Parking support apparatus and parking support method
A parking support apparatus includes an instruction detection section that detects the occupant's parking instruction based on an operation of the occupant of the vehicle or a history of a motion of the vehicle, and a vehicle control section that performs the automatic parking of the vehicle. When the history indicates that the vehicle has stopped after steering and turning from a straight movement, and that the occupant has performed a predetermined parking instruction operation, the instruction detection section determines that the parking instruction is detected.
1. A parking support apparatus comprising:
a processor configured to detect a parking slot based on a surrounding image indicating surroundings of a vehicle; and
a storage section configured to store a history of either an operation of an occupant of the vehicle or a motion of the vehicle,
wherein the processor detects a parking instruction of the occupant based on the history,
wherein the processor performs automatic parking of the vehicle after the parking instruction is detected, and
wherein when the history indicates that the vehicle has stopped after steering and turning from a straight movement, and that the occupant has performed a predetermined parking instruction operation, the processor determines that the parking instruction is detected.
2. The parking support apparatus according to claim 1 , wherein the predetermined parking instruction operation includes at least one of a change of a gear position, a release of a steering wheel, a release of a brake, turning on of a hazard lamp, and an operation of a button corresponding to the parking instruction.
3. The parking support apparatus according to claim 1 ,
wherein the processor determines whether a scene is a parking scene where the vehicle performs parking,
wherein when the scene is not the parking scene, the processor limits a function of the parking support apparatus, and
wherein a function limitation applied by the processor is at least one of a limitation of a parking slot detection by the parking slot detection section when the scene is not the parking scene, and
a limitation of storing of the history by the storage section when the scene is not the parking scene.
4. The parking support apparatus according to claim 3 , wherein the processor does not limit a detection of a white line when the vehicle is located outside a road and a vehicle speed is equal to or lower than a prescribed value.
5. The parking support apparatus according to claim 3 , wherein the processor determines that the scene is the parking scene when any of the following conditions are satisfied:
a condition that the vehicle is located outside a road and that a vehicle speed is equal to or lower than a prescribed value, and
a condition that a plurality of white lines of which an angle with respect to a driving direction of the vehicle is within a predetermined range is detected.
6. The parking support apparatus according to claim 1 ,
wherein the processor calculates a path of the automatic parking,
wherein the parking instruction includes an instruction of a target parking slot for parking the vehicle,
wherein among detected parking slots, the processor selects, as the target parking slot, a parking slot matching the history and located on a side opposite to a stop position of the vehicle with respect to an advancing direction of a straight movement of the vehicle, and
wherein the processor calculates the path based on information about the target parking slot.
7. The parking support apparatus according to claim 6 , wherein the processor selects the parking slot matching the history based on a position of the vehicle or the occupant at a time point of turning from a straight movement indicated by the history.
8. The parking support apparatus according to claim 7 , wherein the position of the occupant is a position of a head of the occupant.
9. The parking support apparatus according to claim 4 ,
wherein the processor detects an opposite turning in 6 n opposite direction opposite to a turning direction at a time point of a stop of the vehicle indicated by the history, and
wherein the processor selects the parking slot matching the history based on either:
a position of the vehicle at a time when the opposite turning is started, or
a position of the vehicle or an orientation of a vehicle body at a time when the opposite turning is completed.
10. The parking support apparatus according to claim 9 , wherein the orientation of the vehicle body is either of:
a direction of a side surface of the vehicle body on the opposite direction side,
a driving direction of a front end corner of the vehicle body on the opposite direction side, or
a direction of the front end corner of the vehicle body on the opposite direction side as viewed by the occupant.
11. The parking support apparatus according to claim 6 ,
wherein the storage section stores either the surrounding image captured during driving of the vehicle, or information about a parking slot detected during the driving of the vehicle, and
wherein the processor selects the target parking slot from the information about the detected parking slot, or the information about the parking slot detected during the driving of the vehicle stored in the storage section based on the surrounding image captured during the driving of the vehicle stored in the storage section.
12. The parking support apparatus according to claim 11 ,
wherein the processor performs a parking slot detection based on the surrounding image captured when the vehicle stops, and
wherein when a parking slot based on the surrounding image captured when the vehicle stops is detected, the processor selects the target parking slot from information about the parking slot based on the surrounding image captured when the vehicle stops.
13. The parking support apparatus according to claim 1 , wherein when it is determined that the parking instruction is detected, the processor outputs a command of turning on a hazard lamp.
14. The parking support apparatus according to claim 1 ,
wherein the processor provides a notification to the occupant of the vehicle, and
wherein the notification includes a notification of information about a detected parking slot.
15. The parking support apparatus according to claim 14 ,
wherein the notification includes an inquiry about an intention of parking in the parking slot, and
wherein the notification is provided when the parking slot and a vehicle body has a predetermined positional relationship.
16. The parking support apparatus according to claim 14 , wherein the notification includes a notification of a timing for steering the vehicle.
17. The parking support apparatus according to claim 14 , wherein the notification includes a notification of requesting a steering for designating an intended parking slot intended for parking.
18. The parking support apparatus according to claim 17 , wherein the steering for designating the intended parking slot includes any of:
steering of turning to a side opposite to the intended parking slot at an opening of the intended parking slot,
steering of temporarily turning to the intended parking slot side at the opening of the intended parking slot,
steering of directing a vehicle body toward the intended parking slot, and
steering of approaching the vehicle body toward the intended parking slot.
19. The parking support apparatus according to claim 14 , wherein when one parking slot is detected, the processor reduces the notification than when a plurality of parking slots is detected.
20. A parking support method comprising: detecting a parking slot based on a surrounding image indicating surroundings of a vehicle;
storing a history of either an operation of an occupant of the vehicle or a motion of the vehicle;
detecting a parking instruction of the occupant based on the history;
performing automatic parking of the vehicle after the parking instruction is detected, and
determining that the parking instruction is detected when the history indicates that the vehicle has stopped after steering and turning from a straight movement, and that the occupant has performed a predetermined parking instruction operation in the detecting the parking instruction.