PARKING ASSISTANCE DEVICE

• US 20170259850A1
• Filed: 09/10/2015
• Published: 09/14/2017
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: YAMASHITA, Tomohisa, KATO, Masaya, TACHIBANA, Hiroyuki, MIYOSHI, Hidehiko, TANAKA, Yu, ASAI, Takatomo, OBAYASHI, Motonari, ISHIJIMA, Hironobu, OYAMA, Keisuke, TAKAHASHI, Kiyoshi
• Granted Patent: US 10,913,496 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A parking assistance device includes a detection unit that detects a parkable area in a surrounding area of a vehicle, a route calculation unit that calculates a parking guidance route for guiding the vehicle from the current position of the vehicle to a parking target position contained in the parkable area, and a control unit that guides the vehicle to the parking target position according to the parking guidance route, completes the guidance when the vehicle has fit into the parkable area with a certain attitude and has reached the parking target position, and varies a completion extension period until the guidance of the vehicle is completed according to the stop mode of the vehicle when the vehicle has entered the parkable area with the certain attitude and the vehicle has stopped before reaching the parking target position.

Claims

1. A parking assistance device comprising:

a detection unit that detects a parkable area in a surrounding area of a vehicle;

a route calculation unit that calculates a parking guidance route for guiding the vehicle from a current position of the vehicle to a parking target position contained in the parkable area detected by the detection unit; and

a control unit that guides the vehicle to the parking target position according to the parking guidance route calculated by the route calculation unit, completes the guidance when the vehicle has fit into the parkable area with a certain attitude and has reached the parking target position, and completes the guidance of the vehicle according to a stop mode of the vehicle when the vehicle has entered the parkable area with the certain attitude and the vehicle has stopped before reaching the parking target position.

2. The parking assistance device of claim 1, wherein the control unit varies a completion extension period according to the stop mode of the vehicle, the completion extension period being a period until the guidance of the vehicle is completed.

3. The parking assistance device of claim 2, wherein the control unit sets length of the completion extension period longer for a second stop mode in which the stop mode of the vehicle does not involve an operation for stopping the vehicle than for a first stop mode in which the stop mode of the vehicle involves the operation for stopping the vehicle.

4. The parking assistance device of claim 1, wherein when completing the guidance of the vehicle, the control unit performs a confirmation notice that confirms appropriateness of completion with a user.

5. The parking assistance device of claim 1, wherein the control unit determines that the certain attitude is not satisfied at least one of when the vehicle has deviated from the parking guidance route by a certain distance or more in a vehicle width direction or when a central axis in a fore-and-aft direction of the vehicle has deviated by a certain angle or more relative to a guidance direction based on the parking guidance route, when the vehicle has entered the parkable area by a certain amount, reserves the completion of guidance by the stop of the vehicle, and causes the route calculation unit to recalculate a parking guidance route so as to correct the deviation of guidance.

6. The parking assistance device of claim 5, wherein the control unit corrects, when the route calculation unit has performed the recalculation of the parking guidance route, tolerance values of deviation of a distance in the vehicle width direction of the vehicle relative to the recalculated parking guidance route and deviation of the central axis in the fore-and-aft direction of the vehicle relative to a guidance direction.

7. A parking assistance device comprising:

a detection unit that detects a parkable area in a surrounding area of a vehicle;

a route calculation unit that calculates a parking guidance route for guiding the vehicle from a current position of the vehicle to a parking target position contained in the parkable area detected by the detection unit; and

a control unit that guides the vehicle to the parking target position according to the parking guidance route calculated by the route calculation unit, completes the guidance when the vehicle has fit into the parkable area with a certain attitude and has reached the parking target position, and completes the guidance of the vehicle when the vehicle has entered the parkable area by a certain amount of distance and the vehicle has stopped before reaching the parking target position.

8. The parking assistance device of claim 7, wherein after a driver has performed a braking operation before the vehicle reaches the parkable area by the certain amount of distance, the control unit completes the guidance when the vehicle has reached an attitude satisfying a certain condition relative to the parkable area.