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JP-7856038-B2 - Parking assistance system and parking assistance program

JP7856038B2JP 7856038 B2JP7856038 B2JP 7856038B2JP-7856038-B2

Inventors

  • 堀田 敬祐

Assignees

  • トヨタ自動車株式会社

Dates

Publication Date
20260511
Application Date
20230407

Claims (4)

  1. A parking assist device that assists in parking a vehicle, A location storage unit that stores in the storage unit the location information of the parking space and the orientation in which the vehicle is parked when the vehicle is parked, The system includes a suggestion unit that, based on the vehicle's current location information detected by the vehicle's positioning sensor, when it is determined that the vehicle is located in a high-frequency parking location among the parking locations stored in the storage unit where the vehicle has been parked at a predetermined frequency or more in the past, suggests to the vehicle's occupants that the vehicle start automatic parking of the vehicle in the high-frequency parking location . The suggestion unit, when suggesting the start of automatic parking of the vehicle in the high-frequency parking space, suggests the orientation in which the vehicle should be parked in the high-frequency parking space based on information about the orientation in which the vehicle was parked in the high-frequency parking space in the past .
  2. The parking assistance device according to claim 1, wherein the high-frequency parking space is a parking space where the vehicle has been parked a predetermined number of times or more between the present and a predetermined period prior to the present.
  3. The parking assistance device according to claim 1, wherein the high-frequency parking location is a parking location stored in the memory unit where the vehicle has been automatically parked at a predetermined frequency or higher in the past.
  4. It is a parking assistance program, When a vehicle is parked, the location information of the parking spot and the orientation in which the vehicle is parked in that spot are stored in the storage unit. Based on the vehicle's current location information detected by the vehicle's positioning sensor, when it is detected that the vehicle is located in a high-frequency parking location among the parking locations stored in the memory unit where the vehicle has been parked at a predetermined frequency or more in the past, the system proposes to the occupant of the vehicle that it begin automatic parking of the vehicle in the high-frequency parking location. When proposing the initiation of automatic parking of the vehicle in the aforementioned high-frequency parking space, the orientation in which the vehicle was parked in the high-frequency parking space in the past is proposed. A parking assistance program that instructs the processor to execute.

Description

This disclosure relates to a parking assistance device and a parking assistance program. Conventionally, a parking assistance method has been proposed (Patent Document 1) that, when a driver requests automatic parking while driving in manual mode, searches for available parking spaces in the vehicle's intended parking area, generates a parking path from the starting position to the available space if an available space is found, and determines whether parking is possible based on whether such a parking path could be generated. Japanese Patent Publication No. 2020-049983 Figure 1 is a schematic diagram showing a parking assistance system in which a parking assistance device according to one embodiment is implemented.Figure 2 is a functional block diagram of the ECU processor.Figure 3 is a flowchart showing the flow of the parking location memory processing.Figure 4 is a flowchart showing the flow of the position determination process.Figure 5 is a flowchart showing the flow of the automatic parking process.Figure 6 shows an example of a display screen that suggests starting automatic parking. The embodiments will be described in detail below with reference to the drawings. In the following description, similar components will be given the same reference numerals. <Configuration of the parking assistance system> Figure 1 is a schematic diagram showing a parking assistance system 1 on which a parking assistance device according to one embodiment is implemented. The parking assistance system 1 is mounted on a vehicle 100 and performs automatic driving of the vehicle 100 so that the vehicle 100 automatically parks in a target parking space. In particular, the parking assistance system 1 of this embodiment is mounted on a vehicle 100 that can be driven manually by a driver except for parking. In this embodiment, the parking assistance system 1 includes an external camera 11, a distance measuring sensor 12, a positioning sensor 13, a driving state sensor 14, an external communication module 15, a human-machine interface (hereinafter referred to as "HMI") 16, a vehicle actuator 21, and an electronic control unit (hereinafter referred to as "ECU") 30. However, the parking assist system 1 does not necessarily have to have all of these features. For example, if the vehicle 100 has an external camera 11, it does not need to have a distance measuring sensor 12. The external camera 11, distance sensor 12, positioning sensor 13, driving status sensor 14, external communication module 15, HMI 16, and ECU 30 are communicated via the in-vehicle network 25. The in-vehicle network 25 is a network compliant with standards such as CAN (Controller Area Network). The ECU 30 is also connected to the vehicle actuator 21 via signal lines. The external camera 11 is a device that photographs the area around the vehicle 100. In this embodiment, the parking assist system 1 has multiple external cameras 11. Two of these external cameras 11 are mounted, for example, inside the vehicle 100, facing forward and backward to photograph the front and rear of the vehicle 100, respectively. The other two external cameras 11 are mounted outside the vehicle 100 (for example, on the side mirrors), facing left and right to photograph the left and right sides of the vehicle 100, respectively. The external cameras 11 may be monocular or stereo cameras. If stereo cameras are used as external cameras 11, they also function as distance measuring sensors 12. The external cameras 11 output images taken at predetermined intervals to the ECU 30 via the in-vehicle network 25. The distance measuring sensor 12 is a sensor that measures the distance to objects present around the vehicle 100. In this embodiment, the distance measuring sensor 12 can also measure the orientation of objects present around the vehicle 100. The distance measuring sensor 12 is, for example, a radar such as a millimeter-wave radar, a lidar (LiDAR), or a sonar. In this embodiment, the distance measuring sensor 12 measures the distance to objects present on all four sides of the vehicle. The distance measuring sensor 12 outputs the measurement results of the distance to surrounding objects to the ECU 30 at predetermined intervals via the in-vehicle network 25. The positioning sensor 13 is a sensor that measures the vehicle's own position. The positioning sensor 13 is, for example, a GNSS receiver. The GNSS receiver receives GNSS signals from multiple GNSS satellites and measures the vehicle's own position based on the received GNSS signals. The positioning sensor 13 outputs the vehicle's own position information to the ECU 30 via the in-vehicle network 25 at predetermined intervals. Note that the positioning sensor 13 may be a receiver compliant with other satellite positioning systems, as long as it can measure the vehicle's own position. The driving state sensor 14 is a sensor that detects the driving state of the vehicle 100. For example, the driving state sensor 14 detects the vehicle's