TECHNICAL FIELD

The present invention relates to a parking assist system that moves a vehicle autonomously so as to execute a parking process and/or an unparking process.

BACKGROUND ART

There is a known automatic parking device that guides a vehicle to a garage (for example, Japanese Unexamined Utility Model Application Publication No. H05-32229U). This automatic parking device starts an automatic parking process to guide the vehicle to a parking position when a shift lever is set to a parking range and a prescribed switch is closed.

In this automatic parking device, when the shift lever is already set to the parking range, the vehicle moves only by a switch operation, which makes the vehicle convenient. However, if the switch operation is performed unintentionally, the vehicle may move even though the occupant such as a driver does not take a posture to check the surroundings.

To solve such a problem, the vehicle may move on condition that a brake pedal is pressed after the switch operation is performed. However, when the occupant mistakenly recognizes that the switch operation has been performed and releases the brake pedal even though the switch operation has not been performed, the vehicle may move against the occupant's intension due to a creep phenomenon or the like.

In view of such a problem of the prior art, a primary object of the present invention is to provide a parking assist system that is configured to move a vehicle autonomously from a current position to a target position and can prevent the vehicle from moving against the occupant's intention.

SUMMARY OF THE INVENTION

To achieve such an object, one embodiment of the present invention provides a parking assist system (1) configured to move a vehicle autonomously from a current position to a target position, including: a driving device (3) configured to drive the vehicle; a control device (15) configured to execute a setting process to set the target position and a driving process to control the driving device; a setting reception switch (34a) configured to receive an operation for starting the setting process; a driving reception switch (34b) configured to receive an operation for starting the driving process; and a brake input member sensor (27) configured to detect an input operation of a brake input member (24) related to braking of the vehicle, wherein the control device is configured to start the setting process after the setting reception switch is operated, and to start the driving process on condition that a prescribed operation is performed when the driving reception switch is operated, and the prescribed operation includes the input operation on the brake input member.

According to this arrangement, the driving process is started when the input operation on the brake input member and the operation on the driving reception switch are performed. In this way, the operation on the driving reception switch, in addition to the input operation on the brake input member, is included in a starting condition of the driving process. Accordingly, it is possible to prevent the vehicle from moving against the occupant's intention in a case where the occupant releases a brake pedal based on a false recognition that the vehicle moves autonomously.

Preferably, the parking assist system further includes a shift member (25) configured to receive an operation for selecting a shift position of the vehicle, wherein the prescribed operation includes the operation on the shift member for selecting the shift position so as to correspond to an autonomous movement of the vehicle.

According to this arrangement, the vehicle can be moved smoothly after the driving process is started.

Preferably, the parking assist system further includes a parking brake device (5a) configured to apply a brake force to the vehicle, wherein the prescribed operation includes an operation to release the parking brake device.

According to this arrangement, the vehicle can be moved smoothly after the driving process is started.

Preferably, the parking assist system further includes a notification device (14) configured to execute a notification to an occupant based on a signal from the control device, wherein the control device is configured to make the notification device execute a notification to urge the operation for selecting the shift position so as to correspond to the autonomous movement of the vehicle, a notification to urge the operation to release the parking brake device, and a notification to urge the operation on the driving reception switch.

According to this arrangement, the autonomous movement of the vehicle can be started after confirming the occupant's intention to start the driving process by making the occupant perform a plurality of operations. Thereby, it is possible to ensure the safety of the vehicle.

Preferably, at a start of the driving process, the control device makes the notification device execute a notification that the autonomous movement of the vehicle will start.

According to this arrangement, the notification device execute a notification to the occupant when the autonomous movement of the vehicle is started. Thus, the occupant can easily recognize the timing to start checking the surroundings.

Preferably, in a case where the brake input member sensor does not detect the input operation on the brake input member when the driving reception switch is operated, the control device makes the notification device execute a notification to urge the input operation on the brake input member.

According to this arrangement, the occupant can easily understand that the input operation on the brake input member is necessary to start driving the vehicle.

Preferably, the parking assist system further includes a notification device (14) configured to execute a notification to an occupant based on a signal from the control device, when the setting reception switch is operated, the control device makes the notification device execute a notification to urge the operation on the driving reception switch.

According to this arrangement, the occupant can easily understand that the operation on the driving reception switch is necessary to start driving the vehicle.

Preferably, in a case where the prescribed operation is not performed when the driving reception switch is operated, the control device does not start the driving process, and thereafter, when the prescribed operation is performed and the driving reception switch is operated again, the control device starts the driving process.

According to this arrangement, the driving of the vehicle is started when the operation on the driving reception switch and the prescribed operation are performed simultaneously. Thereby, it is possible to prevent the vehicle from being driven when the occupant carelessly performs the operation on the driving reception switch or the prescribed operation.

Preferably, in a case where the current position is a parallel parking position in which the vehicle is located along a passage, the control device sets the target position to one lateral side of an object in front of the current position in the setting process.

According to this arrangement, by moving the parallel-parked vehicle to the lateral side of the object located in front of the vehicle, it is possible to unpark the vehicle.

Preferably, the parking assist system further includes a shift actuator (17) configured to change the shift position, wherein the control device is configured to calculate a trajectory to move the vehicle forward or backward from the current position and to make the notification device notify the shift position that corresponds to a moving direction of the vehicle from the current position, and in a case where the shift member receives the operation for selecting the shift position notified by the notification device, the shift actuator changes the shift position so as to correspond to the trajectory on or after a start of the driving process.

According to this arrangement, the autonomous movement of the vehicle can be started after confirming the occupant's intention to start the driving process by making the occupant operate the shift member. Thereby, it is possible to ensure the safety of the vehicle. Further, the shift position is changed by the shift actuator after the driving operation is started. Thereby, it is possible to enhance the convenience of the vehicle.

Preferably, when the driving reception switch is operated after the setting process is completed, the control device starts the driving process on condition that the prescribed operation is performed.

According to this arrangement, the driving process is started when the driving reception switch is operated after the setting process is completed. Thus, the driving process can be executed after the setting process, so that it is possible to reliably prevent the vehicle from being driven before the setting process is completed.

Preferably, the parking assist system further includes a shift member (25) configured to receive an operation for selecting a shift position of the vehicle; and a parking brake device (5a) configured to apply a brake force to the vehicle, wherein in a case where a prescribed driving reception condition is satisfied after the setting reception switch is operated, the control device makes the driving reception switch receive the operation for starting the driving process, after the driving reception switch is operated, in a case where the setting process is completed and a prescribed driving start condition is satisfied, the control device starts the driving process to move the vehicle to the target position set in the setting process, the driving reception condition includes a condition that the shift position is set to a reverse position, a condition that the input operation on the brake input member is performed, and a condition that the parking brake device is driven, the driving start condition includes a condition that the parking brake device is released and a condition that the input operation on the brake input member is performed, and the control device is configured to drive the vehicle in response to release of the input operation on the brake input member in the driving process.

When the occupant sets the target position, the occupant may mistakenly recognize that the vehicle will move autonomously, and may stop the input operation on the brake input member. According to the above arrangement, the operation to start the driving process is received on condition that the parking brake device is driven. Therefore, by reliably driving the parking brake device, it is possible to prevent the vehicle from moving until the driving process is started. Accordingly, even if the occupant stops the input operation on the brake input member after setting the target position and before performing the operation to start the driving process, the braking force can be applied to the vehicle since the parking brake device is driven, so that the movement of the vehicle can be prevented. Thereby, it is possible to enhance the safety of the vehicle.

Preferably, the parking assist system further includes a warning device (33) configured to generate a warning sound, wherein in a case where the parking brake device is released after the input of the target position is received and before the driving reception switch is operated, the control device makes the warning device generate the warning sound.

According to this arrangement, the parking brake device can be driven more reliably after the target position is set and before the operation to start the driving process is received. Accordingly, it is possible to prevent the vehicle from moving after the target position is set and before the operation to start the driving process is received.

Preferably, in a case where the parking brake device is driven or the input operation on the brake input member is performed while the driving process is being executed, the control device suspends the autonomous movement of the vehicle.

According to this arrangement, the occupant can stop the vehicle when the vehicle moves against the occupant's intention. Thereby, it is possible to enhance the safety of the vehicle.

Preferably, in a case where the parking brake device and the input operation on the brake input member are released after the control device suspends the autonomous movement of the vehicle, the control device resumes the autonomous movement of the vehicle.

According to this arrangement, since the autonomous movement of the vehicle can be resumed by releasing the parking brake device and the input operation on the brake input member, it is possible to enhance the convenience of the parking assist system.

Thus, according to one embodiment of the present invention, it is possible to provide a parking assist system that is configured to move a vehicle autonomously from a current position to a target position and can prevent the vehicle from moving against the occupant's intention.

