JP6303784B2 - Parking assistance device and parking assistance method - Google Patents

Description

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

  Driving operation when parking in a frequently used parking area (home parking lot, contracted parking lot, etc.) is stored together with position information, and the driving operation stored for a frequently used parking area For example, there is a technique described in Patent Document 1 as a technique for reproducing the image at the time of parking.

JP 2006-298115 A

However, in the technique described in Patent Document 1, the driving operation similar to that in the parking area, which is frequently used and the driver is accustomed to the surrounding situation, is reproduced regardless of the surrounding situation of the parking area. For this reason, there is a possibility that a problem of regenerating an inappropriate driving operation may occur when parking in a parking area where the driver is not used to the surrounding situation, such as a parking area with low usage frequency.
The present invention has been made paying attention to the above-mentioned problems, and provides parking assistance similar to parking in a parking area where the driver is accustomed to the surrounding situation for a parking area with low usage frequency. It is an object of the present invention to provide a parking support device and a parking support method that are capable of performing the above.

  In order to solve the above problems, the present invention stores a reverse start position at which the host vehicle starts to move back toward the parking area, and a surrounding situation of the host vehicle stopped at the parking area, and the forward direction of the host vehicle. To detect an empty parking area. And the parking start area figure which detects the parking area similar to the memorize | stored surrounding condition among the detected empty parking areas, and shows the position where the own vehicle starts reverse toward the parking area similar to the detected surrounding condition Is generated using the stored reverse start position. In addition, in order to maintain the relative positional relationship between the reverse start position graphic and the recommended parking area, a superimposed image obtained by superimposing the reverse start position graphic on the road surface around the host vehicle and a graphic showing the host vehicle is displayed. indicate.

According to the present invention, at the time of the current parking, an empty parking area similar to the stored surrounding situation is detected, and a superimposed image obtained by superimposing a reverse start position graphic for the detected parking area on the overhead view image, The driver displays the information so that the driver can see it, and provides parking assistance.
This makes it possible to display a reverse start position figure for a parking area that is similar to the stored parking area and the surrounding situation at the time of the current parking. It is possible to perform parking assistance similar to parking in a parking area that is used to.

It is a block diagram which shows schematic structure of a vehicle provided with the parking assistance apparatus of 1st embodiment of this invention. It is a block diagram which shows the structure of a parking assistance controller. It is a flowchart which shows the process which determines whether a parking assistance control implementation determination part performs parking assistance. It is an image figure which shows the process which determines whether the present position of the own vehicle has reached the position which starts parking assistance. It is a block diagram which shows the detailed structure of the position calculation part at the time of parking. It is an overhead view which shows the process which calculates the reverse start position which is a position where the own vehicle started reverse toward the parking area. It is a block diagram which shows the detailed structure of a parking area condition detection part. It is a block diagram which shows the detailed structure of a parking information storage part. It is a table | surface which shows the data corresponding to each position in the process which the position storage part at the time of parking memorize | stores a reverse start position and the last stop position. It is a figure which shows an example of the database which a recommended parking area | region detection part uses. It is an overhead view which shows an example of the process in which a recommended parking area detection part detects a recommended parking area. It is a block diagram which shows the detailed structure of the position conversion part at the time of parking. It is an overhead view which shows an example of the process in which a presentation figure production | generation part produces | generates a recommended parking area | region figure and a reverse start conversion position figure. It is an overhead view which shows the process in which a target track | orbit calculation part calculates a target track | orbit. It is a figure which shows the superimposed image in the state which the own vehicle reached the position which starts parking assistance. It is a figure which shows the superimposed image in the state which the own vehicle advanced from the position which starts parking assistance. It is a flowchart of the operation | movement performed using the parking assistance apparatus of 1st embodiment of this invention. In the operation | movement performed using the parking assistance apparatus of 1st embodiment of this invention, it is a figure which shows an example of the evaluation result by the database and driver | operator which a recommended parking area | region detection part uses. In the modification of 1st embodiment of this invention, it is an overhead view which shows the state which produced | generated the U-shaped figure which the vehicle front-back direction front side of the own vehicle opened as a reverse start position figure. In the modification of 1st embodiment of this invention, it is an overhead view which shows the state which performs parking assistance with the turning direction at the time of advance at the time of past parking, and the turning direction at the time of advance detected at the time of the present parking.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
Hereinafter, a first embodiment of the present invention (hereinafter referred to as the present embodiment) will be described with reference to the drawings.

(Constitution)
As shown in FIG. 1, a vehicle V (own vehicle) including the parking assist device 1 includes wheels W (a right front wheel WFR, a left front wheel WFL, a right rear wheel WRR, a left rear wheel WRL), and a surrounding image capturing unit 2. A surrounding obstacle detection unit 4, a wheel speed sensor 6, and a steering angle sensor 8. In addition to this, the vehicle V includes a shift position sensor 10, a parking assistance system activation switch 12, a driver authentication unit 14, a navigation device 16, a steering reaction force motor 18, and a parking assistance controller 20.

The surrounding image capturing unit 2 captures an image including a road surface around the host vehicle MV, and uses each captured image to generate an information signal including individual images corresponding to a plurality of capturing directions (in the following description, “individually” May be described as “image signal”. Then, the generated individual image signal is output to the parking support controller 20.
In the present embodiment, as an example, a case where the surrounding image capturing unit 2 is formed using the front camera 2F, the right side camera 2SR, the left side camera 2SL, and the rear camera 2R will be described. Here, the front camera 2F is a camera that images the front side of the host vehicle MV in the vehicle front-rear direction, and the right side camera 2SR is a camera that images the right side of the host vehicle MV. The left-side camera 2SL is a camera that captures an image of the left side of the host vehicle MV, and the rear camera 2R is a camera that captures the rear side of the host vehicle MV in the vehicle front-rear direction.

  The surrounding obstacle detection unit 4 is formed using, for example, a sonar capable of transmitting and receiving sound waves, and the sound wave transmission and reception directions are arranged toward the periphery of the host vehicle MV. In addition, when the surrounding obstacle detection unit 4 receives a sound wave transmitted toward the periphery of the host vehicle MV and reflected by the obstacle or the like, an information signal including a sound wave transmission time and a reception time (in the following description, “ May be described as “transmission / reception time signal”) to the parking support controller 20. Note that the configuration of the surrounding obstacle detection unit 4 is not limited to sonar, and for example, a millimeter wave radar or the like may be used.

  In the present embodiment, as an example, a case where the surrounding obstacle detection unit 4 is formed using the front sonar 4F, the right side sonar 4SR, the left side sonar 4SL, and the rear sonar 4R will be described. Here, the front sonar 4F is a sonar that transmits and receives sound waves toward the front of the host vehicle MV in the vehicle front-rear direction, and the right side sonar 4SR is a sonar that transmits and receives sound waves toward the right side of the host vehicle MV. The left side sonar 4SL is a sonar that transmits and receives sound waves toward the left side of the host vehicle MV, and the rear sonar 4R is a sonar that transmits and receives sound waves toward the rear of the host vehicle MV in the vehicle front-rear direction.

The wheel speed sensor 6 is formed using, for example, a pulse generator such as a rotary encoder that measures wheel speed pulses.
The wheel speed sensor 6 detects the rotational speed of each wheel W, and an information signal including the detected rotational speed (in the following description, may be referred to as “wheel speed signal”) is used as a parking assistance controller. 20 is output. In FIG. 1, the wheel speed sensor 6 that detects the rotational speed of the right front wheel WFR is denoted by reference numeral “6FR”, and the wheel speed sensor 6 that detects the rotational speed of the left front wheel WFL is denoted by reference numeral “6FL”. Further, the wheel speed sensor 6 for detecting the rotational speed of the right rear wheel WRR is indicated by a reference numeral “6RR”, and the wheel speed sensor 6 for detecting the rotational speed of the left rear wheel WRL is indicated by a reference numeral “6RL”.

For example, the steering angle sensor 8 is provided in a steering column (not shown) that rotatably supports the steering wheel 22.
The steering angle sensor 8 detects a current steering angle that is a current rotation angle (steering operation amount) of the steering wheel 22 that is a steering operator. Then, an information signal including the detected current steering angle (in the following description, may be described as “current steering angle signal”) is output to the parking assistance controller 20. In addition, you may detect the information signal containing the steering angle of a steered wheel as information which shows a steering angle.

The steering operator is not limited to the steering wheel 22 that is rotated by the driver, and may be, for example, a lever that is operated by the driver to tilt by hand. In this case, the lever tilt angle from the neutral position is output as an information signal corresponding to the current steering angle signal.
The shift position sensor 10 detects the current position of a member that changes the shift position (for example, “P”, “D”, “R”, etc.) of the host vehicle MV, such as a shift knob or a shift lever. Then, an information signal including the detected current position (may be described as “shift position signal” in the following description) is output to the parking assist controller 20.

The parking assistance system activation switch 12 is a switch such as a button operated by the driver of the host vehicle MV, and forms an input unit for setting whether or not parking assistance described later is performed during current parking.
In this embodiment, as an example, the configuration of the parking assistance system activation switch 12 is configured such that the setting for performing parking assistance and the setting for not performing parking assistance are switched each time the parking assistance system activation switch 12 is operated.

In addition, when the setting for performing parking assistance and the setting for not performing parking assistance are switched, the parking assistance system activation switch 12 is described as an information signal including the current setting (in the following description, “parking assistance system setting state signal”). May generate). Then, the generated parking assistance system setting state signal is output to the parking assistance controller 20.
The driver authentication unit 14 is formed using, for example, an IC reader that can read the driver ID information stored in an IC (Integrated Circuit) chip built in the driver's license. In this case, for example, the configuration of the host vehicle is configured such that the engine can be started by linking the IC reader and the ignition switch of the engine and reading the driver's ID information with the IC reader. Then, the driver authentication unit 14 outputs an information signal including the driver ID information read by the IC reader (may be described as “driver ID signal” in the following description) to the parking support controller 20. . That is, the driver authentication unit 14 authenticates the driver of the host vehicle, and outputs information unique to the authenticated driver to the parking assistance controller 20.

Note that the configuration of the driver authentication unit 14 is not limited to a configuration including an IC reader. That is, for example, if the configuration of the host vehicle can change the seat position of the driver's seat to a unique position for each driver, the driver's seat position is detected and the driver is identified. May be.
Also, for example, if the configuration of the host vehicle is configured such that the input terminal for inputting the password and the ignition switch are linked, and the engine can be started by inputting a unique password to the driver through the input terminal, the entered password May be used to identify the driver. In this case, a sensor capable of detecting the driver's fingerprint may be used instead of the password input terminal.

The navigation device 16 includes a GPS (Global Positioning System) receiver, a map database, an information presentation device having a display monitor, and the like, and performs route search, route guidance, and the like.
In addition, the navigation device 16 uses the current position of the host vehicle MV acquired using the GPS receiver and the road information stored in the map database, and road information such as the type and width of the road on which the host vehicle MV travels. Is possible to get.

In addition, the navigation device 16 generates an information signal (which may be referred to as “own vehicle position signal” in the following description) including the current position of the own vehicle MV acquired using the GPS receiver, as a parking assistance controller 20. Output to.
The information presenting device outputs a warning or other presenting by voice or image according to a control signal from the parking support controller 20. In addition, the information presentation apparatus includes, for example, a speaker that provides information to the driver by a buzzer sound or voice, and a display unit that provides information by displaying an image or text. Further, the display unit may divert the display monitor of the navigation device 16, for example.

  In the present embodiment, as an example, the display monitor of the navigation device 16 is used as an information presentation device, and the display monitor has a screen that can display images and the like and can be touch-input by the user. The case of forming by using will be described. That is, in this embodiment, the case where the information presentation apparatus with which the navigation apparatus 16 is provided is formed with a touch display (touch panel) as an example.

The steering reaction force motor 18 is a motor that is driven in accordance with the reaction force motor drive current output from the parking assist controller 20. The steering reaction force motor 18 rotates the steering shaft 24 that rotates together with the steering wheel 22, so that the steering reaction force is applied to the steering wheel 22. Output is possible. Here, the steering reaction force output from the steering reaction motor 18 to the steering wheel 22 is a reaction force acting in a direction opposite to the operation direction in which the driver steers the steering wheel 22.
The parking assist controller 20 is an electronic control unit that includes a CPU and CPU peripheral components such as a ROM and a RAM. A specific configuration of the parking support controller 20 will be described later.

(Specific configuration of the parking support controller 20)
Next, a specific configuration of the parking assistance controller 20 will be described with reference to FIG. 1 and FIG. 2.
As shown in FIG. 2, the parking support controller 20 includes an ambient environment recognition information calculation unit 26, a host vehicle speed calculation unit 28, a steering angle calculation unit 30, a shift position calculation unit 32, and an overhead image generation unit 34. And the parking frame detection part 36 is provided. In addition, the parking support controller 20 includes a relative distance detection unit 38, an obstacle detection unit 40, a self-position detection unit 42, a parking support map generation unit 44, a parking support control execution determination unit 46, An hour position calculation unit 48 is provided.

  The parking support controller 20 includes a parking area status detection unit 50, a parking information storage unit 52, a recommended parking area detection unit 54, a parking position conversion unit 56, and a presentation graphic generation unit 58. Further, the parking support controller 20 includes a target trajectory calculation unit 60, a steering reaction force control unit 62, a superimposed image generation unit 64, an image layout setting unit 66, and a recommended parking area evaluation processing unit 68. These functions are configured by one or more programs.

The ambient environment recognition information calculation unit 26 uses an individual image signal received from the ambient image capturing unit 2 and includes an information signal including images captured by all the cameras 2 (hereinafter referred to as “ambient image signal”). Is output to the overhead image generation unit 34.
The ambient environment recognition information calculation unit 26 uses an individual image signal received from the ambient image capturing unit 2 and includes an information signal including an image captured by the rear camera 2R (in the following description, “rear image signal”). Are output to the image layout setting unit 66.

  The own vehicle vehicle speed calculation unit 28 calculates the speed (vehicle speed) of the own vehicle MV from the rotation speed of the wheel W using the wheel speed signal received from the wheel speed sensor 6. Then, an information signal including the calculated speed (which may be described as a “vehicle speed calculated value signal” in the following description) is converted into a parking position calculation unit 48, a parking information storage unit 52, and a recommended parking area evaluation process. To the unit 68 and the steering reaction force control unit 62.

  The steering angle calculation unit 30 calculates the operation amount (rotation angle) from the neutral position of the steering wheel 22 from the current rotation angle of the steering wheel 22 using the current steering angle signal received from the steering angle sensor 8. . Then, an information signal including the calculated operation amount from the neutral position (may be described as “steering angle signal” in the following description) is converted into a parking position calculation unit 48, a parking information storage unit 52, and a steering response signal. Output to the force control unit 62.

The shift position calculation unit 32 uses the shift position signal received from the shift position sensor 10 to determine the current shift position. Then, an information signal including the calculated current shift position (in the following description, may be referred to as “current shift position signal”), a parking position calculation unit 48, a parking information storage unit 52, and a recommended parking area The result is output to the evaluation processing unit 68.
The bird's-eye view image generation unit 34 uses the surrounding image signal received from the surrounding environment recognition information calculation unit 26 and includes an image of the surroundings of the host vehicle MV as seen from above the host vehicle MV, including a figure indicating the host vehicle MV. A bird's-eye view image). Then, an information signal including the formed bird's-eye view image (may be described as “bird's-eye view image signal” in the following description) is sent to the parking frame detection unit 36, the obstacle detection unit 40, and the self-position detection unit 42. And output to the parking support map generating unit 44. In addition, the bird's-eye view image generation unit 34 converts the bird's-eye view image signal into a parking position calculation unit 48, a parking information storage unit 52, a parking region state detection unit 50, a recommended parking region detection unit 54, and a steering reaction force. The data is output to the control unit 62 and the superimposed image generation unit 64.

  Here, the bird's-eye view image is, for example, a host vehicle MV viewed from above the host vehicle MV by combining images captured by the respective cameras (front camera 2F, right side camera 2SR, left side camera 2SL, and rear camera 2R). An image around is formed. In addition to this, a figure indicating the host vehicle MV is superimposed on the center of the image around the host vehicle MV viewed from above the host vehicle MV. That is, the overhead image generation unit 34 generates an overhead image including a figure indicating the host vehicle MV at the center of the image captured by the surrounding image capturing unit 2. Note that the bird's-eye view image is not limited to an image in which a figure representing the host vehicle MV is superimposed on the center of an image around the host vehicle MV viewed from above the host vehicle MV. That is, for example, among the images around the host vehicle MV viewed from above the host vehicle MV, an image in which the area on the rear side in the traveling direction is narrower than the front side in the traveling direction of the host vehicle MV may be used.

  In addition, the figure which shows the own vehicle MV may be the figure which created the design which looked at the own vehicle MV from right above by CG (Computer Graphics), and formed the image which image | photographed the own vehicle MV from right above as data. It may be a figure. The overhead image includes, for example, an image showing a road marking such as a line of a parking frame displayed on the road surface (may be described as “parking frame line” in the following description).

The parking frame detection unit 36 detects a parking frame using the overhead image included in the overhead image signal received from the overhead image generation unit 34. Then, an information signal including the detected parking frame (which may be described as a “parking frame signal” in the following description) is converted into a parking position calculation unit 48, a parking information storage unit 52, and a parking area state detection unit. 50 and output to the recommended parking area detection unit 54.
Here, the detection of the parking frame is performed, for example, by determining whether or not there is a parking frame line or the like within a distance or area (area) set in advance with reference to the host vehicle MV in the overhead view image. Moreover, as a process which recognizes a parking frame line from a bird's-eye view image, various well-known systems, such as edge detection, are used, for example.

  The relative distance detection unit 38 uses the feedback error calculated using the transmission / reception time signal received from the surrounding obstacle detection unit 4, and the distance between the host vehicle MV and the obstacle existing around the host vehicle MV. Is detected over the periphery of the host vehicle MV. Then, an information signal including the detected relative distance and direction (which may be described as “relative distance signal” in the following description) is output to the obstacle detection unit 40 and the steering reaction force control unit 62.

Here, the “feedback error” is a difference between the transmission time and the reception time of the sound wave in the surrounding obstacle detection unit 4, and the distance between the own vehicle MV and the obstacle existing around the own vehicle MV. The value to be reflected.
The obstacle detection unit 40 uses the overhead image included in the overhead image signal received from the overhead image generation unit 34 and the relative distance and direction included in the relative distance signal input from the relative distance detection unit 38. Obstacles present around the vehicle MV are detected over the entire circumference of the host vehicle MV. Then, an information signal including the detected obstacle (in the following description, may be described as “obstacle signal”) is output to the parking position calculation unit 48.

  The own position detection unit 42 receives the input of the own vehicle position signal from the navigation device 16 and receives the input of the overhead view image signal from the overhead view image generation unit 34, and detects the current position (self position) of the own vehicle MV. Then, an information signal including the current position of the host vehicle MV (which may be described as “the host vehicle position signal” in the following description) is sent to the parking support map generation unit 44, the parking support control execution determination unit 46, And output to the target trajectory calculation unit 60.

  The parking support map generation unit 44 includes an overhead image included in the overhead image signal received from the overhead image generation unit 34, a vehicle position signal input from the self-position detection unit 42, and a parking area including the parking area. Generate surrounding maps. Then, an information signal including the generated map (which may be described as a “map signal” in the following description), a parking support control execution determination unit 46, a parking position calculation unit 48, and a parking information storage unit 52. And output to the parking area status detection unit 50 and the target trajectory calculation unit 60.

Further, the map around the parking area includes, for example, a road continuous with the parking area, a building existing in the area including the parking area, and a structure (such as a pillar) adjacent to the parking area.
The parking support control execution determination unit 46 receives the input of the parking support system setting state signal from the parking support system activation switch 12, receives the input of the overhead image signal from the overhead image generation unit 34, and maps from the parking support map generation unit 44. Receives signal input. In addition to this, the position stored in the parking information storage unit 52 is acquired.

  The parking support control execution determination unit 46 uses the current settings included in the various information signals received, the bird's-eye view image, the map around the parking area, and the position stored in the parking information storage unit 52, It is determined whether or not parking assistance is performed. In addition, the process which the parking assistance control implementation determination part 46 determines whether parking assistance is performed is mentioned later. Furthermore, an information signal including a determination result on whether or not to perform parking support (in the following description, may be described as a “parking support determination result signal”) is displayed as a presentation graphic generation unit 58, a target trajectory calculation unit 60, The information is output to the steering reaction force control unit 62, the superimposed image generation unit 64, and the image layout setting unit 66.

  For example, when the parking support control execution determination unit 46 detects that the use state of the seat belt has changed from the wearing state to the non-wearing state, the parking support control execution determining unit 46 determines that the host vehicle MV has approached the parking area and performs parking support. You may judge. Further, for example, when an operation for opening a power window is detected, it may be determined that the host vehicle MV has approached the parking area and parking assistance is to be performed. Further, for example, when an operation for turning on all the direction indicators is detected as the operation of the hazard switch, it may be determined that the host vehicle MV is approaching the parking area and parking assistance is performed.

Further, the parking assist control execution determination unit 46, for example, turns and moves forward in a direction approaching the parking frame with a small change amount of the steering angle, and then turns and moves forward in a direction away from the parking frame with a large change amount of the steering angle. It may be determined that parking assistance is performed when it is detected.
The parking position calculation unit 48 receives a vehicle speed calculation value signal from the own vehicle vehicle speed calculation unit 28, receives a steering angle signal from the steering angle calculation unit 30, and inputs a current shift position signal from the shift position calculation unit 32. Receive. In addition, an overhead image signal is input from the overhead image generation unit 34, a parking frame signal is input from the parking frame detection unit 36, and an own vehicle position signal is input from the navigation device 16.

  And the parking position calculation part 48 calculates the position of the several location which made the own vehicle MV drive | work using the various information signal which received the input. Furthermore, an information signal including the calculated positions of a plurality of locations (in the following description, may be described as “graphic display calculation position signal”) is output to the parking information storage unit 52 and the parking position conversion unit 56. . The detailed configuration of the parking position calculation unit 48 and the process by which the parking position calculation unit 48 calculates a plurality of positions will be described later.

  The parking area situation detection unit 50 receives a vehicle speed calculation value signal from the host vehicle speed calculation unit 28, receives a steering angle signal from the steering angle calculation unit 30, and receives a current shift position signal from the shift position calculation unit 32. Receive. In addition, the navigation device 16 receives an overhead image signal input from the overhead image generation unit 34, receives a parking frame signal input from the parking frame detection unit 36, and receives a map signal input from the parking support map generation unit 44. Receives the input of the vehicle position signal.

  And the parking area condition detection part 50 uses the various information signals which received the input, and at the time of the present parking, the congestion condition of the parking lot which has multiple parking areas, and the multiple parking areas which a parking lot has The parking area (empty parking area) in which parking is possible is detected. In addition to this, the presence / absence of a vehicle present in each parking area of the parking lot and the vehicle type of the vehicle present in each parking area of the parking lot are detected.

  In addition, as an empty parking area, for example, when the vehicle type of the host vehicle MV is a “large vehicle” or “a car excluding a light vehicle and a large vehicle”, a parking region in which a sign dedicated to “light vehicle” is provided. Detect except. Similarly, as an empty parking area, for example, when the host vehicle MV is not a vehicle for a physically handicapped person or the like, it is detected except for a parking area where a sign for a handicapped person is provided.

In addition, the parking area status detection unit 50 generates an information signal including various types of detected information (in the following description, it may be referred to as a “parking area status signal”), a parking information storage unit 52 and a recommended parking area detection. To the unit 54. The detailed configuration of the parking area status detection unit 50 will be described later.
The parking information storage unit 52 receives a vehicle speed calculation value signal from the host vehicle vehicle speed calculation unit 28, receives a steering angle signal input from the steering angle calculation unit 30, and receives a current shift position signal from the shift position calculation unit 32. receive. In addition, an overhead image signal is input from the overhead image generation unit 34, a parking frame signal is input from the parking frame detection unit 36, and a map signal is input from the parking support map generation unit 44. Furthermore, it receives an input of a graphic display calculation position signal from the parking position calculation section 48, receives an input of a parking area status signal from the parking area status detection section 50, and receives an input of the own vehicle position signal from the navigation device 16.

  And the parking information storage part 52 memorize | stores the driving | running | working state of the own vehicle MV at the time of parking using the various information signal which received the input, and the several location which made the own vehicle MV drive at the time of parking. In addition to this, the surroundings of the host vehicle MV parked in the parking area at the time of parking and the entrance / exit of the building displayed in the map around the parking area including the parking area included in the map signal (position of the entrance / exit in the building) Remember. Note that the positions of the plurality of locations where the host vehicle MV is driven during parking are specifically the reverse start position where the host vehicle MV starts moving backward toward the parking area during parking, and within the parking area during parking. This is the final stop position indicating the position where the host vehicle MV finally stopped.

Moreover, the parking information storage part 52 will memorize | store the various data mentioned above, if the input of the accumulation command signal mentioned later is received.
The parking information storage unit 52 uses the driver ID signal received from the driver authentication unit 14 and stores the stored various information in association with the driver who was driving the host vehicle MV during parking. The detailed configuration of the parking information storage unit 52 will be described later.

Moreover, the parking information storage part 52 will erase | eliminate the various memory | storage mentioned above, if the input of the non-accumulation command signal mentioned later is received.
The recommended parking area detection unit 54 receives an input of an overhead image signal from the overhead image generation unit 34, receives an input of a parking frame signal from the parking frame detection unit 36, and receives an input of a map signal from the parking support map generation unit 44. . In addition to this, a parking area status signal is input from the parking area status detection unit 50, and an input of the vehicle position signal is received from the navigation device 16.

  And the recommended parking area detection part 54 is similar to the surrounding condition which the parking information memory | storage part 52 has memorize | stored among the empty parking areas which the parking area condition detection part 50 detected using the various information signal which received the input. The parking area is detected as a recommended parking area. Further, an information signal including the detected recommended parking area (may be described as “recommended parking area signal” in the following description) is output to the parking position conversion unit 56 and the presentation graphic generation unit 58. Detailed processing performed by the recommended parking area detection unit 54 will be described later. In the following description, the recommended parking area may be described as “recommended parking area”.

The parking position converter 56 receives a graphic display calculation position signal from the parking position calculator 48 and receives a recommended parking area signal from the recommended parking area detector 54.
Then, the parking position conversion unit 56 uses the various information signals received, and directs the reverse start position stored in the parking information storage unit 52 toward the parking area detected by the recommended parking area detection unit 54. The vehicle MV is converted to a position where it starts to move backward. Furthermore, an information signal including the converted position (in the following description, it may be described as “backward start conversion position signal”) is output to the presentation graphic generation unit 58. The detailed configuration of the parking position conversion unit 56 will be described later.

  The presentation graphic generation unit 58 generates a reverse start conversion position graphic indicating the reverse start position converted by the parking position conversion unit 56 using the reverse start conversion position signal received from the parking position conversion unit 56. In addition to this, a recommended parking area graphic indicating the recommended parking area is generated using the recommended parking area signal received from the recommended parking area detection unit 54. Then, an information signal including the generated graphic (which may be described as “presented graphic signal” in the following description) is output to the target trajectory calculation unit 60 and the superimposed image generation unit 64. In addition, the process which the presentation figure production | generation part 58 produces | generates a reverse start conversion position figure and a recommended parking area | region figure is mentioned later. In addition, the process in which the presentation graphic generation unit 58 generates the reverse start conversion position graphic and the recommended parking area graphic is determined that the parking support determination result signal received from the parking support control execution determination unit 46 performs parking support. Do this if it includes results.

The target trajectory calculation unit 60 receives a map signal input from the parking support map generation unit 44, receives a presentation graphic signal input from the presentation graphic generation unit 58, and receives an input of the vehicle position signal from the navigation device 16.
Then, the target trajectory calculation unit 60 calculates the position of the reverse start conversion position graphic from the current position of the host vehicle MV based on the position of the reverse start conversion position graphic generated by the presentation graphic generation unit 58 and the current position of the host vehicle MV. The target trajectory that moves up to is calculated. Then, an information signal including the calculated target trajectory (in the following description, sometimes described as “target trajectory signal”) is output to the steering reaction force control unit 62. The process in which the target trajectory calculation unit 60 calculates the target trajectory will be described later. Further, the process of calculating the target trajectory by the target trajectory calculation unit 60 is performed when the parking support determination result signal received from the parking support control execution determination unit 46 includes a determination result that the parking support is performed.

The steering reaction force control unit 62 receives the bird's-eye view image signal from the bird's-eye view image generation unit 34, receives the steering angle signal from the steering angle calculation unit 30, and receives the target track signal input from the target track calculation unit 60.
Then, the steering reaction force control unit 62 uses the various information signals received, and determines the position of the host vehicle MV when the position of the host vehicle MV deviates from the target track included in the target track signal during the current parking. The reaction force motor drive current is calculated so as to return to the target trajectory. Further, an information signal including the calculated reaction force motor drive current is output to the steering reaction force motor 18.

The reaction force motor drive current is a current for driving the steering reaction force motor 18, and the position of the host vehicle MV is determined while the driver is steering the steering wheel 22 in a direction deviating from the target track. This is a current for generating a steering reaction force for returning to the target track.
Therefore, the steering reaction force control unit 62 uses the steering input given to the steering wheel 22 by the driver at the time of the current parking and the deviation amount (deviation distance) from the target track of the own vehicle MV. The steering reaction force for returning the position to the target trajectory is calculated. Furthermore, the reaction force motor drive current is calculated using the calculated steering reaction force and the current (reaction force motor actual current) that is actually energized to the steering reaction force motor 18.

  In addition, at the time of the current parking, whether or not the position of the host vehicle MV deviates from the target trajectory is determined using the overhead image included in the overhead image signal and the target trajectory included in the target trajectory signal. Specifically, when the center position of the figure indicating the host vehicle MV included in the bird's-eye view image is more than a preset distance from the target track included in the target track signal, the position of the host vehicle MV deviates from the target track. Is determined.

  As described above, the steering reaction force control unit 62 performs steering so that the position of the host vehicle MV returns to the target track when the position of the host vehicle MV deviates from the target track calculated by the target track calculation unit 60 at the time of the current parking. The steering reaction force applied to the wheel 22 is controlled. As a result, the steering reaction force control unit 62 controls the steering reaction force so that if the position of the host vehicle MV deviates from the target track during the current parking, the position of the host vehicle MV is prompted to return to the target track. .

The steering reaction force control unit 62 controls the steering reaction force so as to return the position of the host vehicle MV to the target track. The parking support determination result signal received from the parking support control execution determination unit 46 This is performed when the determination result that parking assistance is performed is included.
Further, the steering reaction force control unit 62 receives a relative distance signal from the relative distance detection unit 38 and receives a vehicle speed calculation value signal from the host vehicle vehicle speed calculation unit 28. Whether or not the relative distance between the host vehicle MV and the obstacle is equal to or less than a preset relative limit distance based on the relative distance and direction included in the relative distance signal and the speed of the host vehicle MV included in the vehicle speed calculation value signal. Determine. Further, when the relative distance becomes equal to or less than the limiting relative distance, the steering reaction force applied to the steering wheel 22 is controlled so that the relative distance exceeds the limiting relative distance.

Here, the setting of the relative distance for restriction is changed according to the speed of the host vehicle MV calculated by the host vehicle vehicle speed calculation unit 28, for example. In this case, the higher the speed of the host vehicle MV calculated by the host vehicle speed calculation unit 28, the longer the relative distance for restriction.
The superimposed image generation unit 64 receives an input of an overhead image signal from the overhead image generation unit 34 and receives an input of a presentation graphic signal from the presentation graphic generation unit 58.

Then, the superimposed image generation unit 64 uses the various information signals received, and the backward movement generated by the presentation graphic generation unit 58 on the overhead image generated by the overhead image generation unit 34 during the current parking in the parking area. A superimposed image in which the start conversion position graphic and the recommended parking area graphic are superimposed is generated.
Furthermore, the superimposed image generation unit 64 generates an information signal including the generated superimposed image (may be described as a “superimposed image signal” in the following description) as an image layout setting unit 66 and a recommended parking area evaluation processing unit 68. Output to. The process in which the superimposed image generation unit 64 generates a superimposed image will be described later. Moreover, the process which the superimposition image production | generation part 64 produces | generates a superimposition image is performed when the parking assistance determination result signal received from the parking assistance control execution determination part 46 includes the determination result that parking assistance is performed.

The image layout setting unit 66 receives a rear image signal from the surrounding environment recognition information calculation unit 26 and receives a superimposed image signal from the superimposed image generation unit 64. And the ratio (display ratio) of the magnitude | size displayed on the information presentation apparatus of the image which the back camera 2R which the back image signal contains using the various information signals which received the input, and the superimposition image which a superimposition image signal contains ) Is set.
Furthermore, the image layout setting unit 66 generates an image obtained by combining the image captured by the rear camera 2R and the superimposed image at the set display ratio. In addition to this, an information signal including the generated image (which may be described as “parking output image signal” in the following description) is output to the navigation device 16. The image layout setting unit 66 generates a combined image of the image captured by the rear camera 2R and the superimposed image. The parking support determination result signal received from the parking support control execution determination unit 46 indicates that the parking support determination result signal This is performed when the judgment result that support is provided is included.

  In this embodiment, as an example, a case will be described in which the display ratio set by the image layout setting unit 66 is a display ratio at which an image captured by the rear camera 2R is displayed at a size about twice that of the superimposed image. . That is, in this embodiment, as an example, a case where an image captured by the rear camera 2R is displayed in an area occupying 2/3 of the screen on the display screen of the information presenting apparatus, and a superimposed image is displayed in the remaining area. To do.

In addition, when receiving an input of a recommended parking area evaluation signal described later from the recommended parking area evaluation processing unit 68, the image layout setting unit 66 generates an image in which an image included in the recommended parking area evaluation signal and a superimposed image are combined.
Note that when generating an image that combines the image included in the recommended parking area evaluation signal and the superimposed image, the rear camera 2R captures the image included in the recommended parking area evaluation signal, for example, on the display screen of the information presentation device. An image to be displayed in the area for displaying the processed image is generated.

Further, the image layout setting unit 66 receives a map signal input from the parking assist map generation unit 44, receives a presentation graphic signal input from the presentation graphic generation unit 58, and receives a vehicle position signal input from the navigation device 16. .
When the current position of the host vehicle MV is a position far from the reverse start position of the reverse start conversion position graphic in the parking lot having a plurality of parking areas, and the reverse start conversion position graphic is not displayed in the superimposed image, The superimposed image displayed on the information presenting apparatus is changed.

  Specifically, the display ratio set by the image layout setting unit 66 is set to only the superimposed image without displaying the image captured by the rear camera 2R, and the superimposed image is information on the vehicle front-rear direction of the host vehicle MV. An image in the horizontal direction of the presentation device is displayed. In addition to this, the position of the graphic indicating the host vehicle MV in the superimposed image is displaced from the center, and an image in which the display ratio of the graphic indicating the host vehicle MV in the superimposed image is reduced is displayed. Thereby, the superimposed image in which the reverse start conversion position graphic is displayed in the traveling direction of the graphic indicating the host vehicle MV in the superimposed image is displayed. In this case, the position of the figure indicating the host vehicle MV in the superimposed image is a region on the rear side in the traveling direction from the front side in the traveling direction of the host vehicle MV in the image around the host vehicle MV viewed from above the host vehicle MV. Is a position where becomes narrower.

When the current position of the host vehicle MV is close to the reverse start position of the reverse start conversion position graphic and the reverse start conversion position graphic is displayed in the superimposed image, the graphic display ratio is returned to the above ratio.
When the recommended parking area evaluation processing unit 68 detects the end of parking, the recommended parking area evaluation processing unit 68 generates an image including characters for prompting the driver to evaluate the detection of the recommended parking area by the recommended parking area detection unit 54 and evaluation options. Then, an information signal including an image including characters that prompt the evaluation of the recommended parking area (may be described as “recommended parking area evaluation signal” in the following description) is output to the navigation device 16.

Here, the character that prompts the driver to evaluate the detection of the recommended parking area by the recommended parking area detection unit 54 is, for example, “please evaluate the position of the displayed parking frame”. Further, the evaluation options are, for example, “Good” indicating high evaluation and “Bad” indicating low evaluation.
The end of parking is detected, for example, when the current shift position included in the current shift position signal received from the shift position calculation unit 32 changes from “R” to “P”.

  Further, the recommended parking area evaluation processing unit 68 detects an evaluation performed by the driver of the host vehicle MV with respect to detection of the recommended parking area by the recommended parking area detection unit 54. When “Good” is detected as the driver's evaluation, an information signal including a detection result obtained by the driver's high evaluation (in the following description, may be described as “accumulation command signal”) is used as parking information. The data is output to the storage unit 52. On the other hand, if “Bad” is detected as the driver's evaluation, an information signal including a detection result obtained by the driver performing a low evaluation (in the following description, sometimes described as “non-accumulation command signal”) is parked. The information is output to the information storage unit 52.

  In the present embodiment, as described above, the information presentation device is formed with a touch panel. For this reason, the driver who has visually recognized the character prompting the evaluation of the recommended parking area detected by the recommended parking area detection unit 54 selects an option image displayed on the touch panel by using a finger or the like. It will be. Therefore, the recommended parking area evaluation processing unit 68 detects the coordinates on the touch panel of the option image selected by the driver, detects the evaluation selected by the driver, and generates a non-accumulation command signal.

  As described above, the recommended parking area evaluation processing unit 68 uses the data used by the recommended parking area detection unit 54 for detecting the recommended parking area at the time of the current parking, A process for increasing the importance of data used for detection is performed. Here, the importance that the data used at the time of parking is the data used at the next and subsequent parking is evaluated by the driver of the host vehicle MV with respect to the recommended parking area detected by the recommended parking area detection unit 54. Higher is higher.

(Parking support control execution determination unit 46 determines whether to perform parking support)
With reference to FIGS. 1 and 2, a process for determining whether or not the parking support control execution determination unit 46 performs parking support will be described with reference to FIGS. 3 and 4.

As shown in FIG. 3, when the parking support control execution determination unit 46 starts processing (START), first, in step S <b> 100, processing for determining whether the parking information storage unit 52 stores the reverse start position. ("Restore start position" shown in the figure) is performed.
In Step S100, when it is determined that the parking information storage unit 52 stores the reverse start position (“Yes” shown in the drawing), the process performed by the parking support control execution determination unit 46 proceeds to Step S102.

On the other hand, when it is determined in step S100 that the parking information storage unit 52 does not store the reverse start position ("No" shown in the drawing), the processing performed by the parking support control execution determination unit 46 returns to step S100. To do.
In step S102, a process of determining whether or not the current setting included in the parking assistance system setting state signal is a setting for performing parking assistance ("setting for performing parking assistance" shown in the drawing) is performed.

If it is determined in step S102 that the current setting is a setting for parking assistance ("Yes" shown in the figure), the processing performed by the parking assistance control execution determination unit 46 proceeds to step S104.
On the other hand, if it is determined in step S102 that the current setting is not a setting for parking assistance ("No" shown in the figure), the processing performed by the parking assistance control execution determination unit 46 returns to step S102.

In step S104, a process of determining whether or not the current position of the host vehicle MV has reached a position for starting parking assistance using the overhead view image included in the overhead view image signal and the map around the parking area included in the map signal. ("Parking support start setting position" shown in the figure).
In the present embodiment, as an example, as shown in FIG. 4, if the current position of the host vehicle MV is in a parking lot having a parking area PA, the current position of the host vehicle MV reaches the position where parking assistance is started. A case where it is determined that it is present will be described. In FIG. 4, a parking frame line that separates adjacent parking areas PA is indicated by a symbol “PL”, and other vehicles are indicated by a symbol “OV”.

If it is determined in step S104 that the current position of the host vehicle MV has reached the position for starting parking assistance ("Yes" shown in the figure), the processing performed by the parking assistance control execution determining unit 46 proceeds to step S106. Transition.
On the other hand, if it is determined in step S104 that the current position of the host vehicle MV has not reached the position to start parking assistance ("No" shown in the figure), the processing performed by the parking assistance control execution determining unit 46 is performed in step S104. Return to S104.

In step S106, the parking support device 1 starts parking support for the driver of the host vehicle MV ("parking support start" shown in the figure). In step S106, when parking assistance by the parking assistance device 1 is started, the processing performed by the parking assistance control execution determination unit 46 proceeds to step S108.
In step S108, a process of determining whether or not the parking support started in step S106 has been completed ("parking support completed" shown in the figure) is performed.

If it is determined in step S108 that the parking support started in step S106 has been completed ("Yes" shown in the figure), the process performed by the parking support control execution determination unit 46 is ended (END).
On the other hand, if it is determined in step S108 that the parking support started in step S106 has not been completed ("No" shown in the figure), the processing performed by the parking support control execution determination unit 46 returns to step S108.

(Detailed configuration of the parking position calculation unit 48 and a process in which the parking position calculation unit 48 calculates a plurality of positions)
A detailed configuration of the parking position calculation unit 48 and a process in which the parking position calculation unit 48 calculates a plurality of positions will be described with reference to FIGS. 1 to 4.
As shown in FIG. 5, the parking position calculation unit 48 includes a reverse start position calculation unit 70 and a final stop position calculation unit 72.

The reverse start position calculation unit 70, for example, indicates the position where the host vehicle MV exists when at least A1 is satisfied among the following conditions A1 to A4, as shown in FIG. Is calculated as the reverse start position PS, which is the position where the reverse movement is started.
A1. The current position of the host vehicle MV traveling on the road continuous with the parking area PA passes through the parking area PA from the position where parking assistance starts, and stops.
A2. A straight line extending in the vehicle front-rear direction of the host vehicle MV is inclined with respect to the parking frame line forming the parking area PA at the stop position A1. Alternatively, a line (for example, a center line, a vehicle traffic division line, a stop line) in which a straight line extending in the vehicle front-rear direction of the host vehicle MV is marked on the road surface continuous with the parking area PA, a roadway and a sidewalk It is inclined with respect to the boundary line.
A3. At the stop position of A1, the current steering angle is a neutral angle or a substantially neutral angle (for example, an angle including a play amount of the steering wheel 22).
A4. The shift position is changed from the forward travel position (for example, “D”, “1”, “2”, etc.) to the reverse travel position (“R”).

  The establishment of the condition A1 is determined using, for example, information included in the vehicle speed calculation value signal, the overhead image signal, and the vehicle position signal. In addition, the establishment of the condition A2 is determined using, for example, information included in the overhead image signal and the parking frame signal. In addition, the establishment of the condition A3 is determined using, for example, information included in the steering angle signal. Further, the establishment of the condition A4 is determined using information included in the current shift position signal, for example.

For example, the final stop position calculation unit 72 finally determines the position where the host vehicle MV exists when at least B1 is satisfied among the following conditions B1 to B3 in the parking area PA as shown in FIG. Is calculated as the final stop position PE indicating the position where the host vehicle MV is stopped.
B1. The entire host vehicle MV is accommodated in the parking area PA and stops.
B2. At the stop position of B1, the current steering angle is a neutral angle or a substantially neutral angle (for example, an angle including a play amount of the steering wheel 22).
B3. The shift position is changed from the reverse travel position (“R”) to the parking / stop position (“P”).

The establishment of the condition B1 is determined using information included in the vehicle speed calculation value signal, the overhead image signal, and the vehicle position signal, for example. The establishment of the condition B2 is determined using information included in the steering angle signal, for example. In addition, the establishment of the condition B3 is determined using, for example, information included in the current shift position signal.
Moreover, when calculating the final stop position PE, in addition to at least B1 among the conditions B1 to B3 described above, the distance from the parking frame line PL on both sides in the vehicle width direction of the host vehicle MV is equal distance or Conditions that are approximately equidistant may be used.

As described above, the parking position calculation unit 48 extracts the positions of the host vehicle MV at a plurality of locations during parking from the image captured by the surrounding image capturing unit 2. Then, the reverse start position PS and the final stop position PE are stored in the parking information storage unit 52.
Further, the parking position calculation unit 48 causes the parking information storage unit 52 to store the reverse start position PS and the final stop position PE as positions of a plurality of locations where the host vehicle MV has traveled during parking in the parking area PA.

In addition, the parking position calculation unit 48 detects the above-described conditions A3 and B2 when the host vehicle MV is traveling backward when calculating the reverse start position PS and the final stop position PE.
That is, when calculating the reverse start position PS and the final stop position PE, the parking position calculation unit 48 detects the establishment of a condition that does not require a turn-back operation when the host vehicle MV is traveling backward.

(Detailed configuration of parking area status detection unit 50)
A detailed configuration of the parking area status detection unit 50 will be described with reference to FIGS. 1 to 6 and FIG.
As shown in FIG. 7, the parking area status detection unit 50 includes a congestion status detection unit 74, an empty parking area detection unit 76, an adjacent vehicle detection unit 78, and an adjacent vehicle type detection unit 80.

  For example, the congestion state detection unit 74 detects the number of other vehicles OV present in the parking lot from an image captured by the surrounding image imaging unit 2 while the host vehicle MV travels in the parking lot. And the congestion condition of a parking lot is detected from the detected number of other vehicles OV. In the present embodiment, as an example, if the number of other vehicles OV present in the parking lot is 10 or more, it is determined that the parking lot is congested, and the number of other vehicles OV present in the parking lot is 10. A case where it is determined that the parking lot is not congested (vacant) when it is less than the table will be described. The other vehicles OV present in the parking lot include other vehicles OV that are stopped and other vehicles OV that are running. Moreover, the congestion situation of a parking lot is, for example, when the configuration of the parking lot includes a facility for managing the number of parking lots (for example, a facility for detecting the number of entering and leaving the parking lot). The information may be detected using information received from the facility that manages the number of parked vehicles.

  The empty parking area detection unit 76 exists, for example, in the forward direction of the own vehicle MV among a plurality of parking areas in the parking lot from an image captured by the surrounding image capturing unit 2 when the own vehicle MV travels in the parking lot. It is detected whether or not another vehicle OV exists in the empty parking area to be performed. Then, at least one parking area where no other vehicle OV exists is detected as an empty parking area where parking is possible. That is, the empty parking area detection unit 76 detects an empty parking area that exists in the forward direction of the host vehicle MV during current parking.

  In addition, the empty parking area, for example, when the configuration of the parking lot is configured to include facilities capable of detecting the presence or absence of a parked vehicle in all the parking areas, receives an input from the facility capable of detecting the presence or absence of a parked vehicle. You may detect using information. The equipment that can detect the presence or absence of a parked vehicle is, for example, the operation state of a plate-like member that can regulate the motion of the parked vehicle in a raised state and that can be moved up and down embedded in the ground of the parking area. It is equipment to do.

  The adjacent vehicle detection unit 78 is, for example, a parking area adjacent to the empty parking area detected by the empty parking area detection unit 76 from the image captured by the surrounding image imaging unit 2 in a state where the host vehicle MV has moved to the final stop position PE. The other vehicle OV present in is detected. And it detects that the other vehicle OV exists in the parking area adjacent to the empty parking area detected by the empty parking area detection unit 76, and the parking area adjacent to the empty parking area detected by the empty parking area detection unit 76. On the other hand, the presence / absence of a stopped other vehicle OV is detected.

  The adjacent vehicle type detection unit 80 is, for example, a parking area adjacent to the empty parking area detected by the empty parking area detection unit 76 from the image captured by the surrounding image imaging unit 2 in a state where the host vehicle MV has moved to the final stop position PE. The vehicle size such as the full length and the full width of the other vehicle OV existing in the vehicle is detected. Further, for example, the other vehicle OV exists in the parking area adjacent to the parking area in which the own vehicle MV has moved to the final stop position PE from the image captured by the surrounding image capturing unit 2 while traveling in the parking lot. The type of license plate is detected.

  And the vehicle type of the other vehicle OV which stops in the adjacent parking area is detected from the vehicle type of the other vehicle OV existing in the adjacent parking area and the type of the license plate. In the present embodiment, as an example, a case will be described in which the types of other vehicles OV are three types of “large vehicle”, “automobile excluding light vehicles and large vehicles”, and “light vehicles”. That is, the adjacent vehicle type detection unit 80 detects the vehicle type of the other vehicle OV present in the parking area adjacent to the empty parking area detected by the empty parking area detection unit 76.

(Detailed configuration of parking information storage unit 52)
A detailed configuration of the parking information storage unit 52 will be described with reference to FIGS. 1 to 7 and FIGS. 8 and 9.
As shown in FIG. 8, the parking information storage unit 52 includes a parking position storage unit 82, a parking action storage unit 84, a parking surrounding situation storage unit 86, and a building entrance storage unit 88.
The parking position storage unit 82 stores data corresponding to the reverse start position PS and the final stop position PE included in the graphic display calculation position signal received from the parking position calculation unit 48. Specifically, as data corresponding to the reverse start position PS and the final stop position PE, as shown in FIG. 9, the X coordinate, the Y coordinate, and the inclination angle θ of the reverse start position PS and the final stop position PE are stored. To do.

  In the present embodiment, as an example, the parking position storage unit 82 stores the reverse start position PS and the final stop position PE at the time of parking using an image captured by the surrounding image capturing unit 2 during past parking. The case will be described. That is, in the present embodiment, as an example, a case will be described in which the parking position storage unit 82 stores the reverse start position PS as the position at which the host vehicle MV started reverse toward the parking area during past parking. In this case, for example, the reverse start position PS and the final stop position PE calculated by the parking position calculation unit 48 are stored in association with the image captured by the surrounding image capturing unit 2.

  The X coordinate is a coordinate in the X direction in the bird's-eye view with the preset position of the center point of the host vehicle MV. In the present embodiment, a case where the center point of the parking area PA is set as the reference point of the X coordinate will be described. Moreover, this embodiment demonstrates the case where the direction orthogonal to the straight line extended in the depth direction from the entrance of parking area PA is set as a X direction.

  The Y coordinate is a coordinate in the Y direction in the bird's-eye view with the preset position of the center point of the host vehicle MV. In the present embodiment, a case where the center point of the parking area PA is set as the reference point of the Y coordinate as in the reference point of the X coordinate will be described. Moreover, this embodiment demonstrates the case where the extending direction of the straight line extended in the depth direction from the entrance of parking area PA is set as a Y direction.

  The inclination angle θ is an inclination angle in an overhead view of a straight line extending in the vehicle front-rear direction from the center point of the host vehicle MV with respect to a straight line extending in the depth direction from the entrance of the parking area PA. In this embodiment, as a straight line extending in the depth direction from the entrance of the parking area PA, a straight line extending through the center of the parking area PA and extending in the depth direction from the entrance of the parking area PA is set. explain.

As a result, the final stop position PE is all “0” in the X coordinate, the Y coordinate, and the inclination angle θ.
That is, the parking position storage unit 82 uses the coordinates of the host vehicle MV, and the angle between the straight line extending in the vehicle longitudinal direction of the host vehicle MV and the straight line extending in the depth direction from the entrance of the parking area PA. The reverse start position PS and the final stop position PE are stored. Accordingly, the parking position storage unit 82 starts to reverse the coordinates of the coordinates of the host vehicle MV, the straight line extending in the vehicle front-rear direction of the host vehicle MV, and the straight line extending in the depth direction from the entrance of the parking area PA. The position PS and the final stop position PE are stored.

  In the process in which the parking position storage unit 82 stores the reverse start position PS and the final stop position PE, a process of always storing only the latest position (the position stored at the latest parking) may be performed. Further, a position that has been stored and corrected by the latest position may be stored. Furthermore, the position which becomes an average value may be stored by using all the positions already stored and the latest position.

  Here, in the case of storing the updated position by correcting the already stored position with the latest position, the intermediate position between the already stored position and the latest position is calculated, and this calculated intermediate position is calculated. Is stored as the updated position. This is because, for example, when the X coordinate of the reverse start position PS that is already stored is different from the X coordinate of the reverse start position PS that is stored at the time of the latest parking, the X coordinate of the intermediate point between the two is calculated, The X coordinate of the position is stored as the updated X coordinate of the reverse start position PS.

In the present embodiment, as an example of processing in which the parking position storage unit 82 stores the reverse start position PS and the final stop position PE, the already stored position is corrected and updated with the position stored at the latest parking. A case where the process for storing the position is described will be described.
In the present embodiment, as an example, when the parking position storage unit 82 receives an input of a non-accumulation command signal from the recommended parking area evaluation processing unit 68, the reverse start position PS and the final stop position stored at the latest parking time. A case of erasing PE data will be described.

  The parking action storage unit 84 uses the steering angle signal, the current shift position signal, the overhead image signal, the graphic display calculation position signal, and the vehicle position signal described above. Then, as the travel state of the host vehicle MV at the time of parking, the travel locus from the reverse start position PS to the final stop position PE (travel trajectory in the reverse travel while turning) and the reverse travel position PS to the final stop position PE The turning direction in reverse running is stored. That is, the parking action storage unit 84 stores the turning direction during reverse as the traveling state of the host vehicle MV during parking.

  The surrounding situation storage unit 86 at the time of parking, as the situation around the own vehicle MV that has moved to the final stop position PE at the time of parking and the presence or absence of other vehicles OV stopped in the adjacent parking area, and the adjacent parking area The vehicle type of the other vehicle OV that is stopped is stored. In addition to this, the congestion situation of the parking lot at the time of parking is stored. That is, the parking surrounding state storage unit 86 stores the presence of the other vehicle OV in the parking region adjacent to the parking region where the own vehicle MV is parked as the surrounding state of the own vehicle MV parked in the parking region. In addition to this, the parking surrounding state storage unit 86 stores the vehicle type of the other vehicle OV existing in the parking area adjacent to the parking area where the host vehicle MV is parked.

In the present embodiment, as an example, a description will be given of a case where the configuration of the parking surrounding state storage unit 86 is configured to store the surrounding state at the time of past parking of the host vehicle MV parked in the parking area.
Here, the presence / absence of another vehicle OV parked in the adjacent parking area, the vehicle type of the other vehicle OV parked in the adjacent parking area, and the congestion status of the parking lot at the time of parking are obtained from the parking area status detection unit 50. It memorize | stores using the parking area condition signal which received the input.

  The building entrance / exit storage unit 88 designates the entrance / exit of a building (for example, a store) by a driver or other occupant of the own vehicle MV in a state where a map around the parking area including the parking area is displayed on the information display device. When the operation to be performed is detected, the designated entrance / exit is acquired and stored. The map around the parking area including the parking area is displayed on the information presenting apparatus using the map signal received from the parking support map generating unit 44.

  Moreover, the object which the building entrance memory | storage part 88 memorize | stores the entrance and exit of a building is a building relevant to the parking lot which has a parking area. A building related to a parking lot is, for example, a building with a parking lot dedicated to the building, a building with a parking lot on the same site, a road, etc. It is a building with a parking lot. That is, the building entrance / exit storage unit 88 stores a building entrance / exit associated with a parking lot having a parking area.

Here, the map around the parking area including the parking area is displayed on the information presenting apparatus in a state where the host vehicle MV is moved to the final stop position PE during parking, for example. The operation of designating the entrance / exit by the occupant of the host vehicle MV is performed, for example, at the time of setting the destination using the navigation device 16, the time point after the host vehicle MV enters the parking lot, or the host vehicle MV is parked. It is detected at the time after driving in the hall.
In the present embodiment, as described above, the information presentation device is formed with a touch panel. For this reason, the designation of the entrance / exit described above is performed by detecting the coordinates on the touch panel at the position where the driver touches.

(Detailed processing performed by the recommended parking area detection unit 54)
Detailed processing performed by the recommended parking area detection unit 54 will be described with reference to FIGS. 1 to 9 and FIGS. 10 and 11.
The recommended parking area detection unit 54 detects, as a recommended parking area, a parking area similar to the surrounding situation stored in the parking information storage unit 52 among the empty parking areas detected by the parking area situation detection unit 50. Then, the following two types of processing are selectively performed.

First, the first process (first process) will be described.
In the first process, the recommended parking area detection unit 54 refers to the parking lot congestion state detected by the congestion state detection unit 74 and the building entrance / exit stored in the building entrance / exit storage unit 88.
The recommended parking area detection unit 54 refers to the turning direction stored in the parking action storage unit 84 and acquires the turning direction when the host vehicle MV is moved backward to the parking area PA during parking.
In addition, the recommended parking area detection unit 54 refers to the situation around the host vehicle MV stored in the parking surrounding condition storage unit 86 and the other vehicle OV stopped in the adjacent parking area at the time of parking. Get presence / absence.

Here, the “adjacent parking area” is “a parking area adjacent to the parking area PA moved backward while turning the host vehicle MV”.
The turning direction when the host vehicle MV is moved backward to the parking area PA during parking is left turn or right turn.

Moreover, there are the following situations C1 to C4 as the presence / absence of other vehicles OV that are parked in the adjacent parking area.
C1. Situation where other vehicle OV is parked in the adjacent parking area C2. Situation where other vehicle OV stops only in the parking area on the left side C3. Situation where other vehicle OV stops only in the parking area on the right side C4. The situation where the other vehicle OV is not parked in the adjacent parking area Further, the recommended parking area detection unit 54 refers to the empty parking area detected by the empty parking area detection unit 76, and the current position of the own vehicle MV and the own vehicle MV The traveling direction is reflected in the map around the parking area.

In addition to this, the distance between the above-mentioned reference entrance and exit of the building included in the map around the parking area and the empty parking area existing in the traveling direction of the host vehicle MV is calculated. Here, the distance between the entrance / exit of the building and the empty parking area may be the straightest shortest distance or the shortest distance along the road in the parking lot.
And the adjacent vehicle detection part 78 detects the presence or absence of the other vehicle OV which has stopped with respect to the parking area adjacent to the empty parking area which the empty parking area detection part 76 detected. Furthermore, the process which determines whether the condition of the presence or absence of the detected other vehicle OV is the same as the situation which the surrounding condition memory | storage part 86 at the time of parking among the situations C1-C4 mentioned above is performed.

Next, with respect to the parking area that is determined to be the same as the situation stored in the parking ambient condition storage unit 86, the parking area that moves backward in the turning direction stored in the parking action storage unit 84 and enters. It is determined whether or not there is.
And the situation of the presence or absence of the other vehicle OV is the same as the situation stored in the parking surroundings situation storage unit 86, and further, the vehicle moves backward in the turning direction stored in the parking action storage unit 84 and enters. Detect empty parking area.

Furthermore, from the detected empty parking area, the recommended parking area is a parking area whose distance from the entrance / exit acquired by the building entrance / exit storage unit 88 is shorter as the parking area where the congestion situation detecting unit 74 detects the congestion situation becomes empty. Detect as.
In other words, in the first process, the presence of the other vehicle OV detected by the adjacent vehicle detection unit 78 in the empty parking region detected by the empty parking region detection unit 76 and the surrounding situation storage unit 86 during parking are stored. A parking area where the presence of the other vehicle OV is the same is detected as a recommended parking area. In the first process, among the empty parking areas detected by the empty parking area detection unit 76, a parking area that moves backward in the turning direction stored in the parking action storage unit 86 and enters the recommended parking area. To detect. Furthermore, in the first process, the distance from the entrance / exit acquired by the building entrance / exit storage unit 88 in the empty parking area detected by the empty parking area detection unit 76 increases as the parking lot where the congestion state is detected becomes empty. A short parking area is detected as a recommended parking area.

Next, the second process (second process) will be described.
In the second process, the recommended parking area detection unit 54 refers to the congestion status of the parking lot detected by the congestion status detection unit 74 and the building entrance / exit stored in the building entrance / exit storage unit 88.
The recommended parking area detection unit 54 refers to the turning direction stored in the parking action storage unit 84 and acquires the turning direction when the host vehicle MV is moved backward to the parking area PA during parking.

In addition, the recommended parking area detection unit 54 refers to the situation around the host vehicle MV stored in the parking surrounding condition storage unit 86 and the other vehicle OV stopped in the adjacent parking area at the time of parking. Presence / absence and the type of other vehicle OV stopped in the adjacent parking area are acquired.
Further, the recommended parking area detection unit 54 refers to the empty parking area detected by the empty parking area detection unit 76 and reflects the current position of the host vehicle MV and the traveling direction of the host vehicle MV in a map around the parking area.

In addition to this, the distance between the above-mentioned reference entrance and exit of the building included in the map around the parking area and the empty parking area existing in the traveling direction of the host vehicle MV is calculated.
And the recommended parking area detection part 54 is the congestion condition of the parking lot mentioned above, the presence or absence of the other vehicle OV parked in the adjacent parking area, the vehicle type of the other vehicle OV parked in the adjacent parking area, and the building The distance between the doorway and the empty parking area and the turning direction are checked against a preset database.

In the above database, as shown in FIG. 10, in various situations shown in the “evaluation function” column, the classification that facilitates the driving operation at the time of parking is set to a low score.
That is, in the above database, as shown in FIG. 10, when the parking lot congestion status (indicated as “congestion status” in the figure) is determined as parking lot congestion, “5 points”. And the case where it is determined that the parking lot is vacant is set to “1 point”. In addition, the congestion situation of a parking lot is related also to the time which waits the vehicle following the own vehicle MV.

  Further, in the above database, as shown in FIG. 10, the presence / absence of another vehicle OV stopped in the adjacent parking area (indicated as “presence / absence of adjacent vehicle” in the figure) In other words, the case where only one frame is open is set to “5 points”. Further, in the case of the above-described situations C2 and C3, that is, the case where two continuous frames are open, “3 points” is set, and in the case of the above-described situation C4, that is, the case where three continuous frames are open. Set to “1 point”.

  Furthermore, in the above database, as shown in FIG. 10, the type of the other vehicle OV stopped in the adjacent parking area (shown as “adjacent vehicle type” in the figure) is a large vehicle (in the figure, , “Large” is set to “5 points”. Also, if the car is a car excluding a light vehicle and a large vehicle (in the figure, “Excludes large and light vehicles”), set it to “3 points”, and if it is a light vehicle, set it to “1 point”. To do.

  In the above database, as shown in FIG. 10, the distance between the building entrance and the empty parking area (shown as “distance from the building entrance” in the figure) is a preset reference distance. If it is less than (shown as “near” in the figure), “1 point” is set. Further, the case where the distance between the entrance and exit of the building and the empty parking area is equal to or greater than the reference distance (indicated as “far” in the drawing) is set to “5 points”. The reference distance is appropriately set according to the size of the parking lot, the number of parking frames, and the like.

  Further, in the above database, as shown in FIG. 10, the number of turning directions (left turn, right turn) when the host vehicle MV is retracted during parking (in the figure, “frequency of turn direction”). Is calculated). Then, the parking area that moves by turning in a small direction (indicated as “low frequency” in the figure) is set to “5 points”, and the parking area that moves by turning in a large direction (in the figure, “ "High frequency") is set to "1 point". For example, in the case of a driver who frequently turns left as a turning direction when the host vehicle MV is moved backward during parking, the parking area where the host vehicle MV is moved backward by turning right is the above-mentioned “low” Corresponds to “frequency”.

Then, the recommended parking area detection unit 54 compares the above-described various (five types) data with the database, and calculates the total score for each empty parking area existing in the traveling direction of the host vehicle MV. Furthermore, the calculated total score is compared with a preset reference point, and a parking area that is equal to or lower than the reference point is detected as a recommended parking area among the empty parking areas existing in the traveling direction of the host vehicle MV.
Therefore, the recommended parking area detection unit 54 is, for example, as shown in FIG. 11, a parking area that can be moved backward while turning left or turning right from the empty parking area detected by the empty parking area detection unit 76. Among them, a parking area that matches any of the situations C1 to C4 is detected. Then, a parking area having the same turning direction and situation is detected as a recommended parking area.

  FIG. 11 shows an empty parking area in which the host vehicle MV can be moved backward while turning left. In FIG. 11, the parking area that matches the situation C1 among the empty parking areas that can be moved by turning the host vehicle MV while turning left is indicated as “PA1”, and the parking area that matches the situation C2 is indicated as “PA1”. Shown as “PA1”. Similarly, among the empty parking areas that can be moved by turning the host vehicle MV while turning left, the parking area that matches the situation C3 is indicated as “PA3”, and the parking area that matches the situation C4 is indicated as “PA4”. .

  As described above, in the second process, the recommended parking area detection unit 54 increases the priority to be detected as the recommended parking area as the parking area with fewer other vehicles OV detected by the adjacent vehicle detection unit 78 is present. Further, in the second process, the recommended parking area detection unit 54 increases the priority to be detected as the recommended parking area in the parking area in which the adjacent vehicle type detection unit 80 detects a vehicle type in which at least one of the full length and the entire width is small.

  Furthermore, in the second process, the priority that the recommended parking area detection unit 54 detects as a recommended parking area for a parking area that moves backward in the turning direction and that is stored in the parking action storage unit 84 is larger. Raise. In the second process, the recommended parking area detection unit 54 increases the priority to be detected as the recommended parking area as the parking area has a shorter distance from the entrance / exit acquired by the building entrance / exit storage unit 88.

(Detailed configuration of the parking position conversion unit 56)
A detailed configuration of the parking position conversion unit 56 will be described with reference to FIGS. 1 to 11 and FIG. 12.
As shown in FIG. 12, the parking position conversion unit 56 includes a final stop position conversion unit 90 and a reverse start position conversion unit 92.
The final stop position conversion unit 90 calculates the recommended parking area (PA1 to PA1) detected by the recommended parking area detection unit 54 based on the final stop position PE calculated by the final stop position calculation unit 72 and stored in the parking position storage unit 82. In any one of PA4), the vehicle MV is finally converted to a position where it is stopped.

  The reverse start position conversion unit 92 calculates the reverse start position PS calculated by the reverse start position calculation unit 70 and stored in the parking position storage unit 82 toward the position converted by the final stop position conversion unit 90. The MV is converted into a position where it starts to move backward. In this process, for example, first, the relative position between the final stop position PE calculated by the final stop position calculation unit 72 and the reverse start position PS calculated by the reverse start position calculation unit 70 is calculated. Then, the position where the host vehicle MV is finally stopped in the recommended parking area detected by the recommended parking area detecting unit 54 is replaced with the final stopping position PE, and the reverse start position PS calculated by the reverse start position calculating unit 70 is used. This is done by converting. That is, the reverse start position conversion unit 92 starts the reverse of the host vehicle MV toward the recommended parking area detected by the recommended parking area detection unit 54 from the reverse start position PS stored in the parking position storage unit 82. Convert to position.

(Process in which the presentation graphic generation unit 58 generates the reverse start conversion position graphic and the recommended parking area graphic)
With reference to FIGS. 1 to 12, a process in which the presentation graphic generation unit 58 generates the reverse start conversion position graphic and the recommended parking area graphic will be described with reference to FIG.
As illustrated in FIG. 13, the presentation graphic generation unit 58 generates a graphic indicating the position where the final stop position conversion unit 90 has converted the final stop position PE as a recommended parking area graphic DE. In addition, the figure which shows the position which the position conversion part 56 at the time of parking converted reverse start position PS is produced | generated as reverse start conversion position figure DS.
In addition, the presentation graphic generation unit 58 displays the reverse start conversion position graphic DS and the recommended parking area graphic DE so as to maintain the relative positional relationship between the reverse start conversion position graphic DS and the recommended parking area where the final stop position PE is set. Generate.

The recommended parking area graphic DE is generated as a quadrangle having the same size as the full length and full width of the host vehicle MV present at the final stop position PE converted by the final stop position conversion unit 90.
In FIG. 13, the recommended parking area graphic DE set in the parking area PA1 is indicated by a symbol “DE1”, and the recommended parking area graphic DE set in the parking area PA2 is indicated by a code “DE2”. Furthermore, the recommended parking area graphic DE set in the parking area PA3 is indicated by a reference “DE3”, and the recommended parking area graphic DE set in the parking area PA4 is indicated by a reference “DE4”.

  The reverse start conversion position graphic DS is generated as a quadrangle that is larger than the full length and full width of the host vehicle MV present at the reverse start position PS converted by the parking position conversion unit 56. Specifically, the front length in the vehicle front-rear direction is longer than the rectangle having the same size as the full length and the full width of the host vehicle MV present at the reverse start position PS converted by the parking position conversion unit 56, and It is generated as a trapezoid whose length to the right in the vehicle width direction becomes longer as it goes forward in the vehicle front-rear direction. This is because when the host vehicle MV is moved backward from the reverse start position PS to the final stop position PE, there is a margin even if the position of the host vehicle MV deviates from a position overlapping the reverse start position PS. Because it is big. Here, the allowance is an allowance for moving the host vehicle MV to the final stop position PE by correction by steering during reverse.

Note that a portion of the reverse start position graphic DS larger than the rectangle having the same length as the full length and the full width of the host vehicle MV existing at the reverse start position PS is, for example, a history in which the reverse start position PS is stored a plurality of times. Is used to form a shape that includes variations in position included in the history.
In FIG. 13, the reverse start position graphic DS toward the recommended parking area graphic DE1 is indicated by a symbol “DS1”, and the reverse start position graphic DS toward the recommended parking area graphic DE2 is indicated by a code “DS2”. Show. Further, the reverse start position graphic DS toward the recommended parking area graphic DE3 is indicated by a symbol “DS3”, and the reverse start position graphic DS toward the recommended parking area graphic DE4 is indicated by a code “DS4”.

  As described above, the reverse start position graphic DS generated by the presentation graphic generation unit 58 is a square having a size corresponding to the entire length and the entire width of the host vehicle MV in the overhead view image. Further, the reverse start position graphic DS generated by the presented graphic generation unit 58 is a quadrangle larger than the quadrangle having the same size as the full length and the full width of the host vehicle MV in the overhead view image. Furthermore, in the present embodiment, a rectangle that is larger than the square having the same size as the full length and the full width of the host vehicle MV in the overhead image is set to be a vehicle that is larger than the square having the same size as the full length and the full width of the own vehicle MV in the overhead image. A trapezoid with a long front side in the front-rear direction.

(Process in which the target trajectory calculation unit 60 calculates the target trajectory)
A process in which the target trajectory calculation unit 60 calculates the target trajectory will be described with reference to FIGS. 1 to 13 and FIG.
As shown in FIG. 14, the target trajectory calculation unit 60 calculates the target trajectory of the host vehicle MV at the time of the current parking from the position where the current parking assistance is started and the reverse start position PS.
Specifically, a line in which the position where parking assistance is started and the reverse start position PS is continued is calculated as the center line CL of the target trajectory. Further, a margin is set from the calculated center line CL of the target track to both sides in the vehicle width direction of the host vehicle MV, and a region including the set margin is calculated as the target track.

Here, the allowance to be set from the center line CL of the target track to both sides in the vehicle width direction of the host vehicle MV is, for example, that the host vehicle MV is driven by the unevenness of the road surface even when the steering angle is maintained. The change width is such that it is displaced in the width direction.
In the present embodiment, as an example, as shown in FIG. 14, the center line CL of the target trajectory is continuous with the intermediate point CP1 at the position where parking assistance is started and the intermediate point CP2 at the reverse start position PS. The case where the line is used will be described.

(Processing in which the superimposed image generating unit 64 generates a superimposed image, processing for setting the display ratio set by the image layout setting unit 66)
With reference to FIGS. 1 to 14, a process for generating a superimposed image and a process for setting a display ratio set by the image layout setting unit 66 will be described with reference to FIGS. 15 and 16. .

  When the host vehicle MV reaches a position where parking assistance is started, the superimposed image generation unit 64 superimposes the backward start conversion position graphic DS and the recommended parking area graphic DE generated by the presentation graphic generation unit 58 on the overhead image. Generate an image. That is, the superimposed image generation unit 64 displays a superimposed image in which the backward start conversion position graphic DS generated by the presentation graphic generation unit 58 is superimposed on the overhead image during current parking.

Further, the superimposed image generation unit 64 generates the reverse start conversion position graphic DS and the recommended parking area graphic DE so as to maintain the relative positional relationship between the reverse start conversion position graphic DS and the recommended parking area graphic DE in the superimposed image. To do.
That is, the superimposed image generation unit 64 generates a superimposed image in which the reverse start position graphic DS is superimposed on the overhead image so as to maintain the relative positional relationship between the reverse start position graphic DS and the recommended parking area.

Here, since the bird's-eye view image is an image around the host vehicle MV, the surroundings of the host vehicle MV included in the bird's-eye view image included in the reverse start conversion position figure DS and the recommended parking area figure DE generated by the presentation figure generating unit 58 are displayed. The figure in the farther range is not superimposed on the superimposed image.
Therefore, the display ratio set by the image layout setting unit 66 is set to only the superimposed image without displaying the image captured by the rear camera 2R, and the superimposed image is the vehicle front-rear direction of the host vehicle MV. Displays a horizontal image. As a result, as shown in FIG. 15, the current position of the host vehicle MV, the reverse start conversion position graphic DS, and the recommended parking area graphic DE are displayed on the information presentation device provided in the navigation device 16. In the example shown in FIG. 15, the recommended parking area detection unit 54 moves from the empty parking area detected by the empty parking area detection unit 76 while moving the host vehicle MV backward while moving backward. The case where the parking area PA4 that matches the situation C4 is detected as the recommended parking area is shown. Therefore, in the example shown in FIG. 15, the reverse start conversion position graphic DS4 is displayed as the reverse start conversion position graphic DS, and the recommended parking area graphic DE4 is displayed as the recommended parking area graphic DE.

In addition, when the figure of the range far from the circumference | surroundings of the own vehicle MV which the bird's-eye view image contains is not superimposed on a superimposition image, without changing a display ratio and a superimposition image mentioned above, it does in the advancing direction of the own vehicle MV by voice guidance. It may be indicated that the reverse start conversion position graphic DS exists.
When the host vehicle MV moves forward from the position where parking assistance is started and the reverse start conversion position graphic DS and the recommended parking area graphic DE generated by the presentation graphic generation unit 58 are within the range around the host vehicle MV, image layout setting is performed. The display ratio set by the unit 66 is changed. Specifically, the display ratio set by the image layout setting unit 66 is set to a display ratio at which an image captured by the rear camera 2R is displayed in a size about twice that of the superimposed image. In addition to this, as shown in FIG. 16, the superimposed image is an image centered on the position of the figure showing the host vehicle MV with the front of the figure showing the host vehicle MV facing upward in the vehicle front-rear direction. FIG. 16 shows a state where a part of the reverse start position graphic DS and the recommended parking area graphic DE are displayed superimposed on the overhead image.

(Operation)
Next, an example of an operation performed using the parking assistance device 1 of the present embodiment will be described with reference to FIGS. 1 to 16 and FIGS. 17 and 18. Note that the processing shown below is performed when it is determined that the current setting included in the parking assistance system setting state signal is a setting for performing parking assistance (see step S102 described above).

As shown in FIG. 17, when the operation performed using the parking assist device 1 is started (START), first, in step S200, the current position of the host vehicle MV is detected ("own vehicle position detection" shown in the figure). To do. When the current position of the host vehicle MV is detected in step S200, the operation performed using the parking assist device 1 proceeds to step S202.
In step S202, a process of determining whether or not the current position of the host vehicle MV detected in step S200 is in the parking lot and the host vehicle MV has entered the parking lot ("parking lot entry" shown in the drawing). Do.

If it is determined in step S202 that the host vehicle MV has entered the parking lot (“Yes” shown in the figure), the operation performed using the parking assist device 1 proceeds to step S204.
On the other hand, if it is determined in step S202 that the host vehicle MV has not entered the parking lot ("No" shown in the figure), the operation performed using the parking assist device 1 returns to step S202.

  In step S204, a process of determining the congestion status of the parking lot using the congestion status of the parking lot detected by the congestion status detection unit 74 ("congestion status determination" shown in the drawing) is performed. Specifically, as shown in FIG. 10, it is determined whether the congestion state of the parking lot is “congested” or “vacant”. If the process which determines the congestion condition of a parking lot is performed in step S204, the operation | movement performed using the parking assistance apparatus 1 will transfer to step S206.

  In step S206, the presence / absence of another vehicle OV parked in the adjacent parking area at the time of past parking, which is stored in the parking surrounding state storage unit 86, is referred to. In addition to this, reference is made to the empty parking area detected by the empty parking area detection unit 76 and other vehicles OV present in the adjacent parking area detected by the adjacent vehicle detection unit 78. And the process ("empty frame number determination" shown in a figure) which determines the condition of the empty parking area which the recommended parking area detection part 54 uses by the process performed at the time of the present parking is performed. Specifically, as shown in FIG. 10, it is determined whether or not there is another vehicle OV that is parked in the adjacent parking areas on both sides (the above-described situation C1 to C4, the situation of continuous empty parking areas). In step S206, when the process for determining the status of the vacant parking area used by the recommended parking area detection unit 54 in the process performed at the time of the current parking is performed, the operation performed using the parking assistance device 1 proceeds to step S208. To do.

  In step S208, the vehicle type of the other vehicle OV stopped in the adjacent parking area at the time of the past parking, which is stored in the parking surrounding state storage unit 86, is referred to. In addition to this, for the other vehicle OV present in the adjacent parking area detected by the adjacent vehicle detection unit 78, refer to the vehicle type of the other vehicle OV stopped in the adjacent parking area detected by the adjacent vehicle type detection unit 80. To do. And the process ("vehicle classification category determination" shown in the figure) which the recommended parking area detection part 54 uses by the process performed at the time of the current parking which determines the vehicle type of the other vehicle OV stopped in the adjacent parking area is performed. . Specifically, as shown in FIG. 10, whether the vehicle type of the other vehicle OV stopped in the adjacent parking area is a large vehicle, a light vehicle, a vehicle excluding a large vehicle, or a light vehicle. judge. In step S208, when the process for determining the vehicle type of the other vehicle OV stopped in the adjacent parking area used by the recommended parking area detection unit 54 in the process performed at the time of the current parking is performed using the parking assist device 1. Operation proceeds to step S210.

  In step S210, the distance between the entrance / exit of the building acquired and stored by the building entrance / exit storage unit 88 and the empty parking area detected by the empty parking area detection unit 76 is calculated. And the process ("building entrance / exit category determination" shown in a figure) which determines the distance of the entrance / exit of a building and the empty parking area which the recommended parking area detection part 54 uses by the process performed at the time of the present parking is performed. Specifically, as shown in FIG. 10, it is determined whether the distance between the entrance / exit of the building and the empty parking area is less than the reference distance or more than the reference distance. In step S210, when the process of determining the distance between the entrance / exit of the building and the empty parking area, which is used by the recommended parking area detection unit 54 in the process performed at the time of the current parking, The process proceeds to step S212.

  In step S212, the turning direction stored in the parking action storage unit 84 is referred to, and further, the vehicle MV moves backward from the current position of the host vehicle MV relative to the empty parking area detected by the empty parking area detection unit 76. The turning direction in traveling is calculated. Then, the recommended parking area detection unit 54 performs a process of determining the turning direction when the host vehicle MV is moved backward during parking ("turning direction frequency category determination" shown in the drawing), which is used in the process performed at the time of parking. Specifically, as shown in FIG. 10, the turning direction when the host vehicle MV is retracted with respect to the empty parking area detected at the time of the current parking is as shown in FIG. It is determined whether the turning direction is a direction corresponding to “low frequency” or a direction corresponding to “high frequency”. In step S212, when the recommended parking area detection unit 54 performs the process of determining the turning direction when the host vehicle MV is moved backward during parking, the operation performed using the parking assist device 1 is performed. The process proceeds to step S214.

  In step S214, a process of scoring the determination result of each step described above using each result determined in the processes performed in steps S204, S206, S208, S210, and S212 ("scoring" shown in the drawing). I do. As a specific example, as shown in the evaluation result column in FIG. 18, a score obtained by adding all the scores obtained by classifying each evaluation function is calculated, and the determination result of each step described above is scored.

In FIG. 18, a case where two examples of “Good” and “Bad” are calculated as evaluation results will be described.
In the example in which the evaluation result is “Good”, since the parking lot is empty, the evaluation function of “congestion status” is “1 point”. In addition, since the status of the presence / absence of another vehicle OV stopped in the adjacent parking area is an example of the status C4 described above, the evaluation function of “presence / absence of adjacent vehicle” is “1 point”. Furthermore, since the vehicle type of the other vehicle OV stopped in the adjacent parking area is an example of a light vehicle, the evaluation function of “adjacent vehicle type” is “1 point”, and the entrance / exit of the building, the empty parking area, In this example, the evaluation function of “distance from the entrance / exit of the building” is “5 points”. Further, since the turning direction when the host vehicle MV is retracted during parking corresponds to a low frequency, the evaluation function of “frequency in the turning direction” is “5 points”.

Therefore, in the example where the evaluation result is “Good”, the score (total score) calculated in step S214 is “13 points”.
On the other hand, in the example in which the evaluation result is “Bad”, since the parking lot is congested, the evaluation function of “congestion status” is “5 points”. In addition, since the status of the presence / absence of the other vehicle OV stopped in the adjacent parking area is an example of the status C1, the evaluation function of “the presence / absence of the adjacent vehicle” is “5 points”. Furthermore, since the vehicle type of the other vehicle OV stopped in the adjacent parking area is an example of a large vehicle, the evaluation function of “adjacent vehicle type” is “5 points”, and the entrance / exit of the building, the empty parking area, In this example, the evaluation function of “distance from the entrance / exit of the building” is “1 point”. In addition, since the turning direction when the host vehicle MV is retracted during parking corresponds to a high frequency, the evaluation function of “frequency of turning direction” is “1 point”.

Therefore, in the example where the evaluation result is “Bad”, the score (total score) calculated in step S214 is “17 points”.
In step S214, when the process of scoring the determination result of each step described above is performed, the operation performed using the parking assist device 1 proceeds to step S216.
In step S216, a process of determining whether or not the score calculated in step S214 is equal to or less than a preset reference point ("below the reference point" shown in the drawing) is performed. In the present embodiment, a case where the reference point is set to “15 points” will be described as an example.

In step S216, when it is determined that the score calculated in step S214 is equal to or less than the reference point (“Yes” shown in the figure), the operation performed using the parking assist device 1 proceeds to step S218.
On the other hand, if it is determined in step S216 that the score calculated in step S214 exceeds the reference point ("No" shown in the figure), the operation performed using the parking assist device 1 returns to step S202.

  In step S218, the recommended parking area graphic DE generated by the presentation graphic generation unit 58 is superimposed on the recommended parking area that is determined to be equal to or less than the reference point in step S216 and detected by the recommended parking area detection unit 54. Processing to display on the image. In addition to this, a process of displaying the reverse start conversion position graphic DS corresponding to the recommended parking area graphic DE on the superimposed image ("reverse start conversion position graphic display" shown in the figure) is performed. In step S218, when the process of displaying the recommended parking area graphic DE and the reverse start conversion position graphic DS on the superimposed image is performed, the operation performed using the parking assist device 1 proceeds to step S220.

In step S220, the shift position calculation unit 32 determines whether or not the current shift position has changed from “R”, which is the reverse travel position, to “P”, which is the stop position (in the drawing). “R → P”).
If it is determined in step S220 that the current shift position has changed from “R” to “P” (“Yes” shown in the figure), the operation performed using the parking assist device 1 proceeds to step S222.

On the other hand, if it is determined in step S220 that the current shift position has not changed from “R” to “P” (“No” shown in the figure), the operation performed using the parking assist device 1 is step S220. Return to.
In step S222, a process of displaying characters that prompt the driver to evaluate the detection of the recommended parking area by the recommended parking area detection unit 54 and an image including evaluation options on the information presentation device provided in the navigation device 16 (FIG. "Evaluation input screen display" shown in the inside). In step S222, when processing for displaying a character that prompts the driver to evaluate the detection of the recommended parking area by the recommended parking area detection unit 54 and an image including an evaluation option is performed, the parking assist device 1 is used. Operation proceeds to step S224.

In step S224, the recommended parking area evaluation processing unit 68 performs a process of determining whether or not “Good” is detected as the driver's evaluation (“Good” shown in the drawing).
If it is determined in step S224 that “Good” has been detected as the driver's evaluation (“Yes” shown in the figure), the operation performed using the parking assist device 1 proceeds to step S226.

On the other hand, when it is determined in step S224 that “Good” is not detected as the driver's evaluation, that is, “Bad” is detected as the driver's evaluation (“No” shown in the figure), the parking assistance device The operation performed using 1 proceeds to step S228.
In step S226, various data detected at the time of the current parking and the data evaluated by the driver as “Good” are stored and stored in the parking information storage unit 52 (“store evaluation result” shown in the figure). ")I do. In step S226, when various types of data detected at the time of the current parking are stored and stored in the parking information storage unit 52, the operation performed using the parking assist device 1 is ended (END).

  In step S228, the various data detected at the time of the current parking and the data evaluated by the driver as “Bad” are discarded without being stored in the parking information storage unit 52 (“Evaluation result shown in FIG. Discard "). In step S228, when various types of data detected at the time of parking are discarded without being stored in the parking information storage unit 52, the operation performed using the parking assist device 1 is ended (END).

The navigation device 16 and the superimposed image generation unit 64 described above correspond to a superimposed image display unit.
The navigation device 16 and the building entrance storage unit 88 described above correspond to a building entrance acquisition unit.
The navigation device 16, the parking information storage unit 52, and the recommended parking area evaluation processing unit 68 described above correspond to a recommended parking area evaluation detection unit.

  Moreover, as mentioned above, in the parking assistance method implemented by operation | movement of the parking assistance apparatus 1 of this embodiment, the bird's-eye view image containing the figure which shows the own vehicle MV in the image containing the road surface around the own vehicle MV is produced | generated. Further, the backward start position PS where the host vehicle MV starts moving backward toward the parking area and the surrounding situation of the host vehicle MV stopped in the parking area are stored, and in the forward direction of the host vehicle MV during the current parking. An existing empty parking area is detected. Then, among the detected empty parking areas, a parking area similar to the stored surrounding situation is detected as a recommended parking area, and a reverse start position graphic indicating a position at which the host vehicle MV starts to reverse toward the recommended parking area DS is generated using the stored reverse start position PS. In addition to this, at the time of the current parking, a superimposed image obtained by superimposing the reverse start position graphic DS on the overhead image so as to maintain the relative positional relationship with the recommended parking area is displayed on the information presentation device provided in the navigation device 16.

(Effects of the first embodiment)
If it is the parking assistance apparatus 1 of this embodiment, it will become possible to show the effect described below.

(1) The parking position storage unit 82 stores the reverse start position PS at which the host vehicle MV starts moving backward toward the parking area, and the parking surrounding state storage unit 86 stops in the parking area. Memorize the surrounding situation of MV. Further, the recommended parking area detection unit 54 selects a parking area similar to the surrounding situation stored in the parking surrounding condition storage unit 86 from the empty parking area detected by the empty parking area detection unit 76 during the current parking. Detect as recommended parking area.

  Then, the reverse start position conversion unit 92 stores the reverse start position graphic DS indicating the position at which the host vehicle MV starts to reverse toward the parking area detected by the recommended parking area detection unit 54. The backward start position PS is generated. Furthermore, the superimposed image obtained by superimposing the reverse start position figure DS on the overhead image so as to maintain the relative positional relationship with the recommended parking area at the time of the current parking in the parking area PA is displayed on the information presentation device provided in the navigation device 16. indicate.

Therefore, at the time of the current parking, an empty parking area similar to the stored surrounding situation is detected, and a superimposed image obtained by superimposing the reverse start position figure DS directed to the detected parking area on the overhead image is displayed to the driver. Is displayed in a visible manner, and parking assistance can be performed.
As a result, it becomes possible to display the reverse start position graphic DS to a parking area that is similar to the stored parking area and the surrounding situation at the time of the current parking, and the driver gets used to the surrounding situation for the parking area that is less frequently used. Parking assistance similar to parking in a parking area is possible.

  As a result, even in a parking area where the frequency of use is low, the visible part at the time of parking becomes the same part as parking in a parking area where the driver is accustomed to the surrounding situation, so the driver is accustomed It is possible to perform a driving operation similar to parking in a parking area familiar to the surrounding situation.

(2) Among the empty parking areas detected by the empty parking area detection unit 76, the recommended parking area detection unit 54 stores the presence of the other vehicle OV detected by the adjacent vehicle detection unit 78, and the parking surrounding state storage unit 86 stores it. A parking area where the presence of the other vehicle OV is the same is detected as a recommended parking area.
For this reason, at the time of the current parking, the superimposed image obtained by superimposing the backward start position figure DS on the overhead image for the same parking area where the other vehicle OV stored is superimposed is displayed so that the driver can visually recognize it, Parking assistance can be performed.
As a result, it becomes possible to display the reverse start position graphic DS to the parking area where the presence of the stored parking area and the other vehicle OV is the same at the time of the current parking, and the driver is in the surrounding situation for the parking area where the usage frequency is low It is possible to perform parking assistance similar to parking in a parking area that is used to.

(3) The recommended parking area detection unit 54 recommends a parking area that moves backward in the turning direction stored in the parking action storage unit 84 among the empty parking areas detected by the empty parking area detection unit 76. Detect as parking area.
For this reason, at the time of the current parking, the driver can visually recognize the superimposed image in which the backward start position figure DS for the parking area that moves backward in the same turning direction as the stored direction is superimposed on the overhead image. It is possible to display and provide parking assistance.
As a result, it is possible to display the reverse start position figure DS to the same parking area with the same turning direction as the stored direction at the time of the current parking, and the driver becomes accustomed to the surrounding situation for the parking area with low usage frequency. Parking assistance similar to parking in the existing parking area can be performed.

(4) Among the empty parking areas detected by the empty parking area detection unit 76, the recommended parking area detection unit 54 detects that the parking lot where the congestion situation has been detected is vacant. A parking area with a short distance from the acquired entrance / exit is detected as a recommended parking area.
For this reason, at the time of the current parking, the parking lot is vacant, there are many empty parking areas, it is similar to the stored surroundings, and it is close to the entrance and exit of the building that will be the destination after parking It becomes possible to detect an empty parking area.
As a result, at the time of current parking, it is possible to provide parking assistance similar to parking in a parking area that is close to the entrance / exit of the building that is the destination after parking and that the driver is accustomed to the surrounding situation. .

(5) The recommended parking area detection unit 54 increases the priority to be detected as the recommended parking area as the parking area has fewer other vehicles OV for which the adjacent vehicle detection unit 78 has detected the presence.
For this reason, a parking area where no other vehicle OV exists in the adjacent parking area is preferentially recommended as a parking area for parking the host vehicle MV from the empty parking area detected by the empty parking area detection unit 76 during the current parking. Will be.
As a result, a parking area that is easy to drive during parking is detected from the empty parking area detected by the empty parking area detection unit 76 as an empty parking area similar to the stored surrounding situation during current parking. Is possible.

(6) The recommended parking area detection unit 54 increases the priority that the adjacent vehicle type detection unit 80 detects as a recommended parking area for a parking area in which at least one of the full length and the full width is detected.
For this reason, the parking area where there is no other vehicle OV having a high possibility of contacting the adjacent parking area at the time of parking from the empty parking area detected by the empty parking area detection unit 76 at the time of current parking is This is preferentially recommended as a parking area for parking MVs.
As a result, a parking area that is easy to drive during parking is detected from the empty parking area detected by the empty parking area detection unit 76 as an empty parking area similar to the stored surrounding situation during current parking. Is possible.

(7) The recommended parking area detection unit 54 increases the priority to be detected as the recommended parking area as the parking area moves backward and enters in the turning direction with a larger number of times stored in the parking action storage unit 84.
For this reason, the parking area which moves backward in the turning direction familiar to the driver from the empty parking area detected by the empty parking area detection unit 76 at the time of the current parking is given priority as the parking area for parking the host vehicle MV. Will be recommended.
As a result, a parking area that is easy to drive during parking is detected from the empty parking area detected by the empty parking area detection unit 76 as an empty parking area similar to the stored surrounding situation during current parking. Is possible.

(8) The parking area closer to the entrance / exit acquired by the navigation device 16 and the building entrance / exit storage unit 88 by the recommended parking area detection unit 54 is detected as a recommended parking area.
For this reason, from the empty parking area detected by the empty parking area detection unit 76 at the time of the current parking, the empty parking area near the entrance of the building that is the destination after parking has priority as the parking area for parking the host vehicle MV. Will be recommended.
As a result, a parking area that is easy to drive during parking is detected from the empty parking area detected by the empty parking area detection unit 76 as an empty parking area similar to the stored surrounding situation during current parking. Is possible.

(9) The recommended parking area evaluation processing unit 68 uses the data used by the recommended parking area detection unit 54 for detection of the recommended parking area at the time of the current parking, A process for increasing the importance of data used for detection is performed. Further, the importance of using the data used at the time of parking as the data used at the next and subsequent parking is highly evaluated by the driver of the host vehicle MV for the detection of the recommended parking area by the recommended parking area detection unit 54. Make it higher.

For this reason, for example, when the parking area recommended by the recommended parking area detection unit 54 at the time of the current parking is an inappropriate parking area for the driver, data that is not appropriate to be used at the next or subsequent parking is used. It becomes possible not to store in the parking information storage unit 52.
As a result, it is possible to make the recommended parking area detected by the recommended parking area detection unit 54 an appropriate parking area in the next and subsequent parking reflecting the driver's intention, and improve the effectiveness of parking support. Is possible.

(10) The parking position storage unit 82 stores the reverse start position PS as the position at which the host vehicle MV started moving backward toward the parking area during past parking. In addition to this, the parking surrounding state storage unit 86 stores the surrounding state of the host vehicle MV parked in the parking area in the past parking.
For this reason, it becomes possible to memorize | store the surrounding condition in the state which the own vehicle MV started to reverse toward the parking area at the time of past parking, and the own vehicle MV stopped at the parking area at the time of past parking.
As a result, it becomes possible to perform parking support reflecting the situation at the time of past parking at the time of the current parking.

(11) In the parking support method implemented by the operation of the parking support device 1 of the present embodiment, an overhead image including a figure indicating the host vehicle MV is generated in an image including the road surface around the host vehicle MV. Further, the backward start position PS where the host vehicle MV starts moving backward toward the parking area and the surrounding situation of the host vehicle MV stopped in the parking area are stored, and in the forward direction of the host vehicle MV during the current parking. An existing empty parking area is detected.

  And the parking area similar to the memorize | stored surrounding condition is detected as a recommended parking area among the detected empty parking areas, and the reverse which shows the position where the own vehicle MV starts reverse toward the detected recommended parking area A start position graphic DS is generated using the stored reverse start position PS. In addition to this, at the time of the current parking, a superimposed image in which the reverse start position graphic DS is superimposed on the overhead image so as to maintain the relative positional relationship with the recommended parking area is displayed so that the driver can visually recognize it.

Therefore, at the time of the current parking, an empty parking area similar to the stored surrounding situation is detected, and a superimposed image obtained by superimposing the reverse start position figure DS directed to the detected parking area on the overhead image is displayed to the driver. Is displayed in a visible manner, and parking assistance can be performed.
As a result, it becomes possible to display the reverse start position graphic DS to a parking area that is similar to the stored parking area and the surrounding situation at the time of the current parking, and the driver gets used to the surrounding situation for the parking area that is less frequently used. Parking assistance similar to parking in a parking area is possible.
As a result, even in a parking area where the frequency of use is low, the visible part at the time of parking becomes the same part as parking in a parking area where the driver is accustomed to the surrounding situation, so the driver is accustomed It is possible to perform a driving operation similar to parking in a parking area familiar to the surrounding situation.

(Modification)
(1) In the present embodiment, the reverse start position graphic DS generated by the presentation graphic generation unit 58 is a quadrangle that is larger than the full length and full width of the host vehicle MV, but is not limited thereto. That is, for example, the reverse start position graphic DS generated by the presentation graphic generation unit 58 may be a quadrangle having the same size as the full length and the full width of the host vehicle MV in the overhead view image. In short, the reverse start position graphic DS generated by the presentation graphic generation unit 58 may be a quadrangle having a size corresponding to the entire length and the entire width of the host vehicle MV in the overhead view image.

  In this case, the reverse start position graphic DS generated by the presentation graphic generation unit 58 can be a graphic corresponding to each position for the host vehicle MV to reverse the ideal movement path. Moreover, it becomes possible to reduce the calculation load of the process in which the presentation figure production | generation part 58 produces | generates the backward start position figure DS.

(2) In the present embodiment, the presentation graphic generation unit 58 generates a square graphic as the backward start position graphic DS, but the present invention is not limited to this. That is, for example, as shown in FIG. 19, the configuration of the presentation graphic generation unit 58 is configured to generate a U-shaped graphic that is open on the front side in the vehicle front-rear direction of the host vehicle MV as the reverse start position graphic DS. Also good.

In this case, among the end portions of the reverse start position figure DS on both sides in the vehicle front-rear direction of the host vehicle MV, the position on the rear side in the vehicle front-rear direction of the host vehicle MV, which is important as a position for starting the reverse toward the parking area PA. Only the edge will be displayed. For this reason, the vehicle front-rear direction front end of the host vehicle MV of the reverse start position graphic DS is not displayed, and the host vehicle MV is moved forward from the position where parking assistance is started and moved to the reverse start position graphic DS. It becomes possible to reduce the driving load received by the driver.
In addition, the configuration of the presentation graphic generation unit 58 may be configured to generate, for example, a straight line only graphic indicating the rear end portion of the host vehicle MV in the vehicle front-rear direction as the reverse start position graphic DS.

(3) In the present embodiment, a process in which the recommended parking area detection unit 54 detects the recommended parking area using the presence / absence of another vehicle OV that is detected by the adjacent vehicle detection unit 78 and is stopped with respect to the adjacent parking area. However, the present invention is not limited to this. That is, for example, using the presence or absence of a structure such as a wall or a pillar adjacent to the parking area where the host vehicle MV has moved to the final stop position PE, the recommended parking area detection unit 54 performs processing for detecting the recommended parking area. Also good.

(4) In the present embodiment, when it is determined that the current position of the host vehicle MV has reached the position where parking assistance is started, the superimposed image is displayed on the information presenting device provided in the navigation device 16, but the present invention is limited to this. is not. That is, for example, the turning action storage unit 84 stores the turning direction at the time of advancement in the past parking, and the turning direction at the time of advancement is detected by the action action unit at the time of parking at the time of the current parking. In addition, the action detection part at the time of parking is formed with the own vehicle vehicle speed calculating part 28, the steering angle calculating part 30, and the shift position calculating part 32, for example.

Then, when the parking action detection unit detects the same turning direction when moving forward as the turning direction stored in the parking action storage unit 84, the information provided in the navigation device 16 as shown in FIG. A superimposed image may be displayed on the presentation device. In FIG. 20, the turning direction when moving forward stored in the parking action storage unit 84 is a turning direction toward the parking area PA at a small turning angle, and the forward direction of the host vehicle MV is directed to the parking area PA. The case where the turning direction leaves the parking area PA with a large turning angle immediately after turning is shown. Further, in FIG. 20, the movement trajectory (movement trajectory during forward movement) of the host vehicle MV during forward parking during past parking and current parking is indicated by a curved arrow.
In this case, without setting a position for starting parking assistance, and using the detection values of the wheel speed sensor 6, the steering angle sensor 8, and the shift position sensor 10 that are generally provided in the vehicle, the superimposed image is used. Can be displayed.

(5) In the present embodiment, the superimposed image is displayed on the information presentation device included in the navigation device 16, but the present invention is not limited to this. That is, for example, a projector (projector) capable of projecting a superimposed image such as a head-up display (HUD: Head-Up Display) is provided in the vehicle interior, and the superimposed image is projected from the projector onto the front window of the host vehicle MV. May be. Further, a dedicated display for displaying the superimposed image may be arranged in the vehicle compartment separately from the information presentation device provided in the navigation device 16.

(6) In the present embodiment, when the parking position calculation unit 48 parks the host vehicle MV only by traveling backward from the reverse start position PS to the parking area PA as shown in FIG. Although the case where the position is calculated has been described, the present invention is not limited to this. That is, for example, when a turn-back operation is performed, such as when the road is narrow, a position for switching from reverse travel to forward travel toward the parking area PA is calculated, and a graphic indicating the position is superimposed on the superimposed image. May be. In this case, the display of the superimposed image on which the reverse start position graphic DS is superimposed may be started when the host vehicle MV after the turnover reaches a position where the host vehicle MV can move forward to the reverse start position PS.

(7) In the present embodiment, when detecting the driver's evaluation on the recommended parking area detected by the recommended parking area detection unit 54, the evaluation is selected from the display on the touch panel forming the information presentation device. However, the present invention is not limited to this. That is, for example, a switch (evaluation selection switch) provided with two buttons or the like operated by the driver is arranged in the vehicle interior, and an evaluation input unit for the recommended parking area detected by the recommended parking area detection unit 54 by this switch. May be formed. In addition, as operation which selects a driver | operator's evaluation with respect to the recommended parking area which the recommended parking area detection part 54 detected, assigning "Good" and "Bad" to two buttons correspondingly, and to the button which the driver operated Find the corresponding rating.

(8) In the present embodiment, the parking position storage unit 82 stores the reverse start position PS and the final stop position PE in the past parking, but is not limited thereto. That is, the reverse start position PS and the final stop position PE may be stored in the parking position storage unit 82 using a program capable of setting the reverse start position PS with respect to the final stop position PE. In this case, it becomes possible to apply the parking assistance device 1 of the present embodiment when parking in a parking area that exists in a place where the host vehicle MV has not traveled in the past.

(9) In this embodiment, the surrounding situation storage unit 86 at the time of parking stores the surrounding situation at the time of past parking of the host vehicle MV parked in the parking area, but is not limited thereto. That is, for example, when parking the host vehicle MV in the central parking area among the three parking areas, using a program that can set the surrounding situation preferred by the driver. The surrounding state may be stored in the surrounding state storage unit 86 at the time of parking. In this case, it becomes possible to apply the parking assistance device 1 of the present embodiment when parking in a parking area that exists in a place where the host vehicle MV has not traveled in the past.

(10) In the present embodiment, among the empty parking areas detected by the empty parking area detection unit 76, the parking area similar to the surrounding situation stored in the parking information storage unit 52 is detected as the recommended parking area. However, the present invention is not limited to this. That is, for example, among the empty parking areas detected by the empty parking area detection unit 76, a parking area that matches a condition set in advance by a driver or the like of the host vehicle MV may be detected as a recommended parking area.

Here, the preset condition is, for example, a condition selected and set from the above-described situations C1 to C4 or the like, that is, a condition regarding the presence or absence of another vehicle OV stopped in an adjacent parking area. The preset condition is, for example, the vehicle type of the other vehicle OV that is stopped in the adjacent parking area.
In this case, for example, a parking area in which the driver of the host vehicle MV is accustomed and can perform parking with a good driving operation is recommended without storing the surrounding situation at the time of past parking or the like in the parking information storage unit 52. It can be detected as a parking area.

  DESCRIPTION OF SYMBOLS 1 ... Parking assistance apparatus, 2 ... Surrounding image imaging part (camera), 4 ... Surrounding obstacle detection part (sonar), 6 ... Wheel speed sensor, 8 ... Steering angle sensor, 10 ... Shift position sensor, 12 ... Parking assistance system Start switch, 14 ... Driver authentication unit, 16 ... Navigation device, 18 ... Steering reaction force motor, 20 ... Parking support controller, 22 ... Steering wheel, 24 ... Steering shaft, 26 ... Ambient environment recognition information calculation unit, 28 ... Own vehicle Vehicle speed calculation unit, 30 ... steering angle calculation unit, 32 ... shift position calculation unit, 34 ... overhead image generation unit, 36 ... parking frame detection unit, 38 ... relative distance detection unit, 40 ... obstacle detection unit, 42 ... self-position Detection unit, 44 ... Parking support map generation unit, 46 ... Parking support control execution determination unit, 48 ... Parking position calculation unit, 50 ... Parking area status detection unit, 52 ... Parking Information storage unit, 54 ... Recommended parking area detection unit, 56 ... Parking position conversion unit, 58 ... Present figure generation unit, 60 ... Target trajectory calculation unit, 62 ... Steering reaction force control unit, 64 ... Superimposed image generation unit, 66 ... Image layout setting section, 68 ... Recommended parking area evaluation processing section, 70 ... Reverse start position calculation section, 72 ... Final stop position calculation section, 74 ... Congestion status detection section, 76 ... Empty parking area detection section, 78 ... Adjacent vehicles Detecting unit, 80 ... adjacent vehicle type detecting unit, 82 ... parking position storage unit, 84 ... parking action storage unit, 86 ... parking ambient condition storage unit, 88 ... building entrance / exit storage unit, 90 ... final stop position conversion unit , 92 ... Reverse start position conversion unit, MV ... Own vehicle, OV ... Other vehicle, W ... Wheel, PA ... Parking area, PS ... Reverse start position, PE ... Final stop position, DS ... Reverse start position figure, DE ... Final Stop position figure, CL ... Center of the target trajectory , An intermediate point at the position to start the CP1 ... parking assist, CP2 ... mid-point in the reverse start position PS, PL ... parking frame line

Claims (14)

A surrounding image capturing unit that captures an image including a road surface around the host vehicle;
An overhead image generation unit that generates an overhead image including a figure indicating the host vehicle in the captured image;
A parking position storage unit that stores a reverse start position at which the host vehicle started to reverse toward the parking area;
An empty parking area detection unit for detecting an empty parking area existing in the forward direction of the host vehicle;
An adjacent vehicle detection unit that detects the presence of another vehicle in the parking area adjacent to the empty parking area;
A parking surrounding state storage unit storing the presence of other vehicles in a parking area adjacent to the parking area where the host vehicle is stopped ;
Among the empty parking areas, a parking area in which the presence of the other vehicle detected by the adjacent vehicle detection unit and the presence of the other vehicle stored in the parking ambient condition storage unit are the same as the recommended parking area. A recommended parking area detection unit to detect,
A presentation graphic generation unit that generates a reverse start position graphic indicating the position at which the host vehicle starts to reverse toward the recommended parking area, using the stored reverse start position;
A parking support device, comprising: a superimposed image display unit that displays a superimposed image in which the backward start position graphic is superimposed on the overhead image so as to maintain a relative positional relationship with the recommended parking area. A surrounding image capturing unit that captures an image including a road surface around the host vehicle;
An overhead image generation unit that generates an overhead image including a figure indicating the host vehicle in the captured image;
A parking position storage unit that stores a reverse start position at which the host vehicle started to reverse toward the parking area;
An empty parking area detection unit for detecting an empty parking area existing in the forward direction of the host vehicle;
A parking-time ambient state storage unit storing a surrounding state of the host vehicle that has stopped in the parking area;
A recommended parking area detection unit that detects a parking area similar to the stored surrounding situation among the empty parking areas as a recommended parking area;
A recommended parking area evaluation detection unit that detects an evaluation performed by a driver of the host vehicle with respect to detection of the recommended parking area by the recommended parking area detection unit;
The higher the detected evaluation, the more the data used by the recommended parking area detection unit for detection of the recommended parking area at the time of current parking, and the recommended parking area detection unit for detection of the recommended parking area at the time of subsequent parking. Recommended parking area evaluation processing unit that increases the importance of data to be used,
A presentation graphic generation unit that generates a reverse start position graphic indicating the position at which the host vehicle starts to reverse toward the recommended parking area, using the stored reverse start position;
A parking support device , comprising: a superimposed image display unit that displays a superimposed image in which the backward start position graphic is superimposed on the overhead image so as to maintain a relative positional relationship with the recommended parking area . An adjacent vehicle detection unit that detects that there is another vehicle in the parking area adjacent to the empty parking area;
The recommended parking area detecting unit, the adjacent other vehicle vehicle detection unit detects the presence of the less parking area, according to claim 1 or claim 2, characterized in resulting in higher priority detected as the recommended parking area Parking assistance device described in 1. An adjacent vehicle type detection unit that detects a vehicle type of another vehicle existing in the parking area adjacent to the empty parking area;
The said recommended parking area | region detection part raises the priority detected as the said recommended parking area | region, the parking area from which the said adjacent vehicle type detection part detected the vehicle type in which at least one is smaller among full length and full width. The parking assistance device according to any one of claims 3 to 4. A building entrance / exit acquisition unit for acquiring a position of an entrance / exit of a building related to a parking lot having the parking area;
The said recommended parking area detection part raises the priority detected as the said recommended parking area, so that the parking area where the distance with the position of the acquired entrance / exit is short is characterized by the above-mentioned. The parking assistance apparatus described in item 1. A congestion state detection unit for detecting a congestion state of a parking lot having the parking area;
A building entrance / exit acquisition unit for acquiring the position of the entrance / exit of the building related to the parking lot,
The recommended parking area detection unit, as the parking lot that detected the congestion status is free, out of the empty parking area, detect the distance is short parking area between the position of the acquired entrance as a recommended parking area The parking assistance apparatus according to any one of claims 1 to 5, wherein the parking assistance apparatus is any one of the above. The parking position storage unit stores a reverse start position as a position at which the host vehicle started moving backward toward the parking area during past parking,
The parked surroundings storage unit, the parking the vehicle was stopped in the area, from claim 1, characterized that you store surroundings during the past parked in any one of claims 6 The parking assistance device described. An action storage unit during parking that stores the turning direction during forward parking,
A parking action detection unit that detects a turning direction during advance at the time of current parking,
The superimposed image display unit displays the superimposed image when the parking action detection unit detects the same turning direction as the turning direction stored in the parking action storage unit. The parking assistance device according to any one of claims 7 to 9. A surrounding image capturing unit that captures an image including a road surface around the host vehicle;
An overhead image generation unit that generates an overhead image including a figure indicating the host vehicle in the captured image;
A parking position storage unit that stores a reverse start position at which the host vehicle started to reverse toward the parking area;
An empty parking area detection unit for detecting an empty parking area existing in the forward direction of the host vehicle;
An action storage unit for parking that stores the turning direction during the retreat;
Among the empty parking areas, a recommended parking area detection unit that detects a parking area that moves backward in the turning direction stored in the parking action storage unit as a recommended parking area;
A presentation graphic generation unit that generates a reverse start position graphic indicating the position at which the host vehicle starts to reverse toward the recommended parking area, using the stored reverse start position;
A parking support device , comprising: a superimposed image display unit that displays a superimposed image in which the backward start position graphic is superimposed on the overhead image so as to maintain a relative positional relationship with the recommended parking area . A surrounding image capturing unit that captures an image including a road surface around the host vehicle;
An overhead image generation unit that generates an overhead image including a figure indicating the host vehicle in the captured image;
A parking position storage unit that stores a reverse start position at which the host vehicle started to reverse toward the parking area;
An empty parking area detection unit for detecting an empty parking area existing in the forward direction of the host vehicle;
A recommended parking area detection unit that detects a parking area that matches a preset condition in the empty parking area as a recommended parking area;
A presentation graphic generation unit that generates a reverse start position graphic indicating the position at which the host vehicle starts to reverse toward the recommended parking area, using the stored reverse start position;
A superimposed image display unit that displays a superimposed image in which the backward start position graphic is superimposed on the overhead image so as to maintain a relative positional relationship with the recommended parking area;
A parking action storage unit storing the turning direction during the reverse,
The recommended parking area detection unit increases the priority to be detected as the recommended parking area for a parking area that moves backward in a turning direction and has a higher number of times stored in the parking action storage unit. Parking assistance device. Take an image including the road surface around your vehicle,
Generating a bird's-eye view image including a figure indicating the host vehicle in the captured image;
Store the reverse start position where the host vehicle started to reverse toward the parking area,
Detecting an empty parking area existing in the forward direction of the host vehicle,
Detect that there is another vehicle in the parking area adjacent to the detected empty parking area,
Presence of other vehicles in the parking area adjacent to the parking area where the host vehicle is stopped,
Among the detected empty parking areas, the detected presence of the other vehicle and the presence of the stored other vehicle are detected as the recommended parking area,
A backward start position graphic indicating a position at which the host vehicle starts to reverse toward the recommended parking area is generated using the stored reverse start position,
A parking support method, comprising: displaying a superimposed image in which the reverse start position graphic is superimposed on the overhead image so as to maintain a relative positional relationship with the recommended parking area. Take an image including the road surface around your vehicle,
Generating a bird's-eye view image including a figure indicating the host vehicle in the captured image;
Store the reverse start position where the host vehicle started to reverse toward the parking area,
Detecting an empty parking area existing in the forward direction of the host vehicle,
Remember the surroundings of the host vehicle parked in the parking area,
A parking area similar to the stored surrounding situation among the detected empty parking areas is detected as a recommended parking area,
Detecting an evaluation performed by the driver of the host vehicle on the detected recommended parking area;
The higher the detected evaluation, the higher the importance that the data used for the detection of the recommended parking area at the time of current parking is the data used for the detection of the recommended parking area at the time of subsequent parking,
A backward start position graphic indicating a position at which the host vehicle starts to reverse toward the recommended parking area is generated using the stored reverse start position,
A parking support method, comprising: displaying a superimposed image in which the reverse start position graphic is superimposed on the overhead image so as to maintain a relative positional relationship with the recommended parking area. Take an image including the road surface around your vehicle,
Generating a bird's-eye view image including a figure indicating the host vehicle in the captured image;
The advance of the backward movement start position where the vehicle is started to retreat toward the parking area to memorize,
Detecting an empty parking area existing in the forward direction of the host vehicle,
Remember the turning direction during the reverse,
Among the detected empty parking areas, a parking area that moves backward in the stored turning direction is detected as a recommended parking area,
A backward start position graphic indicating a position at which the host vehicle starts to reverse toward the recommended parking area is generated using the stored reverse start position,
A parking support method, comprising: displaying a superimposed image in which the reverse start position graphic is superimposed on the overhead image so as to maintain a relative positional relationship with the recommended parking area. Take an image including the road surface around your vehicle,
Generating a bird's-eye view image including a figure indicating the host vehicle in the captured image;
Store the reverse start position where the host vehicle started to reverse toward the parking area,
Detecting an empty parking area existing in the forward direction of the host vehicle,
A parking area that matches a preset condition among the detected empty parking areas is detected as a recommended parking area,
A backward start position graphic indicating a position at which the host vehicle starts to reverse toward the recommended parking area is generated using the stored reverse start position,
Displaying a superimposed image superimposed on the overhead view image so as to maintain the relative position relationship with the recommended parking area of the reverse start position figure,
Remember the turning direction during the reverse,
The parking assistance method characterized by raising the priority detected as the said recommended parking area, so that the parking area which moves backward in the turning direction with many memorize | stored frequency | counts and enters.

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