WO2019181264A1 - Parking assistance device - Google Patents
Parking assistance device Download PDFInfo
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- WO2019181264A1 WO2019181264A1 PCT/JP2019/004571 JP2019004571W WO2019181264A1 WO 2019181264 A1 WO2019181264 A1 WO 2019181264A1 JP 2019004571 W JP2019004571 W JP 2019004571W WO 2019181264 A1 WO2019181264 A1 WO 2019181264A1
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- 238000003384 imaging method Methods 0.000 claims abstract description 32
- 238000013459 approach Methods 0.000 claims description 32
- 238000001514 detection method Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 description 36
- 230000008569 process Effects 0.000 description 35
- 238000012545 processing Methods 0.000 description 27
- 230000008859 change Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 11
- 238000004364 calculation method Methods 0.000 description 10
- 238000012937 correction Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 230000001771 impaired effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R99/00—Subject matter not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Definitions
- the present invention relates to a parking assistance device.
- a driving support system has been developed to reduce the driver's driving load such as preventing traffic accidents and traffic jams.
- a parking assistance device as one of the driving assistance systems.
- the parking assist device automatically performs part or all of an accelerator, a brake, and a steering operation, and guides and controls the vehicle in a target parking space.
- Patent Document 1 specifies a target parking position from the movement history of a vehicle, captures a parking frame line only from the imaging data to the target parking position, and improves position accuracy during automatic parking.
- Patent Document 1 In the parking assistance device disclosed in Patent Document 1, the parking accuracy is improved by using the movement history of the vehicle. However, since the movement history of the vehicle is used, improvement in parking accuracy for a parking space with no movement history cannot be desired. Patent Document 1 does not mention the following problem. That is, even when the resolution of the imaging device is low or when the vehicle is away from the parking space, the position of the parking space can be accurately recognized, and a deviation occurs between the recognized parking space and the actual parking position. It is a challenge to prevent this from happening.
- the parking assist device includes a recognition unit that detects an external environment of a vehicle and recognizes a parking space position, and a route setting unit that sets a parking route from the vehicle position to the parking space position recognized by the recognition unit. And an approach detection unit that detects that the vehicle has approached the parking space position when the vehicle passes the vicinity of the parking space position along the parking path, and the recognition unit includes: The parking space position recognized at the parking start position is recognized as a first target parking position, and the parking space position recognized when the vehicle approaches the parking space position by the approach detection unit is set as a second target parking position.
- the route setting unit sets the first parking route from the parking start position to the first target parking position, and then when the recognition unit recognizes the second target parking position, the parking Sutra As, reset the second parking path from the position of the vehicle to the second target parking position at that time.
- the position of the parking space can be accurately recognized, and the deviation between the recognized parking space and the actual parking position can be minimized.
- FIG. 1 is a top view of the vehicle 400.
- Cameras (imaging devices) 101, 102, 103, and 104 are provided on the front, rear, right side, and left side of the vehicle 400, respectively.
- the range imaged by these cameras 101, 102, 103, 104 is an imaging area 105 around the vehicle 400.
- four sonars 106 and 107 are provided in front and rear of the vehicle 400, respectively.
- An obstacle or the like in the area 108 is detected by the front sonar 106, and an obstacle or the like in the area 109 is detected by the rear sonar 107.
- FIG. 2 is a block diagram showing a configuration of the parking assist device 220 mounted on the vehicle 400.
- the parking assist device 220 includes a parking control device 200, an HMI device 201, an external environment recognition input device 202, a wheel rotation detector 203, a driving force control device 210, a braking force control device 211, a steering control device 212, and a shift control device 213. .
- the HMI (Human Machine Interface) device 201 is a device that displays a parking route or the like to the user or inputs an instruction from the user.
- the external recognition input device 202 is a camera 101, 102, 103, 104, sonar 106, 107, etc., and images a parking space or detects an obstacle or the like.
- the wheel rotation detector 203 detects the number of rotations of the wheel of the vehicle 400 and outputs this as information indicating the vehicle speed.
- the driving force control device 210 controls the driving force of the engine, the motor, etc. of the vehicle 400 according to the command from the parking control device 200.
- the braking force control device 211 applies a braking force to the brake of the vehicle 400 in response to a command from the parking control device 200.
- the steering control device 212 controls the steering device in response to a command from the parking control device 200.
- the shift control device 213 performs shift control according to a command from the parking control device 200.
- the parking control device 200 includes a recognition data processing unit 204, a spatial data creation unit 205, a vehicle position estimation unit 206, a parking position setting unit 207, a parking route setting unit 208, a control amount determination unit 209, and an approach detection unit 214.
- the recognition data processing unit 204 captures image data captured by the cameras 101, 102, 103, and 104, which are the external environment recognition input device 202, and recognizes white lines, objects, and the like based on the image data.
- the spatial data creation unit 205 arranges white lines and objects recognized by the recognition data processing unit on the spatial data.
- the own vehicle position estimation unit 206 obtains the vehicle speed based on the rotation speed of the wheel from the wheel rotation detector 203 and estimates the own vehicle position on the parking route.
- the parking position setting unit 207 detects a parking frame line from a white line or an object on the spatial data and sets the parking position.
- the parking route setting unit 208 calculates a parking route that reaches the target parking space position (target parking position) based on the set parking position and the own vehicle position by the own vehicle position estimating unit 206.
- the control amount determination unit 209 becomes a command value to the driving force control device 210, the braking force control device 211, the steering control device 212, and the shift control device 213 in order to move the vehicle 400 based on the calculated parking route.
- a control amount is calculated.
- the approach detection unit 214 detects that the vehicle 400 is closest to the parking space position when the vehicle 400 passes the vicinity of the parking space position along the parking path.
- the approach detection unit 214 cooperates with the parking position setting unit 207 and the parking route setting unit 208 so that the vehicle 400 has come closest to the parking space position by the processing shown in the flowcharts of FIGS. Is detected.
- FIG. 3 is a diagram showing the relationship between the recognition position of the parking space and the parking accuracy.
- the case where the vehicle 400 is parked in parallel with the parking frame line 301 or the parking frame line 306 will be described as an example.
- the parking route 302 is calculated up to the position of the parking space 304 based on the recognized parking frame line 301.
- Perform automatic parking The vehicle 400 is parked in the parking space 304 through the turn-back position 303 of the vehicle 400 without shifting.
- the parking route 307 is calculated to the position of the parking space 309 based on the recognized parking frame line 306. And perform automatic parking.
- the vehicle is parked in the parking space 309 via the turn-back position 308 of the vehicle 400, there is a problem that the parking position is shifted.
- the parking position (parking frame line 306) cannot be accurately recognized, and the recognized parking space 309 and the actual parking position (parking frame line 306). ).
- a similar phenomenon occurs when the resolution of the cameras 101, 102, 103, 104 is low, or when the surrounding environment is deteriorated such as at night or in the rain. Therefore, in the conventional parking assistance device, in order to improve the recognition accuracy of the position of the initial parking space, many examples of starting parking assistance after moving the vehicle to a specific position directly beside the parking space are known, The convenience of parking assistance was sometimes impaired.
- FIG. 4 is a diagram showing the relationship between the position of the camera 405 (corresponding to the camera 104 in FIG. 1) and the target parking position 406.
- the vehicle 400 is located beside the parking frame line 401, more specifically, a position 404 (hereinafter referred to as the center of the frontage) of the distance Wd between the parking frame end points 402 and 403 of the parking frame line 401.
- the camera 405 of the vehicle 400 is located at a position opposite to the point). At the position of the frontage center point 404, the camera 405 of the vehicle 400 is closest to the target parking position 406 of the parking frame line 401.
- the parking space is recognized at the position where the distance between the center point 404 of the parking frame 401 and the camera 405 is the shortest and the distance between the camera 405 and the parking frame end points 402 and 403 is equal, the parking is most performed. Position accuracy is improved. In the embodiment of the present invention, such a positional relationship is detected to recognize the parking position at the best position.
- FIG. 5 is a diagram showing a change in the distance between the camera 405 of the vehicle traveling next to the target parking position 406 and the frontage center point 404.
- the horizontal axis in FIG. 5 represents time, and the vertical axis represents the distance between the camera 405 and the frontage center point 404.
- the distance between the camera 405 and the frontage center point 404 decreases as the vehicle 400 approaches the frontage center point 404. Increases as the distance from the frontage center point 404 increases.
- the recognition accuracy is improved when the vehicle 400 recognizes at the point 501 closest to the frontage center point 404.
- the parking space is recognized using data captured in the vicinity of the point 501 where the distance between the camera 405 and the frontage center point 404 is minimum.
- the point 503 shows an example when an error occurs in the calculation of the distance, and such an error is corrected as will be described later.
- FIG. 6 to 8 are diagrams showing a series of operation examples when parking in parallel at the target parking position.
- FIG. 6 is a diagram illustrating a case where the vehicle 400 is located at the parking start position 601
- FIG. 7 is a diagram illustrating a case where the vehicle 400 approaches the frontage center point 404
- FIG. It is a figure which shows the case where it is retracted later.
- the vehicle 400 recognizes a parking space including the target parking position 602 in the parking frame line 605 at the parking start position 601 using the external field recognition input device 202, and determines this position as the provisional target parking position (first parking position). 1 target parking position).
- a parking route (first parking route) 603 that reaches from the parking start position 601 to the temporary target parking position is calculated.
- the parking route 603 includes a turning point 604.
- the parking control of the vehicle 400 can be started, and the parking control device 200 starts the parking control by the driver's start operation.
- the parking control device 200 outputs control amounts to the driving force control device 210, the braking force control device 211, the steering control device 212, and the shift control device 213,
- the vehicle 400 is moved along the calculated parking route 603.
- the vehicle 400 passes in front of the frontage center point 404 where the provisional target parking position is set.
- the distance between the camera and the frontage center point is calculated, and a point 501 where the distance starts to decrease and increases is determined to be the shortest distance between the camera and the frontage center point.
- the parking position re-recognized from the data captured in the vicinity of the point 501 and calculated again is stored as the primary target parking position (second target parking position).
- the primary target parking position may adversely affect accuracy. In this case, the calculated primary target parking position is excluded. .
- the parking path 703 toward the parking frame line 605 is retreated and headed toward the target parking position 602, so that the parking space can be gradually recognized by the rear camera 102.
- the final parking accuracy is further improved. It becomes possible to improve. Therefore, when the yaw angle vc ⁇ of the vehicle 400 with respect to the target parking position 602 is equal to or smaller than a predetermined value and the distance 801 to the target parking position 602 is equal to or smaller than the predetermined value, the parking position is recognized again and recalculated. Is stored as the secondary target parking position (third target parking position).
- the distance between the target parking position set as the temporary target parking position or the primary target parking position and the secondary target parking position is calculated. If the distance is larger than a predetermined value, the target parking position is set as the secondary target parking position. replace. When the distance is smaller than the predetermined value, the target parking position is not rewritten. When the target parking position is replaced with the secondary target parking position, after stopping and recalculating the parking route, the parking control may be continued, or the parking control is performed by increasing / decreasing the correction amount while continuing traveling. May be continued. As in the case of the primary target parking position, the distance may be erroneously calculated due to an error in the recognition result. Therefore, an allowable change amount is set, and the over / under value is ignored.
- the parking completion position of the vehicle 400 that has reached the target parking position may deviate from the parking frame line 605 depending on the road surface condition, weather, illuminance, or the like.
- the amount of deviation is determined and the deviation is greater than or equal to a predetermined value, a parking route that advances and turns back to retry from that position is calculated, and operation is performed to reenter the parking position.
- the calculation of the parking route for retrying does not necessarily have to be made when the parking is completed, and the amount of deviation may be calculated and judged during traveling before the parking is completed.
- the temporary target parking position is adopted. If the secondary target parking position cannot be calculated correctly due to failure, etc., from the target parking position calculation to the secondary target parking position calculation, the primary target parking position is adopted, and parking is completed without interruption even in the event of a failure. can do.
- the calculation of the primary target parking position is performed after the parking control is started.
- the vehicle in the parking lot where the parking frame line is arranged as shown in FIG. When traveling on the road and passing in front of the front of the parking frame, the primary target parking position can be calculated in advance by recognizing the parking space position. Thereby, the parking assistance process can be started in a state where the primary target parking position has already been calculated at the parking start position for the passing and passing parking frames.
- FIG. 9 is a flowchart showing the processing operation of the parking assistance device 220.
- the program shown in this flowchart can be executed by a computer including a CPU, a memory, and the like. All or some of the processing may be realized by a hard logic circuit.
- this program can be provided by being stored in advance in a storage medium of the parking assistance device 220.
- the program can be provided by being stored in an independent storage medium, or the program can be recorded and stored in the storage medium of the parking assistance device 220 through a network line.
- Various forms of computer readable computer program products such as data signals (carrier waves) may be provided.
- a parking space including the target parking position 602 in the parking frame line 605 in the parking lot is recognized by the external environment recognition input device 202 such as the cameras 101, 102, 103, and 104. Not only the parking frame line 605 but also other vehicles parked on both sides of the parking frame line 605 may recognize the parking space by recognizing them.
- step S902 the recognized target parking position 602 is set as the provisional target parking position.
- the parking support device 220 uses the parking route setting unit 208 or the like to set the parking route to the temporary target parking position, or the parking route to the target parking position if the target parking position has been set (first parking position). Route).
- the control amount is output from the control amount determination unit 209 so that the vehicle 400 travels along the parking route.
- step S905 as shown in FIG. 7, the position of the side camera 705 (corresponding to the camera 104 in FIG. 2) provided on the side surface of the vehicle 400 is in front of the entrance of the parking frame line 605, and the parking frame line Whether it is between the extended lines 605 is determined based on the image data captured by the side camera 705. If the position of the side camera 705 is between the extended lines of the parking frame line 605, the process proceeds to step S911. If it is not between the extended lines of the parking frame line 605, the process proceeds to step S906.
- step S906 the parking assistance apparatus 220 determines whether automatic parking is being executed and the parking route is being moved backward to the target position. At the beginning of parking, it is determined that the vehicle is not moving backward, and the process proceeds to step S907. If the vehicle is moving backward, the process proceeds to step S916.
- step S907 the provisional target parking position (first target parking position) set in step S902 is set as the target parking position.
- step S908 it is determined whether the target parking position has been changed. If the target parking position has been changed, the process proceeds to step S903.
- step S908 it is assumed that the target parking position has been changed, and the process proceeds to step S903. If it is determined in step S908 that the target parking position has not been changed, the process proceeds to step S909.
- step S909 it is determined whether the vehicle 400 is completely within the parking frame line 605 and parking is completed. If the parking is completed, the process is terminated, but the parking is not completed at first, and the process returns to step S903. *
- the vehicle 400 gradually proceeds along the parking path 603 from the parking start position shown in FIG. 6, and as shown in FIG. 7, the position of the side camera 705 is in front of the entrance of the parking frame line 605, and the parking frame line 605. If it is sandwiched between the extension lines, the process proceeds from step S905 to step S911.
- step S911 Details of the processing in step S911 will be described later with reference to FIG. 10, but the parking space is imaged by the side camera 705 in the vicinity of the point where the distance between the position of the side camera 705 and the central point of the parking frame line 605 is the shortest. To do. Then, the parking position re-recognized from the captured data and calculated again is stored as the primary target parking position (second target parking position). Next, the process proceeds to step S912.
- step S912 a target position change amount between the temporary target parking position and the primary target parking position is obtained.
- step S913 it is determined whether the target position change amount is equal to or greater than a predetermined value. If the target position change amount is equal to or greater than the predetermined value, the process proceeds to step S914, and the primary target parking position is set as the target parking position.
- step S913 If it is determined in step S913 that the target position change amount is not greater than or equal to the predetermined value, the process proceeds to step S915.
- step S915 the provisional target parking position is set as the target parking position. This is because the case where the target value change amount is small corresponds to a case where unnecessary correction is included when a recognition error is included.
- Step S903 is denied and the process proceeds to Step S904.
- the vehicle 400 starts moving backward when it reaches the turning position.
- the parking assist device 220 determines that automatic parking is being executed and the parking route is moving backward to the target position, and proceeds to step S916.
- the parking path 703 toward the parking frame line 605 is moving backward. In this case, the parking space can be gradually recognized by the rear camera 102.
- step S916 although details will be described later with reference to FIG. 12, the parking space is set at a point where the position of the camera 102 is located near the center of the parking frame line 605 (a position where the vehicle center and the parking frame line are close in parallel). reacknowledge. The re-recognized parking position is stored as the secondary target parking position.
- step S917 a target position change amount between the temporary target parking position and the secondary target parking position, or a target position change amount between the primary target parking position and the secondary target parking position is obtained.
- step S918 it is determined whether the target position change amount is greater than or equal to a predetermined value. If the target position change amount is equal to or greater than the predetermined value, the process proceeds to step S919, and the secondary target parking position (third target parking position) is set as the target parking position.
- step S918 If it is determined in step S918 that the target position change amount is not equal to or greater than the predetermined value, the process proceeds to step S920.
- step S920 the primary target parking position is set as the target parking position. This is because the case where the target value change amount is small corresponds to a case where unnecessary correction is included when a recognition error is included.
- step S914 When the target parking position is changed in steps S914, S915, S919, and S920, the process proceeds from step S908 to step S903, and the parking path to the target parking position is calculated by the parking path setting unit 208 and the like.
- FIG. 10 is a flowchart showing the setting of the primary target parking position, and is a flowchart showing details of the processing in step S911 in FIG.
- the process of step S911 is executed when the side camera 705 of the vehicle 400 is in front of the frontage and on the extension line of the parking frame line 605 as shown in FIG.
- step S1001 of FIG. 10 the position (pspos) of the front edge center point 404 of the parking frame line 605 is calculated as a coordinate point based on the image data captured by the side camera 705.
- step S1002 the distance (dp1st) between the position (scpos) of the side camera 705 and the position (pspos) of the frontage center point 404 is calculated, and the process proceeds to step S1003.
- step S1003 it is determined whether the distance (dp1st) is less than or equal to a predetermined value. If it is not less than the predetermined value, the processing shown in this flowchart is terminated. If it is determined that the distance (dp1st) is equal to or smaller than the predetermined value, the process proceeds to step S1004.
- step S1004 it is determined whether it is the first primary recognition for the target parking frame which is the parking frame line 605. If it is not the first primary recognition, the process proceeds to step S1005. If it is the first time primary recognition, it will progress to below-mentioned step S1008.
- step S1005 based on the current vehicle speed of the vehicle 400, the distance from the side camera 705 to the position of the frontage center point 404 is calculated. This calculation will be described with reference to FIG. FIG. 11 is a diagram illustrating a state in which the vehicle 400 is traveling near the frontage center point 404 at the vehicle speed V along the parking route. It is assumed that the distance from the side camera 705 that captures an image at the current time point z of the vehicle 400 to the position of the frontage center point 404 is a distance dp1st.
- step S1007 the vehicle 400 moves forward to the position indicated by reference numeral 400 ′, and a distance middp1st between the side camera 705 ′ and the position of the frontage center point 404 obtained at this time point is obtained based on the vehicle speed V. Then, taking into account the acceleration / deceleration of the vehicle, the maximum value maxdp1st and the minimum value mindp1st up to the position of the side camera 705 'and the frontage center point 404 are obtained. Next, it progresses to step S1007.
- step S1007 the distance dp1st (z) between the position of the side camera 705 calculated in step S1002 and the position of the frontage center point 404 is the tolerance of the position of the side camera 705 and the position of the frontage center point 404 obtained in the previous imaging cycle. It is checked whether it is within the range, that is, within the range of the maximum value maxdp1st (z-1) in the previous imaging cycle and the minimum value mindp1st (z-1) in the previous imaging cycle. If it is within the allowable range, the process proceeds to step S1008.
- step S1008 the distance dp1st (z) between the position of the side camera 705 and the position of the front edge center point 404 is compared with the previous value dp1st (z-1), and if less than the previous value dp1st (z-1), the process proceeds to step S1009. move on.
- step S1009 the primary target parking position (TP1st) is calculated based on the imaging data at the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404, and the parking space including this position is recognized.
- step S1010 if the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404 is less than the previous value dp1st (z-1), the process proceeds to step S1010.
- step S1010 the current distance dp1st (z) is updated as the previous distance dp1st (z-1).
- step S1007 the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404 is not within the allowable range of the position of the side camera 705 and the position of the frontage center point 404 obtained in the previous imaging cycle. In the case, the process proceeds to step S1011.
- step S1011 it is regarded as an error, and an intermediate value middpst1 (z) between the maximum value maxdp1st and the minimum value mindp1st is set as the previous distance dp1st (z-1).
- the parking space is recognized by the side camera 705 in the vicinity of the point where the distance between the position of the side camera 705 and the center point of the front edge of the parking frame line 605 is the shortest.
- FIG. 12 is a flowchart showing the setting of the secondary target parking position, and is a flowchart showing details of the process in step S916 of FIG.
- step S1201 of FIG. 12 as shown in FIG. 8, an angle vc ⁇ formed by the center line a of the vehicle 400 and the center line b of the parking frame line 605 is calculated based on the image data captured by the rear camera 102. .
- step S1202 a distance dTPdist from the camera 102 to the target parking position 602 is calculated. Then, the process proceeds to step S1203.
- step S1203 it is determined whether the inclination vc ⁇ of the vehicle with respect to the parking frame line is equal to or smaller than a predetermined value and the distance dTPdist to the target parking position is equal to or smaller than the predetermined value. If these conditions are satisfied, the process proceeds to step S1204. If the condition is not satisfied, the secondary target parking position setting process is terminated.
- step S1204 the parking frame line 605 is re-recognized based on the imaging data captured by the rear camera 102, and the target parking position calculated based on the recognized result is set as the temporary secondary target parking position tempTP2nd. Set as. Then, the process proceeds to step S1205.
- step S1205 it is determined whether it is the first calculation for the target parking frame 605, that is, the first secondary recognition. If it is the first time, the process of step S1208 described later is executed, and if it is the second time or later, the process of step S1206 is executed.
- step S1206 a difference value dTP2nd between the temporary secondary target parking position tempTP2nd and the previous value TP2nd (z-1) of the secondary target parking position is calculated.
- step S1207 it is checked whether the change amount of the difference value dTP2nd is within a predetermined value range. If the difference value dTP2nd is within the range between the minimum change value MINdTP2nd and the maximum change value MAXdTP2nd, the process of step S1208 is executed. Otherwise, the secondary target parking position setting process ends.
- step S1208 the temporary secondary target parking position tempTP2nd calculated in step S1205 is set as the secondary target position TP2nd (z).
- step S1209 the previous value TP2nd (z-1) of the secondary target parking position is updated.
- the angle vc ⁇ formed by the vehicle center line a and the center line b of the parking frame line 605 is equal to or less than a predetermined value, and the camera 102 and the target The parking space is re-recognized at a point where the distance dTPdist from the parking position 602 is below a predetermined value.
- FIG. 13 is a diagram illustrating an interval for imaging a parking space when passing through a parking lot and an interval for recognition processing. It is assumed that the vehicle 400 is traveling in front of the parking lot 1200 from the right side to the left side in FIG.
- the vehicle 400 is a side camera 705 and is parked at an imaging interval ⁇ t1 (a black square time interval indicated on a straight line 1201 in the figure) when passing near the central point 1206 of each parking frame of the parking lot 1200.
- the captured image is subjected to recognition processing by the parking control device 200.
- the recognition processing interval ⁇ t2 black square time interval indicated on the straight line 1202 in the figure
- the recognition processing interval ⁇ t2 black square time interval indicated on the straight line 1202 in the figure
- the imaging interval ⁇ t1 is the imaging interval ⁇ t1 as shown in FIG. Longer than. This is because the data processing for calculating the primary target parking position including the recognition processing takes time.
- the calculation of the primary target parking position uses the immediately preceding imaging data at the calculation timing, and therefore data that is away from the frontage center point 1206 may be used as indicated by ⁇ in the straight line 1201 of the imaging interval ⁇ t1 in the figure. is there. For this reason, when the passing speed of the vehicle 400 in front of the frontage increases, the image data near the frontage center point 1206 often cannot be used, and the accuracy of the primary target position tends to deteriorate.
- each imaging data including the shortest imaging data from the frontage center point 1206 with respect to the parking frame through which the vehicle 400 has passed is stored in a storage unit (not shown) in the parking control device 200 so that the vehicle 400 Even at the position 1205 after passing through the parking frame, based on the positional relationship between the own vehicle position and the parking frame calculated from the own vehicle movement amount by the own vehicle position estimation unit 206, the stored image data is stored. It is possible to search for the imaging data 1204 (circle mark in the figure) closest to the frontage center point 1206 and calculate the primary target parking position using the imaging data 1204 closest to the frontage center point 1206.
- FIG. 14 is a diagram illustrating an example of parallel parking.
- the parking frame line 1401 is arranged horizontally and the center thereof is the target parking position 1402.
- the vehicle 400 passes in front of a front center point 1403 of the parking frame line 1401 where the provisional target parking position is set (a position half the distance between the parking frame end points of the parking frame line 1401).
- a distance between the side camera 705 (corresponding to the camera 104 in FIG. 1) and the frontage center point 1403 is calculated, and a point where the distance starts to decrease and increases is determined to be the shortest distance between the side camera 705 and the frontage center point 1403.
- the parking position calculated again after recognizing the parking space from the data captured in the vicinity of this point is stored as the primary target parking position.
- the vehicle 400 moves on the parking route 1404 and reaches the turning point 1405. After turning back at the turning point 1405, the vehicle moves backward along the parking route 1406 and parks within the parking frame line 1401.
- the parking assistance device 220 detects the outside of the vehicle 400 and recognizes the parking space position (the outside world recognition input device 202, the recognition data processing unit 204, the parking position setting unit 207), and the position of the vehicle 400.
- a parking route setting unit 208 that sets a parking route to a parking space position recognized by the recognition unit (external world recognition input device 202, recognition data processing unit 204, parking position setting unit 207), and the vehicle 400 along the parking route
- an approach detection unit 214 that detects that the vehicle has approached the parking space position when passing near the parking space position.
- the recognizing unit (the external environment recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) recognizes the parking space position recognized at the parking start position as the first target parking position, and the approach detection unit 214 causes the vehicle 400 to The parking space position recognized when approaching the parking space position is re-recognized as the second target parking position.
- the recognition unit (the external environment recognition input device 202, the recognition data processing unit 204, the parking position setting unit 207)
- the second target parking position is recognized, the second parking path from the current position of the vehicle 400 to the second target parking position is reset as the parking path. Thereby, the position of the parking space can be accurately recognized, and the deviation between the recognized parking space and the actual parking position can be minimized.
- the parking path setting unit 208 determines the parking path to the second target parking position.
- the setting of the parking route to the temporary target parking position is maintained without performing the setting. Thereby, when the setting of the parking route to the first target parking position is unnecessary, the setting can be omitted.
- an external recognition input device 202 for example, a camera 104 that is an imaging device is provided.
- the approach detection unit 214 detects a position where the distance between the center position of the width of the parking space position and the position of the camera 104 is the smallest as the closest approach position in parallel parking. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching.
- the recognition unit (the outside world recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) captures an image at a position closest to the closest approach position.
- the second target parking position is recognized based on the captured image data. Thereby, a parking position can be recognized using the imaging data imaged at the closest position.
- a storage unit inside the parking control device 200 that stores the distance between the second target parking position detected by the approach detection unit 214 and the vehicle every predetermined time, and a recognition unit (external recognition input device 202, recognition data).
- the processing unit 204 and the parking position setting unit 207) re-recognize the parking space position recognized at the minimum distance among the plurality of distances stored in the storage unit (in the parking control device 200) as the second target parking position. Thereby, a parking position can be recognized using the imaging data imaged at the closest position.
- the parking route setting unit 208 uses the second target parking to determine the parking space position that is the remaining distance obtained by removing the predetermined undervalue and overvalue among the plurality of distances and recognized at the minimum distance. Re-recognize as a position. Thereby, it is possible to detect that an error has occurred in the calculation of the distance and correct this error.
- the recognition unit (the external environment recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) is operated by the camera 104 (external environment recognition input device 202), which is an imaging device provided on the side of the vehicle 400. Recognize the side of Thereby, parking space can be recognized with the camera etc. of the side of the vehicle 400 in parallel parking etc.
- the parking assist device includes a drive control unit (a driving force control device 210, a braking force control device 211, a steering control device 212, and a shift control device 213) that drives and controls the vehicle 400 to the target parking position along the parking route. Also have.
- the drive control unit stops the vehicle 400 at the turn-back position of the first parking route, performs a turn-back operation at the turn-back position, and then moves the vehicle 400 back along the retreat route on the first parking route.
- the recognizing unit (the external environment recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) re-recognizes the parking space position recognized while the vehicle 400 is retreating along the retreat path as the third target parking position.
- the parking path setting unit 208 sets the third path from the current position of the vehicle 400 to the third target parking position as the parking path. Reset the parking route. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
- the parking path setting unit 208 When there is no predetermined difference between the third target parking position and the first target parking position, the parking path setting unit 208 does not set the parking path to the third parking space position, Maintain the setting of the parking route to the target parking position. Thereby, when the setting of the parking route to the third target parking position is unnecessary, the setting can be omitted.
- An external recognition input device 202 that constitutes a recognition unit is an imaging device provided behind the vehicle, that is, a camera 104.
- the recognition unit recognizes the rear of the vehicle by the camera 104 provided at the rear of the vehicle 400. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
- the approach detection unit 214 detects a position where the distance between the center position of the width of the parking space position and the position of the recognition unit is the shortest approach position in parallel parking. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in parallel parking.
- the present invention can be implemented by modifying the embodiment described above as follows. (1) Four sonars 106 and 107 are provided at the front and rear of the vehicle, respectively. If an obstacle is detected by these sonars 106 and 107, a search is made for another parking route. If there is another parking route, it may be selected. Alternatively, when an obstacle is detected by the sonars 106 and 107, the vehicle may be stopped and proceed after the obstacle is removed.
- the present invention is not limited to the above-described embodiment, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention as long as the characteristics of the present invention are not impaired. . Moreover, it is good also as a structure which combined the above-mentioned embodiment and a some modification.
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Abstract
When the resolution of an imaging device is low or when a vehicle is away from a parking space, the position of the parking space cannot be accurately recognized and a difference occurs between the recognized parking space and the actual parking position. As shown in fig. 7, a vehicle 400 passes an area that is generally in front of an opening center point 404 set as a provisional target parking position. An image of the parking space is taken by a side camera 705 in the vicinity of a point where the distance between the position of the side camera 705 and the opening center point in a parking frame line 605 is shortest. Then, the parking space is recognized once again from the captured image data, and the re-calculated parking position is stored as a primary target parking position.
Description
本発明は、駐車支援装置に関する。
The present invention relates to a parking assistance device.
交通事故の防止や渋滞時など運転者の運転負荷を軽減するための運転支援システムが開発されている。運転支援システムの一つとして駐車支援装置がある。駐車支援装置は、アクセル、ブレーキ、ステアリング操作の一部あるいは全てを自動で行い、車両を目標の駐車空間に誘導制御して駐車させるものである。
A driving support system has been developed to reduce the driver's driving load such as preventing traffic accidents and traffic jams. There is a parking assistance device as one of the driving assistance systems. The parking assist device automatically performs part or all of an accelerator, a brake, and a steering operation, and guides and controls the vehicle in a target parking space.
従来から、カメラなどの撮像装置を使用して駐車枠線や駐車車両の間にある駐車空間を認識し、認識した駐車空間の位置を目標として駐車経路を算出して、算出した駐車経路に沿って車両を移動させる技術が記載されている。たとえば、特許文献1には、車両の移動履歴から目標駐車位置を特定し、撮像データから目標駐車位置に限定して駐車枠線を取り込み、自動駐車時の位置精度の向上を図っている。
Conventionally, the parking space between the parking frame line and the parked vehicle is recognized using an imaging device such as a camera, and the parking route is calculated with the recognized position of the parking space as a target, along the calculated parking route. The technology to move the vehicle is described. For example, Patent Document 1 specifies a target parking position from the movement history of a vehicle, captures a parking frame line only from the imaging data to the target parking position, and improves position accuracy during automatic parking.
特許文献1の駐車補助装置では、車両の移動履歴を用いて駐車精度の向上を図っている。しかし、車両の移動履歴を用いるため、移動履歴がない駐車空間に対する駐車精度の向上を望むことはできない。また、特許文献1には、次の課題についての言及がない。すなわち、撮像装置の解像度が低い場合や車両が駐車空間から離れている場合等においても、駐車空間の位置を正確に認識することができ、認識した駐車空間と実際の駐車位置とにずれが生じることがないようにする課題である。
In the parking assistance device disclosed in Patent Document 1, the parking accuracy is improved by using the movement history of the vehicle. However, since the movement history of the vehicle is used, improvement in parking accuracy for a parking space with no movement history cannot be desired. Patent Document 1 does not mention the following problem. That is, even when the resolution of the imaging device is low or when the vehicle is away from the parking space, the position of the parking space can be accurately recognized, and a deviation occurs between the recognized parking space and the actual parking position. It is a challenge to prevent this from happening.
本発明による駐車支援装置は、車両の外界を検出して駐車空間位置を認識する認識部と、前記車両の位置から前記認識部で認識した前記駐車空間位置への駐車経路を設定する経路設定部と、前記車両が前記駐車経路に沿って前記駐車空間位置の近傍を通過する際に、前記車両が前記駐車空間位置に接近したことを検出する接近検出部と、を備え、前記認識部は、駐車開始位置で認識した前記駐車空間位置を第1目標駐車位置として認識し、前記接近検出部により前記車両が前記駐車空間位置に接近したときに認識した前記駐車空間位置を第2目標駐車位置として再認識し、前記経路設定部は、前記駐車開始位置から前記第1目標駐車位置までの第1駐車経路を設定した後、前記認識部が前記第2目標駐車位置を認識したときは、前記駐車経路として、そのときの前記車両の位置から前記第2目標駐車位置までの第2駐車経路を再設定する。
The parking assist device according to the present invention includes a recognition unit that detects an external environment of a vehicle and recognizes a parking space position, and a route setting unit that sets a parking route from the vehicle position to the parking space position recognized by the recognition unit. And an approach detection unit that detects that the vehicle has approached the parking space position when the vehicle passes the vicinity of the parking space position along the parking path, and the recognition unit includes: The parking space position recognized at the parking start position is recognized as a first target parking position, and the parking space position recognized when the vehicle approaches the parking space position by the approach detection unit is set as a second target parking position. After re-recognizing, the route setting unit sets the first parking route from the parking start position to the first target parking position, and then when the recognition unit recognizes the second target parking position, the parking Sutra As, reset the second parking path from the position of the vehicle to the second target parking position at that time.
本発明によれば、駐車空間の位置を正確に認識することができ、認識した駐車空間と実際の駐車位置とのずれを最小限に抑えることができる。
According to the present invention, the position of the parking space can be accurately recognized, and the deviation between the recognized parking space and the actual parking position can be minimized.
図1は、車両400の上面図である。車両400の前方、後方、右側面、左側面にはそれぞれカメラ(撮像装置)101、102、103、104が備えられている。これらのカメラ101、102、103、104によって撮像される範囲は車両400の周囲の撮像領域105である。また、車両400の前方、後方にはそれぞれ4個のソナー106、107が備えられている。前方のソナー106で領域108内の障害物等を検知し、後方のソナー107で領域109内の障害物等を検知する。
FIG. 1 is a top view of the vehicle 400. Cameras (imaging devices) 101, 102, 103, and 104 are provided on the front, rear, right side, and left side of the vehicle 400, respectively. The range imaged by these cameras 101, 102, 103, 104 is an imaging area 105 around the vehicle 400. In addition, four sonars 106 and 107 are provided in front and rear of the vehicle 400, respectively. An obstacle or the like in the area 108 is detected by the front sonar 106, and an obstacle or the like in the area 109 is detected by the rear sonar 107.
図2は、車両400に搭載された駐車支援装置220の構成を示すブロック図である。駐車支援装置220は、駐車制御装置200、HMI装置201、外界認識入力装置202、車輪回転検出器203、駆動力制御装置210、制動力制御装置211、操舵制御装置212、シフト制御装置213を備える。
FIG. 2 is a block diagram showing a configuration of the parking assist device 220 mounted on the vehicle 400. As shown in FIG. The parking assist device 220 includes a parking control device 200, an HMI device 201, an external environment recognition input device 202, a wheel rotation detector 203, a driving force control device 210, a braking force control device 211, a steering control device 212, and a shift control device 213. .
HMI(Human Machine Interface)装置201は、ユーザに対して駐車経路などを表示したり、ユーザからの指示を入力する装置である。外界認識入力装置202は、カメラ101、102、103、104やソナー106、107などであり、駐車空間を撮像したり、障害物等を検知する。車輪回転検出器203は、車両400の車輪の回転数を検出し、車速を示す情報としてこれを出力する。駆動力制御装置210は、駐車制御装置200からの指令に応じて車両400のエンジンやモータなどの駆動力を制御する。制動力制御装置211は、駐車制御装置200からの指令に応じて車両400のブレーキなどに制動力を与える。操舵制御装置212は、駐車制御装置200からの指令に応じて操舵装置を制御する。シフト制御装置213は、駐車制御装置200からの指令に応じて変速制御を行う。
The HMI (Human Machine Interface) device 201 is a device that displays a parking route or the like to the user or inputs an instruction from the user. The external recognition input device 202 is a camera 101, 102, 103, 104, sonar 106, 107, etc., and images a parking space or detects an obstacle or the like. The wheel rotation detector 203 detects the number of rotations of the wheel of the vehicle 400 and outputs this as information indicating the vehicle speed. The driving force control device 210 controls the driving force of the engine, the motor, etc. of the vehicle 400 according to the command from the parking control device 200. The braking force control device 211 applies a braking force to the brake of the vehicle 400 in response to a command from the parking control device 200. The steering control device 212 controls the steering device in response to a command from the parking control device 200. The shift control device 213 performs shift control according to a command from the parking control device 200.
駐車制御装置200は、認識データ処理部204、空間データ作成部205、自車位置推定部206、駐車位置設定部207、駐車経路設定部208、制御量決定部209、接近検出部214を備える。
The parking control device 200 includes a recognition data processing unit 204, a spatial data creation unit 205, a vehicle position estimation unit 206, a parking position setting unit 207, a parking route setting unit 208, a control amount determination unit 209, and an approach detection unit 214.
認識データ処理部204は、外界認識入力装置202であるカメラ101、102、103、104で撮像された撮像データを取り込み、撮像データに基づいて白線や物体などを認識する。空間データ作成部205は、認識データ処理部で認識された白線や物体などを空間データ上に配置する。自車位置推定部206は、車輪回転検出器203からの車輪の回転数に基づいて車速を求め、駐車経路上の自車位置を推定する。駐車位置設定部207は、空間データ上にある白線や物体などから駐車枠線を検出して駐車位置を設定する。駐車経路設定部208は、設定された駐車位置と自車位置推定部206による自車位置とに基づいて、目標の駐車空間位置(目標駐車位置)に到達する駐車経路を算出する。制御量決定部209は、算出された駐車経路に基づいて車両400を移動するために、駆動力制御装置210、制動力制御装置211、操舵制御装置212、シフト制御装置213への指令値となる制御量を算出する。接近検出部214は、車両400が駐車経路に沿って駐車空間位置の近傍を通過する際に、車両400が駐車空間位置に最接近したことを検出する。接近検出部214は、駐車位置設定部207、駐車経路設定部208と協働して、後述の図9、図10、図12のフローチャートで示す処理によって車両400が駐車空間位置に最接近したことを検出する。
The recognition data processing unit 204 captures image data captured by the cameras 101, 102, 103, and 104, which are the external environment recognition input device 202, and recognizes white lines, objects, and the like based on the image data. The spatial data creation unit 205 arranges white lines and objects recognized by the recognition data processing unit on the spatial data. The own vehicle position estimation unit 206 obtains the vehicle speed based on the rotation speed of the wheel from the wheel rotation detector 203 and estimates the own vehicle position on the parking route. The parking position setting unit 207 detects a parking frame line from a white line or an object on the spatial data and sets the parking position. The parking route setting unit 208 calculates a parking route that reaches the target parking space position (target parking position) based on the set parking position and the own vehicle position by the own vehicle position estimating unit 206. The control amount determination unit 209 becomes a command value to the driving force control device 210, the braking force control device 211, the steering control device 212, and the shift control device 213 in order to move the vehicle 400 based on the calculated parking route. A control amount is calculated. The approach detection unit 214 detects that the vehicle 400 is closest to the parking space position when the vehicle 400 passes the vicinity of the parking space position along the parking path. The approach detection unit 214 cooperates with the parking position setting unit 207 and the parking route setting unit 208 so that the vehicle 400 has come closest to the parking space position by the processing shown in the flowcharts of FIGS. Is detected.
図3は、駐車空間の認識位置と駐車精度の関係を示した図である。図3では、車両400を駐車枠線301または駐車枠線306に並列駐車する場合を例に説明する。
駐車開始位置300にてカメラ101、102、103、104により車両400に近い駐車枠線301を検出した場合、認識された駐車枠線301に基づく駐車空間304の位置まで駐車経路302を算出して自動駐車を実行する。車両400の切り返し位置303を経て駐車空間304へ駐車位置がずれることなく駐車される。一方、駐車開始位置300にてカメラ101、102、103、104により車両400に遠い駐車枠線306を検出した場合、認識された駐車枠線306に基づく駐車空間309の位置まで駐車経路307を算出して自動駐車を実行する。車両400の切り返し位置308を経て駐車空間309へ駐車するが、その駐車位置がずれる問題があった。
このように、車両が駐車空間309から離れている場合には、駐車位置(駐車枠線306)を正確に認識することができず、認識した駐車空間309と実際の駐車位置(駐車枠線306)とにずれが生じる。
同様な現象は、カメラ101、102、103、104の解像度が低い場合や、夜間や雨天など周囲の環境が悪化している場合にも生じる。そのため従来の駐車支援装置では、初期の駐車空間の位置の認識精度を向上させるために車両を駐車空間の真横の特定の位置まで移動してから駐車支援を開始する例が多く知られており、駐車支援の利便性が損なわれる場合があった。 FIG. 3 is a diagram showing the relationship between the recognition position of the parking space and the parking accuracy. In FIG. 3, the case where thevehicle 400 is parked in parallel with the parking frame line 301 or the parking frame line 306 will be described as an example.
When theparking frame line 301 close to the vehicle 400 is detected by the cameras 101, 102, 103, 104 at the parking start position 300, the parking route 302 is calculated up to the position of the parking space 304 based on the recognized parking frame line 301. Perform automatic parking. The vehicle 400 is parked in the parking space 304 through the turn-back position 303 of the vehicle 400 without shifting. On the other hand, when the parking frame line 306 far from the vehicle 400 is detected by the cameras 101, 102, 103, 104 at the parking start position 300, the parking route 307 is calculated to the position of the parking space 309 based on the recognized parking frame line 306. And perform automatic parking. Although the vehicle is parked in the parking space 309 via the turn-back position 308 of the vehicle 400, there is a problem that the parking position is shifted.
Thus, when the vehicle is away from theparking space 309, the parking position (parking frame line 306) cannot be accurately recognized, and the recognized parking space 309 and the actual parking position (parking frame line 306). ).
A similar phenomenon occurs when the resolution of the cameras 101, 102, 103, 104 is low, or when the surrounding environment is deteriorated such as at night or in the rain. Therefore, in the conventional parking assistance device, in order to improve the recognition accuracy of the position of the initial parking space, many examples of starting parking assistance after moving the vehicle to a specific position directly beside the parking space are known, The convenience of parking assistance was sometimes impaired.
駐車開始位置300にてカメラ101、102、103、104により車両400に近い駐車枠線301を検出した場合、認識された駐車枠線301に基づく駐車空間304の位置まで駐車経路302を算出して自動駐車を実行する。車両400の切り返し位置303を経て駐車空間304へ駐車位置がずれることなく駐車される。一方、駐車開始位置300にてカメラ101、102、103、104により車両400に遠い駐車枠線306を検出した場合、認識された駐車枠線306に基づく駐車空間309の位置まで駐車経路307を算出して自動駐車を実行する。車両400の切り返し位置308を経て駐車空間309へ駐車するが、その駐車位置がずれる問題があった。
このように、車両が駐車空間309から離れている場合には、駐車位置(駐車枠線306)を正確に認識することができず、認識した駐車空間309と実際の駐車位置(駐車枠線306)とにずれが生じる。
同様な現象は、カメラ101、102、103、104の解像度が低い場合や、夜間や雨天など周囲の環境が悪化している場合にも生じる。そのため従来の駐車支援装置では、初期の駐車空間の位置の認識精度を向上させるために車両を駐車空間の真横の特定の位置まで移動してから駐車支援を開始する例が多く知られており、駐車支援の利便性が損なわれる場合があった。 FIG. 3 is a diagram showing the relationship between the recognition position of the parking space and the parking accuracy. In FIG. 3, the case where the
When the
Thus, when the vehicle is away from the
A similar phenomenon occurs when the resolution of the
次に、図4を参照して駐車の精度を向上させる原理について説明する。図4は、カメラ405(図1のカメラ104に相当)の位置と目標駐車位置406との関係を示す図である。
車両400は駐車枠線401の横に位置し、より具体的には、駐車枠線401の駐車枠端点402、403の間の距離Wdの1/2の位置404(以下、この位置を間口中央点と称する)に対向する位置に車両400のカメラ405が位置する。この間口中央点404の位置において車両400のカメラ405は駐車枠線401の目標駐車位置406と最も接近している。このように、駐車枠線401の間口中央点404とカメラ405の位置の距離が最短で、且つカメラ405と駐車枠端点402、403の距離が等しくなる位置で駐車空間を認識した場合が最も駐車位置精度が良くなる。本発明の実施形態では、このような位置関係を検出して最良な位置で駐車位置を認識する。 Next, the principle of improving parking accuracy will be described with reference to FIG. 4 is a diagram showing the relationship between the position of the camera 405 (corresponding to thecamera 104 in FIG. 1) and the target parking position 406. As shown in FIG.
Thevehicle 400 is located beside the parking frame line 401, more specifically, a position 404 (hereinafter referred to as the center of the frontage) of the distance Wd between the parking frame end points 402 and 403 of the parking frame line 401. The camera 405 of the vehicle 400 is located at a position opposite to the point). At the position of the frontage center point 404, the camera 405 of the vehicle 400 is closest to the target parking position 406 of the parking frame line 401. Thus, when the parking space is recognized at the position where the distance between the center point 404 of the parking frame 401 and the camera 405 is the shortest and the distance between the camera 405 and the parking frame end points 402 and 403 is equal, the parking is most performed. Position accuracy is improved. In the embodiment of the present invention, such a positional relationship is detected to recognize the parking position at the best position.
車両400は駐車枠線401の横に位置し、より具体的には、駐車枠線401の駐車枠端点402、403の間の距離Wdの1/2の位置404(以下、この位置を間口中央点と称する)に対向する位置に車両400のカメラ405が位置する。この間口中央点404の位置において車両400のカメラ405は駐車枠線401の目標駐車位置406と最も接近している。このように、駐車枠線401の間口中央点404とカメラ405の位置の距離が最短で、且つカメラ405と駐車枠端点402、403の距離が等しくなる位置で駐車空間を認識した場合が最も駐車位置精度が良くなる。本発明の実施形態では、このような位置関係を検出して最良な位置で駐車位置を認識する。 Next, the principle of improving parking accuracy will be described with reference to FIG. 4 is a diagram showing the relationship between the position of the camera 405 (corresponding to the
The
図5は、目標駐車位置406の横を走行する車両のカメラ405と間口中央点404との距離の変化を示す図である。図5の横軸は時間を、縦軸はカメラ405と間口中央点404との距離を表す。
FIG. 5 is a diagram showing a change in the distance between the camera 405 of the vehicle traveling next to the target parking position 406 and the frontage center point 404. The horizontal axis in FIG. 5 represents time, and the vertical axis represents the distance between the camera 405 and the frontage center point 404.
車両400が駐車枠線401の間口中央点404の前方を一方向へ走行した場合、カメラ405の位置と間口中央点404の距離は、車両400が間口中央点404に接近すると減少し、車両400が間口中央点404から離れると増加する。例えば、地点500や地点502においてカメラ405で駐車空間を認識するよりも、車両400が間口中央点404に最も接近した地点501で認識したほうが認識精度は向上する。本実施形態ではカメラ405と間口中央点404の距離が最小となる地点501の近傍で撮像したデータを用いて駐車空間を認識する。なお、地点503は、距離の算出にエラーが生じた場合の一例を示すもので、後述するように、このようなエラーは修正される。
When the vehicle 400 travels in one direction in front of the frontage center point 404 of the parking frame line 401, the distance between the camera 405 and the frontage center point 404 decreases as the vehicle 400 approaches the frontage center point 404. Increases as the distance from the frontage center point 404 increases. For example, rather than recognizing the parking space with the camera 405 at the point 500 or the point 502, the recognition accuracy is improved when the vehicle 400 recognizes at the point 501 closest to the frontage center point 404. In the present embodiment, the parking space is recognized using data captured in the vicinity of the point 501 where the distance between the camera 405 and the frontage center point 404 is minimum. The point 503 shows an example when an error occurs in the calculation of the distance, and such an error is corrected as will be described later.
図6~図8は目標駐車位置に並列駐車する場合の一連の動作例を示した図である。
図6は、車両400が駐車開始位置601に位置する場合を示す図であり、図7は、車両400が間口中央点404に接近した場合を示す図であり、図8は、車両400が切返し後に後退している場合を示す図である。 6 to 8 are diagrams showing a series of operation examples when parking in parallel at the target parking position.
FIG. 6 is a diagram illustrating a case where thevehicle 400 is located at the parking start position 601, FIG. 7 is a diagram illustrating a case where the vehicle 400 approaches the frontage center point 404, and FIG. It is a figure which shows the case where it is retracted later.
図6は、車両400が駐車開始位置601に位置する場合を示す図であり、図7は、車両400が間口中央点404に接近した場合を示す図であり、図8は、車両400が切返し後に後退している場合を示す図である。 6 to 8 are diagrams showing a series of operation examples when parking in parallel at the target parking position.
FIG. 6 is a diagram illustrating a case where the
図6に示すように、車両400は駐車開始位置601において外界認識入力装置202を用いて駐車枠線605内の目標駐車位置602を含む駐車空間を認識し、この位置を暫定目標駐車位置(第1目標駐車位置)として設定する。暫定目標駐車位置が設定されると駐車開始位置601から暫定目標駐車位置まで到達する駐車経路(第1駐車経路)603が算出される。駐車経路603には切返し点604が含まれる。駐車経路603が算出されると車両400の駐車制御を開始できる状態となり、ドライバの開始操作によって駐車制御装置200は駐車制御を開始する。駐車制御が開始されると、図2に示すように、駐車制御装置200は駆動力制御装置210、制動力制御装置211、操舵制御装置212、シフト制御装置213に対して制御量を出力し、算出された駐車経路603に沿って車両400を移動する。
As shown in FIG. 6, the vehicle 400 recognizes a parking space including the target parking position 602 in the parking frame line 605 at the parking start position 601 using the external field recognition input device 202, and determines this position as the provisional target parking position (first parking position). 1 target parking position). When the temporary target parking position is set, a parking route (first parking route) 603 that reaches from the parking start position 601 to the temporary target parking position is calculated. The parking route 603 includes a turning point 604. When the parking path 603 is calculated, the parking control of the vehicle 400 can be started, and the parking control device 200 starts the parking control by the driver's start operation. When the parking control is started, as shown in FIG. 2, the parking control device 200 outputs control amounts to the driving force control device 210, the braking force control device 211, the steering control device 212, and the shift control device 213, The vehicle 400 is moved along the calculated parking route 603.
次に経路上の移動を開始すると、図7に示すように、車両400は暫定目標駐車位置が設定された間口中央点404の前方を通過する。図5に示すように、カメラ-間口中央点の距離を算出して距離が減少から増加に転じる地点501をカメラ-間口中央点の距離が最短と判断する。この地点501の近傍で撮像したデータから駐車空間を再度認識して再度算出した駐車位置を1次目標駐車位置(第2目標駐車位置)として記憶する。
なお、間口中央点404から例えば2m以上離れて走行している場合に1次目標駐車位置として算出すると逆に精度が悪化する場合があり、この場合は算出された1次目標駐車位置を除外する。また図5を参照して説明したように、距離を算出する際に誤認識データによりにより過大や過小(図5の地点503)となる誤った距離を算出する場合があり、その値を採用して1次目標駐車位置を算出した場合には暫定目標駐車位置より精度が悪化する懸念がある。そのため、車両400の車速から距離の許容変化量を設定し、その変化量から外れた値は採用しないことで精度悪化を防止する。
次に車両400は駐車経路703上を移動し切返し点701に到達する。そして、切返し点701で切返した後、駐車経路703に沿って後退する。 Next, when the movement on the route is started, as shown in FIG. 7, thevehicle 400 passes in front of the frontage center point 404 where the provisional target parking position is set. As shown in FIG. 5, the distance between the camera and the frontage center point is calculated, and a point 501 where the distance starts to decrease and increases is determined to be the shortest distance between the camera and the frontage center point. The parking position re-recognized from the data captured in the vicinity of the point 501 and calculated again is stored as the primary target parking position (second target parking position).
For example, when the vehicle is traveling 2 m or more away from thefrontage center point 404, calculating the primary target parking position may adversely affect accuracy. In this case, the calculated primary target parking position is excluded. . In addition, as described with reference to FIG. 5, when calculating the distance, there is a case where an erroneous distance that is too large or too small (point 503 in FIG. 5) is calculated based on misrecognition data. When the primary target parking position is calculated, the accuracy may be worse than that of the provisional target parking position. Therefore, an allowable change amount of the distance is set from the vehicle speed of the vehicle 400, and a value deviating from the change amount is not adopted, thereby preventing deterioration of accuracy.
Next, thevehicle 400 moves on the parking route 703 and reaches the turning point 701. Then, after turning back at the turning point 701, the vehicle moves backward along the parking route 703.
なお、間口中央点404から例えば2m以上離れて走行している場合に1次目標駐車位置として算出すると逆に精度が悪化する場合があり、この場合は算出された1次目標駐車位置を除外する。また図5を参照して説明したように、距離を算出する際に誤認識データによりにより過大や過小(図5の地点503)となる誤った距離を算出する場合があり、その値を採用して1次目標駐車位置を算出した場合には暫定目標駐車位置より精度が悪化する懸念がある。そのため、車両400の車速から距離の許容変化量を設定し、その変化量から外れた値は採用しないことで精度悪化を防止する。
次に車両400は駐車経路703上を移動し切返し点701に到達する。そして、切返し点701で切返した後、駐車経路703に沿って後退する。 Next, when the movement on the route is started, as shown in FIG. 7, the
For example, when the vehicle is traveling 2 m or more away from the
Next, the
図8に示すように、駐車枠線605に向かう駐車経路703を後退し、目標駐車位置602に向かうため、徐々にリア側のカメラ102にて駐車空間が認識できる状況になる。この際、カメラ102の位置が駐車枠線605の中央付近(車両中心と駐車枠線が平行に近くなる位置)に位置する地点において駐車空間を再認識することで、更に最終的な駐車精度を向上させることが可能となる。そのため、目標駐車位置602に対して車両400のヨー角vcθが所定値以下、且つ目標駐車位置602までの距離801が所定値以下の場合に、駐車空間を再度認識して、再度算出した駐車位置を2次目標駐車位置(第3目標駐車位置)として記憶する。
As shown in FIG. 8, the parking path 703 toward the parking frame line 605 is retreated and headed toward the target parking position 602, so that the parking space can be gradually recognized by the rear camera 102. At this time, by re-recognizing the parking space at a point where the position of the camera 102 is near the center of the parking frame line 605 (position where the vehicle center and the parking frame line are close to each other in parallel), the final parking accuracy is further improved. It becomes possible to improve. Therefore, when the yaw angle vcθ of the vehicle 400 with respect to the target parking position 602 is equal to or smaller than a predetermined value and the distance 801 to the target parking position 602 is equal to or smaller than the predetermined value, the parking position is recognized again and recalculated. Is stored as the secondary target parking position (third target parking position).
そして、暫定目標駐車位置または1次目標駐車位置に設定された目標駐車位置と2次目標駐車位置の距離を算出し、距離が所定値より大きい場合には目標駐車位置を2次目標駐車位置に置き換える。距離が所定値より小さい場合には目標駐車位置を書き換えない。目標駐車位置を2次目標駐車位置に置き換えた場合には一旦停車し駐車経路を再度算出した後、駐車制御を継続しても良いし、走行を継続したまま補正量を増減することで駐車制御を継続しても良い。なお、1次目標駐車位置の場合と同様に認識結果の誤りにより距離が誤って算出される場合があるため、許容変化量を設定し過大過小値は無視する。
Then, the distance between the target parking position set as the temporary target parking position or the primary target parking position and the secondary target parking position is calculated. If the distance is larger than a predetermined value, the target parking position is set as the secondary target parking position. replace. When the distance is smaller than the predetermined value, the target parking position is not rewritten. When the target parking position is replaced with the secondary target parking position, after stopping and recalculating the parking route, the parking control may be continued, or the parking control is performed by increasing / decreasing the correction amount while continuing traveling. May be continued. As in the case of the primary target parking position, the distance may be erroneously calculated due to an error in the recognition result. Therefore, an allowable change amount is set, and the over / under value is ignored.
なお、以上のような駐車精度向上の手段を講じても路面状態や天候・照度などの影響によっては目標駐車位置に到達した車両400の駐車完了位置が駐車枠線605からずれる場合がある。その場合には、ずれ量を判断し所定値以上ずれている場合には、その位置からリトライするために前進して切り返す駐車経路を算出し、再度駐車位置に入れなおすように動作する。リトライするための駐車経路算出は必ずしも駐車完了時に判断しなくても良く、駐車完了前の走行中にずれ量を算出し判断しても良い。
Even if the above-described means for improving the parking accuracy is taken, the parking completion position of the vehicle 400 that has reached the target parking position may deviate from the parking frame line 605 depending on the road surface condition, weather, illuminance, or the like. In that case, if the amount of deviation is determined and the deviation is greater than or equal to a predetermined value, a parking route that advances and turns back to retry from that position is calculated, and operation is performed to reenter the parking position. The calculation of the parking route for retrying does not necessarily have to be made when the parking is completed, and the amount of deviation may be calculated and judged during traveling before the parking is completed.
また、暫定目標駐車位置を目標駐車位置に設定し駐車制御を開始した後、カメラの汚れや故障などにより1次目標駐車位置が算出できない場合には暫定目標駐車位置を採用し、同様に1次目標駐車位置算出から2次目標駐車位置算出までに故障などで2次目標駐車位置が正しく算出できない場合には1次目標駐車位置を採用することで、故障時においても中止することなく駐車を完了することができる。
In addition, after setting the temporary target parking position to the target parking position and starting parking control, if the primary target parking position cannot be calculated due to dirt or a malfunction of the camera, the temporary target parking position is adopted. If the secondary target parking position cannot be calculated correctly due to failure, etc., from the target parking position calculation to the secondary target parking position calculation, the primary target parking position is adopted, and parking is completed without interruption even in the event of a failure. can do.
以上の例では1次目標駐車位置の算出は駐車制御を開始した後に行うこととしているが、駐車制御開始前であっても、図4に示すように駐車枠線が配置された駐車場の車路を走行して駐車枠の間口前方を通過する場合に、駐車空間位置を認識して1次目標駐車位置を予め算出しておくことができる。これにより、通過中および通過済みの駐車枠に対しては駐車開始位置にて既に1次目標駐車位置が算出された状態で駐車支援処理を開始することができる。
In the above example, the calculation of the primary target parking position is performed after the parking control is started. However, even before the parking control is started, the vehicle in the parking lot where the parking frame line is arranged as shown in FIG. When traveling on the road and passing in front of the front of the parking frame, the primary target parking position can be calculated in advance by recognizing the parking space position. Thereby, the parking assistance process can be started in a state where the primary target parking position has already been calculated at the parking start position for the passing and passing parking frames.
図9は、駐車支援装置220の処理動作を示すフローチャートである。なお、このフローチャートで示したプログラムを、CPU、メモリなどを備えたコンピュータにより実行することができる。全部の処理、または一部の処理をハードロジック回路により実現してもよい。更に、このプログラムは、予め駐車支援装置220の記憶媒体に格納して提供することができる。あるいは、独立した記憶媒体にプログラムを格納して提供したり、ネットワーク回線によりプログラムを駐車支援装置220の記憶媒体に記録して格納することもできる。データ信号(搬送波)などの種々の形態のコンピュータ読み込み可能なコンピュータプログラム製品として供給してもよい。
FIG. 9 is a flowchart showing the processing operation of the parking assistance device 220. Note that the program shown in this flowchart can be executed by a computer including a CPU, a memory, and the like. All or some of the processing may be realized by a hard logic circuit. Further, this program can be provided by being stored in advance in a storage medium of the parking assistance device 220. Alternatively, the program can be provided by being stored in an independent storage medium, or the program can be recorded and stored in the storage medium of the parking assistance device 220 through a network line. Various forms of computer readable computer program products such as data signals (carrier waves) may be provided.
まず、車両400は図6に示すように駐車開始位置に位置するとする。図9のステップS901では、カメラ101、102、103、104等の外界認識入力装置202により、駐車場内の駐車枠線605内の目標駐車位置602を含む駐車空間を認識する。なお、駐車枠線605に限らず、駐車枠線605の両側に他の車両が駐車している場合はこれらを認識することにより駐車空間であることを認識してもよい。
First, it is assumed that the vehicle 400 is located at the parking start position as shown in FIG. In step S901 in FIG. 9, a parking space including the target parking position 602 in the parking frame line 605 in the parking lot is recognized by the external environment recognition input device 202 such as the cameras 101, 102, 103, and 104. Not only the parking frame line 605 but also other vehicles parked on both sides of the parking frame line 605 may recognize the parking space by recognizing them.
ステップS902では、認識した目標駐車位置602を暫定目標駐車位置として設定する。次のステップS903では、駐車支援装置220は、駐車経路設定部208等により、暫定目標駐車位置までの駐車経路、もしくは目標駐車位置が設定されていれば目標駐車位置までの駐車経路(第1駐車経路)を演算する。そして、次のステップS904で、車両400を駐車経路に沿って走行するように、制御量決定部209より制御量を出力する。
In step S902, the recognized target parking position 602 is set as the provisional target parking position. In the next step S903, the parking support device 220 uses the parking route setting unit 208 or the like to set the parking route to the temporary target parking position, or the parking route to the target parking position if the target parking position has been set (first parking position). Route). In the next step S904, the control amount is output from the control amount determination unit 209 so that the vehicle 400 travels along the parking route.
次に、ステップS905で、図7に示すように、車両400の側面に設けられたサイドカメラ705(図2のカメラ104に相当)の位置が駐車枠線605の間口前方であって駐車枠線605の延長線上に挟まれた間にあるかを、サイドカメラ705で撮像された撮像データに基づいて判定する。サイドカメラ705の位置が駐車枠線605の延長線上に挟まれた間にあれば、ステップS911へ進む。駐車枠線605の延長線上に挟まれた間になければ、ステップS906へ進む。
Next, in step S905, as shown in FIG. 7, the position of the side camera 705 (corresponding to the camera 104 in FIG. 2) provided on the side surface of the vehicle 400 is in front of the entrance of the parking frame line 605, and the parking frame line Whether it is between the extended lines 605 is determined based on the image data captured by the side camera 705. If the position of the side camera 705 is between the extended lines of the parking frame line 605, the process proceeds to step S911. If it is not between the extended lines of the parking frame line 605, the process proceeds to step S906.
ステップS906では、駐車支援装置220は、自動駐車実行中であり、且つ目標位置へ駐車経路を後退中であるかを判定する。駐車開始の当初は後退中ではないと判定され、ステップS907へ進む。後退中であればステップS916に進む。
In step S906, the parking assistance apparatus 220 determines whether automatic parking is being executed and the parking route is being moved backward to the target position. At the beginning of parking, it is determined that the vehicle is not moving backward, and the process proceeds to step S907. If the vehicle is moving backward, the process proceeds to step S916.
ステップS907では、ステップS902で設定された暫定目標駐車位置(第1目標駐車位置)を目標駐車位置として設定する。次のステップS908では、目標駐車位置が変更されたかを判定する。目標駐車位置が変更された場合は、ステップS903へ進む。目標駐車位置がステップS907で最初に設定された場合も変更されたものとしてステップS903へ進む。ステップS908で、目標駐車位置が変更されなかったと判定された場合はステップS909へ進む。
In step S907, the provisional target parking position (first target parking position) set in step S902 is set as the target parking position. In the next step S908, it is determined whether the target parking position has been changed. If the target parking position has been changed, the process proceeds to step S903. When the target parking position is first set in step S907, it is assumed that the target parking position has been changed, and the process proceeds to step S903. If it is determined in step S908 that the target parking position has not been changed, the process proceeds to step S909.
ステップS909では、車両400が駐車枠線605内に完全に収まり駐車が完了したかを判定する。駐車が完了した場合は、処理を終了するが、当初は駐車は完了しておらず、ステップS903の処理へ戻る。
In step S909, it is determined whether the vehicle 400 is completely within the parking frame line 605 and parking is completed. If the parking is completed, the process is terminated, but the parking is not completed at first, and the process returns to step S903. *
車両400が図6に示す駐車開始位置から駐車経路603に沿って徐々に進行し、図7に示すように、サイドカメラ705の位置が駐車枠線605の間口前方であって駐車枠線605の延長線上の間に挟まれた間にくると、ステップS905の処理からステップS911の処理へ移る。
The vehicle 400 gradually proceeds along the parking path 603 from the parking start position shown in FIG. 6, and as shown in FIG. 7, the position of the side camera 705 is in front of the entrance of the parking frame line 605, and the parking frame line 605. If it is sandwiched between the extension lines, the process proceeds from step S905 to step S911.
ステップS911の処理の詳細は図10を参照して後述するが、サイドカメラ705の位置と駐車枠線605の間口中央点の距離が最短になった地点の近傍でサイドカメラ705によって駐車空間を撮像する。そして、撮像したデータから駐車空間を再度認識して再度算出した駐車位置を1次目標駐車位置(第2目標駐車位置)として記憶する。次に、ステップS912の処理へ進む。
Details of the processing in step S911 will be described later with reference to FIG. 10, but the parking space is imaged by the side camera 705 in the vicinity of the point where the distance between the position of the side camera 705 and the central point of the parking frame line 605 is the shortest. To do. Then, the parking position re-recognized from the captured data and calculated again is stored as the primary target parking position (second target parking position). Next, the process proceeds to step S912.
ステップS912では、暫定目標駐車位置と1次目標駐車位置との目標位置変化量を求める。そして、ステップS913で目標位置変化量が所定値以上であるかを判定する。目標位置変化量が所定値以上であれば、ステップS914の処理へ進み、1次目標駐車位置を目標駐車位置として設定する。
In step S912, a target position change amount between the temporary target parking position and the primary target parking position is obtained. In step S913, it is determined whether the target position change amount is equal to or greater than a predetermined value. If the target position change amount is equal to or greater than the predetermined value, the process proceeds to step S914, and the primary target parking position is set as the target parking position.
ステップS913で目標位置変化量が所定値以上ではないと判定された場合は、ステップS915の処理へ進む。ステップS915では、暫定目標駐車位置を目標駐車位置として設定する。これは、目標値変化量が微小の場合、認識誤差含めると不要な補正である場合に該当するためである。
If it is determined in step S913 that the target position change amount is not greater than or equal to the predetermined value, the process proceeds to step S915. In step S915, the provisional target parking position is set as the target parking position. This is because the case where the target value change amount is small corresponds to a case where unnecessary correction is included when a recognition error is included.
図7を参照して説明を続ける。車両400が切り返し位置に向けて前進を続け、サイドカメラ705の位置が駐車枠線605の延長線上の間から外れると、ステップS903が否定されてステップS904に進む。切り返し位に到達して車両400は後退を開始する。ステップS904で、駐車支援装置220は、自動駐車実行中であり、且つ目標位置へ駐車経路を後退中であると判定され、ステップS916へ進む。図8に示すように、駐車枠線605に向かう駐車経路703を後退している場合である。この場合は、徐々にリア側のカメラ102にて駐車空間が認識できる状況になる。
The description will be continued with reference to FIG. When the vehicle 400 continues to advance toward the turn-back position and the position of the side camera 705 is out of the extended line of the parking frame line 605, Step S903 is denied and the process proceeds to Step S904. The vehicle 400 starts moving backward when it reaches the turning position. In step S904, the parking assist device 220 determines that automatic parking is being executed and the parking route is moving backward to the target position, and proceeds to step S916. As shown in FIG. 8, the parking path 703 toward the parking frame line 605 is moving backward. In this case, the parking space can be gradually recognized by the rear camera 102.
ステップS916では、詳細は図12を参照して後述するが、カメラ102の位置が駐車枠線605の中央付近(車両中心と駐車枠線が平行に近くなる位置)に位置する地点において駐車空間を再認識する。そして再認識した駐車位置を2次目標駐車位置として記憶する。
In step S916, although details will be described later with reference to FIG. 12, the parking space is set at a point where the position of the camera 102 is located near the center of the parking frame line 605 (a position where the vehicle center and the parking frame line are close in parallel). reacknowledge. The re-recognized parking position is stored as the secondary target parking position.
次に、ステップS917では、暫定目標駐車位置と2次目標駐車位置との目標位置変化量、または1次目標駐車位置と2次目標駐車位置との目標位置変化量を求める。そして、ステップS918で目標位置変化量が所定値以上であるかを判定する。目標位置変化量が所定値以上であれば、ステップS919の処理へ進み、2次目標駐車位置(第3目標駐車位置)を目標駐車位置として設定する。
Next, in step S917, a target position change amount between the temporary target parking position and the secondary target parking position, or a target position change amount between the primary target parking position and the secondary target parking position is obtained. In step S918, it is determined whether the target position change amount is greater than or equal to a predetermined value. If the target position change amount is equal to or greater than the predetermined value, the process proceeds to step S919, and the secondary target parking position (third target parking position) is set as the target parking position.
ステップS918で目標位置変化量が所定値以上ではないと判定された場合は、ステップS920の処理へ進む。ステップS920では、1次目標駐車位置を目標駐車位置として設定する。これは、目標値変化量が微小の場合、認識誤差含めると不要な補正である場合に該当するためである。
If it is determined in step S918 that the target position change amount is not equal to or greater than the predetermined value, the process proceeds to step S920. In step S920, the primary target parking position is set as the target parking position. This is because the case where the target value change amount is small corresponds to a case where unnecessary correction is included when a recognition error is included.
ステップS914、S915、S919、S920で目標駐車位置が変更された場合は、テップS908からステップS903へ進み、駐車経路設定部208等により目標駐車位置までの駐車経路が演算される。
When the target parking position is changed in steps S914, S915, S919, and S920, the process proceeds from step S908 to step S903, and the parking path to the target parking position is calculated by the parking path setting unit 208 and the like.
図10は、1次目標駐車位置の設定を示すフローチャートであり、図9のステップS911の処理の詳細を示すフローチャートである。ステップS911の処理は、図7に示すように車両400のサイドカメラ705が間口前方にあり、かつ駐車枠線605の延長線上の間にある場合に実行される。
FIG. 10 is a flowchart showing the setting of the primary target parking position, and is a flowchart showing details of the processing in step S911 in FIG. The process of step S911 is executed when the side camera 705 of the vehicle 400 is in front of the frontage and on the extension line of the parking frame line 605 as shown in FIG.
図10のステップS1001では、サイドカメラ705で撮像した撮像データに基づいて、駐車枠線605の間口中央点404の位置(pspos)を座標点として算出する。ステップS1002で、サイドカメラ705の位置(scpos)と間口中央点404の位置(pspos)の距離(dp1st)を算出してステップS1003へ進む。
In step S1001 of FIG. 10, the position (pspos) of the front edge center point 404 of the parking frame line 605 is calculated as a coordinate point based on the image data captured by the side camera 705. In step S1002, the distance (dp1st) between the position (scpos) of the side camera 705 and the position (pspos) of the frontage center point 404 is calculated, and the process proceeds to step S1003.
ステップS1003では、距離(dp1st)が所定値以下であるかを判別する。所定値以下でなければ、本フローチャートで示す処理を終了する。距離(dp1st)が所定値以下であると判別された場合は、ステップS1004へ進む。
In step S1003, it is determined whether the distance (dp1st) is less than or equal to a predetermined value. If it is not less than the predetermined value, the processing shown in this flowchart is terminated. If it is determined that the distance (dp1st) is equal to or smaller than the predetermined value, the process proceeds to step S1004.
ステップS1004では、駐車枠線605である対象駐車枠に対する初回の1次認識であるかを判別する。初回の1次認識でなければステップS1005へ進む。初回の1次認識であれば、後述のステップS1008へ進む。
In step S1004, it is determined whether it is the first primary recognition for the target parking frame which is the parking frame line 605. If it is not the first primary recognition, the process proceeds to step S1005. If it is the first time primary recognition, it will progress to below-mentioned step S1008.
ステップS1005では、車両400の現在の車速を基に、サイドカメラ705と間口中央点404の位置までの距離を算出する。この算出について、図11を参照して説明する。図11は、車両400が駐車経路に沿って間口中央点404の近傍を車速Vで走行している状態を示す図である。車両400の現在の時点zで撮像するサイドカメラ705と間口中央点404の位置までは距離dp1stであるとする。次の時点z+1では車両400は符号400’で示す位置まで前進し、この時点で撮像するサイドカメラ705’と間口中央点404の位置までの距離middp1stを車速Vに基づいて求める。そして、車両の加減速を考慮して、サイドカメラ705’と間口中央点404の位置までの最大値maxdp1st及び最小値mindp1stを求める。次に、ステップS1007へ進む。
In step S1005, based on the current vehicle speed of the vehicle 400, the distance from the side camera 705 to the position of the frontage center point 404 is calculated. This calculation will be described with reference to FIG. FIG. 11 is a diagram illustrating a state in which the vehicle 400 is traveling near the frontage center point 404 at the vehicle speed V along the parking route. It is assumed that the distance from the side camera 705 that captures an image at the current time point z of the vehicle 400 to the position of the frontage center point 404 is a distance dp1st. At the next time point z + 1, the vehicle 400 moves forward to the position indicated by reference numeral 400 ′, and a distance middp1st between the side camera 705 ′ and the position of the frontage center point 404 obtained at this time point is obtained based on the vehicle speed V. Then, taking into account the acceleration / deceleration of the vehicle, the maximum value maxdp1st and the minimum value mindp1st up to the position of the side camera 705 'and the frontage center point 404 are obtained. Next, it progresses to step S1007.
ステップS1007では、ステップS1002で求めたサイドカメラ705の位置と間口中央点404の位置の距離dp1st(z)が、前の撮像周期で求めたサイドカメラ705の位置と間口中央点404の位置の許容範囲にあるか、即ち前の撮像周期での最大値maxdp1st(z-1)と前の撮像周期での最小値mindp1st(z-1)の範囲内にあるかをチェックする。許容範囲にあればステップS1008へ進む。
In step S1007, the distance dp1st (z) between the position of the side camera 705 calculated in step S1002 and the position of the frontage center point 404 is the tolerance of the position of the side camera 705 and the position of the frontage center point 404 obtained in the previous imaging cycle. It is checked whether it is within the range, that is, within the range of the maximum value maxdp1st (z-1) in the previous imaging cycle and the minimum value mindp1st (z-1) in the previous imaging cycle. If it is within the allowable range, the process proceeds to step S1008.
ステップS1008では、サイドカメラ705の位置と間口中央点404の位置の距離dp1st(z)について前回値dp1st(z-1)と比較して、前回値dp1st(z-1)より少なければステップS1009へ進む。
In step S1008, the distance dp1st (z) between the position of the side camera 705 and the position of the front edge center point 404 is compared with the previous value dp1st (z-1), and if less than the previous value dp1st (z-1), the process proceeds to step S1009. move on.
ステップS1009では、サイドカメラ705の位置と間口中央点404の位置の距離dp1st(z)における撮像データに基づいて1次目標駐車位置(TP1st)を算出し、この位置を含む駐車空間を認識する。次に、ステップS1010へ進む。また、ステップS1008で、サイドカメラ705の位置と間口中央点404の位置の距離dp1st(z)が前回値dp1st(z-1)より少ない場合もステップS1010へ進む。
In step S1009, the primary target parking position (TP1st) is calculated based on the imaging data at the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404, and the parking space including this position is recognized. Next, it progresses to step S1010. In step S1008, if the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404 is less than the previous value dp1st (z-1), the process proceeds to step S1010.
ステップS1010では、今回の距離dp1st(z)を前回の距離dp1st(z-1)として更新する。なお、ステップS1007で、サイドカメラ705の位置と間口中央点404の位置の距離dp1st(z)が、前の撮像周期で求めたサイドカメラ705の位置と間口中央点404の位置の許容範囲にない場合は、ステップS1011へ進む。
In step S1010, the current distance dp1st (z) is updated as the previous distance dp1st (z-1). In step S1007, the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404 is not within the allowable range of the position of the side camera 705 and the position of the frontage center point 404 obtained in the previous imaging cycle. In the case, the process proceeds to step S1011.
ステップS1011では、エラーとみなして、前回の距離dp1st(z-1)として最大値maxdp1stと最小値mindp1stの中間値middpst1(z)を設定する。
In step S1011, it is regarded as an error, and an intermediate value middpst1 (z) between the maximum value maxdp1st and the minimum value mindp1st is set as the previous distance dp1st (z-1).
以上のようにして、サイドカメラ705の位置と駐車枠線605の間口中央点の距離が最短になった地点の近傍でサイドカメラ705によって駐車空間を認識する。
As described above, the parking space is recognized by the side camera 705 in the vicinity of the point where the distance between the position of the side camera 705 and the center point of the front edge of the parking frame line 605 is the shortest.
図12は、2次目標駐車位置の設定を示すフローチャートであり、図9のステップS916の処理の詳細を示すフローチャートである。
図12のステップS1201では、図8に示すように、リア側のカメラ102で撮像した撮像データに基づいて、車両400の中心線aと駐車枠線605の中央線bのなす角度vcθを算出する。次のステップS1202で、カメラ102から目標駐車位置602までの距離dTPdistを算出する。そして、ステップS1203へ進む。 FIG. 12 is a flowchart showing the setting of the secondary target parking position, and is a flowchart showing details of the process in step S916 of FIG.
In step S1201 of FIG. 12, as shown in FIG. 8, an angle vcθ formed by the center line a of thevehicle 400 and the center line b of the parking frame line 605 is calculated based on the image data captured by the rear camera 102. . In the next step S1202, a distance dTPdist from the camera 102 to the target parking position 602 is calculated. Then, the process proceeds to step S1203.
図12のステップS1201では、図8に示すように、リア側のカメラ102で撮像した撮像データに基づいて、車両400の中心線aと駐車枠線605の中央線bのなす角度vcθを算出する。次のステップS1202で、カメラ102から目標駐車位置602までの距離dTPdistを算出する。そして、ステップS1203へ進む。 FIG. 12 is a flowchart showing the setting of the secondary target parking position, and is a flowchart showing details of the process in step S916 of FIG.
In step S1201 of FIG. 12, as shown in FIG. 8, an angle vcθ formed by the center line a of the
ステップS1203では、駐車枠線に対する自車の傾きvcθが所定値以下、かつ目標駐車位置までの距離dTPdistが所定値以下であるかを判別し、これらの条件を満たせばステップS1204へ進み、これらの条件を満たさなければ2次目標駐車位置設定の処理を終了する。
In step S1203, it is determined whether the inclination vcθ of the vehicle with respect to the parking frame line is equal to or smaller than a predetermined value and the distance dTPdist to the target parking position is equal to or smaller than the predetermined value. If these conditions are satisfied, the process proceeds to step S1204. If the condition is not satisfied, the secondary target parking position setting process is terminated.
ステップS1204では、リア側のカメラ102で撮像した撮像データに基づいて、駐車枠線605の再認識を実施し、認識した結果に基づいて算出された目標駐車位置を仮の2次目標駐車位置tempTP2ndとして設定する。そして、ステップS1205へ進む。
In step S1204, the parking frame line 605 is re-recognized based on the imaging data captured by the rear camera 102, and the target parking position calculated based on the recognized result is set as the temporary secondary target parking position tempTP2nd. Set as. Then, the process proceeds to step S1205.
ステップS1205では、対象とする駐車枠線605に対する初回の演算、即ち初回の2次認識であるかを判別する。初回であれば後述のステップS1208の処理を実行し、2回目以降であればステップS1206の処理を実行する。
In step S1205, it is determined whether it is the first calculation for the target parking frame 605, that is, the first secondary recognition. If it is the first time, the process of step S1208 described later is executed, and if it is the second time or later, the process of step S1206 is executed.
ステップS1206では、仮の2次目標駐車位置tempTP2ndと2次目標駐車位置の前回値TP2nd(z-1)との差分値dTP2ndを算出する。次のステップS1207で、この差分値dTP2ndの変化量が所定値の範囲内であるかチェックする。差分値dTP2ndが変化量最小値MINdTP2ndと変化量最大値MAXdTP2ndの範囲内であればステップS1208の処理を実行し、そうでなければ2次目標駐車位置の設定処理を終了する。
In step S1206, a difference value dTP2nd between the temporary secondary target parking position tempTP2nd and the previous value TP2nd (z-1) of the secondary target parking position is calculated. In the next step S1207, it is checked whether the change amount of the difference value dTP2nd is within a predetermined value range. If the difference value dTP2nd is within the range between the minimum change value MINdTP2nd and the maximum change value MAXdTP2nd, the process of step S1208 is executed. Otherwise, the secondary target parking position setting process ends.
ステップS1208では、ステップS1205で算出した仮の2次目標駐車位置tempTP2ndを2次目標位置TP2nd(z)として設定する。ステップS1209で2次目標駐車位置の前回値TP2nd(z-1)を更新する。
In step S1208, the temporary secondary target parking position tempTP2nd calculated in step S1205 is set as the secondary target position TP2nd (z). In step S1209, the previous value TP2nd (z-1) of the secondary target parking position is updated.
以上のようにして、車両が切り返し位置から経路に沿って後退する際、車両中心線aと駐車枠線605の中心線bとのなす角度vcθが所定値以下であり、かつ、カメラ102と目標駐車位置602との距離dTPdistが所定値以下に位置する地点において駐車空間を再認識する。
As described above, when the vehicle retreats along the route from the turn-back position, the angle vcθ formed by the vehicle center line a and the center line b of the parking frame line 605 is equal to or less than a predetermined value, and the camera 102 and the target The parking space is re-recognized at a point where the distance dTPdist from the parking position 602 is below a predetermined value.
図13は、駐車場を通過する際の駐車空間を撮像する間隔と認識処理の間隔を示した図である。
車両400は駐車場1200の前方を、図13中の右側から左側へ走行しているとする。車両400はサイドカメラ705で、駐車場1200の各駐車枠の間口中央点1206付近を通過時する際に、撮像間隔Δt1(図中の直線1201上に記した黒四角の時間間隔)で駐車空間を撮像するとする。撮像された撮像画像は駐車制御装置200で認識処理されるが、その認識処理の間隔Δt2(図中の直線1202上に記した黒四角の時間間隔)は、図13に示す通り、撮像間隔Δt1よりも長い。これは認識処理を含む1次目標駐車位置を算出するデータ処理に時間がかかるためである。 FIG. 13 is a diagram illustrating an interval for imaging a parking space when passing through a parking lot and an interval for recognition processing.
It is assumed that thevehicle 400 is traveling in front of the parking lot 1200 from the right side to the left side in FIG. The vehicle 400 is a side camera 705 and is parked at an imaging interval Δt1 (a black square time interval indicated on a straight line 1201 in the figure) when passing near the central point 1206 of each parking frame of the parking lot 1200. Suppose that The captured image is subjected to recognition processing by the parking control device 200. The recognition processing interval Δt2 (black square time interval indicated on the straight line 1202 in the figure) is the imaging interval Δt1 as shown in FIG. Longer than. This is because the data processing for calculating the primary target parking position including the recognition processing takes time.
車両400は駐車場1200の前方を、図13中の右側から左側へ走行しているとする。車両400はサイドカメラ705で、駐車場1200の各駐車枠の間口中央点1206付近を通過時する際に、撮像間隔Δt1(図中の直線1201上に記した黒四角の時間間隔)で駐車空間を撮像するとする。撮像された撮像画像は駐車制御装置200で認識処理されるが、その認識処理の間隔Δt2(図中の直線1202上に記した黒四角の時間間隔)は、図13に示す通り、撮像間隔Δt1よりも長い。これは認識処理を含む1次目標駐車位置を算出するデータ処理に時間がかかるためである。 FIG. 13 is a diagram illustrating an interval for imaging a parking space when passing through a parking lot and an interval for recognition processing.
It is assumed that the
1次目標駐車位置の算出は、算出タイミングにおいて直前の撮像データを使用するため、図中の撮像間隔Δt1の直線1201に△印で示すように間口中央点1206から離れたデータを使用することがある。そのため、間口前方における車両400の通過車速が速くなると間口中央点1206付近の撮像データを使えなくなることが多くなり、1次目標位置の精度が悪化する傾向がある。これを改善するために、車両400が通過した駐車枠に対する間口中央点1206から最短の撮像データを含む各撮像データを駐車制御装置200内の図示省略した記憶部に保存しておき、車両400が駐車枠を通過した後の位置1205においても、自車位置推定部206による自車移動量から算出された自車位置と駐車枠との位置関係に基づいて、記憶されている撮像データの中から間口中央点1206に最も近い撮像データ1204(図中○印)を検索し、間口中央点1206に最も近い撮像データ1204を用いて1次目標駐車位置を算出することができる。
The calculation of the primary target parking position uses the immediately preceding imaging data at the calculation timing, and therefore data that is away from the frontage center point 1206 may be used as indicated by Δ in the straight line 1201 of the imaging interval Δt1 in the figure. is there. For this reason, when the passing speed of the vehicle 400 in front of the frontage increases, the image data near the frontage center point 1206 often cannot be used, and the accuracy of the primary target position tends to deteriorate. In order to improve this, each imaging data including the shortest imaging data from the frontage center point 1206 with respect to the parking frame through which the vehicle 400 has passed is stored in a storage unit (not shown) in the parking control device 200 so that the vehicle 400 Even at the position 1205 after passing through the parking frame, based on the positional relationship between the own vehicle position and the parking frame calculated from the own vehicle movement amount by the own vehicle position estimation unit 206, the stored image data is stored. It is possible to search for the imaging data 1204 (circle mark in the figure) closest to the frontage center point 1206 and calculate the primary target parking position using the imaging data 1204 closest to the frontage center point 1206.
以上、並列駐車を例に説明したが、同様の処理手順は縦列駐車においても適用できる。図14は、縦列駐車の例を示す図である。
図14に示すように、駐車枠線1401は横長に配置され、その中央が目標駐車位置1402であるとする。車両400は概ね暫定目標駐車位置が設定された駐車枠線1401の間口中央点1403(駐車枠線1401の駐車枠端点の間の距離の1/2の位置)の前方を通過する。サイドカメラ705(図1のカメラ104に相当)と間口中央点1403の距離を算出して距離が減少から増加に転じる地点をサイドカメラ705と間口中央点1403の距離が最短と判断する。この地点の近傍で撮像したデータから駐車空間を再度認識して再度算出した駐車位置を1次目標駐車位置として記憶する。次に車両400は駐車経路1404上を移動し切返し点1405に到達する。切返し点1405で切返した後、駐車経路1406に沿って後退し、駐車枠線1401内へ駐車する。 The parallel parking has been described above as an example, but the same processing procedure can be applied to parallel parking. FIG. 14 is a diagram illustrating an example of parallel parking.
As shown in FIG. 14, it is assumed that theparking frame line 1401 is arranged horizontally and the center thereof is the target parking position 1402. The vehicle 400 passes in front of a front center point 1403 of the parking frame line 1401 where the provisional target parking position is set (a position half the distance between the parking frame end points of the parking frame line 1401). A distance between the side camera 705 (corresponding to the camera 104 in FIG. 1) and the frontage center point 1403 is calculated, and a point where the distance starts to decrease and increases is determined to be the shortest distance between the side camera 705 and the frontage center point 1403. The parking position calculated again after recognizing the parking space from the data captured in the vicinity of this point is stored as the primary target parking position. Next, the vehicle 400 moves on the parking route 1404 and reaches the turning point 1405. After turning back at the turning point 1405, the vehicle moves backward along the parking route 1406 and parks within the parking frame line 1401.
図14に示すように、駐車枠線1401は横長に配置され、その中央が目標駐車位置1402であるとする。車両400は概ね暫定目標駐車位置が設定された駐車枠線1401の間口中央点1403(駐車枠線1401の駐車枠端点の間の距離の1/2の位置)の前方を通過する。サイドカメラ705(図1のカメラ104に相当)と間口中央点1403の距離を算出して距離が減少から増加に転じる地点をサイドカメラ705と間口中央点1403の距離が最短と判断する。この地点の近傍で撮像したデータから駐車空間を再度認識して再度算出した駐車位置を1次目標駐車位置として記憶する。次に車両400は駐車経路1404上を移動し切返し点1405に到達する。切返し点1405で切返した後、駐車経路1406に沿って後退し、駐車枠線1401内へ駐車する。 The parallel parking has been described above as an example, but the same processing procedure can be applied to parallel parking. FIG. 14 is a diagram illustrating an example of parallel parking.
As shown in FIG. 14, it is assumed that the
以上説明した実施形態によれば、次の作用効果が得られる。
(1)駐車支援装置220は、車両400の外界を検出して駐車空間位置を認識する認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)と、車両400の位置から認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)で認識した駐車空間位置への駐車経路を設定する駐車経路設定部208と、車両400が駐車経路に沿って駐車空間位置の近傍を通過する際に、車両が駐車空間位置に接近したことを検出する接近検出部214と、を備える。認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)は、駐車開始位置で認識した駐車空間位置を第1目標駐車位置として認識し、接近検出部214により車両400が駐車空間位置に接近したときに認識した駐車空間位置を第2目標駐車位置として再認識する。駐車経路設定部208は、駐車開始位置から第1目標駐車位置までの第1駐車経路を設定した後、認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)が第2目標駐車位置を認識したときは、駐車経路として、そのときの車両400の位置から第2目標駐車位置までの第2駐車経路を再設定する。
これにより、駐車空間の位置を正確に認識することができ、認識した駐車空間と実際の駐車位置とのずれを最小限に抑えることができる。 According to the embodiment described above, the following operational effects can be obtained.
(1) Theparking assistance device 220 detects the outside of the vehicle 400 and recognizes the parking space position (the outside world recognition input device 202, the recognition data processing unit 204, the parking position setting unit 207), and the position of the vehicle 400. A parking route setting unit 208 that sets a parking route to a parking space position recognized by the recognition unit (external world recognition input device 202, recognition data processing unit 204, parking position setting unit 207), and the vehicle 400 along the parking route And an approach detection unit 214 that detects that the vehicle has approached the parking space position when passing near the parking space position. The recognizing unit (the external environment recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) recognizes the parking space position recognized at the parking start position as the first target parking position, and the approach detection unit 214 causes the vehicle 400 to The parking space position recognized when approaching the parking space position is re-recognized as the second target parking position. After the parking path setting unit 208 sets the first parking path from the parking start position to the first target parking position, the recognition unit (the external environment recognition input device 202, the recognition data processing unit 204, the parking position setting unit 207) When the second target parking position is recognized, the second parking path from the current position of the vehicle 400 to the second target parking position is reset as the parking path.
Thereby, the position of the parking space can be accurately recognized, and the deviation between the recognized parking space and the actual parking position can be minimized.
(1)駐車支援装置220は、車両400の外界を検出して駐車空間位置を認識する認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)と、車両400の位置から認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)で認識した駐車空間位置への駐車経路を設定する駐車経路設定部208と、車両400が駐車経路に沿って駐車空間位置の近傍を通過する際に、車両が駐車空間位置に接近したことを検出する接近検出部214と、を備える。認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)は、駐車開始位置で認識した駐車空間位置を第1目標駐車位置として認識し、接近検出部214により車両400が駐車空間位置に接近したときに認識した駐車空間位置を第2目標駐車位置として再認識する。駐車経路設定部208は、駐車開始位置から第1目標駐車位置までの第1駐車経路を設定した後、認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)が第2目標駐車位置を認識したときは、駐車経路として、そのときの車両400の位置から第2目標駐車位置までの第2駐車経路を再設定する。
これにより、駐車空間の位置を正確に認識することができ、認識した駐車空間と実際の駐車位置とのずれを最小限に抑えることができる。 According to the embodiment described above, the following operational effects can be obtained.
(1) The
Thereby, the position of the parking space can be accurately recognized, and the deviation between the recognized parking space and the actual parking position can be minimized.
(2)駐車経路設定部208は、暫定目標駐車位置(第1目標駐車目置)と第2目標駐車位置との間に所定の差が無い場合は、第2目標駐車位置への駐車経路の設定を行わず、暫定目標駐車位置への駐車経路の設定を維持する。
これにより、第1目標駐車位置への駐車経路の設定が不要な場合は、設定を省略できる。 (2) When there is no predetermined difference between the provisional target parking position (first target parking position) and the second target parking position, the parkingpath setting unit 208 determines the parking path to the second target parking position. The setting of the parking route to the temporary target parking position is maintained without performing the setting.
Thereby, when the setting of the parking route to the first target parking position is unnecessary, the setting can be omitted.
これにより、第1目標駐車位置への駐車経路の設定が不要な場合は、設定を省略できる。 (2) When there is no predetermined difference between the provisional target parking position (first target parking position) and the second target parking position, the parking
Thereby, when the setting of the parking route to the first target parking position is unnecessary, the setting can be omitted.
(3)車両側方には、外界認識入力装置202、たとえば撮像装置であるカメラ104が設けられている。接近検出部214は、並列駐車において車両が駐車空間位置の幅の中央位置とカメラ104の位置との距離が最小である位置を最接近位置として検出する。
これにより、接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。 (3) On the side of the vehicle, an externalrecognition input device 202, for example, a camera 104 that is an imaging device is provided. The approach detection unit 214 detects a position where the distance between the center position of the width of the parking space position and the position of the camera 104 is the smallest as the closest approach position in parallel parking.
Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching.
これにより、接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。 (3) On the side of the vehicle, an external
Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching.
(4)認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)は、車両400が最接近位置の近傍を通過する際には、最接近位置に最も近い位置で撮像された撮像データに基づいて第2目標駐車位置を認識する。
これにより、最も接近した位置で撮像された撮像データを利用して駐車位置を認識できる。 (4) When thevehicle 400 passes through the vicinity of the closest approach position, the recognition unit (the outside world recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) captures an image at a position closest to the closest approach position. The second target parking position is recognized based on the captured image data.
Thereby, a parking position can be recognized using the imaging data imaged at the closest position.
これにより、最も接近した位置で撮像された撮像データを利用して駐車位置を認識できる。 (4) When the
Thereby, a parking position can be recognized using the imaging data imaged at the closest position.
(5)接近検出部214で検出した第2目標駐車位置と車両との距離を所定時間ごとに記憶する記憶部(駐車制御装置200内)を備え、認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)は、記憶部(駐車制御装置200内)に記憶した複数の距離のうち最小の距離において認識された駐車空間位置を第2目標駐車位置として再認識する。
これにより、最も接近した位置で撮像された撮像データを利用して駐車位置を認識できる。 (5) A storage unit (inside the parking control device 200) that stores the distance between the second target parking position detected by the approach detection unit 214 and the vehicle every predetermined time, and a recognition unit (externalrecognition input device 202, recognition data). The processing unit 204 and the parking position setting unit 207) re-recognize the parking space position recognized at the minimum distance among the plurality of distances stored in the storage unit (in the parking control device 200) as the second target parking position.
Thereby, a parking position can be recognized using the imaging data imaged at the closest position.
これにより、最も接近した位置で撮像された撮像データを利用して駐車位置を認識できる。 (5) A storage unit (inside the parking control device 200) that stores the distance between the second target parking position detected by the approach detection unit 214 and the vehicle every predetermined time, and a recognition unit (external
Thereby, a parking position can be recognized using the imaging data imaged at the closest position.
(6)駐車経路設定部208は、複数の距離のうち、予め定められた過小値および過大値を除去した残りの距離であって、最小の距離において認識された駐車空間位置を第2目標駐車位置として再認識する。
これにより、距離の算出にエラーが生じたことを検出して、このエラーを修正することができる。 (6) The parkingroute setting unit 208 uses the second target parking to determine the parking space position that is the remaining distance obtained by removing the predetermined undervalue and overvalue among the plurality of distances and recognized at the minimum distance. Re-recognize as a position.
Thereby, it is possible to detect that an error has occurred in the calculation of the distance and correct this error.
これにより、距離の算出にエラーが生じたことを検出して、このエラーを修正することができる。 (6) The parking
Thereby, it is possible to detect that an error has occurred in the calculation of the distance and correct this error.
(7)認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)は、車両400の側方に設けられた撮像装置であるカメラ104(外界認識入力装置202)により車両の側方を認識する。
これにより、並列駐車等において車両400の側方のカメラ等により駐車空間を認識できる。 (7) The recognition unit (the external environmentrecognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) is operated by the camera 104 (external environment recognition input device 202), which is an imaging device provided on the side of the vehicle 400. Recognize the side of
Thereby, parking space can be recognized with the camera etc. of the side of thevehicle 400 in parallel parking etc.
これにより、並列駐車等において車両400の側方のカメラ等により駐車空間を認識できる。 (7) The recognition unit (the external environment
Thereby, parking space can be recognized with the camera etc. of the side of the
(8)駐車支援装置は、駐車経路に沿って車両400を目標駐車位置に駆動制御する駆動制御部(駆動力制御装置210、制動力制御装置211、操舵制御装置212、シフト制御装置213)をさらに有する。駆動制御部は、第1駐車経路の切り返し位置で車両400を停止し、その切り返し位置において切り返し操作を行い、その後に第1駐車経路上の後退経路に沿って車両400を後退させる。認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)は、後退経路に沿って車両400が後退中に認識した駐車空間位置を第3目標駐車位置として再認識する。駐車経路設定部208は、第3目標駐車位置と第1目標駐車位置との間に所定の差がある場合、駐車経路として、そのときの車両400の位置から第3目標駐車位置への第3駐車経路を再設定する。
これにより、後退経路において接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。 (8) The parking assist device includes a drive control unit (a drivingforce control device 210, a braking force control device 211, a steering control device 212, and a shift control device 213) that drives and controls the vehicle 400 to the target parking position along the parking route. Also have. The drive control unit stops the vehicle 400 at the turn-back position of the first parking route, performs a turn-back operation at the turn-back position, and then moves the vehicle 400 back along the retreat route on the first parking route. The recognizing unit (the external environment recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) re-recognizes the parking space position recognized while the vehicle 400 is retreating along the retreat path as the third target parking position. When there is a predetermined difference between the third target parking position and the first target parking position, the parking path setting unit 208 sets the third path from the current position of the vehicle 400 to the third target parking position as the parking path. Reset the parking route.
Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
これにより、後退経路において接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。 (8) The parking assist device includes a drive control unit (a driving
Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
(9)駆動制御部により車両400が切り返し後に第1駐車経路上の後退経路を移動中に車両が駐車空間位置に所定距離まで接近した際に、認識部(外界認識入力装置202、認識データ処理部204、駐車位置設定部207)は認識した駐車空間位置を第3目標駐車位置として再認識する。
これにより、後退経路において接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。 (9) When the vehicle approaches the retreat path on the first parking path after thevehicle 400 is turned back by the drive control unit, when the vehicle approaches the parking space position up to a predetermined distance, the recognition unit (external recognition input device 202, recognition data processing) Unit 204, parking position setting unit 207) re-recognizes the recognized parking space position as the third target parking position.
Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
これにより、後退経路において接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。 (9) When the vehicle approaches the retreat path on the first parking path after the
Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
(10)駐車経路設定部208は、第3目標駐車位置と第1目標駐車位置との間に所定の差が無い場合は、第3駐車空間位置への駐車経路の設定を行わず、第2目標駐車位置への駐車経路の設定を維持する。
これにより、第3目標駐車位置への駐車経路の設定が不要な場合は、設定を省略できる。 (10) When there is no predetermined difference between the third target parking position and the first target parking position, the parkingpath setting unit 208 does not set the parking path to the third parking space position, Maintain the setting of the parking route to the target parking position.
Thereby, when the setting of the parking route to the third target parking position is unnecessary, the setting can be omitted.
これにより、第3目標駐車位置への駐車経路の設定が不要な場合は、設定を省略できる。 (10) When there is no predetermined difference between the third target parking position and the first target parking position, the parking
Thereby, when the setting of the parking route to the third target parking position is unnecessary, the setting can be omitted.
(11)認識部を構成する外界認識入力装置202は、車両の後方に設けられた撮像装置、すなわちカメラ104である。認識部は、車両400の後方に設けられたカメラ104により車両の後方を認識する。
これにより、後退経路において接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。 (11) An externalrecognition input device 202 that constitutes a recognition unit is an imaging device provided behind the vehicle, that is, a camera 104. The recognition unit recognizes the rear of the vehicle by the camera 104 provided at the rear of the vehicle 400.
Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
これにより、後退経路において接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。 (11) An external
Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
(12)接近検出部214は、縦列駐車において車両が駐車空間位置の幅の中央位置と認識部の位置の距離が最小である位置を最接近位置として検出する。これにより、縦列駐車において接近した際に駐車空間を認識することにより目標駐車位置に対する駐車位置精度を向上することができる。
(12) The approach detection unit 214 detects a position where the distance between the center position of the width of the parking space position and the position of the recognition unit is the shortest approach position in parallel parking. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in parallel parking.
(変形例)
本発明は、以上説明した実施形態を次のように変形して実施することができる。
(1)車両の前方、後方にはそれぞれ4個のソナー106、107が備えられているが、これらのソナー106、107により障害物が検知された場合は、他の駐車経路があるかを検索し、他の駐車経路があればこれを選択してもよい。もしくは、ソナー106、107により障害物が検知された場合は、車両を停止し、障害物が除去された後に進行するようにしてもよい。 (Modification)
The present invention can be implemented by modifying the embodiment described above as follows.
(1) Four sonars 106 and 107 are provided at the front and rear of the vehicle, respectively. If an obstacle is detected by these sonars 106 and 107, a search is made for another parking route. If there is another parking route, it may be selected. Alternatively, when an obstacle is detected by the sonars 106 and 107, the vehicle may be stopped and proceed after the obstacle is removed.
本発明は、以上説明した実施形態を次のように変形して実施することができる。
(1)車両の前方、後方にはそれぞれ4個のソナー106、107が備えられているが、これらのソナー106、107により障害物が検知された場合は、他の駐車経路があるかを検索し、他の駐車経路があればこれを選択してもよい。もしくは、ソナー106、107により障害物が検知された場合は、車両を停止し、障害物が除去された後に進行するようにしてもよい。 (Modification)
The present invention can be implemented by modifying the embodiment described above as follows.
(1) Four
本発明は、上記の実施形態に限定されるものではなく、本発明の特徴を損なわない限り、本発明の技術思想の範囲内で考えられるその他の形態についても、本発明の範囲内に含まれる。また、上述の実施形態と複数の変形例を組み合わせた構成としてもよい。
The present invention is not limited to the above-described embodiment, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention as long as the characteristics of the present invention are not impaired. . Moreover, it is good also as a structure which combined the above-mentioned embodiment and a some modification.
100 車両
101~104 カメラ
106~107 ソナー
200 駐車制御装置
201 HMI装置
202 外界認識入力装置
203 車輪回転検出器
204 認識データ処理部
205 空間データ作成部
206 自車位置推定部
207 駐車位置設定部
208 駐車経路設定部
209 制御量決定部
210 駆動力制御装置
211 制動力制御装置
212 操舵制御装置
213 シフト制御装置
214 接近検出部
220 駐車支援装置 DESCRIPTION OF SYMBOLS 100 Vehicle 101-104 Camera 106-107Sonar 200 Parking control apparatus 201 HMI apparatus 202 External field recognition input apparatus 203 Wheel rotation detector 204 Recognition data processing part 205 Spatial data creation part 206 Own vehicle position estimation part 207 Parking position setting part 208 Parking Route setting unit 209 Control amount determination unit 210 Driving force control device 211 Braking force control device 212 Steering control device 213 Shift control device 214 Approach detection unit 220 Parking assist device
101~104 カメラ
106~107 ソナー
200 駐車制御装置
201 HMI装置
202 外界認識入力装置
203 車輪回転検出器
204 認識データ処理部
205 空間データ作成部
206 自車位置推定部
207 駐車位置設定部
208 駐車経路設定部
209 制御量決定部
210 駆動力制御装置
211 制動力制御装置
212 操舵制御装置
213 シフト制御装置
214 接近検出部
220 駐車支援装置 DESCRIPTION OF SYMBOLS 100 Vehicle 101-104 Camera 106-107
Claims (12)
- 車両の外界を検出して駐車空間位置を認識する認識部と、
前記車両の位置から前記認識部で認識した前記駐車空間位置への駐車経路を設定する経路設定部と、
前記車両が前記駐車経路に沿って前記駐車空間位置の近傍を通過する際に、前記車両が前記駐車空間位置に接近したことを検出する接近検出部と、を備え、
前記認識部は、駐車開始位置で認識した前記駐車空間位置を第1目標駐車位置として認識し、前記接近検出部により前記車両が前記駐車空間位置に接近したときに認識した前記駐車空間位置を第2目標駐車位置として再認識し、
前記経路設定部は、前記駐車開始位置から前記第1目標駐車位置までの第1駐車経路を設定した後、前記認識部が前記第2目標駐車位置を認識したときは、前記駐車経路として、そのときの前記車両の位置から前記第2目標駐車位置までの第2駐車経路を再設定する駐車支援装置。 A recognizing unit for recognizing the parking space position by detecting the outside of the vehicle;
A route setting unit for setting a parking route from the position of the vehicle to the parking space position recognized by the recognition unit;
An approach detection unit that detects that the vehicle has approached the parking space position when the vehicle passes the vicinity of the parking space position along the parking path;
The recognition unit recognizes the parking space position recognized at a parking start position as a first target parking position, and determines the parking space position recognized when the vehicle approaches the parking space position by the approach detection unit. 2 Re-recognize as the target parking position,
When the recognition unit recognizes the second target parking position after setting the first parking path from the parking start position to the first target parking position, the path setting unit, as the parking path, The parking assistance apparatus which resets the 2nd parking path from the position of the said vehicle to the said 2nd target parking position. - 請求項1に記載の駐車支援装置において、
前記経路設定部は、前記第1目標駐車位置と前記第2目標駐車位置との間に所定の差が無い場合は、前記第2目標駐車位置への前記第2駐車経路の設定を行わず、前記第1駐車経路の設定を維持する駐車支援装置。 In the parking assistance device according to claim 1,
The route setting unit does not set the second parking route to the second target parking position when there is no predetermined difference between the first target parking position and the second target parking position. A parking assistance device for maintaining the setting of the first parking route. - 請求項1または請求項2に記載の駐車支援装置において、
前記認識部は車両側方に設置された撮像装置を含み、
前記接近検出部は、並列駐車において前記車両が前記駐車空間位置の幅の中央位置と前記撮像装置の位置との距離が最小である位置を最接近位置として検出する駐車支援装置。 In the parking assistance device according to claim 1 or 2,
The recognition unit includes an imaging device installed on the side of the vehicle,
The said approach detection part is a parking assistance apparatus which detects the position where the distance of the center position of the width | variety of the said parking space position and the position of the said imaging device is the minimum approach position in the parallel parking. - 請求項3に記載の駐車支援装置において、
前記認識部は、前記車両が前記最接近位置の近傍を通過する際には、前記最接近位置に最も近い位置で撮像された撮像データに基づいて前記第2目標駐車位置を認識する駐車支援装置。 In the parking assistance device according to claim 3,
The recognizing unit recognizes the second target parking position based on imaging data captured at a position closest to the closest approach position when the vehicle passes in the vicinity of the closest approach position. . - 請求項3に記載の駐車支援装置において、
前記接近検出部で検出した前記第2目標駐車位置と前記車両との距離を所定時間ごとに記憶する記憶部を備え、
前記認識部は、前記記憶部に記憶した複数の距離のうち最小の距離において認識された前記駐車空間位置を前記第2目標駐車位置として再認識する駐車支援装置。 In the parking assistance device according to claim 3,
A storage unit that stores a distance between the second target parking position detected by the approach detection unit and the vehicle every predetermined time;
The recognition unit is a parking assistance device that re-recognizes the parking space position recognized at the minimum distance among the plurality of distances stored in the storage unit as the second target parking position. - 請求項5に記載の駐車支援装置において、
前記経路設定部は、前記複数の距離のうち、予め定められた過小値および過大値を除去した残りの距離であって、最小の距離において認識された前記駐車空間位置を前記第2目標駐車位置として再認識する駐車支援装置。 In the parking assistance device according to claim 5,
The route setting unit is a remaining distance obtained by removing predetermined undervalues and overvalues among the plurality of distances, and the parking space position recognized at the minimum distance is the second target parking position. Parking assistance device that re-recognizes as. - 請求項3に記載の駐車支援装置おいて、
前記認識部は、前記車両側方に設けられた前記撮像装置により前記車両の側方を認識する駐車支援装置。 In the parking assistance device according to claim 3,
The recognition unit is a parking assistance device that recognizes a side of the vehicle by the imaging device provided on the side of the vehicle. - 請求項1または請求項2に記載の駐車支援装置において、
前記駐車経路に沿って前記車両を目標駐車位置に駆動制御する駆動制御部をさらに有し、
前記駆動制御部は、前記第1駐車経路の切り返し位置で前記車両を停止し、その切り返し位置において切り返し操作を行ない、その後に前記第1駐車経路上の後退経路に沿って前記車両を後退させ、
前記認識部は、前記後退経路に沿って前記車両が後退中に認識した前記駐車空間位置を第3目標駐車位置として再認識し、
前記経路設定部は、前記第3目標駐車位置と前記第2目標駐車位置との間に所定の差がある場合、前記駐車経路として、そのときの前記車両の位置から前記第3目標駐車位置への第3駐車経路を再設定する駐車支援装置。 In the parking assistance device according to claim 1 or 2,
A drive control unit that drives and controls the vehicle to a target parking position along the parking path;
The drive control unit stops the vehicle at the turn-back position of the first parking route, performs a turn-back operation at the turn-back position, and then retracts the vehicle along a retreat route on the first parking route,
The recognizing unit re-recognizes the parking space position recognized while the vehicle is retreating along the retreat path as a third target parking position,
When there is a predetermined difference between the third target parking position and the second target parking position, the path setting unit sets the parking path from the current vehicle position to the third target parking position. The parking assistance apparatus which resets the 3rd parking route. - 請求項8に記載の駐車支援装置において、
前記駆動制御部により前記車両が切り返し後に前記第1駐車経路上の前記後退経路を移動中に前記車両が前記駐車空間位置に所定距離まで接近した際に、前記認識部は前記認識した前記駐車空間位置を前記第3目標駐車位置として再認識する駐車支援装置。 In the parking assistance device according to claim 8,
The recognizing unit recognizes the parking space when the vehicle approaches the parking space position up to a predetermined distance while moving on the reverse path on the first parking route after the vehicle turns back by the drive control unit. A parking assist device that re-recognizes a position as the third target parking position. - 請求項8または請求項9に記載の駐車支援装置において、
前記経路設定部は、前記第3目標駐車位置と前記第2目標駐車位置との間に所定の差が無い場合は、前記第3目標駐車位置への前記第3駐車経路の設定を行わず、前記第2駐車経路の設定を維持する駐車支援装置。 In the parking assistance device according to claim 8 or 9,
If there is no predetermined difference between the third target parking position and the second target parking position, the path setting unit does not set the third parking path to the third target parking position, A parking assistance device for maintaining the setting of the second parking route. - 請求項8または請求項9に記載の駐車支援装置において、
前記認識部は、前記車両の後方に設けられた撮像装置を有し、
前記認識部は、前記車両の後方に設けられた前記撮像装置により前記車両の後方を認識する駐車支援装置。 In the parking assistance device according to claim 8 or 9,
The recognizing unit has an imaging device provided behind the vehicle,
The recognition unit is a parking assist device that recognizes the rear of the vehicle by the imaging device provided at the rear of the vehicle. - 請求項1または請求項2に記載の駐車支援装置において、
前記接近検出部は、縦列駐車において前記車両が前記駐車空間位置の幅の中央位置と前記認識部の位置の距離が最小である位置を最接近位置として検出する駐車支援装置。 In the parking assistance device according to claim 1 or 2,
The approach detection unit is a parking assistance device that detects a position where the distance between the center position of the parking space position and the position of the recognition unit is minimum in the parallel parking as a closest approach position.
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