CN109747635A - Controller of vehicle and parking system - Google Patents

Abstract

Controller of vehicle and parking system are provided, even if also can accurately grasp the parking regional location as automatic withdrawing starting point hereafter when in the case where generating vehicle movement after the completion of automatic parking.Controller of vehicle includes driving control portion, the driving status of vehicle is controlled to realize the automatic parking for making the vehicle being parked in first area automatically move to second area and parking according to the instruction of regulation in the parking lot comprising first area, second area and parking region and after automatic parking completion, make vehicle according to the calling of regulation and from the outbound of parking region and automatically moves to second area and the automatic withdrawing that stops；Processing unit is stored, in the case that vehicle moves between automatic parking and automatic withdrawing and changes parking region, the parking region after change is stored into storage device；Outbound position deduction portion obtains parking region from storage device, and estimates according to the parking region of acquirement the outbound position of the starting point as outbound.

Description

Controller of vehicle and parking system

Technical field

Embodiments of the present invention are related to controller of vehicle and parking system.

Background technique

In recent years, have studied the technology for realizing automatic generation visitor parking, the automatic generation visitor parking include automatic parking and Automatic withdrawing makes vehicle after the automatic parking refers to that the defined load zones as occupant in parking lot are got off from vehicle Idle parking region and parking are automatically moved to from load zones according to the instruction of regulation, which refers at this oneself After dynamic parking is completed, makes vehicle according to the calling of regulation and from the outbound of parking region and automatically move to defined load zones It simultaneously stops in domain.

Existing technical literature

Patent document

Patent document 1: Japanese Unexamined Patent Publication 2015-41348 bulletin

Subject to be solved by the invention

In order to realize automatic withdrawing as described above, it is preferred that emphasis is grasp the parking region of the starting point as automatic withdrawing Position.About this point, when completing vehicle staying to some parking region by the automatic parking executed before automatic withdrawing After vehicle, if vehicle does not move again, as long as first passing through any unit in advance to store vehicle institute when automatic parking is completed The parking region at place, it will be able to grasp the position in the parking region of the starting point as automatic withdrawing hereafter.

But even if after temporarily determining parking region by automatic parking, it is also possible to generate following situation: in order to Convenience (such as maintenance etc.) on parking lot management, the manager in parking lot is equal to be manually again started up and has been completed and stay automatically Vehicle that vehicle and engine (and power supply) disconnect simultaneously keeps the vehicle mobile.In this condition, the vehicle institute when automatic parking is completed Parking region locating for vehicle is different when the parking region at place starts from automatic withdrawing, therefore, stays automatically if being only stored in advance in Parking region locating for vehicle, then cannot achieve automatic withdrawing appropriate when vehicle is completed.

Summary of the invention

Therefore, one of the project of embodiment is to provide a kind of controller of vehicle and parking system, though when from In the case where the movement for producing vehicle after the completion of dynamic parking, the starting point as automatic withdrawing hereafter also can be accurately grasped Parking region position.

Means for solving the problems

The controller of vehicle of an example as embodiment is equipped on vehicle, wherein the controller of vehicle includes row Control unit is sailed, which controls the driving status of vehicle, thus including first area, second area and parking region Automatic parking is realized in parking lot inside and automatic withdrawing, the automatic parking are to instigate the vehicle being parked in first area Parking region and parking are automatically moved to according to the instruction of regulation, which, which refers to, completes it in the automatic parking Afterwards, make vehicle according to the calling of regulation and from the outbound of parking region and automatically move to second area and stop；Storage processing Portion, in the case that vehicle moves between automatic parking and automatic withdrawing and changes parking region, which will Parking region after change is stored into storage device；And outbound position deduction portion, the outbound position deduction portion are filled from storage It sets and obtains parking region, and estimate according to the parking region of acquirement the outbound position of the starting point as outbound.

According to above structure, even if in the case that parking region changes between automatic parking and automatic withdrawing, Also in the storage device by the newest parking region storage after change.Therefore, according to above structure, even if when in automatic parking In the case where the movement for producing vehicle after the completion, also can be grasped by referring to storage device and accurately as hereafter from The position in the parking region of the starting point of dynamic outbound.

Above-mentioned controller of vehicle also has image data acquisition unit, which obtains by vehicle-mounted vidicon Obtained image data, the situation on the periphery of the vehicle mounted camera shooting vehicle, outbound position deduction portion is according to by image data The image data that acquisition unit obtains estimates the current location determined to determine the current location of the vehicle in parking region For outbound position.According to this structure, it can be estimated according to the image data obtained by vehicle-mounted vidicon in parking region more Detailed outbound position.

In addition, outbound position deduction portion is detected according to image data to be stayed with setting in above-mentioned controller of vehicle The relevant flag data of label at the predetermined position on the periphery in vehicle region, and according to the flag data and packet detected Map datum containing the parking lot including information relevant to label determines the current location of vehicle.According to this structure, pass through According to image data come sense mark data, and included to the flag data and map datum that detect it is relevant to label Information (information including regular position i.e. comprising label etc.) is compareed and can be readily determined the present bit of vehicle It sets.

In addition, in above-mentioned controller of vehicle, outbound position deduction portion according to image data and will with as label and The relevant Data Detection of dividing line that the boundary in parking region is arranged in is flag data, and according to the flag data detected The current location of vehicle is determined with map datum.According to this structure, it can be stayed using the dividing line being usually arranged as expression The method on the boundary in vehicle region, and it is readily determined the current location of vehicle.

In addition, being changed in above-mentioned controller of vehicle when vehicle moves between automatic parking and automatic withdrawing In the case where parking region, storage processing unit is communicated with control device, to obtain the parking region after changing, and will be taken Parking region store into storage device, the control device management parking region and be configured to and vehicle control fill It sets and is communicated.According to this structure, it without determining the parking region after changing by controller of vehicle itself, can utilize The control device in parking region is managed easily to obtain the parking region after changing.

In addition, in above-mentioned controller of vehicle, in automatic withdrawing from when the outbound of parking region, outbound position deduction Portion deduces warehouse compartment and sets.According to this structure, can need to deduce warehouse compartment sets it is appropriate at the time of deduce warehouse compartment and set.

The parking system of other an examples as embodiment includes controller of vehicle, which takes Be loaded in vehicle, and there is driving control portion, which controls the driving status of vehicle, thus comprising first area, Realize automatic parking and automatic withdrawing in parking lot including second area and parking region, which is to instigate to be parked in the Vehicle in one region automatically moves to parking region and parking according to the instruction of regulation, which refers at this oneself After dynamic parking is completed, makes vehicle according to the calling of regulation and from the outbound of parking region and automatically move to second area and stop Vehicle；And control device, the control device management parking region simultaneously are configured to be communicated with controller of vehicle, control Device has storage processing unit, when vehicle moves between automatic parking and automatic withdrawing and changes parking region the case where Under, which stores in the parking region after change into storage device, and there is controller of vehicle outbound position to push away Determine portion, the outbound position deduction portion by communication from control device obtain parking region, and according to the parking region of acquirement come Estimate the outbound position of the starting point as outbound.

According to above structure, even if in the case that parking region changes between automatic parking and automatic withdrawing, Also the newest parking region after change is stored in control device (storage device).Therefore, according to above structure, even if In the case where generating the movement of vehicle after the completion of automatic parking, control device also is inquired using communication, thus, it is possible to standards Really grasp the position in the parking region as the starting point of automatic withdrawing hereafter.

Detailed description of the invention

Fig. 1 is to show an example illustrative of the automatic parking in the objective parking system of automatic generation of first embodiment and show The figure of meaning property.

Fig. 2 is to show an example illustrative of the automatic withdrawing in the objective parking system of automatic generation of first embodiment and show The figure of meaning property.

Fig. 3 is the illustrative and schematical block diagram for showing the hardware configuration of the control device of first embodiment.

Fig. 4 is the illustrative and schematical block diagram for showing the system structure of the vehicle control system of first embodiment.

Fig. 5 be show the control device and controller of vehicle of first embodiment function it is illustrative and schematical Block diagram.

Fig. 6 is for illustrating that can be implemented by the outbound position deduction portion of the controller of vehicle of first embodiment goes out The illustrative and schematical figure of an example for the presumption method that warehouse compartment is set.

Fig. 7 is for illustrating that can be implemented by the outbound position deduction portion of the controller of vehicle of first embodiment goes out The illustrative and schematical figure of an examples different from Fig. 6 for the presumption method that warehouse compartment is set.

Fig. 8 is to show in the first embodiment, in the case where executing automatic parking, control device and vehicle control dress Set the illustrative and schematical precedence diagram of the process of performed processing.

Fig. 9 is to show in the first embodiment, in the case where executing automatic withdrawing, control device and vehicle control dress Set the illustrative and schematical precedence diagram of the process of performed processing.

Figure 10 is to show in the first embodiment, when parking region changes between automatic parking and automatic withdrawing In the case where, the illustrative and schematical precedence diagram of the process of processing performed by control device and controller of vehicle.

Figure 11 is to show in the first embodiment, in the case where performing the presumption of outbound position, vehicle control dress Set the illustrative and schematical flow chart of the process of performed processing.

Figure 12 be show the illustrative of function possessed by the control device and controller of vehicle of second embodiment and Schematical block diagram.

Figure 13 is to show in this second embodiment, when parking region changes between automatic parking and automatic withdrawing In the case where, the illustrative and schematical flow chart of the process of processing performed by control device.

Figure 14 is to show in this second embodiment, in the case where performing the presumption of outbound position, vehicle control dress Set the illustrative and schematical flow chart of the process of performed processing.

Symbol description

101,101a control device

408 vehicle-mounted vidicons

410,410a controller of vehicle

522 sensing data acquisition units (image data acquisition unit)

523 driving control portions

524,1211 storage processing unit

525,1221 outbound position deduction portion

The end E (label)

L dividing line (label)

M0~M2 mark (label)

The parking lot P

The load zones P1 (first area)

P2 rides region (second area)

R, R0~R2 parking region

V vehicle

X occupant

Specific embodiment

Hereinafter, being illustrated with reference to the accompanying drawings to embodiment.The structure for the embodiment hereafter recorded and with this configuration Play the role of and result (effect) however be an example, contents not limited to the following.

< first embodiment >

Firstly, being illustrated referring to Figures 1 and 2 to the outline content of the objective parking system of automatic generation of first embodiment. Here, generation objective parking system is, for example, in more than one the staying with the division of the dividing line L as defined in white line etc. automatically In the parking lot P of vehicle region R, realize the objective parking of automatic generation described below comprising including automatic parking and automatic withdrawing is System.

Fig. 1 is to show an example illustrative of the automatic parking in the objective parking system of automatic generation of first embodiment and show The figure of meaning property, Fig. 2 be show the automatic withdrawing in the objective parking system of automatic generation of first embodiment an example illustrative and Schematical figure.

As depicted in figs. 1 and 2, it in the objective parking of automatic generation, executes automatic parking (arrow C1 referring to Fig.1) and goes out automatically Library (referring to the arrow C2 of Fig. 2), which refers to the defined load zones P1 as occupant X in the P of parking lot from vehicle V After getting off, vehicle V is made to automatically move to idle parking region R and parking from load zones P1 according to the instruction of regulation, The automatic withdrawing refers to after automatic parking completion, makes vehicle V according to the calling of regulation from parking region R outbound and automatic Ground is moved to defined region P2 by bus and stops.Defined instruction and defined calling are by occupant X to terminal installation T Operation and realize.In addition, load zones P1 is an example of " first area ", region P2 is an example of " second area " by bus.

In addition, as depicted in figs. 1 and 2, automatic generation objective parking system has 101 He of control device for being set to parking lot P It is equipped on the vehicle control system 102 of vehicle V.Control device 101 and vehicle control system 102 are configured to pass through channel radio Believe and communicates with one another.

Here, control device 101 is configured to by receiving to take the photograph from the more than one monitoring of the situation in shooting parking lot P Image data that camera 103 obtains is monitored from the data of the outputs such as the various sensors (not shown) being set in the P of parking lot Situation in the P of parking lot, and parking region R is managed according to monitoring result.Hereinafter, sometimes by control device 101 in order to monitor It is denoted as sensing data to situation in the P of parking lot and the information unification that receives.

In addition, in the first embodiment, load zones P1 in the P of parking lot, by bus region P2's and parking region R Quantity, configuration etc. are not limited to Fig. 1 and example shown in Fig. 2.The technology of first embodiment can be used in shown in Fig. 1 and Fig. 2 The different various structures of parking lot P parking lot.

Next, referring to Fig. 3 and Fig. 4 to the control device 101 of first embodiment and the structure of vehicle control system 102 It is illustrated.In addition, Fig. 3 and structure shown in Fig. 4 are only an example, the control device 101 of first embodiment and vehicle control The structure of system 102 processed is able to carry out various settings (change).

Firstly, being illustrated referring to hardware configuration of the Fig. 3 to the control device 101 of first embodiment.

Fig. 3 is the illustrative and schematical block diagram for showing the hardware configuration of the control device 101 of first embodiment.Such as Shown in Fig. 3, the control device 101 of first embodiment has general with PC (Personal Computer: PC) etc. The same computer resource of information processing unit.

In the example shown in Fig. 3, control device 101 has CPU (Central Processing Unit: central processing Device) 301, ROM (Read Only Memory: read-only memory) 302, RAM (Random Access Memory: arbitrary access Memory) 303, communication interface (I/F) 304, input/output interface (I/F) 305 and SSD (Solid State Drive: Gu State hard disk) 306.These hardware are connected to each other via data/address bus 350.

CPU 301 is the hardware processor being uniformly controlled to control device 101.The reading of CPU 301 is stored in ROM 302 equal various control programs (computer program), and it is various to realize according to the instruction specified in the various control programs Function.

ROM 302 is non-volatile main storage means of parameter needed for storage executes above-mentioned various control programs etc..

RAM 303 is to provide the main storage means of the volatibility of the operating area of CPU 301.

Communication interface 304 is to realize the interface of the communication between control device 101 and external device (ED).For example, communication interface 304 realize the hair of the signal carried out by wireless communication between control device 101 and vehicle V (vehicle control system 102) It send and receives.

Input/output interface 305 is the interface realizing control device 101 and connecting with external device (ED).As external device (ED), Such as consider there is input-output equipment used in the operator of control device 101 etc..

SSD 306 is read-write non-volatile auxilary unit.In addition, in the control device of first embodiment In 101, as auxilary unit, it also can replace SSD 306 (or going back other than SSD 306) and be provided with HDD (Hard Disk Drive: hard disk drive).

Next, being illustrated referring to system structure of the Fig. 4 to the vehicle control system 102 of first embodiment.

Fig. 4 is the illustrative and schematical frame for showing the system structure of the vehicle control system 102 of first embodiment Figure.As shown in figure 4, vehicle control system 102 has braking system 401, acceleration system 402, steering system 403, speed change system 404, obstacle sensor 405, driving status sensor 406, communication interface (I/F) 407, vehicle-mounted vidicon 408, monitor dress Set 409, controller of vehicle 410 and In-vehicle networking 450.

The deceleration of the control of braking system 401 vehicle V.Braking system 401 have braking parts 401a, brake control section 401b with And braking parts sensor 401c.

Braking parts 401a be, for example, include device including brake pedal etc., for making vehicle V slow down.

Brake control section 401b is, for example, the ECU (Electronic being made of the computer with hardware processors such as CPU Control Unit: control electronics).Brake control section 401b drives according to the instruction from controller of vehicle 410 Actuator (not shown) and make braking parts 401a work, to control the degree of deceleration of vehicle V.

Braking parts sensor 401c is the device for detecting the state of braking parts 401a.For example, in braking parts 401a packet In the case where brake pedal, the position of braking parts sensor 401c detection brake pedal or the pressure for acting on the brake pedal State of the power as braking parts 401a.The state output for the braking parts 401a that braking parts sensor 401c will test is to vehicle-mounted net Network 450.

The acceleration of the control of acceleration system 402 vehicle V.Acceleration system 402 have acceleration portion 402a, accelerate control unit 402b with And acceleration portion sensor 402c.

Acceleration portion 402a e.g. includes the device for accelerating vehicle V including accelerator pedal etc..

Accelerating control unit 402b is, for example, the ECU being made of the computer with hardware processors such as CPU.Accelerate control unit 402b drives actuator (not shown) according to the instruction from controller of vehicle 410 and acceleration portion 402a is made to work, thus Control the acceleration degree of vehicle V.

Acceleration portion sensor 402c is the device for detecting the state of acceleration portion 402a.For example, in acceleration portion 402a packet In the case where accelerator pedal, the position of acceleration portion sensor 402c detection accelerator pedal or the pressure for acting on the accelerator pedal Power.The state output for the acceleration portion 402a that acceleration portion sensor 402c will test is to In-vehicle networking 450.

The direction of travel of the control of steering system 403 vehicle V.Steering system 403 has steering portion 403a, course changing control portion 403b and steering portion sensor 403c.

Steering portion 403a is, for example, the device for making the steering wheel comprising the vehicle V including steering wheel, handlebar etc. come about.

Course changing control portion 403b is, for example, the ECU being made of the computer with hardware processors such as CPU.Course changing control portion 403b drives actuator (not shown) according to the instruction from controller of vehicle 410 and steering portion 403a is made to work, thus Control the direction of travel of vehicle V.

Steering portion sensor 403c is the device for detecting the state of steering portion 403a.For example, in steering portion 403a packet In the case where steering wheel, the position of steering portion sensor 403c detection direction disk or the rotation angle of direction disk.In addition, In the case that in steering portion, 403a includes handlebar, steering portion sensor 403c can detecte the position of handlebar or act on the vehicle Pressure.The state output for the steering portion 403a that steering portion sensor 403c will test is to In-vehicle networking 450.

The gear ratio of the control of speed change system 404 vehicle V.Speed change system 404 has speed changing portion 404a, speed Control portion 404b And speed changing portion sensor 404c.

Speed changing portion 404a e.g. includes the device of the gear ratio for changing vehicle V including gear lever etc..

Speed Control portion 404b is, for example, the ECU being made of the computer with hardware processors such as CPU.Speed Control portion 404b drives actuator (not shown) according to the instruction from controller of vehicle 410 and speed changing portion 404a is made to work, thus Control the gear ratio of vehicle V.

Speed changing portion sensor 404c is the device for detecting the state of speed changing portion 404a.For example, in speed changing portion 404a packet In the case where gear lever, the position of speed changing portion sensor 404c detection gear lever or the pressure for acting on the gear lever.Become The state output for the speed changing portion 404a that fast portion's sensor 404c will test is to In-vehicle networking 450.

Obstacle sensor 405 is the relevant information of barrier for detecting to being likely to be present in around vehicle V Device.The distance measuring sensor such as containing the sonar of distance of inspection ranged obstacle of obstacle sensor 405.Barrier sensing The information that device 405 will test is output to In-vehicle networking 450.

Driving status sensor 406 is the device for detecting the driving status of vehicle V.Driving status sensor 406 The vehicle-wheel speed sensor of wheel velocity such as comprising detection vehicle V detects on the front-rear direction or left and right directions of vehicle V The acceleration transducer of acceleration, the gyrosensor of cyclotron velocity (angular speed) for detecting vehicle V etc..Driving status sensor 406 driving status that will test are output to In-vehicle networking 450.

Communication interface 407 is to realize the interface of the communication between vehicle control system 102 and external device (ED).For example, communication Interface 407 realize the signal carried out by wireless communication between vehicle control system 102 and control device 101 transmission and It receives, the signal carried out by wireless communication between vehicle control system 102 and terminal installation T sends and receives.

Vehicle-mounted vidicon 408 is the device for the situation for shooting the periphery of vehicle V.For example, vehicle-mounted vidicon 408 is to clap The mode in the region taken the photograph including the road surface in the front comprising vehicle V, rear and side (left and right both sides) is provided with multiple.By vehicle The image data that load video camera 408 obtains is used for the monitoring (also including the detection of barrier) of the situation on the periphery of vehicle V.Vehicle It carries video camera 408 and obtained image data is output to controller of vehicle 410.In addition, hereinafter, sometimes will be from vehicle-mounted vidicon 408 obtained image datas and uniformly remember from the data that the above-mentioned various sensors for being set to vehicle control system 102 obtain Make sensing data.

Monitor apparatus 409 is set to indoor instrument board of vehicle of vehicle V etc..Monitor apparatus 409 has display unit 409a, audio output unit 409b and operation inputting part 409c.

Display unit 409a is the device for showing image according to the instruction of controller of vehicle 410.Display unit 409a Such as by liquid crystal display (LCD:Liquid Crystal Display), organic el display (OELD:Organic Electroluminescent Display) etc. constitute.

Audio output unit 409b is the device for exporting sound according to the instruction of controller of vehicle 410.Sound is defeated Portion 409b is for example made of loudspeaker out.

Operation inputting part 409c is the device for receiving the input of the occupant in vehicle V.Operation inputting part 409c is for example It is made of touch tablet, the physical operations switch etc. on the display picture that display unit 409a is arranged in.Operation inputting part 409c will connect The input and output received are to In-vehicle networking 450.

Controller of vehicle 410 is the device for being uniformly controlled to vehicle control system 102.Controller of vehicle 410 be the ECU with the computer resource of CPU 410a, ROM 410b, RAM 410c etc..

More specifically, controller of vehicle 410 has CPU 410a, ROM 410b, RAM 410c, SSD 410d, shows Show control unit 410e and sound control portion 410f.

CPU 410a is the hardware processor being uniformly controlled to controller of vehicle 410.CPU 410a reads storage Come in fact in the various control programs (computer program) of ROM 410b etc., and according to the instruction specified in the various control programs Existing various functions.

ROM 410b is non-volatile main memory saving of parameter needed for being stored with the above-mentioned various control programs of execution etc. It sets.

RAM 410c is to provide the main storage means of the volatibility of the operating area of CPU 410a.

SSD 410d is read-write non-volatile auxilary unit.In addition, in the vehicle control of first embodiment In device 410 processed, as auxilary unit, it also can replace SSD 410d (or going back other than SSD 410d) and be provided with HDD。

In the various processing executed by controller of vehicle 410, display control section 410e is mainly managed to be taken the photograph to from vehicle-mounted The image procossing for the image data that camera 408 obtains, the life to the display unit 409a of monitor apparatus 409 image data exported At etc..

In the various processing executed by controller of vehicle 410, sound control portion 410f is mainly managed to be filled to monitor Set the generation etc. of the voice data of 409 audio output unit 409b output.

In-vehicle networking 450 and braking system 401, acceleration system 402, steering system 403, speed change system 404, barrier pass Sensor 405, driving status sensor 406, communication interface 407, the operation inputting part 409c of monitor apparatus 409 and vehicle control Device 410 processed, which connects into, is able to carry out communication.

But in order to realize automatic withdrawing as described above, it is preferred that emphasis is grasp the parking of the starting point as automatic withdrawing The position of region R.About this respect, when completing vehicle V by the automatic parking executed before automatic withdrawing to some parking After the parking of region R, if vehicle V is not moved again, as long as store automatic parking completion by any way Parking region R locating for vehicle V, it will be able to grasp the position of the parking region R of the starting point as automatic withdrawing hereafter.

But even if after parking region R has temporarily been determined by automatic parking, it is also possible to generate following situation: For the managerial convenience (such as maintenance etc.) of parking lot P, the manager of parking lot P, which waits manually to be again started up, have been completed Automatic parking and vehicle V that engine (and power supply) disconnects simultaneously keep vehicle V mobile.In this condition, complete in automatic parking At when vehicle V locating for parking region R it is different from parking region R locating for the vehicle V when automatic withdrawing starts, therefore, only deposit Storage parking region R locating for vehicle V when automatic parking is completed, cannot achieve automatic withdrawing appropriate.

Therefore, in the first embodiment, by make controller of vehicle 410 have function below, realize: even if In the case where producing the movement of vehicle V after the completion of automatic parking, also accurately grasp as automatic withdrawing hereafter The position of the parking region R of starting point.

Fig. 5 is to show function illustrative of the control device 101 and controller of vehicle 410 of first embodiment and show The block diagram of meaning property.The function shown in fig. 5 is realized by software with cooperating for hardware.That is, managing in the example shown in FIG. 5, The function of device 101 processed is to read as CPU 301 and execute knot obtained by being stored in the defined control program of ROM 302 etc. For fruit come what is realized, the function of controller of vehicle 410 is to read as CPU 410a and execute the rule for being stored in ROM 410b etc. Result obtained by fixed control program is realized.In addition, in the first embodiment, control device 101 and vehicle shown in fig. 5 The some or all of control device 410 can also only pass through dedicated hardware (circuit) Lai Shixian.

As shown in figure 5, the control device 101 of embodiment have communication control unit 511, sensing data acquisition unit 512, Parking data management department 513 and path of navigation generating unit 514 are used as functional structure.

Communication control unit 511 to the wireless communication executed between the communication control unit 511 and controller of vehicle 410 into Row control.For example, communication control unit 511 between the communication control unit 511 and controller of vehicle 410 by sending and receiving Defined data carry out the certification of controller of vehicle 410, receive when automatic parking and automatic withdrawing are completed from vehicle control Defined completion notice that device 410 processed exports as needed sends out map datum, path of navigation of aftermentioned parking lot P etc. Give controller of vehicle 410.

Sensing data acquisition unit 512 is from surveillance camera 10, the various sensors (not shown) being arranged in the P of parking lot Deng acquirement the sensor data.The sensing data obtained by sensing data acquisition unit 512 is (especially from surveillance camera 103 obtained image datas) it for example can be used in determining and complete rear vehicle V generation movement in automatic parking and parking region R is sent out The parking region R after change in the case where raw change.

Parking data management department 513 manages data (information) relevant to parking lot P.For example, parking data management Map datum, the idle condition of parking region R etc. of 513 managing parking field P of portion.For example, when carrying out automatic parking, parking lot Data Management Department 513 selects a parking region R from idle parking region R, and selected parking region R is referred to It is set to the target parking region as the arrival target of the vehicle V in automatic parking.In addition, when completing rear vehicle in automatic parking V is moved again and in the case that parking region R changes, parking data management department 513 obtains according to from sensing data Portion 512 obtain sensing data come determine change after parking region R.

When carrying out automatic parking and automatic withdrawing, path of navigation generating unit 514, which generates, indicates controller of vehicle 410 Path of navigation.More specifically, when carrying out automatic parking, path of navigation generating unit 514 is generated from load zones P1 to mesh The path of the outline in parking region is marked as path of navigation, when carrying out automatic withdrawing, path of navigation generating unit 514 is generated from mesh (as the parking region R in the case where automatic parking rear vehicle V is mobile being the current parking of vehicle V) arrives load zones in mark parking region The path of the outline of domain P2 is as path of navigation.

On the other hand, as shown in figure 5, the controller of vehicle 410 of embodiment has communication control unit 521, sensor Data acquisition 522, driving control portion 523, storage processing unit 524 and outbound position deduction portion 525 are used as functional structure.

Communication control unit 521 controls the wireless communication executed between the communication control unit 521 and control device 101 System.For example, communication control unit 521 is by sending and receiving defined number between the communication control unit 521 and control device 101 According to carrying out the certification of controller of vehicle 410, send defined completion notice when automatic parking and automatic withdrawing are completed Map datum, the path of navigation etc. of parking lot P are received to control device 101, as needed from control device 101.

Sensing data acquisition unit 522 is to obtain the image data acquirement of the image data obtained by vehicle-mounted vidicon 408 An example in portion, sensing data acquisition unit 522 obtain comprising the image data and from being set to the various of vehicle control system 102 Sensing data including the data of sensor output.For example can by the sensing data that sensing data acquisition unit 522 obtains The actual driving path based on the path of navigation received from control device 101 is enough in (comprising parking path and outbound road Diameter) generation, along the driving path actual travel when required various parameters (speed, steering angle, direction of travel etc.) Setting etc., the vehicle V that is next executed by driving control portion 523 various travelings control.

Driving control portion 523 passes through control braking system 401, acceleration system 402, steering system 403 and speed change system 404 etc., to control the driving status of vehicle V, to execute starting control from the P1 of load zones, from load zones P1 to parking The traveling control (controlling comprising parking) of region R (controls) from parking region R to the control of the traveling of region P2 by bus comprising outbound And to parking toll of region P2 etc. by bus for realizing the control of the various travelings of automatic parking and automatic withdrawing.

The manager of parking lot P, which waits manually to be again started up, has been completed automatic parking and engine (and power supply) disconnects Vehicle V and in the case where keeping vehicle V mobile to change to parking region R, storage processing unit 524 is by staying after change Vehicle region R is stored in non-volatile storage device (such as SSD 410d).That is, when the parking at the R of parking region is completed Rear vehicle V move again and in the case that parking region R changes, storage processing unit 524 by with control device 101 into Row communication, and the parking region R after changing is obtained from control device 101, and the parking region R of acquirement is stored to SSD 410d In.

Outbound position deduction portion 525 obtains the parking area that vehicle V is presently in from SSD 410d when automatic withdrawing starts Domain R, and estimate according to the parking region R of acquirement the outbound position of the starting point as automatic withdrawing.Described herein goes out warehouse compartment The position of the outline not indicated by parking region R unit is set, and indicates the detailed position in the R of parking region.

That is, outbound position deduction portion 525 further obtains in the R outbound from parking region corresponding with defined calling The image data obtained by vehicle-mounted vidicon 408, and determine according to the image data of acquirement the vehicle V in the R of parking region Current location, and the current location determined is estimated as outbound position.

For example, as described below, outbound position deduction portion 525 is according to the image obtained by vehicle-mounted vidicon 408 Data detect flag data relevant to the label at the predetermined position on the periphery for being set to parking region R, and root The current location of the vehicle V in the R of parking region is determined according to the map datum of the flag data and parking lot P that detect, and will The current location determined is determined as outbound position.

Fig. 6 is for illustrate can be real by the outbound position deduction portion 525 of the controller of vehicle 410 of first embodiment The illustrative and schematical figure of an example of the presumption method for the outbound position applied.In addition, in the example shown in Fig. 6, as The example of parking region R, is provided with three adjacent parking region R0~R2, and vehicle V is parked in the parking region R0 of middle. In the example shown in fig. 6, as above-mentioned label, the end of the dividing line L on the boundary that parking region R0~R2 is set is used Portion E.

As shown in fig. 6, in the case where vehicle V is located at parking region R0, in side (such as the side view for being set to vehicle V Mirror) vehicle-mounted vidicon 408 coverage (referring to chain-dotted line) in, usually mirroring has positioned at parking region R0 (with parking area Domain R1's and R2) end (front end) E of the dividing line L on boundary.Therefore, outbound position deduction portion 525 passes through image recognition Drawing positioned at the two sides of vehicle V is detected according to the image data obtained from the vehicle-mounted vidicon 408 for the side for being set to vehicle V Direction that the position of the end E of separated time L, dividing line L are extended etc. is used as flag data.

The direction etc. that the position of the end E of dividing line L, dividing line L are extended is predetermined, therefore, as root The regular flag data of the comparison other of the flag data detected according to above-mentioned image data can be contained in by control device The map datum of the parking lot P of 101 management.Therefore, outbound position deduction portion 525 obtains the ground of parking lot P from control device 101 Diagram data, and to acquired map datum and the mark detected according to above-mentioned image data relevant to dividing line L (end E) According to being compareed, thereby, it is possible to determine the detailed present bit (comprising including) of the vehicle V in the R0 of parking region for numeration It sets, and the current location determined is estimated as outbound position.

In addition, in the example shown in Fig. 6, instantiating the dividing line L that end E is configured to the U-shaped of fillet.But In first embodiment, the dividing line L that end E is configured to rectangular shape also can be used.In addition, in the first embodiment, In the detection of dividing line L (end E), the vehicle-mounted vidicon 408 for being set to the side of vehicle V not only can be used, it can also be with Use the vehicle-mounted vidicon 408 for the front (such as front bumper) for being set to vehicle V.

In addition, in the first embodiment, as long as at least part of dividing line L, then it can also be by the end of dividing line L Part other than portion E is used for the presumption of outbound position.But in this case, premise is that by least one of dividing line L Relationship point between map datum etc. determines at least part of position of dividing line L.

Moreover, in the first embodiment, as will be illustrated next, as the label set for deducing warehouse compartment, Also the label other than dividing line L can be used.

Fig. 7 is for illustrate can be real by the outbound position deduction portion 525 of the controller of vehicle 410 of first embodiment The illustrative and schematical figure of an examples different from Fig. 6 of the presumption method for the outbound position applied.Example shown in Fig. 7 In, also in the same manner as example shown in fig. 6, as the example of parking region R, be provided with three adjacent parking region R0~ R2, vehicle V are parked in the parking region R0 of middle.In the example shown in Fig. 7, as above-mentioned label, use and parking Mark M0~M2 that region R0~R2 is respectively correspondingly arranged.In addition, the shape of mark M0~M2 is not limited to example shown in Fig. 7 Son.

As shown in fig. 7, the vehicle-mounted pick-up in the case where vehicle V is located at parking region R0, in the side for being set to vehicle V In the coverage (referring to chain-dotted line) of machine 408, usually mirror have mark M1 corresponding with adjacent parking region R1 and R2 and M2.Therefore, outbound position deduction portion 525 is according to the image data obtained from the vehicle-mounted vidicon 408 for the side for being set to vehicle V To detect the position etc. of mark M1 and M2.

Information relevant to the position of mark M1 and M2 can be contained in the ground of the parking lot P managed by control device 101 Diagram data.Therefore, outbound position deduction portion 525 obtains the map datum of parking lot P from control device 101, and to acquired Map datum and testing result based on above-mentioned image data relevant to mark M1 and M2 are compareed, and thereby, it is possible to determinations The detailed current location of vehicle V in the R0 of parking region, and the current location determined is estimated as outbound position.

Next, being carried out referring to Fig. 8~Figure 11 to the processing executed by the objective parking system of automatic generation of first embodiment Explanation.

Fig. 8 is to show in the first embodiment, in the case where executing automatic parking, control device 101 and vehicle control The illustrative and schematical precedence diagram of the process of processing performed by device 410 processed.The processing sequence shown in Fig. 8 is to work as to multiply Member X operate carrying out the feelings of the defined instruction of the triggering as automatic parking in load zones P1 to terminal installation T Start under condition.

In processing sequence shown in Fig. 8, firstly, control device 101 and controller of vehicle 410 are established in S801 Communication.In the S801, the certification carried out and sending and receiving identification information (ID) is executed, for realizing control device The transfer etc. of the operation permission of automatic running under 101 monitoring.

When establishing communication in S801, in S802, control device 101 sends the map datum of parking lot P to Controller of vehicle 410.

Then, in S803, control device 101 confirms the idle condition of parking region R, and by an idle parking area Domain R is appointed as being given to the target parking region of vehicle V.

Then, in S804, control device 101 is generated from load zones P1 to the target parking region specified in S803 (outline) path of navigation.

Then, in S805, the path of navigation generated in S804 is sent controller of vehicle by control device 101 410。

On the other hand, it is having received in S802 from the S806 after the map datum that control device 101 is sent, vehicle Control device 410 estimates the initial position in the P1 of load zones.Initial position refers to as the starting point started from load zones P , the current location of vehicle V in the P1 of load zones.The method of presumption initial position, which also can be used, deduces warehouse compartment with above-mentioned The same method of the method set.In addition, in the example shown in Fig. 8, the processing of S806 executes before the processing of S805, but The processing of S806 can also execute after the processing of S805.

When estimating initial position in S806 and receiving in S805 from the path of navigation that control device 101 is sent, In S807, controller of vehicle 410 generates should follow in practical automatic parking, traveling more with high accuracy than path of navigation Path.

Then, in S808, controller of vehicle 410 executes the starting control from the P1 of load zones.

Then, in S809, controller of vehicle 410 executes the traveling control along the driving path generated in S807 System.

Then, in S810, controller of vehicle 410 is executed to be controlled to the parking in target parking region.

Then, when the parking in S810, which controls, to be completed, in S811, controller of vehicle 410 completes parking logical Know and is sent to control device 101.

As described above, realizing the automatic parking in the objective parking of automatic generation.

Fig. 9 is to show in the first embodiment, in the case where executing automatic withdrawing, control device 101 and vehicle control The illustrative and schematical precedence diagram of the process of processing performed by device 410 processed.The processing sequence shown in Fig. 9 is to work as to multiply Member X operate carrying out the feelings of the defined calling of the triggering as automatic withdrawing in region P2 by bus to terminal installation T Start under condition.

In processing sequence shown in Fig. 9, firstly, control device 101 and controller of vehicle 410 are established in S901 Communication.In the S901, in the same manner as the S801 of above-mentioned Fig. 8, what execution was carried out and sending and receiving identification information (ID) Certification, for realizing transfer of operation permission of automatic running under the monitoring of control device 101 etc..

When establishing communication in S901, in S902, control device 101 sends the map datum of parking lot P to Controller of vehicle 410.

Then, in S903, control device 101 confirms that the vehicle V equipped with controller of vehicle 410 of communication counterpart works as Preceding locating parking region R.In the first embodiment, the processing of the S903 is according to the figure obtained by surveillance camera 103 It is executed as data etc..

Then, in S904, control device 101 generates the parking region R confirmed from S903 to region P2's by bus (outline) path of navigation.

Then, in S905, the path of navigation generated in S904 is sent controller of vehicle by control device 101 410。

On the other hand, it is having received in S902 from the S906 after the map datum that control device 101 is sent, vehicle Control device 410 estimates the outbound position in the parking region P that vehicle V is presently in.Outbound position refers to as from parking The starting point of region R outbound, vehicle V in the R of parking region current location.About the processing of the S906, later in more detail Ground is illustrated, and therefore, omits unnecessary explanation here.In addition, in the example shown in Fig. 9, the processing of S906 is in S905 Processing before execute, but the processing of S906 can also execute after the processing of S905.

When deduced in S906 warehouse compartment set and in S905 receive from the path of navigation that control device 101 is sent when, In S907, controller of vehicle 410 generates should follow in practical automatic withdrawing, traveling more with high accuracy than path of navigation Path.

Then, in S908, controller of vehicle 410 executes the outbound control from the R of parking region.

Then, in S909, controller of vehicle 410 executes the traveling control along the driving path generated in S907 System.

Then, in S910, controller of vehicle 410 executes the parking toll to entraining point P2.

Then, when the parking toll in S910 is completed, in S911, controller of vehicle 410 completes outbound logical Know and is sent to control device 101.

As described above, realizing the automatic withdrawing in the objective parking of automatic generation.

But in the first embodiment, as described above, between automatic parking and automatic withdrawing, parking lot P sometimes It is mobile that managers etc. manually make vehicle V, and parking region R locating for vehicle V is made to change.In this case, In the objective parking system of automatic generation of one embodiment, next processing is executed.

Figure 10 is to show in the first embodiment, when parking region R changes between automatic parking and automatic withdrawing In the case where change, the process of processing performed by control device 101 and controller of vehicle 410 illustrative and schematical suitable Sequence figure.As long as being executed at the time of the process flow shown in Fig. 10 is between automatic parking and automatic withdrawing, such as can be with It is executed in vehicle V outbound, it can also be after parking region R change to be operated by certain of the progress such as manager of parking lot P It is executed to trigger.

In processing sequence shown in Fig. 10, firstly, control device 101 and controller of vehicle 410 are true in S1001 Vertical communication.In the S1001, other than above-mentioned certification etc., additionally it is possible to execute from controller of vehicle 410 to control device 101, confirmation change after the request of parking region R etc..

When establishing communication in S1001, in S1002, control device 101 confirm communication counterpart equipped with vehicle The parking region R (the parking region R after change) that the vehicle V of control device 410 is presently in.The processing of the S1002 is basis Image data obtained by surveillance camera 103 etc. and execute.

Then, in S1003, the parking region R after the change confirmed in S1002 is sent vehicle by control device 101 Control device 410.

Then, when had received in S1003 from control device 101 send change after parking region R when, In S1004, controller of vehicle 410 is by the parking region R storage after the change received to being set to controller of vehicle 410 Non-volatile storage device (such as SSD 410d) in.

As described above, even if in the case where producing the change of parking region R between automatic parking and automatic withdrawing, vehicle Control device 410 can also be stored in advance possessed by the automatic withdrawing executed from now on, newest parking area locating for vehicle V Domain R.

Figure 11 is to show in the first embodiment, in the case where performing the presumption of outbound position, vehicle control dress The illustrative and schematical flow chart of the process of processing performed by setting 410.Process flow shown in the Figure 11 is in more detail Describe the processing of the S906 of above-mentioned processing sequence shown in Fig. 9.

In the process flow shown in Figure 11, firstly, in S1101, controller of vehicle 410 is from non-volatile storage Device (such as SSD 410d) obtains newest parking region R locating for vehicle V.

Then, in S1102, controller of vehicle 410 obtains image data from vehicle-mounted vidicon 408.Alternatively, it is also possible to It is, at this point, controller of vehicle 410 is gone back while obtaining the sensing data other than image data, it is more specifically to come to set The data of the various sensors of vehicle control system 102 are placed in, and the data of acquirement are used for later processing.

In S1103, controller of vehicle 410 is detected and is set to according to the image data obtained in S1102 and stayed Label (such as end E, the note shown in Fig. 7 of dividing line L shown in fig. 6 at the predetermined position on the periphery of vehicle region R Number M1 and M2 etc.) relevant flag data.

Then, in S1104, controller of vehicle 410 determines parking region R according to the testing result in S1103 The current location of interior vehicle V, and determining current location is estimated as outbound position.

As described above, realizing the presumption of the outbound position in the S906 of processing sequence shown in Fig. 9.

As described above, the controller of vehicle 410 of first embodiment has driving control portion 523, the row It sails control unit 523 and controls the driving status of vehicle V to including comprising load zones P1, the region P2 and parking region R that rides Parking lot P in realize that generation objective parking automatically, the automatic generation visitor parking include automatic parking and automatic withdrawing, which is Refer to after occupant X gets off in the P1 of load zones from vehicle V, keeps vehicle V automatic from load zones P1 according to the instruction of regulation Ground is moved to parking region R and parking, which refers to after automatic parking completion, makes vehicle V according to regulation It calls and from the R outbound of parking region and automatically moves to region P2 by bus and stop.In addition, controller of vehicle 410 includes Processing unit 524 is stored, it, should in the case that vehicle V is moved between automatic parking and automatic withdrawing and changed parking region R Processing unit 524 is stored to store the parking region R after change in non-volatile storage device (such as SSD 410d)；And Outbound position deduction portion 525, in automatic withdrawing from when the R outbound of parking region, the outbound position deduction portion 525 is from non-volatile Property storage device obtain parking region R, and estimate according to the parking region R of acquirement starting point as outbound goes out warehouse compartment It sets.

According to first embodiment, according to above structure, even if when parking region R is between automatic parking and automatic withdrawing In the case where changing, also the newest parking region R after change is stored into non-volatile storage device.Therefore, According to first embodiment, even if can also pass through ginseng in the case where producing the movement of vehicle V after the completion of automatic parking The position of the parking region R as the starting point of automatic withdrawing hereafter is accurately grasped according to non-volatile storage device.

In addition, in the first embodiment, controller of vehicle 410 has sensing data acquisition unit 522, the sensor Data acquisition 522 obtains the image data obtained by vehicle-mounted vidicon 408, which shoots the periphery of vehicle V Situation, in automatic withdrawing from when the R outbound of parking region, outbound position deduction portion 525 is obtained according to by sensing data The image data that portion 522 obtains determines the current location of the vehicle V in the R of parking region, and the current location determined is pushed away It is set to outbound position.According to this structure, parking region R can be estimated according to the image data obtained by vehicle-mounted vidicon 408 Interior more detailed outbound position, rather than the outbound position of the outline of parking region R unit.

In addition, in the first embodiment, outbound position deduction portion 525 is detected according to above-mentioned image data to exist with setting At the predetermined position on the periphery of parking region R the relevant flag data of label (such as be arranged in parking region R's The data of the directional correlation that the position of the end E of the dividing line L of boundary, dividing line L are extended), and according to detecting The map datum of flag data and parking lot P determine the current location of vehicle V.Here, the map datum of parking lot P contains The regular information that can be compareed with flag data (such as indicates that the position of the end E of dividing line L, dividing line L are extended Direction etc. regular data) as information relevant to label.Therefore, according to this structure, detected according to image data Flag data, and the regular data relevant to label for being included to the flag data and map datum that detect carry out pair According to thereby, it is possible to be readily determined the current location of vehicle V.Furthermore it is possible to use as the boundary for indicating parking region V Mode and the dividing line L that is usually arranged are readily determined the current location of vehicle V.

In addition, in the first embodiment, changing parking when vehicle V is moved between automatic parking and automatic withdrawing In the case where the R of region, storage processing unit 524 is communicated with control device 101, so that the parking region R after changing is obtained, and The parking region R of acquirement is stored in non-volatile storage device (such as SSD 410d), the control device 101 management is stayed It vehicle region R and is configured to be communicated with controller of vehicle 410.According to this structure, without being filled by vehicle control It sets 410 and itself determines the parking region R after changing, can easily be taken using the control device 101 for managing parking region R Parking region R after must changing.

In addition, in the first embodiment, when producing the change of parking region R between automatic parking and automatic withdrawing In the case where, it is also considered that instead of obtaining the structure of the newest parking region R after changing from control device 101, and use such as Flowering structure: using the image recognition etc. to the image data obtained from vehicle-mounted vidicon 408, thus independent of control device 101, and the parking region after changing is obtained by controller of vehicle 410 itself.

< second embodiment >

In the above-described first embodiment, it instantiates to work as and produces parking region R's between automatic parking automatic withdrawing In the case where change, by the structure of the parking region R storage after change to 410 side of controller of vehicle.But it is also possible to such as with The second embodiment of lower explanation is such, by the parking region R storage after change to the side control device 101a.In addition, hereinafter, right Substantially the same structure marks same label in first embodiment and second embodiment, and the repetitive description thereof will be omitted.

Figure 12 is to show function possessed by the control device 101a and controller of vehicle 410a of second embodiment Illustrative and schematical block diagram.

As shown in figure 12, there is the control device 101a of second embodiment communication processing section 511, sensing data to obtain Portion 512, parking data management department 513, path of navigation generating unit 514 and storage processing unit 1211.In addition, the second embodiment party The controller of vehicle 410a of formula has communication processing section 521, sensing data acquisition unit 522, driving control portion 523 and goes out Warehouse compartment sets presumption unit 1221.

In this second embodiment, in the case that when parking region, R changes between automatic parking and automatic withdrawing, Parking region R after change arrives the side control device 101a by the storage of storage processing unit 1211 of control device 101a.Then, into When row automatic withdrawing, the outbound position deduction portion 1221 of controller of vehicle 410a obtains vehicle from control device 101a by communication The parking region R of the current parking of V, and set according to the parking region R of acquirement to deduce warehouse compartment.In addition, about presumption outbound The method of position is able to use the same method with above-mentioned first embodiment (referring to figure 6 and figure 7).

By above structure, in this second embodiment, when parking region R is sent out between automatic parking and automatic withdrawing In the case where raw change, passes through control device 101a and execute the next place different from above-mentioned first embodiment (Figure 10) Reason.

Figure 13 is to show in this second embodiment, when parking region R changes between automatic parking and automatic withdrawing In the case where change, the illustrative and schematical flow chart of the process of processing performed by control device 101a.Shown in the Figure 13 As long as process flow between automatic parking and automatic withdrawing at the time of execute, such as can be held in vehicle V outbound Row, can also be operated after parking region R change by certain of the progress such as manager of parking lot P is to trigger to execute.

In the process flow shown in Figure 13, firstly, control device 101a confirms the shape of parking region R in S1301 State.The processing of the S1301 is executed according to image data obtained by surveillance camera 103 etc..According to the place of the S1301 Reason, the parking region R in the case where the vehicle V to change there are parking region R, after will appreciate that the change of vehicle V.

Moreover, control device 101a is stored in the newest shape for the parking region R that confirmed in S1301 in S1302 State.According to the S1302, even if in the case where producing the change of parking region R, it also can will be newest locating for vehicle V Parking region R is stored to the side control device 101a.

In addition, in this second embodiment, when deducing warehouse compartment and setting, by controller of vehicle 410a execute with it is above-mentioned The different next processing of first embodiment (referring to Fig.1 1).

Figure 14 is to show in this second embodiment, in the case where executing outbound position deduction, controller of vehicle The illustrative and schematical flow chart of the process of processing performed by 410a.

In the process flow shown in Figure 14, firstly, controller of vehicle 410a is by communicating from pipe in S1401 Device 101a processed obtains newest parking region R locating for vehicle V.

Then, in S1402, controller of vehicle 410a obtains image data from vehicle-mounted vidicon 408, in S1403, According to the image data sense mark data obtained in S1402, in S1404, determined according to the testing result in S1403 The current location of vehicle V in the R of parking region.About the processing of these S1402~S1404, as with shown in above-mentioned Figure 11 The processing of S1102~S1104 of process flow is substantially the same, therefore, omits repeated explanation here.

In addition, being filled about the control device 101a in the automatic parking and automatic withdrawing of second embodiment and vehicle control The process for setting processing performed by 410a, due to substantially the same with above-mentioned first embodiment (Fig. 8 and Fig. 9), here It omits the description.But in this second embodiment, since newest parking region R locating for vehicle V is stored in control device Therefore the side 101a in the processing of the S903 of processing sequence shown in Fig. 9, is not needed to the figure obtained by surveillance camera 103 As data confirm etc..

Process flow shown in above-mentioned Figure 13 is after processing sequence shown in Fig. 8 is completed and sequence shown in Fig. 9 Implement before starting, process flow shown in above-mentioned Figure 14 is executed as the S906 in processing sequence shown in Fig. 9.

As described above, in this second embodiment, control device 101a have storage processing unit 1211, when Between automatic parking and automatic withdrawing vehicle V it is mobile and in the case that parking region R changes, which deposits Storage change after parking region R, controller of vehicle 410a has outbound position deduction portion 1221, in automatic withdrawing from staying When the R outbound of vehicle region, which passes through communication from control device 101a acquirement parking region R, and according to The parking region R of acquirement estimates the outbound position of the starting point as outbound.According to this structure, even if when parking region R is certainly In the case where changing between dynamic parking and automatic withdrawing, also the newest parking region R storage after change is filled to control It sets in 101a.Therefore, according to second embodiment, even if when the situation for the movement for producing vehicle V after the completion of automatic parking Under, by inquiring control device 101a using communication, effect (result) similarly to the first embodiment can be obtained.

< variation >

In above-mentioned first embodiment and second embodiment, instantiates and technology of the invention is applied to automatic generation visitor The case where parking system.But it as long as is realized in comprising the parking lot including first area, second area and parking region The parking system of automatic parking and automatic withdrawing, then technology of the invention also can be used in other than objective parking system of automatic generation Parking system, the automatic parking are that the vehicle for being parked in first area is instigated to automatically move to parking region according to the instruction of regulation And parking, which refers to after automatic parking completion, goes out vehicle from parking region according to the calling of regulation Library simultaneously automatically moves to second area and stops.

In addition, instantiating in above-mentioned first embodiment and second embodiment such as flowering structure: by control device come Parking region storage after change is arrived (controller of vehicle or control device as a result, by the state in appropriate confirmation parking region ) in storage device.But as variation, it is also considered that such as flowering structure: carrying out the change (movement of vehicle) in parking region Parking lot manager it is equal itself the parking region after change is input to control device etc., as a result, by the parking after change Region is stored into storage device.

In addition, in the above-described first embodiment, instantiate the parking region storage after change to being set to vehicle control Structure in non-volatile storage device of device processed.But as long as the parking region after storage changes is risen until starting The power supply of vehicle does not turn off during until automatic withdrawing, then the parking region after change can also be stored depositing to volatibility In storage device.

More than, several embodiments of the invention and variation are illustrated, but above embodiment and variation It is but an example, is not meant to limit the range of invention.Above-mentioned new embodiment and variation can be with various Mode is implemented, and can carry out various omitting, displacement and changing without departing from the spirit of the invention.Above embodiment Be contained in the scope and spirit of invention with variation and be contained in the invention recorded in scope of the present invention and Its range of equal value.

Claims (7)

1. a kind of controller of vehicle, which is equipped on vehicle, which is characterized in that controller of vehicle tool Have:

Driving control portion, the driving control portion control the driving status of the vehicle, thus including first area, second area It is to instigate to be parked in firstth area with realization automatic parking and automatic withdrawing, the automatic parking in the parking lot including parking region The vehicle in domain automatically moves to the parking region and parking according to the instruction of regulation, which refers to After the automatic parking is completed, makes the vehicle according to the calling of regulation and from parking region outbound and automatically move to The second area and stop；

Processing unit is stored, changes the parking when the vehicle moves between the automatic parking and the automatic withdrawing In the case where region, which stores in the parking region after change into storage device；And

Outbound position deduction portion, the outbound position deduction portion obtain the parking region from the storage device, and according to acquirement The parking region estimate the outbound position of the starting point as outbound.

2. controller of vehicle according to claim 1, wherein

The controller of vehicle also has image data acquisition unit, and image data acquisition unit acquirement is obtained by vehicle-mounted vidicon Image data, the situation on the periphery of vehicle described in the vehicle mounted camera shooting,

Outbound position deduction portion determines described stay according to the described image data obtained by described image data acquisition The current location of the vehicle in vehicle region, and the current location determined is estimated as the outbound position.

3. controller of vehicle according to claim 2, wherein

The preparatory of the periphery in the parking region is detected and is arranged according to described image data in outbound position deduction portion The relevant flag data of label at determining position, and according to the flag data detected and comprising with the label phase The map datum in the parking lot including the information of pass determines the current location of the vehicle.

4. controller of vehicle according to claim 3, wherein

According to described image data the parking region will be arranged in as the label in outbound position deduction portion The relevant Data Detection of dividing line of boundary be the flag data, and according to the flag data that detects and described Map datum determines the current location of the vehicle.

5. controller of vehicle described in any one according to claim 1~4, wherein

When the vehicle moves between the automatic parking and the automatic withdrawing and changes the parking region the case where Under, the storage processing unit is communicated with control device, to obtain the parking region after changing, and by the institute of acquirement The storage of parking region is stated into the storage device, parking region described in the control device management is simultaneously configured to and the vehicle Control device is communicated.

6. controller of vehicle according to any one of claims 1 to 5, wherein

In the automatic withdrawing from when the parking region outbound, the presumption of outbound position deduction portion it is described go out warehouse compartment It sets.

7. a kind of parking system, comprising:

Controller of vehicle, which is equipped on vehicle, and has driving control portion, which controls institute The driving status of vehicle is stated, thus automatic comprising realizing in the parking lot including first area, second area and parking region Parking and automatic withdrawing, the automatic parking are to instigate the vehicle being parked in the first area according to the instruction of regulation and oneself It is moved to the parking region and parking dynamicly, which refers to after automatic parking completion, makes the vehicle root It from parking region outbound and automatically moves to the second area according to defined calling and stops；And

Control device, parking region described in the control device management simultaneously are configured to be led to the controller of vehicle Letter,

The control device has storage processing unit, when the vehicle moves between the automatic parking and the automatic withdrawing And in the case where changing the parking region, which stores in the parking region after change to storage device In,

The controller of vehicle has outbound position deduction portion, which is filled by communication from the control It sets and obtains the parking region, and estimate the outbound position of the starting point as outbound according to the parking region of acquirement.