JP2018197005A - Parking support system and parking support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support system capable of shortening a parking time. SOLUTION: A parking support system is provided on a side portion of a vehicle, and has a first detection unit that detects an object on the side of the vehicle by transmitting a detection wave and outputs a first detection information, and a first detection unit. A second detection that is provided at the rear of the vehicle rather than the detection unit, is directed to the rear of the first detection unit, detects an object diagonally behind the vehicle by transmitting a detection wave, and outputs second detection information. The processing unit includes a unit and a processing unit that controls the vehicle to support parking, and the processing unit identifies the position of the first end portion of the object based on the first detection information, sets a setting route, and sets a setting route in advance. When the determined first condition is satisfied, the position of the second end portion of the object on the surface intersecting the surface of the first end portion is specified based on the second detection information, the setting path is corrected, and the first After satisfying the conditions, if the predetermined second condition is satisfied, the position of the second end of the object is specified based on the first detection information, the set route is corrected, and the vehicle is parked based on the set route. To support. [Selection diagram] Fig. 3

Description

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

  A parking assistance system that controls a vehicle and parks the vehicle in a parking area is known. Such a parking assistance system detects a target object (for example, another vehicle) around the vehicle by transmitting a detection wave such as an ultrasonic wave. The parking assist system controls the vehicle by setting a route so that the vehicle does not collide with an object detected by the vehicle.

JP-A-2006-175620 Japanese Patent No. 5469663

  However, the above-described parking support system has a problem of long parking time due to vehicle turn-back or the like because the detection of the target object is delayed and the correction of the set route is delayed.

  This invention is made in view of the above, Comprising: It aims at providing the parking assistance system and parking assistance method which can shorten the time which parking requires.

  In order to solve the above-described problems and achieve the object, a parking assist system according to the present invention is provided on a side portion of a vehicle and detects a target object on the side of the vehicle by transmitting a detection wave. A first detection unit that outputs one detection information; and provided at a rear portion of the vehicle with respect to the first detection unit, directed rearward with respect to the first detection unit, and transmits the detection wave to be oblique to the vehicle. A second detection unit that detects the object behind and outputs second detection information; and a processing unit that controls the vehicle to assist parking, and the processing unit includes the first detection information. Based on the second detection information, the position of the first end portion of the object is specified and a set route is set, and when a predetermined first condition is satisfied, the surface intersects with the surface of the first end portion. Correcting the set path by identifying the position of the second end of the object on the surface to be When the second condition is satisfied after the first condition is satisfied, the position of the second end of the object is specified based on the first detection information, the set path is corrected, The vehicle is parked based on the set route.

  Thus, the parking assistance system of the present invention switches the first detection information of the first detection unit and the second detection information of the second detection unit based on the first condition and the second condition, The position of is detected. Thereby, since the parking assistance system can detect the position of a target object appropriately and rapidly, it can correct | amend a setting path | route rapidly. As a result, the parking assistance system can reduce the time required for parking by reducing the turnover and the like due to the delay in the correction of the set route.

  The processing unit of the parking assistance system of the present invention may determine whether or not the first condition is satisfied based on a frontage line set based on the first end.

  Thus, the parking assistance system according to the present invention determines the first condition based on the front line set based on the first end of the object, so that the second is more quickly performed when the vehicle approaches the object. The position of the second end on the side surface of the object can be detected by switching to the detection information. As a result, the parking support system can execute the correction of the set route more quickly, so that the turnover and the like can be further reduced and the time required for parking can be shortened.

  The parking support system of the present invention further comprises a third detection unit that detects a steering angle of a steering unit that steers the traveling direction of the vehicle, and the processing unit uses the steering angle acquired from the third detection unit, It may be determined whether the second condition is satisfied.

  As described above, the parking assist system of the present invention determines the second condition based on the steering angle, and quickly switches to the first detection information when the first detection unit faces the object, and the position of the object. Can be detected. Thereby, the parking assistance system can detect the position of the second end portion of the object with higher accuracy.

  When the first condition is satisfied, the processing unit of the parking assistance system according to the present invention estimates the direction of the object in a region outside the vehicle among detection regions detected by the second detection unit. Also good.

  Thus, the parking assistance system of the present invention can improve the estimation accuracy of the direction of the object while reducing the arithmetic processing by estimating the direction of the object in a part of the detection region.

  The second detection unit of the parking assistance system of the present invention may switch detection conditions for detecting the object when the first condition is satisfied.

  Thus, the parking assistance system of this invention can reduce the erroneous detection of the target object by the noise etc. when the vehicle approaches the target object by satisfying the first condition by changing the detection condition.

  In the parking assist method of the present invention, the first detection unit provided on the side of the vehicle detects the object on the side of the vehicle by transmitting a detection wave, and outputs first detection information, A second detection unit provided at the rear of the vehicle relative to the first detection unit and directed rearward of the first detection unit detects an object obliquely behind the vehicle by transmitting a detection wave. In the parking support method for supporting the parking by controlling the vehicle and outputting the second detection information, the position of the first end portion of the object is specified based on the first detection information, and the set route is determined. When set and satisfying a predetermined first condition, the position of the second end of the object on the surface intersecting the surface of the first end is specified based on the second detection information, and the If the preset route is corrected and the second condition is satisfied after the first condition is satisfied, The setting path is corrected identify and the position of the second end portion of the object based on the first detection information, to aid the parking of the vehicle based on the set route.

  Thus, the parking assistance method of the present invention detects the position of the object by switching between the first detection information and the second detection information based on the first condition and the second condition. Thereby, since the parking assistance method can detect the position of a target object appropriately and rapidly, it can correct | amend a setting path | route rapidly. As a result, the parking assistance method can reduce the time required for parking by reducing the turnover caused by the delay in the correction of the set route.

FIG. 1 is a plan view of a vehicle on which the parking assist system according to the embodiment is mounted. Drawing 2 is a block diagram showing the whole parking support system composition of an embodiment. FIG. 3 is a functional block diagram illustrating functions of the parking assistance device. FIG. 4 is a plan view of the periphery of the vehicle that is assisting in parking. FIG. 5 is a plan view of the periphery of the vehicle that is assisting in parking. FIG. 6 is a plan view of the periphery of the vehicle that is assisting in parking. FIG. 7 is a plan view of the periphery of the vehicle that is assisting in parking. FIG. 8 is a plan view of the periphery of a vehicle that is assisting in parking. FIG. 9 is a plan view of the periphery of a vehicle that is assisting in parking. FIG. 10 is a plan view of the periphery of a vehicle that is assisting in parking. FIG. 11 is a plan view of the periphery of a vehicle that is assisting in parking. FIG. 12 is a flowchart of parking support processing executed by the processing unit. FIG. 13 is a flowchart of the first correction process. FIG. 14 is a flowchart of the second correction process. FIG. 15 is a flowchart of the third correction process. FIG. 16 is a plan view illustrating a method for estimating the direction of an object of the detection unit. FIG. 17 is a graph for explaining detection condition switching for detecting an object.

  Common constituent elements such as the following exemplary embodiments are denoted by common reference numerals, and redundant descriptions are omitted as appropriate.

<Embodiment>
FIG. 1 is a plan view of a vehicle 10 on which the parking assist system of the embodiment is mounted. The vehicle 10 may be, for example, an automobile (an internal combustion engine automobile) using an internal combustion engine (engine, not shown) as a drive source, or an automobile (electric vehicle) using an electric motor (motor, not shown) as a drive source. Or a fuel cell vehicle or the like, or a vehicle (hybrid vehicle) using both of them as drive sources. Further, the vehicle 10 can be mounted with various transmissions, and various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor can be mounted. In addition, the method, number, layout, and the like of devices related to driving of the wheels 13 in the vehicle 10 can be set in various ways.

  As shown in FIG. 1, the vehicle 10 includes a vehicle body 12, four wheels 13, one or more (four in the present embodiment) imaging units 14 a, 14 b, 14 c, 14 d, and one or more (books). In the embodiment, eight detection units 16a, 16b, 16c, 16d, 16e, 16f, 16g, and 16h are provided. When there is no need to distinguish between the imaging units 14a, 14b, 14c, and 14d, they are referred to as the imaging unit 14. When it is not necessary to distinguish the detection units 16a, 16b, 16c, 16d, 16e, 16f, 16g, and 16h, they are referred to as the detection unit 16.

  The vehicle body 12 constitutes a passenger compartment in which passengers get on. The vehicle body 12 houses or holds the wheel 13, the imaging unit 14, the detection unit 16, and the like.

  The four wheels 13 are provided on the front, rear, left and right of the vehicle body 12. For example, the two front wheels 13 function as steered wheels, and the two rear wheels 13 function as drive wheels.

  The imaging unit 14 is a digital camera that incorporates an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 14 outputs moving image or still image data including a plurality of frame images generated at a predetermined frame rate as captured image data. The imaging units 14 each have a wide-angle lens or a fisheye lens, and can capture a horizontal range of 140 ° to 190 °. The optical axis of the imaging unit 14 is set obliquely downward. Therefore, the imaging unit 14 outputs captured image data obtained by imaging the periphery of the vehicle 10 including the surrounding road surface.

  The imaging unit 14 is provided on the outer periphery of the vehicle body 12. For example, the imaging unit 14 a is provided in a central portion (for example, a front bumper) in the left-right direction of the front end of the vehicle body 12. The imaging unit 14 a generates a captured image that captures the periphery in front of the vehicle 10. The imaging unit 14b is provided in a central portion (for example, a rear bumper) in the left-right direction of the rear end portion of the vehicle body 12. The imaging unit 14 b generates a captured image that captures the periphery of the rear of the vehicle 10. The imaging unit 14c is provided at the center in the front-rear direction of the left end of the vehicle body 12 (for example, the left side mirror 12a). The imaging unit 14 c generates a captured image that captures the left periphery of the vehicle 10. The imaging unit 14d is provided at the center in the front-rear direction of the right end of the vehicle body 12 (for example, the right side mirror 12b). The imaging unit 14d generates a captured image that captures the right periphery of the vehicle 10.

  The detection unit 16 is provided, for example, on the outer periphery of the vehicle 10, transmits a sound wave including an ultrasonic wave as a detection wave, and detects a detection wave reflected by an object such as another vehicle existing around the vehicle 10. A sonar to capture. The detection unit 16 may be a radar that outputs a detection wave such as a laser beam. The detection unit 16 detects and outputs detection information that is information around the vehicle 10. For example, the detection unit 16 detects a response time, which is a time from when a detection wave is transmitted to when it is received, as detection information for specifying the position of the object. In addition, when the detection unit 16 receives a plurality of detection waves reflected from a plurality of locations of the object with respect to one transmission of the detection wave, the detection unit 16 includes only the response time of the detection wave received earliest in the detection information. May be.

  The detection units 16 a, 16 b, 16 c, and 16 d are also called side sonars and are provided on the left and right sides of the vehicle 10. The detection units 16a, 16b, 16c, and 16d detect the object on the side of the vehicle 10 and output first detection information. The detection units 16a, 16b, 16c, and 16d are examples of the first detection unit. The detection units 16e and 16f are also called corner sonars, and are provided at a rear portion of the vehicle 10 (for example, near the corner of the vehicle 10) rather than the detection units 16a, 16b, 16c, and 16d, and the detection units 16a, 16b, 16c, and 16d. It is directed rearward (for example, rearward outside). The detection units 16e and 16f detect an object behind the vehicle 10 and output second detection information. The detection units 16e and 16f are an example of a second detection unit. The detection units 16g and 16h are also called corner sonars, and are provided in front of the vehicle 10 (for example, near the corner of the vehicle 10) than the detection units 16a, 16b, 16c, and 16d, and the detection units 16a, 16b, 16c, It is directed forward (for example, outside the front) from 16d. The detection units 16g and 16h detect an object obliquely forward of the vehicle 10 and output detection information.

  Specifically, the detection unit 16 a is provided at a position on the front side of the left side surface of the vehicle 10. The detection unit 16a is directed leftward. The detection part 16a detects and outputs as the 1st detection information regarding the target object which exists in the detection area DAa of the front left side of the vehicle 10. FIG.

  The detection unit 16 b is provided at a rear position on the left side surface of the vehicle 10. The detection unit 16b is directed leftward. The detection unit 16b detects and outputs the first detection information regarding the object existing in the detection area DAb on the left side on the rear side of the vehicle 10.

  The detection unit 16 c is provided at a position on the front side of the right side surface of the vehicle 10. The detector 16c is directed rightward. The detection part 16c detects and outputs as the 1st detection information regarding the target object which exists in the detection area DAc on the right side of the front side of the vehicle 10.

  The detection unit 16 d is provided at a position on the rear side of the right side surface of the vehicle 10. The detection unit 16d is directed rightward. The detection unit 16d detects and outputs the first detection information regarding the object existing in the detection area DAd on the right side on the rear side of the vehicle 10.

  The detection unit 16 e is provided at a position on the left side of the rear end portion of the vehicle 10. The detector 16e is directed to the left rear. The detection unit 16e detects and outputs the second detection information regarding the object existing in the detection area DAe on the left rear side of the vehicle 10.

  The detection unit 16 f is provided at a position on the right side of the rear end portion of the vehicle 10. The detector 16f is directed to the right rear. The detection unit 16f detects and outputs the second detection information regarding the object existing in the detection area DAf on the right rear side of the vehicle 10.

  The detection unit 16 g is provided at a position on the left side of the front end portion of the vehicle 10. The detector 16g is directed to the left front. The detection unit 16g detects and outputs the second detection information regarding the object existing in the detection area DAg on the left front side of the vehicle 10.

  The detection unit 16 h is provided at a position on the right side of the front end portion of the vehicle 10. The detector 16h is directed to the right front. The detection unit 16h detects and outputs the second detection information regarding the object existing in the detection area DAh on the right front side of the vehicle 10.

  The widths and directions of the detection areas DAa to DAh shown in FIG. 1 are examples, and may be changed as appropriate. When it is not necessary to distinguish the detection areas DAa to DAh, the detection areas DAa to DAh are described as detection areas DA.

  FIG. 2 is a block diagram illustrating an overall configuration of the parking support system 20 according to the embodiment. The parking assist system 20 is mounted on the vehicle 10 and assists the driving of the vehicle 10 by automatic driving (including partially automatic driving) according to objects around the vehicle 10.

  As shown in FIG. 2, the parking assist system 20 includes an imaging unit 14, a detection unit 16, a braking system 22, an acceleration system 24, a steering system 26, a transmission system 28, a vehicle speed sensor 30, and a monitor device. 32, a parking assistance device 34, and an in-vehicle network 36.

  The braking system 22 controls the deceleration of the vehicle 10. The braking system 22 includes a braking unit 40, a braking control unit 42, and a braking unit sensor 44.

  The braking unit 40 includes, for example, a brake and a brake pedal, and is a device for decelerating the vehicle 10.

  The braking control unit 42 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The braking control unit 42 controls the deceleration of the vehicle 10 by controlling the braking unit 40 based on an instruction from the parking assistance device 34.

  The brake unit sensor 44 is, for example, a position sensor, and detects the position of the brake unit 40 when the brake unit 40 is a brake pedal. The braking unit sensor 44 outputs the detected position of the braking unit 40 to the in-vehicle network 36.

  The acceleration system 24 controls the acceleration of the vehicle 10. The acceleration system 24 includes an acceleration unit 46, an acceleration control unit 48, and an acceleration unit sensor 50.

  The acceleration unit 46 includes, for example, an accelerator pedal and the like, and is a device for accelerating the vehicle 10.

  The acceleration control unit 48 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The acceleration control unit 48 controls the acceleration unit 46 based on an instruction from the parking assistance device 34 to control acceleration of the vehicle 10.

  The acceleration unit sensor 50 is, for example, a position sensor, and detects the position of the acceleration unit 46 when the acceleration unit 46 is an accelerator pedal. The acceleration unit sensor 50 outputs the detected position of the acceleration unit 46 to the in-vehicle network 36.

  The steering system 26 controls the traveling direction of the vehicle 10. The steering system 26 includes a steering unit 52, a steering control unit 54, and a steering unit sensor 56.

  The steering unit 52 includes, for example, a steering wheel or a steering wheel, and is a device that steers the steered wheels of the vehicle 10 and steers the traveling direction of the vehicle 10.

  The steering control unit 54 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The steering control unit 54 controls the steering unit 52 based on an instruction from the parking assistance device 34 to control the traveling direction of the vehicle 10.

  The steering unit sensor 56 is an example of a third detection unit, and is an angle sensor including, for example, a hall element, and detects a steering angle that is a rotation angle of the steering unit 52. The steering unit sensor 56 outputs the detected steering angle of the steering unit 52 to the in-vehicle network 36.

  The transmission system 28 controls the transmission ratio of the vehicle 10. The transmission system 28 includes a transmission unit 58, a transmission control unit 60, and a transmission unit sensor 62.

  The transmission 58 is a device that includes a shift lever or the like and changes the transmission ratio of the vehicle 10.

  The shift control unit 60 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The transmission control unit 60 controls the transmission unit 58 based on an instruction from the parking assistance device 34 to control the transmission ratio of the vehicle 10.

  The transmission unit sensor 62 is, for example, a position sensor, and detects the position of the transmission unit 58 when the transmission unit 58 is a shift lever. The transmission unit sensor 62 outputs the detected position of the transmission unit 58 to the in-vehicle network 36.

  The vehicle speed sensor 30 is, for example, a sensor that includes a hall element provided in the vicinity of the wheel 13 of the vehicle 10 and detects the amount of rotation of the wheel 13 or the number of rotations per unit time. The vehicle speed sensor 30 outputs a wheel speed pulse number indicating the detected rotation amount or rotation speed to the in-vehicle network 36 as a sensor value for calculating the vehicle speed.

  The monitor device 32 is provided on a dashboard or the like in the passenger compartment of the vehicle 10. The monitor device 32 includes a display unit 64, an audio output unit 66, and an operation input unit 68.

  The display unit 64 displays an image based on the image data transmitted by the parking assistance device 34. The display unit 64 is a display device such as a liquid crystal display (LCD) or an organic electroluminescent display (OELD). The display unit 64 displays, for example, an image that receives an operation instruction that instructs switching between automatic driving and manual driving.

  The voice output unit 66 outputs voice based on the voice data transmitted by the parking assistance device 34. The audio output unit 66 is, for example, a speaker. The voice output unit 66 outputs, for example, a voice related to an operation instruction that instructs switching between automatic driving and manual driving.

  The operation input unit 68 receives an occupant input. The operation input unit 68 is, for example, a touch panel. The operation input unit 68 is provided on the display screen of the display unit 64. The operation input unit 68 is configured to transmit an image displayed on the display unit 64. Thereby, the operation input unit 68 can make the occupant visually recognize the image displayed on the display screen of the display unit 64. The operation input unit 68 receives an instruction input by the occupant touching a position corresponding to the image displayed on the display screen of the display unit 64, and transmits the instruction to the parking assistance device 34. The operation input unit 68 is not limited to a touch panel, and may be a push button type hard switch.

  The parking assist device 34 is a computer including a microcomputer such as an ECU (Electronic Control Unit). The parking assist device 34 acquires captured image data from the imaging unit 14. The parking assist device 34 transmits data related to an image or sound generated based on the captured image or the like to the monitor device 32. The parking assist device 34 transmits data related to an image or sound such as an instruction to the driver and a notification to the driver to the monitor device 32 and receives an instruction from the driver from the monitor device 32. The parking assistance device 34 acquires detection information including the response time of the detection wave from the detection unit 16. Based on the response time, the parking assistance device 34 specifies the position of an object such as another vehicle around the vehicle 10 and sets a target position where parking is possible. The parking assist device 34 assists the parking of the vehicle 10 at the target position by automatic driving of the vehicle 10 by controlling at least one of the systems 22, 24, 26, and 28 according to the specified object. The parking assist device 34 includes a CPU (Central Processing Unit) 34a, a ROM (Read Only Memory) 34b, a RAM (Random Access Memory) 34c, a display control unit 34d, an audio control unit 34e, an SSD (Solid State Drive). ) 34f. The CPU 34a, ROM 34b, and RAM 34c may be integrated in the same package.

  The CPU 34a is an example of a hardware processor, reads a program stored in a nonvolatile storage device such as the ROM 34b, and executes various arithmetic processes and controls according to the program. For example, the CPU 34 a performs parking assistance by automatic driving of the vehicle 10.

  The ROM 34b stores each program and parameters necessary for executing the program. The RAM 34c temporarily stores various types of data used in computations by the CPU 34a. The display control unit 34 d mainly performs image processing of the image obtained by the imaging unit 14, data conversion of a display image to be displayed on the display unit 64, and the like in the calculation processing in the parking support device 34. The voice control unit 34e mainly performs voice processing to be output to the voice output unit 66 among the arithmetic processing in the parking assistance device 34. The SSD 34f is a rewritable nonvolatile storage device, and maintains data even when the power of the parking assistance device 34 is turned off.

  The in-vehicle network 36 includes, for example, a CAN (Controller Area Network) and a LIN (Local Interconnect Network). The in-vehicle network 36 includes an acceleration system 24, a braking system 22, a steering system 26, a transmission system 28, a detection unit 16, a vehicle speed sensor 30, an operation input unit 68 of a monitor device 32, a parking support device 34, and the like. Are connected to each other so that information can be transmitted and received.

  FIG. 3 is a functional block diagram illustrating functions of the parking assist device 34. As illustrated in FIG. 3, the parking assist device 34 includes a processing unit 70 and a storage unit 72.

  The processing unit 70 is realized as a function of the CPU 34a, for example. The processing unit 70 includes a route setting unit 74 and a vehicle control unit 76. The processing unit 70 functions as the route setting unit 74 and the vehicle control unit 76 by reading the parking support program 72a stored in the storage unit 72, for example. Part or all of the route setting unit 74 and the vehicle control unit 76 may be configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit). Part or all of the route setting unit 74 and the vehicle control unit 76 may be distributed in any of the control units 42, 48, 54, 60 of the systems 22, 24, 26, 28.

  The route setting unit 74 specifies the position of the object and sets the route of the vehicle 10 (hereinafter referred to as a set route) before the start of parking assistance. For example, the route setting unit 74 calculates the distance from the response time included in the detection information acquired from the detection unit 16 to the object. The route setting unit 74 specifies the position of an object (for example, another vehicle) around the vehicle 10 based on the calculated distance. Here, the route setting unit 74 may estimate the direction of the object in the detection area DA by a known method. Note that the path setting unit 74 may detect the object by using the captured image acquired from the imaging unit 14 and the detection information in combination. The route setting unit 74 detects an area where parking is possible between objects, and sets a target position in the parking area. The route setting unit 74 may set a target position as a position where the centers of the rear wheel axes of the vehicle 10 are matched. The route setting unit 74 specifies the current vehicle position with respect to surrounding objects and the like. For example, the vehicle position may be the center of the rear wheel shaft of the vehicle 10. The route setting unit 74 sets a set route from the vehicle position to the target position, and outputs the set route to the vehicle control unit 76.

  The route setting unit 74 corrects the set route by re-specifying the positions of objects such as other vehicles around the vehicle 10 based on the detection information newly acquired from the detection unit 16 during parking assistance. . The route setting unit 74 corrects the set route by switching the detection unit 16 that acquires detection information among the plurality of detection units 16 based on a predetermined condition during parking assistance. Details of switching of the detection unit 16 during parking assistance by the route setting unit 74 and identification of the target will be described later. In addition, the route setting unit 74 may correct the set route when the vehicle position deviates from the route setting during parking assistance.

  The vehicle control unit 76 controls the vehicle 10 by controlling the braking unit 40, the acceleration unit 46, the steering unit 52, and the transmission unit 58 via the control units 42, 48, 54, and 60, thereby automatically driving (partly). (Including automatic operation). Accordingly, the vehicle control unit 76 assists parking by causing the vehicle 10 to travel to the target position based on the set route set by the route setting unit 74.

  The storage unit 72 is realized as a function of at least one of the ROM 34b, the RAM 34c, and the SSD 34f. The storage unit 72 stores a program executed by the processing unit 70, data necessary for executing the program, data generated by executing the program, and the like. For example, the storage unit 72 stores a parking support program 72a executed by the processing unit 70. The storage unit 72 stores numerical data 72b including the size of the vehicle 10 necessary for the execution of the parking assistance program 72a, a first condition, a second condition, and threshold values described later. The memory | storage part 72 memorize | stores temporarily the production | generation data 72c, such as the position of the target object produced | generated by execution of the parking assistance program 72a, a setting path | route.

  Next, switching of the detection unit 16 and setting of a set route by the route setting unit 74 during parking assistance will be described. 4 to 11 are plan views of the periphery of the vehicle 10 during parking assistance. 4 to 11, white arrows indicate the traveling direction of the vehicle 10.

  As shown in FIG. 4, a state is assumed in which the vehicle 10 crosses the front of another vehicle that is an example of the objects OBa and OBb around the vehicle 10. It is assumed that the object OBa and the object OBb are parked at an interval where parking is possible. In this state, the route setting unit 74 performs the first on the front surface of the objects OBa, OBb based on the first detection information acquired from the detection units 16a, 16b, 16c, 16d provided on the side surface of the vehicle 10. Specify the position of the edge (see the white square). The first end is, for example, an end of the objects OBa and OBb on the vehicle 10 side when setting the set route, and is a front end of the objects OBa and OBb in the state shown in FIG. For example, the route setting unit 74 specifies the positions of the first end portions of the objects OBa and OBb existing on the left side based on the first detection information acquired from the detection units 16a and 16b provided on the left side of the vehicle 10. And stored in the storage unit 72. The path setting unit 74 may store only the positions of some of the first end portions in the storage unit 72 instead of storing all the positions of the identified objects OBa and OBb in the storage unit 72. For example, the path setting unit 74 stores, in the storage unit 72, the position closest to the vehicle 10 and the positions of the left and right ends (that is, corners) among the positions of the first ends of the identified objects OBa and OBb. May be. The route setting unit 74 detects a parking area PA0 where the vehicle 10 can be parked based on the positions of the corners of the first ends of the objects OBa and OBb that can be specified. When there is no need to distinguish between the parking areas PA0 and PA1, they are described as parking areas PA.

  For example, when the route setting unit 74 receives a parking assistance instruction or the like from the occupant via the operation input unit 68, the route setting unit 74 sets a set route from the current vehicle position to the parking area PA based on the detected parking area PA. And it outputs to the vehicle control part 76.

  Here, in the state shown in FIG. 4, the path setting unit 74 can identify the position of the first end on the front surface of the objects OBa and OBb to which the detection wave reaches, but on the side surfaces of the objects OBa and OBb (one point It is almost impossible to specify the position of the second end of the chain line ellipse). In particular, when the detection unit 16 calculates the response time based on the detection wave received earliest, only the closest position can be detected, so the position of the second end on the side surface of the objects OBa and OBb is specified. Can hardly do. Therefore, the route setting unit 74 may detect not the ideal parking area PA0 but the parking area PA1 that is inclined with respect to the objects OBa, OBb, and the like. For this reason, the route setting unit 74 detects the positions of the objects OBa and OBb even during automatic driving to a parking area PA0 (or parking area PA1), which will be described later, and the parking area PA0 (or parking area PA1) and Correct the setting path. The front surfaces of the objects OBa and OBb are an example of the first end surface. The side surfaces of the objects OBa and OBb are examples of surfaces that intersect the surface of the first end.

  Next, as illustrated in FIG. 5, when the vehicle control unit 76 acquires the set route set by the route setting unit 74, the vehicle control unit 76 operates the vehicle 10 via at least one of the control units 42, 48, 54, and 60. And the vehicle 10 is caused to travel forward right along the set route by automatic driving. The route setting unit 74 acquires the first detection information from the detection units 16a and 16b during the automatic operation, and further specifies the positions of the objects OBa and OBb. Thereby, the route setting unit 74 specifies the position of the second end (for example, the left front end of the object OBa) on the side surface of the object OBa that could not be specified in the state of FIG. The route setting unit 74 may correct the parking area PA based on the newly identified objects OBa and OBb, and correct the set route based on the parking area PA. The route setting unit 74 similarly identifies the positions of the objects OBa and OBb and continues to correct the parking area PA and the set route during subsequent automatic driving.

  Next, when the vehicle control unit 76 moves the vehicle 10 to the position shown in FIG. Thereafter, as shown in FIG. 7, the vehicle control unit 76 starts the vehicle 10 moving backward toward the parking area PA.

  Next, as illustrated in FIG. 8, when the vehicle 10 that is being automatically driven by the vehicle control unit 76 satisfies the first condition, the route setting unit 74 is based on the second detection information acquired from the detection units 16 e and 16 f. The positions of the second ends of the objects OBa and OBb are specified, and the set path is corrected. In other words, when the first condition is satisfied, the path setting unit 74 switches from the first detection information of the detection units 16a, 16b, 16c, and 16d to the second detection information of the detection units 16e and 16f, and the object OBa, The position of the second end of OBb is specified. The route setting unit 74 may determine whether or not the first condition is satisfied based on the opening line GL set based on the first end on the front surface of the objects OBa and OBb. Specifically, before the first condition is satisfied, the route setting unit 74 is a straight line parallel to the traveling direction of the vehicle 10 when the set route is first set, for example, the object OBa and the object OBb. A straight line passing through an intermediate position between the frontmost positions of the respective first ends may be set as the frontage line GL. The route setting unit 74 may determine that the first condition is satisfied when a part of the vehicle 10 (for example, a portion where any one of the detection units 16 is provided) exceeds the front line GL.

  As described above, when a part of the vehicle 10 crosses the frontage line GL and one end (for example, the rear end) of the vehicle 10 approaches the objects OBa and OBb, the route setting unit 74 has side surfaces of the objects OBa and OBb. The position of the second end on the side surface of the object OBa is specified based on the second detection information from the detection unit 16f close to (see the white circle).

  When the path setting unit 74 specifies the position of the second end of the object OBa, the path setting unit 74 corrects the position of the corner of the object OBa. The route setting unit 74 corrects the parking area PA and the set route based on the corrected position of the corner of the object OBa.

  Next, as shown in FIG. 9, the vehicle control unit 76 moves the vehicle 10 backward along the set route toward the parking area PA, while the longitudinal direction (that is, the traveling direction) of the vehicle 10 is the parking area PA0. The steering unit 52 is controlled via the steering control unit 54 so as to be parallel to the longitudinal direction of the motor. The route setting unit 74 continues to specify the positions of the objects OBa and OBb based on the second detection information acquired from the detection units 16e and 16f. In the state shown in FIG. 9, the path setting unit 74 specifies the position of the second end on the side surface of the object OBb based on the second detection information acquired from the detection unit 16e. Thereby, the route setting unit 74 corrects the corner of the object OBb based on the position of the second end of the newly specified object OBb, and corrects the parking area PA and the set route.

  Next, as shown in FIG. 10, the vehicle control unit 76 moves the vehicle 10 backward along the set route toward the parking area PA. The vehicle control unit 76 controls the steering unit 52 via the steering control unit 54 so that the steering angle decreases as the angle between the longitudinal direction of the vehicle 10 (that is, the traveling direction) and the longitudinal direction of the parking area PA0 decreases. To control.

  After satisfying the first condition, when the vehicle 10 in automatic driving satisfies the second condition, the route setting unit 74 is based on the first detection information acquired from any of the detection units 16a, 16b, 16c, and 16d. The positions of the second ends of the objects OBa and OBb are specified, and the set route is corrected. In other words, when the second condition is satisfied, the path setting unit 74 switches from the second detection information of the detection units 16e and 16f to the first detection information of the detection units 16a, 16b, 16c, and 16d, and the object OBa, The position of the second end of OBb is specified. For example, the route setting unit 74 may determine whether or not the second condition is satisfied based on the steering angle acquired from the steering unit sensor 56. Specifically, the route setting unit 74 may determine that the second condition is satisfied if the absolute value of the steering angle is less than the angle threshold. The angle threshold is a value determined in advance and stored in the storage unit 72, and may be, for example, several degrees.

  As described above, when the steering angle is less than the angle threshold and both sides of one end (for example, the rear end) of the vehicle 10 are close to the objects OBa and OBb, the route setting unit 74 detects near the side surfaces of the objects OBa and OBb. Based on the first detection information from the parts 16b and 16d, the position of the second end on the side surface of the objects OBa and OBb is specified (see white squares). The path setting unit 74 corrects the corners of the objects OBa and OBb after specifying the positions of the second ends of the objects OBa and OBb. The route setting unit 74 corrects the parking area PA and the set route based on the corrected positions of the corners of the objects OBa and OBb.

  As shown in FIG. 11, the vehicle control unit 76 causes the vehicle 10 to move backward along the set route and stop in the parking area PA while maintaining the steering angle at approximately “0”. Thereby, the vehicle control part 76 complete | finishes control of the control parts 42, 48, 54, and 60, transfers the driving authority to a driver | operator, and complete | finishes the parking assistance by automatic driving | operation.

  FIG. 12 is a flowchart of parking support processing executed by the processing unit 70. The processing unit 70 starts a parking support process which is an example of a parking support method by reading the parking support program 72a. In the following description, when it is not necessary to distinguish the objects OBa and OBb, they are described as the object OB.

  As illustrated in FIG. 12, in the parking support process, the route setting unit 74 acquires first detection information related to the object OB on the side of the vehicle 10 from at least one of the detection units 16a, 16b, 16c, and 16d. (S102).

  The route setting unit 74 specifies one or more positions of the first end on the front surface of the object OB on the side of the vehicle 10 based on the first detection information (S104). For example, in the example illustrated in FIG. 4, the route setting unit 74 specifies the position of the object OB on the left side of the vehicle 10 based on the first detection information of the detection units 16 a and 16 b.

  The route setting unit 74 sets the parking area PA in an area where the object OB does not exist based on the identified position of the object OB (S106). The route setting unit 74 sets a set route from the vehicle position to the target position set in the parking area PA (S108). The route setting unit 74 outputs the set setting route to the vehicle control unit 76 (S110).

  Thereafter, the vehicle control unit 76 executes step S202 and subsequent steps, and the route setting unit 74 executes step S120 and subsequent steps in parallel.

  When the vehicle control unit 76 obtains the set route (S202), the vehicle control unit 76 controls the braking unit 40, the acceleration unit 46, the steering unit 52, and the transmission unit 58 via the control units 42, 48, 54, and 60, thereby setting the set route. Along with this, automatic driving of the vehicle 10 is executed (S204).

  The vehicle control unit 76 calculates the vehicle position based on the vehicle speed calculated from the sensor value acquired from the vehicle speed sensor 30 and the steering angle acquired from the steering unit sensor 56 (S206). The vehicle control unit 76 determines whether or not the vehicle position has reached the target position (S208). When determining that the vehicle position has not reached the target position (S208: No), the vehicle control unit 76 repeats step S202 and subsequent steps. Specifically, the vehicle control unit 76 newly acquires a set route corrected by a correction process described later, and continues automatic driving. When determining that the vehicle position has reached the target position (S208: Yes), the vehicle control unit 76 transfers the driving authority to the driver and ends the automatic driving (S210).

  On the other hand, after outputting the set route (S110), the route setting unit 74 executes the first correction process (S120).

  FIG. 13 is a flowchart of the first correction process.

  As illustrated in FIG. 13, in the first correction process, the route setting unit 74 acquires first detection information regarding the object OB on the side of the vehicle 10 from at least one of the detection units 16a, 16b, 16c, and 16d. (S132).

  The route setting unit 74 identifies one or more positions of the first end on the front surface of the object OB on the side of the vehicle 10 based on the first detection information (S134). For example, in the example illustrated in FIGS. 5 to 7, the route setting unit 74 specifies the position of the object OBb on the left side of the vehicle 10 based on the first detection information of the detection units 16 a and 16 b.

  The route setting unit 74 corrects the parking area PA based on the position of the identified object OB (S136). The route setting unit 74 corrects the set route based on the current vehicle position and the target position set in the corrected parking area PA (S138). The route setting unit 74 outputs the corrected set route to the vehicle control unit 76 (S140), and ends the first correction process. Note that the path setting unit 74 may omit steps S136 to S140 when the difference between the position of the newly specified object OB and the position of the previously specified object OB is small.

  Returning to FIG. 12, when the first correction process is completed, the route setting unit 74 determines whether or not the vehicle 10 satisfies the first condition (S122). Specifically, the route setting unit 74 sets the frontage line GL shown in FIG. 8 based on the position of the first end portion of the set or corrected object OB. The route setting unit 74 determines whether or not the vehicle 10 satisfies the first condition depending on whether or not a part of the vehicle 10 exceeds the set front line GL.

  The route setting unit 74 determines that the vehicle 10 does not satisfy the first condition until a part of the vehicle 10 exceeds the front line GL (S122: No), and repeats the first correction process. When the route setting unit 74 determines that a part of the vehicle 10 exceeds the front line GL and the vehicle 10 satisfies the first condition (S122: Yes), the route setting unit 74 executes a second correction process (S124).

  FIG. 14 is a flowchart of the second correction process.

  As illustrated in FIG. 14, in the second correction process, the route setting unit 74 acquires second detection information related to the object OB obliquely behind the vehicle 10 from at least one of the detection units 16e and 16f (S142). .

  The route setting unit 74 specifies one or more positions of the second end on the side surface of the object OB obliquely behind the vehicle 10 based on the second detection information (S144). In the example illustrated in FIGS. 8 and 9, the route setting unit 74 specifies the positions of the left and right objects OB behind the vehicle 10 based on the second detection information of the detection units 16e and 16f.

  The route setting unit 74 corrects the parking area PA based on the position of the identified object OB (S146). The route setting unit 74 corrects the set route based on the current vehicle position and the target position set in the corrected parking area PA (S148). The route setting unit 74 outputs the corrected set route to the vehicle control unit 76 (S150), and ends the second correction process. Note that the path setting unit 74 may omit steps S146 to S150 when the difference between the position of the newly specified object OB and the position of the previously specified object OB is small.

  Returning to FIG. 12, when the second correction process is finished, the route setting unit 74 determines whether or not the vehicle 10 satisfies the second condition (S126). Specifically, the route setting unit 74 determines whether or not the second condition is satisfied based on whether or not the steering angle of the steering unit 52 acquired from the steering unit sensor 56 is less than the angle threshold.

  The route setting unit 74 determines that the vehicle 10 does not satisfy the second condition until the steering angle becomes less than the angle threshold (S126: No), and repeats the second correction process. When the route setting unit 74 determines that the steering angle is greater than the angle threshold and the vehicle 10 satisfies the second condition (S126: Yes), the route setting unit 74 executes a third correction process (S128).

  FIG. 15 is a flowchart of the third correction process.

  As shown in FIG. 15, in the third correction process, the route setting unit 74 acquires first detection information related to the object OB on the side of the vehicle 10 from at least one of the detection units 16a, 16b, 16c, and 16d. (S152).

  The route setting unit 74 specifies one or more positions of the second end on the side surface of the object OB on the side of the vehicle 10 based on the first detection information (S154). For example, in the example illustrated in FIGS. 10 and 11, the route setting unit 74 determines the position of the object OB on the left side of the vehicle 10 and the detection units 16 c and 16 d based on the first detection information of the detection units 16 a and 16 b. The position of the object OB on the right side of the vehicle 10 is specified based on the first detection information.

  The route setting unit 74 corrects the parking area PA based on the position of the identified object OB (S156). The route setting unit 74 corrects the set route based on the current vehicle position and the target position set in the corrected parking area PA (S158). The route setting unit 74 outputs the corrected set route to the vehicle control unit 76 (S160), and ends the third correction process. Note that the path setting unit 74 may omit steps S156 to S160 when the difference between the position of the newly specified object OB and the position of the previously specified object OB is small.

  The route setting unit 74 determines whether or not the vehicle 10 has stopped based on the vehicle speed (S130). The route setting unit 74 performs the third correction process until it is determined that the vehicle 10 has stopped (S130: No). When the route setting unit 74 determines that the vehicle 10 has stopped (S130: Yes), the parking support process ends.

  As described above, the parking assistance system 20 detects the position of the object OB by switching the detection units 16a to 16d and the detection units 16e and 16f based on the first condition and the second condition. Thereby, in the parking assistance system 20, since the position of the target object OB can be detected appropriately and quickly, the set route can be corrected quickly. As a result, the parking support system 20 can reduce turning back and the like due to a delay in the correction of the set route, shorten the time required for parking, and reduce annoyance and anxiety to the occupant.

  In the parking support system 20, when the detection units 16e and 16f approach the side surface of the object OB and the vehicle 10 satisfies the first condition based on the front line GL, the route setting unit 74 performs the second detection of the detection units 16e and 16f. Based on the information, the position of the second end on the side surface of the object OB is detected. Thereby, in the parking assistance system 20, the position of the 2nd edge part on the side surface of the target object OB can be detected more rapidly. As a result, since the parking assistance system 20 can execute the correction of the parking area PA and the set route more quickly, it is possible to reduce the turnover and the like and to shorten the time required for parking.

  In the parking assistance system 20, when the steering angle is less than the angle threshold value and the second condition is satisfied and the detection units 16a to 16d are substantially opposed to the side surfaces of the object OB, based on the first detection information of the detection units 16a to 16d. The position of the second end on the side surface of the object OB is detected. Thereby, in the parking assistance system 20, the position of the 2nd edge part on the side surface of the target object OB can be detected more accurately. As a result, the parking support system 20 can improve the accuracy of fine adjustment of the parking area PA immediately before stopping.

  Next, a modified example in which a part of the above-described embodiment is modified will be described.

<First Modification>
FIG. 16 is a plan view for explaining a method of estimating the direction of the object of the detection units 16e and 16f. As shown in FIG. 16, when the first condition is satisfied, the path setting unit 74 is a part of the detection areas DAe and DAf that can be detected by the detection units 16e and 16f of the first modification, and the direction of the object OB. May be estimated. Specifically, when the first condition is satisfied, the route setting unit 74 is not the detection region DAe2 inside the detection region DAe of the detection unit 16e but the inner detection region DAe2 where the probability that the object OB exists is low. The direction of the object OB may be estimated within the detection area DAe1. Similarly, when the first condition is satisfied, the route setting unit 74 detects the outside of the vehicle 10 instead of the detection region DAf2 in the detection region DAf of the detection unit 16f, which is not the detection region DAf2 in the low probability that the object OB exists. The direction of the object OB may be estimated within the range of the area DAf1. Thereby, the detection parts 16e and 16f can improve the estimation precision of the direction of the target object OB, reducing calculation processing.

<Second Modification>
FIG. 17 is a graph for explaining detection condition switching for detecting an object. The transmission time is the time when the detection unit 16 starts transmitting the detection wave. The reception time is the time when the detection unit 16 receives the detection wave. The reception time is, for example, a time when the detected wave intensity WS becomes a predetermined intensity threshold. The detection unit 16 of the second modified example switches detection conditions for detecting the object OB when the first condition is satisfied.

  Specifically, the parking assistance system 20 of the second modification has a plurality of (for example, two) intensity thresholds Th1 and Th2. When the first condition is satisfied, the detection unit 16 of the second modification switches intensity thresholds Th1 and Th2 that are examples of detection conditions. For example, the detection unit 16 may detect the reception time based on the first intensity threshold Th1 before the first condition is satisfied. If the first condition is satisfied, the detection unit 16 may switch to the second intensity threshold Th2 that is larger than the first intensity threshold Th1 and detect the reception time based on the second intensity threshold Th2. Thereby, the detection unit 16 detects the reception times of both the peaks PK1 and PK2 of the detected wave intensity WS shown in FIG. 17 until the first condition is satisfied. On the other hand, when the first condition is satisfied, the detection unit 16 detects the reception time of the peak PK2, but does not detect the reception time of the peak PK1. As a result, the first condition is satisfied, and the detection unit 16 reduces false detection of the object OB due to noise that increases by facing the object OB obliquely.

  The function, connection relationship, number, arrangement, and the like of the configuration of each embodiment described above may be changed or deleted as appropriate within the scope of the invention and the scope equivalent to the scope of the invention. You may combine each embodiment suitably. You may change the order of each step of each embodiment suitably.

  In the above-described embodiment, the example in which the route setting unit 74 acquires the direction of the object OB and the response time from the detection unit 16 has been described, but the present invention is not limited to this. For example, the route setting unit 74 may acquire information on the position of the object OB from the detection unit 16.

  In the above-described embodiment, the detection unit 16 outputs the detection information including the direction of the object OB and the response time. However, the present invention is not limited to this. For example, the detection unit 16 may output the response time as detection information. In this case, the route setting unit 74 may calculate the direction of the object OB based on a plurality of response times.

  Although the direct wave and the indirect wave are not described in the above-described embodiment, the detection unit 16 such as a sonar that employs either the direct wave or the indirect wave may be used.

DESCRIPTION OF SYMBOLS 10 ... Vehicle, 16 ... Detection part, 20 ... Parking assistance system, 34 ... Parking assistance apparatus, 70 ... Processing part, 72a ... Parking assistance program, 74 ... Path setting part, 76 ... Vehicle control part, DA ... Detection area, GL ... Maguchi Line, OB ... Subject

Claims (6)

A first detection unit that is provided on a side of the vehicle, detects a side object of the vehicle by transmitting a detection wave, and outputs first detection information;
The second detection is performed by detecting the object obliquely behind the vehicle by transmitting a detection wave, which is provided at the rear of the vehicle with respect to the first detection unit and directed rearward with respect to the first detection unit. A second detector for outputting information;
A processing unit for controlling the vehicle and supporting parking;
With
The processor is
Identifying the position of the first end of the object based on the first detection information and setting a set path;
When the predetermined first condition is satisfied, the position of the second end portion of the object on the surface intersecting the surface of the first end portion is specified based on the second detection information, and the set route is determined. Correct,
When the second condition is satisfied after the first condition is satisfied, the position of the second end of the object is specified based on the first detection information, and the set path is corrected.
Assisting parking of the vehicle based on the set route;
Parking assistance system. The processing unit determines whether or not the first condition is satisfied by a front line set based on the first end portion,
The parking assistance system according to claim 1. A third detection unit for detecting a steering angle of a steering unit for steering the traveling direction of the vehicle;
The processing unit determines whether or not the second condition is satisfied based on the steering angle acquired from the third detection unit.
The parking assistance system according to claim 1 or 2. When the first condition is satisfied, the processing unit estimates a direction of the object in a region outside the vehicle among detection regions detected by the second detection unit.
The parking assistance system according to any one of claims 1 to 3. The second detection unit switches detection conditions for detecting the object when the first condition is satisfied,
The parking assistance system according to any one of claims 1 to 4. The first detection unit provided on the side of the vehicle detects the object on the side of the vehicle by transmitting a detection wave, and outputs first detection information,
A second detection unit provided at the rear of the vehicle with respect to the first detection unit and directed rearward of the first detection unit detects an object behind the vehicle by transmitting a detection wave. And output the second detection information,
Control the vehicle to assist in parking,
In the parking assistance method,
Identifying a position of the first end of the object based on the first detection information and setting a set route;
When the predetermined first condition is satisfied, the position of the second end portion of the object on the surface intersecting the surface of the first end portion is specified based on the second detection information, and the set route is determined. Correct,
When the second condition is satisfied after the first condition is satisfied, the position of the second end of the object is specified based on the first detection information, and the set path is corrected.
A parking support method for supporting parking of the vehicle based on the set route.

Images