JP2013086614A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support parking in view of the presence of a projected body in a parking area.SOLUTION: The parking support device includes a control means for controlling vehicle driving, a detection means for detecting a projected body around the vehicle, and a generation means for generating a guidance path for guiding the vehicle in a prescribed area surrounding the projected body. On guiding the vehicle in the prescribed area according to the guidance path, the control means slows down driving of the vehicle when the vehicle approaches the projected body by a prescribed distance.

Description

  The present invention relates to a parking support apparatus that supports parking of a vehicle.

  As described in Patent Document 1, there is a technique for guiding a vehicle into a parking area by automatic steering.

JP 2009-290788 A

  However, such a conventional technique has not been automatically operated in consideration of curbs in the parking area. As a result, a problem arises in that, when parking, the wheels violently collide with the curb, causing discomfort to the user.

  Then, this invention aims at provision of the parking assistance apparatus which assists parking considering the presence of the protrusion in a parking area.

  In order to solve the above problems, a parking assist apparatus according to the present invention includes a control unit that controls driving of a vehicle, a detection unit that detects a projecting body around the vehicle, and the vehicle in a predetermined area surrounding the projecting body. Generating means for generating a guidance route for guiding the vehicle, and when the control means guides the vehicle into the predetermined area according to the guidance route, the vehicle has a predetermined distance from the projecting body. When the vehicle approaches, the driving of the vehicle is slowed down.

  According to the parking assistance device according to the present invention, it is possible to assist parking in consideration of the presence of the protruding body in the parking area.

It is a figure showing a schematic structure of a parking assistance device concerning one embodiment of the present invention. It is a figure which shows the functional block of the parking assistance apparatus which concerns on one Embodiment of this invention. It is a figure which shows the parking frame pattern data which concern on one Embodiment of this invention. It is a figure which shows the protrusion body pattern data which concern on one Embodiment of this invention. It is a figure which shows the installation position of the camera which concerns on one Embodiment of this invention. It is a figure which shows the guidance route information which concerns on one Embodiment of this invention. It is a figure which shows the flow of the parking assistance process which concerns on one Embodiment of this invention. It is a figure which shows the specific example of the parking assistance process which concerns on one Embodiment of this invention. It is a figure which shows the specific example of the parking assistance process which concerns on one Embodiment of this invention.

  Hereinafter, the parking assistance apparatus according to the present invention will be described.

  FIG. 1 is a diagram showing a schematic configuration of a parking assistance apparatus 100 according to an embodiment of the present invention. As shown in the figure, the parking assist device 100 includes a control unit 1, a drive control unit 10, a display 30, a steering angle sensor 40, a vehicle speed sensor 50, a shift position detection sensor 60, a camera 70, It has. In addition, these units, various sensors, and cameras constituting the parking assistance apparatus 100 are connected via a CAN (Controller Area Network) and are in a state in which data can be transmitted to each other.

  In addition, parking assistance shall mean guide | inducing a vehicle in a predetermined parking area by autopilot. Further, the parking support device means a device that is mounted on a vehicle and realizes such parking support.

  The control unit 1 is a central unit that controls other units, various sensors, and cameras. The control unit 1 includes a CPU 2 (Central Processing Unit) for calculating programs and data, a ROM 3 (Read Only Memory) for storing programs and data, and a RAM 4 (Random) for temporarily storing programs and data read from the ROM. Access Memory). The CPU 2, ROM 3, and RAM 4 are electrically connected to each other via a bus 5. In addition, the control unit 1 performs predetermined processing by performing arithmetic processing on information output from other units, various sensors, and cameras by the CPU 2. In addition, as will be described later, the ROM 3 stores parking frame pattern data that stores the shape of the parking frame that partitions the parking area, and protruding body pattern data that stores the shape of the protruding body such as a curb. The ROM 3 stores a program for executing predetermined arithmetic processing and various data. Such a control unit 1 may be mounted on, for example, an in-vehicle navigation device.

  FIGS. 3A and 3B are views showing parking frame pattern data in which the shape of the parking frame that partitions the parking area is registered. As shown in the figure, in the parking frame pattern data, the shapes of a plurality of parking frames viewed from various angles are registered. For example, the registration data 201 in FIG. 3A is a shape when the parking frame is viewed from the front, and the registration data 202 in FIG. 3 is a shape when the same parking frame as the registration data 201 is viewed from the left direction. Yes. Moreover, FIG.3 (b) shows the parking frame of a shape different from the parking frame shown to Fig.3 (a).

  FIGS. 4A and 4B are diagrams showing projecting body pattern data in which the shape of the projecting body is registered. As shown in these figures, in the protrusion pattern data, the shapes of a plurality of protrusions viewed from various angles are registered. For example, the registration data 210 in FIG. 4A is a shape when the protrusion is viewed from the front, and the registration data 211 indicates a shape when the same protrusion as the registration data 210 is viewed from the left. FIG. 4B shows a protrusion having a shape different from that of the protrusion shown in FIG.

  Note that, for example, 3D polygon data is used for drawing the parking frame and the protruding body in these data. Further, such parking frame pattern data and projecting body pattern data are used for pattern matching processing performed between image information captured by the camera 70 as described later.

  The drive control unit 10 is a unit that controls a steering 20, an accelerator 21, and a brake 22 that are driving units of the vehicle, and includes a steering control device 11 and a vehicle speed control device 12. The steering control device 11 and the vehicle speed control device 12 are electrically connected to each other by a bus 13. The drive control unit 10 controls a drive unit connected to the drive control unit 10 according to information output from the control unit 1.

  The steering control device 11 is a device that controls the steering 20. Specifically, the steering control device 11 uses the guidance information output from the control unit 1 to control the steering angle of the steering 20 to guide the vehicle into the parking area along the guidance route. Details of the guidance information will be described later.

  Further, the steering control device 11 detects the position of the vehicle on the guidance route based on the moving distance information of the vehicle output from the control unit 1. In addition, the steering control device 11 generates position information indicating the position of the vehicle on the guidance route and outputs the position information to the vehicle speed control device 12. In addition, when the predetermined process according to the guidance information is completed, the steering control device 11 outputs information indicating the completion of the process to the control unit 1. When the process according to the guidance information cannot be executed, the steering control device 11 outputs error information to the control unit 1.

  The vehicle speed control device 12 is a device that controls the vehicle speed of the vehicle. The vehicle speed control device 12 acquires vehicle speed control information for controlling the vehicle speed from the control unit 1 when guiding the vehicle to the parking area. Details of the vehicle speed control information will be described later. In addition, the vehicle speed control device 12 acquires vehicle position information from the steering control device 11.

  The vehicle speed control device 12 uses the acquired vehicle speed control information and vehicle position information to control the accelerator amount and the brake amount so that the vehicle has a predetermined speed. When the vehicle is driven backward (back) when performing parking assistance, the vehicle speed control device 12 may adjust the vehicle speed by controlling the accelerator 21 and the brake 22, and control the creep torque and the brake 22. The vehicle speed may be adjusted. In addition, when the vehicle speed control device 12 completes the predetermined process according to the vehicle speed control information and the vehicle position information, the vehicle speed control apparatus 12 outputs information indicating the completion of the process to the control unit 1. When the processing according to the vehicle speed control information and the vehicle position information cannot be executed, the vehicle speed control device 12 outputs error information to the control unit 1.

  The display 30 is a device that is installed in the vehicle and displays image information captured by the camera 70. Specifically, the display 30 acquires image information output from the control unit 1 and displays the image information on the display unit of the display 30. In addition, on the surface side of the display unit of the display 30, a touch panel including a pressure-sensitive or electrostatic input detection element is mounted. The touch panel specifies a touch position corresponding to the XY coordinates of the image displayed on the display 30, converts the touch position into coordinates, and outputs the coordinates to the control unit 1. The display 30 may be a display included in the navigation device, or may be a display for displaying recorded contents of a television broadcast or a DVD.

  The steering angle sensor 40 is a sensor that detects the steering angle of the steering 20. Whenever the steering angle changes, the steering angle sensor 40 detects the changed steering angle and outputs the detected steering angle information to the control unit 1.

  The vehicle speed sensor 50 is a sensor that calculates the vehicle speed of the vehicle. In calculating the vehicle speed, the vehicle speed sensor 50 detects the rotational speed of the wheel and converts it into a pulse signal. Further, the vehicle speed sensor 50 calculates the moving distance and the vehicle speed of the vehicle from the number of wheel rotations within a predetermined time based on the converted pulse signal. Further, the vehicle speed sensor 50 outputs to the control unit 1 travel distance information indicating the calculated travel distance of the vehicle and vehicle speed information indicating the vehicle speed.

  The shift position detection sensor 60 is a sensor that detects the position of the shift lever. Specifically, the shift position detection sensor 60 detects that the shift lever is positioned in any of parking (P), reverse (R), neutral (N), and drive (D). Further, the shift position detection sensor 60 outputs shift lever information indicating the detected position of the shift lever to the control unit 1.

  As shown in FIG. 5, the camera 70 is an apparatus that is attached to the rear portion of the vehicle 251 and images the rear of the vehicle. The camera 70 is provided with an image sensor and a wide-angle lens, such as a CCD (Charge-Coupled Device), and has a deep depth of field. Further, the camera 70 outputs the captured image information of the rear part of the vehicle to the control unit 1.

  Next, functional blocks of the parking assistance device 100 according to the present embodiment will be described. FIG. 2 is a diagram showing functional blocks of the parking assistance apparatus 100 according to the present invention. Each functional block is constructed by executing a predetermined program read by the CPU 2 mounted on the control unit 1. Therefore, the ROM 3 stores a program for executing processing of each functional unit.

  The function blocks are classified according to the main processing contents in order to facilitate understanding of each function realized by the parking support apparatus 100 according to the present embodiment. Further, the present invention is not limited by the classification method of each function or its name. The configuration of the parking assistance device 100 according to the present embodiment can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes.

  Each functional unit may be constructed by hardware (ASIC or the like). Further, the processing of each functional unit may be executed by one hardware, or may be executed by a plurality of hardware.

  As shown in FIG. 2, the functional block according to the present embodiment includes an input reception unit 101, an output processing unit 102, a parking area detection unit 103, a protruding body detection unit 104, and a guidance route generation unit 105. Have.

  The input receiving unit 101 is a functional unit that receives signals output from each device, various sensors, the camera 70, and each functional unit. For example, the input receiving unit 101 receives predetermined information output from the steering control device 11 and the vehicle speed control device 12. Further, the input receiving unit 101 receives an instruction from a user input via a touch panel mounted on the display 30. The input receiving unit 101 receives steering angle information output from the steering angle sensor 50. The input receiving unit 101 also receives vehicle travel distance information and vehicle speed information output from the vehicle speed sensor 50. Further, the input receiving unit 101 receives shift lever information output from the shift position detection sensor 60. The input receiving unit 101 receives image information output from the camera 70.

  The output processing unit 102 relays information transmitted and received between each device, various sensors, and the camera 70, and outputs information processed by each functional unit to each device, various sensors, the camera 70, and each functional unit. It is a functional part. For example, the output processing unit 102 acquires image information obtained by the camera 70 acquired by the input receiving unit 101 and outputs the acquired image information to the display 30. Further, the output processing unit 102 outputs image information from the camera 70 to the parking area detection unit 103 and the protruding body detection unit 104. Further, the output processing unit 102 outputs the information processed by the guidance route generation unit 105 to the steering control device 11 and the vehicle speed control device 12.

  The parking area detection unit 103 is a functional unit that detects a parking area using image information captured by the camera 70. Specifically, the parking area detection unit 103 acquires image information behind the vehicle captured by the camera 70 via the input reception unit 101. Moreover, the parking area detection part 103 extracts the location which has the brightness difference which exceeds a predetermined threshold in the acquired image information as a feature point. Moreover, the parking area detection part 103 detects a straight line from image information using Hough transformation etc. by the extracted feature point. Moreover, the parking area detection part 103 performs pattern matching about whether the shape formed by the detected straight line corresponds with the shape of the parking frame registered into parking frame pattern data.

  In the pattern matching, the parking area detection unit 103 determines whether or not the shape formed by the detected straight line and the shape of the parking frame registered in the parking frame pattern data overlap at a rate exceeding a predetermined threshold. judge. In addition, the parking area detection unit 103 detects the straight line detected when the shape formed by the detected straight line and the shape of the parking frame registered in the parking frame pattern data overlap at a rate exceeding a predetermined threshold. The shape formed by the above is specified as a parking frame, and an area in the parking frame is detected as a parking area.

  In addition, the parking area detection unit 103 determines the level of the ground plane based on the vehicle position based on the ratio of the specified parking frame and parking frame pattern data to be superimposed and the size of the parking frame in the display unit of the display 30. Identify the location and size of the parking area. Moreover, the parking area detection part 103 produces | generates the parking area information which shows the position and magnitude | size of the identified parking area. Further, the parking area detection unit 103 outputs the parking area information to the RAM 4.

  The protruding body detection unit 104 is a functional unit that detects a protruding body in the parking area. The protruding body detection unit 104 detects a protruding body based on the image information captured by the camera 70.

  Specifically, the protrusion detection unit 104 acquires image information behind the vehicle captured by the camera 70 via the input reception unit 101. In addition, the protruding body detection unit 104 extracts, as feature points, locations where there is a brightness difference exceeding a predetermined threshold value that is different from the threshold value used for detection of the straight line forming the parking frame in the acquired image information. Further, the protruding body detection unit 104 detects a straight line from the image information using the Hough transform or the like based on the extracted feature points. In addition, the protrusion detection unit 104 performs pattern matching as to whether the shape formed by the detected straight line matches one of the shapes of the protrusions registered in the protrusion pattern data.

  In pattern matching, the protrusion detection unit 104 determines whether or not the shape formed by the detected straight line and the shape of the protrusion registered in the protrusion pattern data overlap at a rate exceeding a predetermined threshold. judge. In addition, the protrusion detection unit 104 detects whether the shape formed by the detected straight line overlaps the shape of the protrusion registered in the protrusion pattern data at a rate exceeding a predetermined threshold. Detect protrusions in

  The protruding body detection unit 104 is a functional unit that identifies the positional relationship between the vehicle position and the protruding body when starting vehicle support. The projecting body detection unit 104 specifies the position of the projecting body on the ground surface using the image information acquired via the input receiving unit 101 and the parking area information acquired from the RAM 4 as a reference. . Specifically, the protrusion detection unit 104 identifies the position of the protrusion in the parking area based on the image information. Moreover, the protrusion detection part 104 specifies the position of the protrusion on the ground surface on the basis of the own vehicle position using the parking area information indicating the positional relationship between the own vehicle position and the parking area. Further, the protrusion detection unit 104 outputs protrusion position information indicating the position of the specified protrusion to the RAM 4.

  The guidance route generation unit 105 is a functional unit that generates information for guiding the vehicle into the parking area. Specifically, the guidance route generation unit 105 uses the parking area information and the protrusion position information acquired from the RAM 4 to provide guidance information for identifying the route for guiding the vehicle into the parking area, and the guidance route. Vehicle speed control information for controlling the vehicle speed of a certain vehicle is generated. Further, the guidance route generation unit 105 outputs guidance information and vehicle speed control information to the drive control unit 10 via the output processing unit 102.

  In addition, guidance information is information which specified the path | route which a vehicle travels from the position of the vehicle which starts parking assistance toward the target parking position in a parking area. Specifically, the guidance information is composed of a plurality of sections combining straight lines, arcs, curves, and the like, and guides the guide route information for guiding the vehicle into the parking area and guides the vehicle along the guide route. Steering angle control information.

  Further, the vehicle speed control information includes vehicle speed information that is set for each section with respect to a guide route that is composed of a plurality of sections. Specifically, as illustrated in FIG. 6, the guidance route generation unit 105 divides the guidance route 263 into first to third sections according to, for example, a combination of straight lines, arcs, and curves. At this time, the guidance route generation unit 105 determines the vehicle position when the rear wheel 261 of the vehicle and the protrusion 262 are within a predetermined distance (for example, within 1.5 m) as the last section on the guidance route 263 ( In FIG. 6, it is set to the third section). Moreover, the guidance route generation unit 105 sets a predetermined vehicle speed for each section. Further, the guidance route generation unit 105 sets the vehicle speed in the last section to 0.5 to 1.0 km / h. It should be noted that a predetermined distance and speed may be set as appropriate for the distance of the last section and the vehicle speed of each section.

  In the above, the functional block of the parking assistance apparatus 100 which concerns on this embodiment was demonstrated.

  Next, the parking assistance process of the parking assistance apparatus 100 according to the present embodiment will be described. FIG. 7 is a flowchart showing a process of parking support processing. For example, this flow is started when the shift position detection sensor 60 detects the reverse (R) position of the shift lever, and the input receiving unit 101 receives an instruction for performing parking assistance from the user.

  When this flow is started, the parking area detection unit 103 acquires image information behind the vehicle output from the camera 70 via the input reception unit 101. And the parking area detection part 103 detects a parking area using the acquired captured image. Specifically, the parking area detection unit 103 extracts feature points having a brightness difference exceeding a predetermined threshold from the acquired image information, and detects a straight line using a method such as Hough transform. Moreover, the parking area detection part 103 performs pattern matching about whether the shape formed by the detected straight line corresponds with the shape of the parking frame registered into parking frame pattern data. When it is determined that the shape formed by the detected straight line matches the shape of the parking frame registered in the parking frame pattern data, the parking area detection unit 103 detects the parking area (step S001).

  In addition, the parking area detection unit 103 uses the vehicle position as a reference based on the ratio of the parking frame of the detected parking area and the parking frame pattern data to be superimposed and the size of the parking frame in the display unit of the display 30. The parking area information indicating the position and size of the parking area on the ground surface is generated. And the parking area detection part 103 outputs this parking area information to RAM4, and transfers a process to step S002.

  In step S <b> 002, the protruding body detection unit 104 acquires image information behind the vehicle captured by the camera 70 via the input reception unit 101. Then, using the acquired image information, the protrusion detection unit 104 extracts a point having a brightness difference that exceeds a predetermined threshold different from the threshold used for detecting the straight line forming the parking frame as a feature point. A straight line is detected using a method such as conversion. In addition, the protrusion detection unit 104 performs pattern matching as to whether the shape formed by the detected straight line matches the shape of the protrusion registered in the protrusion pattern data. When it is determined that the shape formed by the detected straight line matches the shape of the protrusion registered in the protrusion pattern data, the protrusion detection unit 104 detects the protrusion (Yes in step S002). ).

  Further, the protrusion detection unit 104 uses the image information acquired via the input reception unit 101 and the parking area information acquired from the RAM 4 to determine the position of the protrusion on the ground surface based on the vehicle position. Identify. Further, the protrusion detection unit 104 outputs protrusion position information indicating the position of the protrusion to the RAM 4, and the process proceeds to step S003.

  On the other hand, when the shape formed by the detected straight line does not match the shape of the protrusion registered in the protrusion pattern data, the protrusion detection unit 104 determines that there is no protrusion in the parking area ( In step S002, No), the process proceeds to step S005.

  In step S003, the guidance route generation unit 105 generates guidance information for guiding the vehicle into the detected parking area by combining straight lines, arcs, curves, and the like. In addition, the guidance route generation unit 105 generates vehicle speed control information in which the vehicle speed is set for each of a plurality of sections constituting the guidance route. Further, the guidance route generation unit 105 outputs the guidance information and the vehicle speed control information to the steering control device 11 and the vehicle speed control device 12 via the output processing unit 102, and the process proceeds to step S004.

  In step S004 and step S005, the steering control device 11 and the vehicle speed control device 12 guide the vehicle to be within the parking area based on the acquired guidance information and vehicle speed control information. Specifically, the steering control device 11 controls the steering angle of the steering 20 in order to guide the vehicle along the guidance route included in the obtained guidance information. Further, the vehicle speed control device 12 determines whether the accelerator 21 or the creep torque and the brake are set to the vehicle speed set for each section on the divided guide route based on the vehicle speed control information and the vehicle position information. 22 is controlled.

  When the steering control device 11 and the vehicle speed control device 12 execute the process of step S004, the process proceeds to step S006. On the other hand, when the steering control device 11 and the vehicle speed control device 12 execute the process of step S005, the process proceeds to step S008.

  In step S006, the vehicle speed control device 12 determines whether the vehicle is located in the last section on the guidance route based on the vehicle position information acquired from the steering control device 11. That is, the vehicle speed control device 12 determines whether or not the rear wheel of the vehicle and the protruding body are within a predetermined distance. When the position of the vehicle is located in the last section on the guidance route (Yes in step S006), the vehicle speed control device 12 decelerates the vehicle speed to be 0.5 to 1.0 km / h (step S007). ), And the process proceeds to step S008.

  On the other hand, when it is determined that the distance between the rear wheel of the vehicle and the protruding body is not within the predetermined distance, that is, when it is determined that the position of the vehicle is not the last section on the guidance route (No in step S006). The vehicle speed control device 12 returns the process to step S004, and continues the process of guiding the vehicle into the parking area at the vehicle speed set in the section on the guidance route where the vehicle is located.

  In step S008, the guidance route generation unit 105 determines whether or not the vehicle has been parked in accordance with instructions from the guidance information and vehicle speed control information. Specifically, when acquiring the processing completion information output from the steering control device 11 and the vehicle speed control device 12, the guidance route generation unit 105 determines that the vehicle is parked in the parking area detected (Yes in step S008). ). If it is determined that the vehicle is parked in the parking area, the guidance route generation unit 105 ends this flow.

  On the other hand, when obtaining the error information output from the steering control device 11 and the vehicle speed control device 12, the guidance route generation unit 105 returns the process to step S001. And the parking area detection part 103 performs the process which detects a parking area anew (step S001).

  The parking support process flow has been described above.

  Next, a specific example of this embodiment will be described. 8 and 9 are diagrams illustrating the operation of the vehicle when the parking support process according to the present embodiment is executed. Note that step numbers are given in parentheses in descriptions corresponding to the steps of the flow.

  FIG. 8 is a diagram illustrating the positional relationship between the parking area 301 and the vehicle when the parking support apparatus 100 according to the present embodiment receives an execution instruction for parking support processing from the user. The parking support apparatus 100 executes the flow shown in FIG. 7 when executing the parking support process.

  When the shift lever is in the reverse (R) position and the parking support apparatus 100 receives an instruction to perform parking support from the user, the parking support apparatus 100 executes the flow shown in FIG. In this specific example, it is assumed that the flow of the parking support process is started at the vehicle position shown in FIG.

  First, the parking assistance apparatus 100 performs the process for detecting a parking area (step S001). Specifically, the parking assistance device 100 detects the parking area 301 based on feature points extracted from image information captured by the camera 70. Moreover, the parking assistance apparatus 100 specifies the position and magnitude | size of the parking area 301 in the ground surface on the basis of the own vehicle position.

  Moreover, the parking assistance apparatus 100 performs the process for detecting the protrusion 302 (step S002). Specifically, the parking assistance apparatus 100 acquires image information captured by the camera 70 and detects the protruding body 302 based on feature points extracted based on criteria different from the detection of the parking area 301.

  In addition, the parking support apparatus 100 determines the ground surface based on the vehicle position based on the position and size of the parking area 301 on the ground surface based on the vehicle position and the position of the protrusion 302 in the parking area 301. The position of the projecting body 302 is specified.

  In addition, the parking assistance device 100 generates guidance information and vehicle speed control information for guiding the vehicle into the parking area 301 in consideration of the position of the protrusion 302 in the parking area 301 (step S003). In particular, the parking assistance device 100 determines the vehicle position when the rear wheel 303 of the vehicle and the protrusion 302 are within a predetermined distance (for example, within 1.5 m) as the last section on the guide route 304 (FIG. 8). In the example shown in FIG.

  In addition, the parking assistance device 100 generates vehicle speed control information in which a predetermined vehicle speed is set for each section of the guidance route 304. Moreover, the parking assistance apparatus 100 guides the vehicle into the parking area 301 based on the guidance information and the vehicle speed control information (steps S004 and S005).

  FIG. 9 is a diagram illustrating a scene in which the vehicle is decelerated when the rear wheel 303 and the protrusion 302 of the vehicle approach each other within a predetermined distance. Specifically, when the position of the vehicle is located in the last section of the guidance route 304 (Yes in step S006), the parking assistance apparatus 100 decelerates the vehicle speed to be 0.5 to 1.0 km / h. (Step S007).

  On the other hand, if the distance between the rear wheel 303 of the vehicle and the projecting body 302 is not within the predetermined distance, that is, if the position of the vehicle is not the last section on the guide route 304 (No in step S006), parking assistance is performed. The apparatus 100 continues the process of guiding the vehicle into the parking area 301 at the vehicle speed set for each section on the guidance route 304 where the vehicle is located.

  Moreover, the parking assistance apparatus 100 complete | finishes a parking assistance process, when the information which shows that the process based on guidance information and vehicle speed control information was completed was produced | generated. On the other hand, when the parking assistance apparatus 100 generates error information indicating that the process based on the guidance information and the vehicle speed control information is not completed, the parking support apparatus 100 executes a process of detecting the parking area 301 again (step S001).

  According to such a parking support apparatus according to the present invention, parking can be supported in consideration of the presence of the protruding body in the parking area. As a result, it is possible to solve the problem that the wheel collides with the curb and gives the user an unpleasant feeling.

  In the present embodiment, using the image information captured by the camera, the position and size of the parking area on the ground surface relative to the vehicle position, and the position of the protrusion on the ground surface relative to the vehicle position Identified. However, the present invention is not limited to this embodiment. In the parking assistance apparatus according to the modification of the present embodiment, an ultrasonic sensor is used in addition to the camera. And the detection of a protrusion and the specification of the position of the protrusion in a parking area are performed based on the predetermined information output from an ultrasonic sensor. In addition, the ultrasonic sensor should just be installed in the rear part of the vehicle similarly to the camera.

  Here, the ultrasonic sensor has a transmitter and a receiver, reflects the ultrasonic wave transmitted from the transmitter with a subject, and receives the reflected ultrasonic wave with the receiver, thereby providing a target object. A sensor that can detect the presence or absence of a (projecting body) and calculate the distance to an object.

  In the parking assistance apparatus according to the modification of the present invention, by using such an ultrasonic sensor, the presence / absence of the protrusion is detected and the position of the protrusion in the parking area is specified. The parking assistance device generates guidance information and vehicle speed control information in consideration of the position of the protrusion in the parking area specified by the ultrasonic sensor, and executes parking assistance processing using the guidance information and vehicle speed control information. .

  The parking assist device according to the modified example of the present invention can assist the parking in consideration of the presence of the protruding body in the parking area. As a result, it is possible to solve the problem that the wheel collides with the curb and gives the user an unpleasant feeling.

100: Parking assist device,
DESCRIPTION OF SYMBOLS 1 ... Control unit, 10 ... Drive control unit, 30 ... Display, 40 ... Steering angle sensor, 50 ... Vehicle speed sensor, 60 ... Shift position detection sensor 70 ... Camera

Claims (3)

Control means for controlling the driving of the vehicle;
Detection means for detecting protrusions around the vehicle;
Generating means for generating a guide route for guiding the vehicle in a predetermined area surrounding the protrusion,
The control means includes
When guiding the vehicle in the predetermined area according to the guidance route, the parking assist device slows the driving of the vehicle when the vehicle approaches the protrusion to a predetermined distance. In the parking assistance device according to claim 1,
The generating means includes
A parking assistance device, wherein a guidance route configured by a plurality of sections is generated, and the predetermined distance at which the driving of the vehicle starts to be delayed is set in the last section of the guidance route. The parking support apparatus according to claim 1 or 2, wherein the control means is
A parking assist device that controls the brake of the vehicle to slow down the driving of the vehicle.

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