JP6328368B2 - Parking assistance device and control method - Google Patents

Description

  Embodiments described herein relate generally to a parking assistance device and a control method.

  2. Description of the Related Art Conventionally, as a technique for assisting parking of a vehicle, a technique for detecting an obstacle in a surrounding environment of a vehicle with a sensor installed in the vehicle and providing a driver with the position of the detected obstacle has been proposed.

JP 2008-213741 A

  However, there are cases where the driver cannot properly recognize the external environment around the vehicle only by the information displayed in the prior art.

The parking assist device according to the embodiment includes a detection unit that detects the presence or absence of an object in an external environment from a vehicle, and the presence or absence of an object in the past until the present by the detection unit while the vehicle is moving. A display unit that distinguishes the detected range from the undetected range in which the presence or absence of an object has not been detected in the past by the detection unit during the movement of the vehicle ; and The display unit is the presence / absence of an object in the first detection range detected by the detection unit, the range in which the detection unit has detected, the range being different from the first detection range, and the The range in which the object specified based on the difference in the presence or absence of the object in the second detection range partially overlapping with the first detection range is displayed . As an example, the configuration distinguishes the detection range from the non-detection range, so it is possible to recognize whether an area where no object is shown has been detected or whether there is actually no object. There is an effect that the safety when doing so can be improved. Further, as an example, the configuration can recognize the range in which the object exists more accurately, and thus has an effect of improving safety when driving.
The parking assist device of the embodiment includes a detection unit that detects the presence or absence of an object in an external environment from the vehicle, and a detection range in which the presence or absence of an object has been detected in the past by the detection unit until now. A display section that distinguishes and displays from the undetected range in which the presence / absence of an object has not been detected in the past by the detection section until now, and the display section displays the vehicle at the current position. The display mode is changed according to the number of times detected by the detection unit for the area detected by the detection unit before moving. As an example, the configuration distinguishes the detection range from the non-detection range, so it is possible to recognize whether an area where no object is shown has been detected or whether there is actually no object. There is an effect that the safety when doing so can be improved.

  Here, in the parking assistance apparatus according to the embodiment, the display unit moves the vehicle from the current position of the vehicle to the current position as the detection range. It is preferable that the display is distinguished from the range in which the detection unit has detected. As an example, the configuration can confirm when the detection is performed, and thus has an effect of improving safety when driving.

  Moreover, in the parking assistance apparatus according to the embodiment, it is preferable that the display unit further displays information indicating a current position of the vehicle. As an example, the configuration can confirm the position of the vehicle, and thus has an effect of improving safety when driving.

  Moreover, in the parking assistance device according to the embodiment, the display unit has elapsed from the time when the detection unit has detected the detection range in which the detection unit has detected until the vehicle moves to the current position. It is preferable to change the display mode according to time. By way of example, the configuration allows confirmation of the elapsed time since the detection, thereby producing an effect of improving safety during driving.

  Moreover, in the parking assistance apparatus according to the embodiment, the display unit detects the area where the object detected by the detection unit exists from the current position of the vehicle and the detection until the vehicle moves to the current position. It is preferable to distinguish and display the range in which the object already detected by the section exists. As an example, this configuration can confirm when an object has been detected, and thus has the effect of improving safety when driving.

  Moreover, in the parking assistance device according to the embodiment, it is preferable that the parking support device further includes a reception unit that receives a setting of a parking position that is the destination of the vehicle, and the display unit further displays the parking position. As an example, the parking position can also be confirmed by the configuration, so that it is possible to improve safety when driving.

In addition, the control method is executed by the parking assist apparatus according to the embodiment, and includes a detection step of detecting the presence or absence of an object in an external environment from the vehicle, and the present step and the present by the detection step while the vehicle is moving The detection range in which the presence / absence of an object has been detected in the past is defined as an undetected range in which the presence / absence of an object has not been detected in the past until the present by the detection step during the movement of the vehicle. It is seen containing a display step distinguishing and displays, wherein the display step, a first and presence or absence of an object in the detection range was detected by the detecting step, a range subjected to detection by said detection step, wherein There is an object that is specified based on the difference in the presence or absence of an object in a second detection range that is different from the first detection range and partially overlaps the first detection range. To display the range to be. As an example, the configuration distinguishes the detection range from the non-detection range, so it is possible to recognize whether an area where no object is shown has been detected or whether there is actually no object. There is an effect that the safety when doing so can be improved. Further, as an example, the configuration can recognize the range in which the object exists more accurately, and thus has an effect of improving safety when driving.
In addition, the control method is executed by the parking assistance device, and includes a detection step for detecting the presence or absence of an object in an external environment from the vehicle, and detection of the presence or absence of an object in the past up to the present by the detection step. A display step for displaying the detection range performed by distinguishing it from the undetected range in which the presence or absence of an object has not been detected in the past by the detection step until now, and the display step includes: Until the vehicle moves to the current position, the display mode of the region detected by the detection step is changed according to the number of times detection by the detection step is performed. As an example, the configuration distinguishes the detection range from the non-detection range, so it is possible to recognize whether an area where no object is shown has been detected or whether there is actually no object. There is an effect that the safety when doing so can be improved.

FIG. 1 is a perspective view illustrating an example of a state in which a part of a compartment of a vehicle according to the first embodiment is seen through. FIG. 2 is a plan view (overhead view) illustrating an example of the vehicle according to the first embodiment. FIG. 3 is a diagram illustrating a detectable range of various sensors included in the vehicle according to the first embodiment. FIG. 4 is a block diagram illustrating an example of a vehicle parking assistance system according to the first embodiment. FIG. 5 is a block diagram illustrating a configuration of a parking support unit realized in the parking support ECU according to the first embodiment. FIG. 6 is a diagram illustrating the transition of the detection range that changes with the movement of the vehicle according to the first embodiment. FIG. 7 is a diagram illustrating a method for specifying a range in which an object of the parking support unit according to the first embodiment exists. FIG. 8 is a diagram illustrating an example of a screen that transitions with the movement of the vehicle according to the first embodiment. FIG. 9 is a diagram illustrating an example of a screen displayed when the vehicle according to the first embodiment stops to park. FIG. 10 is a diagram showing an example of a screen displayed when the vehicle according to the first embodiment starts moving toward the target parking position. FIG. 11 is a diagram illustrating an example of a screen displayed when the vehicle according to the first embodiment further moves toward the target parking position. FIG. 12 is a diagram illustrating an example of a screen displayed after the vehicle according to the first embodiment has moved to the target parking position. FIG. 13 is a flowchart illustrating a processing procedure performed when display is performed by the parking support unit according to the first embodiment. FIG. 14 is a diagram illustrating a screen example displayed by the display processing unit according to the first modification of the first embodiment. FIG. 15 is a diagram illustrating a screen example displayed by the display processing unit according to the second modification of the first embodiment. FIG. 16 is a diagram illustrating an example of a screen displayed when the target parking position is set for the vehicle according to the second embodiment. FIG. 17 is a diagram illustrating a screen example displayed when the vehicle according to the second embodiment starts moving toward the target parking position. FIG. 18 is a diagram showing an example of a screen displayed when the vehicle according to the second embodiment further moves toward the target parking position. FIG. 19 is a diagram illustrating an example of a screen displayed after the vehicle according to the second embodiment has moved to the target parking position.

(First embodiment)
In the first embodiment, the vehicle 1 may be, for example, an automobile (an internal combustion engine automobile) that uses an internal combustion engine (engine, not shown) as a drive source, or drives an electric motor (motor, not shown). The vehicle may be a source vehicle (electric vehicle, fuel cell vehicle, etc.), or may be a vehicle (hybrid vehicle) using both of them as drive sources. The vehicle 1 can be mounted with various transmissions, and various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor. In addition, the method, number, layout, and the like of the device related to driving of the wheels 3 in the vehicle 1 can be variously set.

  As shown in FIG. 1, the vehicle body 2 constitutes a passenger compartment 2a in which an occupant (not shown) rides. In the passenger compartment 2a, a steering section 4, an acceleration operation section 5, a braking operation section 6, a shift operation section 7 and the like are provided in a state facing the driver's seat 2b as a passenger. In the present embodiment, as an example, the steering unit 4 is a steering wheel protruding from a dashboard (instrument panel), the acceleration operation unit 5 is an accelerator pedal positioned under the driver's feet, and a braking operation unit Reference numeral 6 denotes a brake pedal positioned under the driver's feet, and the shift operation unit 7 is a shift lever protruding from the center console, but is not limited thereto.

  Further, a display device 8 (display output unit) and a sound output device 9 (sound output unit) are provided in the passenger compartment 2a. The display device 8 is, for example, an LCD (liquid crystal display) or an OELD (organic electroluminescent display). The audio output device 9 is a speaker as an example. In the present embodiment, as an example, the display device 8 is covered with a transparent operation input unit 10 (for example, a touch panel). An occupant or the like can visually recognize a video (image) displayed on the display screen of the display device 8 via the operation input unit 10. A passenger or the like operates an operation input (instruction) by touching, pushing, or moving the operation input unit 10 with a finger or the like at a position corresponding to an image (image) displayed on the display screen of the display device 8. Input). In the present embodiment, as an example, the display device 8, the audio output device 9, the operation input unit 10, and the like are provided in the monitor device 11 that is located in the center of the dashboard in the vehicle width direction (left-right direction). ing. The monitor device 11 can include an operation input unit (not shown) such as a switch, a dial, a joystick, and a push button. In addition, an audio output device (not shown) can be provided at another position in the passenger compartment 2a different from the monitor device 11, and audio is output from the audio output device 9 of the monitor device 11 and other audio output devices. Can be output. In the present embodiment, as an example, the monitor device 11 is also used as a navigation system or an audio system. However, a monitor device for a peripheral monitoring device may be provided separately from these systems. Further, in addition to the audio output device 9, an alarm sound or the like can be output from an audio output unit such as the buzzer 24 (see FIG. 4).

  As shown in FIGS. 1 and 2, in the present embodiment, as an example, the vehicle 1 is a four-wheeled vehicle (four-wheeled vehicle), and includes two left and right front wheels 3F and two left and right rear wheels 3R. Have. Furthermore, in the present embodiment, these four wheels 3 are configured so that any of them can be steered (turnable). Specifically, as shown in FIG. 4, the vehicle 1 includes a front wheel steering system 12 that steers the front wheels 3F and a rear wheel steering system 13 that steers the rear wheels 3R. The front wheel steering system 12 and the rear wheel steering system 13 are electrically controlled by a parking assist ECU 14 (electronic control unit) or the like to operate the actuators 12a and 13a. The front wheel steering system 12 and the rear wheel steering system 13 are, for example, an electric power steering system, an SBW (steer by wire) system, or the like. The front wheel steering system 12 and the rear wheel steering system 13 add torque (assist torque) to the steering unit 4 by the actuators 12a and 13a to supplement the steering force, or steer the corresponding wheel 3 (front wheel 3F or rear wheel 3R). (Automatic steering). The actuators 12a and 13a may steer one wheel 3 or may steer a plurality of wheels 3. In the present embodiment, as an example, the two front wheels 3F are steered substantially in parallel with each other in phase (the same phase, the same turning direction, and the same turning direction), and the two rear wheels 3R are in phase with each other. It is steered approximately parallel. The drive wheels can be set in various ways.

  In this embodiment, as an example, as shown in FIGS. 1 and 2, the vehicle 1 (vehicle body 2) includes eight distance measuring units 17 (17 a to 17 h) and four long distance measuring units. 15 (15a to 15d). The distance measuring unit 17 and the long distance measuring unit 15 are, for example, a sonar (sonar sensor, ultrasonic detector) that emits an ultrasonic wave and captures a reflected wave thereof, and detects the presence or absence of an object in the environment outside the vehicle 1. To do. In this embodiment, an example in which a total of twelve distance measuring units 17 and 15 are provided will be described as an example, but the number provided is not limited. More than twelve is at least better than twelve.

  The distance measuring units 17a to 17d are positioned at an end 2e on the rear side (rear side in the vehicle front-rear direction) of the vehicle body 2, and the parking assist ECU 14 detects the vehicle 1 (vehicle body 2) based on the detection results of the distance measuring units 17a to 17d. ) Measure the presence and distance of an object (obstacle) located behind. The distance measuring units 17e to 17h are located at the front end 2c of the vehicle body 2 (the front side in the vehicle front-rear direction), and the parking assist ECU 14 determines that the vehicle 1 (vehicle body) is based on the detection results of the distance measuring units 17e to 17h. 2) The presence / absence and distance of an object (obstacle) positioned in front of the object can be measured.

  Furthermore, the long-distance ranging unit 15 (15a to 15d) is positioned at the end of the vehicle body 2 on the side surface side (the vehicle left and right side), and the parking assist ECU 14 detects the long-distance ranging unit 15 detection result. Thus, the presence / absence and distance of an object (obstacle) positioned in the direction of the side surface of the vehicle 1 (vehicle body 2) can be measured. That is, the distance measurement unit 17 and the long distance measurement unit 15 are examples of a detection unit that detects an object existing in the external environment from the vehicle 1.

  Next, a range measured by the eight distance measuring units 17 (17a to 17h) and the four long distance measuring units 15 (15a to 15d) will be described. FIG. 3 shows a range measured by the eight distance measuring units 17 (17a to 17h) and the four long distance measuring units 15 (15a to 15d) included in the vehicle 1 according to the present embodiment. FIG.

  As shown in FIG. 3, the presence / absence and distance of an object are measured in ranges 311 to 314 on the rear side of the vehicle body 2 by distance measuring units 17 a to 17 d provided on the rear end 2 e of the vehicle 1. In addition, the presence / absence of an object and the distance are measured in a range 315 to 318 on the front side of the vehicle body 2 by distance measuring units 17e to 17h provided at the end 2c on the front side of the vehicle 1. Further, the presence / absence and distance of an object are measured in the range 301 to 304 on the side surface side of the vehicle body 2 by the long distance ranging units 15 a to 15 d provided on the side surface of the vehicle 1.

  As shown in FIG. 3, there is a limit to the range that can be measured by the long-distance ranging unit 15 and the ranging unit 17 included in the vehicle 1. In addition, it is not possible to recognize whether or not an object exists outside the measurable range. Therefore, when the map data in which the position of the object is specified based on the detection results of the long-distance ranging unit 15 and the ranging unit 17 is presented to the user (including the driver), the area displayed as the map data Among them, in the area where no object is shown, it is impossible to recognize whether the long distance measuring unit 15 and the distance measuring unit 17 are not detecting or whether the object really does not exist. Therefore, in the present embodiment, by presenting the range that is not detected by the long-range distance measurement unit 15 and the distance measurement unit 17 in a distinguishable manner, the user confirms that the detection is performed and no object exists. The difference between the detected range and the range where no detection was performed can be recognized.

  In the present embodiment, as an example, as shown in FIG. 4, in the parking assistance system, the parking assistance ECU 14, the monitor device 11, the front wheel steering system 12, the rear wheel steering system 13, the long distance ranging unit 15, In addition to the distance unit 17, the brake system 18, the steering angle sensor 19 (angle sensor), the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the like are electrically connected via the in-vehicle network 23 (electric communication line). Has been. The in-vehicle network 23 is configured as a CAN (controller area network) as an example. The parking assist ECU 14 can control the front wheel steering system 12, the rear wheel steering system 13, the brake system 18 and the like by sending a control signal through the in-vehicle network 23. The parking assist ECU 14 also has a torque sensor 12b, a steering angle sensor 13b (for the rear wheel 3R), a long distance measuring unit 15, a ranging unit 17, a brake sensor 18b, and a steering angle sensor 19 via the in-vehicle network 23. (For front wheel 3F), detection result of accelerator sensor 20, shift sensor 21, wheel speed sensor 22, etc., and instruction signal (control signal, operation signal, input signal, data) of operation input unit 10 etc. can be received. .

  The parking support ECU 14 is a CPU 14a (central processing unit), a ROM 14b (read only memory), a RAM 14c (random access memory), a display control unit 14d, a voice control unit 14e, an SSD 14f (solid state drive), as an example of a surrounding monitoring device. Flash memory). For example, the CPU 14a can execute various kinds of calculation processing such as image processing related to an image displayed on the display device 8, calculation of a moving route of the vehicle 1, and determination of presence / absence of interference with an object. The CPU 14a can read a program stored (installed) in a nonvolatile storage device such as the ROM 14b and execute arithmetic processing according to the program. The RAM 14c temporarily stores various types of data used in computations by the CPU 14a. In addition, the display control unit 14d executes image processing (for example, synthesis) of image data displayed on the display device 8 among the arithmetic processing in the parking assist ECU 14. In addition, the voice control unit 14 e mainly performs processing of voice data output from the voice output device 9 among the calculation processes in the parking assistance ECU 14. Further, the SSD 14f is a rewritable nonvolatile storage unit, and can store data even when the parking assist ECU 14 is powered off. The CPU 14a, the ROM 14b, the RAM 14c, and the like can be integrated in the same package. Further, the parking assist ECU 14 may have a configuration in which another logical operation processor such as a DSP (digital signal processor) or a logic circuit is used instead of the CPU 14a. Further, an HDD (hard disk drive) may be provided in place of the SSD 14f, and the SSD 14f and the HDD may be provided separately from the parking assist ECU 14.

  The brake system 18 is an ABS (anti-lock brake system) that suppresses the locking of the brake, a skid prevention device (ESC: electronic stability control) that suppresses the skidding of the vehicle 1 during cornering, and increases the braking force (brake assist). An electric brake system, BBW (brake by wire), etc. The brake system 18 gives a braking force to the wheel 3 (vehicle 1) via the actuator 18a.

  The rudder angle sensor 19 is a sensor that detects a steering amount (rotation angle) of the steering unit 4 (in this embodiment, a steering wheel as an example), and is configured by using a Hall element or the like as an example. The rudder angle sensor 13b is a sensor that detects the steering amount (rotation angle) of the rear wheel 3R, and is configured using a Hall element as an example. The parking assistance ECU 14 acquires the steering amount of the steering unit 4 by the driver, the steering amount of each wheel 3 during automatic steering, and the like from the steering angle sensors 19 and 13b and executes various controls. The torque sensor 12b detects torque that the driver gives to the steering unit 4.

  The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations per unit time, and is configured using a Hall element as an example. The parking assist ECU 14 calculates the amount of movement of the vehicle 1 based on the wheel speed data acquired from the wheel speed sensor 22 and executes various controls. The wheel speed sensor 22 may be provided in the brake system 18. The brake system 18 can execute various controls by detecting brake lock, idle rotation of the wheels 3, signs of skidding, and the like from the difference in rotation between the left and right wheels 3. When the wheel speed sensor 22 is provided in the brake system 18, the parking assistance ECU 14 acquires data via the brake system 18. The brake sensor 18 b is a sensor that detects the amount of operation of the brake pedal, and the parking assist ECU 14 acquires information via the brake system 18. For example, when the braking operation unit 6 is operated during automatic steering, the parking assist ECU 14 can interrupt or cancel the automatic steering because it is not suitable for automatic steering.

  As an example, the shift sensor 21 is a sensor (switch) that detects the position of a movable part (a lever, an arm, a button, or the like) of the speed change operation unit 7, and is configured using a displacement sensor or the like. For example, the parking assist ECU 14 can start the assist control when the movable part is set to reverse, or can terminate the assist control when changed from reverse to forward.

  The configuration, arrangement, electrical connection form, and the like of the various sensors and actuators described above are merely examples, and can be set (changed) in various ways.

  FIG. 5 is a block diagram showing a configuration of a parking support unit 500 realized in the parking support ECU 14 according to the present embodiment. Each configuration in the parking support unit 500 illustrated in FIG. 5 is realized by the CPU 14a configured as the parking support ECU 14 in FIG. 4 executing software stored in the ROM 14b.

  The parking support unit 500 executes software stored in the ROM 14b, thereby obtaining an operation reception unit 502, a steering angle acquisition unit 503, a wheel speed data acquisition unit 504, a movement amount calculation unit 505, and detection information acquisition. A unit 506, a processing unit 507, and a display processing unit 508 are realized.

  And the parking assistance part 500 concerning this embodiment, when the vehicle 1 moves and parks, the detection data input from the ranging part 17 and the long-distance ranging part 15, and the wheel speed sensor 22 By displaying map data that can recognize the position of an obstacle based on the wheel speed data acquired from the vehicle, parking by driving by the driver is supported.

  The map data (map information) displayed by the display processing unit 508 according to the present embodiment is an illustration, a figure, or a symbol so that the positional relationship between an object and a vehicle existing in the external environment around the vehicle 1 can be visually recognized. It is assumed that the data is drawn with etc.

  The detection result storage unit 501 is a storage unit provided in a storage area in the SSD 14f, and stores the range of the object specified based on the detection data and the position of the vehicle 1 and the like.

  The operation reception unit 502 receives an instruction signal (control signal) from the operation input unit 10 or the like. The operation reception unit 502 receives an operation from the driver from these instruction signals.

  The steering angle acquisition unit 503 acquires the steering angle of the front wheel 3F from the steering angle sensor 19 and the steering angle of the rear wheel 3R from the steering angle sensor 13b.

  The wheel speed data acquisition unit 504 acquires wheel speed data indicating the amount of rotation of the wheel 3 and the number of rotations per unit time from the wheel speed sensor 22.

  The movement amount calculation unit 505 calculates the speed and movement amount of the vehicle 1 based on the acquired wheel speed data.

  The detection information acquisition unit 506 performs input processing on detection data that is a detection (distance measurement) result for the external environment by the long distance distance measurement unit 15 and the distance measurement unit 17.

  The processing unit 507 includes an area specifying unit 511 and a map generation unit 512, and performs processing necessary for the display processing unit 508 to perform display control.

  The area specifying unit 511 includes an object (obstacle) based on the position of the vehicle 1 based on the speed and the moving amount calculated by the moving amount calculating unit 505 and the detection data input by the detection information acquiring unit 506. Identify the area.

  The map generation unit 512 generates map data indicating the region of the object existing around the vehicle 1 based on the region where the object specified by the region specifying unit 511 exists. At that time, the map generation unit 512 derives the trajectory of the vehicle 1 that can be derived from the movement amount calculated by the movement amount calculation unit 505 and the steering angle acquired by the steering angle acquisition unit 503.

  Then, the map generation unit 512 actually detects the presence or absence of an object based on the trajectory of the vehicle 1 and the range that can be detected by the distance measurement unit 17 and the long distance measurement unit 15. A range (hereinafter referred to as a detection range) is specified. Then, when generating map data, the map generation unit 512 makes the detection range different from a display range in which the presence or absence of an object is not detected (hereinafter referred to as an undetected range). Note that the map data generation method may be any method regardless of a known method, and the description thereof is omitted.

  Next, the detection range of the vehicle 1 will be described. FIG. 6 is a diagram showing the transition of the detection range that changes as the vehicle 1 moves. In FIG. 6A, since the vehicle 1 is stopped, the presence / absence of an object is detected in the current detection ranges 605 and 606 by the distance measuring unit 17 and the long distance measuring unit 15.

  When the vehicle 1 starts moving as shown in FIG. 6B, the detection ranges 605 and 606 detected by the distance measuring unit 17 and the long distance measuring unit 15 are detected while the vehicle 1 is moving. The included range 611 and range 612 are already detected ranges (hereinafter also referred to as already detected ranges). An object (for example, an obstacle) 601 is also present.

  Further, when the vehicle 1 moves, as shown in FIG. 6C, the already detected range 621 further expands according to the movement amount of the vehicle 1. Then, a part 622 of the object 601 included in the current detection range 605 is detected.

  Thereafter, as shown in FIG. 6D, when the vehicle 1 further moves, a region 632 where the detected object 601 exists is included in the already detected range 631.

  And the parking assistance part 500 concerning this embodiment has already detected the already detected ranges 611 and 612 of FIG. 6B, the already detected range 621 of (C), and the already detected range 631 of (D). As the performed range, it is presented to the user so that it can be distinguished from the undetected range.

  By the way, when an ultrasonic sonar is provided as the distance measuring unit 17 and the long distance measuring unit 15, the presence or absence of an object can be detected within the current detection range, but it is difficult to recognize where the object exists.

  Therefore, in the present embodiment, it is possible to detect the position of the object more accurately by repeatedly detecting the distance measurement unit 17 and the long distance measurement unit 15 while the vehicle 1 is moving.

  FIG. 7 is a diagram illustrating a method for identifying an area where an object of the parking support unit 500 according to the present embodiment exists. In the example shown in FIG. 7, the procedure until the region where the object exists is specified as the vehicle 1 moves forward is shown.

  First, at the stage shown in FIG. 7A, the area specifying unit 511 does not include an obstacle in the detection range 711 currently detected by the long-distance ranging unit 15. Recognize that the object does not exist.

  When the vehicle 1 moves forward and reaches the stage shown in FIG. 7B, the detection range changes. Accordingly, the area specifying unit 511 recognizes an area 721 where no obstacle exists. That is, although the long-range distance measuring unit 15 can detect the range 722, the area 721 has no obstacle, so the area specifying unit 511 has an obstacle in the difference area between the range 722 and the area 721. Recognize that an object exists. By the way, at the stage of FIG. 7A, it is recognized that there is no obstacle in the range 711. For this reason, the area specifying unit 511 can detect the area 701 where the object exists with higher accuracy. The area specifying unit 511 according to the present embodiment can detect the area where the object is present with higher accuracy by repeatedly detecting the above-described object while the vehicle 1 is moving.

  As described above, the area specifying unit 511 includes the presence / absence of an object in the first detection range (for example, the range 711) detected by the distance measuring unit 17 and the long distance measuring unit 15, and the distance measuring unit 17 and the long distance. The detection range detected by the distance measuring unit 15 is a range different from the first detection range and part of the second detection range (for example, the range 722) that partially overlaps the first detection range. The position of the object is specified based on the difference between presence and absence. Then, the map generation unit 512 generates map data indicating a region where the object specified by the region specifying unit 511 exists. The generated map data is stored in the detection result storage unit 501 together with the identified object region and the like.

  The display processing unit 508 displays the map data generated by the map generation unit 512 in the processing unit 507 on the display device 8. As a result, the display processing unit 508 displays the detection range in which the presence / absence of the object is detected by the distance measuring unit 17 and the long distance measuring unit 15, and the object range is detected by the distance measuring unit 17 and the long distance measuring unit 15. It is displayed separately from the undetected range where presence / absence detection is not performed.

  Next, a screen displayed by the display processing unit 508 will be described. FIG. 8 is a diagram illustrating an example of a screen that transitions with the movement of the vehicle 1. In the example shown in FIG. 8, the situation outside the displayed screen is also shown for easy explanation.

  The example shown in FIG. 8A is a situation before the vehicle 1 moves. In the example illustrated in FIG. 8A, the display processing unit 508 displays a symbol 850 indicating the vehicle 1 and detection ranges 802 and 803 that are currently detected in the screen 801. The display processing unit 508 according to the present embodiment displays a symbol representing the current position of the vehicle 1, but may display information other than the symbol (for example, a symbol).

  As the vehicle 1 moves, the screen displayed by the display processing unit 508 also changes. In the example shown in FIG. 8B, it is assumed that the vehicle 1 has advanced a little. In this case, the display processing unit 508 displays a symbol 850 indicating the vehicle 1 and detection ranges 802 and 803 that are currently detected in the screen 811 as in FIG. The display processing unit 508 also displays an area 814 in which the obstacle currently detected in the detection ranges 802 and 803 exists.

  In the example shown in (B), the display processing unit 508 further includes an already detected range 813 in which the distance measuring unit 17 and the long distance measuring unit 15 have already detected (past) during the movement of the vehicle 1. 812 is displayed. The already detected ranges 813 and 812 are displayed in a color different from the detected ranges 802 and 803. Further, the display control unit displays areas other than the detection ranges 802 and 803 and the already detected ranges 813 and 812 as the undetected range 815.

  As described above, the display processing unit 508 according to the present embodiment has a range in which the distance measurement unit 17 and the long distance measurement unit 15 are detecting from the current position of the vehicle 1 as the detection range. It is displayed separately from the range detected by the distance measuring unit 17 and the long distance measuring unit 15 before moving to the current position.

  In the example shown in FIG. 8C, it is assumed that the vehicle 1 has further advanced. In this case, the display processing unit 508 displays a symbol 850 indicating the vehicle 1 and detection ranges 802 and 803 that are currently detected in the screen 821, as in (A).

  Furthermore, the display processing unit 508 detects the already detected range 822 that has already been detected by the distance measuring unit 17 and the long distance measuring unit 15 before the vehicle 1 moves to the position shown in FIG. The obstacle area 823 that has already been detected is displayed.

  The display processing unit 508 includes an object area 814 detected from the current position of the vehicle 1 shown in (B) and an object already detected before the vehicle 1 shown in (C) moves to the current position. The area 823 is displayed in a different color. As described above, in the present embodiment, the display mode is varied depending on whether the object displayed on the screen has been detected in the past or the present. Thereby, the parking assistance part 500 can make a user recognize the condition of the detected object (For example, if it is an obstacle detected in the past, it may have moved).

  Next, transition of a screen displayed by the display processing unit 508 when the vehicle 1 is parked will be described. FIG. 9 is a diagram showing an example of a screen displayed when the vehicle stops for parking. In the example shown in FIG. 9, the situation outside the screen is also shown for easy explanation. Note that the parking destination of the vehicle 1 is between the areas 921 and 922 where the object exists. It should be noted that the broken-line vehicles indicated by the regions 922 and 921 where the object exists are shown for explanation, and are not displayed on the actual screen.

  In the example illustrated in FIG. 9, a symbol 850 indicating a vehicle and detection ranges 931 and 932 that are currently detected are displayed in a screen 901. The display processing unit 508 also partially displays a region 922 of an object that has already been detected. In the example illustrated in FIG. 9, the display processing unit 508 displays the already detected range 911 and the undetected range 912. In the already detected range 911, the display mode may be varied depending on the number of times detection is performed (in other words, the number of times included in the detection ranges 931 and 932 that are currently detected). For example, since it is considered that the reliability is higher in a range where the number of detections is larger, it is conceivable that the display processing unit 508 according to the present embodiment changes the display mode according to the number of detections. As a more detailed example, it is conceivable to display an area with a higher number of detections with higher brightness.

  FIG. 10 is a diagram illustrating an example of a screen that is displayed when movement toward the target parking position is started. In the example illustrated in FIG. 10, a detected range 1011 and an undetected range 1012 are displayed in the screen 1001. Furthermore, when the vehicle 1 moves toward the target parking position, the object range 1022 is included in the detection range 932. Thereby, the area specifying unit 511 specifies the object range 1022 in more detail.

  FIG. 11 is a diagram illustrating an example of a screen that is displayed when the vehicle further moves toward the target parking position. In the example illustrated in FIG. 11, a detected range 1111 and an undetected range 1112 are displayed in the screen 1101. As in FIGS. 9 and 10, the range in which the detection is performed a plurality of times is different from the other ranges in the display mode (light shading) to indicate that the detection is performed with high accuracy. When the vehicle 1 further approaches the target parking position, the region specifying unit 511 specifies the object regions 1122 and 1121 in more detail by detection by the detection range 932, and the specified region is displayed by the display processing unit 508. The

  FIG. 12 is a diagram showing an example of a screen displayed after moving to the target parking position. In the example illustrated in FIG. 12, a detected range 1211 and an undetected range 1212 are displayed in the screen 1201. As the vehicle 1 moves to the target parking position, the area specifying unit 511 specifies the object areas 1221 and 1222 in more detail, and the specified area is displayed by the display processing unit 508. However, in the example shown in FIG. 12, since the object shown by the areas 1221 and 1222 is blocked, the area on the opposite side of the object becomes the undetected range 1212. In other words, there may be an obstacle. I can confirm.

  Next, the process performed when the parking assistance part 500 performs a display is demonstrated. FIG. 13 is a flowchart illustrating the above-described processing procedure by the parking support unit 500 according to the present embodiment.

  First, the distance measuring unit 17 and the long distance measuring unit 15 detect the presence or absence of an object in the environment outside the vehicle 1 (step S1301). Since the detection range in which detection is performed is as described above, description thereof is omitted. Then, the detection information acquisition unit 506 acquires detection data from the distance measurement unit 17 and the long distance measurement unit 15 and outputs the detection data to the processing unit 507.

  Next, the map generation unit 512 in the processing unit 507 includes a detection range in which current detection is performed, an undetected range in which current detection is not performed, and an area in which an object detected in the detection range exists. , Is generated (step S1302).

  Then, the display processing unit 508 displays the generated map data. In other words, the display processing unit 508 displays a region where the detected object exists after the detected range and the undetected range are distinguished from each other by the map data (step S1303).

  Thereafter, the vehicle 1 moves (step S1304). The processing unit 507 specifies the position after movement of the vehicle 1 based on the steering angle acquired by the steering angle acquisition unit 503 and the movement amount calculated by the movement amount calculation unit 505.

  Then, the distance measuring unit 17 and the long distance measuring unit 15 detect the presence or absence of an object in the external environment from the current (after movement) position of the vehicle 1 (step S1305).

  Then, the area specifying unit 511 detects the detection result from the current position of the vehicle 1 and the detection from the position of the vehicle 1 slightly before (in other words, before moving to the current position). Based on the result, the region where the object exists is specified (step S1306). Since the specifying procedure has been described above, a description thereof will be omitted. Then, the processing unit 507 stores, in the detection result storage unit 501, the area where the identified object exists, the detected range, and the like.

  After that, the map generation unit 512 refers to the detection result storage unit 501, and the detection range currently detected, the already detected range that has already been detected, the undetected range that has not been detected, the current Map data indicating a region where the object specified by the detection result exists and a region where the object specified by the previous detection result exists is generated (step S1307). Then, the processing unit 507 stores the generated map data in the detection result storage unit 501.

  Thereafter, the display processing unit 508 displays the generated map data on the display device 8. That is, the display processing unit 508, based on the map data, the current detection range, the detection range that has already been detected (in other words, the past detection range), and the detection range that has not been detected in the past and the present. , And the region of the object detected in the present and the past is displayed (step S1308).

  Thereafter, the processing is performed again from step S1304. By repeating the process, a screen showing an object (obstacle) detected according to the movement of the vehicle 1 is updated. As a result, the user can recognize the presence of the detected object (obstacle), and can recognize the detection range and the undetected range, so there is a possibility that an obstacle exists because no detection is performed. An area or the like can be recognized.

(Modification 1 of the first embodiment)
In the first embodiment, the example in which the display mode is changed depending on whether the display mode of the already detected range is detected a plurality of times has been described. However, the display mode is not limited to this, and other display modes may be used. Therefore, in Modification 1 of the first embodiment, an example in which the display mode is changed based on the passage of time after detection is described. Note that the configuration of the parking support unit 500 is the same as that of the first embodiment, and a description thereof is omitted.

  The processing unit 507 stores, in the detection result storage unit 501, the area where the identified object exists, the range where the detection is performed, and the like, in association with the time when the detection was performed.

  Then, when the map generation unit 512 refers to the detection result storage unit 501 to generate map data, the detected range is set to the time when the detection was performed, in other words, the time elapsed since the detection was performed. The display mode is changed accordingly.

  FIG. 14 is a diagram illustrating a screen example displayed by the display processing unit 508 according to the first modification of the first embodiment. In the screen example shown in FIG. 14, an undetected range 1402, a detected range 1401, and a symbol 850 indicating the vehicle 1 are displayed.

  And as FIG. 14 shows, in the already detected range 1401, it displays so that it may become dark with progress of time. As a result, the user can recognize the time that has elapsed since detection of the already detected range 1401. Thereby, it can drive | operate, considering whether the external environment changed. Thereby, safety can be improved.

(Modification 2 of the first embodiment)
The undetected range and the detected range displayed by the display processing unit 508 are not limited to different display modes such as colors, and may be distinguished when viewed by the user. Therefore, in a second modification of the first embodiment, an example in which a boundary line between an undetected range and a detected range is displayed will be described.

  The map generation unit 512 according to the second modification of the first embodiment generates map data in which a boundary line is indicated between the undetected range and the detected range. Then, the display processing unit 508 displays the generated map data.

  FIG. 15 is a diagram illustrating a screen example displayed by the display processing unit 508 according to the second modification of the first embodiment. The screen example shown in FIG. 15 is displayed by separating the undetected range 1501 and the already detected range 1502 by a boundary line. As in the first embodiment, a symbol 850 indicating the vehicle 1 and an area 1511 where an obstacle exists are also displayed.

  Thus, by displaying the undetected range 1501 and the already detected range 1502 separated by the boundary line, the same effect as in the first embodiment can be obtained.

(Second Embodiment)
In the first embodiment, an example in which an undetected range and a detected range are distinguished and an area where an object detected in the detected range exists is shown. However, the displayed information is not limited to such information. Therefore, in the second embodiment, an example in which the target parking position is displayed when the vehicle 1 is parked will be described.

  The operation reception unit 502 receives a target parking position setting for parking the vehicle 1 as an operation from the driver based on the instruction signal.

  For example, it is assumed that the vehicle 1 has moved to the position shown in the screen example of FIG. Then, the operation reception unit 502 receives a setting as a target parking position in a region between the object region 922 and the object region 921.

  Thereby, the display processing unit 508 displays the map data with the set target parking position as a reference. FIG. 16 is a diagram illustrating an example of a screen displayed when the target parking position is set. In the example screen 1601 shown in FIG. 16, the target parking position 1650 is arranged at the lower part of the screen and as far as possible from the center in the left-right direction, including the symbol 850 indicating the vehicle 1 and the target parking position 1650. The Similar to the first embodiment, the already detected range 1611 and the undetected range 1612 are displayed in a distinguishable manner.

  In addition, the screen example 1601 shows that the object areas 1622 and 1621 on both sides of the target parking position 1650 can be recognized. The driver can easily think about how to drive the vehicle 1 after recognizing the obstacles on both sides based on the target parking position 1650. In addition, although this embodiment demonstrates the case where it drives by a driver | operator, the vehicle 1 may perform automatic steering.

  FIG. 17 is a diagram illustrating an example of a screen displayed when movement toward the target parking position 1650 is started. In the example shown in FIG. 17, a detected range 1711 and an undetected range 1712 are displayed in the screen 1701. In the present embodiment, since the target parking position 1650 is displayed as a reference, the map data is not scrolled even when the vehicle 1 indicated by the symbol 850 starts moving. However, this embodiment does not limit the mode of scrolling and may be scrolled. As in the first embodiment, the detection range 1732 includes a region 1722 where an object exists. Thereby, the area specifying unit 511 specifies the object area 1722 in more detail.

  FIG. 18 is a diagram showing an example of a screen that is displayed when the vehicle further moves toward the target parking position 1650. In the example illustrated in FIG. 18, a detected range 1811 and an undetected range 1812 are displayed in the screen 1801. When the vehicle 1 further approaches the target parking position 1650, the area specifying unit 511 specifies the object areas 1822 and 1821 in more detail by detection by the detection range 1832, and the specified area is displayed by the display processing unit 508. Is done.

  FIG. 19 is a diagram showing an example of a screen displayed after moving to the target parking position. In the example shown in FIG. 19, a detected range 1911 and an undetected range 1912 are displayed in the screen 1901. When the vehicle 1 moves to the target parking position, the area specifying unit 511 specifies the object areas 1921 and 1922, and the specified area is displayed by the display processing unit 508.

  In the second embodiment, in addition to the effects of the first embodiment, since the environment around the target parking position can be recognized, driving to the target parking position can be facilitated. Further, in the second embodiment, the display mode of the detection range may be changed according to the elapsed time, similarly to the first and second modifications of the first embodiment.

  According to the above-described embodiment, in the map data displayed by the display processing unit 508, the detection range detected by the distance measuring unit 17 and the long distance measuring unit 15, the distance measuring unit 17 and the long distance object. By distinguishing and displaying an undetected range in which no detection is performed by the distance measuring unit 15, an area where no object is indicated in the map data is not detected, or no object actually exists Can be recognized. Thereby, since the driver | operator can recognize the environment outside the vehicle 1 more correctly, the anxiety that there is a possibility of a collision can be suppressed. Thereby, there exists an effect that the safety | security at the time of driving | operation can be improved.

  Further, according to the embodiment described above, the driver can grasp the distance relationship with the object (obstacle) as if looking down from above the vehicle 1. Moreover, since it can park, grasping | ascertaining the distance of the vehicle 1 and an object (obstacle), possibility of contacting with an object (obstacle) can be reduced.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 500 ... Parking assistance part, 501 ... Detection result memory | storage part, 502 ... Operation reception part, 503 ... Steering angle acquisition part, 504 ... Wheel speed data acquisition part, 505 ... Movement amount calculation part, 506 ... Detection information acquisition 507 ... Processing unit, 508 ... Display processing unit, 511 ... Region specifying unit, 512 ... Map generating unit

Claims (9)

A detection unit for detecting the presence of an object in an external environment from the vehicle;
The detection range in which the presence / absence of an object has been detected by the detection unit during the movement of the vehicle until the present and the present, and the past until the present and the present by the detection unit during the movement of the vehicle. A display unit that distinguishes from an undetected range in which the presence or absence of an object is not detected,
Equipped with a,
The display unit is the presence / absence of an object in the first detection range detected by the detection unit, the range in which the detection unit has detected, the range being different from the first detection range, and the Displaying the range in which the object specified based on the difference in the presence or absence of the object in the second detection range partially overlapping with the first detection range exists;
Parking assistance device. A detection unit for detecting the presence of an object in an external environment from the vehicle;
The detection range in which the presence / absence of an object has been detected by the detection unit in the past up to the present and the present is shown, and the detection range of the object has not been detected in the past by the detection unit until the present and the present. A display unit that distinguishes from the detection range,
The display unit changes a display mode according to the number of times detected by the detection unit for the area detected by the detection unit until the vehicle moves to the current position.
Parking assistance device. The display unit includes a range in which the detection unit detects from the current position of the vehicle as the detection range, and a range in which the detection unit performs detection until the vehicle moves to the current position. Distinguish and display,
The parking assistance device according to claim 1 or 2 . The display unit further displays information representing a current position of the vehicle.
The parking assistance device according to claim 3 . The display unit changes a display mode according to a time elapsed from a time detected by the detection unit for a detection range in which the detection unit has detected until the vehicle moves to a current position.
The parking assistance device according to claim 3 or 4 . The display unit includes a region where an object detected by the detection unit exists from a current position of the vehicle, and a range where an object already detected by the detection unit exists until the vehicle moves to the current position. Are displayed separately,
The parking assistance device according to any one of claims 3 to 5 . A reception unit that receives a setting of a parking position that is the destination of the vehicle;
The display unit further displays the parking position.
The parking assistance device according to any one of claims 1 to 6 . A control method executed by a parking assistance device,
A detection step for detecting the presence or absence of an object in an external environment from the vehicle;
The detection range in which the presence / absence of an object has been detected in the past by the detection step during the movement of the vehicle is the past until the present and the present by the detection step during the movement of the vehicle. A display step for distinguishing from an undetected range in which the presence / absence of an object has not been detected,
Only including,
The display step is the presence / absence of an object in the first detection range detected by the detection step, the range detected by the detection step, and a range different from the first detection range, and Displaying the range in which the object specified based on the difference in the presence or absence of the object in the second detection range partially overlapping with the first detection range exists;
Control method. A control method executed by a parking assistance device,
A detection step for detecting the presence or absence of an object in an external environment from the vehicle;
The detection range in which the presence / absence of an object has been detected in the past up to the present and the present by the detection step is the same as the detection range in which the presence / absence of the object has not been detected in the past until the present and the present by the detection step. A display step for distinguishing from the detection range,
The display step changes the display mode according to the number of times the detection step has been performed for the region detected by the detection step before the vehicle moves to the current position.
Control method.

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