JP2024112397A - Vehicle parking assistance device - Google Patents

Abstract

To provide a parking support device which can reduce trouble of vehicle movement and time when a vehicle stops at a location where a vehicle door cannot be opened during execution of remote parking.SOLUTION: A parking support device 20 stops, when determining that a vehicle 10 cannot park at a target parking location during movement of the vehicle 10, the vehicle 10 and determines whether there is a space where a vehicle door 11 can be opened in the periphery of the vehicle 10 at the location where the vehicle stops. The parking support device recommends an operator of a portable terminal 300, when determining that there is no space, that the vehicle moves to a location where the vehicle door can be opened, and makes, when the recommendation is accepted, the vehicle 10 travel in a specified direction.SELECTED DRAWING: Figure 4

Description

The present invention relates to a parking assistance device.

The parking assistance device is configured to be capable of executing parking assistance control that performs at least a part or all of the driving operation of the vehicle so that the vehicle is parked in a parking slot. Note that a parking slot is a space in which one vehicle is expected to be parked. In relation to such parking assistance devices, standard specifications such as ISO20900 (Partially automated parking systems: PAPS) and ISO16787 (Assisted parking systems: APS) prescribe vehicle control related to parking the vehicle.

While the parking assistance device is executing parking assistance control, which automatically drives the vehicle to move it into a parking slot by the driver operating a terminal device outside the vehicle, i.e., remote parking control, the remote parking control may be suspended due to reasons such as being unable to park the vehicle in the parking slot. In this case, the driver gets in the vehicle and drives the vehicle to move it. However, if there is no space around the stopped vehicle where the door can be opened, the driver cannot get in (or has difficulty getting in). Even if the driver is able to get in the vehicle, in order to resume the suspended remote parking control, the driver must perform the operation to start the remote parking control again.

The parking assistance device disclosed in Patent Document 1 performs control to suspend automatic driving and prompt the driver to decide whether or not to continue parking assistance control when an object is present within or around the automatic driving route of the vehicle. However, while Patent Document 1 discloses control for when automatic driving is temporarily suspended when automatic driving can continue, it does not disclose control for when automatic driving cannot be continued.

JP 2021-62715 A

The present invention has been made to address the above-mentioned problems. That is, one of the objectives of the present invention is to provide a parking assistance device that allows easy operation for moving the vehicle after remote parking control is stopped because automatic driving cannot be continued.

In order to achieve the above object, the parking assistance device of the present invention is a parking assistance device that can park a vehicle at a target parking position by automatically driving the vehicle in response to a driving command signal received from a mobile terminal via wireless communication, and when it is determined that the vehicle cannot be parked at the target parking position during the automatic driving of the vehicle, it stops the vehicle, determines whether there is a space around the vehicle at the position where the vehicle is stopped in which a vehicle door provided on the vehicle can be opened, and when it is determined that the space does not exist, performs processing to notify the user that it is proposed to move the vehicle to a position where the space exists, and when it detects a signal accepting the proposal, it drives the vehicle in a predetermined direction in response to the driving command signal received from the mobile terminal.

According to the present invention, when the vehicle cannot be parked in the target parking position by remote parking control and the vehicle stops in a position where there is no space to open the vehicle door, the driver can move the vehicle to a position where the driver can get in by accepting the suggestion notified by the parking assistance device. In addition, the driver does not need to perform an operation to resume remote parking control in order to move the vehicle, which reduces the effort and time required for the operation to move the vehicle.

FIG. 1 is a diagram showing the configuration of a vehicle and a parking assistance device. FIG. 2A is a diagram showing an example of a remote control image, and FIG. 2B is a diagram showing an example of a first end image. FIG. 3(a) is a diagram showing an example of a stop image, FIG. 3(b) is a diagram showing an example of a proposal image, and FIG. 3(c) is a diagram showing an example of a second end image. FIG. 4 is a flowchart showing the process executed by the CPU of the parking ECU. FIG. 5 is a flowchart showing the process executed by the CPU of the terminal ECU.

(Device configuration)
1 is a diagram showing an example of the configuration of a vehicle 10. A parking assistance device 20 is mounted on the vehicle 10 having an automatic driving function. The parking assistance device 20 includes a parking ECU 201, a PVM (panoramic view monitor) ECU 202, a drive ECU 203, a SBW (shift-by-wire) ECU 204, a brake ECU 205, an EPS (electric power steering) ECU 206, a NAVI 207 (navigation device), a start switch 210, and surrounding sensors (a sonar sensor 212 and a camera 212).

ECU is an abbreviation for Electronic Control Unit. Each ECU is a control device that mainly comprises a microcomputer including a CPU, ROM, RAM, and I/F. Each ECU is configured so that the CPU can read out a computer program stored in the ROM, expand it into the RAM, and execute it to realize a specified control. Furthermore, each ECU is connected to each other via a CAN (Controller Area Network) or the like so that they can send and receive signals.

The parking ECU 201 is configured to be able to execute parking assistance control including automatic parking control and remote parking control. Automatic parking control includes control of parking the vehicle 10 in a parking slot set as a parking target position by controlling at least one of the driving device 240 that generates driving force for driving the vehicle 10, the braking device 241 that brakes the vehicle 10, and the steering device 242 that changes the direction of travel of the vehicle 10 without the driver's operation. Therefore, automatic parking control also includes control of all of the driving device 240, the braking device 241, and the steering device 242 without the driver's operation, and automatic parking control also includes control of only the steering device 242 without the driver's operation. In addition, remote parking control is control of parking the vehicle 10 in a parking slot by controlling all of the driving device 240, the braking device 241, and the steering device 242 in response to the operation of a device other than the device mounted on the vehicle 10, for example, a mobile terminal owned by the operator of the vehicle 10.

The start switch 210 is a switch that is operated when the occupant instructs the parking assistance device 20 to execute a specific process and control, which will be described later, that are included in the parking assistance control. The parking ECU 201 can detect that the start switch 210 has been operated.

The surrounding sensor is a sensor for acquiring information about the surroundings of the vehicle 10 (hereinafter, sometimes referred to as "surrounding information"). The surrounding information includes information about objects (three-dimensional objects) present in the surrounding area of the vehicle 10 (within a predetermined distance from the position of the vehicle 10), information about markings on the road surface in the surrounding area of the vehicle 10 (such as lane lines), and information about parking slots. The information about the object includes the distance between the vehicle 10 and the object, and the direction of the object as seen from the vehicle 10. The object represents, for example, moving objects such as other vehicles, pedestrians, and bicycles, as well as fixed objects such as guardrails, curbs, car stops, and fences. The information about the parking slot includes information indicating the shape and dimensions of the parking slot. The surrounding sensor includes multiple sonar sensors 211 and multiple cameras 212 (note that in FIG. 1, one sonar sensor 211 and one camera 212 are shown for simplicity).

Each sonar sensor 211 is configured to intermittently emit ultrasonic waves into the surrounding area of the vehicle 10 and receive ultrasonic waves (reflected waves) reflected by objects present in the surrounding area of the vehicle 10. The multiple sonar sensors 211 include a sonar sensor that can detect at least the distance from the outer surface of the vehicle door 11 to an object. Each camera 212 is a digital camera that captures the surrounding area of the vehicle 10 and generates image data. Each camera 212 transmits the generated image data to the PVM ECU 202. The multiple cameras 212 are positioned so that they can capture the surrounding area of the vehicle 10 in all directions.

The PVM-ECU 202 acquires surrounding information by performing image processing on image data acquired from each camera 212. For example, the PVM-ECU 202 acquires the size, shape, and position relative to the vehicle 10 of installed objects (such as pylons), buildings (such as walls and fences), moving objects (such as pedestrians and other vehicles) present in the surrounding area of the vehicle 10, and parking frame lines displayed on the road surface. The PVM-ECU 202 also analyzes (determines) whether a detected three-dimensional object is a moving object such as a pedestrian or bicycle, or a fixed object such as a wall or fence. In other words, the PVM-ECU 202 can detect moving objects present in the surrounding area of the vehicle 10.

The NAVI 207 includes a NAVI ECU 222, an in-vehicle display device 223, and a wireless communication device 224. The in-vehicle display device 223 is a touch panel type display device that displays various information and allows the driver to input various instructions. The wireless communication device 224 is configured to be capable of wireless communication with a mobile terminal 300, which will be described later. For example, the wireless communication device 224 is configured to be capable of wireless communication compliant with the Bluetooth standard ("Bluetooth" is a registered trademark of Bluetooth SIG, Inc.).

The parking ECU 201 can display various images on the in-vehicle display device 223 via the NAVI ECU 222, and can also detect operations (such as taps) on the in-vehicle display device 223.

The drive ECU 204 is configured to control the drive force source 215 by driving the drive actuator 214. The SBW ECU 204 is configured to be able to change the shift range of the transmission 217 by controlling the SBW actuator 216. The drive ECU 204 is also connected to a vehicle speed sensor 213, and is able to acquire the vehicle speed detected by the vehicle speed sensor 213. The brake ECU 205 is configured to control the braking force of the vehicle 10 by the brake mechanism 219 by controlling the brake actuator 218. The EPS ECU 206 is able to change the steering angle of the vehicle 10 by driving the steering motor 221 through the control of the steering motor driver 220.

The mobile terminal 300 (portable terminal device) includes a terminal ECU 301, a wireless communication device 302, and a terminal display device 303. An application (hereinafter, referred to as an "operation app") for remotely operating the vehicle 10 is pre-installed in the terminal ECU 301 of the mobile terminal 300. The wireless communication device 302 is configured to be capable of wireless communication with the wireless communication device 224 of the parking assistance device 20 when the mobile terminal 300 is outside the vehicle 10. A wireless communication device conforming to the Bluetooth standard is applied to the wireless communication device 302. The terminal display device 303 is a touch panel type display device that can display various information and allows the driver to input various instructions. The terminal ECU 301 can display various images on the terminal display device 303 and can detect operations (such as taps and swipes) on the screen of the terminal display device 303. For example, a smartphone is applied to the mobile terminal 300.

Next, the contents of the parking assist control will be described. When a predetermined condition (hereinafter referred to as a "search condition") is satisfied while the vehicle 10 is traveling, the parking ECU 201 starts a "process of searching for a parking slot in which the vehicle 10 can be parked" (hereinafter referred to as a "search process"), which is a process included in the parking assist control. For example, the parking ECU 201 determines that the search condition is satisfied when the vehicle speed while the vehicle 10 is traveling becomes equal to or lower than a predetermined vehicle speed (e.g., 10 km/h or lower). Note that a conventionally known method can be applied to the search process (for example, see JP 2021-62736 A and JP 2021-62715 A).

When the parking ECU 201 detects a parking slot in which the vehicle 10 can be parked by the search process, and then detects an operation on the start switch 210, the parking ECU 201 executes a process of determining the parking slot in which the vehicle 10 is to be parked (or a process of having the driver determine the parking slot in which the vehicle 10 is to be parked) and a process of having the driver decide whether or not to park the vehicle 10 by remote parking control. Note that the remote parking control in this embodiment is a control of parking the vehicle 10 in the parking slot in response to an operation of the mobile terminal 300 outside the vehicle 10. When the parking ECU 201 determines the parking slot, which is the target parking position in which the vehicle 10 is to be parked, it calculates a guide path for the vehicle 10 to move the vehicle 10 from the current position of the vehicle 10 to the parking slot, and calculates a steering angle pattern and a speed pattern for moving (driving) the vehicle 10 to the parking slot by automatic driving along the guide path. Note that known methods can be applied to the calculation method of the guide path, steering angle pattern, and speed pattern (for example, see JP 2015-3565 A).

When the parking ECU 201 completes the calculation of the guide route, steering angle pattern, and speed pattern of the vehicle 10, it causes the in-vehicle display device 223 to display an image including a "message encouraging the driver to get off the vehicle and start an app for remote parking on the mobile device 300." Then, the parking ECU 201 causes the driving ECU 203 to start a first remote control (it can also be said that "the parking ECU 201 starts the first remote control in cooperation with the driving ECU 203"). The first remote control is a remote parking control, which is a control for automatically driving the vehicle 10 toward a parking slot along the guide route calculated by the parking ECU 201 (control for automatic driving).

When the operation app is started by the driver's operation and the mobile terminal 300 is able to communicate with the parking assistance device 20, the mobile terminal 300 displays the remote operation image 500 shown in FIG. 2(a) on the terminal display device 303. The remote operation image 500 includes a swipe area image 501 that is an image showing the area to be swiped by the driver. Then, while a swipe on the swipe area image 501 is detected, the mobile terminal 300 transmits a signal to command the vehicle 10 to automatically drive (hereinafter referred to as a "driving command signal") to the NAVI 207 via wireless communication.

The drive ECU 203, SBW ECU 204, and brake ECU 205 cooperate to control the drive force source, SBW actuator 216, and brake actuator 218 so that the vehicle 10 automatically drives with the calculated steering angle pattern and speed pattern while the NAVI 207 is receiving a driving command signal. As a result, the vehicle 10 automatically drives toward the parking slot while the driver is swiping the swipe image on the remote control image 500 of the mobile terminal 300.

When the vehicle 10 reaches a predetermined parking position within the parking slot, the parking ECU 201 stops the vehicle 10 and wirelessly transmits to the mobile terminal 300 a first end signal, which is a signal indicating that the vehicle 10 has reached the parking slot. When the mobile terminal 300 receives the first end signal, it displays a first end image 510 shown in FIG. 2(b) on the terminal display device 303. The first end image 510 is an image for notifying the user that parking has been completed. After that, the parking ECU 201 ends the parking assistance control, and the mobile terminal 300 ends the operation app.

While the vehicle 10 is automatically traveling toward the parking slot due to execution of the first remote control, the parking ECU 201 and the PVM-ECU 202 continue to determine whether there are any objects on the guided path, in the parking slot, or in their vicinity that may hinder the movement and parking of the vehicle 10. The PVM-ECU 202 also continues the process of determining whether there are any objects on the guided path, in the parking slot, or in their vicinity based on image data acquired from the camera 212, and if there is an object, identifying the type of object (whether it is a moving object such as a pedestrian or bicycle, a portable object such as a pylon, or a fixed object that cannot be removed). The PVM-ECU 202 also continues to determine whether the parking slot has a shape and dimensions that allow the vehicle 10 to be parked.

During the automatic driving of the vehicle 10, it may be discovered that the vehicle 10 cannot be parked in the parking slot. The parking ECU 201 then continuously executes a determination as to whether or not a condition indicating that the vehicle 10 cannot be parked in the parking slot (hereinafter, referred to as a cancellation condition) is satisfied from the time the preparation for the first remote control is completed until the vehicle 10 reaches the parking slot. When the cancellation condition is satisfied, the parking ECU 201 transmits a cancellation signal indicating the satisfaction of the cancellation condition to the mobile terminal 300. When the mobile terminal 300 receives the cancellation signal, it erases the remote control image 500 and displays a cancellation image 520 shown in FIG. 3(a). The cancellation image 520 is an image for notifying the user that the automatic parking control has been cancelled.

The abort condition is a condition that is established when it is determined that the vehicle 10 cannot be parked in the parking slot that was originally determined as the target parking position. Specifically, the abort condition is established when the driver or passenger outside the vehicle 10 cannot resolve the condition that the vehicle 10 cannot be parked in the parking slot, or when it is unclear whether the condition that the vehicle 10 cannot be parked in the parking slot will be resolved. More specifically, the abort condition is established when it is determined that the parking slot does not have the dimensions and shape that allow the vehicle 10 to be parked, or when the parking slot has the dimensions and shape that allow the vehicle 10 to be parked, but there is an object in the parking slot that cannot be removed (in other words, it is unclear whether the object is a movable object or a portable object).

When the cancellation condition is met, the parking ECU 201 stops the vehicle 10 from traveling. When the vehicle 10 stops traveling and there is an object (e.g., another vehicle or a building such as a wall) close to the side of the vehicle 10, the driver cannot open the vehicle door 11 and therefore cannot get in (or has difficulty getting in). Therefore, in this embodiment, if the vehicle door 11 cannot be opened when the vehicle 10 stops traveling, the parking ECU 201 executes processing and control to move the vehicle 10 to a position where the vehicle door 11 can be opened.

Specifically, when the parking ECU 201 stops the vehicle 10 due to the establishment of the cancellation condition, the parking ECU 201 determines whether or not such an object exists within a predetermined distance from the outer surface of each vehicle door 11 (in other words, on the movement path of the vehicle door 11 when the vehicle door 11 is opened and closed). If the parking ECU 201 determines that such an object exists, it determines that there is no space in which the vehicle door 11 can be opened to an extent that the driver can enter the vehicle, and determines that the vehicle door 11 cannot be opened. The parking ECU 201 determines whether or not all vehicle doors 11 for passengers entering and exiting the vehicle can be opened. If the vehicle 10 is equipped with a vehicle door for luggage (e.g., a back door), the vehicle door for luggage is excluded. If the parking ECU 201 determines that all vehicle doors 11 for passengers entering and exiting the vehicle cannot be opened, it determines that the door opening possible condition indicating that the vehicle door 11 can be opened is not established, and transmits a door opening impossible signal indicating that to the mobile terminal 300.

When the mobile terminal 300 receives the door opening impossible signal, it displays the stop image 520 shown in FIG. 3(a) on the terminal display device 303 for a predetermined time (e.g., 3 seconds), and then erases the stop image 520 and displays the proposal image 530 shown in FIG. 3(b). The proposal image 530 includes a "message proposing to move the vehicle 10 to a position where the vehicle door 11 can be opened" (message image 531), an accept switch image 532 which is an image that the driver taps to accept the proposal, and a reject switch image 533 which is an image that the driver taps to not accept the proposal. The message image 531 notifies the driver of the proposal to move the vehicle 11 to a position where the vehicle door 11 can be opened, that is, a position where there is space where the vehicle door 11 can be opened enough for the driver to get in.

When the mobile terminal 300 detects a tap on the accept switch image 532, it transmits an accept signal indicating this to the NAVI 207. In this case, the mobile terminal 300 erases the proposal image 530 and displays the remote control image 500. On the other hand, when the mobile terminal 300 detects a tap on the reject switch image 533, it transmits a reject signal indicating this to the NAVI 207. In this case, the mobile terminal 300 ends the operation app. When the NAVI 207 receives the reject signal, the parking ECU 201 ends the parking assistance control.

When the NAVI 207 receives the acceptance signal, the parking ECU 201 causes the HV ECU 203 to start the second remote control (it can also be said that the parking ECU 201 starts the second remote control in cooperation with the HV ECU 203, etc.). The second remote control is included in the parking assistance control, and is a control that causes the vehicle 10 to automatically travel while a travel command signal is being received from the mobile terminal 300. However, the second remote control does not use the calculated steering angle pattern and speed pattern, and causes the vehicle 10 to travel straight in the opposite direction to the traveling direction immediately before the vehicle 10 was stopped. For example, when the vehicle 10 is stopped due to the establishment of a cancellation condition while the vehicle 10 is backing up (while backing up and parking), the parking ECU 201 causes the vehicle 10 to travel straight forward.

The parking ECU 201, while automatically driving the vehicle 10 by executing the second remote control, determines whether the door opening condition is satisfied, i.e., whether there is a space in which the vehicle door 11 can be opened. Then, when the parking ECU 201 determines that the door opening condition is satisfied while the vehicle 10 is automatically driving (straight ahead), it causes the HV ECU 203 to stop the vehicle 10 from traveling and transmits a door opening possible signal, which is a signal indicating that the door opening possible condition has been satisfied, to the mobile terminal 300. When the mobile terminal 300 receives the door opening possible signal, it erases the remote operation image 500 and displays the second end image 540 shown in FIG. 3(c). The second end image 540 is an image for notifying that the vehicle 10 has reached a position where the vehicle door 11 can be opened. Then, the parking ECU 201 ends the parking assistance control, and the mobile terminal 300 ends the operation app.

If the door opening condition is met at the position where the vehicle 10 has stopped due to the satisfaction of the cancellation condition, the driver outside the vehicle can get in. Therefore, in this case, the parking ECU 201 transmits a cancellation signal and a door opening possible signal to the mobile terminal 300, and then ends the parking assistance control. When the mobile terminal 300 receives the cancellation signal and the door opening possible signal, it displays the cancellation image shown in FIG. 3(a) on the terminal display device 303, and then ends the operation app.

When the vehicle cannot be driven toward the parking slot due to a temporary cause or a cause that can be resolved by the driver, etc., the parking ECU 201 does not determine that the cancellation condition is met, but determines that the interruption condition is met. For example, even if the parking ECU 201 detects an object on the guidance route or within the parking slot that is an obstacle to the driving and parking of the vehicle 10, if the parking slot has a size and shape that allows the vehicle 10 to be parked and the object is a moving object (e.g., a pedestrian or bicycle) or a portable object (e.g., a pylon), the parking ECU 201 does not determine that the cancellation condition is met, but determines that the interruption condition is met.

If the interruption condition is satisfied while the parking ECU 201 is receiving the driving command signal, the parking ECU 201 temporarily suspends the driving of the vehicle 10. Then, if the interruption condition is no longer satisfied, the parking ECU 201 resumes control of driving the vehicle 10 in response to a swipe on the terminal display device 303. In other words, if the interruption condition is satisfied, the parking ECU 201 temporarily suspends the driving of the vehicle 10, but does not terminate the parking assistance control and continues it.

Here, the processing executed by the parking ECU 201 will be described. FIG. 4 is a flowchart showing an example of processing executed by the CPU of the parking ECU 201 (hereinafter, simply referred to as "CPU") to realize the parking assistance control described above. The CPU detects an operation of the start switch 210 while the vehicle 10 is stopped, and then determines the parking slot in which the vehicle 10 is to be parked. After completing the calculation of the guide route of the vehicle 10 to the parking slot, as well as the calculation of the steering angle pattern and the speed pattern for driving the vehicle 10 along the calculated guide route, the CPU starts the series of processing shown in FIG. 4.

In step S101, the CPU causes the HV-ECU 203 to start the first remote control (or to continue it if it has already started). Specifically, while the CPU is receiving a driving command signal from the mobile terminal 300 via the NAVI 207, the CPU causes the HV-ECU 203 to drive the vehicle 10 toward the target parking position. The CPU then advances the process to step S102.

In step S102, the CPU determines whether the stop condition is met. If the stop condition is not met, the CPU proceeds to step S103. If the stop condition is met, the CPU proceeds to step S105.

In step S103, the CPU determines whether the first end condition is met. If the first end condition is not met, the CPU returns the process to step S101, and if the first end condition is met, the CPU proceeds to step S104.

In step S104, the CPU causes the HV-ECU 203 to stop the vehicle 10 from traveling and transmits a first end signal to the mobile terminal 300. The CPU then ends the series of processes.

In step S105, the CPU determines whether the door opening condition is met. If the door opening condition is met, the CPU proceeds to step S106. If the door opening condition is not met, the CPU proceeds to step S108.

In step S106, the CPU transmits a stop signal and a door opening possible signal to the mobile terminal 300. The CPU then ends the series of processes.

In step S108, the CPU transmits a stop signal and a door opening disabled signal to the mobile terminal 300. The CPU then advances the process to step S108.

In step S108, the CPU determines whether an acceptance signal or a rejection signal has been received. If the CPU receives an acceptance signal, the process proceeds to step S109, and if the CPU receives a rejection signal, the CPU ends the series of processes.

In step S109, the CPU causes the HV-ECU 203 to start the second remote control (or to continue it if it has already started). The CPU then advances the process to step S110.

In step S110, the CPU determines whether the door opening condition is met. If the CPU determines that the door opening condition is not met, the process returns to step S109. If the CPU determines that the door opening condition is met, the process proceeds to step S111.

In step S111, the CPU causes the HV-ECU 203 to stop the vehicle 10 from traveling and transmits a second end signal. The CPU then ends the series of processes.

Next, the process executed by the CPU of the terminal ECU 301 of the mobile terminal 300 (hereinafter, sometimes simply referred to as the CPU) will be described. FIG. 5 is a flowchart showing an example of the process executed by the CPU of the mobile terminal 300. When the CPU starts the operation app, it starts the series of processes shown in FIG. 5.

In step S201, the CPU displays the remote control image 500 on the terminal display device 303 and accepts a swipe on the swipe area image 501. The CPU continues to transmit a driving command signal to the NAVI 207 while detecting a swipe on the swipe area image 501. The process then proceeds to step S202.

In step S202, the CPU determines whether or not a stop signal has been received from the NAVI 207. If the CPU has not received a stop signal, the process proceeds to step S203. If the CPU has received a stop signal, the process proceeds to step S205.

In step S203, the CPU determines whether or not a first end signal has been received from the NAVI 207. If the CPU has not received the first end signal, the CPU returns the process to step S201, and if the CPU has received the first end signal, the CPU proceeds to step S204.

In step S204, the CPU erases the remote control image 500 and displays the first end image 510. The CPU then terminates the operation app.

In step S205, the CPU determines whether it has received a door-openable signal or a door-unopenable signal. If the CPU has received a door-openable signal, it advances the process to step S206. If the CPU has received a door-unopenable signal, it advances the process to step S207.

In step S206, the CPU erases the remote control image 500 and displays the stop image 520. The CPU then terminates the app.

In step S207, the CPU erases the remote control image 500 and displays the stop image 520. Then, after continuing to display the stop image 520 for a predetermined time, the CPU erases the stop image 520 and displays the proposal image 530, and starts accepting operations on the accept switch image 532 and the reject switch image 533 included in the proposal image 530. The CPU then advances the process to step S208.

In step S208, the CPU determines whether or not a tap has been made on either the accept switch image 532 or the reject switch image 533. If the CPU detects a tap on the reject switch image 533, it terminates the operation app, and if the CPU detects a tap on the accept switch image 532, it advances the process to step S209.

In step S209, the CPU erases the proposed image 530 and displays the remote control image 500. The CPU then continuously transmits a driving command signal wirelessly to the NAVI 207 while detecting a swipe on the swipe area image 501. The CPU then advances the process to step S210.

In step S210, the CPU determines whether or not a second end signal has been received. If the CPU has not received the second end signal, the process returns to step S209. If the CPU has received the second end signal, the process proceeds to step S211.

In step S211, the CPU erases the remote control image 500 and displays the second end image 540. The CPU then ends the series of processes. The CPU then ends the operation app.

As described above, when the parking assistance device 20 determines that the cancellation condition is satisfied during automatic driving of the vehicle 10 due to execution of the first remote control, the parking assistance device 20 stops the driving of the vehicle 10. Then, the parking assistance device 20 determines whether there is a space around the vehicle 10 where the vehicle 10 is stopped in which the vehicle door 11 can be opened, i.e., whether the vehicle door 11 can be opened. If the vehicle door 11 can be opened, the parking assistance device 200 ends the parking assistance control. In this case, the driver who has been operating the mobile terminal 300 outside the vehicle can open the vehicle door 11 and enter the vehicle 10, and can drive the vehicle 10 to move it.

On the other hand, when the parking assistance device 20 determines that the vehicle door 11 cannot be opened at the position where the vehicle 10 is stopped (i.e., there is no space in which the vehicle door 11 can be opened), it performs a process of displaying a proposal image 530 on the terminal display device 303 to propose moving the vehicle 10. Then, when the parking assistance device 20 detects a signal (acceptance signal) accepting this proposal, it drives the vehicle 10 straight in response to the driving command signal received from the mobile terminal 300. In this case, since the vehicle 10 cannot be driven toward the parking slot, the parking assistance device 20 drives the vehicle 10 straight in the opposite direction to the traveling direction immediately before the cancellation condition is satisfied. Then, when the vehicle 10 reaches the "position where the vehicle door 11 can be opened", the parking assistance device 20 stops the vehicle 10 and ends the parking assistance control. This allows the driver outside the vehicle to board the vehicle 10, so that the driver can drive the vehicle 10 to move it.

Even if the vehicle 10 cannot be parked in a parking slot, the parking assistance control is not interrupted (ended), so the driver can move the vehicle 10 without performing an operation to start the parking assistance control again. This reduces the effort and time required for the operation to move the vehicle 10. In other words, the convenience of executing automatic parking control by the parking assistance device 20 can be improved.

The parking assistance device 20 also drives the vehicle 10 in the opposite direction to the direction of travel immediately before the vehicle 10 was stopped. This allows the vehicle 10 to be moved in a direction away from the "object that prevents the establishment of the door opening condition." In addition, by driving the vehicle 10 straight, it is easier to move the vehicle to a position where there is space available to open the vehicle door 11 after a short drive. Therefore, the vehicle 10 can be moved to a position where it can be boarded in a short time.

In addition, in this embodiment, if the parking ECU 201 cannot open all of the vehicle doors 11, it determines that the door opening condition is not met. With this configuration, if there is a vehicle door 11 that can be entered, the driver can immediately enter the vehicle through that vehicle door 11 and drive the vehicle without performing any operation in response to the suggestion.

Although the embodiment of the present disclosure has been described above, the present disclosure should not be interpreted as being limited to the above embodiment. For example, when at least the driver's seat vehicle door 11 cannot be opened, the parking ECU 201 may determine that the door opening condition is not satisfied even if the other vehicle doors 11 can be opened. Furthermore, the parking assistance device 10 may move the vehicle 10 toward the position of the vehicle 10 at the time the first remote control was started.

In addition, the technology disclosed herein can be applied to technologies that comply with the standard specifications ISO 20900 (Partially automated parking systems: PAPS) and ISO 16787 (Assisted parking systems: APS).

10...vehicle, 11...vehicle door, 20...parking assistance device, 300...mobile terminal, 530...proposed image

Claims (4)

A parking assistance device that can park a vehicle at a target parking position by automatically driving the vehicle in response to a driving command signal received from a mobile terminal via wireless communication,
When it is determined that the vehicle cannot be parked at the target parking position during automatic driving of the vehicle, the system stops the vehicle, determines whether there is a space around the vehicle at the position where the vehicle is stopped in which a vehicle door provided on the vehicle can be opened, and when it is determined that the space does not exist, performs a process of notifying the user of a proposal to move the vehicle to a position where the space exists, and when a signal accepting the proposal is detected, causes the vehicle to travel in a predetermined direction in response to a driving command signal received from the mobile terminal via wireless communication.
Parking assistance device. 2. The parking assistance device according to claim 1,
when a signal to accept the proposal is detected, the vehicle is caused to move straight in a direction opposite to a direction of travel immediately before the vehicle was stopped.
Parking assistance device. 2. The parking assistance device according to claim 1,
determining whether or not the space exists at the position where the vehicle is stopped, and if it is determined that the space does not exist for any of the vehicle doors for boarding and alighting, performing a process of proposing to the operator of the mobile device that the vehicle move to a position where the space exists;
Parking assistance device. 2. The parking assistance device according to claim 1,
When a signal to accept the proposal is detected, determining whether or not there is a space in which the vehicle door can be opened while driving the vehicle in a predetermined direction in response to the driving command signal, and stopping the vehicle when it is determined that the space exists.
Parking assistance device.

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