The vehicle 1 automatically moves forward when the shift device 20 is set to the D range, automatically moves backward when the shift device 20 is set to the R range, and automatically moves forward when the shift device 20 is set to the P range. Stop.

The vehicle 1 further includes a vehicle speed sensor 21 , an acceleration sensor 22 , an accelerator opening sensor 23 , a brake sensor 24 , and a steering angle sensor 25 . Vehicle speed sensor 21 detects the traveling speed of vehicle 1. Acceleration sensor 22 detects the acceleration of vehicle 1. The accelerator opening sensor 23 detects the amount of depression input to an accelerator pedal (not shown), that is, the accelerator opening. The brake sensor 24 detects the amount of depression input to a brake pedal (not shown). The steering angle sensor 25 detects a steering angle input to a steering wheel (not shown).

"Display device details"
Referring to FIG. 4, the display device 11 can be configured in detail as follows. The display section 11a of the display device 11 has a substantially square shape, particularly a substantially rectangular shape. However, the display section is not limited to these. For example, the display section can be formed into a substantially isotropic shape, an elongated shape extending in the vehicle width direction or the vehicle vertical direction, or the like.

The display section 11a includes a first display area 11b that can display first information such as still images and moving images based on images captured by the imaging device 16, and second information that includes a display value H of the basic remaining time. It has a second display area 11c that can display. The display value H of the basic remaining time can be displayed in the second display area 11c using numbers, bar graphs, etc. The first display area 11b is larger than the second display area 11c. The first display area 11b is arranged on the display part 11a so as to include the central area of the display part 11a. The second display area 11c is arranged on the display section 11a along a part of the outer peripheral edge of the display section 11a. The second display area 11c can also be arranged to partially overlap the first display area 11b.

For example, the first display area 11b can be the main screen of the display section 11a, and the second display area 11c can be the sub-screen of the display section 11a. Furthermore, in a state where the parking control unit 10a of the automatic parking device 10 is executing parking control for the vehicle 1, the first display area 11b is based on an image captured by the rear imaging unit 16a when the vehicle 1 is backing up. The first information is displayed, and the first information is displayed based on an image captured by the front imaging section 16b when the vehicle 1 moves forward.

In addition, as an example, FIG. 4 shows in the first display area 11b first information based on an image captured by the rear imaging unit 16a of the rear area of the vehicle 1 in a situation where the vehicle 1 is being controlled to reverse while turning during parking. FIG. 4 shows in the second display area 11c second information including a display value H of the remaining time in this situation. Also, in FIG. 4, the traveling direction of the vehicle 1 in the first display area 11b, i.e., the reverse direction, is indicated by an arrow B, and the vehicle width direction in the first display area 11b is indicated by an arrow W.

"Details of automatic parking device"
The automatic parking device 10 can be configured in detail as follows. The automatic parking device 10 includes electronic components such as a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an input interface, an output interface, and an electric circuit in which such electronic components are arranged. configured to include. The ROM stores various control constants, various maps, etc., as well as programs for performing the functions of the automatic parking device 10. Therefore, when the CPU executes the program stored in the ROM, the automatic parking device 10 can perform its functions. However, the automatic parking device is not limited to this.

As shown in FIG. 3, the automatic parking device 10 is electrically connected to the display device 11, the notification device 12, the surrounding detection device 13, the operation input device 14, the imaging device 16, the engine 17, the braking device 18, the steering device 19, the shift device 20, the vehicle speed sensor 21, the acceleration sensor 22, the accelerator opening sensor 23, the brake sensor 24, and the steering angle sensor 25. The automatic parking device 10 can also be electrically connected to a touch panel 15 that integrates the display unit 11a of the display device 11 and the parking control input unit 14a of the operation input device 14.

As shown in FIGS. 4 to 12, in the parking control executed by the parking control unit 10a of the automatic parking device 10, in addition to automatic forward movement, automatic reverse movement, and automatic stop as described above, automatic steering can be implemented. . The automatic steering automatically steers the vehicle 1 so that it can move along the pre-change or post-change calculation results M and N of the travel route calculated by route calculation.

The parking control unit 10a is capable of executing vehicle speed calculation for calculating a vehicle speed that allows the vehicle 1 to move along the calculation results M and N before or after the change in the travel route. In parking control, vehicle speed control can be implemented to control the vehicle speed of the vehicle 1 based on the calculated value of the vehicle speed calculated by such vehicle speed calculation. Note that route calculation and vehicle speed calculation are repeatedly performed during execution of parking control.

The parking control unit 10a enables the surrounding detection device 13 or the imaging device 16 to perform surrounding information acquisition for obtaining information on obstacles R such as other vehicles and buildings. Furthermore, the parking control unit 10a can perform a parking area search to search for a parking area P in which the vehicle 1 can be parked, based on the information on the obstacle R acquired by acquiring the surrounding information. Here, since the parking control is executed after the driver confirms the existence of a parking space, the parking area P will be discovered by the parking area search.

The parking control unit 10a can execute target position setting in which the parking area P discovered by the parking area search is set as the target position. The parking control unit 10a executes route calculation based on the target position setting information set by the target position setting. The parking control unit 10a is capable of executing a parking completion determination for determining whether the vehicle 1 is located in the parking area P, which is the target position.

As shown in FIG. 4, the parking control unit 10a further displays the calculation results M and N before or after the change of the travel route calculated by the route calculation in the first display area 11b of the display unit 11a of the display device 11. can be done. In this case, the calculation results M and N before or after changing the moving route are the first images based on the images captured by the rear or front imaging units 16a and 16b, or the overhead view created from the image captured by the imaging device 16. It can be displayed along with the information.

In route calculation performed by the parking control unit 10a, a travel route including at least one forward section and at least one backward section can be calculated. In this case, the pre-change or post-change calculation results M, N of the movement route can include at least one forward section _mfi , _nfi and at least one backward section _mbj , _nbj . Between successive forward and backward sections, switching is performed to switch from one of automatic forward and reverse to the other of automatic forward and backward. Here, in at least one advance section _mfi , _nfi , i is an integer of 1 or more, and as i becomes smaller, the advance section _mfi , _nfi is located closer to the parking completion point. Furthermore, in at least one backward section mb _j , nb _j , j is an integer of 1 or more, and as j becomes smaller, the backward section mb _j , nb _j is located closer to the parking completion point.

For example, as shown in FIGS. 5 to 9 and FIG. 11, the pre-change calculation result M of the movement route includes one forward section, that is, the first forward section _mf1 , and two backward sections, that is, the first and The second retreat section mb ₁ and mb ₂ may be included. The pre-change calculation result M of the movement route is set such that the vehicle 1 moves in the order of the second backward section mb ₂ , the first forward section mf ₁ , and the first backward section mb ₁ . In this case, the first reversal of switching from automatic reverse to automatic forward movement is performed between the second backward section mb ₂ and the first forward section mf ₁ , and then the first forward section mf ₁ and the first backward section mb are switched. ₁ , a second switchover is performed to switch from automatic forward movement to automatic backward movement.

For example, as shown in FIG. 10, the calculation result N after changing the movement route includes one forward section, that is, the first forward section nf ₁ , and one backward section, that is, the first backward section nb ₁ . be able to. The calculation result N after changing the travel route is set such that the vehicle 1 moves in the order of the first forward section nf ₁ and the first backward section nb ₁ . In this case, a switchover is performed between the first forward section nf ₁ and the first backward section nb ₁ to switch from automatic forward movement to automatic backward movement. As shown in FIG. 12, the calculation result N after changing the movement route can also include one backward section, that is, the first backward section _nb1 . Note that the calculation result N after change of the movement route shown in FIG. 10 is changed from the calculation result M before change of the movement route shown in FIGS. 5 to 9. The post-change calculation result N of the travel route shown in FIG. 12 is changed from the pre-change calculation result M of the travel route shown in FIG. Of course, the calculation results before and after changing the travel route are not limited to those shown in FIGS. 5 to 12.

Referring to FIGS. 6 and 7, in the time change control executed by the parking control unit 10a, when starting automatic forward or backward movement after executing an automatic stop for turning, The display value H of the basic remaining time in the section is newly displayed.

In the first and second time difference determinations performed by the parking control unit 10a, the time difference base value is the calculated value of the time difference calculated by calculating the time difference with respect to the calculated value K of the corrected remaining time (=display value H- of the basic remaining time). The time difference rate E is a ratio of the absolute value D of the calculated value K) of the corrected remaining time, and the first and second time difference base thresholds are the first and second time difference rate set for this time difference rate, respectively. These are two time difference rate thresholds E1 and E2. Further, the second time difference rate threshold E2 is larger than the first time difference rate threshold E1.

However, the first and second time difference determinations are not limited to this. For example, in at least one of the first and second time difference determinations, the time difference base value can be the absolute value of the calculated value of the time difference. Further, in the first time difference determination, the first time difference base threshold may be a first time difference threshold set for the absolute value of the calculated value of the time difference, and/or in the second time difference determination, the first time difference base threshold may be a first time difference threshold set for the absolute value of the calculated value of the time difference. The base threshold may be a second time difference threshold set for the absolute value of the calculated time difference. Note that in both the first and second time difference determinations, when the time difference base value is the absolute value of the calculated value of the time difference, the second time difference threshold is preferably larger than the first time difference threshold.

In the time reduction control executed by the parking control unit 10a, if the time difference base value is smaller than the first time difference base threshold, the decreasing speed of the display value H of the basic remaining time is set to (for example, the display value of the basic remaining time 1 second of H is set to decrease by 1 second) to approximately match the normal time decreasing speed. In time reduction control, the calculated value of the time difference (=display value H of basic remaining time - calculated value K of corrected remaining time) is a positive value, and the time difference base value is equal to or greater than the first time difference base threshold and the second time difference base If the value is less than the threshold, the rate of decrease in the display value H of the basic remaining time is made greater than the normal rate of decrease in time. On the other hand, in time reduction control, when the calculated value of the time difference is a negative value and the time difference base value is greater than or equal to the first time difference base threshold and less than the second time difference base threshold, the display value H of the basic remaining time Decrease rate of time is smaller than normal time decrease rate.

As shown in FIGS. 9 to 12, in the new obstacle determination executed by the parking control unit 10a, whether the surrounding detection device 13 has detected new obstacles U1, U2 such as a pedestrian U1 or a car stop U2 is determined. Determine whether By such new obstacle determination, it is possible to specify a situation in which new obstacles U1 and U2 that impede parking of the vehicle 1 are detected while the parking control is being executed as described above. When it is determined by the new obstacle determination that the surrounding detection device 13 has detected new obstacles U1 and U2, the parking control unit 10a changes the movement route from the pre-change calculation result M to the post-change calculation result N. Changes can also be made.

In the stop notification control, when the pre-change calculation result M of the movement route is changed to the post-change calculation result N, and as a result, when the time stop control and forced stop control are executed, the change of the movement route after the change is performed. This can be achieved by emphasizing the post-calculation result N. For example, the changed calculation result N of the travel route can be emphasized by blinking the changed calculation result N of the travel route in the first display area 11b. However, the emphasis on the calculation result after changing the travel route is not limited to this.

Here, in changing the pre-change calculation result M of the travel route to the post-change calculation result N, specifically, route calculation is executed, and the pre-change calculation result M of the travel route used at this point is changed. , the moving route calculated by this route calculation is changed to the changed calculation result N. For example, as shown in FIG. 9, while the vehicle 1 is moving along the second forward section _mf2 of the pre-change calculation result M of the moving route, a pedestrian U1 is detected as a new obstacle U1, U2. If the pedestrian U1 is detected, the travel route is calculated so as to avoid the pedestrian U1. As a result, as shown in FIG. 10, the pre-change calculation result M of the travel route set without considering pedestrian U1 is changed to the post-change calculation result N of the travel route set to avoid pedestrian U1. be done. Specifically, in FIG. 10, the first forward section nf ₁ and the first backward section nb ₁ of the calculation result N after changing the moving route are curved so as to avoid the pedestrian U1.

For example, as shown in FIG. 11, while the vehicle 1 is moving along the first backward section _mb1 of the pre-change calculation result M of the travel route, a car stop U2 is detected as new obstacles U1 and U2. In this case, the travel route is calculated so as to avoid such a vehicle stop U2. As a result, as shown in FIG. 12, the pre-change calculation result M of the travel route set without considering the car stop U2 is changed to the post-change calculation result N of the travel route set to avoid the car stop U2. . Specifically, in FIG. 12, the first backward section _nb1 of the calculation result N after changing the moving route is set to a length that allows the vehicle 1 to stop before the car stop U2.

Although not specifically shown, at least one of the reason notification control and the stop notification control executed by the parking control unit 10a can be achieved by displaying the second information in the second display area 11c in a flashing manner when the first notification condition is met, i.e., when the second time difference determination determines that the time difference base value is equal to or greater than the second time difference base threshold value. In addition, the reason notification control can also be achieved by displaying information related to the first notification condition being met on the display unit 11a using characters, symbols, etc.

At least one of the reason notification control and the stop notification control can be achieved by highlighting the post-change calculation result N of the changed travel route when the second notification condition is met, i.e., when the route change determination determines that a change has been made from the pre-change calculation result M of the travel route to the post-change calculation result N. For example, the post-change calculation result N of the travel route can be highlighted by flashing the post-change calculation result N of the changed travel route in the first display area 11b. However, highlighting the post-change calculation result of the travel route is not limited to this.

As shown in an example in FIG. 4, at least one of the reason notification control and the stop notification control is executed when the third notification condition is satisfied, that is, when the new obstacle determination is performed, the vehicle is stopped while the parking control is being executed. If it is determined that new obstacles U1, U2 that impede parking of the vehicle have been detected, this can be achieved by highlighting the new obstacles U1, U2 displayed in the first display area 11b. For example, as shown in particular in FIG. 4, the emphasis of the new obstacles U1, U2 can be brought about by flashing a frame line Q surrounding the new obstacles U1, U2 in the first display area 11b. However, highlighting new obstacles is not limited to this.

Note that the reason notification control and stop notification control are not limited to the above. For example, at least one of the reason notification control and the stop notification control may be provided by a sound, an alarm sound, etc. emitted from a speaker, a buzzer, or the like.

The parking control unit 10a is capable of executing a corrected remaining time determination for determining whether the calculated value K of the corrected remaining time is 0 (seconds). The parking control unit 10a can also perform time adaptation control when the calculated value K of the corrected remaining time is 0 (seconds).

The parking control unit 10a can perform a time display determination to determine whether the displayed value H of the basic remaining time has become equal to or less than a predetermined remaining time threshold H1. The parking control unit 10a displays the display value H of the basic remaining time on the display unit 11a of the display device 11 when it is determined by the time display determination that the display value H of the basic remaining time has become equal to or less than a predetermined remaining time threshold H1. In particular, it is possible to control the time display displayed in the second display area 11c. However, the conditions for displaying the display value of the basic remaining time on the display section of the display device are not limited to this. For example, the display value of the basic remaining time can be displayed on the display section of the display device, particularly on the second display area, from the time when the vehicle starts or is in the middle of moving forward or backward on the travel route.

“An example of a method of controlling the automatic parking device 10”
An example of a method for controlling the automatic parking device 10 according to the present embodiment will be described below with reference to FIGS. 13 and 14. As shown in FIG. 13, first, a parking area P where the vehicle 1 can be parked is searched (parking area search, step S1). Specifically, in the parking area search, information on obstacles R such as other vehicles and buildings is acquired by the surrounding detection device 13 or the imaging device 16. Next, based on the information on the obstacle R, a parking area P where the vehicle 1 can be parked is searched, and the parking area P is recognized.

Next, parking control is started (parking control start, step S2). Specifically, in order to start parking control, for example, the parking control input unit 14a of the operation input device 14 is switched from a parking control OFF state in which parking control is not executed to a parking control ON state in which parking control is executed. In the parking control ON state, the parking area P is set as the target position. In the route calculation for the next parking control execution, the movement route of the vehicle 1 is calculated based on the setting information of the target position.

After that, parking control is executed (parking control execution, step S3). The details of this parking control execution are as follows. As shown in FIG. 14, in the parking control, steps are performed over the entire movement route until the parking of the vehicle 1 is completed so that the vehicle 1 is located in the parking area P, which is the target position. Repeated loop control is performed (overall loop control, steps 11 to 32). In the overall loop control, first, a travel route, vehicle speed, and basic remaining time are calculated (route calculation, vehicle speed calculation, and basic remaining time calculation, step S12). The calculated value C of the basic remaining time calculated by the basic remaining time calculation is set as the display value H of the basic remaining time (basic remaining time setting, step S13).

A loop control is implemented in which the steps of automatic forward or reverse parking control are repeated until the display value H of the basic remaining time becomes 0 (seconds) (partial loop control, steps 14 to 30). In the partial loop control, first, the vehicle 1 is automatically moved forward or reverse (automatic forward control, step S15). The display value H of the basic remaining time is controlled to decrease over time (remaining time control, step S16). The travel route, vehicle speed, and corrected remaining time are calculated (route calculation, vehicle speed calculation, and corrected remaining time calculation, step S17). It is determined whether the calculated value K of the corrected remaining time calculated by the corrected remaining time calculation is 0 (seconds) (corrected remaining time determination, step S18).

If the calculated value K of the corrected remaining time is not 0 (seconds) (NO) in the corrected remaining time determination (step S18), a calculated value E of the time difference rate is calculated, which is the ratio of the absolute value D of the calculated value of the time difference calculated by the time difference calculation to the calculated value K of the corrected remaining time (time difference calculation, step S19). It is determined whether the calculated value E of the time difference rate is equal to or greater than the second time difference rate threshold value E2 (second time difference determination, step S20).

In the second time difference determination (step S20), if the calculated value E of the time difference rate is not greater than or equal to the second time difference rate threshold E2 (NO), it is determined whether the calculated value E of the time difference rate is greater than or equal to the first time difference rate threshold E1. Determination is made (first time difference determination, step S21). In the first time difference determination (step S21), if the calculated value E of the time difference rate is greater than or equal to the first time difference rate threshold E1 (YES), the decreasing speed of the displayed value H of the basic remaining time is changed (time decrease control, step S22). In the second time difference determination (step S20), if the time difference rate E is not equal to or greater than the first time difference rate threshold E1 (NO), the decreasing speed of the display value H of the basic remaining time is set to the normal time decreasing speed (step S23). Next, it is determined whether the displayed value H of the basic remaining time has become equal to or less than the remaining time threshold H1 (time display determination, step S24). The steps after this time display determination will be described later.

In the second time difference determination (step S20), if the calculated value E of the time difference rate is greater than or equal to the second time difference rate threshold E2 (YES), the displayed value H of the basic remaining time is adjusted to match the calculated value K of the corrected remaining time. (time adaptation control, step S25). The reason for changing the display value H of the basic remaining time is notified by the notification device 12 (reason notification control, step S26). Next, it is determined whether the displayed value H of the basic remaining time has become equal to or less than the remaining time threshold H1 (time display determination, step S24).

In the corrected remaining time determination (step S17), if the calculated value K of the corrected remaining time is 0 (seconds) (YES), the displayed value H of the basic remaining time is immediately adjusted to match the calculated value K of the corrected remaining time. (time adaptation control, step S27). Next, it is determined whether the displayed value H of the basic remaining time has become equal to or less than the remaining time threshold H1 (time display determination, step S24).

In the time display judgment (step S24), if the display value H of the basic remaining time is equal to or less than the remaining time threshold H1 (YES), the display value H of the basic remaining time is displayed on the display unit 11a of the display device 11 (time display control, step S28). On the other hand, if the display value H of the basic remaining time is not equal to or less than the remaining time threshold H1 (NO), the display value H of the basic remaining time is not displayed on the display unit 11a of the display device 11 (step S29). After that, if the display value H of the basic remaining time is not 0 (seconds), the automatic progress control (step S15) is resumed. On the other hand, if the display value H of the basic remaining time is 0 (seconds), the vehicle 1 is automatically stopped (automatic stop control, step S31). At this time, a basic remaining time judgment is executed to judge whether the display value H of the basic remaining time has become 0 seconds.

When vehicle 1 is automatically stopped, if parking of vehicle 1 is not yet complete, the process returns to route calculation, vehicle speed calculation, and basic remaining time calculation (step S12). On the other hand, if parking of vehicle 1 is complete, parking control ends. At this time, a parking completion determination is performed to determine whether vehicle 1 is located in parking area P, which is the target position.

However, the control method of the automatic parking device is not limited to this. The control method of the automatic parking device can be changed based on the above-mentioned components. For example, instead of the second time difference determination (step S20), a route change determination may be performed to determine whether the travel route has been changed from the pre-change calculation result M to the post-change calculation result N. Furthermore, instead of the second time difference determination (step S20), a new obstacle determination may be performed to determine whether new obstacles U1, U2 have been detected.

As described above, the automatic parking device 10 according to the present embodiment includes a stop for switching from the start point or halfway point of one of automatic forward movement and automatic backward movement of the vehicle 1 to the other of automatic forward movement and automatic reverse movement. The basic remaining time calculation that calculates the basic remaining time required until automatic stop is executed, and the display value H of the basic remaining time used for displaying on the display device 11 is changed to the basic remaining time calculated by the basic remaining time calculation. Remaining time control is performed to control the calculated value to a value that is decreased over time. Therefore, by looking at the display value H of the basic remaining time displayed on the display device 11, the driver can intuitively recognize the timing at which the vehicle 1 stops for turning during parking control. As a result, even if the vehicle 1 approaches the obstacle R immediately before turning back, the driver's sense of anxiety due to the approach of the obstacle R can be reduced. Furthermore, by reducing such a sense of anxiety, it is possible to prevent the driver from performing unnecessary brake operations. As a result, convenience and comfort for the driver can be improved. In addition, in the automatic parking device 10 according to the present embodiment, the automatic stop can include a stop to complete parking in addition to a stop for turning around. In this case, the driver can intuitively recognize the timing at which the vehicle 1 stops to complete parking during parking control by looking at the displayed value H of the basic remaining time displayed on the display device 11. can.

In the automatic parking device 10 according to the present embodiment, automatic stopping is executed when the displayed value H of the basic remaining time becomes 0 (seconds). Therefore, the stop timing of the vehicle 1 that is intuitively recognized by the driver can be substantially matched with the actual stop timing of the vehicle 1. As a result, the driver's sense of anxiety due to the approach of the obstacle R can be reliably reduced.

In the automatic parking device 10 according to the present embodiment, when starting the other of automatic forward movement and automatic reverse movement after automatic stop, time change control is performed to change the display value H of the basic remaining time. Therefore, for example, even after the vehicle 1 has temporarily stopped for a turnaround, the driver can intuitively recognize the next stop timing by looking at the display value H of the basic remaining time displayed on the display device 11. be able to. As a result, it is possible to reliably reduce the driver's anxiety caused by the automatic movement of the vehicle 1, especially the driver's anxiety caused by the approach of the obstacle R.

In the automatic parking device 10 according to the present embodiment, the corrected remaining time is calculated from the timing after calculating the basic remaining time by calculating the basic remaining time and while executing one of automatic forward movement and automatic reverse movement until automatic stop. A corrected remaining time calculation is executed to calculate the time, and is based on the absolute value D of the calculated value of the time difference between the displayed value H of the basic remaining time and the calculated value K of the corrected remaining time calculated by the corrected remaining time calculation. When the time difference base value becomes equal to or greater than the first time difference base threshold value, time reduction control is executed to change the speed at which the display value H of the basic remaining time decreases. Therefore, even if there is a discrepancy between the displayed value H of the basic remaining time and the calculated value K of the corrected remaining time calculated to correct the displayed value H of the basic remaining time, such a discrepancy can be corrected by This can be smoothly resolved to prevent the driver from feeling uneasy. As a result, it is possible to reliably reduce the driver's anxiety caused by the automatic movement of the vehicle 1, especially the driver's anxiety caused by the approach of the obstacle R.

In the automatic parking device 10 according to the present embodiment, route calculation is performed to calculate the movement route of the vehicle 1 in order to execute parking control, and the calculation result M before or after the movement route calculated by the route calculation is changed. . executed. Therefore, a highly accurate basic remaining time can be obtained. As a result, by looking at the highly accurate display value H of the basic remaining time displayed on the display device 11, the driver can intuitively and accurately determine the timing at which the vehicle 1 should stop for turning during parking control. can be recognized.

In the automatic parking device 10 according to this embodiment, when any of the first to third notification conditions is satisfied, a time adaptation control is executed to change the display value H of the basic remaining time to match the calculated value K of the corrected remaining time, a remaining time control is executed based on the changed display value H of the basic remaining time, and a reason notification control is executed to display the reason for the change in the basic remaining time on the display device 11. Therefore, a highly accurate basic remaining time can be obtained, and by looking at the highly accurate display value H of the basic remaining time displayed on the display device 11, the driver can intuitively recognize with high accuracy the timing when the vehicle 1 will stop to turn during parking control. In addition, because the driver can reliably recognize the reason for the change in the basic remaining time, the driver's anxiety associated with the automatic movement of the vehicle 1 can be reliably reduced.

In the automatic parking device 10 according to this embodiment, when any of the first to third notification conditions is satisfied, a time stop control is executed to stop the decrease in the display value H of the basic remaining time, a forced stop control is executed to forcibly stop the vehicle 1, and a stop notification control is executed to notify the stop of the vehicle 1 by the forced stop control. Therefore, since the vehicle 1 can be stopped once when a new obstacle U1 or U2 occurs, the driver's anxiety caused by the occurrence of the new obstacle U1 or U2 can be reduced. In addition, since the vehicle 1 can be stopped once when the travel route is changed, the driver can recognize the unintended change in the travel route in a relaxed manner while the vehicle 1 is stopped. Furthermore, since the vehicle 1 can be stopped once when the display value H of the basic remaining time significantly deviates from the calculated value K of the corrected remaining time, the driver can recognize the situation in which such a deviation has occurred in a relaxed manner while the vehicle 1 is stopped. As a result, the driver's anxiety caused by the automatic movement of the vehicle 1, particularly the driver's anxiety caused by the approach of the obstacle R, can be reliably reduced.

Although the embodiments of the present invention have been described so far, the present invention is not limited to the above-described embodiments, and the present invention can be modified and changed based on the technical idea thereof.

1 ... vehicle, 10 ... automatic parking device, 10a ... parking control unit, 11 ... display device P ... parking area, U1 ... pedestrian (new obstacle), U2 ... car stop (new obstacle)
M: calculation result before change of moving route, N: calculation result after change of moving route, H: display value of basic remaining time, H1: remaining time threshold, K: calculated value of corrected remaining time, D: absolute value of calculated value of time difference, E: time difference rate, E1: first time difference rate threshold, E2: second time difference rate threshold

Claims (6)

A parking control unit configured to execute parking control that enables automatic forward movement, automatic reverse movement, and automatic stop of a vehicle for parking the vehicle in a specific parking area,
An automatic parking device connected to a display device configured to be able to display the state of the vehicle,
the parking control unit is configured to be able to execute a basic remaining time calculation for calculating a basic remaining time required from a start or intermediate point of one of the automatic forward movement and the automatic reverse movement to the automatic stop including a stop for turning around to switch to the other of the automatic forward movement and the automatic reverse movement,
the parking control unit is configured to be able to execute a remaining time control for controlling a display value of the basic remaining time used for displaying on the display device so as to reduce a calculated value of the basic remaining time calculated by the basic remaining time calculation over time ,
An automatic parking device , wherein the display value of the basic remaining time indicates the timing for executing the automatic stop, including a stop for turning during the parking control . A parking control unit configured to execute parking control that enables automatic forward movement, automatic reverse movement, and automatic stop of a vehicle for parking the vehicle in a specific parking area,
An automatic parking device connected to a display device configured to be able to display the state of the vehicle,
the parking control unit is configured to be able to execute a basic remaining time calculation for calculating a basic remaining time required from a start or intermediate point of one of the automatic forward movement and the automatic reverse movement to the automatic stop including a stop for turning around to switch to the other of the automatic forward movement and the automatic reverse movement,
the parking control unit is configured to be able to execute a remaining time control for controlling a display value of the basic remaining time used for displaying on the display device so as to reduce a calculated value of the basic remaining time calculated by the basic remaining time calculation over time,
The automatic parking device, wherein the parking control unit is configured to execute the automatic stop when the displayed value of the basic remaining time becomes 0 seconds. comprising a parking control unit configured to perform parking control that allows automatic forwarding, automatic reversing, and automatic stopping of the vehicle for parking the vehicle in a specific parking area;
An automatic parking device connected to a display device configured to display the state of the vehicle,
The parking control unit determines the basic remaining time required from the start point or intermediate point of one of the automatic forward movement and automatic reverse movement to the automatic stop including a stop for switching to the other of the automatic forward movement and automatic reverse movement. It is configured to be able to execute basic remaining time calculation that calculates
The parking control unit is configured to reduce the display value of the basic remaining time used for displaying on the display device by the calculated value of the basic remaining time calculated by the basic remaining time calculation as time passes. is configured to enable execution of remaining time control,
The parking control unit is configured to execute the automatic stop when the displayed value of the basic remaining time becomes 0 seconds,
The parking control unit is configured to be able to execute time change control that changes the display value of the basic remaining time when starting the other of the automatic forward movement and automatic reverse movement after the automatic stop is executed. Automatic parking device. A parking control unit configured to execute parking control that enables automatic forward movement, automatic reverse movement, and automatic stop of a vehicle for parking the vehicle in a specific parking area,
An automatic parking device connected to a display device configured to display the state of the vehicle,
the parking control unit is configured to be able to execute a basic remaining time calculation for calculating a basic remaining time required from a start or intermediate point of one of the automatic forward movement and the automatic reverse movement to the automatic stop including a stop for turning around to switch to the other of the automatic forward movement and the automatic reverse movement,
The parking control unit is configured to execute a remaining time control for controlling a display value of the basic remaining time used for displaying on the display device so as to reduce a calculated value of the basic remaining time calculated by the basic remaining time calculation over time,
The parking control unit is configured to be able to execute a corrected remaining time calculation for calculating a corrected remaining time required until the automatic stop from a timing after the basic remaining time is calculated by the basic remaining time calculation and while one of the automatic forward movement and the automatic reverse movement is being performed,
The parking control unit is configured to execute time reduction control to change the rate at which the display value of the basic remaining time is reduced when a time difference base value based on the absolute value of the time difference between the display value of the basic remaining time and the calculated value of the corrected remaining time calculated by the corrected remaining time calculation becomes greater than or equal to a first time difference base threshold. comprising a parking control unit configured to perform parking control that allows automatic forwarding, automatic reversing, and automatic stopping of the vehicle for parking the vehicle in a specific parking area;
An automatic parking device connected to a display device configured to display the state of the vehicle,
The parking control unit determines the basic remaining time required from the start point or intermediate point of one of the automatic forward movement and automatic reverse movement to the automatic stop including a stop for switching to the other of the automatic forward movement and automatic reverse movement. It is configured to be able to execute basic remaining time calculation that calculates
The parking control unit is configured to reduce the display value of the basic remaining time used for displaying on the display device by the calculated value of the basic remaining time calculated by the basic remaining time calculation as time passes. It is configured to enable execution of remaining time control,
The parking control unit is configured to be able to execute route calculation for calculating a travel route of the vehicle in order to execute the parking control,
The parking control unit is configured to execute the parking control according to the calculation result of the travel route calculated by the route calculation,
The parking control unit is configured to be able to execute the route calculation in order to change the calculation result of the movement route according to the situation of the parking area or a surrounding area of the parking area,
The parking control unit calculates the corrected remaining time required for the automatic stop from a timing after the basic remaining time is calculated by the basic remaining time calculation and while one of the automatic forward movement and automatic backward movement is executed. It is configured to be able to calculate the corrected remaining time to be calculated,
The parking control unit is configured such that a time difference base value based on an absolute value of a time difference between the displayed value of the basic remaining time and the calculated value of the corrected remaining time calculated by the corrected remaining time calculation is equal to or greater than a second time difference base. When the calculation result of the movement route is changed, or when an obstacle that prevents parking of the vehicle is newly detected while executing the parking control, the parking control unit: Executing time adaptation control to change the displayed value of the basic remaining time to match the calculated value of the corrected remaining time calculated by the corrected remaining time calculation, and based on the changed displayed value of the basic remaining time. An automatic parking device configured to execute the remaining time control and to execute reason notification control for displaying the reason for executing the basic remaining time change on the display device. comprising a parking control unit configured to perform parking control that allows automatic forwarding, automatic reversing, and automatic stopping of the vehicle for parking the vehicle in a specific parking area;
An automatic parking device connected to a display device configured to display the state of the vehicle,
The parking control unit determines the basic remaining time required from the start point or intermediate point of one of the automatic forward movement and automatic reverse movement to the automatic stop including a stop for switching to the other of the automatic forward movement and automatic reverse movement. It is configured to be able to execute basic remaining time calculation that calculates
The parking control unit is configured to reduce the display value of the basic remaining time used for displaying on the display device by the calculated value of the basic remaining time calculated by the basic remaining time calculation as time passes. is configured to enable execution of remaining time control,
The parking control unit is configured to be able to execute route calculation for calculating a travel route of the vehicle in order to execute the parking control,
The parking control unit is configured to execute the parking control according to the calculation result of the travel route calculated by the route calculation,
The parking control unit is configured to be able to execute the route calculation in order to change the calculation result of the movement route according to the situation of the parking area or a surrounding area of the parking area,
The parking control unit calculates the corrected remaining time required for the automatic stop from a timing after the basic remaining time is calculated by the basic remaining time calculation and while one of the automatic forward movement and automatic backward movement is executed. It is configured to be able to calculate the corrected remaining time to be calculated,
The parking control unit is configured such that a time difference base value based on an absolute value of a time difference between the displayed value of the basic remaining time and the calculated value of the corrected remaining time calculated by the corrected remaining time calculation is equal to or greater than a second time difference base. , when the calculation result of the travel route is changed, or when a new obstacle that obstructs parking of the vehicle is detected while executing the parking control, the basic remaining time is displayed. The vehicle is configured to execute time stop control to stop the value decreasing, to execute forced stop control to forcibly stop the vehicle, and to execute stop notification control to notify that the vehicle has stopped due to the forced stop control. Automatic parking device.