Parking assist apparatus

• US 10,071,731 B2
• Filed: 12/16/2016
• Issued: 09/11/2018
• Est. Priority Date: 12/25/2015
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Yamamoto, Chiharu, Tsuyunashi, Masashi
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/381,584
• Publication Number:
  US 20170183001A1
• Time in Patent Office: 634 Days
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G08G 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

In a case where an actual parking technique of a driver in a parking condition is different from a parking technique shown by a parking technique model generated in a same parking condition, a parking assist apparatus outputs a question to the user about whether or not assistance for the parking operation is desired to park the vehicle. In a case where the driver accepts the assistance for the parking operation, the parking assist apparatus provide the assistance for the parking operation to park the vehicle. Thus, useless parking assistance that the driver does not desire can be prevented, and parking assistance that is truly desired by the driver can be executed.

Claims

1. A parking assist apparatus that assists a parking operation to park a vehicle, the parking assist apparatus comprising a microcomputer configured to:

acquire a parking technique model that shows a parking technique that is determined in accordance with a parking condition of the vehicle;

determine whether or not an actual parking technique being used by a user of the vehicle to park the vehicle is different from the parking technique shown by the parking technique model by comparing a vehicle direction (forward or backward) and a steering direction (leftward or rightward) of the actual parking technique to the vehicle direction and the steering direction of the parking technique shown by the parking technique model;

output a question to the user about whether or not assistance for the parking operation is desired to park the vehicle in a case where the actual parking technique of the user is different from the parking technique shown by the parking technique model; and

provide parking assistance for the parking operation to park the vehicle in a case where the user accepts the assistance for the parking operation.

2. The parking assist apparatus according to claim 1, wherein the microcomputer is further configured to:

collect the parking technique used by the user to park the vehicle in a parking lot; and

generate the parking technique model based on the collected parking technique and based on a type of the parking lot in which the parking technique has been performed to park the vehicle.

3. The parking assist apparatus according to claim 2, wherein

the type of the parking lot is at least a part of the parking condition of the vehicle used to acquire the parking technique model.

4. The parking assist apparatus according to claim 3, wherein

at least one of a time of a day of parking the vehicle, a number of passengers in the vehicle, a number of pedestrians in the parking lot, a facing direction of a parking space, presence or absence of an oncoming vehicle, presence or absence of a subsequent vehicle and a travelling direction of the vehicle relative to the parking space is also a part of the parking condition of the vehicle used to acquire the parking technique model.

16. The parking assist apparatus according to claim 1, wherein the microcomputer is further configured to:

after determining that the vehicle is in a parking lot, determine whether the vehicle might require parking assistance for the parking lot based on history information of the vehicle and the parking lot; and

after determining that the parking assistance might be required for the parking lot, acquire the parking technique model.

5. A parking assist method of assisting a parking operation to park a vehicle, the parking assist method comprising the steps of:

(a) a microcomputer of the vehicle acquiring a parking technique model that shows a parking technique that is determined in accordance with a parking condition of the vehicle;

(b) the microcomputer of the vehicle determining whether or not an actual parking technique being used by a user of the vehicle to park the vehicle is different from the parking technique shown by the parking technique model by comparing a vehicle direction (forward or backward) and a steering direction (leftward or rightward) of the actual parking technique to the vehicle direction and the steering direction of the parking technique shown by the parking technique model;

(c) the microcomputer of the vehicle outputting a question to the user about whether or not assistance for the parking operation is desired to park the vehicle in a case where the actual parking technique of the user is different from the parking technique shown by the parking technique model; and

(d) the microcomputer of the vehicle providing parking assistance for the parking operation to park the vehicle in a case where the user accepts the assistance for the parking operation.

6. The parking assist method according to claim 5, further comprising the steps of:

(e) the microcomputer of the vehicle collecting the parking technique used by the user to park the vehicle in a parking lot; and

(f) the microcomputer of the vehicle generating the parking technique model based on the collected parking technique collected by the step (e) and based on a type of the parking lot in which the parking technique has been performed to park the vehicle.

7. The parking assist method according to claim 6, wherein

the type of the parking lot is at least a part of the parking condition of the vehicle used to acquire the parking technique model.

8. The parking assist method according to claim 7, wherein

at least one of a time of a day of parking the vehicle, a number of passengers in the vehicle, a number of pedestrians in the parking lot, a facing direction of a parking space, presence or absence of an oncoming vehicle, presence or absence of a subsequent vehicle and a travelling direction of the vehicle relative to the parking space is also a part of the parking condition of the vehicle used to acquire the parking technique model.

17. The parking assist method according to claim 5, further comprising the step of:

the microcomputer, after determining that the vehicle is in a parking lot, determining whether the vehicle might require parking assistance for the parking lot based on history information of the vehicle and the parking lot, wherein

after determining that the parking assistance might be required for the parking lot, the microcomputer acquiring the parking technique model.

9. A parking assist system that includes a parking assist apparatus that assists a parking operation to park a vehicle, and a server, wherein

the parking assist apparatus includes a microcomputer configured to:

acquire a parking condition with respect to parking the vehicle;

send the parking condition to the server;

receive, from the server, a parking technique model showing a parking technique that is determined in accordance with the parking condition;

determine whether or not an actual parking technique being used by a user of the vehicle to park the vehicle is different from the parking technique shown by the parking technique model by comparing a vehicle direction (forward or backward) and a steering direction (leftward or rightward) of the actual parking technique to the vehicle direction and the steering direction of the parking technique shown by the parking technique model;

output a question to the user about whether or not assistance for the parking operation is desired to park the vehicle in a case where the actual parking technique of the user is different from the parking technique shown by the parking technique model; and

provide parking assistance for the parking operation to park the vehicle in a case where the user accepts the assistance for the parking operation, and

the server includes a computer configured to;

collect the parking technique to park the vehicle in a parking lot;

generate the parking technique model based on the collected parking technique and based on a type of the parking lot in which the parking technique has been performed to park the vehicle;

receive the parking condition sent from the parking assist apparatus; and

send, to the parking assist apparatus, the parking technique model in accordance with the parking condition received from the parking assist apparatus.

10. The parking assist system according to claim 9, wherein

the type of the parking lot is at least a part of the parking condition of the vehicle used to acquire the parking technique model.

11. The parking assist system according to claim 10, wherein

at least one of a time of a day of parking the vehicle, a number of passengers in the vehicle, a number of pedestrians in the parking lot, a facing direction of a parking space, presence or absence of an oncoming vehicle, presence or absence of a subsequent vehicle and a travelling direction of the vehicle relative to the parking space is also a part of the parking condition of the vehicle used to acquire the parking technique model.

18. The parking assist system according to claim 9, wherein the microcomputer is further configured to:

after determining that the vehicle is in a parking lot, determine whether the vehicle might require parking assistance for the parking lot based on history information of the vehicle and the parking lot; and

after determining that the parking assistance might be required for the parking lot, send the parking condition to the server to acquire the parking technique model.

12. A non-transitory computer-readable recording medium that stores a program to be executed by a computer, the program causing the computer to execute the steps of:

(a) acquiring a parking technique model that shows a parking technique that is determined in accordance with a parking condition of the vehicle;

(b) determining whether or not an actual parking technique being used by a user of the vehicle to park the vehicle is different from the parking technique shown by the parking technique model by comparing a vehicle direction (forward or backward) and a steering direction (leftward or rightward) of the actual parking technique to the vehicle direction and the steering direction of the parking technique shown by the parking technique model;

(c) outputting a question to the user about whether or not assistance for the parking operation is desired to park the vehicle in a case where the actual parking technique of the user is different from the parking technique shown by the parking technique model; and

(d) providing parking assistance for the parking operation to park the vehicle in a case where the user accepts the assistance for the parking operation.

13. The program in the non-transitory computer-readable recording medium according to claim 12, the program causing the computer to further execute the steps of:

(e) collecting the parking technique used by the user to park the vehicle in a parking lot; and

(f) generating the parking technique model based on the collected parking technique collected by the step (e) and based on a type of the parking lot in which the parking technique has been performed to park the vehicle.

14. The non-transitory computer-readable recording medium according to claim 13, wherein

the type of the parking lot is at least a part of the parking condition of the vehicle used to acquire the parking technique model.

15. The non-transitory computer-readable recording medium according to claim 14, wherein

at least one of a time of a day of parking the vehicle, a number of passengers in the vehicle, a number of pedestrians in the parking lot, a facing direction of a parking space, presence or absence of an oncoming vehicle, presence or absence of a subsequent vehicle and a travelling direction of the vehicle relative to the parking space is also a part of the parking condition of the vehicle used to acquire the parking technique model.

19. The non-transitory computer-readable recording medium according to claim 12, the program causing the computer to further execute the step of:

after determining that the vehicle is in a parking lot, determine whether the vehicle might require parking assistance for the parking lot based on history information of the vehicle and the parking lot, wherein

after determining that the parking assistance might be required for the parking lot, acquiring the parking technique model.