JP-2026075628-A - Parking assistance method and parking assistance device

Abstract

[Problem] To provide a parking assistance method and parking assistance device that allows the driver to easily understand the position where the vehicle can be driven automatically based on the driving path. [Solution] The parking assistance method according to this disclosure is a parking assistance method that performs automatic driving of a vehicle based on a driver's instructional driving, and stores information about the driving route during the driver's instructional driving, and displays guidance information on a display unit based on a target position from which the vehicle can move to the parking position by automatic driving based on the driving route and from which the vehicle can merge onto the driving route. The width of the second area from which the vehicle can merge onto the driving route at the second point is narrower than the width of the first area from which the vehicle can merge onto the driving route at the first point. The second point is a point on the driving route that is closer to the parking position than the first point. [Selection Diagram] Figure 5

Inventors

• 徳弘 崇文
• 赤浦 勝太

Assignees

• パナソニックオートモーティブシステムズ株式会社

Dates

Publication Date

20260508

Application Date

20260303

Priority Date

20210301

Claims (18)

1. A parking assistance method that performs automatic vehicle driving based on driver-guided driving, The system stores information regarding the driving route during the driver's instructional run. Based on the aforementioned driving path, the vehicle can move to the parking position through the automated driving, and guidance information is displayed on the display unit based on the target position from which the vehicle can rejoin the aforementioned driving path. The width of the second area at the second point from which a vehicle can merge onto the aforementioned driving path is narrower than the width of the first area at the first point from which a vehicle can merge onto the aforementioned driving path. The second point is a point on the travel route that is closer to the parking position than the first point. Parking assistance methods.
2. The width of the first region and the width of the second region are the widths in the vehicle width direction along the travel path. The parking assistance method according to claim 1.
3. The aforementioned target position is the starting position of the travel path. The parking assistance method according to claim 1 or 2.
4. The first region and the second region are strip-shaped regions along the travel path. The parking assistance method according to any one of claims 1 to 3.
5. To control the vehicle to the aforementioned target position. Parking assistance method according to any one of claims 1 to 4.
6. Based on first sensor information regarding the surroundings of the vehicle acquired by sensors mounted on the vehicle during the driver's test run, the driving path is stored. The parking assistance method according to any one of claims 1 to 5.
7. Based on second sensor information acquired around the vehicle, the position of the vehicle and the target position are estimated. The parking assistance method according to claim 6.
8. The aforementioned display unit is a head-up display. The parking assistance method according to any one of claims 1 to 7.
9. The display unit is a display installed on the dashboard of the vehicle. The parking assistance method according to any one of claims 1 to 7.
10. A parking assist system that performs automatic vehicle driving based on driver-guided driving, A storage unit that stores information regarding the driving route during the driver's training run, The system includes an output control unit that displays guidance information on a display unit based on a target position where the vehicle can move to a parking position by the automatic driving based on the aforementioned driving path and where the vehicle can rejoin the aforementioned driving path. The width of the second area at the second point from which a vehicle can merge onto the aforementioned driving path is narrower than the width of the first area at the first point from which a vehicle can merge onto the aforementioned driving path. The second point is a point on the travel route that is closer to the parking position than the first point. Parking assist system.
11. The first region and the second region are strip-shaped regions along the travel path. Parking assistance device according to claim 10.
12. The aforementioned target position is the starting position of the travel path. Parking assistance device according to claim 10 or 11.
13. The first region and the second region are strip-shaped regions along the travel path. A parking assistance device according to any one of claims 10 to 12.
14. The vehicle control unit further comprises a vehicle control unit that causes the vehicle to be controlled to the target position. A parking assistance device according to any one of claims 10 to 13.
15. The storage unit stores the driving path based on first sensor information regarding the surroundings of the vehicle, which is acquired by sensors mounted on the vehicle during the driver's test drive. A parking assistance device according to any one of claims 10 to 14.
16. The system further includes an estimation unit that estimates the position of the vehicle and the target position based on second sensor information acquired from the area around the vehicle. The parking assistance device according to claim 15.
17. The aforementioned display unit is a head-up display. A parking assistance device according to any one of claims 10 to 16.
18. The display unit is a display installed on the dashboard of the vehicle. A parking assistance device according to any one of claims 10 to 16.

Description

This disclosure relates to a parking assistance method and a parking assistance device. Conventionally, parking assistance technologies that use autonomous driving to move vehicles during parking are known. One such parking assistance technology learns driving routes based on driver-assisted training and uses the learned results to provide parking assistance. This technology is used, for example, when repeatedly parking in a fixed parking space, such as a parking lot at the driver's home or workplace. Patent No. 6022447 Figure 1 shows an example of a vehicle equipped with a parking assist device according to the first embodiment.Figure 2 shows an example of the configuration near the driver's seat of a vehicle according to the first embodiment.Figure 3 illustrates an example of parking assistance according to the first embodiment.Figure 4 shows an example of the hardware configuration of the parking assistance device according to the first embodiment.Figure 5 is a block diagram showing an example of the functions of the parking assistance device according to the first embodiment.Figure 6 shows an example of an image indicating the starting position of driving, displayed on a head-up display according to the first embodiment.Figure 7 shows an example of an image indicating the starting position of travel, displayed on the display device according to the first embodiment.Figure 8 is a flowchart showing an example of the flow of the parking assistance process performed by the parking assistance device according to the first embodiment.Figure 9 illustrates an example of parking assistance according to the second embodiment.Figure 10 shows an example of guidance information regarding the parking start area according to the second embodiment.Figure 11 shows another example of guidance information regarding the parking start area according to the second embodiment.Figure 12 is a flowchart showing an example of the flow of the parking assistance process performed by the parking assistance device according to the second embodiment.Figure 13 illustrates an example of parking assistance according to the third embodiment.Figure 14 is a flowchart showing an example of the flow of the parking assistance process performed by the parking assistance device according to the third embodiment.Figure 15 shows an example of an image indicating the starting position of driving, displayed on a head-up display according to Modification 1.Figure 16 shows an example of an image indicating the starting position of travel, displayed on the display device according to the modified example 2.Figure 17 shows an example of an image indicating the starting position of travel, displayed on the display device according to the modified example 3.Figure 18 shows an example of a second guidance image displayed on the display device according to the modified example 4.Figure 19 shows an example of a second guidance image displayed on the display device according to the modified example 5.Figure 20 shows an example of the first guidance image displayed on the head-up display according to the modified example 6.Figure 21 shows an example of guidance information displayed before a vehicle according to the fourth embodiment reaches a position where it can merge onto a travel path.Figure 22 shows an example of guidance information displayed after a vehicle according to the fourth embodiment has reached a position where it can merge onto a travel path.Figure 23 shows an example of guidance information displayed after a vehicle according to the fourth embodiment has started automatic parking along a driving path.Figure 24 shows an example of the state before the vehicle according to the fourth embodiment reaches a position where it can merge onto the travel path.Figure 25 shows an example of the state after the vehicle according to the fourth embodiment has reached a position where it can merge onto the travel path.Figure 26 is a flowchart showing an example of the flow of the parking assistance process performed by the parking assistance device according to the fourth embodiment.Figure 27 shows an example of guidance information according to the fifth embodiment. The embodiments of the parking assistance method and parking assistance device relating to this disclosure will be described below with reference to the drawings. (First embodiment) Figure 1 shows an example of a vehicle 1 equipped with a parking assist device 100 according to the first embodiment. As shown in Figure 1, the vehicle 1 comprises a vehicle body 12 and two pairs of wheels 13 arranged on the vehicle body 12 in a predetermined direction. The two pairs of wheels 13 consist of one pair of front tires 13f and one pair of rear tires 13r. The front tire 13f shown in Figure 1 is an example of the first wheel in this embodiment. The rear tire 13r is an example of the second wheel in this embodiment. While the vehicle 1 shown in Figure 1 has four wheels 13, the number of wheels 13 is not li