WO2014188548A1

WO2014188548A1 - Parking assist device, and parking assist method

Info

Publication number: WO2014188548A1
Application number: PCT/JP2013/064275
Authority: WO
Inventors: 宏亘石嶋; 絵里子山崎; 啓介尾山; 英彦三好; 慶介秦
Original assignee: トヨタ自動車株式会社
Priority date: 2013-05-22
Filing date: 2013-05-22
Publication date: 2014-11-27

Abstract

When a driver intends to park his or her car at a parking space (PA) as the vehicle travels near the parking space (PA), the driver enters a start command for automatic parking control and stops the vehicle at a position that the driver considers will facilitate parking of the vehicle at the parking space (PA). An electronic control device determines a vehicle route for the automatic parking in accordance with a stop position (Ps) of the vehicle, and automatically moves the vehicle along the route to the parking space (PA). When the stop position (Ps) is within a determination region allowing the vehicle to park itself by moving backward with respect to the parking space (PA), a route that allows the vehicle to reach from the stop position (Ps) to the parking space (PA) by moving backward is determined as the route. On the other hand, when the stop position (Ps) is outside the determination region, a route that allows the vehicle to reach from the stop position (Ps) to the parking space (PA) by moving forward and backward is determined as the route.

Description

Parking assistance device and parking assistance method

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

2. Description of the Related Art As a vehicle such as an automobile, a vehicle equipped with a parking assistance device that supports the entry of a vehicle into a predetermined parking space is known. Such a parking assist device executes automatic warehousing control for automatically merging a vehicle into a parking space based on a start command by a driver, and assists warehousing of the vehicle into the parking space through execution of the automatic warehousing control. In addition, it is possible to perform the said automatic warehousing control as shown by patent document 1, for example.

As shown in FIG. 12, in the automatic warehousing control of Patent Document 1, the driver first stops the vehicle at a start position P1 in the vicinity of the parking space PA. Thereafter, when the driver issues a start command for the automatic warehousing control, the vehicle is steered, moved forward, and moved backward so that the vehicle automatically enters the parking space PA as the automatic warehousing control by the parking assist device. . Specifically, after the vehicle is advanced from the start position P1 along the route RF, the vehicle is stopped at the stop position P2, and the vehicle is moved backward from the stop position P2 to the parking space PA along the route RB.

FIG. 13 is a graph showing a change of the steering angle with respect to an increase in the moving distance of the vehicle when performing automatic warehousing for the parking space PA of the vehicle by the automatic warehousing control. In the vehicle, when the steering angle is set to “0”, the steering wheel of the vehicle is in a state of moving the vehicle straight. In addition, as the steering angle is changed to the plus side more than “0”, the steered wheel rapidly turns the vehicle to the right when moving forward, while the steering angle is changed to the minus side more than “0”. The steered wheels rapidly turn left when the vehicle is moving forward. Then, by changing the steering angle of the vehicle as shown by the solid line in FIG. 13 in response to the change in the moving distance of the vehicle, the vehicle is stored in the parking space PA through the routes RF and RB shown in FIG. The

However, in the automatic warehousing control described above, if the position where the driver first stops the vehicle, that is, the start position P1 is not appropriate for the parking space PA, the vehicle may not be admitted to the parking space PA. In this case, when the driver determines that the vehicle cannot be stored in the parking space PA, a reverse regeneration command is issued by the driver, and the vehicle starts with an operation opposite to the operation of the vehicle in the automatic storage control. It is returned to position P1. Then, after the driver corrects the start position P1 to an appropriate position, the driver is again instructed to start automatic warehousing control, and the vehicle is automatically admitted to the parking space PA. Such a procedure is repeated until the entry of the vehicle into the parking space PA is completed.

JP-A-10-167103

In the automatic warehousing control in Patent Document 1, if the vehicle cannot be stored in the parking space PA, the driver returns the vehicle to the start position P1 until the warehousing can be completed, and the driver sets the start position P1. Since the operation of correcting is repeated, the repetition of such an operation becomes troublesome for the driver.

Also, it is possible to adopt the following way of warehousing as a way of automatic warehousing of a vehicle in another parking space. In other words, after setting the start position where the vehicle can be stored in the parking space with only one backward movement, the driver is guided by the parking support device so that the vehicle can be moved to the same start position, and then the automatic start control is executed. It is also conceivable to have the vehicle automatically enter the parking space from the position. In this case, the repetition of the operation for completing the entry of the vehicle into the parking space as described above, and the troublesomeness of the driver due to the operation can be eliminated.

However, in this case, the driver has to move the vehicle to the start position according to the guidance by the parking assistance device, and it cannot be denied that this is a difficult driving operation for an unfamiliar driver. On the other hand, a skilled driver knows the start position sensuously without receiving guidance by the parking assistance device, and feels that the guidance is troublesome because it is easy to move the vehicle to the start position. There's a problem.

The object of the present invention can be completed without repeating the warehousing of the vehicle in the parking space in the case of an unfamiliar driver, and the vehicle in the parking space without feeling inconvenience in the case of a skilled driver. It is providing the parking assistance apparatus and parking assistance method which can complete warehousing.

In the following, means for solving the above problems and their effects are described.

The parking assist device that solves the above problem includes a control unit that executes automatic warehousing control for automatically merging a vehicle into a parking space. When the position of the vehicle at the start of the automatic warehousing control is within a determination area where the vehicle can be retracted with respect to the parking space, the control unit reaches the parking space by reversing the vehicle from the position of the vehicle. A route is obtained, and automatic warehousing control is executed so that the vehicle is automatically moved to the parking space along the route. In addition, when the position of the vehicle at the start of the automatic warehousing control is outside the determination region, the control unit obtains a route from the stop position of the vehicle to the parking space by forward and backward movement of the vehicle, and the route The automatic warehousing control is executed so that the vehicle is automatically moved to the parking space.

If the driver is unfamiliar with driving the vehicle, he / she can move the vehicle to its own position so that the position of the vehicle at the start of automatic warehousing control is within the determination area where the vehicle can be moved backward with respect to the parking space. Whether it can be moved by driving is unknown. Here, if the driver can move the vehicle into the determination area so that the position of the vehicle at the start of the automatic storage control becomes a position within the determination area, the parking space is determined through the automatic storage control by the control unit. On the other hand, the vehicle is automatically stored in reverse. In addition, the driver cannot move the vehicle into the determination area so that the position of the vehicle at the start of the automatic warehousing control is within the determination area. When the vehicle is located, the vehicle is automatically stored in the parking space by the forward and backward movement of the vehicle through the automatic storage control by the control unit. Therefore, even if an unfamiliar driver cannot keep the vehicle in the determination area at the start of automatic warehousing control, automatic warehousing for the parking space of the vehicle by automatic warehousing control can be performed again. It can be completed without repeating the automatic warehousing.

On the other hand, if the driver is skilled in driving the vehicle, the vehicle in the determination area is not subject to guidance by the parking support device so that the position of the vehicle at the start of automatic warehousing control is in the determination area. Is likely to be able to move. This is because the skilled driver knows sensuously that the determination area for the parking space is not guided or the like, and can easily move the vehicle into the determination area. At this time, since the parking assistance device does not guide the driver to move the vehicle into the determination area, the skilled driver does not feel bothered by the guidance. And after a vehicle is moved in the said determination area | region by a driver | operator, a vehicle is automatically stored by reverse | retreating with respect to a parking space through the automatic storage control by a control part.

As a result, inexperienced drivers can complete the vehicle entry without repetitive entry into the parking space, and skilled drivers complete the entry into the parking space without feeling bothered. Can be made.

Note that the control unit may be configured to start the automatic warehousing control when an instruction to start the automatic warehousing control is given by the driver of the vehicle and the driver stops the vehicle.

Further, the control unit changes the determination area based on the directivity angle of the vehicle with respect to the parking space at the start of automatic warehousing control, and obtains a route from the vehicle position to the parking space at the start of automatic warehousing control. It can be considered that the route is obtained in response to a change in the determination area based on the directivity angle. Note that the determination area may be determined as an area where the vehicle can be retreated into the parking space regardless of the directivity angle of the vehicle with respect to the parking space at the start of the automatic warehousing control. When the determination area is determined in this way, there is a limit to the large determination area. Here, depending on the directivity angle of the vehicle with respect to the parking space, whether or not the vehicle can be moved into the parking space by moving backward is changed. In other words, depending on the directivity angle, there is an area where the vehicle can move backward and enter the parking space. By defining the determination area including such an area, the determination area can be enlarged as much as possible. Incidentally, the determination area enlarged as much as possible in this way changes according to the directivity angle. Then, by obtaining a route from the position of the vehicle in the determination region to the parking space at the start of the automatic warehousing control corresponding to the change in the determination region based on the directivity angle, the vehicle can be moved backward as the same route. It is possible to increase the chances of seeking the realized route. As a result, it is possible to increase opportunities for the vehicle to enter the parking space by moving the vehicle in the automatic storage control along the route.

The controller sets the position of the vehicle at the start of the automatic warehousing control at the center between the rear wheels of the vehicle, and determines the route from the vehicle position to the parking space. It is conceivable that the center between the rear wheels of the vehicle when it is assumed that the vehicle has been stored is set as the position of the parking space.

In addition, when the position of the vehicle at the start of the automatic warehousing control is outside the determination region, the control unit moves the vehicle forward for the first time and then moves the vehicle against the parking space by moving the vehicle once. It may be configured to obtain a route that can be received. In this case, the route from the position of the vehicle at the start of automatic warehousing control to the parking space by forward and backward movement of the vehicle can be made as short as possible.

Further, the control unit determines whether or not the vehicle can be moved within the determination region based on the determination region and the presence / absence of an object (obstacle) around the determination region, and based on the determination result. It is conceivable that the route to the parking space is obtained as follows. That is, when it is impossible to move the vehicle into the determination area, it is possible to implement entry into the parking space of the vehicle with the smallest possible number of forward and backward movements of the vehicle from the position of the vehicle at the start of the automatic entry control. Find a route. In this case, even if the driver cannot move the vehicle to the determination area due to the presence of an obstacle or the like, the vehicle can be stored in the parking space through the shortest route possible.

Furthermore, the parking support method that solves the above-described problem executes automatic warehousing control that automatically enters the vehicle into the parking space. When the position of the vehicle at the start of the automatic warehousing control is within a determination area where the vehicle can be moved backward with respect to the parking space, the route from the vehicle position to the parking space when the vehicle moves backward is determined. Determining, when the vehicle position at the start of automatic warehousing control is outside the determination region, determining a route from the vehicle position to the parking space by forward and backward movement of the vehicle, and the determined route Performing automatic warehousing control so as to automatically move the vehicle to the parking space along the line.

The schematic diagram which shows the whole vehicle to which a parking assistance apparatus is applied. The schematic diagram which shows the driving | running | working aspect of the vehicle in a parking lot etc. The schematic diagram which shows the driving | running | working aspect of the vehicle in a parking lot etc. The schematic diagram which shows the motion of the vehicle by the automatic warehousing control performed through the apparatus. The schematic diagram which shows the stop aspect of a vehicle. The schematic diagram which shows the stop aspect of a vehicle. The schematic diagram which shows the stop aspect of a vehicle. The schematic diagram which shows the stop aspect of a vehicle. The schematic diagram for demonstrating a determination area | region. The flowchart which shows the execution procedure of automatic warehousing control. The flowchart which shows the execution procedure of automatic warehousing control. The schematic diagram which shows the motion of the vehicle by the conventional automatic warehousing control. The graph which shows the change of the steering angle with respect to the moving distance of a vehicle.

Hereinafter, an embodiment of a parking assistance apparatus will be described with reference to FIGS.

The vehicle shown in FIG. 1 includes a prime mover 21 that outputs power for running the vehicle, a gear mechanism 22 for switching between forward and reverse of the vehicle, a brake device 23 for braking the vehicle, A steering device 2 for operating the steering wheel 1 is provided. The steering device 2 operates the steering wheel 1 through a steering operation by a driver, and has a function of assisting the steering operation by the driver with a motor 2a. The device 2 can also operate the steered wheels 1 only by the motor 2a regardless of whether the driver performs a steering operation. The driver's seat of the vehicle displays information related to driving and the like, and a display panel 3 with a touch sensor that accepts various operations from the driver, and information and warnings related to driving by voice to the driver A speaker 4 for notification is provided.

In the vehicle, a plurality of ultrasonic sensors 5 for detecting the presence or absence of an object existing in the vicinity of the vehicle are attached to the front end (upper end in the figure) of the vehicle, and the width direction (in the figure in the figure) An ultrasonic sensor 6 for detecting the presence or absence of an object present on the side in the width direction of the vehicle is attached to the side surface in the left-right direction). A plurality of ultrasonic sensors 7 for detecting the presence or absence of an object existing in the vicinity of the vehicle are attached to the rear end (lower end in the figure) of the vehicle. An ultrasonic sensor 8 for detecting the presence or absence of an object present on the side in the width direction is attached.

These ultrasonic sensors 5 to 8 are connected to an electronic control unit 9 for performing various controls of the vehicle. The electronic control device 9 includes a shift position sensor 11 that detects an operation position of the shift lever 10 operated by the driver, an accelerator position sensor 13 that detects an operation amount of the accelerator pedal 12 that is depressed by the driver. The brake switch 15 is also connected to detect whether or not the driver depresses the brake pedal 14. Further, the electronic control device 9 includes a wheel speed sensor 16 that detects the rotational speed of wheels (steering wheels 1 and the like) in the vehicle, an angle sensor 17 that detects a steering operation angle in the steering device 2, and a motor 2a in the device 2. A temperature sensor 18 for detecting the temperature and a yaw rate sensor 19 for detecting the change speed of the rotation angle when the vehicle turns are connected.

The electronic control device 9 controls the operations of the prime mover 21, the gear mechanism 22, the brake device 23, the steering device 2, the display panel 3, and the speaker 4, and from the panel 3 based on the operation of the display panel 3 by the driver. Input the signal. The electronic control device 9 executes automatic warehousing control for automatically merging the vehicle into the parking space based on a start command for the control by the driver. The electronic control device 9 at this time functions as a control unit that executes the automatic warehousing control, and assists warehousing in the parking space of the vehicle through the execution of the control. The start command for the automatic warehousing control is performed through, for example, a start operation of the control on the display panel 3 by the driver.

2 and 3 show how the vehicle travels in a parking lot or the like. The electronic control device 9 always searches for a parking space where the vehicle can be stored using the ultrasonic sensors 5 to 8 (FIG. 1) regardless of whether or not the above-described automatic storage control start command is issued. Information about the discovered parking space is stored in a memory. For example, as shown in FIGS. 2 and 3, when the vehicle passes near the parking space PA where the vehicle can be stored, information on the parking space PA is stored in the memory of the electronic control device 9 at that time. And if the start instruction | command of the automatic warehousing control by the driver is made in the vicinity of the parking space PA, the electronic control unit 9 uses the information regarding the parking space stored in the memory as described above, and the parking space PA to be a warehousing target of the vehicle. And the vehicle is automatically stored in the parking space PA through the automatic storage control.

FIG. 4 shows the movement of the vehicle by the automatic warehousing control. This automatic warehousing control is performed in detail as follows. That is, when the driver gives an instruction to start automatic warehousing control while the vehicle is traveling in the vicinity of the parking space PA, the driver tries to start automatic warehousing of the vehicle to the parking space PA by automatic warehousing control. The vehicle is stopped at a position where it is easy to enter the parking space PA, for example, at a stop position Ps in the figure. On the other hand, the electronic control unit 9 (FIG. 1), when the start command is given and the vehicle is stopped by the driver, at the timing when the vehicle should automatically enter the parking space PA by the automatic entry control. Recognize that there is, and perform the above automatic warehouse. When the electronic control device 9 performs automatic warehousing of the vehicle with respect to the parking space PA, the relative position (stop position Ps) of the vehicle with respect to the parking space PA when the vehicle stops, that is, the vehicle at the start of automatic warehousing control. The route of the vehicle (the route R in the example of FIG. 4) when performing the automatic warehousing is determined according to the position of the vehicle. And the electronic control apparatus 9 grasps | ascertains the present position of a vehicle using the angle sensor 17, the wheel speed sensor 16, the yaw rate sensor 19, etc., and the grasped present position of the vehicle moves along the calculated | required path | route. The prime mover 21, the gear mechanism 22, the brake device 23, and the steering device 2 are controlled. Thereby, the automatic warehousing of the vehicle with respect to the parking space PA is performed.

The route of the vehicle when performing the automatic warehousing is obtained as follows according to the stop position Ps of the vehicle determined by the driver after the automatic warehousing control start command is given. In other words, after the driver has issued a command for starting automatic warehousing control, when the driver stops the vehicle within a determination area where the vehicle can be stored only by reversing the parking space PA, in other words, the stop position Ps of the vehicle is When within the determination area, a route (hereinafter referred to as a first route) from the stop position Ps of the vehicle to the parking space PA only by the backward movement of the vehicle is obtained. In the example of FIG. 4, at least the area A in the figure is included as the determination area, and the path R is obtained as the first path.

On the other hand, after the driver gives an instruction to start automatic warehousing control, the driver may stop the vehicle outside the determination area where the vehicle can be warehousing only by retreating to the parking space PA. For example, when the driver is unfamiliar with driving the vehicle, the vehicle is stopped in front of the parking space PA as shown in FIG. 5, or the vehicle is stopped in front of the determination area as shown in FIG. As a result, the stop position Ps of the vehicle may be outside the determination area. In this case, a route from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained.

More specifically, as shown in FIGS. 5 and 6, when the driver stops the vehicle in front of the determination area such as the front of the parking space PA, the driver first stops from the stop position Ps of the vehicle. A route (hereinafter referred to as a second route) in which the vehicle can be stored in the parking space PA once the vehicle has moved forward is required. The second route is a route that allows the vehicle to enter the determination area from the stop position Ps by a single forward movement, and further reaches the parking space PA by a single backward movement from the determination area.

Further, as shown in FIG. 7 and FIG. 8, due to the presence of the determination region and the surrounding object, for example, the wall W, the driver cannot move the vehicle to the determination region and is out of the determination region. The vehicle may be stopped. In this case, it is determined whether or not the vehicle can be moved in the determination area based on the determination area and the presence / absence of objects existing around the determination area, and when the vehicle cannot move in the determination area. When obtaining a route from the stop position Ps of the vehicle to the parking space PA, a route (hereinafter referred to as a third route) that can realize the warehousing of the vehicle with respect to the parking space PA with the smallest possible number of forward and backward movements of the vehicle. Ask.

Note that the stop position Ps of the vehicle used for obtaining the first to third routes is set at the center C between the rear wheels 20 of the vehicle. When obtaining these routes, the vehicle with respect to the parking space PA is determined. The center C between the rear wheels 20 of the vehicle (two-dot chain line in FIG. 4) when it is assumed that the warehousing has been completed is set as the position of the parking space PA.

Incidentally, the area A in FIG. 4 included in the determination area is that the vehicle is parked only backwards regardless of the directivity angle θ of the vehicle with respect to the parking space PA when the driver stops the vehicle at the stop position Ps. This is an area that can be stored in the space PA. The directivity angle θ is “L1”, which is a straight line extending in the front-rear direction of the vehicle when it is assumed that the parking space PA has been stored, and a straight line extending in the front-rear direction of the vehicle stopped at the stop position Ps is “ L2 ”is a value represented by the inclination angle of the straight line L2 with respect to the straight line L1 on the horizontal plane. The determination area may be determined only in the area A, but when the determination area is determined in this way, there is a limit even if the determination area is made large. Here, next to the area A, the area B in which whether or not the stopped vehicle can be stored in the parking space PA only by reversing depends on the directivity angle θ of the vehicle, in other words, depending on the directivity angle θ, the vehicle is retreated. There is an area B that can be stored in the parking space PA. By defining the determination area including a part of the area B, specifically, a part where the vehicle can be moved into the parking space PA only by reversing depending on the directivity angle θ, the determination area is enlarged as much as possible. It becomes possible.

FIG. 9 shows a situation where the stop position Ps of the vehicle is in the region B. If the vehicle in the parking space PA is turned at the minimum turning radius R determined by the model of the vehicle, the vehicle will travel along a curve L3 shown in the figure, for example. At this time, the relationship between the directivity angle θ of the vehicle and the travel distance P is expressed by the following equation (1). The turning curvature γ used in the equation (1) is a fixed value having a relationship of “γ = (1 / R)” with respect to the minimum turning radius R.

And when the arbitrary point of the part which overlaps with the area | region B on the curve L3 is made into the stop position Ps, the maximum value (theta) max of directivity angle (theta) which can enter a vehicle only by reversing | retreating from the stop position Ps with respect to the parking space PA is described above. It can be obtained from equation (1). As the travel distance P in the equation (1) at this time, a distance along the curve L3 between the stop position Ps and the position (center C) of the parking space PA is used. The stop position Ps is based on the position (center C) of the parking space PA, and the distance X between the position and the parking space PA in the depth direction (vertical direction in the figure), and the parking space PA. Can be determined using the distance Z in the width direction (left and right direction in the figure). Further, the distance X and the distance Z can be obtained using the following formulas (2) and (3), respectively.

It should be noted that the distance X and the distance Z are obtained using the equations (2) and (3) based on the maximum value θmax of the directivity angle θ obtained by the equation (1) and the travel distance P used in the equation (1). Then, the stop position Ps determined by the distance X and the distance Z is a position corresponding to an arbitrary point of the portion overlapping the region B on the curve L3. In the area B, the smaller the distance X and the distance Z that define the stop position Ps, the more difficult it is to enter the vehicle into the parking space PA only by retreating from the stop position Ps. Therefore, the distance X and the distance Z obtained as described above are the minimum value Xmin and the minimum value of the distance Z that allow the vehicle that stops at the stop position Ps in the region B to enter the parking space PA only by reversing, respectively. Zmin.

When the stop position Ps is in the region B, if the distance X and the distance Z that define the stop position Ps satisfy the conditions of “X ≧ Xmin” and “Z ≧ Zmin”, respectively, depending on the directivity angle θ at that time Is in a situation where the vehicle can be stored in the parking space PA only by reversing the vehicle from the stop position Ps. Specifically, the maximum value θmax is set according to the stop position Ps at that time, and if the set maximum value θmax and the current directivity angle θ are in the relationship “θ ≦ θmax”, the stop position Ps. Therefore, it can be determined that the vehicle can be stored in the parking space PA only by reversing the vehicle.

In consideration of this, when the electronic control device 9 is instructed to start automatic warehousing control and the driver stops the vehicle in the region B, that is, when the stop position Ps is in the region B, It is determined whether or not the above-described conditions of “X ≧ Xmin”, “Z ≧ Zmin”, and “θ ≦ θmax” are satisfied. If this condition is satisfied, the determination region is corrected so that the current stop position Ps in region B is also included in the determination region. Thereby, when the start command of the automatic warehousing control is made and the driver stops the vehicle in the area B, the determination area is determined based on the directivity angle θ of the vehicle with respect to the parking space PA at that time. The determination area changes so as to enlarge as much as possible. When the electronic control device 9 is instructed to start automatic warehousing control and the driver stops the vehicle, the electronic control device 9 determines the directivity angle when determining the route from the stop position Ps of the vehicle to the parking space PA. The route is obtained in response to a change in the determination area based on θ. As a result, as the above-mentioned route from the stop position Ps to the parking space PA, the opportunity to obtain the route (first route) realized only by the backward movement of the vehicle is increased, and the vehicle is parked by the movement of the vehicle along the route. You can increase the number of opportunities to enter the space.

Next, the operation of the parking assistance device of this embodiment will be described.

When the driver is unfamiliar with driving the vehicle, when the vehicle is stopped after issuing a command to start automatic warehousing control, the driver puts the vehicle in a determination area where the vehicle can be admitted only by reversing the parking space PA. Whether it can be stopped by its own driving is unknown.

If the driver can stop the vehicle within the determination area, the vehicle is automatically stored in the parking space PA only by retreating through the automatic storage control by the electronic control unit 9. Specifically, if the stop position Ps when the driver stops the vehicle (the position of the vehicle at the start of the automatic warehousing control) is within the determination region, the parking space can be obtained only by reversing the vehicle from the stop position Ps. The first route described above is obtained as the route to PA. Thereafter, the vehicle is controlled so as to move along the first route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.

On the other hand, when the driver cannot stop the vehicle within the determination region but stops the vehicle outside the determination region, the vehicle moves forward with respect to the parking space PA through automatic warehousing control by the electronic control unit 9. The vehicle is automatically received by reversing. Specifically, if the stop position Ps when the driver stops the vehicle (the position of the vehicle at the start of the automatic warehousing control) is outside the determination region, the vehicle is parked by moving forward and backward from the stop position Ps. The second route or the third route described above is obtained as the route to the space PA.

For example, when the driver is unfamiliar with driving the vehicle and stops the vehicle before the determination area such as the front of the parking space PA (FIG. 5 or FIG. 6), the first vehicle from the stop position Ps. The second route is required as a route that allows the vehicle to enter the parking space PA once the vehicle has moved forward. Thereafter, the vehicle is controlled so as to move along the second route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.

In addition, when the driver cannot move the vehicle to the determination region due to the determination region and the objects existing around the determination region (FIG. 7 or FIG. 8), the vehicle is moved forward and backward as much as possible. The third route is required as a route that can realize the entry from the stop position Ps to the parking space PA with a small number of times. Thereafter, the vehicle is controlled so as to move along the third route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.

Therefore, even if an unfamiliar driver cannot stop the vehicle in the determination area after issuing a command to start automatic warehousing control, the automatic parking garage control system automatically controls the parking space PA of the vehicle. The warehousing is not redone. And since the automatic warehousing is not repeated by the redoing, the automatic warehousing can be completed without repeating.

On the other hand, in the case of a skilled driver, the determination area for the parking space PA is known sensuously, and there is a high possibility that the vehicle can be easily stopped within the determination area. If the parking assist device guides the driver to move the vehicle into the determination area at this time, the skilled driver may feel annoyance with the guidance. However, since the parking assistance device does not guide the vehicle to move into the determination area at this time, the skilled driver does not feel bothered by the guidance.

10 and 11 are flowcharts showing a parking assistance routine for executing automatic warehousing control. This parking assistance routine is periodically executed through the electronic control unit 9 with a time interruption every predetermined time.

The electronic control unit 9 determines whether or not each of the various flags F1, F2, F3, and F4 is the initial value “0” as the processing of steps 101 to 104 (S101 to S104) of FIG. . These flags F1 to F4 are changed from the initial value “0” to “1” according to various situations related to the execution of the automatic warehousing control, and are used for identifying these various situations. If all of the flags F1 to F4 are the initial value “0”, the process proceeds to S105.

The electronic control unit 9 determines whether or not an instruction to start automatic warehousing control has been issued by the driver as the process of S105, and if the determination is negative, the parking support routine is temporarily ended. On the other hand, when the electronic control unit 9 determines in S105 that the driver has issued a command for starting automatic warehousing control, the electronic control unit 9 sets the flag F4 to “1” as the processing in S106, and then parks the parking space PA where the vehicle can be admitted. The process proceeds to S107 and S108 for determining whether or not there is.

The flag F4 is used to identify whether or not the driver has been instructed to start automatic warehousing control, and is set to “1 (commanded)” after the start command is issued. The Therefore, based on whether the flag F4 is the initial value “0 (no command)” or “1 (command completed)”, whether or not the driver is instructed to start automatic warehousing control. Can be identified. If the flag F4 is set to “1”, a negative determination is made in the next process of S104, and the process of S105 and S106 is skipped and the process proceeds directly to S107.

The electronic control unit 9 captures information regarding the parking space stored in the memory as the process of S107, and determines whether there is a parking space PA where the vehicle can be stored based on the captured information as the subsequent process of S108. To do. When the electronic control unit 9 determines in S108 that there is no parking space PA in which the vehicle can be stored, the parking support routine is temporarily ended, and in S108, it is determined that there is a parking space PA in which the vehicle can be stored. In step S109 and subsequent steps in FIG.

The electronic control unit 9 sets a determination area in which the vehicle can be stored only by reversing the parking space PA as the process of S109. The determination area set at this time is when the driver tries to start automatic warehousing of the vehicle with respect to the parking space PA by automatic warehousing control, and the vehicle is stopped at a position where it is easy to enter the parking space PA. Regardless of the directivity angle θ of the vehicle at that time, the vehicle can be stored in the parking space PA only by retreating from the stop position Ps. For example, the determination area at this time is set to an area A shown in FIG.

Subsequently, the electronic control unit 9 determines whether or not it is possible to cause the vehicle to reach the determination area as the processing of S110 in FIG. Specifically, the electronic control unit 9 uses the ultrasonic sensors 5 to 8 to detect the presence / absence of the object in the determination area and the surrounding area, thereby causing the vehicle to reach the determination area due to the object or the like. To determine whether this is possible. If the vehicle can reach the determination area, an affirmative determination is made in S110 and the process proceeds to S111. The electronic control unit 9 determines whether or not the vehicle has been stopped by the driver as the process of S111. If the determination is negative, the electronic control unit 9 sets the flag F3 to “1”. Thereafter, the electronic control unit 9 once ends the parking support routine.

The flag F3 is a state before the driver is instructed to start automatic warehousing control, and before the driver stops the vehicle in an attempt to start automatic warehousing of the parking space PA through the automatic warehousing control. In other words, it is for identifying whether or not the vehicle is waiting for the vehicle to stop. When the vehicle is waiting for the vehicle to be stopped by such a driver, the flag F3 is set to “1 (waiting for stopping)”. Accordingly, whether the driver is waiting for the vehicle to stop is identified based on whether the flag F3 is the initial value “0 (no waiting)” or “1 (waiting for stopping)”. Can do. When the flag F3 is set to “1”, a negative determination is made in the next process of S103 (FIG. 10), and the process after S104 is skipped and the process proceeds directly to S111 (FIG. 11).

If it is determined that the vehicle has been stopped by the driver in the process of S111, the electronic control unit 9 corrects the determination area as a process of S113. Specifically, when the stop position Ps of the vehicle is within an area (area B shown in FIG. 9 or the like) in which the vehicle can only be moved backward with respect to the parking space PA depending on the directivity angle θ, the above-described “X ≧ It is determined whether the conditions of “Xmin”, “Z ≧ Zmin”, and “θ ≦ θmax” are satisfied. If this condition is satisfied, the determination region is corrected so that the current stop position Ps in region B is also included in the determination region. Thereby, when the stop position Ps is in the area B, the determination area changes so that the determination area is expanded as much as possible based on the directivity angle θ of the vehicle with respect to the parking space PA at that time.

Subsequently, the electronic control unit 9 determines whether or not a vehicle has entered the corrected determination area as a process of S114, in other words, whether or not the stop position Ps is in the determination area. If an affirmative determination is made here, a route (first route) from the stop position Ps to the parking space PA only by the backward movement of the vehicle is obtained as a process of S115. Thereafter, the electronic control unit 9 instructs the driver to perform a reverse command operation (shift change) of the shift lever 10 through a display on the display panel 3 or a sound from the speaker 4 as a process of S116. Furthermore, the electronic control unit 9 sets the flag F2 to “1” as the process of S117, and then temporarily terminates the parking support device.

The flag F2 indicates the state before the driver actually performs the shift change after instructing the driver to perform the shift change described above, in other words, whether the driver is waiting for the shift change by the driver. It is for identification. When waiting for a shift change by the driver, the flag F2 is set to "1 (waiting for shift change)". Accordingly, whether the driver is in a state of waiting for a shift change by the driver is identified based on whether the flag F2 is the initial value “0 (no waiting for change)” or “1 (waiting for a change of change)”. be able to. When the flag F2 is set to “1”, a negative determination is made in the next process of S102 (FIG. 10), and the process after S103 is skipped and the process proceeds directly to S118 (FIG. 11).

If it is determined in the processing of S118 that the shift change has been performed by the driver, the electronic control unit 9 executes automatic warehousing control as processing of S119. Specifically, the vehicle is automatically entered into the parking space PA by moving the vehicle along a route (in this case, the first route) from the stop position Ps to the parking space PA. Further, the electronic control unit 9 sets the flags F1 to F4 to the initial value “0” as the processing of S120, and then ends the parking support routine once.

In the process of S114, if it is determined that the vehicle does not enter the corrected determination area, the process proceeds to S121. The electronic control unit 9 determines whether or not the vehicle is stopped in front of the determination region as the process of S121. If the determination is affirmative, the electronic control unit 9 advances and reverses the vehicle from the stop position Ps as the process of S122. To obtain the route (second route) to the parking space PA. The second route is a route that allows the vehicle to enter the parking space PA after the vehicle has moved forward once from the stop position Ps and then moved backward once. Subsequently, the electronic control device 9 sequentially performs the automatic warehousing control in S119 and sets the flags F1 to F4 to “0” in S120, and then ends the parking support routine. In the process of S119 at this time, the vehicle is automatically stored in the parking space PA by moving the vehicle along the second route.

Note that if it is determined in S114 that the vehicle has not entered the corrected determination area, an affirmative determination is normally made in S121 and the process proceeds to S122 and subsequent steps. If an error occurs, a negative determination may be made in S121. In this case, the process proceeds to S120, and the flags F1 to F4 are reset to the initial value “0”, so that the processes after S105 in FIG.

On the other hand, if it is determined in the processing of S110 of FIG. 11 that the vehicle cannot reach the determination area due to the determination area and objects around the determination area, S123 and the subsequent steps Proceed to processing. As a process of S123, the electronic control unit 9 determines whether or not the vehicle is stopped by the driver. If the determination is negative, the electronic control unit 9 sets the flag F1 to “1”. Thereafter, the electronic control unit 9 once ends the parking support routine.

The flag F1 is the same as the flag F3, the driver is instructed to start automatic warehousing control, and the driver tries to start the automatic warehousing of the vehicle in the parking space PA through the automatic warehousing control. In other words, it is for identifying whether or not the vehicle is waiting to be stopped by the driver. When the vehicle is waiting for the vehicle to stop by such a driver, the flag F1 is set to “1 (waiting for stopping)”. Therefore, it is identified whether the driver is waiting for the vehicle to stop based on whether the flag F1 is the initial value “0 (no waiting)” or “1 (waiting for stopping)”. Can do. If the flag F1 is set to “1”, a negative determination is made in the next process of S101 (FIG. 10), and the process after S102 is skipped and the process proceeds directly to S123 (FIG. 11).

If it is determined that the vehicle has been stopped by the driver in the process of S123, the electronic control unit 9 performs a route (third process) from the stop position Ps to the parking space PA by forward and backward movement of the vehicle as a process of S125. Path). This third route is a route that allows the vehicle to enter the parking space PA from the stop position Ps with the smallest possible number of forward and backward movements of the vehicle. Subsequently, the electronic control unit 9 uses the display panel 3 to notify the driver that the vehicle is automatically stored in the parking space PA by moving the driver along the third route as a process of S126. This is implemented through display and sound from the speaker 4. Thereafter, the electronic control device 9 sequentially performs the automatic warehousing control in S119 and the setting of the flags F1 to F4 to “0” in S120, and then ends the parking assistance routine. In the process of S119 at this time, the vehicle is automatically stored in the parking space PA by moving the vehicle along the third route.

According to the embodiment described above in detail, the following effects can be obtained.

(1) While the vehicle is traveling in the vicinity of the parking space PA, when the driver gives an instruction to start automatic warehousing control, the driver tries to start automatic warehousing of the vehicle with respect to the parking space PA by automatic warehousing control. The vehicle is stopped at a position where it is easy to enter the parking space PA. The electronic control unit 9 recognizes that when the start command is given and the vehicle is stopped by the driver, it is the timing to start the automatic storage of the vehicle with respect to the parking space PA by the automatic storage control. Perform automatic warehousing. That is, the electronic control device 9 (determines the route of the vehicle when performing the automatic warehousing according to the relative position (stop position Ps) of the vehicle with respect to the parking space PA when the vehicle is stopped. The vehicle is automatically moved into the parking space PA by moving the vehicle along.

However, in the case of an unfamiliar driver, when the vehicle is stopped after issuing a command to start automatic warehousing control, the vehicle can be stopped within a determination area where the vehicle can be admitted only by reversing the parking space PA. Not necessarily. When the driver cannot stop the vehicle within the determination area, the vehicle is automatically stored in the parking space PA through the automatic storage control by the electronic control unit 9 as follows. That is, a route (second route or third route) from the stop position Ps when the driver stops the vehicle to the parking space PA due to forward and backward movement of the vehicle is obtained, and the vehicle along the route is obtained. By moving the vehicle, the vehicle is automatically stored in the parking space PA. Therefore, even if an unfamiliar driver cannot stop the vehicle in the determination area after issuing a command to start automatic warehousing control, the automatic parking garage control system automatically controls the parking space PA of the vehicle. The warehousing is not redone. And since the automatic warehousing is not repeated by the redoing, the automatic warehousing can be completed without repeating.

On the other hand, in the case of a skilled driver, there is a high possibility that the vehicle can be stopped within the determination area without receiving guidance or the like after issuing an automatic warehousing control start command. If the parking assist device guides the driver to move the vehicle into the determination area at this time, the skilled driver may feel annoyance with the guidance. However, since the parking assistance device does not guide the vehicle to move into the determination area at this time, the skilled driver does not feel bothered by the guidance. When the vehicle is stopped within the determination area by the driver, the vehicle is automatically stored in the parking space PA through the automatic storage control by the electronic control device 9 as follows. That is, a route (first route) from the stop position Ps when the driver stops the vehicle to the parking space PA only by reversing the vehicle is obtained, and parking is performed by moving the vehicle along the route. The vehicle is automatically stored in the space PA.

By executing the automatic warehousing control as described above, it can be completed without repeating the warehousing of the vehicle with respect to the parking space in the case of an unfamiliar driver, and it feels troublesome for a skilled driver. The warehousing of the vehicle with respect to the parking space can be completed without any problems.

(2) The determination area includes not only the area A but also a part of the area B adjacent to the area A. The area A is an area where the vehicle can be moved into the parking space PA only by retreating regardless of the directivity angle θ of the vehicle at the stop position Ps. Further, the region B is a region where the vehicle at the stop position Ps can be stored in the parking space PA only by retreating depending on the directivity angle θ. The determination area is expanded as much as possible by including in the determination area a portion in which the vehicle in the area B can enter the parking space PA only by retreating. Incidentally, the determination area that is enlarged as much as possible in this way changes in accordance with the directivity angle θ. And the opportunity from which the 1st path | route is calculated | required as the same path | route is increased by calculating | requiring the path | route from the stop position Ps to the parking space PA corresponding to the change of the determination area | region based on the said directivity angle (theta). Opportunities to automatically enter the vehicle into the parking space PA by moving the vehicle along the route only by retreating can be increased.

(3) When the driver gives an instruction to start automatic warehousing control and the driver stops the vehicle outside the determination area where the vehicle can be admitted only by retreating to the parking space PA, from the stop position Ps of the vehicle. As a route to the parking space PA, a route (second route) from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained. The second route is a route that allows the vehicle to enter the determination area from the stop position Ps by a single forward movement, and further reaches the parking space PA by a single backward movement from within the determination area. Therefore, in this case, the route for automatically entering the vehicle from the stop position Ps to the parking space PA through the automatic entry control can be made as short as possible.

(4) After the driver gives an instruction to start automatic warehousing control, the cause of the driver stopping the vehicle outside the determination area is the presence of an object (obstacle) such as a wall around the determination area. Is mentioned. In this case, the presence of the object becomes an obstacle to the movement of the vehicle into the determination region, thereby causing a situation where the driver can stop the vehicle only outside the determination region. In order to cope with such a situation, the electronic control device 9 can move the vehicle into the determination area based on the determination area and the presence / absence of an object present around it after the automatic warehousing control start command is given. Based on the determination result, a route (third route) that leads the vehicle from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained. This third route is a route that can realize the above-mentioned warehousing with as few times as possible when the vehicle at the stop position Ps of the vehicle is admitted into the parking space PA. By moving the vehicle along the third route, even if the driver cannot move the vehicle to the determination area due to the presence of an obstacle, the vehicle is parked on the parking space PA as short as possible. Can be stocked.

In addition, the said embodiment can also be changed as follows, for example.

When the second route is used as a route for bringing the vehicle at the stop position Ps to the parking space PA by moving forward and backward, the vehicle is advanced more frequently than the second route instead of the second route. A route may be used, or a route that has a greater number of times of moving the vehicle backward than the second route may be used.

When the third route is used as a route for bringing the vehicle at the stop position Ps to the parking space PA by moving forward and backward, the vehicle is advanced more frequently than the third route instead of the third route. A route may be used, or a route having a greater number of times of moving the vehicle backward than the third route may be used.

The stop position Ps when the driver stops the vehicle does not necessarily need to be set at the center C between the rear wheels 20 of the vehicle, and a portion other than the center C in the vehicle is set as the stop position Ps. May be. In this case, when obtaining the route from the stop position Ps of the vehicle to the parking space PA, it is assumed that the entry of the vehicle into the parking space PA has been completed in accordance with the setting change of the stop position Ps described above. A portion corresponding to the stop position Ps after the setting change in the vehicle is set as the position of the parking space PA.

The determination area may be set so as to include only the area A and not the area B.

・ The ultrasonic sensor is used for searching the parking space, but a camera such as a stereo camera or a monocular camera may be used.

DESCRIPTION OF SYMBOLS 1 ... Steering wheel, 2 ... Steering device, 2a ... Motor, 3 ... Display panel, 4 ... Speaker, 5-8 ... Ultrasonic sensor, 9 ... Electronic control unit, 10 ... Shift lever, 11 ... Shift position sensor, 12 ... Accelerator pedal, 13 ... accelerator position sensor, 14 ... brake pedal, 15 ... brake switch, 16 ... wheel speed sensor, 17 ... angle sensor, 18 ... temperature sensor, 19 ... yaw rate sensor, 20 ... rear wheel, 21 ... prime mover, 22 ... Gear mechanism, 23 ... Brake device.

Claims

In a parking support apparatus including a control unit that executes automatic warehousing control for automatically merging a vehicle with respect to a parking space,
The controller is
When the position of the vehicle at the start of the automatic warehousing control is within a determination area where the vehicle can be moved backward with respect to the parking space, a route from the vehicle position to the parking space when the vehicle moves backward is obtained. While performing the automatic warehousing control to automatically move the vehicle along the path to the parking space,
When the position of the vehicle at the start of the automatic warehousing control is outside the determination region, a route from the vehicle position to the parking space by forward and backward movement of the vehicle is obtained, and the vehicle is parked along the route. A parking assistance device configured to execute the automatic warehousing control so as to automatically move to a space.
The said control part is comprised so that the start instruction | command of the said automatic warehousing control by the driver | operator of a vehicle may be made, and when the driver | operator stops a vehicle, the said automatic warehousing control is started. Parking assistance device.
The control changes the determination area based on a directivity angle of the vehicle with respect to the parking space at the start of the automatic warehousing control, and a route from the position of the vehicle to the parking space at the start of the automatic warehousing control. The parking assistance device according to claim 1 or 2, wherein when obtaining, the route is obtained in response to a change in the determination area based on the directivity angle.
The controller sets the position of the vehicle at the start of the automatic warehousing control at the center between the rear wheels of the vehicle, and determines the route from the position of the vehicle to the parking space. The parking support according to any one of claims 1 to 3, wherein the parking space is configured such that a center between rear wheels of the vehicle when it is assumed that the warehousing of the vehicle is completed is set as the position of the parking space. apparatus.
When the position of the vehicle at the start of the automatic warehousing control is outside the determination area, the control unit first moves the vehicle forward once and then moves the vehicle against the parking space by reversing the vehicle once. The parking assistance device according to any one of claims 1 to 4, wherein the parking assistance device is configured to obtain a route that can be entered.
The control unit determines whether or not the vehicle can move within the determination area based on the determination area and the presence / absence of an object existing around the determination area, and the vehicle cannot move within the determination area. The vehicle is configured so as to obtain a route that allows the vehicle to enter the parking space with the smallest possible number of forward and backward movements from the position of the vehicle at the start of the automatic warehousing control. The parking assist device according to any one of 1 to 5.
In a parking support method for executing automatic warehousing control for automatically merging a vehicle into a parking space,
When the position of the vehicle at the start of the automatic warehousing control is within a determination area where the vehicle can be moved backward with respect to the parking space, a route from the vehicle position to the parking space when the vehicle is moved backward is obtained. thing,
When the position of the vehicle at the start of the automatic warehousing control is outside the determination region, a path from the position of the vehicle to the parking space by the forward and backward movement of the vehicle is determined, and along the determined path And performing the automatic warehousing control so as to automatically move the vehicle to the parking space.