JP7208460B2 - PARKING ASSIST CONTROL DEVICE, PARKING ASSIST DEVICE, PARKING ASSIST METHOD AND PROGRAM - Google Patents

Description

The present invention relates to a parking assistance control device, a parking assistance device, a parking assistance method, and a program.

There is a parking section in which the vehicle is parked diagonally. There is known a technique for judging oblique parking in which a vehicle is parked in a parking frame aligned in a direction oblique to a road side edge (see, for example, Patent Literature 1).

JP 2016-016681 A

Japanese Patent Laid-Open No. 2002-200002 discloses detecting a parking area in a parking lot where the vehicle is parked diagonally, but it does not determine whether it is appropriate to enter the parking space where the vehicle is parked diagonally.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and an object of the present invention is to provide appropriate parking assistance in an oblique parking space.

In order to solve the above-described problems and achieve the object, a parking assist control device according to the present invention includes a parking position specifying unit that specifies a parking space in which a vehicle is to be parked and a parking direction, and a parking position specifying unit that specifies a parking space. an angle detection unit for detecting an angle formed between the entering direction and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle; A warehousing judgment unit for judging whether forward warehousing or backward warehousing in the warehousing direction specified by the specifying unit is provided.

A parking assistance device according to the present invention includes the parking assistance control device described above.

A parking assistance method according to the present invention includes a parking position specifying step of specifying a parking space and an entering direction in which a vehicle is to be parked ; an angle detection step of detecting an angle to the rear side of the position of the vehicle; and based on the detection result of the angle detection step, the vehicle is moved forward or backward in the parking direction specified in the parking position specifying step. and a warehousing judgment step for judging whether or not to stock the goods.

A program according to the present invention includes a parking position specifying step of specifying a parking space and an entering direction in which the vehicle is to be parked ; and an angle detection step of detecting an angle to the rear side of the position of and based on the detection result of the angle detection step, the vehicle is parked forward or backward in the parking direction specified in the parking position specifying step. A computer that operates as a parking assist control device is caused to execute a warehousing determination step of determining whether or not.

ADVANTAGE OF THE INVENTION According to this invention, it is an effect that parking assistance can be performed appropriately in a diagonal parking space.

FIG. 1 is a block diagram showing a configuration example of a parking assistance device according to the first embodiment. FIG. 2 is a flow chart showing the flow of processing in the parking assist system according to the first embodiment. FIG. 3 is a diagram showing an example of a parking space. FIG. 4 is a diagram showing another example of parking spaces. FIG. 5 is a block diagram showing a configuration example of a parking assistance device according to the second embodiment. FIG. 6 is a flow chart showing the flow of processing in the parking assistance device according to the second embodiment. FIG. 7 is a diagram showing an example of a parking section. FIG. 8 is a diagram showing another example of parking spaces. FIG. 9 is a block diagram showing a configuration example of a parking assistance device according to the third embodiment.

Exemplary embodiments of a parking assistance control device, a parking assistance device, a parking assistance method, and a program according to the present invention will be described below in detail with reference to the accompanying drawings. In addition, the present invention is not limited by the following embodiments.

[First embodiment]
FIG. 1 is a block diagram showing a configuration example of a parking assistance device according to the first embodiment. The parking assistance device 10 assists parking in a parking space for diagonal parking. Diagonal parking is parking in a parking space provided diagonally with respect to an aisle in front of or behind the parking space.

The parking assistance device 10 has a camera (image capturing unit) 11 , a GPS receiving unit 12 , a sensor 13 , an operation unit 14 , a notification unit 15 and a control unit (parking assistance control device) 20 .

Camera 11 is a camera that captures an image of the surroundings of the vehicle. In this embodiment, the camera 11 can be installed at any position and in any number, but at least the parking space on the road surface around the vehicle can be photographed. The camera 11 constantly captures images while the parking assistance device 10 is operating. The camera 11 captures captured data that can detect parking lane lines. The camera 11 outputs captured image data to the image data acquisition unit 21 of the control unit 20 . The camera 11 stores captured image data in a recording unit (not shown). The photographed data is, for example, a moving image composed of images of 30 frames per second.

The GPS receiver 12 receives radio waves from GPS satellites (not shown). The GPS receiver 12 outputs the received radio wave signal to the position information acquisition unit 22 of the controller 20 . The GPS receiving unit 12 is not limited to use of the GPS system, and may be a receiving device of another type of positioning satellite system.

The sensor 13 is a sensor that acquires, as sensor information, the state of a parking space in which the vehicle is parked. The sensor 13 is, for example, a LiDAR (Light Detection and Ranging), an ultrasonic sensor, or the like. The sensor 13 constantly acquires sensor information while the parking assistance device 10 is operating. The sensor 13 acquires sensor information that can determine whether the vehicle can be parked and whether the parking direction is the left or right side of the traveling direction. The sensor 13 acquires sensor information indicating, for example, the presence or absence of other vehicles in the parking space, the positional relationship with other vehicles in adjacent parking spaces, and the like. The sensor 13 acquires sensor information as the vehicle passes through the front or rear aisle of the parking space. The sensor 13 outputs the acquired sensor information to the sensor information acquisition section 23 of the control section 20 .

The operation unit 14 can receive various operations for the parking assistance device 10 . For example, the operation unit 14 can accept an operation to start parking assistance and an operation to end parking assistance. The operation unit 14 outputs operation information to the operation reception unit 24 of the control unit 20 .

The notification unit 15 is an output unit that notifies the driver of parking assistance information. The notification unit 15 is, for example, a display unit (not shown) or a speaker (not shown). The notification unit 15 outputs parking assistance information in the form of video or audio under the control of the notification control unit 25 .

The control unit 20 is an arithmetic processing device including, for example, a CPU (Central Processing Unit). The control unit 20 loads a program stored in the storage unit into memory and executes instructions included in the program. The control unit 20 includes a photographed data acquisition unit 21, a position information acquisition unit 22, a sensor information acquisition unit 23, an operation reception unit 24, a notification control unit 25, a parking lane detection unit 26, and a parking position identification unit. 27 , an angle detection unit 28 , and a warehousing determination unit 29 . The control unit 20 includes an internal memory (not shown), which is used for temporary storage of data in the control unit 20 and the like. The control unit 20 develops and executes a program stored in an internal memory or the like, thereby realizing the function of each unit. In FIG. 1, each unit realized by the control unit 20 is described as being connected to each other via the bus 40 for easy understanding.

The photographed data acquisition unit 21 acquires photographed data obtained by photographing the surroundings of the vehicle. More specifically, the captured data acquisition unit 21 acquires captured data output by the camera 11 . The captured image data obtained is, for example, a moving image composed of images of 30 frames per second.

The position information acquisition unit 22 calculates the position information of the current position of the vehicle by a known method based on the radio waves received by the GPS reception unit 12 and the like.

The sensor information acquisition unit 23 acquires sensor information acquired by the sensor 13 .

The operation reception unit 24 acquires operation information of operations received by the operation unit 14 . For example, the operation reception unit 24 acquires operation information indicating an operation for starting and ending parking assistance, and outputs a control signal.

The notification control unit 25 performs control to notify information for assisting parking. The notification control unit 25 notifies the driver of the vehicle of the determination result determined by the warehousing determination unit 29 . The notification control unit 25 outputs a video signal to the display unit so that the parking assistance information based on the determination result is displayed as a video. Alternatively, the notification control unit 25 outputs an audio signal to the speaker so as to output the parking assistance information based on the determination result by voice.

The parking line detection unit 26 detects parking line information indicating a parking line that defines at least the parking width of the parking space specified by the parking position specifying unit 27 . For example, the parking line detection unit 26 may perform white line recognition processing on the captured data acquired by the captured data acquisition unit 21 to detect parking line information indicating parking lines drawn with white lines. White line recognition processing is not limited as long as a known method is used. In this embodiment, a parking bay line extending diagonally with respect to an aisle in front of or behind a parking bay is detected. The parking line detection unit 26 constantly detects parking line information from the photographed data while the parking assistance device 10 is operating.

The parking position specifying unit 27 specifies the parking section in which the vehicle is parked and the entering direction. More specifically, the parking position specifying unit 27 determines the parking space in which the vehicle is to be parked and the entering direction based on the sensor information acquired by the sensor information acquisition unit 23 and the parking space lines detected by the parking space line detection unit 26. Identify. In this embodiment, a parking space that is oblique to an aisle in front of or behind the parking space is identified.

More specifically, first, the parking position identifying unit 27 recognizes the space between adjacent parking lines detected by the parking line detection unit 26 as a parking space.

Based on the sensor information acquired by the sensor information acquiring unit 23, the parking position specifying unit 27 determines whether or not there is another vehicle in the recognized parking space, and whether or not there is another vehicle in the parking space adjacent to the recognized parking space. Based on the positional relationship, etc., it is determined whether or not the vehicle can be parked in the recognized parking space. For example, when the sensor information indicates that there is another vehicle existing in the recognized parking space, the parking position specifying unit 27 determines that the recognized parking space is not available for parking. For example, when the sensor information indicates that another vehicle existing in an adjacent parking space protrudes into the recognized parking space, the parking position specifying unit 27 determines that the recognized parking space is not parkable. Alternatively, the parking position specifying unit 27 may determine whether or not the vehicle can be parked in the recognized parking space by the operation of the driver.

Then, when it is determined that the parking space can be parked in the recognized parking space, the parking position specifying unit 27 specifies the parking space as an available parking space.

Then, after specifying a parking space in which the vehicle can be parked, the parking position specifying unit 27 specifies which side of the traveling direction the parking direction is, left or right. Based on the parking line detected by the parking line detecting unit 26, the parking position specifying unit 27 specifies which side of the traveling direction is the entering direction of the parking space in which the vehicle is to be parked. For example, when the parking line is on the left side in the direction of travel, the parking position specifying unit 27 specifies that the entering direction of the parking space in which the vehicle is to be parked is on the left side in the direction of travel. For example, when the parking line is on the right side in the direction of travel, the parking position specifying unit 27 specifies that the entering direction of the parking space in which the vehicle is to be parked is on the right side in the direction of travel.

The traveling direction of the vehicle is obtained through a CAN (Controller Area Network) interface or the like. The traveling direction of the vehicle is the traveling direction of the vehicle.

The angle detection unit 28 detects the angle between the parking direction specified by the parking position specifying unit 27 and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle. When the parking position specifying unit 27 specifies the parking direction, the angle detection unit 28 detects the relationship between the traveling direction of the vehicle and the parking direction as an angle.

The angle between the traveling direction of the vehicle and the entering direction is an obtuse angle with respect to the traveling direction of the vehicle and the entering direction detected by the parking position specifying unit 27 or the parking lane line detected by the parking lane line detecting unit 26. or an acute-angle relationship.

The parking determination unit 29 determines whether the vehicle is to be parked forward or backward in the parking direction specified by the parking position specifying unit 27 based on the detection result of the angle detection unit 28 . More specifically, based on the detection result of the angle detection unit 28, the warehousing determination unit 29 determines that if the angle between the warehousing direction and the position of the vehicle on a straight line parallel to the traveling direction of the vehicle is in an obtuse angle relationship, the vehicle is positioned in the rear direction . When the angle between the direction of entry and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle is an acute angle relationship, it is determined that the vehicle is to be entered in the backward direction. When the angle between the direction of entry and the rear side of the position of the vehicle on a straight line parallel to the direction of movement of the vehicle is 90 degrees, the entry determination unit 29 does not determine forward entry or reverse entry, but determines reverse entry. or follow the parking lot rules.

The information indicating the rules of the parking space may be stored in the storage unit, or the captured data may be subjected to character recognition processing, for example, "Forward parking" or "Reverse parking" marked around the parking space. characters can be recognized.

Next, with reference to FIG. 2, the flow of processing in the control unit 20 of the parking assistance device 10 will be described. FIG. 2 is a flow chart showing the flow of processing in the parking assist system according to the first embodiment. While the parking assistance device 10 is activated, the camera 11 photographs the surroundings of the vehicle, and the photographed data acquisition unit 21 acquires the photographed data. The position information acquisition unit 22 acquires the radio signal received by the GPS reception unit 12 and acquires the position information of the current position of the vehicle. The sensor 13 acquires the information of the parking space, and the sensor information acquisition unit 23 acquires the sensor information.

The controller 20 detects a parking lane line (step S101). The control unit 20 performs white line recognition processing based on the photographed data acquired by the photographed data acquisition unit 21 using the parking line detection unit 26, and detects parking line information indicating the parking line, which is a white line. The controller 20 proceeds to step S102.

The control unit 20 identifies the parking position (step S102). More specifically, the control unit 20 controls the parking position identifying unit 27 to park the vehicle based on the sensor information acquired by the sensor information acquisition unit 23 and the parking lane line information detected by the parking lane line detection unit 26. Identify parcels and incoming directions. The control unit 20 proceeds to step S103.

The control unit 20 detects the angle (step S103). More specifically, the control unit 20 uses the angle detection unit 28 to detect the angle between the parking direction specified by the parking position specifying unit 27 and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle. The controller 20 proceeds to step S104.

The control unit 20 executes warehousing determination (step S104). More specifically, based on the detection result of the angle detection unit 28, the control unit 20 determines that the entrance direction and the rear side of the vehicle position on a straight line parallel to the traveling direction of the vehicle have an obtuse angle. If so, it is determined to park the vehicle forward. Based on the detection result of the angle detection unit 28, the control unit 20 determines by the warehousing determination unit 29, when the angle between the warehousing direction and the rear side of the vehicle position on a straight line parallel to the traveling direction of the vehicle has an acute angle relationship. It is determined that the vehicle is to be reversed and parked. The controller 20 proceeds to step S105.

The control unit 20 notifies (step S105). More specifically, the control unit 20 uses the notification control unit 25 to notify the driver of the vehicle of the determination result determined by the warehousing determination unit 29 . The control unit 20 ends the process.

With reference to FIG. 3, the case where the angle θ1 between the entering direction C and the position of the vehicle on the rear side of the straight line parallel to the traveling direction A of the vehicle V is an obtuse angle will be described. FIG. 3 is a diagram showing an example of a parking space. In FIG. 3, V1 and V2 are examples of other parked vehicles. In FIG. 3, the vehicle V is traveling from position PA to position PB. The traveling direction of the vehicle V is A. While the vehicle V is running, in the parking assistance device 10, the camera 11 photographs the surroundings of the vehicle, and the photographed data acquisition unit 21 acquires the photographed data. Further, in the parking assistance device 10, the position information acquisition section 22 acquires the radio wave signal received by the GPS reception section 12, and acquires the position information of the current position of the vehicle. Furthermore, in the parking assistance device 10, the sensor 13 acquires the information of the parking space, and the sensor information acquisition unit 23 acquires the sensor information. While the vehicle V is moving from the position PA to the position PB, the parking assistance device 10 detects the parking space line L and identifies the parking space and the entering direction.

I will explain in more detail. In step S101, the parking lane line detection unit 26 performs white line recognition processing on the photographed data to detect parking lane line information. Then, in step S102, the parking position specifying unit 27 determines that the parking section located on the left side of the traveling direction A of the vehicle V can be parked. Then, the parking position specifying unit 27 specifies that the entering direction to the parking space located on the left side of the traveling direction A of the vehicle V is C. As shown in FIG. It should be noted that the position in this parking section is assumed to be PC. Then, in step S103, the angle detection unit 28 detects that the specified warehousing direction C and the rear side of the position of the vehicle on a straight line parallel to the traveling direction A of the vehicle are in an obtuse angle relationship. Then, in step S104, the entering direction C and the traveling direction A of the vehicle are in an obtuse angle relation by the entering determination section 29, so it is determined that the vehicle is to be entered forward. Then, in step S105, the notification control unit 25 notifies the driver that the vehicle V should be moved forward into the parking position in the warehousing direction C. As shown in FIG.

As shown in FIG. 3, when the parking position specifying unit 27 determines that parking is possible at the position PC, and the determination result determined by the parking determination unit 29 on the side of the position PA from the position of the vehicle V is notified, the driver , the vehicle V is moved forward into the parking position in the parking direction C as it is. When the determination result is notified at the position PB side from the position of the vehicle V shown in FIG.

With reference to FIG. 4, the case where the angle θ2 between the entering direction C and the rear side of the position of the vehicle on a straight line parallel to the traveling direction A of the vehicle V is an acute angle relationship will be described. FIG. 4 is a diagram showing another example of parking spaces. In FIG. 4 as well, the vehicle V travels from the position PA to the position PB, and the traveling direction of the vehicle V is A. As shown in FIG.

In step S101, the parking lane line detection unit 26 performs white line recognition processing on the photographed data to detect parking lane line information. Then, in step S102, the parking position specifying unit 27 determines that the parking section located on the right side of the traveling direction A of the vehicle V can be parked. Then, the parking position specifying unit 27 specifies that the entering direction to the parking space located on the right side of the traveling direction A of the vehicle V is C. As shown in FIG. It should be noted that the position in this parking section is assumed to be PC. Then, in step S103, the angle detection unit 28 detects that the specified warehousing direction C and the rear side of the position of the vehicle on a straight line parallel to the traveling direction A of the vehicle are in an acute angle relationship. Then, in step S104, the entering direction C and the traveling direction A of the vehicle are in an acute angle relationship by the entering determination section 29, so it is determined that the vehicle is to be reversed and entered. Then, in step S105, the notification control unit 25 notifies the driver that the vehicle V should be reversed to the parking position in the warehousing direction C and parked.

When notified at the position PA side of the position of the vehicle V shown in FIG. 4, the driver directly advances the vehicle V toward the position PB side, and then reverses and enters the parking position in the parking direction C. When notified at the position PB side of the position of the vehicle V shown in FIG.

In this way, the parking assistance device 10 parks the vehicle based on the angle between the parking section in which the vehicle is parked, the entering direction, and the rear side of the vehicle position on a straight line parallel to the traveling direction of the vehicle. decides whether to move forward or reverse in the direction specified by , and notifies. More specifically, the parking assistance device 10 determines that the vehicle should be parked forward when the angle between the parking direction and the position of the vehicle on a straight line parallel to the traveling direction of the vehicle is an obtuse angle. and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle is an acute angle relationship, it is determined that the vehicle is to be put into the reverse parking lot and notified.

As described above, in this embodiment, the vehicle is parked on the basis of the angle between the parking section in which the vehicle is parked, the entering direction, and the rear side of the vehicle position on a straight line parallel to the traveling direction of the vehicle. It is possible to determine whether to carry out forward or backward storage in the specified storage direction, and notify it. More specifically, in this embodiment, when the angle between the direction of entry and the rear side of the position of the vehicle on a straight line parallel to the direction of movement of the vehicle is an obtuse angle, it is determined that the vehicle is to be moved forward into the warehousing direction. If the angle between the straight line parallel to the traveling direction of the vehicle and the position of the vehicle on the rear side is an acute angle relationship, it is possible to determine that the vehicle is to be put into the reverse parking lot and notify the operator. In this manner, according to the present embodiment, it is possible to appropriately perform parking assistance in an oblique parking section.

According to the present embodiment, it is notified which of forward parking and reverse parking is more suitable in an oblique parking section, so that even a driver who is not good at parking can be assisted so that he can perform an appropriate parking operation.

[Second embodiment]
A parking assistance device 10A according to the present embodiment will be described with reference to FIGS. 5 to 8. FIG. FIG. 5 is a block diagram showing a configuration example of a parking assistance device according to the second embodiment. FIG. 6 is a flow chart showing the flow of processing in the parking assistance device according to the second embodiment. FIG. 7 is a diagram showing an example of a parking section. FIG. 8 is a diagram showing another example of parking spaces. The basic configuration of the parking assistance device 10A is similar to that of the parking assistance device 10 of the first embodiment. In the following description, the same reference numerals or corresponding reference numerals are assigned to the same components as those of the parking assistance device 10, and detailed description thereof will be omitted. The parking assistance device 10A differs from the first embodiment in that it has a parking space estimation unit 30A and the processing in the parking determination unit 29A and the notification control unit 25A.

The parking space estimation unit 30A estimates the parking space based on the parking space lines detected by the parking space line detection unit 26 . In this embodiment, the parking space estimator 30A estimates the rear end or the front end of the parking space provided obliquely with respect to the passage in front of or behind the parking space.

More specifically, based on the detection result of the angle detection unit 28, the parking space estimation unit 30A determines that when the angle between the parking direction and the rear side of the vehicle position on a straight line parallel to the direction of travel of the vehicle is an obtuse angle, A parking space is estimated based on the end of the parking space line existing in front of the position of the vehicle among a plurality of parking space lines extending in the parking direction detected by the parking space line detection unit 26 . For example, when the parking space line extending in the parking direction and the traveling direction of the vehicle have an obtuse angle relationship, the parking space estimating unit 30A selects one of the plurality of parking space lines extending in the parking direction specified by the parking position specifying unit 27. , a virtual line M1 extending perpendicularly to the rear of the vehicle from the end of the parking line existing in front of the vehicle position is estimated as the rear end of the estimated parking space.

Based on the detection result of the angle detection unit 28, the parking space estimation unit 30A detects the parking space line when the angle between the parking direction and the position of the vehicle on the straight line parallel to the traveling direction of the vehicle is an acute angle. The parking section is estimated based on the end portion of the parking section line existing on the rear side of the position of the vehicle among the plurality of parking section lines extending in the parking direction detected by the unit 26 . For example, when the parking space line extending in the parking direction and the traveling direction of the vehicle form an acute angle relationship, the parking space estimating unit 30A selects one of the plurality of parking space lines extending in the parking direction specified by the parking position specifying unit 27. , an imaginary line M2 extending at right angles to the front side of the vehicle from the end of the parking line existing behind the vehicle is estimated as the front end of the estimated parking section.

The parking determination unit 29A determines whether the vehicle is to enter the parking space estimated by the parking space estimation unit 30A forward or backward in the parking direction specified by the parking position specifying unit 27.

The notification control unit 25A notifies the driver of the vehicle of the determination result determined by the parking determination unit 29 together with the information indicating the parking space estimated by the parking space estimation unit 30A.

Next, referring to FIG. 6, the flow of processing in the control section 20A will be described. Steps S111 to S113, steps S115 and S116 are the same as steps S101 to S103, steps S104 and S105 of the flow chart shown in FIG.

20 A of control parts estimate a parking space (step S114). More specifically, based on the detection result of the angle detection unit 28, the control unit 20A causes the parking space estimation unit 30A to determine that the angle between the parking direction and the rear side of the vehicle position on a straight line parallel to the traveling direction of the vehicle is an obtuse angle. If there is a relationship, the parking space is estimated based on the end of the parking space line existing in front of the vehicle position among the plurality of parking space lines extending in the parking direction detected by the parking space line detection unit 26. . Based on the detection result of the angle detection unit 28, the control unit 20A uses the parking space estimation unit 30A to determine if the angle between the parking direction and the rear side of the vehicle position on a straight line parallel to the traveling direction of the vehicle has an acute angle relationship. , the parking space is estimated based on the end of the parking space line that exists on the rear side of the position of the vehicle among the plurality of parking space lines extending in the parking direction detected by the parking space line detection unit 26 . The controller 20A proceeds to step S115.

With reference to FIG. 7, the case where the angle θ1 between the entering direction C and the position of the vehicle on the rear side of the straight line parallel to the traveling direction A of the vehicle V is an obtuse angle will be described. In FIG. 7, the vehicle V travels from the position PA to the position PB, and the traveling direction of the vehicle V is A. As shown in FIG.

In step S114, the parking space estimating unit 30A determines that the parking space line detection unit 26 detects an obtuse angle between the parking space direction C and the traveling direction A of the vehicle V. , the parking space is estimated based on the end portion L1a of the parking space line L1 that exists on the front side of the vehicle V position . Then, the parking space estimating unit 30A determines the position of a virtual line M1 drawn perpendicularly to the parking space line L1 from the end L1a of the parking space line L1 existing forward of the position of the vehicle V to the rear end of the parking space. Estimated as part.

With reference to FIG. 8, the case where the angle θ2 between the entering direction C and the rear side of the position of the vehicle on a straight line parallel to the traveling direction A of the vehicle V is an acute angle relationship will be described. Also in FIG. 8, the vehicle V travels from the position PA to the position PB, and the traveling direction of the vehicle V is A. As shown in FIG.

In step S114, the parking section estimating unit 30A determines that the entering direction C and the traveling direction A of the vehicle V are in an acute angle relationship, and therefore, among the plurality of parking lines extending in the parking direction detected by the parking line detecting unit 26, , the parking space is estimated based on the end L2a of the parking space line L2 that exists behind the position of the vehicle . Then, the position of a virtual line M2 drawn perpendicular to the parking line L2 from the end L2a of the parking line L2, which exists on the rear side of the vehicle position, is determined by the parking space estimation unit 30A as the front end of the parking space. presume.

In this manner, the parking assistance device 10A estimates the parking space based on the parking space line detected by the parking space line detection unit 26 . More specifically, the parking assistance device 10A estimates the front end or rear end of the diagonal parking section.

As described above, this embodiment can estimate the parking space based on the parking space line detected by the parking space line detection unit 26 . The present embodiment can estimate the front or rear edge of a diagonal parking space even if the parking bay lines that define the front and rear edges of the diagonal parking space are not drawn. As described above, according to the present embodiment, even if there is no line or the like indicating the front end or the rear end of a parking space in an oblique parking space, the parking space can be estimated and appropriate parking assistance can be provided.

According to this embodiment, in an oblique parking section without a line indicating the front end or the rear end, even if there is no other vehicle parked in the adjacent parking section as a reference, parking assistance can be provided appropriately. .

[Third embodiment]
A parking assistance device 10B according to the present embodiment will be described with reference to FIG. FIG. 9 is a block diagram showing a configuration example of a parking assistance device according to the third embodiment. The parking assistance device 10B differs from the first embodiment and the second embodiment in that it has an automatic parking control section 31B.

The automatic parking control unit 31B executes automatic parking by automatic driving based on the determination result determined by the warehousing determination unit 29 . The automatic parking control unit 31B outputs a control signal to an ECU (Engine Control Unit).

For example, in the state shown in FIG. 3, the automatic parking control unit 31B controls the vehicle to move forward and into the parking lot in the direction of the position PC, following the process of step S105 in the flowchart shown in FIG. When the parking determination unit 29 makes a determination at the position PB side of the position of the vehicle V shown in FIG. control the vehicle to move forward into the parking position.

For example, in the state shown in FIG. 4, the automatic parking control unit 31B controls the vehicle so that it is reversed in the direction from position PB to position PC following the process of step S105 of the flowchart shown in FIG. 4, the automatic parking control unit 31B directly advances the vehicle V toward the position PB, and then moves in the direction C of the vehicle V. Control the vehicle so that it is reversed into the parking position.

For example, in the state shown in FIG. 7, the automatic parking control unit 31B, following the process of step S116 in the flowchart shown in FIG. to control.

For example, in the state shown in FIG. 8, the automatic parking control unit 31B causes the vehicle to enter the parking space based on the estimated front end of the parking space, following the process of step S116 of the flowchart shown in FIG. Control.

As described above, according to the present embodiment, automatic parking by automatic driving can be executed based on the determination result determined by the warehousing determination unit 29 .

Now, the parking assistance device 10 according to the present invention has been described so far, but it may be implemented in various different forms other than the above-described embodiment.

Each component of the illustrated parking assistance device 10 is functionally conceptual, and does not necessarily have to be physically configured as illustrated. In other words, the specific form of each device is not limited to the illustrated one, and all or part of it may be functionally or physically distributed or integrated in arbitrary units according to the processing load and usage conditions of each device. may

The configuration of the parking assistance device 10 is implemented as software, for example, by a program loaded into a memory. In the above embodiments, functional blocks realized by cooperation of these hardware or software have been described. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

The components described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the above configurations can be combined as appropriate. Also, various omissions, substitutions, or modifications of the configuration are possible without departing from the gist of the present invention.

10 parking assistance device 11 camera (shooting unit)
13 sensor 15 notification unit 20 control unit (parking assistance control device)
21 photographed data acquisition unit 22 position information acquisition unit 23 sensor information acquisition unit 25 notification control unit 26 parking lot line detection unit 27 parking position specifying unit 28 angle detection unit 29 warehousing determination unit A traveling direction C warehousing direction L1 parking lot line L2 parking division line

Claims (9)

a parking position specifying unit that specifies a parking space in which the vehicle is parked and an entering direction;
an angle detection unit that detects an angle between the parking direction specified by the parking position specifying unit and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle ;
a parking determination unit that determines whether the vehicle is to be parked forward or backward in the parking direction specified by the parking position specifying unit based on the detection result of the angle detection unit;
A parking assistance control device comprising: Based on the detection result of the angle detection unit, the entering determination unit determines whether the vehicle enters the vehicle when the angle between the entering direction and the position of the vehicle on a straight line parallel to the traveling direction of the vehicle is an obtuse angle. When it is determined that the vehicle is to be parked forward, and the angle between the direction of parking and the rear side of the position of the vehicle on a straight line parallel to the direction of travel of the vehicle is an acute angle relationship, it is determined that the vehicle is to be parked backward.
The parking assistance control device according to claim 1. A parking line detection unit that detects a parking line that defines at least a parking width of the parking space identified by the parking position identification unit;
further comprising
The parking position specifying unit specifies the entering direction of the parking space in which the vehicle is to be parked based on the parking space line detected by the parking space line detection unit.
The parking assistance control device according to claim 1 or 2. Based on the detection result of the angle detection unit, when the angle between the parking direction and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle is an obtuse angle, the parking lane line detection unit detects A parking space is estimated based on an end of a parking space line that exists in front of the position of the vehicle among a plurality of parking space lines that extend in the parking direction , and a straight line that is parallel to the direction of parking and the traveling direction of the vehicle is obtained. is an acute angle with respect to the rear side of the position of the vehicle, one of the plurality of parking lines extending in the parking direction detected by the parking line detection unit is positioned rearward of the position of the vehicle. a parking space estimator for estimating a parking space based on existing parking space line edges;
further comprising
The parking determination unit determines whether the vehicle is to be parked forward or backward in the parking direction specified by the parking position identification unit for the parking space estimated by the parking space estimation unit.
The parking assistance control device according to claim 3. A notification control unit that notifies the driver of the vehicle of the determination result determined by the warehousing determination unit;
The parking assistance control device according to any one of claims 1 to 4, further comprising: an automatic parking control unit for executing automatic parking based on the determination result determined by the warehousing determination unit;
The parking assist control device according to any one of claims 1 to 5, further comprising: The parking assistance control device according to any one of claims 1 to 6,
A parking assistance device comprising: a parking position identifying step of identifying a parking space in which the vehicle is to be parked and a parking direction;
an angle detection step of detecting an angle between the entering direction identified in the parking position identification step and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle ;
a parking determination step of determining whether the vehicle is to be parked forward or backward in the parking direction specified in the parking position specifying step, based on the detection result of the angle detection step;
parking assistance methods including; In the computer that operates the parking assist control device,
a parking position identifying step of identifying a parking space in which the vehicle is to be parked and a parking direction;
an angle detection step of detecting an angle between the entering direction specified in the parking position specifying step and the rear side of the position of the vehicle on a straight line parallel to the traveling direction of the vehicle ;
a parking determination step of determining whether the vehicle is to be parked forward or backward in the parking direction specified in the parking position specifying step, based on the detection result of the angle detection step;
program to run.

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