PARKING CONTROL APPARATUS

A parking control apparatus includes a control unit capable of executing backward parking assist control based on surrounding information. In a case when a parking space is detected, when a specific condition to be satisfied when the parking space has a relatively narrow width is satisfied, the control unit executes guidance control as the backward parking assist control. The guidance control is control for moving a vehicle from a current position to a guidance target position in front of the parking space, so that the vehicle stops at the guidance target position in a posture in which: a vehicle’s longitudinal axis is parallel to a long-side direction of the parking space; a vehicle’s width is included in the width of the parking space when viewed from front; and the parking space is in closer proximity to a rear end portion than to a front end portion of the vehicle.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a parking control apparatus capable of executing parking control including backward parking assist control for assisting a driver of a vehicle in parking the vehicle backward in a parking space.

2. Description of the Related Art

Hitherto, there has been known a parking control apparatus mounted to a vehicle, which detects a parking space (space having a shape and a size that enable the vehicle to be parked therein) based on surrounding information acquired from surrounding sensors such as an image pickup device (typically, camera sensor) and a 3D object information acquisition device (typically, clearance sonar) and can execute parking control including control for parking the vehicle backward in the detected parking space. When the parking control apparatus detects the parking space, the parking control apparatus calculates a movement route from a current position to a target parking position based on the surrounding information, and moves the vehicle along the movement route.

In general, surrounding sensors are not so high in detection accuracy. Thus, when a parking space (for example, parking space in a mechanical parking lot) has a relatively narrow width, there is a possibility that a vehicle may fail to be appropriately parked in the parking space due to variations in the detection accuracy of those sensors.

In view of this, the parking control apparatus is configured to avoid executing the parking control when, even upon detection of a parking space, the parking space has a relatively narrow width (see, for example, Japanese Patent Application Laid-open No. 2008-207726 ).

However, when a driver parks a vehicle in a parking space having a relatively narrow width by his or her own parking operation, the driver is required to carefully perform the parking operation in order to move the vehicle to the parking space without bringing the vehicle into contact with surrounding obstacles, and feels a heavy burden in a series of operations. In consideration that the parking control has been originally developed for the purpose of reducing or eliminating the burden on drivers in the parking operation, such a parking operation for the parking space having a relatively narrow width is most desired to be assisted by some kind of parking control.

SUMMARY OF THE INVENTION

The present invention has been made in order to address the above-mentioned problem. That is, one of objects of the present invention is to provide a parking control apparatus capable of greatly reducing a burden on a driver in parking a vehicle backward in a parking space having a relatively narrow width without introducing an image pickup device or 3D object information acquisition device having higher detection accuracy.

According to at least one embodiment of the present invention, there is provided a parking control apparatus (hereinafter referred to as “apparatus according to at least one embodiment of the present invention”) including: an image pickup device (11) configured to capture an image of surroundings of a vehicle; a 3D object information acquisition device (12) configured to acquire information on a 3D object present in the surroundings of the vehicle as 3D object information; and a control unit (10) configured to: detect a parking space (30,50,60), which is a space having a shape and a size that enable the vehicle to be parked therein, based on surrounding information including: image information including image data obtained by capturing the image by the image pickup device (11); and the 3D object information; and execute parking control including backward parking assist control for assisting a driver of the vehicle in parking the vehicle backward in the detected parking space (30,50,60). The control unit (10) is configured to: determine, when the parking space (30,50,60) is detected, whether a specific condition to be satisfied when the parking space has a relatively narrow width (w) is satisfied (Step1310, Step1320, and Step1430); and execute, when the control unit has determined that the specific condition is satisfied (Yes in Step1310, Yes in Step1320, and Yes in Step1430), guidance control as the backward parking assist control based on the surrounding information, the guidance control being control for moving the vehicle from a current position to a guidance target position (Pg), which is a position in front of the detected parking space (30,60), so that the vehicle stops at the guidance target position (Pg) in a posture in which: a longitudinal axis of the vehicle is parallel to a long-side direction of the detected parking space (30,60); a width of the vehicle is included in the width of the detected parking space when viewed from front; and the detected parking space is in closer proximity to a rear end portion of the vehicle than to a front end portion of the vehicle.

In the apparatus according to at least one embodiment of the present invention, when the parking space is detected based on the surrounding information, it is determined whether or not the specific condition (condition to be satisfied when the parking space has a relatively narrow width) is satisfied. When it is determined that the specific condition is satisfied, the guidance control for moving the vehicle from the current position to the guidance target position (position in front of the parking space) is executed as the backward parking assist control. Under the guidance control, the vehicle stops at the guidance target position in a posture in which: the longitudinal axis of the vehicle is parallel to the long-side direction of the parking space; the width of the vehicle is included in the width of the parking space when viewed from front; and the parking space is in closer proximity to the rear end portion of the vehicle than to the front end portion of the vehicle. This enables the driver to park the vehicle in the parking space only by reversing the vehicle while finely adjusting the posture of the vehicle by a steering operation. In this manner, when the detected parking space has a relatively narrow width, instead of avoiding the execution of the parking control, the apparatus according to at least one embodiment of the present invention executes, as the backward parking assist control, the guidance control for moving the vehicle to a position (that is, guidance target position) from which the driver can park the vehicle only by performing a simple parking operation. With this configuration, it is possible to greatly reduce a burden on the driver in parking the vehicle backward in a parking space having a relatively narrow width without introducing an image pickup device or 3D object information acquisition device having higher detection accuracy.

In at least one aspect of the present invention, the control unit (10) is configured to execute, when the control unit has determined that the specific condition is not satisfied (No in Step1320, and No in Step1430), as the parking control, control for moving the vehicle from the current position to a target parking position (Pp), which is a position in the detected parking space (50), based on the surrounding information.

When the parking space has a relatively wide width, the parking control enables the vehicle to be appropriately moved to the target parking position (position in the parking space) even without an image pickup device or 3D object information acquisition device having higher detection accuracy. In this manner, the kind of parking control is switched based on whether or not the specific condition is satisfied, to thereby be able to execute appropriate parking control corresponding to the width of the parking space.

In at least one aspect of the present invention, the control unit (10) is configured to: determine, based on at least the image information, whether the detected parking space (30,50,60) is a mechanical parking space (30), which is a parking space in a mechanical parking lot (Step1310); and determine that the specific condition is satisfied when the control unit has determined that the detected parking space is the mechanical parking space (Yes in Step1310).

In general, a parking space in a mechanical parking lot has a narrow width, and obstacles such as poles are often installed in the surroundings of the parking space. With the apparatus according to at least one embodiment of the present invention, the guidance control is executed when the detected parking space is a mechanical parking space, and hence it is possible to greatly reduce the burden on the driver in parking the vehicle backward in the parking space.

In at least one aspect of the present invention, the control unit (10) is configured to: determine, when the control unit has determined that the detected parking space (30,50,60) is not the mechanical parking space (No in Step1310), based on at least the image information, whether the detected parking space (50,60) has a width (w) equal to or smaller than a predetermined width threshold value (wth) (Step1320); and determine that the specific condition is satisfied when the control unit has determined that the detected parking space has a width equal to or smaller than the predetermined width threshold value (Yes in Step1320).

With this configuration, even in a case in which the detected parking space is not a mechanical parking space, the guidance control is executed when the parking space has a width equal to or smaller than the width threshold value, and hence it is possible to greatly reduce the burden on the driver in parking the vehicle backward in the parking space.

In at least one aspect of the present invention, the parking control apparatus further includes a display screen (25a), and the control unit (10) is configured to: generate, during a period in which the vehicle is reversing at a speed equal to or lower than a predetermined speed threshold value, a rearward image including a rearward area of the vehicle based on the image information, and display the rearward image in a predetermined first area (A1) of the display screen (25a); and execute, in a first case (Yes in Step1340) in which the vehicle has started to reverse from the guidance target position (Pg) by a parking operation of the driver after execution of the guidance control due to satisfaction of the specific condition (Step1330), see-through display control as the backward parking assist control, the see-through display control being control for generating a composite rearward image (I3st) obtained by compositing the rearward image and an image including a transparency-processed vehicle rear portion (Vr), which is formed of the rear end portion (Br) and rear wheels (Wr) of the vehicle, and displaying the composite rearward image (I3st) in the predetermined first area (A1) in place of the rearward image (Step1345).

With this configuration, in the case in which the vehicle has started to reverse from the guidance target position by the parking operation of the driver after the execution of the guidance control due to the satisfaction of the specific condition, the see-through display control for displaying the composite rearward image on the display screen in place of the rearward image is executed as the backward parking assist control. The composite rearward image includes the transparency-processed vehicle rear portion. Thus, the driver can visually recognize an area immediately below the vehicle rear portion by referring to the composite rearward image, to thereby be able to examine the position of the rear wheels of the vehicle and a surrounding situation thereof. As a result, it is possible to further reduce the burden on the driver in parking the vehicle backward in the parking space having a relatively narrow width.

In at least one aspect of the present invention, the control unit (10) is configured to: generate, during the period in which the vehicle is reversing at a speed equal to or lower than the predetermined speed threshold value, an overhead view image (I2) obtained by superimposing a vehicle plane image on an image of a surrounding area of the vehicle that appears as being viewed from directly above, based on the image information, and display the overhead view image in a predetermined second area (A2) of the display screen (25a); and further execute, in the first case (Step1340), as the see-through display control, control for generating a transparent vehicle overhead view image (I2st), which is the overhead view image (I2) having the vehicle plane image transparency-processed, and displaying the transparent vehicle overhead view image in the predetermined second area (A2) in place of the overhead view image (Step1345).

According to the at least one aspect of the present invention, in the case in which the vehicle has started to reverse from the guidance target position by the parking operation of the driver after the execution of the guidance control due to the satisfaction of the specific condition, the control for displaying the transparent vehicle overhead view image on the display screen in place of the overhead view image is executed as the see-through display control. The transparent vehicle overhead view image includes the transparency-processed vehicle plane image. Thus, the driver can visually recognize the area immediately below the vehicle by referring to the transparent vehicle overhead view image, to thereby be able to examine the relative position of the rear wheels in the parking space and the like. As a result, it is possible to further reduce the burden on the driver in parking the vehicle backward in the parking space having a relatively narrow width.

In at least one aspect of the present invention, the parking control apparatus further includes a display screen (25a), and the control unit (10) is configured to: generate, during a period in which the vehicle is reversing at a speed equal to or lower than a predetermined speed threshold value, an overhead view image (I2) obtained by superimposing a vehicle plane image on an image of a surrounding area of the vehicle that appears as being viewed from directly above, based on the image information, and display the overhead view image in a predetermined second area (A2) of the display screen (25a); and execute, in a case in which the vehicle has started to reverse from the guidance target position by a parking operation of the driver after execution of the guidance control due to satisfaction of the specific condition (Step1340), enlarged display control as the backward parking assist control with a change of door mirrors of the vehicle from an open state to a closed state as a trigger (Yes in Step1350), the enlarged display control being control for generating an enlarged overhead view image (12mag), which is an image obtained by enlarging the vehicle plane image and a vicinity thereof by increasing a display magnification of the overhead view image (12), and displaying the enlarged overhead view image in the predetermined second area (A2) in place of the overhead view image.

According to the at least one aspect of the present invention, in the case in which the vehicle has started to reverse from the guidance target position by the parking operation of the driver after the execution of the guidance control due to the satisfaction of the specific condition, the enlarged display control for displaying the enlarged overhead view image on the display screen in place of the overhead view image is executed as the backward parking assist control with the change of the door mirrors of the vehicle from the open state to the closed state as a trigger. The enlarged overhead view image is the image obtained by enlarging the vehicle and the vicinity thereof. Thus, the driver can examine the situation on the sides of the vehicle in the parking space by referring to the enlarged overhead view image. This enables the driver to perform the parking operation without feeling a heavy burden even when the situation on the sides of the vehicle can no longer be examined through use of the door mirrors.

In the description above, in order to facilitate understanding of the invention, reference symbols used in at least one embodiment of the present invention are enclosed in parentheses, and are assigned to each of constituent features of the invention corresponding to the at least one embodiment. However, each of the constituent features of the invention is not limited to those of the at least one embodiment prescribed by the reference symbols.

DESCRIPTION OF THE EMBODIMENTS

Embodiment

Now, a parking control apparatus according to at least one embodiment of the present invention (hereinafter also referred to as “the apparatus according to the at least one embodiment”) is described with reference to the accompanying drawings. As illustrated inFIG.1, the apparatus according to the at least one embodiment includes: a parking control ECU10; and a camera sensor11, a clearance sonar12, an activation switch13, a drive apparatus21, a braking apparatus22, a steering apparatus23, a shifting apparatus24, and a display apparatus25, which are connected to the parking control ECU10. The parking control ECU10includes a microcomputer as a principal component. The ECU is an abbreviation for “electronic control unit.” The microcomputer includes, for example, a CPU, a ROM, a RAM, and an interface (I/F), and the CPU is configured to execute instructions (programs and routines) stored in the ROM to implement various functions. Some of those functions may be executed by another ECU (not shown). A vehicle to which the apparatus according to the at least one embodiment is mounted is hereinafter referred to as “own vehicle.”

The parking control ECU10is configured to acquire information transmitted by the camera sensor11and the clearance sonar12and a signal generated by the activation switch13every time a predetermined time period has elapsed and control the drive apparatus21, the braking apparatus22, the steering apparatus23, the shifting apparatus24, and the display apparatus25based on the acquired signal. The parking control ECU10is hereinafter also referred to simply as “ECU10.”

The camera sensor11(image pickup device) includes a camera sensor11aprovided at a central portion of a front end of the own vehicle, a camera sensor11bprovided at a central portion of a rear end of the own vehicle, a camera sensor11cprovided at a lower portion of a right side mirror, and a camera sensor11dprovided at a lower portion of a left side mirror. Each of the camera sensors11ato11dhas basically the same configuration except that imaging ranges thereof are different from one another.

The camera sensor11acaptures an image of a forward area of the own vehicle, and the camera sensor11bcaptures an image of a rearward area of the own vehicle. The camera sensor11ccaptures an image of a rightward area of the own vehicle, and the camera sensor11dcaptures an image of a leftward area of the own vehicle. The camera sensors11ato11dtransmit forward image data, rearward image data, rightward image data, and leftward image data, which have been obtained by capturing the images, to the ECU10, respectively. Information including the forward image data, the rearward image data, the rightward image data, and the leftward image data is hereinafter referred to as “image information.” The number and mounting positions of the camera sensors11are not limited to those described above.

The ECU10generates, based on the image information, an image of a surrounding area of the own vehicle that appears as being viewed from directly above. Then, a plane image of the vehicle stored in advance in a ROM of the ECU10is superimposed on the generated image, to thereby generate an overhead view image. The ECU10displays the generated overhead view image on a display25aof the display apparatus25under a predetermined condition (described later).

The ECU10generates, based on the image information, an image of surroundings of the own vehicle as viewed from a virtual viewpoint set at a freely-set position in the surroundings of the own vehicle. Then, a polygon representing a shape of the vehicle as viewed from the virtual viewpoint is superimposed on the generated image, to thereby generate a virtual viewpoint image. The ECU10displays the generated virtual viewpoint image on the display25aunder a predetermined condition (described later).

The ECU10generates a traveling direction image for displaying an area in a traveling direction of the own vehicle based on the forward image data or the rearward image data included in the image information. Specifically, when the own vehicle is moving forward or stops moving forward, the ECU10generates a traveling direction image for showing the forward area of the own vehicle based on the forward image data. Meanwhile, when the own vehicle is reversing or stops reversing, the ECU10generates a traveling direction image for showing the rearward area of the own vehicle based on the rearward image data. The ECU10displays one of those traveling direction images on the display25aunder a predetermined condition depending on a driving situation of the own vehicle (described later). The traveling direction image for showing the rearward area of the own vehicle corresponds to an example of a “rearward image.”

The clearance sonar12(3D object information acquisition device) transmits ultrasonic waves to a predetermined range, and receives reflected waves reflected by a 3D object. Then, a distance from the own vehicle to the 3D object and an azimuth of the 3D object with respect to the own vehicle (information regarding the 3D object) are calculated based on a time period from transmission of the ultrasonic waves to reception thereof, and results of the calculation are acquired as 3D object information (in other words, the 3D object is detected).

The clearance sonar12includes four clearance sonars12ato12dprovided in a front end portion of the own vehicle and four clearance sonars12eto12hprovided in a rear end portion of the own vehicle. The clearance sonars12aand12bare provided at a front right corner portion and a front left corner portion of the own vehicle, respectively. The clearance sonars12cand12dare provided at positions equidistant from the central portion of the front end of the own vehicle in a vehicle width direction. The clearance sonars12eand12fare provided at a rear right corner portion and a rear left corner portion of the own vehicle, respectively. The clearance sonars12gand12hare provided at positions equidistant from the central portion of the rear end of the own vehicle in the vehicle width direction.

The clearance sonars12a,12b,12e, and12fare configured to detect 3D objects positioned farther from the vehicle compared to the clearance sonars12c,12d,12g, and12h. The clearance sonars12a,12b,12e, and12fhave basically the same configuration except that detection ranges for the 3D objects are different from one another. The clearance sonars12c,12d,12g, and12hhave basically the same configuration except that detection ranges for the 3D objects are different from one another.

The clearance sonars12ato12dacquire the 3D object information on the 3D objects present in a right oblique forward area, a left oblique forward area, a right-side forward area, and a left-side forward area of the own vehicle, respectively, and transmit the acquired 3D object information to the ECU10. The clearance sonars12eto12hacquire the 3D object information on the 3D objects present in a right oblique rearward area, a left oblique rearward area, a right-side rearward area, and a left-side rearward area of the own vehicle, respectively, and transmit the acquired 3D object information to the ECU10. The number and mounting positions of the clearance sonars12are not limited to those described above.

The image information and the 3D object information may be hereinafter referred to collectively as “surrounding information.”

The ECU10detects, based on the surrounding information, a parking space having a shape and a size that enable the own vehicle to be parked therein. The parking space can be detected based on, for example, division lines or a pallet included in the image information or 3D objects (obstacles) such as side walls and poles included in the 3D object information. In this case, the pallet refers to a metal stand for placing a vehicle thereon, which is installed in a parking space in a mechanical parking lot.

The ECU10is configured to be capable of executing parking control including automatic backward parking control and backward parking assist control. The automatic backward parking control is control for automatically parking the own vehicle backward in a parking space (in a direction of entering the parking space from the rear end portion of the own vehicle), and the parking assist control is control for assisting a driver in parking the own vehicle backward in the parking space. In other words, the automatic backward parking control is parking control in which the ECU10performs drive control, braking control, steering control, and shift control to automatically move the own vehicle from a current position to a target parking position in the parking space without requiring the driver to perform a parking operation. Meanwhile, the backward parking assist control includes guidance control, see-through display control, and enlarged display control, which are described later, and is parking control for assisting, by those kinds of control, the driver in the parking operation for moving the own vehicle from the current position to the target parking position.

The parking control may include automatic forward parking control for automatically parking the own vehicle forward in the parking space and forward parking assist control for assisting the driver in parking the own vehicle forward. The parking control may also include parking assist control in which the ECU10assists the driver in the parking operation by performing at least one of the drive control, the braking control, the steering control, or the shift control. The parking control may further include control for automatic parallel parking or control for assisting the driver in parallel parking.

The activation switch13is a switch to be pressed (operated) by the driver to activate or deactivate a system for executing the parking control (hereinafter referred to as “parking control system”).

The drive apparatus21is an apparatus for applying a drive force for causing the own vehicle to travel to drive wheels thereof. The ECU10controls the drive force to be applied to the drive wheels by performing drive control for controlling an operation of the drive apparatus21. The type of the own vehicle is not particularly limited, and the own vehicle may be, for example, an engine vehicle, a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), or a battery electric vehicle (BEV).

The braking apparatus22is an apparatus for applying a braking force for braking the own vehicle to wheels thereof. The ECU10controls the braking force to be applied to the wheels by performing braking control for controlling an operation of the braking apparatus22.

The steering apparatus23is an apparatus for applying a steering torque for steering steered wheels of the own vehicle to a steering mechanism (not shown). The ECU10controls the steering torque to be applied to the steering mechanism (by extension, a steered angle of the steered wheels) by performing steering control for controlling an operation of the steering apparatus23.

The shifting apparatus24is an apparatus for operating a transmission and/or a driving direction switching mechanism of the own vehicle in accordance with a position (typically, “D”, “R”, “P”, and the like) of a shift lever (not shown). The ECU10performs shift control for controlling an operation of the shift apparatus24to automatically switch the position of the shift lever and control the transmission and/or the driving direction switching mechanism.

The display apparatus25includes the display25a(display screen) provided at a position visually recognizable by the driver. The display apparatus25is typically a display apparatus provided to a navigation system, and a touch panel can be used for the display25a. As illustrated inFIG.2, the display25ais formed of a display area A1(first area) provided on a left side and a display area A2(second area) provided on a right side. In the display area A1, the virtual viewpoint image or the traveling direction image can be displayed. In the display area A2, the overhead view image can be displayed. The ECU10controls the display apparatus25to display images corresponding to a control stage of the parking control system in the display areas A1and A2of the display25a.

Details of Operation

Next, details of an operation of the ECU10are described. When a speed of an own vehicle V is equal to or lower than a predetermined speed threshold value, the ECU10searches for a parking space based on the surrounding information. When the driver wishes execution of the automatic backward parking control or the backward parking assist control for a certain parking space, the driver pulls up the own vehicle V alongside an area in front of the parking space (that is, stops the own vehicle so that a longitudinal axis of the own vehicle V is substantially perpendicular to a long-side direction of the parking space), and presses the activation switch13. When the activation switch13is pressed, the ECU10activates the parking control system. When the own vehicle V is pulled up, the driver stops the own vehicle V by stepping on a brake pedal. That is, the position of the shift lever is maintained at “D”.

FIG.3is a view for illustrating an example of a scene in which the parking control system is activated. In the example ofFIG.3, the driver wishes to park the own vehicle V in a parking space30in a mechanical parking lot through use of the parking control system. In this case, the driver pulls up the own vehicle V alongside an area in front of the parking space30, and presses the activation switch13. Then, the ECU10activates the parking control system.

The parking space30is provided with a rectangular pallet30a. The pallet30aincludes rails R on both sides in a short-side direction (width direction) thereof. The rails R are each a groove extending in a long-side direction (depth direction) thereof, and each have a width wider than that of a general wheel. With the wheels rolling along the rails R, the vehicle is allowed to enter the parking space30in an appropriate posture. Configurations of parking spaces31and32are the same as the configuration of the parking space30. InFIG.3, only the parking spaces30to32on the ground floor of a mechanical parking lot are shown, and parking spaces on the second and higher floors are not shown.

When the parking control system is activated, the ECU10highlight-displays, on the display25a, a parking space closest to the own vehicle V among parking spaces detected as a result of the search as a parking space candidate.FIG.4is a view for illustrating an example of an image displayed on the display25awhen the parking control system is activated. As illustrated inFIG.4, the ECU10displays a virtual viewpoint image I1in the display area A1of the display25a, and displays an overhead view image I2in the display area A2.

The virtual viewpoint image I1is an image having such a virtual viewpoint as to enable the parking space30to be seen over the own vehicle V. The virtual viewpoint image I1includes a message40and a message41. The ECU10displays a message indicating a current situation (in the example ofFIG.4, the message “CHECKING PARKING SPACE”) as the message40, and displays a message for alerting the driver (in the example ofFIG.4, the message “PLEASE CHECK AROUND THE VEHICLE DIRECTLY”) as the message41. In the virtual viewpoint image11, the parking space30is highlight-displayed by a rectangular frame F as the parking space candidate.

The overhead view image I2includes a display bar42for displaying the type of the parking space candidate and a start button43(both described later). In the overhead view image I2, the parking space30is highlight-displayed by a mark M0as the parking space candidate. When, as illustrated inFIG.3, the own vehicle V is stopped not only in the area in front of the parking space30but also partially in an area in front of the parking space31, the ECU10determines that there is a possibility that the driver wishes to park in the parking space31, and highlight-displays the parking space31by the mark M1as the second the parking space candidate. However, the mark M1is displayed in a less conspicuous manner than the mark M0. The driver can change the parking space in which the driver wishes to park from the parking space30to the parking space31by touching the mark M1. In this case, the mark M1becomes the parking space candidate and is highlight-displayed in a more conspicuous manner than the mark M0set as the second parking space candidate. In addition, the virtual viewpoint image I1is changed to an image having such a virtual viewpoint as to enable the parking space31to be seen over the own vehicle V, and the parking space31is highlight-displayed by the frame F.

At this time, the ECU10determines whether or not a specific condition is satisfied for the parking space candidate. The specific condition is a condition to be satisfied when the parking space candidate has a relatively narrow width. In this case, there are three types of parking lots, namely, a mechanical parking lot, a non-mechanical regular parking lot, and a non-mechanical narrow-width parking lot.

The mechanical parking lot refers to a parking lot configured to three-dimensionally store a vehicle by moving a pallet on which the vehicle is placed in a vertical direction and/or planar direction thereof through use of power. The width (front width) of a parking space in a mechanical parking lot is relatively narrow as illustrated inFIG.3. The non-mechanical regular parking lot refers to a parking lot provided with no pallet, in which a parking space has a width wider than a normal width.FIG.5is a view for illustrating a parking space50in a non-mechanical regular parking lot. As illustrated inFIG.5, the parking space50is defined by division lines L, and a width w1 therebetween is relatively wide. The non-mechanical narrow-width parking lot refers to a parking lot provided with no pallet, in which a parking space has a relatively narrow width.FIG.6is a view for illustrating a parking space60in a non-mechanical narrow-width parking lot. As illustrated inFIG.6, the parking space60is defined by blocks B, and a width w2 therebetween is relatively narrow. The blocks B each have such a height as to prevent contact with a door of the vehicle when the door is opened.

A parking space in a mechanical parking lot, a parking space in a non-mechanical regular parking lot, and a parking space in a non-mechanical narrow-width parking lot are hereinafter referred to as “mechanical parking space,” “regular parking space,” and “narrow-width parking space,” respectively.

The ECU10determines that the specific condition is satisfied when the parking space candidate is a mechanical parking space or a narrow-width parking space. Specifically, when a pallet is detected from the parking space candidate based on the surrounding information (in particular, image information), the ECU10determines that the parking space candidate is a mechanical parking space. Meanwhile, when a pallet is not detected from the parking space candidate, the ECU10calculates a width “w” of the parking space candidate based on the surrounding information, and when the width “w” is equal to or smaller than a predetermined width threshold value wth, determines that the parking space candidate is a narrow-width parking space. In those cases, the ECU10determines that the specific condition is satisfied. The width threshold value wth is set in advance to be smaller than the width of a parking space having a width equal to or larger than a normal width and equal to or larger than the width of a parking space having a relatively narrow width. In the example ofFIG.3, the ECU10determines that the parking space candidate30is a mechanical parking space by detecting the pallet30afrom the parking space candidate30based on the surrounding information. In the example ofFIG.6, a pallet is not detected from the parking space candidate60based on the surrounding information, and hence the ECU10calculates the width w2 to find that w2≤wth is satisfied, and therefore determines that the parking space candidate60is a narrow-width parking space.

In contrast, when the parking space candidate is a regular parking space, the ECU10determines that the specific condition is not satisfied. Specifically, when the width “w” of the parking space candidate is larger than the width threshold value wth in the case in which no pallet is detected from the parking space candidate based on the surrounding information, the ECU10determines that the parking space candidate is a regular parking space, and determines that the specific condition is not satisfied. In the example ofFIG.5, a pallet is not detected from the parking space candidate50based on the surrounding information, and hence the ECU10calculates the width w1 to find that w1>wth is satisfied, and therefore determines that the parking space candidate50is a regular parking space.

The ECU10displays the type of the parking space candidate in the display bar42, which is illustrated inFIG.4, based on a determination result. Specifically, the ECU10displays “MECHANICAL” in the display bar42when the determination result is “mechanical parking space,” displays “REGULAR” in the display bar42when the determination result is “regular parking space,” and displays “NARROW-WIDTH” in the display bar42when the determination result is “narrow-width parking space.” This enables the driver to examine the type of the highlight-displayed parking space. In the example ofFIG.4, the ECU10displays “MECHANICAL” in the display bar42.

When the driver wishes to park the own vehicle V in the parking space candidate highlight-displayed on the display25a, the driver touches the start button43, which is illustrated inFIG.4. Then, the ECU10determines the parking space candidate as a parking space for which the parking control is to be executed. Then, when the specific condition is satisfied, a movement route Rg for guidance control is generated, and the guidance control is executed. When the specific condition is not satisfied, a movement route Rp for automatic backward parking control is generated, and the automatic backward parking control is executed.

First, the guidance control is described with reference toFIG.7andFIG.8. As illustrated inFIG.7andFIG.8, the guidance control is control for moving the own vehicle V from the current position to a guidance target position Pg along the movement route Rg, and is a kind of backward parking assist control. The guidance target position Pg is set in front (directly in front) of the parking space (mechanical parking space30in the example ofFIG.7andFIG.8). The guidance control differs from the automatic backward parking control for stopping the own vehicle V in the parking space in that the own vehicle V is stopped at a position in front of the parking space.

The ECU10generates the movement route Rg based on the surrounding information as illustrated inFIG.7so that, when the own vehicle V stops at the guidance target position Pg, the own vehicle V is brought into a posture in which: the longitudinal axis of the own vehicle V is parallel to the long-side direction of the parking space; the width of the own vehicle V is included in the width of the parking space when viewed from front; and the parking space is in closer proximity to the rear end portion of the own vehicle V than to the front end portion thereof, as illustrated inFIG.8. This posture is hereinafter also referred to as “ready-to-enter posture.” When the movement route Rg cannot be appropriately generated due to, for example, a narrow area in front of the parking space, the ECU10informs the driver that the guidance control cannot be started.

After the ECU10generates the movement route Rg, the ECU10starts the guidance control at a time point at which the driver releases the brake pedal. In the at least one embodiment, the guidance control is executed by the ECU10performing drive control, braking control, steering control, and shift control (that is, no parking operation is required to be performed by the driver). However, the ECU10may be configured to execute the guidance control by performing at least one of those kinds of control (for example, drive control, braking control, and steering control). During the execution of the guidance control, the ECU10displays the traveling direction image in the display area A1of the display25aand displays the overhead view image in the display area A2(not shown). The ECU10ends the guidance control at a time point at which the own vehicle V is stopped at the guidance target position Pg as illustrated inFIG.8, and informs the driver to that effect by a message, voice, or the like.

Next, the automatic backward parking control is described with reference toFIG.5. As illustrated inFIG.5, the automatic backward parking control is well-known control for moving the own vehicle V from the current position to a target parking position Pp along the movement route Rp so that the own vehicle V enters the parking space from the rear end portion. The ECU10sets the target parking position Pp in the parking space (regular parking space50in the example ofFIG.5) and generates the movement route Rp based on the surrounding information.

After the ECU10generates the movement route Rp, the ECU10starts the automatic backward parking control at a time point at which the driver releases the brake pedal. During the execution of the control, the ECU10displays the traveling direction image in the display area A1of the display25aand displays the overhead view image in the display area A2(not shown). The ECU10ends the automatic backward parking control at a time point at which the own vehicle V is stopped at the target parking position Pp, and informs the driver to that effect by a message, voice, or the like. In the at least one embodiment, when the specific condition is not satisfied, the automatic backward parking control is executed. However, any type of parking control may be employed as long as the own vehicle V is moved from the current position to the target parking position. For example, automatic forward parking control may be executed, or parking assist control in which only driving control, braking control, and steering control are executed (that is, shift control is not executed) may be executed.

As described above, the own vehicle V does not enter the parking space under the guidance control, and hence after the end of the guidance control, the driver reverses the own vehicle V from the guidance target position Pg by his or her own parking operation, to thereby park the own vehicle V in the parking space. The own vehicle V is stopped in the ready-to-enter posture, thereby greatly reducing a burden on the driver in the parking operation after the guidance control. However, it is impossible to examine the position of rear wheels of the own vehicle V and a surrounding situation thereof while reversing, and hence in order to further reduce the burden on the driver, it is desired that the driver be able to examine the position of the rear wheels and the surrounding situation thereof while reversing.

In view of this, the ECU10is configured to start, when the driver starts to reverse from the guidance target position Pg after the end of the guidance control (first case), the see-through display control for visually assisting the driver in the parking operation. The see-through display control is control for displaying, on the display25a, a composite traveling direction image I3stincluding a transparency-processed vehicle rear portion Vr (described later) and a transparent vehicle overhead view image I2stincluding a plane image of a transparency-processed vehicle, and is a kind of backward parking assist control.

FIG.9is a view for illustrating an example of a scene in which the see-through display control is being executed, andFIG.10is a view for illustrating an image displayed on the display25aat a time point at which the own vehicle V passes through a position illustrated inFIG.9. As illustrated inFIG.10, the ECU10displays the composite traveling direction image I3stin the display area A1of the display25ain place of the traveling direction image, and displays the transparent vehicle overhead view image I2stin the display area A2in place of the overhead view image I2.

First, the composite traveling direction image I3stis described. The composite traveling direction image I3stincludes the message40and the message41. As the message40, the ECU10displays a message indicating an instruction for the driver (in the example ofFIG.10, the message “PLEASE REVERSE”), and as the message41, displays the same message as inFIG.4. The composite traveling direction image I3stalso includes the vehicle rear portion Vr. The vehicle rear portion Vr is a portion cut out from the image of the vehicle stored in advance in the ROM of the ECU10, and is formed of a rear end portion Br and rear wheels Wr of the own vehicle V. The movement of the vehicle rear portion Vr is linked to the movement of the own vehicle V. For example, when the rear wheels of the own vehicle V are being steered, the rear wheels Wr of the vehicle rear portion Vr are displayed as being steered on the composite traveling direction image I3st.

As described above, the ECU10acquires the image information from the camera sensor11every time the predetermined time period has elapsed. The ECU10is configured to store, in an own RAM thereof for a predetermined period T, traveling direction images generated based on at least the rearward image data among the respective pieces of image data included in the image information. The composite traveling direction image I3stis generated in the following manner. That is, the ECU10first transparency-processes the vehicle rear portion Vr. Subsequently, a traveling direction image (hereinafter also referred to as “past traveling direction image”) generated at a time point earlier than a current time point by a specific period Tspe (described later) is read out from the RAM. Subsequently, the transparency-processed vehicle rear portion Vr is superimposed on a position corresponding to the position of the own vehicle V at the current time point in the past traveling direction image. Subsequently, the composite traveling direction image I3stis generated by seamlessly compositing the traveling direction image generated at the current time point and the past traveling direction image including the transparency-processed vehicle rear portion Vr. The composite traveling direction image I3stcorresponds to an example of “composite rearward image.”

Now, the specific period is described. As the own vehicle V reverses, a rear portion of the own vehicle V gradually enters the rearward area the image of which is acquired by the camera sensor11bat a certain time point Tpa. Then, at a certain time point Tpre, a portion of the own vehicle V that has entered the rearward area corresponds to the vehicle rear portion Vr. A difference (<(period T)) between the time point Tpre and the time point Tpa corresponds to the specific period Tspe.

Next, the transparent vehicle overhead view image I2stis described. The ECU10generates the transparent vehicle overhead view image I2stby transparency-processing the plane image of the vehicle included in the overhead view image I2.

Incidentally, the ECU10determines whether or not a door mirror closing condition is satisfied during a period in which the vehicle is traveling. The door mirror closing condition is a condition to be satisfied when there is a possibility that door mirrors (not shown) of the own vehicle V may be brought into contact with an obstacle (for example, pole in a mechanical parking lot), and it is determined whether or not the door mirror closing condition is satisfied based on the surrounding information. When the door mirror closing condition is satisfied, the ECU10automatically closes (retracts) the door mirrors (not shown). Thus, the door mirrors change from an open state to a closed state.

During a period in which the own vehicle is reversing, the driver examines a situation on sides of the own vehicle V by looking at the door mirrors. Therefore, when the door mirror closing condition is satisfied and the door mirrors are closed, it becomes difficult to examine the situation on the sides of the own vehicle V. In view of this, after the end of the guidance control, the ECU10executes the enlarged display control for visually assisting the driver in the parking operation when the driver starts to reverse from the guidance target position Pg with the door mirror closing condition being satisfied. The enlarged display control is control for displaying, on the display25a, the plane image of the vehicle in the overhead view image I2and an enlarged overhead view image I2mag obtained by enlarging a vicinity thereof, and is a kind of backward parking assist control.

FIG.11is a view for illustrating an example of a scene in which the enlarged display control is being executed, andFIG.12is a view for illustrating an image displayed on the display25aat a time point at which the own vehicle V passes through a position illustrated inFIG.11. As illustrated inFIG.12, the ECU10displays the composite traveling direction image I3stin the display area A1of the display25ain place of the traveling direction image, and displays the enlarged overhead view image I2mag in the display area A2in place of the overhead view image I2. In the at least one embodiment, the see-through display control is executed, and hence the enlarged overhead view image I2mag is generated based on the transparent vehicle overhead view image I2st. The enlarged overhead view image I2mag displayed on the display25aduring the execution of the see-through display control is hereinafter referred to as “transparent vehicle enlarged overhead view image I2stmag.”

The ECU10cuts out a range including a vehicle plane image and a vicinity thereof (in particular, sides of the plane image) from the overhead view image I2(transparent vehicle overhead view image I2stduring the execution of the see-through display control), and increases a display magnification so that the cut-out range matches a size of the display area A2. Thus, the enlarged overhead view image I2mag (transparent vehicle enlarged overhead view image I2stmagduring the execution of the see-through display control) is generated. The camera sensors11cand11dare provided at lower portions of the door mirrors, and hence imaging angles of the camera sensors11cand11dare changed when the door mirrors are closed. For that reason, the ECU10corrects the rightward image data and the leftward image data that are acquired after a time point at which the door mirrors are closed to image data corresponding to the imaging angles of the camera sensors11cand11dthat are set before the door mirrors are closed. This enables the enlarged overhead view image I2mag to be appropriately generated even when the door mirrors are closed.

Specific Operation

Next, a specific operation of the ECU10is described. The CPU of the ECU10is configured to execute a routine illustrated inFIG.13by a flow chart when the parking control system is activated. The parking control system is activated when the activation switch13is pressed by the driver of the own vehicle V pulled up alongside the area in front of the parking space.

The CPU starts the process from Step1300, and in Step1305, highlight-displays a parking space closest to the own vehicle V as a parking space candidate on the display25a. Subsequently, the CPU advances the process to Step1310to determine whether or not the parking space candidate is a mechanical parking space based on the surrounding information (in particular, image information).

When the parking space candidate is a mechanical parking space (Yes in Step1310), the CPU advances the process to Step1315(described later). Meanwhile, when the parking space candidate is not a mechanical parking space (No in Step1310), the CPU advances the process to Step1320to calculate the width “w” of the parking space candidate based on the surrounding information and determine whether or not the width “w” is equal to or smaller than the width threshold value wth. When w≤wth is satisfied (Yes in Step1320), the CPU determines that the parking space candidate is a narrow-width parking space, and advances the process to Step1315.

In Step1315, the CPU determines whether or not the start button43displayed on the display25aas illustrated inFIG.4has been pressed by the driver. When the start button43has not been pressed (No in Step1315), the CPU again performs the determination in Step1315. When the start button43is pressed in the midst of the process (Yes in Step1315), the CPU determines the parking space candidate as the parking space for which the parking control is to be executed, and advances the process to Step1325.

In Step1325, the CPU generates the movement route Rg from the current position to the guidance target position Pg based on the surrounding information as illustrated inFIG.7. Subsequently, at the time point at which the driver releases the brake pedal, the CPU advances the process to Step1330to execute the guidance control for automatically moving the own vehicle V to the guidance target position Pg along the movement route Rg as illustrated inFIG.8. After that, the CPU advances the process to Step1335to inform the driver that the guidance control has been ended, and advances the process to Step1340.

In Step1340, the CPU determines whether or not the own vehicle has started to reverse based on signals acquired from a shift position sensor and a vehicle speed sensor (both not shown). When the reverse has not been started yet (No in Step1340), the CPU again performs the processing step of Step1335. When the own vehicle starts to reverse in the midst of the process(Yes in Step1340), the CPU advances the process to Step1345to start the see-through display control as illustrated inFIG.10.

Subsequently, the CPU advances the process to Step1350to determine whether or not the door mirror closing condition is satisfied based on the surrounding information. When the door mirror closing condition is not satisfied (No in Step1350), the CPU advances the process to Step1355to determine whether or not a shift position is “P” based on the signal acquired from the shift position sensor. When the shift position is not “P” (No in Step1355), the CPU determines that the own vehicle V is still reversing, and again performs the determination in Step1350. When the door mirror closing condition is satisfied in the midst of the process(Yes in Step1350), the CPU advances the process to Step1360to automatically close (retract) the door mirrors and start the enlarged display control as illustrated inFIG.12.

Subsequently, the CPU advances the process to Step1365to determine whether or not the shift position is “P”. When the shift position is not “P” (No in Step1365), the CPU determines that the own vehicle V is still reversing, and again performs the determination in Step1365. When the shift position becomes “P” in the midst of the process (Yes in Step1365), the CPU determines that the parking operation performed by the driver is completed, and advances the process to Step1370to end the see-through display control and the enlarged display control. After that, the CPU ends this routine in Step1395.

Meanwhile, when the shift position becomes “P” (Yes in Step1355) while the door mirror closing condition is not satisfied (No in Step1350), the CPU determines that the parking operation performed by the driver is completed, and advances the process to Step1370to end the see-through display control. After that, the CPU ends this routine in Step1395.

Meanwhile, when w>wth is established (No in Step1320), the CPU determines that the parking space candidate is a regular parking space, and advances the process to Step1375to determine whether or not the start button43has been pressed by the driver. When the start button43has not been pressed (No in Step1375), the CPU again performs the determination in Step1375. When the start button43is pressed in the midst of the process (Yes in Step1375), the CPU determines the parking space candidate as the parking space for which the parking control is to be executed, and advances the process to Step1380.

In Step1380, the CPU generates the movement route Rp from the current position to the target parking position Pp based on the surrounding information as illustrated inFIG.5. Subsequently, at the time point at which the driver releases the brake pedal, the CPU advances the process to Step1385to execute the automatic backward parking control for automatically moving the own vehicle V to the target parking position Pp along the movement route Rp. After that, the CPU advances the process to Step1390to inform the driver that the automatic backward parking control has been ended, and ends this routine in Step1395. That is, when the automatic backward parking control is executed, the see-through display control and the enlarged display control are not executed.

As described above, when the detected parking space is a mechanical or narrow-width parking space (that is, when the parking space has a relatively narrow width), instead of avoiding the execution of the parking control, the apparatus according to the at least one embodiment executes the guidance control for moving the own vehicle V to a position (guidance target position) from which the driver can park the own vehicle V only by performing a simple parking operation. This can greatly reduce the burden on the driver in parking the own vehicle V backward in the parking space having a relatively narrow width without introducing the camera sensor11or clearance sonar12having higher detection accuracy.

In particular, in order for the driver to park in a mechanical or narrow-width parking space by his or her own parking operation, it is required to stop the own vehicle V at a position in front of the parking space in the ready-to-enter posture. Thus, when the area in front of the mechanical or narrow-width parking space is narrow, the driver is required to repeatedly perform turning back in the narrow area to adjust the position and posture of the own vehicle V, thereby further increasing the burden in the parking operation. With the apparatus according to the at least one embodiment, as long as the area in front has a size that enables the movement route Rg to be set therein, the own vehicle V is stopped at the guidance target position in the ready-to-enter posture by the guidance control. Therefore, the apparatus according to the at least one embodiment is useful particularly when the area in front of the mechanical or narrow-width parking space is narrow.

In addition, in the apparatus according to the at least one embodiment, when the detected parking space is a regular parking space (that is, when the parking space has a width equal to or larger than a normal width), the automatic backward parking control is executed. In this manner, the kind of parking control is switched based on the type of the detected parking space, to thereby be able to execute appropriate parking control corresponding to the width of the parking space.

Further, in the apparatus according to the at least one embodiment, the see-through display control is executed when the own vehicle V starts to reverse after the end of the guidance control. Thus, the driver can visually recognize an area immediately below the rear portion of the own vehicle V by referring to the composite traveling direction image I3st, to thereby be able to examine the position of the rear wheels and the surrounding situation thereof. The driver can also visually recognize the area immediately below the rear portion of the own vehicle V by referring to the transparent vehicle overhead view image I2st, to thereby be able to examine the relative position of the rear wheels in the parking space and the like. As a result, it is possible to further reduce the burden on the driver in parking the own vehicle V backward in the parking space having a relatively narrow width. Particularly in the case of parking in a mechanical parking space, it is possible to examine the relative position of the rear wheels within the rails R of the pallet, thereby facilitating the parking operation.

Further, the apparatus according to the at least one embodiment executes the enlarged display control when the door mirror closing condition is satisfied in the case in which the own vehicle V has started to reverse after the end of the guidance control. Thus, the driver can examine the situation on the sides of the own vehicle V in the parking space by referring to the enlarged overhead view image 12mag. This enables the driver to perform the parking operation without feeling a heavy burden even with the door mirrors being closed. Particularly in the case of parking in a mechanical parking space, it is possible to examine clearances between side surfaces of a vehicle body of the own vehicle V and the rails R of the pallet, thereby facilitating the parking operation.

Modification Example

Next, a parking control apparatus according to a modification example of the present invention (hereinafter also referred to as “the apparatus according to this modification example”) is described. This modification example differs from the at least one embodiment in that the parking control system has a parking space registration function. The parking space registration function is described below, and then the parking control for a registered parking space is described.

The parking space registration function is a function of storing (registering) a parking space in advance in the ROM of the ECU10and, when the registered parking space is detected after the registration, executing the parking control for this parking space. Specifically, when the driver wishes to register a certain parking space, the driver stops the own vehicle V near the certain parking space (by stepping on the brake pedal), and presses the activation switch13to activate the parking control system. Then, under a state in which the parking space candidate that the driver wishes to register is highlight-displayed, the driver presses a register button (not shown) displayed on the display25a. Then, the ECU10determines the parking space candidate as a parking space to be registered, and in order to prompt the driver to select the type of the parking space (from among “MECHANICAL,” “REGULAR,” and “NARROW-WIDTH”), displays a list of those types on the display25a.

When the type of the parking space is selected by the driver, the ECU10executes the parking control corresponding to the selected type of the parking space. That is, when the type of “MECHANICAL” or “NARROW-WIDTH” is selected by the driver, the ECU10sets the guidance target position Pg to a position in front of the parking space, generates the movement route Rg, and executes the guidance control. When the guidance control is ended and the driver starts to reverse, the ECU10starts the see-through display control, and also starts the enlarged display control with the satisfaction of the door mirror closing condition as a trigger. When the driver finishes performing the parking operation for the parking space, the ECU10ends those kinds of display control. At this time, the ECU10extracts a plurality of feature points of a road surface around the parking space, and stores coordinates of those feature points and the type (in this example, “MECHANICAL” or “NARROW-WIDTH”) of the parking space selected by the driver in association with the parking space (in the ROM of the ECU10). The parking space is thus registered as the mechanical parking space or the narrow-width parking space. The parking space that has been registered is hereinafter also referred to as “registered parking space.” The feature point refers to a point having a predetermined pixel size that enables extraction from a picked-up image of the ground and satisfying predetermined conditions in brightness and tone.

Meanwhile, when the type of “REGULAR” is selected by the driver, the ECU10sets the target parking position Pp in the parking space, generates the movement route Rp, and executes the automatic backward parking control. When the automatic backward parking control is ended, the ECU10extracts a plurality of feature points of the road surface around the parking space, and stores, in association with the parking space, the coordinates of those feature points and the type (in this example, “REGULAR”) of the parking space selected by the driver. The parking space is thus registered as the regular parking space.

When the registration button is pressed by the driver, the ECU10determines the type of the parking space based on the surrounding information. Then, when the parking space is a mechanical or narrow-width parking space, two types of “MECHANICAL” and “NARROW-WIDTH” are displayed on the display25ain a selectable manner, while the type of “REGULAR” is displayed in a non-selectable manner (or not displayed). This is because the ECU10is configured to avoid executing automatic parking control for a mechanical or narrow-width parking space. However, there is no problem in registering the mechanical parking space as a narrow-width parking space or registering the narrow-width parking space as a mechanical parking space. Meanwhile, when the parking space is a regular parking space, the ECU10displays all the types on the display25ain a selectable manner. In this case, the driver may register the regular parking space as a mechanical parking space or as a narrow-width parking space.

Next, the parking control for the registered parking space is described with reference toFIG.14. In a case in which there is a registered parking space stored in the ROM, during a period of traveling slowly at a speed equal to or lower than a speed threshold value, the ECU10performs processing of detecting the feature points stored in the ROM based on the image information simultaneously with processing of detecting a parking space based on the surrounding information. When the feature points are detected, the CPU acquires (reads out) the type of the registered parking space stored in association with those feature points.

At a time point at which the driver pulls up the own vehicle V alongside an area in front of the registered parking space, the CPU has already performed the above-mentioned processing and acquired the type of the registered parking space. When the activation switch13is pressed by the driver and the parking control system is activated, the CPU starts the process from Step1400, and in Step1410, highlight-displays the registered parking space as a parking space candidate on the display25a. Subsequently, the CPU advances the process to Step1420to determine whether or not the start button displayed on the display25ahas been pressed by the driver. When the start button has not been pressed (No in Step1420), the CPU again performs the determination in Step1420. When the start button is pressed in the midst of the process (Yes in Step1420), the CPU determines the parking space candidate as the parking space for which the parking control is to be executed, and advances the process to Step1430.

In Step1430, the CPU determines whether or not the type of the registered parking space is stored as “MECHANICAL” or “NARROW-WIDTH.” As described above, the CPU has acquired the type of the registered parking space at a time point at which the feature points are detected, and therefore performs the determination based on the acquired type. When the type of the registered parking space is stored as “MECHANICAL” or “NARROW-WIDTH” (Yes in Step1430), the CPU performs the processing steps of Step1325and the subsequent steps ofFIG.13(namely, guidance control, see-through display control, and enlarged display control), and in Step1395, ends this routine. Meanwhile, when the type of the registered parking space is stored as “REGULAR” (No in Step1430), the CPU performs the processing steps of Step1380and the subsequent steps ofFIG.13(namely, automatic backward parking control), and in Step1395, ends this routine. In this modification example, a condition that “the type of the registered parking space is stored as ‘MECHANICAL’ or ‘NARROW-WIDTH’” corresponds to an example of the specific condition.

In this modification example, when the detected parking space is a registered parking space, the ECU10avoids performing processing of determining the type of this parking space, and reads out the type of the parking space stored at a time of registration of the registered parking space to execute the parking control corresponding to this type. The above-mentioned configuration can also exhibit the same actions and effects as those of the apparatus according to the at least one embodiment.

In the above, the parking control apparatus according to the at least one embodiment and the modification example has been described, but the present invention is not limited to the above-mentioned at least one embodiment and modification example. Various changes are possible within the range not departing from the object of the present invention.

For example, the type of the parking space may be selected by the driver. Specifically, when the parking control system is activated, the ECU10highlight-displays the detected parking space candidates and displays a list of buttons representing types of this parking space candidate on the display25a. When the driver presses any one of the buttons to select a type, the ECU10executes the parking control (guidance control or automatic backward parking control) corresponding to the selected type. However, when the parking space candidate is a mechanical or narrow-width parking space, the button representing the type of “REGULAR” is inhibited from being displayed.

The present invention can also be applied to a vehicle traveling by autonomous driving (by autonomous driving control).