JP2020170218A

JP2020170218A - Parking support system

Info

Publication number: JP2020170218A
Application number: JP2019069699A
Authority: JP
Inventors: 耕太山本; Kota Yamamoto
Original assignee: Alpine Electronics Inc
Current assignee: Alpine Electronics Inc
Priority date: 2019-04-01
Filing date: 2019-04-01
Publication date: 2020-10-15

Abstract

To provide a parking support system for supporting parallel parking as much as possible within a range not to interrupt exiting of another vehicle being in a parallel parking state.SOLUTION: A length in a front and rear direction from a front end of a vehicle in a space in front of the vehicle, which is required in exiting from a parking position only by a forward movement is defined as a required front interval length. In this case, there is a condition where a sum of an interval L0F between an own vehicle S and a front vehicle F and an interval LF between the front vehicle F and a parking vehicle immediately before the front vehicle F is equal to or more than a required front interval length of the front vehicle F, a sum of an interval L0F between the own vehicle S and the front vehicle F and an interval L0B between the own vehicle and a rear vehicle B is equal to or more than a required front interval length of the own vehicle S, and also a sum of an interval L0B between the own vehicle S and the rear vehicle B and an interval LB between the rear vehicle B and a parking vehicle immediately after the rear vehicle B is equal to or more than a required front interval length of the rear vehicle B. When a parking position satisfying the condition exists, the parking position is set as a target parking position.SELECTED DRAWING: Figure 5

Description

本発明は、自動車の縦列駐車を支援する技術に関するものである。 The present invention relates to a technique for supporting parallel parking of an automobile.

自動車の縦列駐車を支援する技術としては、超音波距離センサを用いて測定した、既に縦列駐車している他車間のスペースの長さが、予め設定した自車の駐車可能長さより長いときに、そのスペースを縦列駐車可能なスペースとして検出する技術が知られている（たとえば、特許文献１）。 As a technology to support parallel parking of automobiles, when the length of the space between other vehicles already parallel parked, which is measured by using an ultrasonic distance sensor, is longer than the preset parkable length of the own vehicle, A technique for detecting the space as a space capable of parallel parking is known (for example, Patent Document 1).

また、自動車の縦列駐車を支援する技術としては、縦列駐車後に自車が前進して出車できる駐車位置と、縦列駐車後に直後の駐車車両となる他車が前進して出車できる駐車位置とを、カメラで撮影した自車後方の映像中で案内する技術が知られている（たとえば、特許文献２）
また、自動車の縦列駐車を支援する技術としては、駐車スペースに縦列駐車するための転舵操作や停車操作を案内する技術や（たとえば、特許文献３）、駐車スペースへの縦列駐車を自動運転で行う技術（たとえば、特許文献４）が知られている。 In addition, as a technology to support parallel parking of automobiles, there are a parking position where the own vehicle can move forward and leave after parallel parking, and a parking position where another vehicle, which becomes a parked vehicle immediately after parallel parking, can move forward and leave. Is known in the image behind the vehicle taken by the camera (for example, Patent Document 2).
Further, as a technology for supporting parallel parking of an automobile, a technology for guiding a steering operation or a stop operation for parallel parking in a parking space (for example, Patent Document 3), and an automatic operation for parallel parking in a parking space. Techniques to be performed (for example, Patent Document 4) are known.

特開平６-１２７３１８号公報Japanese Unexamined Patent Publication No. 6-127318 特開２０１１-１６３９５号公報Japanese Unexamined Patent Publication No. 2011-16395 特開２００４-１６８０８５号公報Japanese Unexamined Patent Publication No. 2004-168805 特開２０１８-７３３３６号公報Japanese Unexamined Patent Publication No. 2018-73336

上述した、縦列駐車後に自車が前進して出車できる駐車位置と、縦列駐車後に直後の駐車車両となる他車が前進して出車できる駐車位置とを、カメラで撮影した自車後方の映像中で案内する技術によれば、自車や直後の駐車車両が前進して出車できない位置への自車の駐車を抑制することができる。しかし、自車や直後の駐車車両が前進して出車できない位置に駐車した自車と、自車の直後の駐車車両の双方が、後進と前進とを組み合わせて出車できる場合があり、このような場合まで、駐車を抑制することは駐車機会の損失を招き適切ではない。 The above-mentioned parking position where the vehicle can move forward and leave after parallel parking and the parking position where another vehicle, which is the parked vehicle immediately after parallel parking, can move forward and leave, are captured by a camera behind the vehicle. According to the technique of guiding in the video, it is possible to suppress the parking of the own vehicle or the parked vehicle immediately after the vehicle in a position where the vehicle cannot move forward and leave. However, there are cases where both the own vehicle parked in a position where the own vehicle or the parked vehicle immediately after the vehicle cannot move forward and the parked vehicle immediately after the own vehicle can leave the vehicle in combination with reverse movement and forward movement. Until such cases, restraining parking is not appropriate due to the loss of parking opportunities.

また、自車や直後の駐車車両が前進して出車できる駐車位置であっても、その位置に自車が駐車すると、その直前の他車の前方にスペースが無い場合には、当該直前の他車が出車できくななってしまうことがある。 In addition, even if the parking position is such that the own vehicle or the parked vehicle immediately after it can move forward and leave the vehicle, if the own vehicle parks at that position and there is no space in front of the other vehicle immediately before that position, the vehicle immediately before the parking position. Other cars may not be able to leave.

そこで、本発明は、既に縦列駐車している他車の出車を妨げない範囲において、可及的に縦列駐車を行えるように支援することを課題とする。 Therefore, it is an object of the present invention to support parallel parking as much as possible within a range that does not hinder the departure of other vehicles that are already parallel parked.

前記課題達成のために、本発明は、自動車の縦列駐車を支援する駐車支援システムに、前記自動車周辺の縦列駐車の状況を検出する縦列駐車状況検出手段と、前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、所定長以上の縦列駐車している車両間のスペースを駐車候補スペースとして検出する駐車候補スペース検出手段と、前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、駐車候補スペースの前に縦列駐車している車両である前方車両と駐車候補スペースの後ろに縦列駐車している車両である後方車両との間隔の長さを前後車両間隔長として検出し、前記後方車両と当該後方車両の直後に縦列駐車している車両との間隔の長さを後方車両後間隔長として検出する間隔長検出手段と、前記前方車両と後方車両との間に出車非阻害位置が存在する場合に、前記前方車両と前記後方車両の間のスペースを前記自動車を縦列駐車するスペースである縦列駐車スペースとして選定し、そうでない場合に、前記前方車両と前記後方車両の間のスペースを前記縦列駐車スペースとして選定しない縦列駐車スペース選定手段とを備えたものである。ここで、前記出車非阻害位置は、当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さとの和が、縦列駐車している前記自動車が駐車位置から前進のみで出車する場合に要する、前記自動車と当該自動車の直前に縦列駐車している車両との間隔の長さ以上となり、かつ、当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さと前記後方車両後間隔の長との和が、縦列駐車している後方車両が駐車位置から前進のみで出車する場合に要すると推定される、後方車両と当該後方車両の直前に縦列駐車している車両との間隔の長さ以上となる、前記前方車両と前記後方車両の間の位置である。 In order to achieve the above object, the present invention detects in a parking support system that supports column parking of a vehicle, a column parking status detecting means for detecting the status of column parking around the vehicle, and a column parking status detector. Based on the parking candidate space detecting means for detecting the space between vehicles parked in a row of a predetermined length or longer as a parking candidate space based on the situation of column parking, and the situation of column parking detected by the column parking situation detector. The length of the distance between the front vehicle, which is a vehicle parked in a row in front of the parking candidate space, and the rear vehicle, which is a vehicle parked in a row behind the parking candidate space, is detected as the front-rear vehicle distance length. The interval length detecting means for detecting the length of the interval between the rear vehicle and the vehicle parked in a row immediately after the rear vehicle as the rear interval length of the rear vehicle, and the vehicle not leaving between the front vehicle and the rear vehicle. If there is an obstruction position, the space between the front vehicle and the rear vehicle is selected as the column parking space, which is the space for tandem parking of the vehicle, and if not, between the front vehicle and the rear vehicle. The space is provided with a column parking space selection means that does not select the space as the column parking space. Here, the departure non-inhibitory position includes the length of the distance between the vehicle and the vehicle in front when the vehicle is parked at the departure non-inhibition position, the front-rear vehicle distance length, the vehicle length of the vehicle, and the vehicle. The sum of the sum of the length of the distance between the vehicle and the vehicle behind when the vehicle is parked at the non-departure position determined from the non-departure position is only when the vehicle parked in column moves forward from the parking position. The distance between the vehicle and the vehicle parked in a row immediately before the vehicle, which is required when the vehicle departs, is longer than the length of the distance between the vehicle and the vehicle behind the vehicle when the vehicle is parked in a non-departure position. It is presumed that the sum of the length of the distance from the vehicle and the length of the rear distance of the rear vehicle is required when the rear vehicle parked in a column departs only forward from the parking position, the rear vehicle and the rear vehicle. It is a position between the front vehicle and the rear vehicle, which is equal to or longer than the length of the distance between the vehicles parked in a row immediately before.

このような駐車支援システムによれば、検出された駐車候補スペースの前後の車両の間に、自車と駐車候補スペースの後方に縦列駐車している後方車両の双方が前進のみで出車できるように自車を駐車できない場合でも、自車と後方車両の少なくとも一方が一旦、後進した上で前進して自車を前進して出車することにより、自車と後方車両の双方が出車できるように自車を駐車できる場合には、検出された駐車候補スペースの前後の車両の間のスペースを、自車を縦列駐車するスペースである縦列駐車スペースとして選定することができる。 According to such a parking support system, between the vehicles before and after the detected parking candidate space, both the own vehicle and the rear vehicle parallel parking behind the parking candidate space can leave only by moving forward. Even if you cannot park your own vehicle, at least one of your own vehicle and the vehicle behind you can leave the vehicle by moving backward and then moving forward and moving forward. When the vehicle can be parked as described above, the space between the vehicles before and after the detected parking candidate space can be selected as a parallel parking space, which is a space for parallel parking the vehicle.

また、このような駐車支援システムに、前記駐車スペース選定手段が選定した縦列駐車スペース内の前記出車非阻害位置を目標駐車位置として設定する目標駐車位置設定手段と、設定された目標駐車位置への前記自動車の運転を支援する運転支援手段とを設けることにより、自車の運転者は、容易に、以上のように選定した縦列駐車スペースに、自車と後方車両の双方が出車できるように自車を駐車することができるようになる。 Further, in such a parking support system, the target parking position setting means for setting the non-inhibitory position for departure in the columnar parking space selected by the parking space selection means as the target parking position, and the set target parking position By providing the driving support means for supporting the driving of the above-mentioned vehicle, the driver of the own vehicle can easily leave both the own vehicle and the rear vehicle in the column parking space selected as described above. You will be able to park your car.

よって、本駐車支援システムによれば、既に縦列駐車している後方車両の出車を妨げない範囲において、可及的に縦列駐車を行えるように支援することができる。
また、前記課題達成のために、本発明は、自動車の縦列駐車を支援する駐車支援システムに、前記自動車周辺の縦列駐車の状況を検出する縦列駐車状況検出手段と、前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、所定長以上の縦列駐車している車両間のスペースを駐車候補スペースとして検出する駐車候補スペース検出手段と、前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、駐車候補スペースの前に縦列駐車している車両である前方車両と駐車候補スペースの後ろに縦列駐車している車両である後方車両との間隔の長さを前後車両間隔長として検出し、前記前方車両と当該前方車両の直前に縦列駐車している車両との間隔の長さを前方車両前間隔長として検出する間隔長検出手段と、前記前方車両と後方車両との間に出車非阻害位置が存在する場合に、前記前方車両と前記後方車両の間のスペースを前記自動車を縦列駐車するスペースである縦列駐車スペースとして選定し、そうでない場合に、前記前方車両と前記後方車両の間のスペースを前記縦列駐車スペースとして選定しない縦列駐車スペース選定手段とを備えたものである。ここで、前記出車非阻害位置は、前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前方車両前間隔長との和が、縦列駐車している前方車両が駐車位置から前進のみで出車する場合に要すると推定される、前方車両と当該前方車両の直前に縦列駐車している車両との間隔の長さ以上となり、かつ、当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さとの和が、縦列駐車している前記自動車が駐車位置から前進のみで出車する場合に要する、前記自動車と当該自動車の直前に縦列駐車している車両との間隔の長さ以上となる、前記前方車両と前記後方車両の間の位置である。 Therefore, according to this parking support system, it is possible to support parallel parking as much as possible within a range that does not hinder the departure of the rear vehicle that has already been parallel parked.
Further, in order to achieve the above-mentioned problems, in the present invention, the parking support system for supporting the column parking of a vehicle includes a column parking status detecting means for detecting the status of the column parking around the vehicle and the column parking status detector. A parking candidate space detecting means for detecting a space between vehicles parked in a column of a predetermined length or longer as a parking candidate space based on the detected column parking status, and a column parking status detected by the column parking status detector. Based on, the length of the distance between the front vehicle, which is a vehicle parked in a row in front of the parking candidate space, and the rear vehicle, which is a vehicle parked in a row behind the parking candidate space, is detected as the front-rear vehicle distance length. Then, between the distance length detecting means for detecting the length of the distance between the front vehicle and the vehicle parked in a row immediately before the front vehicle as the front distance length of the front vehicle, and the front vehicle and the rear vehicle. When there is a vehicle non-obstructing position, the space between the front vehicle and the rear vehicle is selected as a column parking space, which is a space for arranging the vehicle in a column. If not, the front vehicle and the rear vehicle It is provided with a column parking space selection means that does not select the space between the spaces as the column parking space. Here, the departure non-inhibitory position is the vehicle and the vehicle in front when the vehicle is parked at the departure non-inhibition position determined by the front-rear vehicle spacing length, the vehicle length, and the departure non-inhibition position. It is presumed that the sum of the length of the distance between the vehicle and the front distance length of the front vehicle is required when the front vehicle parked in a row departs from the parking position only forward. The length of the distance between the vehicle and the vehicle in front when the vehicle is parked in the non-obstructive position, and the distance between the front and rear vehicles, which is longer than the length of the distance between the vehicle and the vehicle parked in a column immediately before. The sum of the length of the distance between the vehicle and the vehicle behind when the vehicle is parked at the non-inhibitory position of departure, which is determined by the length of the vehicle and the non-inhibitory position of departure, is the sum of the length of the distance between the vehicle and the vehicle behind. A position between the front vehicle and the rear vehicle, which is equal to or greater than the length of the distance between the vehicle and the vehicle parked in a column immediately before the vehicle, which is required when the vehicle departs from the parking position only by moving forward. Is.

このような駐車支援システムによれば、検出された駐車候補スペースの前方に縦列駐車している前方車両が前進のみで出車できず出車する際に一旦後進する必要がある場合でも、前方車両が一旦、後進した上で前進して出車でき、かつ、自車が前進のみもしくは後進と前進を組み合わせて出車できるように、自車を駐車候補スペースの前後の車両の間に駐車できる場合には、当該を駐車候補スペースの前後の車両の間のスペースを、自車を縦列駐車するスペースである縦列駐車スペースとして選定することができる。 According to such a parking support system, even if a vehicle in front of a parallel parked vehicle in front of the detected parking candidate space cannot leave the vehicle only by moving forward and needs to move backward once when leaving the vehicle, the vehicle in front If you can park your vehicle between the vehicles in front of and behind the parking candidate space so that you can move backward and then move forward and leave, and your vehicle can leave only forward or in combination with reverse and forward. The space between the vehicles before and after the parking candidate space can be selected as a parallel parking space, which is a space for parallel parking the own vehicle.

また、このような駐車支援システムに、前記駐車スペース選定手段が選定した縦列駐車スペース内の前記出車非阻害位置を目標駐車位置として設定する目標駐車位置設定手段と、設定された目標駐車位置への前記自動車の運転を支援する運転支援手段とを設けることにより、自車の運転者は、容易に、以上のように選定した縦列駐車スペースに、自車と前方車両の双方が出車できるように自車を駐車することができるようになる。 Further, in such a parking support system, the target parking position setting means for setting the non-inhibitory position for departure in the columnar parking space selected by the parking space selection means as the target parking position, and the set target parking position By providing the driving support means for supporting the driving of the above-mentioned vehicle, the driver of the own vehicle can easily get out of both the own vehicle and the vehicle in front of the vehicle in the column parking space selected as described above. You will be able to park your car.

よって、本駐車支援システムによれば、既に縦列駐車している前方車両の出車を妨げない範囲において、可及的に縦列駐車を行えるように支援することができる。
また、前記課題達成のために、本発明は、自動車の縦列駐車を支援する駐車支援システムに、前記自動車周辺の縦列駐車の状況を検出する縦列駐車状況検出手段と、前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、所定長以上の縦列駐車している車両間のスペースを駐車候補スペースとして検出する駐車候補スペース検出手段と、前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、駐車候補スペースの前に縦列駐車している車両である前方車両と駐車候補スペースの後ろに縦列駐車している車両である後方車両との間隔の長さを前後車両間隔長として検出し、前記前方車両と当該前方車両の直前に縦列駐車している車両との間隔の長さを前方車両前間隔長として検出し、前記後方車両と当該後方車両の直後に縦列駐車している車両との間隔の長さを後方車両後間隔長として検出する間隔長検出手段と、前記前方車両と後方車両との間に出車非阻害位置が存在する場合に、前記前方車両と前記後方車両の間のスペースを前記自動車を縦列駐車するスペースである縦列駐車スペースとして選定し、そうでない場合に、前記前方車両と前記後方車両の間のスペースを前記縦列駐車スペースとして選定しない縦列駐車スペース選定手段とを備えたものである。ここで、前記出車非阻害位置は、前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前方車両前間隔長との和が、縦列駐車している前方車両が駐車位置から前進のみで出車する場合に要すると推定される、前方車両と当該前方車両の直前に縦列駐車している車両との間隔の長さ以上となり、当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さとの和が、縦列駐車している前記自動車が駐車位置から前進のみで出車する場合に要する、前記自動車と当該自動車の直前に縦列駐車している車両との間隔の長さ以上となり、かつ、当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さと前記後方車両後間隔の長との和が、縦列駐車している後方車両が駐車位置から前進のみで出車する場合に要すると推定される、後方車両と当該後方車両の直前に縦列駐車している車両との間隔の長さ以上となる、前記前方車両と前記後方車両の間の位置である。 Therefore, according to this parking support system, it is possible to support parallel parking as much as possible within a range that does not hinder the departure of vehicles in front that are already parallel parked.
Further, in order to achieve the above-mentioned problems, in the present invention, the parking support system for supporting the column parking of a vehicle includes a column parking status detecting means for detecting the status of the column parking around the vehicle and the column parking status detector. A parking candidate space detecting means for detecting a space between vehicles parked in a column of a predetermined length or longer as a parking candidate space based on the detected column parking status, and a column parking status detected by the column parking status detector. Based on, the length of the distance between the front vehicle, which is a vehicle parked in a row in front of the parking candidate space, and the rear vehicle, which is a vehicle parked in a row behind the parking candidate space, is detected as the front-rear vehicle distance length. Then, the length of the distance between the front vehicle and the vehicle parked in tandem immediately before the front vehicle is detected as the front distance length of the front vehicle, and the vehicle parked in tandem immediately after the rear vehicle and the rear vehicle. When there is a non-inhibitory position between the front vehicle and the rear vehicle and the interval length detecting means for detecting the length of the distance between the vehicle and the rear vehicle as the rear distance length of the rear vehicle, the front vehicle and the rear vehicle With a column parking space selection means in which the space between the vehicles is selected as the column parking space, which is a space for arranging the automobiles in tandem, and the space between the front vehicle and the rear vehicle is not selected as the tandem parking space. It is equipped with. Here, the departure non-inhibitory position is the vehicle and the vehicle in front when the vehicle is parked at the departure non-inhibition position determined by the front-rear vehicle spacing length, the vehicle length, and the departure non-inhibition position. It is presumed that the sum of the length of the distance between the vehicle and the front distance length of the front vehicle is required when the front vehicle parked in a row departs from the parking position only forward. The length of the distance between the vehicle and the vehicle in front of the vehicle when the vehicle is parked at the non-inhibitory position of departure, the length of the distance between the front and rear vehicles, and the above-mentioned The sum of the sum of the length of the distance between the vehicle and the vehicle behind when the vehicle is parked at the non-inhibitory position of departure, which is determined by the length of the vehicle and the non-inhibitory position of departure, is the sum of the length of the distance between the vehicle and the vehicle behind. The vehicle is parked at a position that is greater than or equal to the distance between the vehicle and the vehicle parked in a row immediately before the vehicle and is not obstructed from the departure, which is required when the vehicle departs from the parking position only by moving forward. It is presumed that the sum of the length of the distance between the vehicle and the rear vehicle and the length of the rear distance of the rear vehicle is required when the rear vehicle parked in a column departs only forward from the parking position. It is a position between the front vehicle and the rear vehicle that is equal to or longer than the length of the distance between the rear vehicle and the vehicle parked in a row immediately before the rear vehicle.

このような駐車支援システムによれば、検出された駐車候補スペースの前後の車両の間のスペースに、自車と後方車両と前方車両の全てが前進のみで出車できるように自車を駐車できない場合や、検出された駐車候補スペースの前方に縦列駐車している前方車両が前進のみで出車できず出車する際に一旦後進する必要がある場合でも、前方車両が一旦、後進した上で前進して出車でき、かつ、自車や後方車両が前進のみもしくは後進と前進を組み合わせて出車できるように自車を駐車できる場合には、当該検出された駐車候補スペースの前後の車両の間のスペースを、自車を縦列駐車するスペースである縦列駐車スペースとして選定することができる。 According to such a parking support system, the own vehicle cannot be parked in the space between the vehicles before and after the detected parking candidate space so that the own vehicle, the rear vehicle, and the front vehicle can all leave only by moving forward. In some cases, or even if the vehicle in front of the detected parking candidate space is parallel parked in front of the detected parking candidate space and cannot leave the vehicle only by moving forward and needs to move backward when leaving the vehicle, the vehicle in front once moves backward. If you can move forward and leave, and you can park your vehicle so that your vehicle or rear vehicle can leave only forward or in combination with reverse and forward, the vehicles before and after the detected parking candidate space The space between them can be selected as a parallel parking space, which is a space for parallel parking of the own vehicle.

また、このような駐車支援システムに、前記駐車スペース選定手段が選定した縦列駐車スペース内の前記出車非阻害位置を目標駐車位置として設定する目標駐車位置設定手段と、設定された目標駐車位置への前記自動車の運転を支援する運転支援手段とを設けることにより、自車の運転者は、容易に、以上のように選定した縦列駐車スペースに、前方車両と自車と後方車両の全てが出車できるように自車を駐車することができるようになる。 Further, in such a parking support system, the target parking position setting means for setting the non-inhibitory position of departure in the columnar parking space selected by the parking space selection means as the target parking position, and the set target parking position By providing the driving support means for supporting the driving of the above-mentioned vehicle, the driver of the own vehicle can easily put all the front vehicle, the own vehicle, and the rear vehicle in the column parking space selected as described above. You will be able to park your car so that you can drive.

ここで、以上の駐車支援システムは、前記運転支援手段において、設定された目標駐車位置まで前記自動車を走行して駐車する自動運転を行うように構成してもよい。
または、前記運転支援手段において、自動車周辺のようすを撮影した映像に、当該映像上で設定された目標駐車位置を表す図形を合成して表示するように構成してもよい。 Here, the above parking support system may be configured in the driving support means to perform automatic driving in which the vehicle is driven and parked to a set target parking position.
Alternatively, the driving support means may be configured to combine and display a figure representing the target parking position set on the image with the image of the surroundings of the automobile.

以上のように、本発明によれば、既に縦列駐車している他車の出車を妨げない範囲において、可及的に縦列駐車を行えるように支援することができる。 As described above, according to the present invention, it is possible to support parallel parking as much as possible within a range that does not hinder the departure of other vehicles that are already parallel parked.

本発明の実施形態に係る車載システムの構成を示すブロック図である。It is a block diagram which shows the structure of the in-vehicle system which concerns on embodiment of this invention. 本発明の実施形態に係るカメラの撮影範囲とレーダの検出範囲を示す図である。It is a figure which shows the photographing range of the camera which concerns on embodiment of this invention, and the detection range of a radar. 本発明の実施形態に係る側方物体検出の例を示す図である。It is a figure which shows the example of the side object detection which concerns on embodiment of this invention. 本発明の実施形態に係る縦列駐車支援処理を示すフローチャートである。It is a flowchart which shows the parallel parking support processing which concerns on embodiment of this invention. 本発明の実施形態に係る縦列駐車支援処理で用いるパラメータを示す図である。It is a figure which shows the parameter used in the parallel parking support processing which concerns on embodiment of this invention. 本発明の実施形態に係る縦列駐車支援処理の処理例を示す図である。It is a figure which shows the processing example of the parallel parking support processing which concerns on embodiment of this invention.

以下、本発明の実施形態について説明する。
図１に、本実施形態に係る車載システムの構成を示す。
車載システムは自動車に搭載されるシステムであり、複数のカメラ１と、複数のレーダ２と、周辺物体検出部３と、障害物回避制御部４と、駐車支援制御部５と、操作部６と、表示装置７と、自動車の自動運転を行う自動運転システム８とを備えている。 Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows the configuration of the in-vehicle system according to the present embodiment.
The in-vehicle system is a system mounted on an automobile, and includes a plurality of cameras 1, a plurality of radars 2, a peripheral object detection unit 3, an obstacle avoidance control unit 4, a parking support control unit 5, and an operation unit 6. The display device 7 and the automatic driving system 8 for automatically driving the automobile are provided.

そして、複数のカメラ１とレーダ２は、たとえば、図２に示すように、各カメラ１によって全方位の自動車の周辺を撮影でき、各レーダ２によって全方位の自動車の周辺の物体の位置を検出できるように配置されている。 Then, as shown in FIG. 2, the plurality of cameras 1 and the radar 2 can photograph the periphery of the automobile in all directions by each camera 1, and each radar 2 detects the position of an object around the automobile in all directions. It is arranged so that it can be done.

図１に戻り、周辺物体検出部３は、各カメラ１で撮影した画像の画像認識結果と、各レーダ２で検出した自動車の周辺の物体までの距離とから、自動車周辺に存在する物体の位置、自動車周辺に存在する他車、自動車周辺に存在する他車の車種の検出を行う。 Returning to FIG. 1, the peripheral object detection unit 3 determines the position of the object existing around the automobile based on the image recognition result of the image taken by each camera 1 and the distance to the object around the automobile detected by each radar 2. , Detects other vehicles that exist around the vehicle and other vehicles that exist around the vehicle.

障害物回避制御部４は、周辺物体検出部３が検出した自動車周辺に存在する物体の位置に応じて、自車の障害となる障害物の存在や位置を検出し、自動運転システム８に障害物を回避する制動や転舵を行わせる。 The obstacle avoidance control unit 4 detects the presence or position of an obstacle that is an obstacle to the own vehicle according to the position of an object existing around the vehicle detected by the peripheral object detection unit 3, and causes the automatic driving system 8 to fail. Have them perform braking and steering to avoid objects.

さて、周辺物体検出部３は、検出した自車左方の物体までの位置を用いて、自車左方の物体のマップの生成を継続的に行う。
すなわち、たとえば、図３ａに示すように自車が地点Ａから地点Ｂまで縦列駐車している車列の右を走行した場合には、その間に検出した自車左方の物体までの位置から、図３ｂに示すようなマップを生成する。 By the way, the peripheral object detection unit 3 continuously generates a map of the object on the left side of the own vehicle by using the detected position up to the object on the left side of the own vehicle.
That is, for example, when the own vehicle travels to the right of the parallel parked vehicle from point A to point B as shown in FIG. 3a, the position from the position to the object on the left side of the own vehicle detected during that time is displayed. Generate a map as shown in FIG. 3b.

ここで、図３ｂのマップにおいて、Ｘは自車の左方向の物体までの自車の左右方向に測った距離、Ｙは自車の左方向の物体の自車の前後方向の位置であり、このようなマップと、周辺物体検出部３において検出した他車とから、自車の左方向に縦列駐車している他車の有無や、自車の左方向に縦列駐車している各他車の車長や車種、各他車間の間隔（ＬＢ、Ｌ０、ＬＦ等）を求めることができる。 Here, in the map of FIG. 3b, X is the distance measured in the left-right direction of the own vehicle to the object in the left direction of the own vehicle, and Y is the position of the object in the left direction of the own vehicle in the front-rear direction of the own vehicle. From such a map and other vehicles detected by the peripheral object detection unit 3, the presence or absence of other vehicles parked in tandem to the left of the own vehicle and each other vehicle parked in tandem to the left of the own vehicle It is possible to obtain the length and type of the vehicle and the distance between each other vehicle (LB, L0, LF, etc.).

次に、駐車支援制御部５は、操作部６を介してユーザから縦列駐車支援開始の指示を受けると、縦列駐車支援処理を開始する。
図４に、この縦列駐車支援処理の手順を示す。
図示するように、駐車支援制御部５は縦列駐車支援処理において、まず、駐車候補スペースの検出を開始する（ステップ４０２）。ここで、駐車候補スペースの検出においては、前進走行を継続しながら、周辺物体検出部３が生成したマップから、駐車候補スペースの検出を開始した時点の自車の位置より前方にある、駐車候補スペースの検出を開始した時点の自車の位置に最も近い、他車が駐車していない自車左方の予め設定された駐車可能長の空間を駐車候補スペースとして検出する。ここで、駐車可能長は、予め設定した、自車の全体を後進で進入させることができる最小のスペースの長さとする。 Next, when the parking support control unit 5 receives an instruction from the user to start parallel parking support via the operation unit 6, the parallel parking support process starts.
FIG. 4 shows the procedure of this parallel parking support process.
As shown in the figure, the parking support control unit 5 first starts detecting a parking candidate space in the parallel parking support process (step 402). Here, in the detection of the parking candidate space, the parking candidate is ahead of the position of the own vehicle at the time when the detection of the parking candidate space is started from the map generated by the peripheral object detection unit 3 while continuing the forward traveling. A preset parkingable length space on the left side of the own vehicle where no other vehicle is parked, which is closest to the position of the own vehicle at the time when the space detection is started, is detected as a parking candidate space. Here, the parkable length is a preset length of the minimum space that allows the entire vehicle to enter in reverse.

そして、駐車候補スペースが検出されたならば（ステップ４０４）、駐車候補スペースの検出を停止し（ステップ４０６）、検出した駐車候補スペースから、さらに所定距離、自車が前進するのを待つ（ステップ４０６）。ここで、所定距離は、たとえば、自車の車長とする。 Then, when the parking candidate space is detected (step 404), the detection of the parking candidate space is stopped (step 406), and the vehicle waits for a further predetermined distance from the detected parking candidate space (step). 406). Here, the predetermined distance is, for example, the commander of the own vehicle.

そして、所定距離走行したならば（ステップ４０８）、周辺物体検出部３が生成したマップから、検出した駐車候補スペースの直前に駐車している他車である前方車両と、検出した駐車候補スペースの直後に駐車している他車である後方車両を検出する（ステップ４１０）。 Then, when the vehicle has traveled a predetermined distance (step 408), the vehicle in front, which is another vehicle parked immediately before the detected parking candidate space, and the detected parking candidate space are found on the map generated by the peripheral object detection unit 3. Immediately after, the rear vehicle, which is another vehicle parked, is detected (step 410).

ここで、ステップ４０６では、駐車候補スペースの前方３ｍ以内に後端が位置するように駐車している他車を前方車両として検出し、駐車候補スペースの後方３ｍ以内に前端が位置するように駐車している他車を後方車両として検出する。 Here, in step 406, another vehicle parked so that the rear end is located within 3 m in front of the parking candidate space is detected as a front vehicle, and the vehicle is parked so that the front end is located within 3 m behind the parking candidate space. Detects another vehicle as a rear vehicle.

そして、前方車両も後方車両も検出されなかった場合には（ステップ４１２）、検出された駐車候補スペース内の最寄り位置を目標駐車位置に設定し（ステップ４１４）、自動運転システム８に目標駐車位置に自車を駐車する自動運転の実行を指示し（ステップ４２８）、自車が駐車したならば（ステップ４３０）、縦列駐車支援処理を終了する。 When neither the front vehicle nor the rear vehicle is detected (step 412), the nearest position in the detected parking candidate space is set as the target parking position (step 414), and the target parking position is set in the automatic driving system 8. Is instructed to execute automatic driving to park the own vehicle (step 428), and if the own vehicle is parked (step 430), the parallel parking support process is terminated.

一方、後方車両のみが検出された場合には（ステップ４１６）、自車がその駐車位置に駐車しても、後方車両が前進のみで出車可能な、後方車両の前方の駐車位置のうちの、最も後方車両に近い位置を目標駐車位置に設定する（ステップ４１８）。 On the other hand, when only the rear vehicle is detected (step 416), among the parking positions in front of the rear vehicle, the rear vehicle can leave only by moving forward even if the own vehicle parks at that parking position. , The position closest to the rear vehicle is set as the target parking position (step 418).

ここで、車がその駐車位置に駐車しても、後方車両が前進のみで出車可能な駐車位置は、縦列駐車している後方車両が最小回転半径で走行車線に前進で復帰する際に後方車両の車体が通る後方車両の前方の領域の、後方車両の前端からの前後方向の長さである所要前方間隔長に所定のマージン（たとえば、５０cm）を加えた長さ以上、駐車している後方車両の前端から前方に離れた位置を後端とする駐車位置である。所要前方間隔長は、厳密には、後方車両の最小回転半径、ホイールベース、フロントオーバハング等により定まるが、ここでは、簡易的に、予め求めて設定した自動車の車長と所要前方間隔長との標準的な関係に従って、周辺物体検出部３が生成したマップから求まる後方車両の車長より所要前方間隔長を求める。または、予め求めて設定した自動車の車種と所要前方間隔長との関係に従って、周辺物体検出部３が検出した後方車両の車種より所要前方間隔長を求める。 Here, even if the vehicle is parked in that parking position, the parking position in which the rear vehicle can leave only by moving forward is the rear when the rear vehicle parked in the column returns to the traveling lane by moving forward with the minimum turning radius. The area in front of the rear vehicle through which the vehicle body passes is parked for a length equal to or greater than the required front distance length, which is the length in the front-rear direction from the front end of the rear vehicle, plus a predetermined margin (for example, 50 cm). This is a parking position with the rear end at a position away from the front end of the rear vehicle. Strictly speaking, the required front distance length is determined by the minimum turning radius of the rear vehicle, the wheelbase, the front overhang, etc., but here, simply, the vehicle length and the required front distance length that are obtained and set in advance are used. According to a standard relationship, the required front distance length is obtained from the vehicle length of the rear vehicle obtained from the map generated by the peripheral object detection unit 3. Alternatively, the required forward distance length is obtained from the vehicle type of the rear vehicle detected by the peripheral object detection unit 3 according to the relationship between the vehicle type of the automobile and the required front distance length that has been obtained and set in advance.

そして、自動運転システム８に目標駐車位置に自車を駐車する自動運転の実行を指示し（ステップ４２８）、自車が駐車したならば（ステップ４３０）、縦列駐車支援処理を終了する。 Then, the automatic driving system 8 is instructed to execute the automatic driving for parking the own vehicle at the target parking position (step 428), and when the own vehicle is parked (step 430), the parallel parking support process is terminated.

また、前方車両のみが検出された場合には（ステップ４２０）、自車がその駐車位置に駐車した場合に、自車が駐車位置から前進のみで出車可能であり、かつ、前方車両が出車可能な、前方車両後方の駐車位置のうちの、最も前方車両に近い位置を目標駐車位置に設定する（ステップ４２２）。 Further, when only the vehicle in front is detected (step 420), when the vehicle is parked at the parking position, the vehicle can leave the parking position only by moving forward, and the vehicle in front exits. Among the parking positions behind the front vehicle that can be driven, the position closest to the front vehicle is set as the target parking position (step 422).

ここで、自車が駐車位置から前進のみで出車可能であり、かつ、前方車両が出車可能な駐車位置は、自車と前方車両との間隔が自車の所要前方間隔長に所定のマージンを加えた長さ以上となり、かつ、自車と前方車両との間隔と前方車両と前方車両の直前の駐車車両との間隔との和が、前方車両の所要前方間隔長に所定のマージンを加えた長さ以上となる駐車位置である。なお、自車の所要前方間隔長は予め求めて設定しておく。また、前方車両の所要前方間隔長は、上述した後方車両の所要前方間隔長と同様に求める。 Here, in the parking position where the own vehicle can leave the parking position only by moving forward and the vehicle in front can leave, the distance between the own vehicle and the vehicle in front is determined by the required forward distance length of the own vehicle. The length is equal to or greater than the length including the margin, and the sum of the distance between the own vehicle and the vehicle in front and the distance between the vehicle in front and the parked vehicle in front of the vehicle in front gives a predetermined margin to the required front distance length of the vehicle in front. It is a parking position that is longer than the added length. The required forward distance length of the own vehicle is obtained and set in advance. Further, the required front distance length of the front vehicle is obtained in the same manner as the required front distance length of the rear vehicle described above.

一方、前方車両と、後方車両の双方が検出された場合には（ステップ４１２、４１６、４２０）、自車がその駐車位置に駐車した場合に、前方車両、自車、後方車両の全てが出車可能な駐車位置が前方車両と後方車両との間に存在するかどうかを調べる（ステップ４２４）。 On the other hand, when both the front vehicle and the rear vehicle are detected (steps 412, 416, 420), when the own vehicle is parked at the parking position, all of the front vehicle, the own vehicle, and the rear vehicle come out. Check if there is a vehicleable parking position between the vehicle in front and the vehicle behind (step 424).

ここで、図５に示すように駐車候補スペースの前後に前方車両Ｆと後方車両Ｂが駐車しているものとして、前方車両Ｆが出車可能な自車の駐車位置とは、その駐車位置に図示するように自車Ｓが駐車したときに、自車Ｓと前方車両Ｆとの間隔Ｌ０Ｆと前方車両Ｆと前方車両Ｆの直前の駐車車両との間隔ＬＦの和が、前方車両Ｆの所要前方間隔長に所定のマージンを加えた長さ以上となる自車Ｓの駐車位置である。また、自車Ｓが出車可能な自車Ｓの駐車位置とは、その駐車位置に図示するように自車Ｓが駐車したときに、自車Ｓと前方車両Ｆとの間隔Ｌ０Ｆと自車と後方車両Ｂとの間隔Ｌ０Ｂとの和が、自車Ｓの所要前方間隔長に所定のマージンを加えた長さ以上となる自車Ｓの駐車位置である。また、後方車両Ｂが出車可能な自車Ｓの駐車位置とは、その駐車位置に図示するように自車Ｓが駐車したときに、自車Ｓと後方車両Ｂとの間隔Ｌ０Ｂと後方車両Ｂと後方車両Ｂの直後の駐車車両との間隔ＬＢの和が、後方車両Ｂの所要前方間隔長に所定のマージンを加えた長さ以上となる自車Ｓの駐車位置である。 Here, assuming that the front vehicle F and the rear vehicle B are parked before and after the parking candidate space as shown in FIG. 5, the parking position of the own vehicle in which the front vehicle F can leave is the parking position. As shown in the figure, when the own vehicle S is parked, the sum of the distance L0F between the own vehicle S and the front vehicle F and the distance LF between the front vehicle F and the parked vehicle immediately before the front vehicle F is required for the front vehicle F. It is a parking position of the own vehicle S that is equal to or longer than the length obtained by adding a predetermined margin to the front spacing length. Further, the parking position of the own vehicle S in which the own vehicle S can leave is the distance L0F between the own vehicle S and the preceding vehicle F and the own vehicle when the own vehicle S is parked as shown in the parking position. The parking position of the own vehicle S such that the sum of the distance between the vehicle and the rear vehicle B and the distance L0B is equal to or greater than the required front distance length of the own vehicle S plus a predetermined margin. Further, the parking position of the own vehicle S in which the rear vehicle B can leave is the distance L0B between the own vehicle S and the rear vehicle B and the rear vehicle when the own vehicle S is parked as shown in the parking position. The parking position of the own vehicle S such that the sum of the distance LB between B and the parked vehicle immediately after the rear vehicle B is equal to or larger than the required front distance length of the rear vehicle B plus a predetermined margin.

そして、自車がその駐車位置に駐車した場合に、前方車両、自車、後方車両の全てが出車可能な駐車位置が存在しなかった場合には（ステップ４２４）、前方車両と後方車両との間のスペースを縦列駐車するスペースとして選定せずに、そのままステップ４０２からの処理に戻る。 Then, when the own vehicle is parked at the parking position and there is no parking position where all of the front vehicle, the own vehicle, and the rear vehicle can leave (step 424), the front vehicle and the rear vehicle The process from step 402 is returned as it is without selecting the space between the spaces as the space for parallel parking.

一方、自車がその駐車位置に駐車した場合に、前方車両、自車、後方車両の全てが出車可能な駐車位置が存在する場合には、前方車両と後方車両との間のスペースを自動車を縦列駐車するスペースとして選定し、前方車両と後方車両との間の、前方車両、自車、後方車両の全てが出車可能な駐車位置の範囲を求め、求めた範囲内に目標駐車位置を設定する（ステップ４２６）。 On the other hand, when the own vehicle is parked at that parking position and there is a parking position where all of the front vehicle, the own vehicle, and the rear vehicle can leave, the space between the front vehicle and the rear vehicle is occupied by the vehicle. Is selected as a space for parallel parking, the range of parking positions where all the front vehicle, own vehicle, and rear vehicle can leave between the front vehicle and the rear vehicle is obtained, and the target parking position is set within the obtained range. Set (step 426).

ここで、前方車両、自車、後方車両の全てが出車可能な駐車位置の範囲内の目標駐車位置の設定は、たとえば、次のように行う。
すなわち、当該範囲内に後方車両が前進のみで出車可能な駐車位置があれば、当該範囲内の後方車両が前進のみで出車可能な位置のうちの最も後方車両に近い位置を目標駐車位置に設定する。 Here, the target parking position within the range of the parking positions where all the vehicles in front, the own vehicle, and the vehicles behind can leave is set as follows, for example.
That is, if there is a parking position in the range where the rear vehicle can leave only by moving forward, the target parking position is the position closest to the rear vehicle among the positions where the rear vehicle within the range can leave only by moving forward. Set to.

また、当該範囲内に後方車両が前進のみで出車可能な駐車位置がない場合には、前方車両前後の間隔（図５のＬ０Ｆ＋ＬＦ）/前方車両の所要前方間隔長と、自車前後の間隔（図５のＬ０Ｆ＋Ｌ０Ｂ）/自車の所要前方間隔長と、後方車両前後の間隔（図５のＬ０Ｂ＋ＬＢ）/後方車両の所要前方間隔長とができるだけ均等となる、当該範囲内の位置を目標駐車位置に設定する。 If there is no parking position within the range in which the rear vehicle can leave only by moving forward, the distance between the front and rear of the front vehicle (L0F + LF in FIG. 5) / the required front distance length of the front vehicle and the distance between the front and rear of the own vehicle. (L0F + L0B in FIG. 5) / The required front distance length of the own vehicle and the distance between the front and rear of the rear vehicle (L0B + LB in FIG. 5) / The required front distance length of the rear vehicle are as equal as possible. Set to position.

以上、駐車支援制御部５が行う縦列駐車支援処理について説明した。
さて、以上の縦列駐車支援処理によって駐車支援制御部５から、目標駐車位置に自車を駐車する自動運転の実行を指示された自動運転システム８は、図６ａに示すように、自車Ｓを駐車候補スペースに後進で進入させて目標駐車位置に縦列駐車する自動運転を行う。 The parallel parking support process performed by the parking support control unit 5 has been described above.
By the way, as shown in FIG. 6a, the automatic driving system 8 instructed by the parking support control unit 5 to execute the automatic driving to park the own vehicle at the target parking position by the above parallel parking support processing causes the own vehicle S. Automatic operation is performed in which the parking candidate space is entered in reverse and parallel parked at the target parking position.

以上、本発明の実施形態について説明した。
ところで、以上の実施形態では、駐車支援制御部５が設定した目標駐車位置に自動運転システム８の自動運転によって縦列駐車するようにしたが、これは、目標駐車位置への自動運転に代えて、駐車支援制御部５において目標駐車位置に駐車する手動運転操作を支援する動作を行うようにしてもよい。 The embodiment of the present invention has been described above.
By the way, in the above embodiment, parallel parking is performed at the target parking position set by the parking support control unit 5 by the automatic operation of the automatic driving system 8, but this is performed instead of the automatic operation to the target parking position. The parking support control unit 5 may perform an operation to support a manual driving operation of parking at a target parking position.

すなわち、たとえば、図６ｂに示すように、カメラ１で撮影した自車後方のようすを表す映像を表示装置７に表示すると共に、映像上に、目標駐車位置を表す図形６１や、自車の進行予測線６２に合成表示することにより、標駐車位置に駐車する手動運転操作を支援するようにしてもよい。 That is, for example, as shown in FIG. 6b, an image showing the rear view of the own vehicle taken by the camera 1 is displayed on the display device 7, and a figure 61 showing the target parking position and the progress of the own vehicle are displayed on the image. The manual operation of parking at the marked parking position may be supported by displaying the composite display on the prediction line 62.

以上のように、本実施形態によれば、検出された駐車候補スペースに、自車と後方車両と前方車両の全てが前進のみで出車できるように自車を駐車できない場合や、検出された駐車候補スペースの前方に縦列駐車している前方車両が前進のみで出車できず出車する際に一旦後進する必要がある場合でも、前方車両が一旦、後進した上で前進して出車でき、かつ、自車や後方車両が前進のみもしくは後進と前進を組み合わせて出車できるように自車を駐車できる場合には、当該駐車候補スペースを、自車を縦列駐車するスペースとして選定して、前方車両と自車と後方車両の全てが出車できるように自車を駐車することができる。 As described above, according to the present embodiment, it is detected that the own vehicle cannot be parked in the detected parking candidate space so that the own vehicle, the rear vehicle, and the front vehicle can all exit only by moving forward. Even if the vehicle in front of the parking candidate space that is parallel parked cannot leave the vehicle only by moving forward and needs to move backward when leaving, the vehicle in front can move forward and then leave. In addition, if the vehicle can be parked so that the vehicle or the vehicle behind can parallel park only forward or in combination with reverse and forward, the parking candidate space is selected as a space for parallel parking the vehicle. You can park your vehicle so that all the vehicles in front, your vehicle, and the vehicle behind you can leave.

ところで、以上の実施形態では、前方車両と後方車両との間隔に加えて、前方車両と前方車両の直前の駐車車両との間隔と、後方車両と後方車両の直前の駐車車両との間隔との双方を考慮して、前方車両と自車と後方車両の全てが出車できる自車の駐車位置を目標駐車位置としたが、これは、前方車両と前方車両の直前の駐車車両との間隔を考慮せずに、自車と後方車両の双方が出車できる自車の駐車位置を目標駐車位置としたり、後方車両と後方車両の直前の駐車車両との間隔を考慮せずに、自車と前方車両の双方が出車できる自車の駐車位置を目標駐車位置とするようにしてもよい。 By the way, in the above embodiment, in addition to the distance between the front vehicle and the rear vehicle, the distance between the front vehicle and the parked vehicle immediately before the front vehicle and the distance between the rear vehicle and the parked vehicle immediately before the rear vehicle. In consideration of both, the target parking position is the parking position of the own vehicle where all of the front vehicle, the own vehicle and the rear vehicle can leave, but this is the distance between the front vehicle and the parked vehicle immediately before the front vehicle. The target parking position is the parking position of the own vehicle that both the own vehicle and the rear vehicle can leave without considering it, and the distance between the rear vehicle and the parked vehicle immediately before the rear vehicle is not considered. The target parking position may be the parking position of the own vehicle in which both vehicles in front can leave.

すなわち、自車と後方車両の双方が出車できる自車の駐車位置を目標駐車位置とする場合には、図４に示した縦列駐車支援処理のステップ４２４において、自車がその駐車位置に駐車した場合に、自車、後方車両が出車可能な駐車位置が前方車両と後方車両との間に存在するかどうかを調べ、存在する場合に前方車両と後方車両との間のスペースを自動車を縦列駐車するスペースとして選定し、ステップ４２６において前方車両と後方車両との間の自車、後方車両が出車可能な駐車位置の範囲を求め、求めた範囲内に目標駐車位置を設定する。 That is, when the target parking position is the parking position of the own vehicle in which both the own vehicle and the rear vehicle can leave, the own vehicle is parked at that parking position in step 424 of the columnar parking support process shown in FIG. If so, check whether there is a parking position between the front vehicle and the rear vehicle that allows the own vehicle and the rear vehicle to leave, and if so, make the space between the front vehicle and the rear vehicle the car. It is selected as a space for tandem parking, and in step 426, the range of parking positions where the own vehicle and the rear vehicle can leave between the front vehicle and the rear vehicle is obtained, and the target parking position is set within the obtained range.

また、前方車両と自車の双方が出車できる自車の駐車位置を目標駐車位置とする場合には、図４に示した縦列駐車支援処理のステップ４２４において、自車がその駐車位置に駐車した場合に、前方車両、自車が出車可能な駐車位置が前方車両と後方車両との間に存在するかどうかを調べ、存在する場合に前方車両と後方車両との間のスペースを自動車を縦列駐車するスペースとして選定し、ステップ４２６において前方車両と後方車両との間の前方車両、自車が出車可能な駐車位置の範囲を求め、求めた範囲内に目標駐車位置を設定する。 When the target parking position is the parking position of the own vehicle in which both the vehicle in front and the own vehicle can leave, the own vehicle is parked at that parking position in step 424 of the columnar parking support process shown in FIG. If so, check whether there is a parking position between the front vehicle and the rear vehicle where the front vehicle and the own vehicle can leave, and if so, make the space between the front vehicle and the rear vehicle the car. It is selected as a space for tandem parking, and in step 426, the range of parking positions where the front vehicle and the own vehicle can leave between the front vehicle and the rear vehicle is obtained, and the target parking position is set within the obtained range.

１…カメラ、２…レーダ、３…周辺物体検出部、４…障害物回避制御部、５…駐車支援制御部、６…操作部、７…表示装置、８…自動運転システム、６１…図形、６２…進行予測線。 1 ... camera, 2 ... radar, 3 ... peripheral object detection unit, 4 ... obstacle avoidance control unit, 5 ... parking support control unit, 6 ... operation unit, 7 ... display device, 8 ... automatic driving system, 61 ... graphic, 62 ... Progress prediction line.

Claims

自動車の縦列駐車を支援する駐車支援システムであって、
前記自動車周辺の縦列駐車の状況を検出する縦列駐車状況検出手段と、
前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、所定長以上の縦列駐車している車両間のスペースを駐車候補スペースとして検出する駐車候補スペース検出手段と、
前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、駐車候補スペースの前に縦列駐車している車両である前方車両と駐車候補スペースの後ろに縦列駐車している車両である後方車両との間隔の長さを前後車両間隔長として検出し、前記後方車両と当該後方車両の直後に縦列駐車している車両との間隔の長さを後方車両後間隔長として検出する間隔長検出手段と、
前記前方車両と後方車両との間に出車非阻害位置が存在する場合に、前記前方車両と前記後方車両の間のスペースを前記自動車を縦列駐車するスペースである縦列駐車スペースとして選定し、そうでない場合に、前記前方車両と前記後方車両の間のスペースを前記縦列駐車スペースとして選定しない縦列駐車スペース選定手段とを有し、
前記出車非阻害位置は、
当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さとの和が、縦列駐車している前記自動車が駐車位置から前進のみで出車する場合に要する、前記自動車と当該自動車の直前に縦列駐車している車両との間隔の長さ以上となり、かつ、
当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さと前記後方車両後間隔の長との和が、縦列駐車している後方車両が駐車位置から前進のみで出車する場合に要すると推定される、後方車両と当該後方車両の直前に縦列駐車している車両との間隔の長さ以上となる、
前記前方車両と前記後方車両の間の位置であることを特徴とする駐車支援システム。 A parking support system that supports parallel parking of automobiles.
A parallel parking status detecting means for detecting the parallel parking status around the automobile and
A parking candidate space detecting means for detecting a space between vehicles parked in parallel of a predetermined length or longer as a parking candidate space based on the parallel parking situation detected by the parallel parking situation detector.
Based on the parallel parking status detected by the parallel parking status detector, a front vehicle that is parallel parked in front of the parking candidate space and a rear vehicle that is parallel parked behind the parking candidate space. Spacing length detecting means for detecting the length of the distance between the vehicle and the front and rear vehicles as the distance between the front and rear vehicles, and detecting the length of the distance between the rear vehicle and the vehicle parallel parked immediately after the rear vehicle as the rear distance length of the rear vehicle. When,
When there is a non-departure position between the front vehicle and the rear vehicle, the space between the front vehicle and the rear vehicle is selected as a parallel parking space, which is a space for parallel parking the vehicle. If not, it has a parallel parking space selection means that does not select the space between the front vehicle and the rear vehicle as the parallel parking space.
The departure non-inhibitory position is
The non-departure position determined by the length of the distance between the vehicle and the vehicle in front when the vehicle is parked in the non-departure position, the distance between the front and rear vehicles, the length of the vehicle, and the non-departure position. The sum of the sum of the length of the distance between the vehicle and the vehicle behind when the vehicle is parked at the obstruction position is required when the vehicle parked in tandem leaves the parking position only forward. It is longer than the distance between the vehicle and the vehicle parked in parallel in front of the vehicle, and
The sum of the length of the distance between the vehicle and the rear vehicle when the vehicle is parked in the non-departure position and the length of the rear distance of the rear vehicle is that the rear vehicle parked in a column only advances from the parking position. It is more than the length of the distance between the rear vehicle and the vehicle parked in a row in front of the rear vehicle, which is estimated to be required when leaving the vehicle.
A parking support system characterized by being located between the front vehicle and the rear vehicle.

自動車の縦列駐車を支援する駐車支援システムであって、
前記自動車周辺の縦列駐車の状況を検出する縦列駐車状況検出手段と、
前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、所定長以上の縦列駐車している車両間のスペースを駐車候補スペースとして検出する駐車候補スペース検出手段と、
前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、駐車候補スペースの前に縦列駐車している車両である前方車両と駐車候補スペースの後ろに縦列駐車している車両である後方車両との間隔の長さを前後車両間隔長として検出し、前記前方車両と当該前方車両の直前に縦列駐車している車両との間隔の長さを前方車両前間隔長として検出する間隔長検出手段と、
前記前方車両と後方車両との間に出車非阻害位置が存在する場合に、前記前方車両と前記後方車両の間のスペースを前記自動車を縦列駐車するスペースである縦列駐車スペースとして選定し、そうでない場合に、前記前方車両と前記後方車両の間のスペースを前記縦列駐車スペースとして選定しない縦列駐車スペース選定手段とを有し、
前記出車非阻害位置は、
前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前方車両前間隔長との和が、縦列駐車している前方車両が駐車位置から前進のみで出車する場合に要すると推定される、前方車両と当該前方車両の直前に縦列駐車している車両との間隔の長さ以上となり、かつ、
当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さとの和が、縦列駐車している前記自動車が駐車位置から前進のみで出車する場合に要する、前記自動車と当該自動車の直前に縦列駐車している車両との間隔の長さ以上となる、
前記前方車両と前記後方車両の間の位置であることを特徴とする駐車支援システム。 A parking support system that supports parallel parking of automobiles.
A parallel parking status detecting means for detecting the parallel parking status around the automobile and
A parking candidate space detecting means for detecting a space between vehicles parked in parallel of a predetermined length or longer as a parking candidate space based on the parallel parking situation detected by the parallel parking situation detector.
Based on the parallel parking status detected by the parallel parking status detector, a front vehicle that is parallel parked in front of the parking candidate space and a rear vehicle that is parallel parked behind the parking candidate space. Interval length detecting means for detecting the length of the distance between the vehicle and the front and rear vehicles as the distance between the front and rear vehicles, and detecting the length of the distance between the vehicle in front and the vehicle parallel parked in front of the vehicle as the distance in front of the vehicle in front. When,
When there is a non-departure position between the front vehicle and the rear vehicle, the space between the front vehicle and the rear vehicle is selected as a parallel parking space, which is a space for parallel parking the vehicle. If not, it has a parallel parking space selection means that does not select the space between the front vehicle and the rear vehicle as the parallel parking space.
The departure non-inhibitory position is
The length of the distance between the vehicle and the vehicle in front when the vehicle is parked at the non-inhibitory position of departure, which is determined by the distance between the front and rear vehicles, the length of the vehicle, and the non-inhibitory position of departure, and the front of the vehicle in front of the vehicle. It is estimated that the sum of the interval length is required when the vehicle in front of the vehicle parked in column departs only forward from the parking position. The distance between the vehicle in front and the vehicle parked in column immediately before the vehicle in front of the vehicle. It is longer than the length of
The non-departure position determined by the length of the distance between the vehicle and the vehicle in front when the vehicle is parked in the non-departure position, the distance between the front and rear vehicles, the length of the vehicle, and the non-departure position. The sum of the sum of the length of the distance between the vehicle and the vehicle behind when the vehicle is parked at the obstruction position is required when the vehicle parked in tandem leaves the parking position only forward. It is longer than the distance from the vehicle parked in parallel in front of the car,
A parking support system characterized by being located between the front vehicle and the rear vehicle.

自動車の縦列駐車を支援する駐車支援システムであって、
前記自動車周辺の縦列駐車の状況を検出する縦列駐車状況検出手段と、
前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、所定長以上の縦列駐車している車両間のスペースを駐車候補スペースとして検出する駐車候補スペース検出手段と、
前記縦列駐車状況検出手が検出した縦列駐車の状況に基づいて、駐車候補スペースの前に縦列駐車している車両である前方車両と駐車候補スペースの後ろに縦列駐車している車両である後方車両との間隔の長さを前後車両間隔長として検出し、前記前方車両と当該前方車両の直前に縦列駐車している車両との間隔の長さを前方車両前間隔長として検出し、前記後方車両と当該後方車両の直後に縦列駐車している車両との間隔の長さを後方車両後間隔長として検出する間隔長検出手段と、
前記前方車両と後方車両との間に出車非阻害位置が存在する場合に、前記前方車両と前記後方車両の間のスペースを前記自動車を縦列駐車するスペースである縦列駐車スペースとして選定し、そうでない場合に、前記前方車両と前記後方車両の間のスペースを前記縦列駐車スペースとして選定しない縦列駐車スペース選定手段とを有し、
前記出車非阻害位置は、
前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前方車両前間隔長との和が、縦列駐車している前方車両が駐車位置から前進のみで出車する場合に要すると推定される、前方車両と当該前方車両の直前に縦列駐車している車両との間隔の長さ以上となり、
当該出車非阻害位置に前記自動車を駐車したときの前記自動車と前方車両との間隔の長さと、前記前後車両間隔長と前記自動車の車長と当該出車非阻害位置より定まる当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さとの和が、縦列駐車している前記自動車が駐車位置から前進のみで出車する場合に要する、前記自動車と当該自動車の直前に縦列駐車している車両との間隔の長さ以上となり、かつ、
当該出車非阻害位置に前記自動車を駐車したときの前記自動車と後方車両との間隔の長さと前記後方車両後間隔の長との和が、縦列駐車している後方車両が駐車位置から前進のみで出車する場合に要すると推定される、後方車両と当該後方車両の直前に縦列駐車している車両との間隔の長さ以上となる、
前記前方車両と前記後方車両の間の位置であることを特徴とする駐車支援システム。 A parking support system that supports parallel parking of automobiles.
A parallel parking status detecting means for detecting the parallel parking status around the automobile and
A parking candidate space detecting means for detecting a space between vehicles parked in parallel of a predetermined length or longer as a parking candidate space based on the parallel parking situation detected by the parallel parking situation detector.
Based on the column parking status detected by the column parking status detector, the front vehicle which is a vehicle parked in a column in front of the parking candidate space and the rear vehicle which is a vehicle parked in a column behind the parking candidate space. The length of the distance between the vehicle and the vehicle is detected as the front-rear vehicle distance length, and the distance between the front vehicle and the vehicle parked in a row immediately before the front vehicle is detected as the front vehicle front distance length. An interval length detecting means for detecting the length of the distance between the vehicle and the vehicle parked in a row immediately after the rear vehicle as the rear distance length of the rear vehicle.
When there is a non-departure position between the front vehicle and the rear vehicle, the space between the front vehicle and the rear vehicle is selected as a parallel parking space, which is a space for parallel parking the vehicle. If not, it has a parallel parking space selection means that does not select the space between the front vehicle and the rear vehicle as the parallel parking space.
The departure non-inhibitory position is
The length of the distance between the vehicle and the vehicle in front when the vehicle is parked at the non-inhibitory position of departure, which is determined by the distance between the front and rear vehicles, the length of the vehicle, and the non-inhibitory position of departure, and the front of the vehicle in front of the vehicle. It is estimated that the sum of the interval length is required when the vehicle in front of the vehicle parked in column departs only forward from the parking position. The distance between the vehicle in front and the vehicle parked in column immediately before the vehicle in front of the vehicle. Is longer than the length of
The non-departure position determined by the length of the distance between the vehicle and the vehicle in front when the vehicle is parked in the non-departure position, the distance between the front and rear vehicles, the length of the vehicle, and the non-departure position. The sum of the sum of the length of the distance between the vehicle and the vehicle behind when the vehicle is parked at the obstruction position is required when the vehicle parked in tandem leaves the parking position only forward. It is longer than the distance between the vehicle and the vehicle parked in parallel in front of the vehicle, and
The sum of the length of the distance between the vehicle and the rear vehicle when the vehicle is parked in the non-departure position and the length of the rear distance of the rear vehicle is that the rear vehicle parked in a column only advances from the parking position. It is more than the length of the distance between the rear vehicle and the vehicle parked in a row in front of the rear vehicle, which is estimated to be required when leaving the vehicle.
A parking support system characterized by being located between the front vehicle and the rear vehicle.

請求項１、２または３記載の駐車支援システムであって、
前記駐車スペース選定手段が選定した縦列駐車スペース内の前記出車非阻害位置を目標駐車位置として設定する目標駐車位置設定手段と、
設定された目標駐車位置への前記自動車の運転を支援する運転支援手段とを有することを特徴とする駐車支援システム。 The parking support system according to claim 1, 2 or 3.
A target parking position setting means for setting the departure non-inhibitory position in the parallel parking space selected by the parking space selection means as a target parking position, and a target parking position setting means.
A parking support system characterized by having a driving support means for supporting the driving of the automobile to a set target parking position.

請求項４記載の駐車支援システムであって、
前記運転支援手段は、設定された目標駐車位置まで前記自動車を走行して駐車する自動運転を行うことを特徴とする駐車支援システム。 The parking support system according to claim 4.
The driving support means is a parking support system characterized by performing automatic driving in which the vehicle travels and parks to a set target parking position.

請求項４記載の駐車支援システムであって、
前記運転支援手段は、自動車周辺のようすを撮影した映像に、当該映像上で設定された目標駐車位置を表す図形を合成して表示することを特徴とする駐車支援システム。 The parking support system according to claim 4.
The driving support means is a parking support system characterized in that a figure representing a target parking position set on the image is combined and displayed with an image of a state around an automobile.