JP7704063B2 - Parking Assistance System - Google Patents

Description

The present invention relates to a parking assistance system.

In recent years, the development of automatic parking technology has progressed. Patent Document 1 discloses a technology that can avoid congestion in automatic valet parking and allow a vehicle to be manually parked from an alternative route.

JP 2020-021158 A

By suggesting the use of a parking assistance system installed in a vehicle to drivers who do not normally use it, convenience can be increased. However, drivers may not want to use the parking assistance system if it is quicker to park the car themselves, and may find the suggestion to use the system annoying. For this reason, it is desirable to have a suggestion to use the system that is less likely to cause inconvenience to drivers.

The objective of the present invention is to provide a technology in a parking assistance system that can reduce bothersome usage suggestions to the driver.

In order to solve the above problems, a parking assistance system according to one embodiment of the present invention includes a parking space detection unit that detects a parking space, a derivation unit that derives a first required time required to automatically park a vehicle in the parking space, a prediction unit that predicts a second required time required for the driver to manually park the vehicle in the parking space based on the time required in the past when the driver manually parked the vehicle in the same or similar parking space, and a decision unit that decides whether to suggest to the driver that automatic parking be used based on the result of comparing the first required time with the second required time.

The present invention provides technology that can reduce bothersome usage suggestions to the driver in a parking assistance system.

1 is a diagram showing a configuration of a parking assistance system according to an embodiment; 2 is a diagram illustrating a situation in which a parking space is detected by the parking assistance system of FIG. 1; FIG. 2 is a diagram showing an example of a data structure of a database stored in a storage unit in FIG. 1 . FIG. 3 is a diagram illustrating measurement of the time required for parking in manual driving, following FIG. 2 . 2 is a flowchart showing a process of the parking assistance system of FIG. 1 .

Figure 1 shows the configuration of a parking assistance system 1 according to an embodiment. The parking assistance system 1 is installed in a vehicle such as an automobile, and is used to assist in driving when parking. The parking assistance system 1 can also be called an automatic parking system, and when the driver turns on the parking switch, it automatically drives the vehicle and moves it into a parking space.

The parking assistance system 1 learns the parking skills of the driver, and when the driver intends to park in a parking lot while the parking switch is off, it compares a first time required for automatic parking with a second time required for the driver to park manually. When automatic parking would result in a shorter time for parking, the parking assistance system 1 suggests to the driver that they use the system. This makes it possible to increase the frequency of use of the parking assistance system 1 while reducing the hassle of suggestions for use.

The parking assistance system 1 includes a surroundings monitoring sensor 2, a vehicle condition sensor 4, an input unit 6, an output unit 8, and a parking assistance device 10.

The perimeter monitoring sensor 2 detects objects around the vehicle and outputs the detection results to the parking assistance device 10. The perimeter monitoring sensor 2 has, for example, at least one of a camera, an ultrasonic sensor, a radar, and a laser scanner. The camera captures images of the periphery of the vehicle. The ultrasonic sensor emits ultrasonic waves and receives the ultrasonic waves reflected by objects. The radar emits laser or millimeter waves and receives the laser or millimeter waves reflected by objects. The laser scanner scans a predetermined range with a laser and receives the laser reflected by objects.

The vehicle condition sensor 4 detects vehicle speed, steering angle, shift lever position, and parking brake operation status as vehicle condition information, and outputs the detection results to the parking assistance device 10.

The input unit 6 accepts operation input from the driver. The input unit 6 includes a parking switch that is used by the driver to input an operation to start automatic parking. The input unit 6 may include, for example, a mechanical switch that has an on/off state, or may include an operation button displayed on a touch panel. The input unit 6 may also include a microphone that accepts voice input. The input unit 6 outputs information indicating whether the parking switch is on or off to the parking assistance device 10.

The output unit 8 is installed in the vehicle cabin and includes at least one of a display device such as a liquid crystal display and an audio output device such as a speaker, and outputs information related to parking assistance according to the control of the parking assistance device 10.

The parking assistance device 10, also referred to as a parking assistance ECU (Electronic Control Unit), assists in parking the vehicle. The parking assistance device 10 has a processing unit 12 and a memory unit 14. The processing unit 12 has a position acquisition unit 20, a parking space detection unit 22, a classification unit 24, a derivation unit 26, a prediction unit 28, a measurement unit 30, a determination unit 32, a proposal unit 34, a route creation unit 36, and a vehicle control unit 38.

The configuration of the processing unit 12 can be realized in hardware terms by the CPU, memory, and other LSIs of any computer, and in software terms by programs loaded into memory, but here we depict functional blocks realized by the cooperation of these. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various forms by hardware alone, software alone, or a combination of both.

The process when the parking switch is on can be performed using known processes, so a detailed explanation is omitted. Below, the process when the parking switch is off is explained.

The position acquisition unit 20 periodically acquires the current position of the vehicle using, for example, a Global Positioning System (GPS) and outputs the current position information to the parking space detection unit 22. The current position includes latitude and longitude.

The parking space detection unit 22 recognizes surrounding parking spaces based on the detection results output from the periphery monitoring sensor 2 when the current position of the vehicle is within a parking lot and the vehicle speed is equal to or lower than a predetermined value at which the vehicle is considered to be moving slowly, based on the current position information and map information. The parking space detection unit 22 detects that the driver intends to park the vehicle in the parking lot when the steering wheel is turned near the entrance to a recognized parking space. The parking space detection unit 22 may also detect that the driver intends to park when the vehicle stops near the entrance to a recognized parking space.

When the driver intends to park the vehicle, the parking space detection unit 22 detects a parking space where the vehicle is expected to be parked based on the detection result output from the surrounding monitoring sensor 2. The parking space detection unit 22 detects, for example, a parking space located to the side of the vehicle in the direction opposite to the steering direction. In other words, in this case, even if the parking switch is off, the parking assistance system 1 is running in the background and detects the parking space. The parking space detection unit 22 detects the parking space using known technology, for example, based on the parking lot frame lines, obstacles such as walls, and the positions of other vehicles already parked. The parking space detection unit 22 outputs information on the detected parking space to the classification unit 24. The parking space information includes information such as the width of the aisle adjacent to the entrance of the parking space, and the size and position of the parking space. The position of the parking space includes latitude and longitude, and is identified from the current position of the vehicle.

Figure 2 is a diagram illustrating a situation in which parking space A1 is detected by parking assistance system 1 of Figure 1. In the example of Figure 2, when vehicle 70 equipped with parking assistance system 1 moves slowly in a parking lot, crosses the vicinity of the entrance to parking space A1 between two other parked vehicles, and is steered to the left, parking space detection unit 22 detects parking space A1 to the right of vehicle 70. The position of vehicle 70 at the time parking space A1 is detected is defined as position P1.

The classification unit 24 classifies the detected parking space A1 by aisle width and size. For example, the aisle width and the size of the parking space A1 may be three types, namely, "wide," "medium," and "narrow," respectively. In this case, the detected parking space A1 is classified into one of nine categories. The size of the parking space A1 can be classified using an index such as the occupancy rate of the vehicle's area in the parking space A1. The categories of the aisle width and the size of the parking space A1 are not limited to three types, and may be multiple. The classification unit 24 may further classify the detected parking space A1 by parking type, which indicates whether the parking space is parallel or parallel, parking direction, which indicates whether the parking space is forward or backward, and the like.

The memory unit 14 holds the learning value of the parking skill of the driver of the vehicle 70. Specifically, the memory unit 14 classifies into categories multiple parking spaces in which the driver has previously parked the vehicle 70 by manually driving the vehicle, and for each category, holds as a database the statistical value of the time required to manually park the vehicle in a parking space of that category. The categories are those classified by the classification unit 24.

Figure 3 shows an example of the data structure of the database stored in the memory unit 14 of Figure 1. Figure 3 shows the average time required for manual parking for each of nine categories related to aisle width and parking space size. The average value is in seconds. Although not shown, the memory unit 14 also stores the time required for parking into each of multiple parking spaces in association with the position information of the parking space.

The memory unit 14 may store other statistical values, such as the maximum, minimum, and variance of the time required for manual parking, in addition to or instead of the average value, for each of the multiple categories.

When the driver purchases the vehicle, the database is initialized. If there is no parking time data in the database for the same category as the detected parking space A1, the measurement unit 30 measures the time required to park by manual driving from position P1 to inside the parking space A1, and stores the measured time in the database as data in the parking space A1 category. In this case, the suggestion to use automatic parking is not executed.

Figure 4 is a diagram following Figure 2 that explains the measurement of the time required to manually park from position P1 into parking space A1. The driver moves vehicle 70 forward diagonally to the left from position P1, and then moves it backward to park in parking space A1. Measurement unit 30 determines the time when parking space A1 is detected as the parking start timing, and the time when the shift lever is in the parking position or the parking brake is turned on as the parking end timing, and measures the time from the parking start timing to the parking end timing. The measured time corresponds to the time required when the driver manually parks vehicle 70 in parking space A1.

On the other hand, if data on the parking time of a parking space that is the same as or similar to the detected parking space A1 exists in the database, the prediction unit 28 predicts a second required time required for the driver to manually park the vehicle 70 from position P1 into the parking space A1.

When the location information of the detected parking space A1 substantially matches the location information of a parking space in the database, these parking spaces are deemed to be the same, and the prediction unit 28 sets a statistical value, such as the average parking time of a parking space in the database that is the same as parking space A1, as the second required time. This makes it possible to obtain the actual parking time of a specific parking space where the vehicle is frequently parked, such as a home parking space, instead of a statistical value for the category, thereby improving the prediction accuracy of the second required time.

If there is no data on a parking space that can be considered to be identical to the detected parking space A1, a parking space in the database of the same category as the detected parking space A1 is considered to be similar to parking space A1, and the prediction unit 28 sets the parking time of a similar parking space in the database as the second required time.

This process corresponds to the prediction unit 28 predicting the second required time based on the time required in the past when the driver manually parked the vehicle in the same or a similar parking space as the parking space.

The route creation unit 36 determines the parking position in the parking space A1, creates a vehicle route from position P1 to the parking position, and outputs information about the created vehicle route to the derivation unit 26 and the vehicle control unit 38. The vehicle route can be created using known technology.

The derivation unit 26 derives a first required time required for automatically parking the vehicle 70 from position P1 to the parking space A1 based on the information of the vehicle route created by the route creation unit 36. The first required time can be derived using known technology based on a predetermined vehicle speed, the length of the vehicle route, the number of turns on the vehicle route, and the like. The derivation unit 26 may associate the first required time with the position information of the parking space and store it in the database of the storage unit 14. In this case, when the position information of the detected parking space substantially matches the position information of the parking space in the database, the derivation unit 26 may obtain the first required time for that parking space in the database.

The decision unit 32 decides whether to suggest to the driver that automatic parking be used, depending on the result of the comparison between the first required time and the second required time. If the second required time is longer than the first required time, the decision unit 32 decides to suggest to the driver that automatic parking be used, and notifies the suggestion unit 34. If the second required time is equal to or less than the first required time, the decision unit 32 decides not to suggest to the driver that automatic parking be used.

The decision unit 32 may decide to suggest to the driver that automatic parking be used if the result of subtracting the first required time from the second required time is longer than the predetermined time, and may decide not to suggest to the driver that automatic parking be used if the result of subtracting the first required time from the second required time is equal to or less than the predetermined time. The predetermined time is a value equal to or greater than zero and can be appropriately determined through experiments. The predetermined time may be set in advance by the driver. If the driver is relatively poor at parking, the predetermined time is made closer to zero, making it more likely that automatic parking will be suggested. If the driver is relatively good at parking, the larger the predetermined time, the less likely it will be suggested.

When the decision unit 32 decides to suggest to the driver that automatic parking be used, the suggestion unit 34 suggests to the driver that automatic parking be used via the output unit 8. The output unit 8 makes the suggestion by outputting text or voice such as "Would you like to use the automatic parking system?". The suggestion is made, for example, immediately after the vehicle 70 passes position P1. Since the suggestion is made only when automatic parking would be quicker, it is possible to reduce bothersome suggestions to the driver. Since the driver may be uncomfortable with manual parking in a parking space where automatic parking would be quicker, the possibility of agreeing to the suggestion increases.

In addition to the usage suggestion, the suggestion unit 34 may also notify the driver of the reason for the suggestion via the output unit 8. The reason for the suggestion may include the possibility that automatic parking may be faster. This can increase the likelihood that the driver will agree to the suggestion.

If the decision unit 32 does not decide to suggest to the driver that automatic parking be used, the suggestion unit 34 does not make a suggestion, and the measurement unit 30 measures the time taken by the driver to manually park the vehicle 70 in the parking space A1, and accumulates the time in the database. The measurement unit 30 derives new statistical values such as average values based on the measured time and existing values stored in the memory unit 14 in the category of the parking space A1 classified by the classification unit 24, and updates the database with the derived values. If the driver's parking skill changes, it can be reflected in the database.

If the driver who has received the usage proposal agrees with the proposal, he/she stops driving for parking and switches on the parking switch of the input unit 6. When the parking switch is turned on, the processing unit 12 starts controlling automatic parking. A known technology can be used to control automatic parking. For example, the processing unit 12 outputs an image of the surroundings of the vehicle, including the parking space A1 in which the vehicle is parked, to the output unit 8. When the driver who has checked the image inputs a parking start operation to the input unit 6, the vehicle control unit 38 acquires various information from the surrounding monitoring sensor 2 and the vehicle state sensor 4, and controls the steering, brakes, accelerator, etc. (not shown) based on the acquired information to operate the vehicle 70 along the vehicle path created by the path creation unit 36. In other words, the vehicle control unit 38 automatically parks the vehicle 70 from the position P1 to a parking position within the parking space A1. A known method can be used as a method of automatically driving the vehicle along the vehicle path.

On the other hand, if the driver who receives the usage proposal does not agree with the proposal, the driver will not turn on the parking switch of the input unit 6. In this case, as described above, the measurement unit 30 measures the time taken by the driver to manually park the vehicle 70 in the parking space A1, and accumulates the time in the database.

The predetermined time in the decision unit 32 may be variable, and when the suggestion unit 34 suggests using automatic parking, the decision unit 32 may increase the predetermined time from the current value if the input unit 6 does not accept an operation to switch the parking switch on, that is, if the driver does not agree to the suggestion. This can further suppress bothersome suggestions for use when the driver does not agree to the suggestion.

Next, the operation of the parking assistance system 1 configured as above will be described. FIG. 5 is a flowchart showing the processing of the parking assistance system 1 of FIG. 1. The processing of FIG. 5 is started when the parking switch is off and the driver intends to park in the parking lot.

The parking space detection unit 22 detects parking spaces (S10). The classification unit 24 classifies the detected parking spaces (S12). If data corresponding to the detected parking space does not exist in the database (N in S14), the measurement unit 30 measures the time required for the driver to manually park the vehicle, stores the measured time in the database (S28), and ends the process.

If data corresponding to the detected parking space exists in the database (Y of S14), the prediction unit 28 predicts the second required time for manual parking (S16). The derivation unit 26 derives the first required time for automatic parking (S18). If the second required time is not greater than the first required time (N of S20), the process proceeds to S28. If the second required time is greater than the first required time (Y of S20), the suggestion unit 34 suggests using automatic parking (S22). If the usage suggestion is not accepted (N of S24), the process proceeds to S28. If the usage suggestion is accepted (Y of S24), the processing unit 12 starts controlling automatic parking (S26) and ends the process.

The present invention has been described above based on the embodiments. The embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component and each processing process, and that such modifications are also within the scope of the present invention.

For example, at least some of the functions of the parking assistance device 10 may be provided by a server. In this case, data is transmitted and received between the parking assistance device 10 and the server via wireless communication.

1...Parking assistance system, 10...Parking assistance device, 14...Memory unit, 20...Position acquisition unit, 22...Parking space detection unit, 24...Classification unit, 26...Derivation unit, 28...Prediction unit, 30...Measurement unit, 32...Determination unit, 34...Proposal unit, 36...Route creation unit, 38...Vehicle control unit, 70...Vehicle.

Claims (1)

A parking space detection unit that detects a parking space;
A derivation unit that derives a first required time required to automatically park the vehicle in the parking space;
a prediction unit that predicts a second required time required for the driver to manually park the vehicle in the parking space based on a time required when the driver previously parked the vehicle in the same or similar parking space by manual driving;
A decision unit that decides whether to suggest to the driver to use automatic parking according to a comparison result between the first required time and the second required time;
A parking assistance system comprising:

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