WO2021157241A1 - Appareil d'aide au stationnement et procédé d'aide au stationnement - Google Patents

Appareil d'aide au stationnement et procédé d'aide au stationnement Download PDF

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Publication number
WO2021157241A1
WO2021157241A1 PCT/JP2020/048271 JP2020048271W WO2021157241A1 WO 2021157241 A1 WO2021157241 A1 WO 2021157241A1 JP 2020048271 W JP2020048271 W JP 2020048271W WO 2021157241 A1 WO2021157241 A1 WO 2021157241A1
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WIPO (PCT)
Prior art keywords
vehicle
parking
route
obstacle
distance
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PCT/JP2020/048271
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English (en)
Japanese (ja)
Inventor
光貴 山▲崎▼
真 石野田
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クラリオン株式会社
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Publication of WO2021157241A1 publication Critical patent/WO2021157241A1/fr

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    • 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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering

Definitions

  • the present invention relates to a parking support device and a parking support method.
  • Patent Document 1 As a technique related to automatic parking of a vehicle.
  • Patent Document 1 states, "When the own vehicle moves toward the parking space by performing steering control and speed control so that the own vehicle moves along the target route toward the recognized parking space, the own vehicle When an obstacle approaching is detected, the collision position where the own vehicle collides with the obstacle is calculated, and based on the margin distance and the collision position set according to whether the own vehicle is moving forward or backward. , An automatic parking control device that calculates the stop position on the target route and controls the speed so that the own vehicle stops at the calculated stop position. "
  • An object of the present invention is to provide a parking support device and a parking support method capable of shortening the time required for parking at a target parking position.
  • the parking support device of the present invention is a parking support device that assists the parking of a vehicle, and targets an obstacle detection unit that detects an obstacle existing around the vehicle and the vehicle.
  • a route generation unit that generates a parking route to be parked at a parking position and a vehicle control device that generates control information for traveling the vehicle along the parking route and transfers the control information to a vehicle control device that controls the traveling of the vehicle.
  • the travel control unit for output, the obstacle detected by the obstacle detection unit when traveling according to the parking route, and the prediction unit for predicting the distance to the vehicle are provided, and the route generation unit predicts the distance.
  • the travel control unit When the unit predicts that the distance between the vehicle and the obstacle will be less than or equal to a predetermined distance, it is in front of the position where the distance between the vehicle and the obstacle is less than or equal to a predetermined distance and is on the parking route.
  • the travel control unit generates control information for driving the vehicle according to the avoidance parking route, starting from the point of It is characterized in that it is generated and the control information is output to the vehicle control device.
  • the time required for parking at the target parking position can be shortened.
  • FIG. 1 is a configuration diagram showing a configuration of a parking support device and an in-vehicle device.
  • FIG. 2 is a diagram showing a parking route.
  • FIG. 3 is a diagram showing a parking route and an avoidance parking route.
  • FIG. 4 is a diagram showing a display screen displaying an intermediate position based on the parking route.
  • FIG. 5 is a diagram showing a display screen displaying an intermediate position based on the parking route and the avoidance parking route.
  • FIG. 6 is a diagram showing a display screen in which a plurality of captured images are displayed by picture-in-picture.
  • FIG. 7 is a flowchart showing the operation of the parking support device.
  • FIG. 1 is a diagram showing a configuration of an in-vehicle device 3 mounted on a vehicle.
  • the vehicle equipped with the in-vehicle device 3 will be referred to as the own vehicle 1.
  • the in-vehicle device 3 includes a position detection unit 10, a detection unit 20, an operation unit 50, a display unit 60, a vehicle control unit 70, a steering device 71, a drive device 73, a braking device 75, a transmission 77, and a parking support device 100.
  • the position detection unit 10 detects the current position of the own vehicle 1.
  • the position detection unit 10 includes a GNSS receiver that receives a GNSS (Global Navigation Satellite System) signal, and a processor that calculates the current position of the own vehicle 1 based on the GNSS signal received by the GNSS receiver. Illustration of the GNSS receiver and processor is omitted.
  • the position detection unit 10 outputs the position information indicating the current position of the own vehicle 1 obtained by calculation to the parking support device 100.
  • GNSS Global Navigation Satellite System
  • the detection unit 20 includes one or a plurality of sensors that detect an obstacle 5 (see FIG. 3) existing around the own vehicle 1 and detect the distance between the detected obstacle 5 and the own vehicle 1.
  • the detection unit 20 of the present embodiment includes a photographing unit 30 and a sonar unit 40 as sensors.
  • the sensor on which the detection unit 20 can be mounted is not limited to the camera and sonar.
  • a radar or lidar LiDAR: Laser Imaging Detection and Ringing
  • the detection unit 20 outputs the captured image of the photographing unit 30 and the sensor value of the sonar unit 40 to the parking support device 100 as detection information.
  • the photographing unit 30 includes a front camera 31 for photographing the front of the own vehicle 1, a rear camera 33 for photographing the rear of the own vehicle 1, a left side camera 35 for photographing the left side of the own vehicle 1, and the right side of the own vehicle 1.
  • a right side camera 37 for photographing is provided.
  • Each of these cameras includes an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide-Semiconductor), and a data processing circuit that generates a captured image from the light receiving state of the image sensor.
  • the angle of view of the photographing unit 30 is adjusted so that the four cameras can photograph a range of 360 ° around the vehicle 1.
  • the front camera 31, the rear camera 33, the left side camera 35, and the right side camera 37 capture each shooting range at a predetermined frame rate to generate a shot image.
  • the photographing unit 30 outputs the generated photographed image to the parking support device 100.
  • the parking support device 100 temporarily stores the input captured image in the memory 110.
  • the sonar unit 40 is mounted at a plurality of locations of the own vehicle 1 such as front, rear, left side, and right side, and detects the size, position, and distance to the obstacle 5 by using ultrasonic waves. ..
  • the operation unit 50 functions as a reception unit that receives the operation of the occupant on the own vehicle 1.
  • the operation unit 50 outputs an operation signal corresponding to the received operation to the parking support device 100.
  • the operations accepted by the operation unit 50 include, for example, an operation of instructing the start of the parking support, an operation of ending the parking support, an operation of changing the captured image of the photographing unit 30 displayed on the display unit 60, and the like.
  • the display unit 60 includes a display panel 61 and a touch sensor 63.
  • a liquid crystal display, an organic EL display, or the like is used for the display panel 61.
  • the display unit 60 causes the display panel 61 to display a display image based on the display data input from the parking support device 100.
  • As the touch sensor 63 a generally known type of sensor such as a resistance film type or a capacitance type is used.
  • the display unit 60 detects the touch operation of the finger on the display panel 61 by the touch sensor 63, and generates a position signal indicating the operation position of the detected touch operation.
  • the display unit 60 outputs the generated position signal to the parking support device 100.
  • the vehicle control unit 70 corresponds to the vehicle control device of the present invention, and is a unit that controls the steering device 71, the drive device 73, the braking device 75, and the transmission device 77 mounted on the own vehicle 1.
  • the vehicle control unit 70 includes a computer (for example, an ECU (Electronic Control Unit)) that executes such control.
  • the computer is connected to the steering device 71, the driving device 73, the braking device 75, and the transmission device 77 via an in-vehicle network such as CAN (Controller Area Network).
  • the vehicle control unit 70 controls the steering device 71, the drive device 73, the braking device 75, and the transmission device 77 according to the control information input from the parking support device 100.
  • the own vehicle 1 travels by automatic driving.
  • the steering device 71 is a device including an actuator for steering the steering wheels of the own vehicle 1.
  • the drive device 73 is a device including an actuator that adjusts the driving force of the drive wheels of the own vehicle 1. This actuator corresponds to a throttle actuator when the power source of the own vehicle 1 is an engine, and corresponds to the motor when the power source is a motor.
  • the braking device 75 is a device including an actuator that controls the braking system provided in the own vehicle 1 based on the information from the parking support device 100 and controls the braking force applied to the wheels of the own vehicle 1.
  • the transmission 77 is a device including a transmission and an actuator. The transmission 77 drives an actuator to control the shift position of the transmission, and switches the gear ratio of the transmission and the forward and reverse movements of the own vehicle 1.
  • the parking support device 100 is a computer including a processor 130 such as a CPU (Central Processing Unit) and an MPU (Microprocessor Unit), and a memory 110 such as a ROM (Read Only Memory) and a RAM (Random Access Memory).
  • a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), an interface circuit for connecting sensors, peripheral devices, and the like, and an in-vehicle network. It is equipped with an in-vehicle network communication circuit that communicates with other in-vehicle devices.
  • the parking support device 100 realizes various functional configurations by executing a computer program stored in the memory 110 or the storage device by the processor.
  • the parking support device 100 has a position acquisition unit 131, a map generation unit 132, an obstacle detection unit 133, a target parking position setting unit 134, a route generation unit 135, a travel control unit 136, a prediction unit 137, and a display control as functional configurations.
  • a unit 138 is provided.
  • the current position of the own vehicle 1 calculated by the position detection unit 10 is input to the position acquisition unit 131 as position information.
  • the position acquisition unit 131 estimates the current position of the own vehicle 1 by using a known or well-known dead reckoning method, and corrects the current position of the own vehicle input from the position detection unit 10 based on the estimation result.
  • the map generation unit 132 generates map data in which the obstacles 5 existing around the own vehicle 1 and the current position of the own vehicle 1 are recorded in the local coordinate system. This map data is generated in the memory 110.
  • the obstacle 5 is an appropriate object that hinders or regulates the running of the own vehicle 1. Examples of the obstacle 5 include structures such as pillars and walls, poles and ground division lines that divide the traveling area where the own vehicle 1 can travel and the parking area, other vehicles, carts, pedestrians, and the like. ..
  • the map generation unit 132 is the registration information of the map data based on the current position of the own vehicle 1 sequentially input from the position acquisition unit 131 and the detection information of the obstacle 5 sequentially input from the detection unit 20. The current position of the vehicle 1 and the position and size of the obstacle 5 are sequentially updated.
  • the parking support device 100 may acquire the map data in which the position of the obstacle 5 is recorded in advance.
  • the parking support device 100 may download the map data from the server device, or may read the map data stored in the memory 110 in advance.
  • the parking support device 100 records the current position of the own vehicle 1 input from the position acquisition unit 131 in the acquired map data to generate the map data.
  • the obstacle detection unit 133 detects obstacles 5 existing around the own vehicle 1.
  • the obstacle detection unit 133 detects obstacles 5 existing around the own vehicle 1 based on the map data generated by the map generation unit 132. For example, the obstacle detection unit 133 detects an obstacle 5 whose distance from the own vehicle 1 is equal to or less than a preset first set distance.
  • the obstacle 5 detected by the obstacle detection unit 133 is a candidate object that can be an obstacle to the traveling of the own vehicle 1 when the own vehicle 1 is traveled along the parking route R1.
  • the target parking position setting unit 134 sets the target parking position, which is the position where the own vehicle 1 is parked.
  • the target parking position setting unit 134 sets the target parking position for parking the own vehicle 1 based on the map data generated by the map generation unit 132, the captured image of the photographing unit 30, and the sensor value of the sonar unit 40.
  • the target parking position setting unit 134 detects a parking frame line such as a white line drawn on the road surface from the captured image of the photographing unit 30.
  • the target parking position setting unit 134 detects a parking area in which no other vehicle is parked based on the detection result of the parking frame line and the map data, and sets the target parking position in the detected parking area.
  • the route generation unit 135 generates a parking route.
  • the route generation unit 135 generates a parking route for parking the own vehicle 1 at the target parking position without contacting the obstacle 5 based on the map data generated by the map generation unit 132.
  • the parking route first generated by the route generation unit 135 after the start of parking support will be referred to as a parking route R1.
  • the route generation unit 135 outputs the generated parking route R1 to the travel control unit 136.
  • FIG. 2 is a diagram showing an example of the parking route R1.
  • the parking route R1 generated by the route generation unit 135 may include a route for changing the traveling direction of the own vehicle 1 by temporarily stopping the own vehicle 1 after the own vehicle 1 starts traveling along the route. be.
  • the change in the traveling direction includes a case where the traveling direction of the own vehicle 1 is changed from forward to reverse and a case where the traveling direction is changed from reverse to forward.
  • the position where the own vehicle 1 is temporarily stopped in order to change the traveling direction is referred to as an intermediate position.
  • the intermediate position may include a position where the own vehicle 1 turns left, a position where the own vehicle 1 turns right, and the like.
  • the parking route R1 is composed of the route R11 and the route R12 shown in FIG.
  • the route R11 is a section in which the own vehicle 1 travels forward
  • the route R12 is a section in which the own vehicle 1 travels backward.
  • the parking route R1 includes three positions P1, P2 and P3.
  • P1 corresponds to the current position of the own vehicle 1
  • P2 corresponds to the intermediate position
  • P3 corresponds to the target parking position.
  • P1 will be referred to as the current position P1
  • P2 will be referred to as the first intermediate position P2
  • P3 will be referred to as the target parking position P3.
  • the own vehicle 1 starts at the current position P1 and moves forward along the route R11. When the own vehicle 1 reaches the first intermediate position P2, it stops once and switches the traveling direction from forward to reverse. After that, the own vehicle 1 travels backward along the route R12 and parks at the target parking position P3.
  • the travel control unit 136 generates control information for controlling the travel of the own vehicle 1 based on the parking route R1 generated by the route generation unit 135.
  • This control information is information for driving the own vehicle 1 along the parking path R1, and includes information for controlling steering, driving, braking, and shifting, respectively.
  • the prediction unit 137 predicts the distance to the obstacle 5 detected by the obstacle detection unit 133 after the own vehicle 1 starts traveling along the parking route R1. For example, the prediction unit 137 sets the virtual vehicle 7 on the map data based on the current position of the own vehicle 1, and determines the distance between the obstacle 5 detected by the obstacle detection unit 133 and the virtual vehicle 7. .. The prediction unit 137 sets the virtual vehicle 7 (see FIG. 3) at a position at a predetermined distance from the own vehicle 1 in front of the vehicle in the traveling direction according to the parking route R1. The prediction unit 137 predicts the distance between the own vehicle 1 and the obstacle 5 by determining the contact or collision of the set virtual vehicle 7 with the obstacle 5.
  • the virtual vehicle 7 virtually sets the own vehicle 1, and when the own vehicle 1 moves forward, the prediction unit 137 sets the virtual vehicle 7 in front of the own vehicle 1 and the own vehicle 1 moves backward. In this case, the virtual vehicle 7 is set behind the own vehicle 1.
  • the size in the length direction and the width direction of the virtual vehicle 7 matches the size in the length direction and the width direction of the own vehicle 1. Further, the position of the virtual vehicle 7 moves as the own vehicle 1 travels.
  • the prediction unit 137 determines whether or not the detection accuracy of the obstacle 5 detected by the detection unit 20 is equal to or higher than a certain accuracy.
  • the detection accuracy of the detection unit 20 becomes higher as the distance from the obstacle 5 becomes closer. For example, even if the obstacle 5 is captured in the captured image of the detection unit 20, if the own vehicle 1 and the obstacle 5 are far apart, the obstacle 5 may not be recognized as the obstacle 5.
  • the sensor value of the sonar unit 40 becomes higher in detection accuracy as the distance from the obstacle 5 becomes closer. For example, assuming that the obstacle 5 exists at the first intermediate position P2, the size and position of the obstacle 5 detected at the current position P1 and the obstacle 5 detected near the first intermediate position P2. The size and position may differ.
  • the prediction unit 137 determines the position and size of the obstacle 5 detected by the detection unit 20. , It is determined that the information has an accuracy of a certain degree or more.
  • the second set distance is a distance shorter than the first set distance.
  • the prediction unit 137 determines whether or not the distance between the virtual vehicle 7 and the obstacle 5 is equal to or less than the third set distance.
  • the third set distance is set to a distance shorter than the second set distance.
  • the third set distance may be set to 0 cm, which is the distance at which the virtual vehicle 7 and the obstacle 5 are determined to collide or come into contact with each other.
  • the second set distance may be set to a distance that gives the occupants on the own vehicle 1 anxiety that the own vehicle 1 may come into contact with the obstacle 5, for example, 50 cm or less.
  • the third set distance corresponds to the predetermined distance of the present invention.
  • the prediction unit 137 determines that the distance between the virtual vehicle 7 and the obstacle 5 is equal to or less than the third set distance, the prediction unit 137 instructs the route generation unit 135 to regenerate the parking route.
  • the parking route generated by the route generation unit 135 according to the instruction of the prediction unit 137 is referred to as an avoidance parking route R2.
  • FIG. 3 is a diagram showing a parking route R1 and an avoidance parking route R2.
  • the parking route R1 shown by a broken line in FIG. 3 is composed of a route R11 and a route R12 as in FIG. 2.
  • the parking route R1 shown in FIG. 3 includes a current position P1, a first intermediate position P2, and a target parking position P3, as in FIG. It is assumed that when the own vehicle 1 moves to the position P5 shown in FIG. 3, the prediction unit 137 determines that the distance between the obstacle 5 and the virtual vehicle 7 is equal to or less than the third set distance.
  • the position of the virtual vehicle 7 when the position of the own vehicle 1 is the current position P1 is shown by a broken line. Further, FIG.
  • the prediction unit 137 determines that the distance between the virtual vehicle 7 and the obstacle 5 is equal to or less than the third set distance at the position P5, and avoids parking in the route generation unit 135 while continuing the traveling of the own vehicle 1. Instructs the generation of path R2.
  • the route generation unit 135 generates an avoidance parking route R2 whose route is different from that of the parking route R1 according to the instruction of the prediction unit 137.
  • the route generation unit 135 generates an avoidance parking route R2 that has a start point of the route on the parking route R1 and can move to the target parking position P3.
  • the avoidance parking route R2 is a route in which the distance to the obstacle 5 is longer than the third set distance even if the own vehicle 1 is driven along the avoidance parking route R2 at the position of the own vehicle 1.
  • the starting point of the avoidance parking route R2 is on the parking route R1 between the current position P1 of the own vehicle 1 and the position where the distance between the virtual vehicle 7 and the obstacle 5 is equal to or less than the second set distance. Is set to. For example, when the second set distance is 0 cm, the position where the distance between the virtual vehicle 7 and the obstacle 5 is equal to or less than the second set distance is the position where the obstacle 5 is detected.
  • the route generation unit 135 is based on the number of changes in which the traveling direction of the own vehicle 1 is changed from forward to reverse or backward to forward when generating the avoidance parking route R2, and the mileage of the avoidance parking route R2. Then, the avoidance parking route R2 is generated.
  • the route generation unit 135 generates a route having a small number of changes in the traveling direction and a short mileage as an avoidance parking route R2. Further, the route generation unit 135 may generate the avoidance parking route R2 by setting priorities for the number of changes in the traveling direction and the mileage. For example, it is assumed that the mileage is set to have a higher priority than the number of changes in the traveling direction.
  • the route generation unit 135 has generated two routes, route A and route B, as candidates for the avoidance parking route R2.
  • the route generation unit 135 selects the avoidance parking route R2 based on the difference in the mileage between the high-priority route A and the route B, but the difference in the mileage between the route A and the route B is predetermined.
  • the distance is less than or equal to the distance, either one of the route A and the route B may be selected as the avoidance parking route R2 based on the number of changes in the traveling direction.
  • the route composed of the route R21 and the route R22 shown in FIG. 3 is the avoidance parking route R2.
  • the position P6 is the starting point position of the avoidance parking route R2, and the position P7 corresponds to the intermediate position of the avoidance parking route R2.
  • the position P6 is referred to as a start point position P6, and the position P7 is referred to as a second intermediate position P7.
  • the route generation unit 135 outputs the generated avoidance parking route R2 to the travel control unit 136.
  • the travel control unit 136 causes the vehicle control unit 70 to stop the own vehicle 1.
  • the travel control unit 136 generates control information based on the avoidance parking route R2.
  • the travel control unit 136 outputs the generated control information to the vehicle control unit 70.
  • the own vehicle 1 starts automatic traveling along the avoidance parking route R2.
  • the parking support device 100 continues to detect the obstacle 5 by the obstacle detection unit 133 and determine the distance between the detected obstacle 5 and the virtual vehicle 7 until the own vehicle 1 reaches the target parking position P3. do.
  • the parking support device 100 detects an obstacle 5 and determines that the distance between the detected obstacle 5 and the virtual vehicle 7 is equal to or less than the third set distance, the distance to the obstacle 5 is the third set distance.
  • the larger avoidance parking route R2 is generated again. Then, the parking support device 100 continues traveling according to the generated avoidance parking route R2 until the own vehicle 1 reaches the target parking position P3.
  • the display control unit 138 generates display data to be displayed on the display panel 61, and outputs the generated display data to the display unit 60.
  • the display unit 60 generates a display screen 300 based on the input display data, and displays the generated display screen 300 on the display panel 61.
  • FIG. 4 and 5 are views showing a display screen 300 displayed on the display panel 61.
  • FIG. 4 is a diagram showing a display screen 300 when the own vehicle 1 is traveling along the parking route R1.
  • the display screen 300 includes a first display screen 310 and a second display screen 320.
  • a bird's-eye view image 315 of the own vehicle 1 taken from above is displayed.
  • the bird's-eye view image 315 is an image generated by synthesizing the captured images of the front camera 31, the rear camera 33, the left side camera 35, and the right side camera 37.
  • a stop position image 210a showing a stop position corresponding to the first intermediate position P2 is displayed as a solid line.
  • the bird's-eye view image 315 displays a parking position image 220 showing the target parking position P3.
  • the bird's-eye view image 315 shown in FIG. 4 shows a state in which the obstacle 5 exists in the stop position image 210a.
  • the first child screen 330 and the second child screen 340 are displayed on the second display screen 320.
  • a photographed image of the camera that captures the traveling direction of the own vehicle 1 is displayed.
  • FIG. 4 shows a first sub-screen 330 on which the captured image of the front camera 31 is displayed.
  • the predicted advance routes 331 and 333 are displayed on the first child screen 330.
  • Predicted travel routes 331 and 333 are images displayed under the control of the display control unit 138, and are images showing the traveling direction of the own vehicle 1 when the steering angle of the steering wheel of the own vehicle 1 is the current steering angle. Is.
  • the captured image displayed on the first child screen 330 also shows the captured state of the obstacle 5.
  • the icon 345 is displayed on the second child screen 340.
  • the icon 345 indicates the position of the camera that captured the captured image displayed on the first sub screen 330 in the own vehicle 1.
  • FIG. 4 shows a state in which the icon 345A indicating the shooting range of the front camera 31 that shoots the front of the own vehicle 1 is displayed as the icon 345.
  • the cancel button 360 is displayed on the second display screen 320.
  • the cancel button 360 is displayed on the second display screen 320.
  • FIG. 5 is a diagram showing a display screen 300 displayed on the display panel 61.
  • FIG. 5 is a diagram showing a display screen 300 when an obstacle 5 is detected and the parking route is changed from the parking route R1 to the avoidance parking route R2.
  • the display screen 300 also includes a first display screen 310 and a second display screen 320.
  • the stop position image 210b is displayed on the first display screen 310 in addition to the stop position image 210a.
  • the stop position image 210a is an image showing the first intermediate position P2 included in the parking path R1.
  • the stop position image 210b is an image showing the second intermediate position P7 included in the avoidance parking route R2.
  • the display control unit 138 displays the stop position image 210a and the stop position image 210b on the first display screen 310
  • the display control unit 138 displays the stop position image 210a and the stop position image 210b in different display modes.
  • the stop position image 210a may be displayed by a broken line
  • the stop position image 210b may be displayed by a solid line.
  • the display control unit 138 may change the display color of the stop position image 210a and the stop position image 210b.
  • the display control unit 138 displays the stop position image 210a in a dark color such as black, and displays the stop position image 210b in a bright color such as red.
  • the display control unit 138 may change the brightness of the stop position image 210a and the stop position image 210b.
  • the display control unit 138 displays the brightness of the stop position image 210b higher than the brightness of the stop position image 210a. Further, the display control unit 138 may turn on or blink the display of the stop position image 210b.
  • a frame image 335 showing the position of the obstacle 5 in the captured image is displayed.
  • the display control unit 175 detects the position of the obstacle 5 in the captured image, and displays a frame image 335 showing the range of the detected obstacle 5 around the obstacle 5.
  • the obstacle 5 for displaying the frame image 335 is an obstacle 5 whose distance to the virtual vehicle 7 is determined to be equal to or less than the third set distance, and is around the obstacle 5 which is unlikely to come into contact with the virtual vehicle 7. It is not displayed by the frame image 335.
  • the guidance display 370 is displayed on the second display screen 320.
  • a guidance indicating that the parking route has been changed from the parking route R1 to the avoidance parking route R2 is displayed because the obstacle 5 that is predicted to come into contact with the own vehicle 1 is detected.
  • a guidance indicating that the intermediate position, that is, the stop position at which the own vehicle 1 is stopped has been changed may be displayed.
  • the notification operation may be performed by outputting a preset voice from the speaker mounted on the own vehicle 1. For example, a voice guidance notifying that the parking route has been changed may be output from the speaker.
  • FIG. 6 is a diagram showing a display screen 300 displayed on the display panel 61.
  • FIG. 6 is a diagram showing a case where the parking route is changed from the parking route R1 to the avoidance parking route R2 and the captured image displayed on the first sub screen 330 is changed.
  • the second intermediate position P7 is changed from the front of the own vehicle 1 to the right front by changing the parking route R1 to the avoidance parking route R2, and the front camera 31 is displayed on the first child screen 330.
  • the case where the photographed image of the right side camera 37 is displayed in addition to the captured image is shown.
  • the display control unit 138 displays the captured image of the front camera 31 and the captured image of the right side camera 37 on the first sub screen 330 without erasing the captured image of the front camera 31 from the first sub screen 330. Is displayed as a picture-in-picture.
  • FIG. 6 shows an example in which the grandchild screen 380 displaying the captured image of the right side camera 37 is displayed in the first sub screen 330 displaying the captured image of the front camera 31.
  • the display control unit 139 generates a picture-in-picture image so that the photographed image to be displayed later is displayed in the photographed image first displayed on the first child screen 330.
  • the icon 345 displayed on the second child screen 340 is changed from the icon 345A to the icon 345B.
  • the icon 345B shown in FIG. 6 is an icon indicating a shooting range of the front camera 31 that shoots the front of the own vehicle 1 and a shooting range of the right side camera 37 that shoots the right side of the own vehicle 1.
  • FIG. 7 is a flowchart showing the operation of the parking support device 100.
  • the operation of the parking support device 100 will be described with reference to the flowchart shown in FIG. 7.
  • the parking support device 100 determines whether or not the operation unit 50 has accepted the start operation for starting the parking support (step S1). When the parking support device 100 does not accept the start operation (step S1 / NO), the parking support device 100 waits until the start operation is accepted.
  • Step S2 When the parking support device 100 accepts the start operation (step S1 / YES), first, the photographed image of the photographing unit 30 and the sensor value of the sonar unit 40 are acquired as detection information (step S2).
  • the parking support device 100 generates map data in which the current position of the own vehicle 1, the position of the obstacle 5, and the like are recorded based on the analysis result obtained by analyzing the acquired captured image and the sensor value of the sonar unit 40 ().
  • Step S3 Steps S2 and S3 correspond to the detection steps of the present invention.
  • Step S4 corresponds to the generation step of the present invention.
  • the parking support device 100 analyzes the captured image to detect the parking frame line, detects the parking area in which no other vehicle is parked based on the detection result of the parking frame line and the map data, and detects the parking area. Set the target parking position within. Further, the parking support device 100 sets a parking area in which the detected other vehicle is not parked at the target parking position, and parks the own vehicle 1 at the target parking position without contacting the obstacle 5. Is generated (step S4).
  • the parking support device 100 causes the display unit 60 to display the display screen 300 shown in FIG. 4 (step S5).
  • the display screen 300 includes a first display screen 310 and a second display screen 320.
  • a stop position image 210a showing the stop position of the own vehicle 1 when the own vehicle 1 is stopped at the first intermediate position P2 is displayed with a solid line.
  • the parking support device 100 generates control information for driving the own vehicle 1 along the parking route R1 (step S6), and outputs the generated control information to the vehicle control unit 70 (step S7).
  • Steps S6 and S7 correspond to the output steps of the present invention.
  • the vehicle control unit 70 controls the driving of the steering device 71, the driving device 73, the braking device 75, and the transmission device 77 according to the control information, so that the own vehicle 1 starts automatic traveling along the parking path R1 (step). S8).
  • the parking support device 100 continues to acquire the captured image of the photographing unit 30 which is the detection information of the detection unit 20 and the sensor value of the sonar unit 40 even after the own vehicle 1 starts traveling by automatic driving (step S9). ..
  • the parking support device 100 detects the obstacle 5 based on the acquired sensor value of the sonar unit 40 and the analysis result of the captured image, and records the position and size of the detected obstacle 5 in the map data.
  • Step S9 corresponds to the detection step of the present invention.
  • the parking support device 100 updates the position and size of the obstacle 5 in the map data, it determines whether or not the distance between the detected obstacle 5 and the virtual vehicle 7 is equal to or less than the third set distance (step S10). ).
  • Step S10 corresponds to the prediction step of the present invention.
  • the parking support device 100 determines whether or not the own vehicle 1 is parked at the target parking position (step). S11).
  • step S11 / NO When the own vehicle 1 is not parked at the target parking position (step S11 / NO), the parking support device 100 returns to the process of step S9 to acquire the detection information of the detection unit 20, and the distance to the virtual vehicle 7 is reduced. It is determined whether or not the obstacle 5 which is equal to or less than the third set distance is detected. Further, when the parking support device 100 determines that the own vehicle 1 is parked at the target parking position (step S11 / YES), the parking support device 100 ends this processing flow.
  • step S10 when the distance between the obstacle 5 and the virtual vehicle 7 is equal to or less than the third set distance (step S10 / YES), the parking support device 100 generates the avoidance parking route R2 (step S12). ).
  • Step S12 corresponds to the generation step of the present invention.
  • the parking support device 100 determines whether or not the current position of the own vehicle 1 is the start point position P6 of the avoidance parking route R2 (step S13). When the current position of the own vehicle 1 is not the start point position P6 of the avoidance parking route R2 (step S13 / NO), the parking support device 100 waits until the own vehicle 1 moves to the start point position P6 of the avoidance parking route R2. ..
  • the parking support device 100 When the own vehicle 1 moves to the start point position P6 of the avoidance parking route R2 (step S13 / YES), the parking support device 100 outputs a stop instruction to the vehicle control unit 70 (step S14). After that, the parking support device 100 updates the display of the display screen 300 displayed on the display unit 60 (step S15). The display screen 300 displayed on the display unit 60 is updated from the display screen 300 shown in FIG. 4 to the display screen 300 shown in FIG.
  • the stop position image 210b is displayed in addition to the stop position image 210a. Further, when the obstacle 5 is photographed in the photographed image displayed on the first sub screen 330, the frame image 335 showing the position of the obstacle 5 is superimposed and displayed on the photographed image. Further, on the second display screen 320, a guidance display 370 for informing that the parking route has been changed from the parking route R1 to the avoidance parking route R2 is displayed because the obstacle 5 in contact with the own vehicle 1 is detected.
  • the parking support device 100 After the own vehicle 1 is stopped, the parking support device 100 generates control information based on the generated avoidance parking route R2 (step S16), and outputs the generated control information to the vehicle control unit 70 (step S17). Steps S16 and S17 correspond to the output steps of the present invention. As a result, the own vehicle 1 starts traveling along the avoidance parking route R2 (step S18). After that, the parking support device 100 shifts to the process of step S9 and restarts the detection of the obstacle 5.
  • the parking support device 100 of the present embodiment is a device that supports parking of a vehicle, and includes an obstacle detection unit 133, a route generation unit 135, a travel control unit 136, and a prediction unit 137.
  • the obstacle detection unit 133 detects obstacles 5 existing around the own vehicle 1.
  • the route generation unit 135 generates a parking route R1 for parking the own vehicle 1 at the target parking position.
  • the travel control unit 136 generates control information for driving the own vehicle 1 according to the parking route R1, and outputs the control information to the vehicle control unit 70 that controls the travel of the own vehicle 1.
  • the prediction unit 137 predicts the distance between the obstacle 5 detected by the obstacle detection unit 133 and the own vehicle 1 when traveling along the parking route R1.
  • the route generation unit 135 is more than a position where the distance between the own vehicle 1 and the obstacle 5 is less than or equal to the predetermined value.
  • the avoidance parking route R2 which is in front of the vehicle and starts at a point on the parking route R1 and is separated from the obstacle 5 by a predetermined distance or more, is generated. Further, the travel control unit 136 generates control information for driving the own vehicle 1 according to the avoidance parking route R2, and outputs the control information to the vehicle control unit 70.
  • the avoidance parking route R2 is calculated after stopping the own vehicle 1 in front of the obstacle 5. In comparison, the time required to park the own vehicle 1 at the target parking position can be shortened.
  • the prediction unit 137 is located on the parking path R1 and sets the virtual vehicle 7 at a predetermined position in front of the traveling direction of the own vehicle 1, and whether or not the distance between the virtual vehicle 7 and the obstacle 5 is equal to or less than the predetermined distance. Is determined, and the distance between the obstacle 5 and the own vehicle 1 is predicted. Therefore, the accuracy of predicting the distance between the obstacle 5 and the own vehicle 1 can be improved.
  • the route generation unit 135 is on the parking route R1 set as the start point of the avoidance parking route R2 based on the mileage when the own vehicle 1 is parked at the target parking position and the number of changes for changing the traveling direction of the own vehicle 1. Set the point of. Therefore, the time for parking the own vehicle 1 at the target parking position can be shortened.
  • FIG. 1 is a schematic view showing components classified according to the main processing contents in order to facilitate understanding of the present invention, and the components are further classified according to the processing contents. It can also be classified into many components. It can also be categorized so that one component performs more processing.
  • the parking support device 100 may be configured to integrally include at least one of the position detection unit 10 and the detection unit 20.
  • the parking support method of the present invention is realized by using a computer, it is also possible to configure the program to be executed by the computer in the form of a recording medium or a transmission medium for transmitting this program.
  • a recording medium a magnetic or optical recording medium or a semiconductor memory device can be used. Specifically, flexible disks, HDDs (Hard Disk Drives), CD-ROMs (Compact Disk Read Only Memory), DVDs, Blu-ray (registered trademark) Discs, magneto-optical disks, flash memories, card-type recording media, etc. Examples include portable or fixed recording media.
  • the recording medium may be a non-volatile storage device such as a RAM, a ROM, or an HDD included in the parking support device 100.
  • the processing unit of the flowchart shown in FIG. 7 is divided according to the main processing contents in order to make the processing of the parking support device 100 easier to understand, and it depends on the method and name of division of the processing unit.
  • the present invention is not limited.
  • the processing of the parking support device 100 may be divided into more processing units depending on the processing content. Further, the processing of the parking support device 100 may be divided so that one processing unit includes more processing.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un appareil d'aide au stationnement susceptible de raccourcir le temps nécessaire au stationnement au niveau d'une position de stationnement cible.　Un appareil d'aide au stationnement 100 comprend : une section de prédiction 137 qui prédit la distance entre un obstacle 5 détecté par une section de détection d'obstacle 133 et un véhicule hôte 1 lorsque le véhicule se déplace conformément à un itinéraire de stationnement R1 généré par une section de génération d'itinéraire 135 ; la section de génération d'itinéraire 135 qui, si la section de prédiction 137 a prédit que la distance entre le véhicule hôte 1 et l'obstacle 5 n'est pas supérieure à une troisième distance définie, génère un itinéraire de stationnement d'évitement R2 dans lequel la distance à l'obstacle 5 est supérieure à la troisième distance définie et qui commence à un point sur l'itinéraire de stationnement R1 situé avant une position où la distance entre le véhicule hôte 1 et l'obstacle 5 devient inférieure ou égale à la troisième distance définie ; et une section de commande de déplacement 136 qui génère des informations de commande pour amener le véhicule hôte 1 à se déplacer le long de l'itinéraire de stationnement d'évitement R2 et qui délivre en sortie les informations de commande à une unité de commande de véhicule 70.
PCT/JP2020/048271 2020-02-07 2020-12-23 Appareil d'aide au stationnement et procédé d'aide au stationnement WO2021157241A1 (fr)

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JP2020019391A JP7372167B2 (ja) 2020-02-07 2020-02-07 駐車支援装置及び駐車支援方法

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