Parking control device, parking control method, vehicle, and computer readable non-transitory recording medium storing a program

A parking control device includes a detection unit configured to detect at least one possible parking position in which a vehicle is capable of being parked, and a control unit configured to, after a target parking position has been selected from among the possible parking positions, initiate movement of the vehicle into the target parking position on the basis of an operation over a prolonged time period having been performed by a user, the operation over the prolonged time period being an operation in which an operation input unit is continuously maintained in a predetermined state over a threshold time period or greater, the operation input unit being used at least when switching between forward movement and rearward movement of the vehicle.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2018-167452 filed on Sep. 7, 2018, the contents of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a parking control device, a parking control method, a vehicle, and a computer readable non-transitory recording medium in which a program is stored.

Description of the Related Art

Heretofore, a parking assistance system has been proposed which assists parking operations made by a user. Japanese Patent No. 4893162 discloses a parking lot parking assistance system that starts to assist a steering operation when a guided vehicle reaches a position where a vehicle retracting operation should start, and the shift position is placed in a position for enabling retraction.

SUMMARY OF THE INVENTION

However, in the parking lot parking assistance system disclosed in Japanese Patent No. 4893162, in the case that the shift position is set to a position for enabling retraction, assistance for a steering operation is initiated even if the user does not desire the steering operation. Accordingly, in the parking lot parking assistance system disclosed in Japanese Patent No. 4893162, favorable operability may not always be obtained.

An object of the present invention is to provide a parking control device, a parking control method, a vehicle, and a computer readable non-transitory recording medium storing a program, in which favorable operability can be realized.

A parking control device according to one aspect of the present invention comprises a detection unit configured to detect at least one possible parking position in which a vehicle is capable of being parked, and a control unit configured to, after a target parking position has been selected from among the possible parking positions, initiate movement of the vehicle into the target parking position on a basis of an operation over a prolonged time period having been performed by a user, the operation over the prolonged time period being an operation in which an operation input unit is continuously maintained in a predetermined state over a threshold time period or greater, the operation input unit being used at least when switching between forward movement and rearward movement of the vehicle.

A vehicle according to another aspect of the present invention comprises the parking control device as described above.

A parking control method according to yet another aspect of the present invention comprises a step of detecting at least one possible parking position in which a vehicle is capable of being parked, and a step of, after a target parking position has been selected from among the possible parking positions, initiating movement of the vehicle into the target parking position on a basis of an operation over a prolonged time period having been performed by a user, the operation over the prolonged time period being an operation in which an operation input unit is continuously maintained in a predetermined state over a threshold time period or greater, the operation input unit being used at least when switching between forward movement and rearward movement of the vehicle.

According to yet another aspect of the present invention, there is provided a computer readable non-transitory recording medium in which a program is stored for executing in a computer a step of detecting at least one possible parking position in which a vehicle is capable of being parked, and a step of, after a target parking position has been selected from among the possible parking positions, initiating movement of the vehicle into the target parking position on a basis of an operation over a prolonged time period having been performed by a user, the operation over the prolonged time period being an operation in which an operation input unit is continuously maintained in a predetermined state over a threshold time period or greater, the operation input unit being used at least when switching between forward movement and rearward movement of the vehicle.

According to yet another aspect of the present invention, there is provided a computer readable non-transitory recording medium in which a program is stored for executing in a computer a step of displaying, on a display unit, a button configured to cause forward movement or rearward movement of a vehicle, a step of determining whether or not the button has been continuously pressed by a user over a threshold time period or greater, and a step of, after a target parking position has been selected from among at least one possible parking position in which the vehicle is capable of being parked, initiating movement of the vehicle into the target parking position on a basis of the button being continuously pressed by the user over the threshold time period or greater.

According to the present invention, it is possible to provide a parking control device, a parking control method, a vehicle, and a computer readable non-transitory recording medium storing a program, in which favorable operability can be realized.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Preferred embodiments of a parking control device, a parking control method, a vehicle, and a computer readable non-transitory recording medium in which a program is stored according to the present invention will be presented and described in detail below with reference to the accompanying drawings.

EMBODIMENT

A parking control device, a parking control method, a vehicle, and a computer readable non-transitory recording medium in which a program is stored according to an embodiment of the present invention will be described below with reference to the drawings.FIG. 1is a block diagram showing a vehicle equipped with a parking control device according to the embodiment.

A parking control device12according to the present embodiment controls parking of a vehicle10by performing automated steering. More specifically, operations of a steering wheel68are performed automatically by the parking control device12. In this instance, although a case will be described as an example in which operations of an accelerator pedal (not shown), a brake pedal (not shown), and an operation input unit38are performed by a user, the invention is not necessarily limited to this example. For example, driving, braking, and steering may also be performed automatically.

As shown inFIG. 1, the parking control device12includes a sensor group14, a navigation device16, a parking control ECU (parking control electronic control device)18, an EPS system (electric power steering system)20, and a communication unit22. The parking control device12further includes a driving force control system24and a braking force control system26.

The sensor group14acquires various detection values used in connection with the parking control. The sensor group14includes a front camera30f, a rear camera30rr, a left side camera30l, and a right side camera30rt. The sensor group14further includes a front sonar group31f, a rear sonar group31rr, a left side sonar group31l, and a right side sonar group31rt. The sensor group14also includes vehicle wheel sensors32rland32rr, a vehicle speed sensor34, and an operation detection unit36.

The front camera30f, the rear camera30rr, the left side camera30l, and the right side camera30rtoutput peripheral images obtained by capturing images of the surrounding periphery around the vehicle10. The peripheral image captured by the front camera30fis referred to as a front image. The peripheral image captured by the rear camera30rris referred to as a rear image. The peripheral image captured by the left side camera30lis referred to as a left side image. The peripheral image captured by the right side camera30rtis referred to as a right side image. A sideways image is constituted by the left side image and the right side image.

The front sonar group31f, the rear sonar group31rr, the left side sonar group31l, and the right side sonar group31rtemit sound waves around the periphery of the vehicle10, together with receiving reflected sounds from other objects. The front sonar group31fincludes, for example, four sonar devices. The sonar devices constituting the front sonar group31fare respectively provided on a diagonally left forward side, a front left side, a front right side, and a diagonally right forward side of the vehicle10. The rear sonar group31rrincludes, for example, four sonar devices. The sonar devices constituting the rear sonar group31rrare respectively provided on a diagonally left rearward side, a rear left side, a rear right side, and a diagonally right rearward side of the vehicle10. The left side sonar group31lincludes, for example, two sonar devices. The sonar devices constituting the left side sonar group31lare respectively provided on a left forward side and a left rearward side of the vehicle10. The right side sonar group31rtincludes, for example, two sonar devices. The sonar devices constituting the right side sonar group31rtare respectively provided on a right forward side and a right rearward side of the vehicle10.

The vehicle wheel sensors32rland32rrrespectively detect the angles of rotation of the vehicle wheels (not shown). The vehicle wheel sensors32rland32rrmay be constituted by angle sensors, or alternatively, may be constituted by displacement sensors. The vehicle wheel sensors32rland32rroutput detection pulses each time that the vehicle wheels are rotated by a predetermined angle. The detection pulses output from the vehicle wheel sensors32rland32rrcan be used to calculate the angles of rotation of the vehicle wheels and the rotational speeds of the vehicle wheels. The distance that the vehicle10moves can be calculated based on the angles of rotation of the vehicle wheels. The vehicle wheel sensor32rldetects, for example, the angle of rotation of the left rear wheel, or stated otherwise, an angle of rotation θwrl. The vehicle wheel sensor32rrdetects, for example, the angle of rotation of the right rear wheel, or stated otherwise, an angle of rotation θwrr.

The vehicle speed sensor34detects the speed of the vehicle body (not shown) of the vehicle10, or stated otherwise, a vehicle speed V, and outputs the detected vehicle speed V to the parking control ECU18. The vehicle speed sensor34detects the vehicle speed V on the basis of, for example, the rotation of a transmission counter shaft.

The operation detection unit36detects the content of operations performed by the user using the operation input unit38, and outputs the detected operation content to the parking control ECU18. In this instance, examples will be described of a case in which the operation input unit38is a shift lever (select lever, selector), and a case in which the operation input unit38is a shift position sensor. The operation detection unit36detects the shift position in the operation input unit38, and outputs the detected shift position to the parking control ECU18or the like.

The operation input unit38can be used at least when switching between forward movement and rearward movement of the vehicle10.FIG. 2is a diagram showing an example of the operation input unit. As described previously, the operation input unit38is a shift lever. The operation input unit38comprises a shift position (first shift position) for causing forward movement of the vehicle10, i.e., a D range39D. The operation input unit38further comprises a shift position (second shift position) for causing rearward movement of the vehicle10, i.e., an R range39R. The operation input unit38further comprises an L range39L and an N range39N. In the vicinity of the operation input unit38, a P button39P used for parking is provided. The operation input unit38is configured so as to be automatically returned to a neutral position39X.

The navigation device16detects the current position of the vehicle10using, for example, a GPS (Global Positioning System), and guides the user along a route to the destination. The navigation device16includes a non-illustrated storage device equipped with a map information database.

A touch panel40and a speaker42are provided in the navigation device16. The touch panel40is capable of functioning as an input device as well as a display device (display unit) of the parking control device12. The user can input commands in relation to the parking control via the touch panel40. In addition, a screen regarding the parking control can be displayed on the touch panel40. Moreover, constituent elements other than the touch panel40may be used as the input device or the display device. Further, when the parking control takes place, voice guidance can be performed via the speaker42. The speaker42can function as a notification unit which, prior to initiating movement of the vehicle10into a later-described target parking position84, issues a notification to a passenger that movement of the vehicle10is going to be initiated.

The parking control ECU18includes an input/output unit50, a computation unit52, and a storage unit54. The computation unit52can be constituted, for example, by a CPU (Central Processing Unit). The computation unit52executes the parking control by controlling each of the respective units based on programs stored in the storage unit54.

The computation unit52comprises a detection unit72, an operation determination unit74, a control unit76, a threshold time setting unit78, and an obstacle determination unit80. The detection unit72, the operation determination unit74, the control unit76, the threshold time setting unit78, and the obstacle determination unit80can be realized by programs, which are stored in the storage unit54, being executed by the computation unit52.

The detection unit72detects, on the basis of images and the like acquired by the cameras30f,30rr,30l, and30rt, etc., at least one possible parking position82in which the vehicle10is capable of being parked. The possible parking positions82detected by the detection unit72can be displayed on the touch panel40of the navigation device16, for example.FIG. 3is a diagram conceptually illustrating an example of a portion of an image displayed on a display screen. As shown inFIG. 3, an overhead view image including the vehicle (driver's own vehicle)10can be displayed on the display screen of the touch panel40. As shown inFIG. 3, for example, other vehicles11are parked in three parking spaces from among five total parking spaces. Other vehicles11are not parked in two of the parking spaces from among the five total parking spaces. The detection unit72can detect, as possible parking positions82, the parking spaces in which other vehicles11are not parked. Moreover, such an overhead view image can be generated, for example, by appropriately using the above-described sensor group14. The target parking position84can be selected by the user from among the possible parking positions82displayed on the touch panel40. For example, the target parking position84can be selected by the user touching any one of the possible parking positions82displayed on the touch panel40. Moreover, although an exemplary case has been described herein in which the target parking position84is selected by the user, the present invention is not limited to this feature. The target parking position84may be automatically selected by the control unit76.

The operation determination unit74can determine the content of operations performed by the user on the operation input unit38. Further, the operation determination unit74can determine whether or not an operation over a prolonged time period has been performed by the user on the operation input unit38. The operation over a prolonged time period is defined as an operation in which the operation input unit38is continuously maintained in a predetermined state for a first threshold time period (threshold time period) or greater. The first threshold time period, for example, may be a time period on the order of 3 seconds, however, the present invention is not limited to this feature. Moreover, a second threshold time period for the purpose of determining whether or not the operation input unit38has been set to a certain shift position is sufficiently shorter than the first threshold time period for the purpose of determining whether or not the operation over a prolonged time period has been performed.

After the target parking position84has been selected, in the case that the operation input unit38is continuously maintained in the D range39D or the R range39R over the first threshold time period or greater, or stated otherwise, in the case that the operation over a prolonged time period is performed by the user, the control unit76carries out the following control. More specifically, in such a case, the control unit76initiates movement of the vehicle10into the target parking position84.

The threshold time setting unit78sets the first threshold time period for the purpose of determining whether or not the operation over a prolonged time period has been performed. The first threshold time period may be fixed, or may be changed in accordance with an amount of time that has elapsed from the time at which the possible parking positions82are detected. The following action may be undertaken, for example, in the case that the first threshold time period for the purpose of determining whether or not the operation over a prolonged time period has been performed is changed in accordance with the amount of time that has elapsed from the time at which the possible parking positions82are detected. More specifically, the first threshold time period may be made longer as the amount of time that has elapsed from the time at which the possible parking positions82are detected becomes longer.

The obstacle determination unit80determines whether or not an obstacle86that is capable of coming into contact with the vehicle10exists. In the case that the obstacle determination unit80determines that an obstacle86that is capable of coming into contact with the vehicle10exists, the control unit76interrupts movement of the vehicle10into the target parking position84. After movement of the vehicle10into the target parking position84has been interrupted, the control unit76restarts movement of the vehicle10into the target parking position84on the basis of the user having performed the operation over a prolonged time period on the operation input unit38.

The EPS system20includes a steering angle sensor60, a torque sensor62, an EPS motor64, a resolver65, and an EPS ECU (EPS electronic control unit)66.

The steering angle sensor60detects a steering angle θst of the steering wheel68. The torque sensor62detects a torque TQ applied to the steering wheel68.

The EPS motor64applies a driving force or a reaction force to a steering column70connected to the steering wheel68, thereby enabling assistance of operations of the steering wheel68by the driver, and automated steering at the time of the parking control. The resolver65detects an angle of rotation θm of the EPS motor64.

The EPS ECU66administers an overall control of the EPS system20. The EPS ECU66is equipped with an input/output unit (not shown), a computation unit (not shown), and a storage unit (not shown).

The communication unit (wireless communication unit)22enables wireless communications with a later-described communication terminal90(seeFIGS. 6 and 7). The control unit76is capable of carrying out communications with the communication terminal90via the communication unit22.

In the parking control that is performed by the parking control device12according to the present embodiment, there are included a target parking position setting control (target setting control), and an automated steering control. The target setting control is a control for setting the target parking position84for the vehicle10. The automated steering control is a control for automatically operating the steering wheel68in a manner so that the vehicle10reaches the target parking position84. Automated operation of the steering wheel68is performed by the EPS ECU66controlling the EPS motor64.

The driving force control system24is equipped with a drive ECU25. The driving force control system24executes a driving force control for the vehicle10. The drive ECU25controls the driving force of the vehicle10by controlling a non-illustrated engine or the like on the basis of operations performed by the user on a non-illustrated accelerator pedal. The driving force control for the vehicle10may also be performed automatically.

The braking force control system26is equipped with a brake ECU27. The braking force control system26executes a braking force control for the vehicle10. The brake ECU27controls the braking force of the vehicle10by controlling a non-illustrated brake mechanism or the like on the basis of operations performed by the user on a non-illustrated brake pedal. The braking force control for the vehicle10may also be performed automatically.

FIG. 4is a flowchart showing operations of the parking control device according to the present embodiment.

In step S1, the control unit76determines whether or not a parking control initiation condition has been satisfied. As the parking control initiation condition, there may be cited, for example, a condition that a parking control start button (not shown) which is displayed on the touch panel40of the navigation device16has been pressed by the user. Moreover, the parking control initiation condition may be a condition that the vehicle speed V has fallen below a predetermined vehicle speed threshold. In the case that the parking control initiation condition has been satisfied (YES in step S1), the process transitions to step S2. In the case that the parking control initiation condition has not been satisfied (NO in step S1), then step S1is executed again after the elapse of a predetermined time period.

In step S2, the detection unit72detects at least one possible parking position (possible parking frame)82in which the vehicle10is capable of being parked. The parking control ECU18carries out a control in a manner so that the detected possible parking positions82are displayed on the touch panel40of the navigation device16. Thereafter, the process transitions to step S3.

In step S3, the target parking position84is selected from among the possible parking positions82. The target parking position84can be selected by the user touching any one of the possible parking positions82displayed on the touch panel40. Moreover, although an exemplary case has been described herein in which the target parking position84is selected by the user, the present invention is not limited to this feature. The target parking position84may be automatically selected by the control unit76. Thereafter, the process transitions to step S4.

In step S4, a determination is made by the operation determination unit74as to whether or not the operation over a prolonged time period has been performed by the user on the operation input unit38. In the case that the parking process can be initiated by causing forward movement of the vehicle10, a determination is made by the operation determination unit74as to whether or not the operation input unit38has been continuously maintained, for example, in the D range39D over the first threshold time period or greater. Moreover, whether or not the parking process can be initiated by causing forward movement of the vehicle10can be determined by the control unit76on the basis of the current position of the vehicle10and the target parking position84. In the case that the parking process can be initiated by causing rearward movement of the vehicle10, a determination is made by the operation determination unit74as to whether or not the operation input unit38has been continuously maintained, for example, in the R range39R over the first threshold time period or greater. Moreover, whether or not the parking process can be initiated by causing rearward movement of the vehicle10can be determined by the control unit76on the basis of the current position of the vehicle10and the target parking position84. In the case that the above-described operation over a prolonged time period is performed (YES in step S4), the process transitions to step S5. On the other hand, in the case that the above-described operation over a prolonged time period has not been performed (NO in step S4), the process transitions to step S8. Moreover, the first threshold time period may be changed in accordance with the amount of time that has elapsed from the time at which the possible parking positions82are detected. For example, the first threshold time period may be made longer as the amount of time that has elapsed from the time at which the possible parking positions82are detected becomes longer. In the case that the amount of time that has elapsed from the time at which the possible parking positions82are detected becomes longer, it is frequently the case that the user does not desire for the parking control to be executed. By making the first threshold time period longer in accordance with the amount of time that has elapsed from the time at which the possible parking positions82are detected, it is possible to prevent a situation in which the parking control is performed in spite of the fact that the user does not desire for the parking control to be executed.

In step S5, the control unit76initiates movement of the vehicle10into the target parking position84. More specifically, the control unit76executes an automated steering control so as to automatically operate the steering wheel68in a manner so that the vehicle10reaches the target parking position84. Operations of the accelerator pedal (not shown) and the brake pedal (not shown) are performed by the user. Moreover, in this instance, although an exemplary case has been described in which operations of driving and braking the vehicle10are performed by the user, the present invention is not limited to this feature. Controls for driving and braking the vehicle10may also be performed automatically. Automated operation of the steering wheel68is performed by the EPS ECU66controlling the EPS motor64. Moreover, prior to initiation of movement of the vehicle10into the target parking position84, a notification may be issued to a passenger concerning initiation of movement of the vehicle10. Thereafter, the process transitions to step S6.

In step S6, the obstacle determination unit80determines whether or not an obstacle86(seeFIG. 3) that is capable of coming into contact with the vehicle10exists. In the case that the obstacle determination unit80determines that an obstacle86that is capable of coming into contact with the vehicle10exists (YES in step S6), the control unit76interrupts movement of the vehicle10into the target parking position84. In this case, the process transitions to step S9. In the case that the obstacle determination unit80has not determined that an obstacle86that is capable of coming into contact with the vehicle10exists (NO in step S6), the control unit76continues moving the vehicle10into the target parking position84.

In step S7, the control unit76determines whether or not the vehicle10has reached the target parking position84. In the case that the vehicle10has reached the target parking position84(YES in step S7), the control unit76terminates the parking control. In the case that the vehicle10has not reached the target parking position84(NO in step S7), the process returns to step S6, and the parking control is continued.

In step S8, the operation determination unit74determines whether or not an operation has been performed by the user on the operation input unit38. In step S8, a determination is made as to whether or not an operation for a relatively short time period has been performed on the operation input unit38, instead of a continuous operation over the first threshold time period or greater that is determined to be the operation over a prolonged time period. More specifically, the operation determination unit74determines whether or not an operation on the operation input unit38has been performed over the second threshold time period or greater which is sufficiently shorter than the first threshold time period. In the case that such an operation on the operation input unit38has been performed (YES in step S8), the control unit76terminates the parking control. On the other hand, in the case that such an operation on the operation input unit38has not been performed (NO in step S8), the process returns to step S4.

In step S9, the control unit76issues a notification for prompting the user to stop the vehicle10. In accordance with such a notification, the brake pedal is operated by the user and the vehicle10is stopped. Moreover, in this instance, although an exemplary case has been described in which the operation of braking the vehicle10is performed by the user, the present invention is not limited to this feature. The control for braking the vehicle10may also be performed automatically. Thereafter, the control unit76carries out a control in a manner so that a predetermined message is notified to the user. In order to issue such a notification of the message, the speaker42may be used, or the display screen of the touch panel40may be used. The concerned message is a message for notifying the user that the parking control will be restarted if the operation over a prolonged time period is performed on the operation input unit38. Thereafter, the process transitions to step S10.

In step S10, the operation determination unit74determines whether or not an operation over a prolonged time period has been performed by the user on the operation input unit38. As noted previously, the operation over a prolonged time period is defined as an operation in which the operation input unit38is continuously maintained in a predetermined state over the first threshold time period or greater. More specifically, as described above, the operation over a prolonged time period is an operation in which the operation input unit38is continuously maintained in the D range (first shift position)39D or the R range (second shift position)39R over the first threshold time period or greater. In the case that such an operation over a prolonged time period is performed (YES in step S10), the process transitions to step S11. On the other hand, in the case that such an operation over a prolonged time period has not been performed (NO in step S10), the control unit76terminates the parking control.

In step S11, the control unit76performs a control in a manner so that movement of the vehicle10is restarted. Operations of the accelerator pedal and the brake pedal are performed by the user. Moreover, in this instance, although an exemplary case has been described in which operations of driving and braking the vehicle10are performed by the user, the present invention is not limited to this feature. Controls for driving and braking the vehicle10may also be performed automatically. Thereafter, the process transitions to step S6.

In the foregoing manner, the parking control according to the present embodiment is executed.

In this manner, according to the present embodiment, after the target parking position84has been selected from among the possible parking positions82, movement of the vehicle10into the target parking position84is initiated on the basis of the user having performed the operation over a prolonged time period on the operation input unit38. According to the present embodiment, since the operation over a prolonged time period may be performed on the operation input unit38, it is possible to provide a parking control device in which operability is favorable. Since there is no need to provide, separately from the operation input unit38, an operating means for the purpose of instructing that the vehicle10be moved into the target parking position84, it is possible to contribute to a reduction in costs or the like according to the present embodiment.

First Modification

A parking control device, a parking control method, a vehicle, and a computer readable non-transitory recording medium in which a program is stored according to a first modification of the present embodiment will be described with reference toFIG. 5.FIG. 5is a diagram showing an example of the operation input unit according to the present modification.

In the parking control device according to the present modification, the operation input unit38is constituted by a shift switch.

As shown inFIG. 5, the operation input unit38according to the present modification is a shift switch. The operation input unit38is equipped with a D button (first button)88D for causing forward movement of the vehicle10, and an R button (second button)88R for causing rearward movement of the vehicle10. The operation input unit38is further equipped with an L button88L, an N button88N, and a P button88P.

In the present modification, the operation over a prolonged time period is pressing the D button88D or the R button88R over a prolonged time period.

In the foregoing manner, the operation input unit38may be constituted by the shift switch. According to the present modification, since the D button88D or the R button88R may be pressed over a prolonged time period, it is possible to provide the parking control device12in which operability is favorable. In the present modification as well, since there is no need to provide, separately from the operation input unit38, an operating means for the purpose of instructing that the vehicle10be moved into the target parking position84, it is possible to contribute to a reduction in costs or the like.

Second Modification

A parking control device according to a second modification of the present embodiment will be described with reference toFIGS. 6 and 7.FIG. 6is a diagram showing an example of a communication terminal used in the present modification.FIG. 7is a block diagram showing an example of the communication terminal used in the present modification.

In the present modification, parking of the vehicle10can be instructed using the communication terminal90which is capable of communicating with the control unit76via the communication unit22. According to the present modification, a touch panel92provided in the communication terminal90is capable of functioning as an operation input unit93.

The communication terminal90, for example, is a mobile communication terminal equipped with a telephone function. Such a communication terminal90is referred to as a smart phone. Moreover, the communication terminal90is not limited to being a smart phone. The communication terminal90may be a communication terminal, for example, a remote controller or the like, which is not equipped with a telephone function.

The communication terminal90is equipped with a communication unit96, a computation unit98, the touch panel92, and a storage unit104. The computation unit98comprises an operation determination unit100and a control unit102. The operation determination unit100and the control unit102can be realized by programs, which are stored in the storage unit104, being executed by the computation unit98. As described previously, the touch panel92is capable of functioning as the operation input unit93.

On the display screen of the touch panel92, for example, a button for causing forward movement of the vehicle10, i.e., a forward movement button94D can be displayed. Further, on the display screen of the touch panel92, a button for causing rearward movement of the vehicle10, i.e., a rearward movement button94R can be displayed.

The operation determination unit100determines whether or not the user has performed the operation over a prolonged time period on the forward movement button94D or the rearward movement button94R that are displayed on the display screen of the touch panel92. In the present modification, the operation over a prolonged time period is pressing the forward movement button94D or the rearward movement button94R over a prolonged time period.

Operations of the parking control device according to the present modification will be described with reference toFIG. 4.

In step S1, the control unit76determines whether or not a parking control initiation condition has been satisfied. As the parking control initiation condition, there may be cited, for example, a condition that a parking control start button (not shown) which is displayed on the touch panel92has been pressed by the user. In the case that the parking control initiation condition has been satisfied (YES in step S1), the process transitions to step S2. In the case that the parking control initiation condition has not been satisfied (NO in step S1), then step S1is executed again after the elapse of a predetermined time period.

In step S2, the detection unit72detects at least one possible parking position82in which the vehicle10is capable of being parked. The control unit76performs a control in a manner so that information indicative of the possible parking positions82is transmitted via the communication unit22. At this time, the control unit76also transmits, via the communication unit22, information indicative of the current position of the vehicle10. The control unit102receives the information indicative of the possible parking positions82via the communication unit96. At this time, the control unit102also receives, via the communication unit96, the information indicative of the current position of the vehicle10. In addition, the control unit102performs a control in a manner so that the information indicative of the possible parking positions82is displayed on the display screen of the touch panel92. Thereafter, the process transitions to step S3.

In step S3, the target parking position84is selected from among the possible parking positions82. The target parking position84(seeFIG. 3) can be selected by the user touching any one of the possible parking positions82(seeFIG. 3) displayed on the display screen of the touch panel92. Moreover, although an exemplary case has been described herein in which the target parking position84is selected by the user, the present invention is not limited to this feature. The target parking position84may be automatically selected by the control unit76or the control unit102. Thereafter, the process transitions to step S4.

In step S4, a determination is made by the operation determination unit100as to whether or not the operation over a prolonged time period has been performed by the user on the operation input unit93. In the case that the parking process can be initiated by causing forward movement of the vehicle10, a determination is made by the operation determination unit100as to whether or not the forward movement button94D has been continuously pressed by the user over the first threshold time period or greater. Moreover, whether or not the parking process can be initiated by causing forward movement of the vehicle10can be determined by the control unit102on the basis of the current position of the vehicle10and the target parking position84. In the case that the parking process can be initiated by causing rearward movement of the vehicle10, a determination is made by the operation determination unit100as to whether or not the rearward movement button94R has been continuously pressed by the user over the first threshold time period or greater. Moreover, whether or not the parking process can be initiated by causing rearward movement of the vehicle10can be determined by the control unit102on the basis of the current position of the vehicle10and the target parking position84. In the case that the above-described operation over a prolonged time period is performed (YES in step S4), the process transitions to step S5. On the other hand, in the case that the above-described operation over a prolonged time period has not been performed (NO in step S4), the process transitions to step S8.

In step S5, the control unit76carries out a control so as to initiate movement of the vehicle10into the target parking position84. According to the present modification, the driving control, the braking control, and the steering control of the vehicle10are performed automatically. Thereafter, the process transitions to step S6.

In step S6, the obstacle determination unit80determines whether or not an obstacle86(seeFIG. 3) that is capable of coming into contact with the vehicle10exists. In the case that the obstacle determination unit80determines that an obstacle86that is capable of coming into contact with the vehicle10exists (YES in step S6), the control unit76interrupts movement of the vehicle10into the target parking position84. In this case, the process transitions to step S9. In the case that the obstacle determination unit80has not determined that an obstacle86that is capable of coming into contact with the vehicle10exists (NO in step S6), the control unit76continues moving the vehicle10into the target parking position84.

In step S7, the control unit76determines whether or not the vehicle10has reached the target parking position84. In the case that the vehicle10has reached the target parking position84(YES in step S7), the control unit76terminates the parking control. In the case that the vehicle10has not reached the target parking position84(NO in step S7), the process returns to step S6, and the parking control is continued.

In step S8, the operation determination unit100determines whether or not an operation has been performed by the user on the operation input unit93that is constituted by the communication terminal90. In step S8, a determination is made as to whether or not an operation for a relatively short time period has been performed on the operation input unit93, instead of a continuous operation over the first threshold time period or greater that is determined to be the operation over a prolonged time period. More specifically, the operation determination unit100determines whether or not an operation on the operation input unit93has been performed over the second threshold time period or greater which is sufficiently shorter than the first threshold time period. In the case that such an operation on the operation input unit93has been performed (YES in step S8), the control unit76terminates the parking control. On the other hand, in the case that such an operation on the operation input unit93has not been performed (NO in step S8), the process returns to step S4.

In step S9, the control unit76performs a control in a manner so that the vehicle10is stopped. According to the present modification, the braking control of the vehicle10is performed automatically. Thereafter, the control unit76transmits, via the communication unit22, information indicating that movement of the vehicle10into the target parking position84has been interrupted. The control unit102receives the concerned information via the communication unit96. The control unit102performs a control in a manner so that a message indicating that movement of the vehicle10into the target parking position84has been interrupted is displayed on the display screen of the touch panel92. Further, the control unit102performs a control in a manner so that a message for notifying the user that the parking control can be restarted by performing the operation over a prolonged time period on the operation input unit93, is displayed on the touch panel92. Thereafter, the process transitions to step S10.

In step S10, the operation determination unit100determines whether or not an operation over a prolonged time period has been performed by the user on the operation input unit93. In the present modification, the operation over a prolonged time period is, as described above, pressing the forward movement button94D or the rearward movement button94R over a prolonged time period. The control unit102transmits information indicative of the determination result by the operation determination unit100via the communication unit96. The concerned information is supplied to the control unit76via the communication unit22. In the case that the above-described operation over a prolonged time period has been performed on the operation input unit93(YES in step S10), the process transitions to step S11. On the other hand, in the case that the above-described operation over a prolonged time period has not been performed on the operation input unit93(NO in step S10), the control unit76terminates the parking control.

In step S11, the control unit76restarts movement of the vehicle10. The driving control, the braking control, and the steering control of the vehicle10are performed automatically. Thereafter, the process transitions to step S6.

In the foregoing manner, the parking control according to the present modification is executed.

In the manner described above, the operation input unit93may be constituted by the touch panel92that is displayed on the communication terminal90. According to the present modification, since the forward movement button94D or the rearward movement button94R may be pressed over a prolonged time period, it is possible to provide the parking control device12in which operability is favorable.

Modified Embodiments

Although preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made thereto without departing from the essence and gist of the present invention.

For example, according to the above-described embodiment, although an exemplary case has been described in which the forward movement button94D and the rearward movement button94R are displayed on the touch panel92, the present invention is not limited to this feature. The forward movement button94D or the rearward movement button94R may be configured by a normal push button or the like.

Further, according to the above-described embodiment, an exemplary case has been described in which, in the case that the parking process can be initiated by causing forward movement of the vehicle10, movement of the vehicle10is initiated on the basis of the operation input unit38being continuously maintained in the D range39D over the first threshold time period or greater. However, the present invention is not necessarily limited to this feature. Movement of the vehicle10into the target parking position84may also be initiated on the basis of the operation input unit38being continuously maintained in a range other than the D range39D over the first threshold time period or greater.

Further, according to the above-described embodiment, an exemplary case has been described in which, in the case that the parking process can be initiated by causing rearward movement of the vehicle10, movement of the vehicle10is initiated on the basis of the operation input unit38being continuously maintained in the R range39R over the first threshold time period or greater. However, the present invention is not necessarily limited to this feature. Movement of the vehicle10into the target parking position84may also be initiated on the basis of the operation input unit38being continuously maintained in a range other than the R range39R over the first threshold time period or greater.

Further, according to the above-described embodiment, an exemplary case has been described in which, in the case that the parking process can be initiated by causing forward movement of the vehicle10, movement of the vehicle10is initiated on the basis of the D button88D being continuously pressed over the first threshold time period or greater. However, the present invention is not necessarily limited to this feature. Movement of the vehicle10into the target parking position84may also be initiated on the basis of a button other than the D button88D from among the buttons provided on the operation input unit38being continuously pressed over the first threshold time period or greater.

Further, according to the above-described embodiment, an exemplary case has been described in which, in the case that the parking process can be initiated by causing rearward movement of the vehicle10, movement of the vehicle10is initiated on the basis of the R button88R being continuously pressed over the first threshold time period or greater. However, the present invention is not necessarily limited to this feature. Movement of the vehicle10into the target parking position84may also be initiated on the basis of a button other than the R button88R from among the buttons provided on the operation input unit38being continuously pressed over the first threshold time period or greater.

Further, according to the above-described embodiment, an exemplary case has been described in which, in the case that the parking process can be initiated by causing forward movement of the vehicle10, movement of the vehicle10is initiated on the basis of the forward movement button94D being continuously pressed over the first threshold time period or greater. However, the present invention is not necessarily limited to this feature. Movement of the vehicle10into the target parking position84may also be initiated on the basis of a button other than the forward movement button94D from among the buttons provided on the operation input unit93being continuously pressed over the first threshold time period or greater.

Further, according to the above-described embodiment, an exemplary case has been described in which, in the case that the parking process can be initiated by causing rearward movement of the vehicle10, movement of the vehicle10is initiated on the basis of the rearward movement button94R being continuously pressed over the first threshold time period or greater. However, the present invention is not necessarily limited to this feature. Movement of the vehicle10into the target parking position84may also be initiated on the basis of a button other than the rearward movement button94R from among the buttons provided on the operation input unit93being continuously pressed over the first threshold time period or greater.

Summarizing the embodiments described above, the following features and advantages are realized.

The parking control device (12) includes the detection unit (72) configured to detect at least one possible parking position (82) in which the vehicle (10) is capable of being parked, and the control unit (76) configured to, after a target parking position (84) has been selected from among the possible parking positions, initiate movement of the vehicle into the target parking position on the basis of an operation over a prolonged time period having been performed by the user, the operation over the prolonged time period being an operation in which the operation input unit (38) is continuously maintained in a predetermined state over a threshold time period or greater, the operation input unit being used at least when switching between forward movement and rearward movement of the vehicle. In accordance with such a configuration, since the operation over the prolonged time period may be performed on the operation input unit, it is possible to provide a parking control device in which operability is favorable. Further, in accordance with such a configuration, since there is no need to provide, separately from the operation input unit, an operating means for the purpose of instructing that the vehicle be moved into the target parking position, it is possible to contribute to a reduction in costs or the like.

The operation input unit may be a shift lever comprising at least the shift position (39D,39R) for causing forward movement or rearward movement of the vehicle, and configured to be automatically returned to the neutral position (39X), and the operation over the prolonged time period may be an operation of continuously maintaining the shift lever at the shift position over the threshold time period or greater. In accordance with such a configuration, the shift lever can be used to instruct movement of the vehicle into the target parking position.

The operation input unit may be a shift switch that comprises at least the button (88D,88R) configured to cause forward movement or rearward movement of the vehicle, and the operation over the prolonged time period may be pressing the button over the prolonged time period. In accordance with such a configuration, since the button may be pressed over the prolonged time period, it is possible to provide a parking control device in which operability is favorable. In accordance with such a configuration, the shift switch can be used to instruct movement of the vehicle into the target parking position.

The operation input unit may be provided in the communication terminal (90) configured to communicate with the control unit via the communication unit (22) provided in the vehicle, and may comprise at least the button (94D,94R) configured to cause forward movement or rearward movement of the vehicle, and the operation over the prolonged time period may be pressing the button over the prolonged time period. In accordance with such a configuration, the communication terminal can be used to instruct movement of the vehicle into the target parking position.

The communication terminal may comprise the display unit (92), and the button may be displayed on the display unit. In accordance with such a configuration, it is possible to provide a parking control device in which operability is more favorable.

The threshold time setting unit (78) configured to set the threshold time period may further be included, and the threshold time setting unit may be configured to change the threshold time period in accordance with an amount of time that has elapsed from the time at which the possible parking positions are detected. In accordance with such a configuration, it is possible to reliably prevent a situation in which the parking control is performed in spite of the fact that the user does not desire for the parking control to be executed.

There may further be included the notification unit (42) configured to, before movement of the vehicle into the target parking position is initiated, issue a notification to the passenger concerning initiation of movement of the vehicle. In accordance with such a configuration, the parking control can be carried out without causing the user to experience a sense of discomfort.

There may further be included the obstacle determination unit (80) configured to determine whether or not an obstacle that is capable of coming into contact with the vehicle exists. The control unit may be configured to interrupt movement of the vehicle into the target parking position in the case that the obstacle determination unit has determined that an obstacle that is capable of coming into contact with the vehicle exists, and may be configured to, after movement of the vehicle into the target parking position has been interrupted, restart movement of the vehicle into the target parking position on the basis of the operation over the prolonged time period having been performed by the user on the operation input unit. In accordance with such a configuration, it is possible to prevent the parking control from being carried out again from the start.

The vehicle (10) includes the above-described parking control device.

The parking control method comprises a step (step S2) of detecting at least one possible parking position in which a vehicle is capable of being parked, and a step (step S5) of, after a target parking position has been selected from among the possible parking positions, initiating movement of the vehicle into the target parking position on the basis of an operation over a prolonged time period having been performed by the user, the operation over the prolonged time period being an operation in which the operation input unit is continuously maintained in a predetermined state over a threshold time period or greater, the operation input unit being used at least when switching between forward movement and rearward movement of the vehicle.

In a computer readable non-transitory recording medium, a program is stored for executing in a computer a step of detecting at least one possible parking position in which a vehicle is capable of being parked, and a step of, after a target parking position has been selected from among the possible parking positions, initiating movement of the vehicle into the target parking position on the basis of an operation over a prolonged time period having been performed by the user, the operation over the prolonged time period being an operation in which the operation input unit is continuously maintained in a predetermined state over a threshold time period or greater, the operation input unit being used at least when switching between forward movement and rearward movement of the vehicle.

In a computer readable non-transitory recording medium, a program is stored for executing in a computer a step of displaying, on a display unit, a button configured to cause forward movement or rearward movement of a vehicle, a step of determining whether or not the button has been continuously pressed by a user over a threshold time period or greater, and a step of, after a target parking position has been selected from among at least one possible parking position in which the vehicle is capable of being parked, initiating movement of the vehicle into the target parking position on the basis of the button being continuously pressed by the user over the threshold time period or greater.