JP2012046143A - Target trajectory calculation device - Google Patents

Target trajectory calculation device Download PDF

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JP2012046143A
JP2012046143A JP2010192215A JP2010192215A JP2012046143A JP 2012046143 A JP2012046143 A JP 2012046143A JP 2010192215 A JP2010192215 A JP 2010192215A JP 2010192215 A JP2010192215 A JP 2010192215A JP 2012046143 A JP2012046143 A JP 2012046143A
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trajectory
target
obstacle
vehicle
parking
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JP5595186B2 (en
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Tei Hirano
呈 平野
Kenichi Yamada
憲一 山田
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Daihatsu Motor Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To determine a target trajectory avoiding an obstacle by a simple trajectory plan method using a line and a circular arc.SOLUTION: When the obstacle α detected by the photographing by a camera photographing unit 2 is present on the target trajectory calculated by using two-circular trajectory models, a temporary position is, for example, set on the extension line of the target position and a corrected trajectory corrected so as to avoid the obstacle is computed and decided from the circular arcs of a circles of a starting position, the temporary position and a straight line tangent to both circles by a trajectory computing part 5 to avoid the obstacle and to carry out automatic parking of the vehicle 1 or the like.

Description

この発明は、自動駐車等の車両の目標軌道を算出する目標軌道算出装置に関し、詳しくは、障害物を回避した目標軌道の算出に関する。   The present invention relates to a target trajectory calculation apparatus that calculates a target trajectory of a vehicle such as automatic parking, and more particularly to calculation of a target trajectory that avoids an obstacle.

従来、とくに高齢者や初心者などに望まれる車両の制御システムとして自動駐車システムがある。この自動駐車システムにおいては、目標軌道に沿って車両を移動するため、自車の目標軌道をどのような軌道計画にしたがって求めるかが重要である。   2. Description of the Related Art Conventionally, there is an automatic parking system as a vehicle control system particularly desired by elderly people and beginners. In this automatic parking system, since the vehicle moves along the target track, it is important to determine the track plan for the target track of the host vehicle.

そして、自動駐車の車庫入れの軌道計画手法として、従来、以下に説明する２種類の「直線と円弧を用いた軌道計画手法」（以下、これらの軌道計画手法を従来手法１、２という）が提案されている（例えば、特許文献１及び非特許文献１、２参照）。   Conventionally, two types of “trajectory planning methods using straight lines and arcs” (hereinafter, these trajectory planning methods are referred to as conventional methods 1 and 2) as the trajectory planning methods for automatic parking garages are described below. It has been proposed (see, for example, Patent Document 1 and Non-Patent Documents 1 and 2).

従来手法１、２の軌道計画手法について説明すると、従来手法１、２においては、前提として、カメラ、レーダのようなセンサの検出やドライバの操作入力等により、少なくとも現在の車両位置（開始位置）からの駐車の目標位置の相対位置データが既知であることを前提とする。また、目標軌道は切返しを極力行なわないように設定される。   The trajectory planning methods of the conventional methods 1 and 2 will be described. In the conventional methods 1 and 2, as a premise, at least the current vehicle position (start position) is detected based on detection of a sensor such as a camera or radar, or operation input of a driver. It is assumed that the relative position data of the target position for parking from is already known. Further, the target trajectory is set so as not to perform turning as much as possible.

（従来手法１）
そして、従来手法１について説明すると、従来手法１は車両の両側に円を描いて目標軌道Ｔｉを求める２円軌道モデルの軌道計画手法である。 (Conventional method 1)
The conventional method 1 will be described. The conventional method 1 is a trajectory planning method of a two-circle trajectory model in which a circle is drawn on both sides of the vehicle to obtain the target trajectory Ti.

図１３（ａ）は車庫入れの自動駐車を行なう際の従来手法１の軌道計画の説明図であり、車両１００が指定された開始位置（現在位置）Ｐ１から駐車の目標位置Ｐ２に旋回しながら後退して駐車する車庫入れ場合、従来手法１においては、作図処理において、はじめに、矢印線に示すように紙面左右方向を前後方向とする向きに開始位置Ｐ１に止まっている車両１００について、車幅方向中央を通る直線Ｌ１を引き、さらに、左右の後輪を通る直線Ｌ２を引く。そして、直線Ｌ１、Ｌ２の交点で接する直線Ｌ１の２接円（半径の長さは、任意であってよいが、ここでは車両１００の最小回転半径とする）Ｃ１、Ｃ２を、車両１００の両側（旋回側とその反対側）に描いて作成する。   FIG. 13A is an explanatory diagram of a trajectory plan of the conventional method 1 when performing automatic parking in a garage, while the vehicle 100 turns from a designated start position (current position) P1 to a parking target position P2. In the case of entering the garage for reversing and parking, in the conventional method 1, in the drawing process, first, as shown by the arrow line, the vehicle width of the vehicle 100 that is stopped at the start position P1 in the direction in which the horizontal direction on the paper is the front-rear direction. A straight line L1 passing through the center in the direction is drawn, and further a straight line L2 passing through the left and right rear wheels is drawn. Then, a tangent circle of the straight line L1 that touches at the intersection of the straight lines L1 and L2 (the length of the radius may be arbitrary, but here is the minimum turning radius of the vehicle 100) C1 and C2 are both sides of the vehicle 100. Create by drawing on the swivel side and the opposite side.

つぎに、紙面上下方向を前後方向とする向きの目標位置Ｐ２について、上記の開始位置Ｐ１での作図手法と同様の手法で直線Ｌ１に対応する直線Ｌ１１の２接円（半径の長さは、車両１００の最小回転半径以上であれば任意の長さであってよいが、ここでは車両１００の最小回転半径の長さとする）Ｃ１１、Ｃ１２を、両側（車両１００の旋回側とその反対側）に描いて作成する。   Next, with respect to the target position P2 whose orientation is the front-rear direction on the paper surface, a tangent circle of the straight line L11 corresponding to the straight line L1 in the same manner as the drawing method at the start position P1 (the length of the radius is The length may be any length as long as it is equal to or greater than the minimum turning radius of the vehicle 100, but here, the length of the minimum turning radius of the vehicle 100) C11 and C12 are both sides (the turning side of the vehicle 100 and the opposite side). Draw and create.

つぎに、作成した４つの接円Ｃ１、Ｃ２、Ｃ１１、Ｃ１２について、開始位置Ｐ１の接円Ｃ１、Ｃ２と目標位置Ｐ２の接円Ｃ１１、Ｃ１２とを結ぶ図１３（ｂ）の４本の接線Ｔ１〜Ｔ４を作成し、そのうちの切返しなく開始位置Ｐ１から目標位置Ｐ２に移動できる最短経路の接線Ｔ１、すなわち、開始位置Ｐ１、目標位置Ｐ２それぞれの旋回側に描いた円Ｃ１、Ｃ１１に接する接線（直線）Ｔ１を車両１００の車庫入れの目標軌道Ｔｉに選択して決定する。   Next, for the four created tangent circles C1, C2, C11, and C12, the four tangent lines in FIG. 13B connecting the tangent circles C1 and C2 at the start position P1 and the tangent circles C11 and C12 at the target position P2. T1 to T4 are created, and the tangent line T1 of the shortest path that can be moved from the start position P1 to the target position P2 without turning over, that is, the tangent lines that touch the circles C1 and C11 drawn on the turning sides of the start position P1 and the target position P2, respectively. (Straight line) T1 is selected and determined as the target track Ti of the garage of the vehicle 100.

図１３（ｂ）は求められた目標軌道Ｔｉを示し、車庫入れの目標軌道Ｔｉに選択して決定された接線Ｔ１を、残りの接線Ｔ２〜ｔ４より太くしている。   FIG. 13B shows the obtained target trajectory Ti, and the tangent line T1 selected and determined as the garage entry target trajectory Ti is made thicker than the remaining tangent lines T2 to t4.

（従来手法２）
つぎに、従来手法２について説明すると、従来手法２は車両１００の旋回側に１円を描いて目標軌道Ｔｉ＊を求める１円軌道モデルの軌道計画手法である。 (Conventional method 2)
Next, the conventional method 2 will be described. The conventional method 2 is a trajectory planning method of a one-circle trajectory model in which one circle is drawn on the turning side of the vehicle 100 to obtain the target trajectory Ti *.

図１４は前記２円軌道モデルの場合と同様に車両１００が開始位置（現在位置）Ｐ１から目標位置Ｐ２に旋回しながら後退して車庫入れの駐車を行なう場合の軌道計画の説明図であり、作図処理において、開始位置Ｐ１の車両１００の車幅方向中央を通る紙面左右方向の直線Ｌ１を引き、目標位置Ｐ２の車幅方向中央を通る紙面上下方向の直線Ｌ１１も引く。さらに、２つの直線Ｌ１、Ｌ１１に接する１つの円（半径の長さは、車両１００の最小回転半径以上であれば任意の長さであってよいが、ここでは車両１００の最小回転半径の長さとする）Ｃ３を作成する。そして、直線Ｌ１の一部、円Ｃ３の円弧、直線Ｌ２の一部の組み合わせからなる図１４の太線を車庫入れの目標軌道Ｔｉ＊に決定する。   FIG. 14 is an explanatory diagram of a trajectory plan in the case where the vehicle 100 moves backward from the start position (current position) P1 to the target position P2 and parks in the garage as in the case of the two-circle trajectory model. In the drawing process, a straight line L1 in the left-right direction on the paper passing through the center in the vehicle width direction of the vehicle 100 at the start position P1 is drawn, and a straight line L11 in the vertical direction on the paper passing through the center in the vehicle width direction at the target position P2 is also drawn. Furthermore, one circle (the length of the radius may be any length as long as it is equal to or greater than the minimum turning radius of the vehicle 100, but here the length of the minimum turning radius of the vehicle 100) C3) is created. Then, the thick line in FIG. 14, which is a combination of a part of the straight line L1, an arc of the circle C3, and a part of the straight line L2, is determined as the garage entry target track Ti *.

そして、従来手法１、２によって決定された目標軌道Ｔｉ、Ｔｉ＊に沿って車両１００の走行、操舵を制御し、車両１００を旋回しながら後退移動することで、車両１００を自動的に開始位置Ｐ１から目標位置Ｐ２に移動して自動駐車を実現することが可能になる。なお、走行距離の短縮や制御のし易さ等を考慮すると、従来手法１（２円軌道モデル）によって決定する目標軌道Ｔｉが、従来手法２（１円軌道モデル）によって決定する目標軌道Ｔｉ＊より優れている。   The vehicle 100 is automatically moved to the start position by controlling the traveling and steering of the vehicle 100 along the target tracks Ti and Ti * determined by the conventional methods 1 and 2 and moving backward while turning the vehicle 100. It is possible to realize automatic parking by moving from P1 to the target position P2. In consideration of shortening of the travel distance, ease of control, etc., the target trajectory Ti determined by the conventional method 1 (two-circular orbit model) is the target trajectory Ti * determined by the conventional method 2 (one-circular orbit model). Better.

特開２００８−２９６６３８号公報JP 2008-296638 A

辻澤 隆彦、“自動パーキングのための経路生成方法の提案”、日本機械学会論文集（Ｃ編）７３巻７２９号（２００７−５）、論文Ｎｏ．０６−７０４３Takahiko Serizawa, “Proposal of a Route Generation Method for Automatic Parking”, Transactions of the Japan Society of Mechanical Engineers (C), Volume 73, 729 (2007-5), Paper No. 06-7043 ダオ ミン クアン、外２名、“自動車の自動駐車技術の実用化に関する研究”計測自動制御学会論文集、Ｖｏｌ．４２、Ｎｏ７、７６５／７７４（２００６）Dao Ming Kuang, two others, “Study on Practical Use of Automobile Parking Technology,” Proceedings of Society of Instrument and Control Engineers, Vol. 42, No7, 765/774 (2006)

前記した従来手法１、２により目標軌道Ｔｉ、Ｔｉ＊を求める目標軌道算出装置を車両１００に搭載した場合、従来手法１、２で求められる目標軌道Ｔｉ、Ｔｉ＊は障害物を考慮していないので、目標軌道Ｔｉ、Ｔｉ＊上の障害物を回避して車庫入れの自動駐車を実現することができない。   When the target trajectory calculation device for obtaining the target trajectories Ti and Ti * by the conventional methods 1 and 2 described above is mounted on the vehicle 100, the target trajectories Ti and Ti * obtained by the conventional methods 1 and 2 do not consider obstacles. Therefore, it is impossible to avoid the obstacles on the target tracks Ti and Ti * and realize automatic parking in the garage.

そして、自動駐車の場合だけでなく、目標軌道Ｔｉ、Ｔｉ＊に沿って車両１００を旋回しながら前進、後退して開始位置Ｐ１から目標位置Ｐ２のような種々の目標位置に自動制御する場合には、障害物を回避して目標軌道を決定することが望まれるが、従来手法１、２のような直線と円弧を用いた簡単な軌道計画手法で障害物を回避した目標軌道を求める構成は発明されていない。   And not only in the case of automatic parking, but when moving forward and backward while turning the vehicle 100 along the target tracks Ti and Ti * and automatically controlling from the start position P1 to various target positions such as the target position P2. It is desirable to determine the target trajectory by avoiding obstacles, but the configuration for obtaining the target trajectory that avoids obstacles with a simple trajectory planning method using straight lines and arcs as in conventional methods 1 and 2 is Not invented.

本発明は、直線と円弧を用いた簡単な軌道計画手法で障害物を回避した目標軌道を求める構成を提供することを目的とする。   An object of this invention is to provide the structure which calculates | requires the target locus | trajectory which avoided the obstacle with the simple locus | trajectory planning method using a straight line and a circular arc.

上記した目的を達成するために、本発明の目標軌道算出装置は、指定された開始位置から目標位置に旋回しながら移動する車両の目標軌道を、前記開始位置、前記目標位置それぞれの旋回側に描いた円の弧と該両円に接する直線とから算出する２円軌道モデルの目標軌道算出装置であって、前記車両の周囲の障害物を検出する検出手段と、前記障害物が前記目標軌道に存在する場合に、前記開始位置、前記目標位置のいずれか一方の延長線上に仮位置を設け、前記仮位置の旋回側に描いた円の円弧と、前記開始位置、前記目標位置のいずれか他方の旋回側に描いた円の円弧と、該両円に接する直線とから、前記目標軌道として前記障害物を回避する修正軌道を算出する修正軌道算出手段を備えたことを特徴としている（請求項１）。   In order to achieve the above-described object, the target trajectory calculation apparatus of the present invention moves a target trajectory of a vehicle moving while turning from a designated start position to a target position on the turning side of each of the start position and the target position. A target trajectory calculation apparatus of a two-circle trajectory model that is calculated from an arc of a drawn circle and a straight line that touches both circles, wherein the obstacle detects the obstacle around the vehicle, and the obstacle is the target trajectory. A temporary position is provided on an extension line of one of the start position and the target position, and a circular arc drawn on the turning side of the temporary position, and either the start position or the target position A correction trajectory calculation means for calculating a correction trajectory that avoids the obstacle as the target trajectory from a circular arc drawn on the other turning side and a straight line contacting both the circles is provided (claims). Item 1).

請求項１に記載の本発明の目標軌道算出装置によれば、従来手法１（１円軌道モデルの軌道計画手法）で目標軌道を決定すると、その軌道上に障害物が存在することになる場合に、修正軌道算出手段により、例えば目標位置の延長線上に仮位置を設け、開始位置と仮位置の円の円弧及び両円の接線の直線により、障害物を回避するように修正された修正軌道（修正された目標軌道）を算出して決定することができる。   According to the target trajectory calculation apparatus of the first aspect of the present invention, when the target trajectory is determined by the conventional method 1 (the trajectory planning method of the one-circular trajectory model), there is an obstacle on the trajectory. In addition, the corrected trajectory is corrected by the corrected trajectory calculation means, for example, by providing a temporary position on the extension line of the target position, and avoiding an obstacle by the arc of the circle at the start position and the temporary position and the tangent line of both circles. The (corrected target trajectory) can be calculated and determined.

そして、修正軌道に沿って車両を開始位置から目標位置に旋回して移動すると、障害物を回避して車両を自動駐車できる。   When the vehicle turns and moves from the start position to the target position along the corrected trajectory, the vehicle can be parked automatically while avoiding obstacles.

したがって、直線と円弧を用いた簡単な軌道計画手法で障害物を回避した軌道を求め、障害物を回避した自動駐車等を実現することができる。   Therefore, a trajectory that avoids an obstacle can be obtained by a simple trajectory planning method using straight lines and arcs, and automatic parking or the like that avoids the obstacle can be realized.

本発明の目標軌道算出装置の一実施形態のブロック図である。It is a block diagram of one embodiment of a target trajectory calculation device of the present invention. （ａ）、（ｂ）は左バック駐車、右バック駐車の説明図である。(A), (b) is explanatory drawing of left back parking and right back parking. 目標位置に駐車した状態の説明図である。It is explanatory drawing of the state parked at the target position. 軌道上に障害物が存在する可能性がある領域の説明図である。It is explanatory drawing of the area | region where an obstruction may exist on a track | orbit. 軌道に障害物が存在する場合の説明図である。It is explanatory drawing when an obstruction exists in a track | orbit. 仮位置の説明図である。It is explanatory drawing of a temporary position. 仮位置の設定範囲の説明図である。It is explanatory drawing of the setting range of a temporary position. （ａ）、（ｂ）は仮位置を用いて提案手法１で算出した修正軌道の一例、他の例の説明図である。(A), (b) is explanatory drawing of an example of the correction | amendment locus | trajectory calculated by the proposal method 1 using the temporary position, and another example. 仮位置を用いて提案手法２で算出した修正軌道の一例の説明図である。It is explanatory drawing of an example of the correction | amendment locus | trajectory calculated by the proposal method 2 using the temporary position. 仮位置を用いて提案手法２で算出した修正軌道の他の例の説明図である。It is explanatory drawing of the other example of the correction | amendment locus | trajectory calculated by the proposal method 2 using the temporary position. 仮位置を用いて提案手法２で算出した修正軌道のさらに他の例の説明図である。It is explanatory drawing of the further another example of the correction | amendment locus | trajectory calculated by the proposal method 2 using the temporary position. 図１の動作説明用のフローチャートである。It is a flowchart for operation | movement description of FIG. （ａ）、（ｂ）は従来の軌道計算の一例の説明図である。(A), (b) is explanatory drawing of an example of the conventional orbit calculation. 従来の軌道計算の他の例の説明図である。It is explanatory drawing of the other example of the conventional track calculation.

本発明の一実施形態について、図１〜図１２を参照して説明する。   An embodiment of the present invention will be described with reference to FIGS.

図１に示す本実施形態の目標軌道算出装置は、車両１に搭載されて車両１の前方及び後方を撮影可能なカメラ撮影部２と、ドライバの操作を受け付ける操作入力部３と、自動駐車等の後退するシーンでは基本的にカメラ撮影部２の後方の撮影画像をタッチパネル表示器（図示せず）に画面表示してドライバのタッチ操作で指定された自車後方の駐車目標位置、障害物位置を認識する位置認識部４と、カメラ撮影部２の撮影画像及び位置認識部４の駐車目標位置認識部４ａ、障害物位置認識部４ｂの認識結果に基づき、目標軌道や修正軌道を算出する軌道計算部５と、軌道計算部５の計算結果に基づき制動制御、操舵制御、警報制御それぞれを行なう制動制御部６、操舵制御部７、警報制御部８を備える。なお、各部３〜８はマイクロコンピュータのＥＣＵで形成され、それぞれ設定されたプログラムにしたがって動作し、カメラ撮影部２、位置認識部４は、本発明の検出手段を形成し、軌道計算部５は本発明の修正軌道算出手段を形成する。   A target trajectory calculation apparatus according to the present embodiment shown in FIG. 1 includes a camera photographing unit 2 that is mounted on a vehicle 1 and can photograph the front and rear of the vehicle 1, an operation input unit 3 that receives a driver's operation, automatic parking, and the like. In the rearward scene, basically the captured image behind the camera photographing unit 2 is displayed on a touch panel display (not shown), and the parking target position and obstacle position behind the vehicle designated by the driver's touch operation are displayed. A trajectory for calculating a target trajectory and a corrected trajectory based on the recognition result of the position recognition unit 4 for recognizing the image, the captured image of the camera photographing unit 2 and the recognition result of the parking target position recognition unit 4a of the position recognition unit 4 A calculation unit 5, a brake control unit 6 that performs braking control, steering control, and alarm control based on the calculation result of the track calculation unit 5, a steering control unit 7, and an alarm control unit 8 are provided. Each of the units 3 to 8 is formed by a microcomputer ECU, and operates according to a set program. The camera photographing unit 2 and the position recognition unit 4 form the detection means of the present invention, and the trajectory calculation unit 5 The correction trajectory calculation means of the present invention is formed.

そして、カメラ撮影部２は、夜間等の周囲環境が暗いシーンにおける後方撮影時には、例えば所定の照明を作動して自車１の後方を撮影し、夜間等の周囲環境が暗いシーンにおける前方撮影時には、ヘッドランプを照明として自車１の前記後方を撮影し、毎フイールドに最新の撮影画像を位置認識部４、軌道計算部５に送る。   The camera photographing unit 2 activates a predetermined illumination to photograph the rear of the vehicle 1 at the time of rear photographing in a dark environment such as night, and at the time of front photographing in a dark environment such as night. Then, the rear side of the vehicle 1 is photographed with the headlamp as illumination, and the latest photographed image is sent to the position recognition unit 4 and the track calculation unit 5 every field.

カメラ撮影部２の撮影画像を取り込んだ位置認識部４は、ダッシュボードのタッチパネル表示器の液晶画面に撮影画像を表示する。この撮影画像は、自車１が後退するシーンでは後方の撮影画像であり、自車１が前進するシーンでは前方の撮影画像である。そして、例えば自車１が後退する自動駐車の場合、後方の撮影画像の液晶画面を見たドライバが、画面に写っている後方の目標駐車位置及び障害物（信号機、壁等の静止物体及び、２輪車等の移動物体を含む）αを指定し、その指定情報が操作部３から入力されると、駐車目標位置認識部４ａ、障害物位置認識部４ｂの周知の画像処理により、目標駐車位置、障害物αを検出してカメラ撮影部２の位置に対する相対的な目標駐車位置、障害物位置を算出し、目標駐車位置、障害物位置の相対位置の情報を軌道計算部５に送る。なお、目標駐車位置、障害物位置の情報は、ドライバの再指定や自動駐車の完了があるまで、軌道計算部５に有効なものとして保持される。   The position recognition unit 4 that has captured the captured image of the camera photographing unit 2 displays the captured image on the liquid crystal screen of the touch panel display of the dashboard. This captured image is a rear captured image in a scene in which the host vehicle 1 moves backward, and a forward captured image in a scene in which the host vehicle 1 moves forward. And, for example, in the case of automatic parking in which the host vehicle 1 moves backward, the driver who viewed the liquid crystal screen of the rear shot image shows the target parking position and obstacles (stationary objects such as traffic lights, walls, etc.) When α is specified (including a moving object such as a two-wheeled vehicle) and the specified information is input from the operation unit 3, the target parking is performed by known image processing of the parking target position recognition unit 4a and the obstacle position recognition unit 4b. The target parking position and the obstacle position relative to the position of the camera photographing unit 2 are calculated by detecting the position and the obstacle α, and information on the target parking position and the relative position of the obstacle position is sent to the trajectory calculation unit 5. The information on the target parking position and the obstacle position is retained as valid information in the trajectory calculation unit 5 until the driver is re-designated or automatic parking is completed.

そして、軌道計算部５はつぎに説明するようにして、自動駐車の制御に必要な目標軌道Ｔｉ又は修正軌道Ｔｊ、Ｔｋを算出し、算出結果に基づき、必要な制動、操舵の制御を制動制御部６、操舵制御部７に指令する。障害物αを回避できないときは、自動駐車の制御を行わず、その旨の警報発生を警報制御部８に指令する。   The track calculation unit 5 calculates the target track Ti or the corrected tracks Tj, Tk necessary for the automatic parking control as described below, and performs the necessary braking and steering control based on the calculation result. 6. Command the steering control unit 7. When the obstacle α cannot be avoided, the automatic parking control is not performed, and the alarm control unit 8 is commanded to generate an alarm to that effect.

＜軌道計算部５の軌道計算処理＞
軌道計算部５においては、初期の軌道計画には前記した従来手法１を採用し、それによって得られた目標軌道Ｔｉ上に障害物αがある場合に目標軌道Ｔｉを修正して障害物αを回避する。 <The trajectory calculation process of the trajectory calculation unit 5>
In the trajectory calculation unit 5, the above-described conventional method 1 is adopted for the initial trajectory plan, and when there is an obstacle α on the target trajectory Ti obtained thereby, the target trajectory Ti is corrected to obtain the obstacle α. To avoid.

ところで、車両１が開始位置Ｐ１の後ろの前進方向に向かって左側にある駐車の目標位置Ｐ２に後退走行して車庫入れを行なう駐車を「左バック駐車」、開始位置Ｐ１から進行方向に向かって右側にある駐車目標位置Ｐ２＊に後退走行して車庫入れを行なう駐車を「右バック駐車」とすると、図２（ａ）が「左バック駐車」、同図（ｂ）が「右バック駐車」である。図２（ａ）、（ｂ）において、車両１は矢印線方向が前進方向であり、開始位置Ｐ１と目標位置Ｐ２、Ｐ２＊を結ぶ太い実線が従来手法１で得られる目標軌道Ｔｉ（図（ｂ）の接線Ｔ１に相当）である。   By the way, parking in which the vehicle 1 travels backward to the parking target position P2 on the left side in the forward direction behind the start position P1 and enters the garage is “left back parking”, and from the start position P1 toward the traveling direction. Assuming that parking at the parking target position P2 * on the right side and moving in the garage is “right back parking”, FIG. 2 (a) is “left back parking” and FIG. 2 (b) is “right back parking”. It is. 2 (a) and 2 (b), the vehicle 1 has a direction indicated by an arrow in the forward direction, and the target trajectory Ti obtained by the conventional method 1 is obtained by a thick solid line connecting the start position P1 and the target positions P2 and P2 * (see FIG. b) corresponding to the tangent line T1).

本発明は、「左バック駐車」、「右バック駐車」のいずれの自動駐車にも適用できるが、いずれか一方の自動駐車の場合について説明すれば、他方の自動駐車については、旋回の向きが逆になるだけであり、同様に制御できることが容易に分かる。そこで、本実施形態においては、「左バック駐車」について説明する。   The present invention can be applied to both “left back parking” and “right back parking” automatic parking. However, in the case of either one of the automatic parking, the direction of turning is determined for the other automatic parking. It is easy to see that it can be controlled in the same way. Therefore, in this embodiment, “left back parking” will be described.

まず、障害物αの位置によって最適な回避軌道が異なるため、軌道計算部５は、障害物の位置別に回避方法を分類して記憶し、障害物αの位置の分類に応じて修正軌道の算出等を行なう。   First, since the optimal avoidance trajectory differs depending on the position of the obstacle α, the trajectory calculation unit 5 classifies and stores the avoidance method according to the position of the obstacle, and calculates a corrected trajectory according to the classification of the position of the obstacle α. Etc.

すなわち、軌道計算部５は、まず、前記したように従来手法１で目標軌道Ｔｉを計算する。具体的には、図２（ａ）の「左バック駐車」で車庫入れの駐車を行なう場合、はじめに、図２（ａ）の向きに開始位置Ｐ１に止まっている車両１について、車幅方向中央を通る直線と左右の後輪を通る直線の交点で接する２接円（半径の長さは、例えば車両１の最小回転半径）を、開始位置（車両１の現在位置）Ｐ１の旋回側とその反対側の両側に描いて作成する。つぎに、開始位置Ｐ１の後方の紙面上下方向の向きの駐車目標位置Ｐ２について、開始位置Ｐ１での作図手法と同様の手法で２接円（半径の長さは、例えば車両１の最小回転半径）を、目標位置Ｐ２の両側に描いて作成する。そして、作成した４つの接円についての図１３（ｂ）の接線Ｔ１〜Ｔ４のような４本の接線を作成し、そのうちの切返しなく開始位置Ｐ１から目標位置Ｐ２に移動できる、開始位置Ｐ１、目標位置Ｐ２それぞれの旋回側に描いた円に接する接線（直線）を目標軌道Ｔｉに選択する。   That is, the trajectory calculation unit 5 first calculates the target trajectory Ti by the conventional method 1 as described above. Specifically, when parking in the garage with “left back parking” in FIG. 2A, first, the vehicle 1 that stops at the start position P1 in the direction of FIG. A tangent circle (the radius is, for example, the minimum turning radius of the vehicle 1) that touches at the intersection of the straight line passing through the left and right rear wheels and the turning position of the start position (current position of the vehicle 1) P1 and Draw on both sides of the opposite side. Next, with respect to the parking target position P2 in the vertical direction on the paper surface behind the start position P1, a tangent circle (the length of the radius is, for example, the minimum turning radius of the vehicle 1) by the same method as the drawing method at the start position P1. ) Is drawn on both sides of the target position P2. Then, four tangents such as tangents T1 to T4 in FIG. 13B for the four tangent circles created are created, and the start position P1, which can be moved from the start position P1 to the target position P2 without turning over, A tangent line (straight line) in contact with a circle drawn on the turning side of each target position P2 is selected as the target trajectory Ti.

そして、目標軌道Ｔｉに沿って車両１が旋回しながら後退する状態をシミュレーションして、自車１の軌道と障害物αとの当たり（重なり）の判定を行う。このとき、目標軌道Ｔｉの軌道幅内に障害物αがなく、自車１が障害物αに全く当たらなければ、目標軌道Ｔｉを自動駐車の軌道に決定する。   Then, a state in which the vehicle 1 retreats while turning along the target track Ti is simulated, and the collision (overlap) between the track of the host vehicle 1 and the obstacle α is determined. At this time, if there is no obstacle α within the track width of the target track Ti and the host vehicle 1 does not hit the obstacle α at all, the target track Ti is determined to be an automatic parking track.

一方、目標軌道Ｔｉの軌道幅内に障害物αがあり、自車１が障害物αに接触して当たると判定した場合は、軌道計算部５は、障害物αが存在する領域に応じた軌道計画の修正を行う。   On the other hand, when it is determined that there is an obstacle α within the track width of the target track Ti and the vehicle 1 is in contact with the obstacle α, the track calculation unit 5 responds to the region where the obstacle α exists. Correct the trajectory plan.

障害物αの位置の分類について説明すると、本実施形態の場合、最初の軌道計算では従来手法１を用いるため、回転半径一定の円が２つ（ともに最小回転半径の円）と直線（接線）との組み合わせで目標軌道Ｔｉが決まる。   The classification of the position of the obstacle α will be described. In the case of the present embodiment, the conventional method 1 is used in the initial trajectory calculation, so there are two circles with a constant turning radius (both circles with the minimum turning radius) and a straight line (tangent) And the target trajectory Ti is determined.

そして、「左バック駐車」だけでなく「右バック駐車」も考慮すると、目標位置Ｐ２に到達する際、車両１は左旋回、右旋回、直進のいずれかの後退で移動する可能性がある。図３はこれらの場合の軌道Ｔｌ、Ｔｓ、Ｔｒを模式的に示し、図４はそれらの軌道Ｔｌ、Ｔｓ、Ｔｒを軌道幅（概ね車幅に相当）を考慮した幅の斜線部で拡大して示し、障害物αが存在する可能性がある領域は軌道Ｔｌ、Ｔｓ、Ｔｒの内外の○印を付した１〜９の数字の各領域である。   Considering not only “left back parking” but also “right back parking”, when the vehicle reaches the target position P2, there is a possibility that the vehicle 1 moves in any one of left turn, right turn, and straight forward. . FIG. 3 schematically shows the tracks Tl, Ts, and Tr in these cases, and FIG. 4 is an enlarged view of the tracks Tl, Ts, and Tr in a hatched portion with a width considering the track width (generally equivalent to the vehicle width). The regions where the obstacle α may be present are the regions 1 to 9 with circles inside and outside the trajectories Tl, Ts, and Tr.

図４の○印を付した１、３、４、５、６、７の領域は軌道Ｔｌ、Ｔｓ、Ｔｒ内の領域であって、これらの領域に障害物αがあれば、車両１と障害物αが確実に接触する。図４の○印を付した９の領域の障害物αについては車両１が接触することはない。図４の○印を付した２、８の領域の障害物αについては、その位置によって車両１が接触する可能性がある。   Regions 1, 3, 4, 5, 6, and 7 marked with a circle in FIG. 4 are regions in the tracks Tl, Ts, and Tr. If there is an obstacle α in these regions, the vehicle 1 and the obstacle The object α comes into contact with certainty. The vehicle 1 does not come into contact with the obstacle α in the area 9 marked with a circle in FIG. There is a possibility that the vehicle 1 may come into contact with the obstacle α in the areas 2 and 8 marked with a circle in FIG.

そして、「左バック駐車」で車庫入れの駐車を行なう本実施例の場合、右旋回することはないので、車両１は、図４の○印を付した９の領域及び７、８の領域にある障害物αと接触することはなく、１、２、３、４、５、６の領域にある障害物αとのみ接触する可能性があり、軌道計算部５は、これらの場合に自車１が障害物αに接触して当たると判定する。   In the case of the present embodiment in which parking in the garage is performed by “left back parking”, the vehicle 1 does not turn right, so that the vehicle 1 has the regions 9 and 7 and 8 marked with ○ in FIG. There is a possibility that the trajectory calculation unit 5 does not touch the obstacle α in the area 1, 2, 3, 4, 5, 6 only, and the trajectory calculation unit 5 may It is determined that the vehicle 1 hits the obstacle α.

（障害物αが図４の○印を付した１の領域にある場合）
図５は障害物αが図４の○印を付した１の領域にある場合の例を示し、この例の場合、最初の従来手法１の軌道計算によって得られた目標軌道Ｔｉの１の領域に障害物αが存在する。図５においては、円Ｃ１、Ｃ１１、Ｃ１２それぞれに同心状に車幅分大きな円も描き、目標軌道Ｔｉを軌道幅（概ね車両１の車幅）を示す２本の実線で示している。 (When the obstacle α is in the area 1 marked with a circle in FIG. 4)
FIG. 5 shows an example of the case where the obstacle α is in the region 1 marked with a circle in FIG. 4. In this example, the region 1 of the target trajectory Ti obtained by the trajectory calculation of the first conventional method 1 is shown. There is an obstacle α. In FIG. 5, circles C1, C11, and C12 are also drawn concentrically with a circle that is larger by the vehicle width, and the target track Ti is indicated by two solid lines that indicate the track width (approximately the vehicle width of the vehicle 1).

そして、自車１が障害物αに接触して当たると判定した軌道計算部５は、図６に示すように、駐車目標位置Ｐ２の前方の延長線上に、障害物αにかからないように仮の目標位置としての本発明の仮位置Ｐ３を設定し、仮位置Ｐ３を経由する修正軌道Ｔｊを算出して障害物αを回避する。この手法を提案手法１として、以下にさらに具体的に説明する。   Then, the trajectory calculation unit 5 that has determined that the host vehicle 1 is in contact with and hits the obstacle α, as shown in FIG. 6, tentatively prevents the obstacle α from being placed on the extension line ahead of the parking target position P2. The temporary position P3 of the present invention is set as the target position, and the corrected trajectory Tj passing through the temporary position P3 is calculated to avoid the obstacle α. This method will be described more specifically below as Proposed Method 1.

図６は提案手法１の仮位置Ｐ３に基づく修正軌道Ｔｊを示し、仮位置Ｐ３は、そこから真直ぐ後退すれば目標位置Ｐ２に到達できる目標位置Ｐ２の前方の延長線上の位置である。同図に示すように紙面の左右方向をＸ方向、紙面の上下方向をＹ方向とすると、仮位置Ｐ３は、駐車目標位置Ｐ２からＹ方向に設定された一定距離ずつずらして設定され、設定される都度、車両１が現在停止している開始位置Ｐ１から仮位置Ｐ３に至る修正軌道Ｔｊを、仮位置Ｐ３を目標位置Ｐ２として、従来手法１により、仮位置Ｐ３の旋回側に描いた円の円弧と、開始位置Ｐ１の旋回側に描いた円Ｃ１の円弧と、両円に接する直線とから算出して求め、その軌道Ｔｊ内に障害物αがあるか否か、すなわち、障害物αを回避可能か否かを判定し、回避可能であればその修正軌道Ｔｊを目標軌道Ｔｉに代わる軌道に決定する。   FIG. 6 shows a corrected trajectory Tj based on the provisional position P3 of the proposed method 1. The provisional position P3 is a position on an extension line ahead of the target position P2 that can reach the target position P2 if it recedes straight from there. As shown in the figure, assuming that the left and right direction of the paper surface is the X direction and the vertical direction of the paper surface is the Y direction, the temporary position P3 is set and set by shifting from the parking target position P2 by a certain distance set in the Y direction. Each time, the corrected trajectory Tj from the starting position P1 where the vehicle 1 is currently stopped to the temporary position P3 is set to the temporary position P3 as the target position P2, and the circle drawn on the turning side of the temporary position P3 by the conventional method 1. It is calculated from the arc, the arc of the circle C1 drawn on the turning side of the start position P1, and the straight line in contact with both circles, and whether or not there is an obstacle α in the trajectory Tj, that is, the obstacle α is determined. It is determined whether or not avoidance is possible. If the avoidance is possible, the corrected trajectory Tj is determined as a trajectory in place of the target trajectory Ti.

なお、仮位置Ｐ３を設定できる範囲は限定される。そして、限定された範囲内で仮位置Ｐ３をずらしても障害物αを回避できない場合は、提案手法１では障害物αを回避できないので自動駐車の制御を行なわず、その旨の警報を警報制御部６から発生する。   The range in which the temporary position P3 can be set is limited. If the obstacle α cannot be avoided even if the temporary position P3 is shifted within the limited range, the proposed technique 1 cannot avoid the obstacle α, so automatic parking control is not performed, and an alarm to that effect is alarm-controlled. Generated from part 6.

図７は仮位置Ｐ３を設定できる範囲を示す。同図に示すように開始位置Ｐ１から真直ぐに直進後退する車両１の車幅の間隔の軌道線Ｍ１、Ｍ２を求める。つぎに、真直ぐに後退して目標位置Ｐ２に到達できる、同様の間隔の軌道線Ｍ３、Ｍ４を求める。円Ｃ１を軌道線Ｍ２に沿って仮位置Ｐ３方向にずらして軌道線Ｍ２、Ｍ３と接する位置に円Ｃ１と同じ大きさの円Ｃ３を配置する。このとき生じる円Ｃ３と軌道線Ｍ３の接点Ａが車両１の後輪軸上になる位置まで、換言すれば、Ａ点がＹ方向に円Ｃ１の開始位置Ｐ１の接点と同じ位置になるまで、仮位置Ｐ３をＹ方向にずらすことができる。そして、この限界の位置から目標位置Ｐ２までの範囲が、仮位置Ｐ３の設定可能な範囲であり、仮位置Ｐ３は、Ｙ方向に開始位置Ｐ１より駐車目標位置Ｐ２寄りに設定される。そうしないと、切返しや旋回方向の変更が必要になって制御が複雑になるからである。   FIG. 7 shows a range in which the temporary position P3 can be set. As shown in the figure, track lines M1 and M2 are obtained at intervals of the vehicle width of the vehicle 1 that goes straight back from the start position P1. Next, trajectory lines M3 and M4 having similar intervals that can recede straight and reach the target position P2 are obtained. A circle C3 having the same size as the circle C1 is arranged at a position in contact with the track lines M2 and M3 by shifting the circle C1 in the direction of the temporary position P3 along the track line M2. Until the contact point A between the circle C3 and the track line M3 generated at this time is on the rear wheel axis of the vehicle 1, in other words, until the point A becomes the same position as the contact point of the start position P1 of the circle C1 in the Y direction. The position P3 can be shifted in the Y direction. The range from the limit position to the target position P2 is a settable range for the temporary position P3. The temporary position P3 is set closer to the parking target position P2 than the start position P1 in the Y direction. Otherwise, it will be necessary to turn over or change the turning direction, resulting in complicated control.

（障害物αが図５の○印を付した２の領域にある場合）
図８（ａ）、（ｂ）は、障害物αが図５の○印を付した２の領域にある場合の例それぞれを示す。図８（ａ）の例は、障害物αの位置の駐車目標位置Ｐ２からのＹ方向のずれが大きくなく、提案手法１で回避できる場合であり、図８（ｂ）の例は、障害物αの位置が駐車目標位置Ｐ２からＹ方向に比較的大きくずれていて提案手法１では回避できない場合である。 (When the obstacle α is in the area 2 marked with a circle in FIG. 5)
FIGS. 8A and 8B show examples in the case where the obstacle α is in the area 2 marked with a circle in FIG. The example of FIG. 8A is a case in which the position of the obstacle α is not greatly displaced from the parking target position P2 in the Y direction and can be avoided by the proposed method 1. The example of FIG. This is a case where the position α is relatively deviated from the parking target position P2 in the Y direction and cannot be avoided by the proposed method 1.

そこで、障害物αが図５の○印を付した２の領域にある場合、軌道計算部５は、まず、提案手法１の軌道修正を試み、修正軌道Ｔｊによって障害物αを回避できるか否かを判定する。その間に回避できるとする判定が発生すると、その修正軌道Ｔｊを自動駐車の軌道に決定する（図８（ａ）の場合）。一方、提案手法１の軌道修正を試みて障害物αを回避できないと判定すると（図８（ｂ）の場合）、つぎに説明する提案手法２によって修正軌道Ｔｋを作成し、修正軌道Ｔｋによって障害物αを回避できるか否かを判定する。   Therefore, when the obstacle α is in the region 2 marked with a circle in FIG. 5, the trajectory calculation unit 5 first tries to correct the trajectory of the proposed method 1 and whether or not the obstacle α can be avoided by the corrected trajectory Tj. Determine whether. If it is determined that it can be avoided in the meantime, the corrected trajectory Tj is determined as an automatic parking trajectory (in the case of FIG. 8A). On the other hand, if it is determined that the obstacle α cannot be avoided by trying to correct the trajectory of the proposed method 1 (in the case of FIG. 8B), a corrected trajectory Tk is created by the proposed method 2 described below, and the obstacle is corrected by the corrected trajectory Tk. It is determined whether or not the object α can be avoided.

図９は提案手法２の仮の目標位置Ｐ４に基づく修正軌道Ｔｋを示し、提案手法２では同図に示すように、開始位置Ｐ１の前方の延長線上に仮位置Ｐ４を設定する。この場合、自車１が前進するシーンでは、カメラ撮影部２の前方の撮影画像が取り込まれれ、位置認識部４がダッシュボードのタッチパネル表示器の液晶画面に前方の撮影画像を表示する。また、仮位置Ｐ４は、開始位置Ｐ１から車両１を前進方向に一定距離ずつずらして設定され、設定される都度、仮位置Ｐ４から目標位置Ｐ２までの修正軌道Ｔｋを、仮位置Ｐ４を開始位置Ｐ１とし、従来手法１により仮位置Ｐ４の旋回側に描いた円Ｃ４の円弧と、目標位置Ｐ２の旋回側に描いた円Ｃ１１の円弧と、両円Ｃ４、Ｃ１１に接する直線とから算出して求め、その軌道Ｔｋによって障害物αを回避可能か否かを判定し、回避可能であれば、修正軌道Ｔｋを目標軌道Ｔｉに代わる軌道に決定する。   FIG. 9 shows the corrected trajectory Tk based on the provisional target position P4 of the proposed method 2. In the proposed method 2, the provisional position P4 is set on the extension line in front of the start position P1, as shown in FIG. In this case, in a scene in which the host vehicle 1 moves forward, a photographed image in front of the camera photographing unit 2 is captured, and the position recognizing unit 4 displays the photographed image on the front on the liquid crystal screen of the touch panel display on the dashboard. The temporary position P4 is set by shifting the vehicle 1 from the start position P1 by a predetermined distance in the forward direction. Each time the vehicle 1 is set, the corrected trajectory Tk from the temporary position P4 to the target position P2 is set to the start position P4. P1 is calculated from the arc of the circle C4 drawn on the turning side of the temporary position P4 by the conventional method 1, the arc of the circle C11 drawn on the turning side of the target position P2, and the straight line in contact with both the circles C4 and C11. Then, it is determined whether or not the obstacle α can be avoided by the trajectory Tk. If the obstacle α can be avoided, the corrected trajectory Tk is determined as a trajectory replacing the target trajectory Ti.

なお、仮位置Ｐ４は、例えばカメラ撮影部２の前方の撮影画像をみてドライバが指定した他の障害物βに接触しない範囲で前進方向に一定距離ずつずらして開始位置Ｐ１の延長線上に設定すことができ、その範囲で障害物αを回避できない場合は、提案手法２では障害物αを回避できないので自動駐車の制御を行なわず、その旨の警報を警報制御部６から発生する。   Note that the temporary position P4 is set on the extension line of the start position P1 by shifting by a certain distance in the forward direction within a range that does not come into contact with the other obstacle β designated by the driver, for example, by looking at a captured image in front of the camera photographing unit 2. If the obstacle α cannot be avoided within the range, the proposed method 2 cannot avoid the obstacle α, so the automatic parking control is not performed and an alarm to that effect is generated from the alarm control unit 6.

（障害物αが図５の○印を付した５の領域にある場合）
図１０は障害物αが図５の○印を付した５の領域にある場合の例を示し、この例の場合も最初の従来手法１の軌道計算によって得られた目標軌道Ｔｉ内に障害物αが存在するので、軌道計算部５は、まず、提案手法１の軌道修正を試み、修正軌道Ｔｊによって障害物αを回避できるか否かを判定する。回避できると判定すれば、その修正軌道Ｔｊに決定し、する。一方、提案手法１を試みても障害物αを回避できないと判定すると、この例の場合も提案手法２によって修正軌道Ｔｋを作成し、修正軌道Ｔｋによって障害物αを回避できるか否かを判定する。 (When the obstacle α is in the area 5 marked with ○ in FIG. 5)
FIG. 10 shows an example of the case where the obstacle α is in the region 5 marked with a circle in FIG. 5. In this example as well, the obstacle is within the target trajectory Ti obtained by the trajectory calculation of the first conventional method 1. Since α exists, the trajectory calculation unit 5 first attempts to correct the trajectory of the proposed method 1 and determines whether or not the obstacle α can be avoided by the corrected trajectory Tj. If it is determined that it can be avoided, the corrected trajectory Tj is determined. On the other hand, if it is determined that the obstacle α cannot be avoided even if the proposed method 1 is attempted, a corrected trajectory Tk is created by the proposed method 2 in this example as well, and it is determined whether the obstacle α can be avoided by the corrected trajectory Tk. To do.

図１１は前記５の領域の障害物αが回避できる修正軌道Ｔｋの例を示し、修正軌道Ｔｋによって障害物αを回避可能であれば、その修正軌道Ｔｋを目標軌道Ｔｊに代わる軌道に決定する。   FIG. 11 shows an example of a corrected trajectory Tk that can avoid the obstacle α in the area 5. If the obstacle α can be avoided by the corrected trajectory Tk, the corrected trajectory Tk is determined as a trajectory that replaces the target trajectory Tj. .

（障害物αが図５の○印を付した３，４の領域にある場合）
この場合は、障害物αが目標駐車位置Ｐ２の前方近傍の開始位置Ｐ１寄りの位置に存在し、提案手法１、２の修正軌道Ｔｊ、Ｔｋのいずれによっても障害物αを回避できない。そこで、自動駐車の制御を行なわず、その旨の警報を警報制御部６から発生する。 (When the obstacle α is in the areas 3 and 4 marked with ○ in FIG. 5)
In this case, the obstacle α exists at a position near the start position P1 in the vicinity of the front of the target parking position P2, and the obstacle α cannot be avoided by any of the corrected trajectories Tj and Tk of the proposed methods 1 and 2. Therefore, automatic warning control is not performed, and a warning to that effect is generated from the warning control unit 6.

そして、軌道計算部５の上記した軌道計算に基づき、修正軌道Ｔｊ、Ｔｋによって障害物αを回避可能な場合、自動駐車の制御により、制動制御部６による制動、操舵制御部７の旋回制御により、修正軌道Ｔｊ、Ｔｋに沿うように車両１を旋回しつつ後退移動し、切返しなく、障害物αを回避して車両１を目標位置Ｐ２に移動して駐車する。   When the obstacle α can be avoided by the corrected trajectories Tj and Tk based on the trajectory calculation of the trajectory calculation unit 5, by the automatic parking control, the braking by the braking control unit 6 and the turning control by the steering control unit 7. Then, the vehicle 1 moves backward while turning along the corrected trajectories Tj and Tk, and without turning over, the vehicle 1 is moved to the target position P2 and parked while avoiding the obstacle α.

図１２は本実施形態の目標軌道算出装置の上記した自動駐車の制御手順を示し、まず、軌道計算部５は、ドライバによって指定された駐車目標位置Ｐ２、障害物αの位置を取り込む（ステップＳ１，Ｓ２）。つぎに、従来手法１で目標軌道Ｔｉを計算する（ステップＳ３）。計算した目標軌道Ｔｉに沿って車両１が移動すれば車両１が障害物αと接触するか否かを判定する（ステップＳ４）。   FIG. 12 shows the above-described automatic parking control procedure of the target trajectory calculation apparatus of this embodiment. First, the trajectory calculation unit 5 takes in the parking target position P2 and the position of the obstacle α designated by the driver (step S1). , S2). Next, the target trajectory Ti is calculated by the conventional method 1 (step S3). If the vehicle 1 moves along the calculated target trajectory Ti, it is determined whether or not the vehicle 1 comes into contact with the obstacle α (step S4).

接触しないと予想すれば、ステップＳ４をＮＯで通過し、ステップＳ５に移行して自動駐車の制御軌道を目標軌道Ｔｉに決定し、制動制御部６、操舵制御部７により、決定した目標軌道Ｔｉに沿って自車１を移動し、目標駐車位置Ｐ２に自動駐車制御する（ステップＳ６）。一方、目標軌道Ｔｉに沿って車両１が移動すると車両１が障害物αと接触すると予想される場合は、ステップＳ４をＹＥＳで通過してステップＳ７に移行し、ステップＳ７により提案手法１、２で修正軌道Ｔｊ、Ｔｋを計算し、計算した修正軌道Ｔｊ、Ｔｋに沿って車両１が移動すると、障害物αを回避できるか否かを判定する（ステップＳ８）。   If it is predicted that the contact will not occur, step S4 is passed with NO, the process proceeds to step S5, the automatic trajectory control trajectory is determined as the target trajectory Ti, and the determined target trajectory Ti is determined by the braking control unit 6 and the steering control unit 7. The self-vehicle 1 is moved along the automatic parking control at the target parking position P2 (step S6). On the other hand, when the vehicle 1 is expected to come into contact with the obstacle α when the vehicle 1 moves along the target trajectory Ti, the process proceeds to step S7 through YES in step S4, and the proposed methods 1 and 2 are performed in step S7. Then, the corrected trajectories Tj and Tk are calculated, and when the vehicle 1 moves along the calculated corrected trajectories Tj and Tk, it is determined whether or not the obstacle α can be avoided (step S8).

回避できると予想すれば、ステップ８をＹＥＳで通過し、ステップＳ９に移行して自動駐車の制御軌道を修正軌道Ｔｊ、Ｔｋに決定し、ステップＳ６により、決定した修正軌道Ｔｊ、Ｔｋに沿って障害物αを回避して自車１を移動し、目標駐車位置Ｐ２に自動駐車制御する。   If it is predicted that it can be avoided, step 8 is passed through YES, the process proceeds to step S9, the control trajectory for automatic parking is determined as the corrected trajectories Tj, Tk, and along the corrected trajectories Tj, Tk determined in step S6. The vehicle 1 is moved while avoiding the obstacle α, and automatic parking control is performed at the target parking position P2.

回避できないと予想すれば、ステップ８をＮＯで通過し、自動駐車の制御を中止し、警報制御部８により目標駐車位置Ｐ２に駐車不可であることをドライバに報知する（ステップＳ１０）。   If it is predicted that it cannot be avoided, step 8 is passed through NO, the automatic parking control is stopped, and the warning control unit 8 informs the driver that parking is impossible at the target parking position P2 (step S10).

したがって、本実施形態の場合、直線と円弧を用いた簡単な軌道計画手法で障害物αを回避した軌道を求め、障害物αを回避した自動駐車を実現することができる。   Therefore, in the case of the present embodiment, it is possible to obtain a trajectory that avoids the obstacle α by a simple trajectory planning method using straight lines and arcs, and to realize automatic parking that avoids the obstacle α.

そして、本発明は上記した実施形態に限定されるものではなく、その趣旨を逸脱しない限りにおいて上述したもの以外に種々の変更を行うことが可能であり、例えば、本発明は「右バック駐車」の自動駐車にも適用することができ、この場合は、図５の○印を付した１，２の領域に代えて７、８の領域を対象とし、提案手法１、２と同様にして修正軌道を算出すればよい。また、本発明は、車庫入れの自動駐車の制御だけでなく、例えば車両１が前進走行で旋回しながら開始位置から目標位置に移動するような自動運転制御にも適用することができる。   The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. For example, the present invention refers to “right back parking”. In this case, instead of the areas 1 and 2 marked with a circle in FIG. 5, the areas 7 and 8 are targeted and corrected in the same manner as the proposed methods 1 and 2. The trajectory may be calculated. Further, the present invention can be applied not only to automatic parking control in a garage but also to automatic driving control in which, for example, the vehicle 1 moves from a start position to a target position while turning forward.

つぎに、検出手段はレーダ等であってもよく、軌道計算部５等の構成はどのようであってもよい。また、目標位置Ｐ２はドライバが指定する代わりに、車外の装置から通信で提供される構成であってもよく、障害物αの位置は、同様に車外の装置から通信で提供される構成あるいは車両１に周知の障害物検出装置を搭載して自動検出する構成であってもよい。   Next, the detection means may be a radar or the like, and the configuration of the trajectory calculation unit 5 or the like may be any. Further, the target position P2 may be configured to be provided by communication from a device outside the vehicle instead of being specified by the driver, and the position of the obstacle α is similarly configured to be provided by communication from a device outside the vehicle or the vehicle. 1 may be configured to automatically detect a known obstacle detection device.

そして、本発明は種々の車両の目標軌道の算出に適用することができる。   The present invention can be applied to the calculation of target trajectories for various vehicles.

１ 車両
５ 軌道計算部
Ｐ１ 開始位置
Ｐ２ 目標位置
Ｐ３、Ｐ４ 仮位置
Ｔｉ 目標軌道
Ｔｊ、Ｔｋ 修正軌道 1 vehicle 5 trajectory calculation unit P1 start position P2 target position P3, P4 temporary position Ti target trajectory Tj, Tk corrected trajectory

Claims (1)

指定された開始位置から目標位置に旋回しながら移動する車両の目標軌道を、前記開始位置、前記目標位置それぞれの旋回側に描いた円の弧と該両円に接する直線とから算出する目標軌道算出装置であって、
前記車両の周囲の障害物を検出する検出手段と、
前記障害物が前記目標軌道に存在する場合に、前記開始位置、前記目標位置のいずれか一方の延長線上に仮位置を設け、前記仮位置の旋回側に描いた円の円弧と、前記開始位置、前記目標位置のいずれか他方の旋回側に描いた円の円弧と、該両円に接する直線とから、前記目標軌道として前記障害物を回避する修正軌道を算出する修正軌道算出手段を備えたことを特徴とする目標軌道算出装置。 A target trajectory that calculates a target trajectory of a vehicle that moves while turning from a specified start position to a target position from a circle arc drawn on the turning side of each of the start position and the target position and a straight line that touches both the circles A calculation device,
Detecting means for detecting obstacles around the vehicle;
When the obstacle exists in the target trajectory, a temporary position is provided on an extension line of either the start position or the target position, and a circular arc drawn on the turning side of the temporary position, and the start position And a correction trajectory calculation means for calculating a correction trajectory for avoiding the obstacle as the target trajectory from a circular arc drawn on the other turning side of the target position and a straight line in contact with both circles. A target trajectory calculation apparatus.
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