JP2018036914A - Unloading support system - Google Patents

Abstract

As an example, a delivery support apparatus capable of increasing the number of vehicles that can be equipped with a system that supports delivery of a vehicle is obtained. A delivery support apparatus according to an embodiment includes: a calculation unit that calculates a distance to an obstacle based on detection results by a plurality of sensors provided apart from each other in a vehicle width direction of the vehicle; When the exit from the parking area is instructed, a setting unit that sets a point that exists on the exit direction side of the vehicle and is a predetermined distance away from the vehicle toward the traveling direction of the vehicle as a virtual end point of the obstacle And an execution unit for executing processing related to vehicle exiting according to the virtual end point. [Selection] Figure 1

Description

  Embodiments described herein relate generally to an exit support apparatus.

  A number of sensors that can detect the distance to obstacles existing in the front, rear, and sides of the vehicle are installed in the vehicle, and the route for leaving the vehicle is determined based on the distance detected by each sensor. In addition, there is a system that issues a vehicle according to the determined route.

Japanese Patent Application Laid-Open No. 2014-121984

  However, the system needs to be provided with a sensor capable of detecting the distance to the obstacle present on the side of the vehicle, and in terms of cost and the like, there is a high possibility that the types of vehicles on which the system can be mounted are limited.

  As an example, the exit support apparatus according to the embodiment of the present invention includes a calculation unit that calculates a distance to an obstacle based on detection results by a plurality of sensors provided apart from each other in the vehicle width direction of the vehicle, When instructed to exit from a parking area that is parked in parallel, a point that is present on the exit direction side of the vehicle and is a predetermined distance away from the vehicle in the traveling direction of the vehicle is set as a virtual end point of the obstacle. A setting unit, and an execution unit that executes a process related to the vehicle exit according to the virtual end point. Therefore, as an example, when a vehicle is left from a parking area that is parked in parallel, the side of the vehicle is not required to provide a sensor for calculating the distance to the obstacle present on the side of the vehicle. Since the end points of existing obstacles can be obtained, it is possible to increase the number of types of vehicles that can be equipped with a system that supports vehicle exit.

  In the above-mentioned leaving support apparatus, as an example, when the reflected wave is detected only by the first sensor provided on the side opposite to the leaving direction of the vehicle among the plurality of sensors after the vehicle starts leaving, the first sensor In the range in which the reflected wave can be detected, an update unit is further provided that updates the virtual endpoints by the distance calculated by the calculation unit and the endpoint on the exit direction side away from the vehicle. Therefore, as an example, the end point of the obstacle existing outside the vehicle can be obtained with higher accuracy even after the vehicle starts to leave. Furthermore, since the endpoints of the obstacles existing outside the vehicle are updated with high accuracy, when the vehicle exit assistance is executed using the determined endpoints of the obstacles, the endpoints of the determined obstacles are determined. It can be used as a material for determining whether or not to end the vehicle exit support.

  In the above-described delivery support apparatus, as an example, the setting unit sets a point in the traveling direction of the vehicle that exists on the extension line of the side surface of the vehicle on the delivery direction side as a virtual end point. Therefore, as an example, when the vehicle starts leaving the parking area, the virtual end point can be set at the point where the possibility of the vehicle coming into contact with the obstacle is the lowest. It is possible to prevent contact with an obstacle when doing so.

  In the above-described delivery support apparatus, as an example, the predetermined distance is a distance calculated by the calculation unit based on a detection result after the delivery from the parking area is instructed and before the vehicle starts the delivery. Therefore, as an example, since a point closer to the end point of the obstacle can be set as a virtual end point, when leaving the vehicle from the parking area, the vehicle is taken out by a route passing through a point closer to the obstacle. Make it possible.

  In the above-mentioned leaving support apparatus, as an example, the predetermined distance is the upper limit distance to the obstacle that can detect the reflected wave by the sensor when the reflected wave is not detected by the sensor before the vehicle starts leaving. is there. Therefore, as an example, when the vehicle starts leaving the parking area, the virtual end point can be set at the point where the possibility of the vehicle coming into contact with the obstacle is the lowest. It is possible to prevent contact with an obstacle when doing so.

  In the above-mentioned leaving support apparatus, as an example, when the reflected wave is not detected by the sensor after the vehicle starts leaving the vehicle, the upper limit distance of the distance to the obstacle that can detect the reflected wave by the sensor on the extension line The virtual endpoint is updated with a point away from the vehicle. Therefore, as an example, after the vehicle starts leaving the parking area, it is possible to set the point where the possibility of the vehicle coming into contact with the obstacle is the lowest as the virtual endpoint, so the vehicle leaves the parking area. It is possible to prevent contact with obstacles.

FIG. 1 is an exemplary perspective view showing a state in which a part of a compartment of a vehicle according to the present embodiment is seen through. FIG. 2 is a plan view (overhead view) illustrating an example of a vehicle according to the present embodiment. FIG. 3 is an example of a vehicle dashboard according to the present embodiment. FIG. 4 is a block diagram illustrating an example of a delivery support system included in the vehicle according to the present embodiment. FIG. 5 is a block diagram illustrating an example of a functional configuration of the leaving support apparatus implemented in the ECU of the vehicle according to the present embodiment. FIG. 6 is a flowchart illustrating an example of a flow of virtual endpoint update processing by the ECU of the vehicle according to the present embodiment. FIG. 7A is a diagram for explaining an example of a virtual endpoint update process in the vehicle according to the present embodiment. FIG. 7B is a diagram for explaining an example of a virtual endpoint update process in the vehicle according to the present embodiment. FIG. 7C is a diagram for explaining an example of a virtual endpoint update process in the vehicle according to the present embodiment. FIG. 7D is a diagram for describing an example of a virtual endpoint update process in the vehicle according to the present embodiment. FIG. 7E is a diagram for describing an example of a virtual endpoint update process in the vehicle according to the present embodiment. FIG. 7F is a diagram for describing an example of a virtual endpoint update process in the vehicle according to the present embodiment. FIG. 7G and FIG. 8 are diagrams for explaining an example of the virtual endpoint update processing in the vehicle according to the present embodiment. FIG. 8 is a diagram for explaining an example of a virtual endpoint update process in the vehicle according to the present embodiment.

  Hereinafter, a vehicle to which the warehousing support apparatus according to the present embodiment is applied will be described with reference to the accompanying drawings.

  In the embodiment, the vehicle 1 may be an automobile (an internal combustion engine automobile) using an internal combustion engine (engine) as a drive source, or an automobile (an electric vehicle, a fuel cell vehicle, etc.) using an electric motor (motor) as a drive source. It may be an automobile (hybrid automobile) that uses both of them as drive sources. The vehicle 1 can be mounted with various transmissions, and various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor. In addition, the system, number, layout, and the like of devices related to driving of the wheels 3 in the vehicle 1 can be variously set.

  FIG. 1 is an exemplary perspective view showing a state in which a part of a compartment of a vehicle according to the present embodiment is seen through. FIG. 2 is a plan view (overhead view) illustrating an example of a vehicle according to the present embodiment. FIG. 3 is an example of a vehicle dashboard according to the present embodiment. As shown in FIG. 1, the vehicle body 2 of the vehicle 1 according to the present embodiment constitutes a passenger compartment 2a in which an occupant rides. In the passenger compartment 2a, a steering section 4, an acceleration operation section 5, a braking operation section 6, a speed change operation section 7 and the like are provided in a state facing the driver's seat 2b as an occupant. The steering unit 4 is, for example, a steering wheel that protrudes from the dashboard 24. The acceleration operation unit 5 is, for example, an accelerator pedal positioned under the driver's feet. The braking operation unit 6 is, for example, a brake pedal that is positioned under the driver's feet. The shift operation unit 7 is, for example, a shift lever that protrudes from the center console. The steering unit 4, the acceleration operation unit 5, the braking operation unit 6, the speed change operation unit 7, and the like are not limited to these.

  In addition, a display device 8 as a display output unit and a sound output device 9 as a sound output unit are provided in the passenger compartment 2a. The display device 8 is, for example, an LCD (Liquid Crystal Display), an OELD (Organic Electroluminescent Display), or the like. The audio output device 9 is, for example, a speaker. The display device 8 is covered with a transparent operation input unit 10 such as a touch panel. An occupant or the like can visually recognize an image displayed on the display screen of the display device 8 via the operation input unit 10. The occupant or the like can perform various operations (operation signals) via the operation input unit 10 by touching, pushing, or moving the position corresponding to the image displayed on the display screen of the display device 8 with a finger or the like. Input can be performed.

  The display device 8, the audio output device 9, the operation input unit 10, and the like are provided, for example, in the monitor device 11 that is located at the center of the dashboard 24 in the vehicle width direction (left-right direction). The monitor device 11 may have an operation input unit such as a switch, a dial, a joystick, or a push button. Further, another sound output device is provided at another position in the passenger compartment 2a, and sound can be output from the sound output device 9 of the monitor device 11 and the other sound output device. The monitor device 11 can be used also as, for example, a navigation system or an audio system.

  Further, a display device 12 different from the display device 8 is provided in the passenger compartment 2a. As shown in FIG. 3, the display device 12 is provided in, for example, the instrument panel 25 of the dashboard 24, and is positioned between the speed display 25 a and the rotation speed display 25 b at the approximate center of the instrument panel 25. Has been. The size of the screen 12a of the display device 12 is smaller than the size of the screen 8a (see FIG. 3) of the display device 8. The display device 12 mainly displays an image or the like indicating information related to parking assistance or delivery assistance for the vehicle 1. The amount of information displayed on the display device 12 may be smaller than the amount of information displayed on the display device 8. The display device 12 is, for example, an LCD or an OELD. Information displayed on the display device 12 may be displayed on the display device 8.

  As shown in FIGS. 1 and 2, the vehicle 1 is, for example, a four-wheeled vehicle, and includes two left and right front wheels 3 </ b> F and two right and left rear wheels 3 </ b> R. These four wheels 3 are all configured to be steerable. The vehicle 1 has a steering system 13 (see FIG. 4) that steers at least two wheels 3.

  As shown in FIG. 2, the vehicle body 2 is provided with, for example, four imaging units 15 a to 15 d as the plurality of imaging units 15. The imaging unit 15 is a digital camera that incorporates an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 15 outputs a moving image (captured image) at a predetermined frame rate. The imaging unit 15 has a wide-angle lens or a fisheye lens, respectively, and can image a range of, for example, 140 ° to 220 ° in the horizontal direction. In addition, the optical axis of the image pickup unit 15 can be set obliquely downward. Therefore, the imaging unit 15 sequentially determines the external environment around the vehicle 1 including the road surface on which the vehicle 1 is movable, the parking area where the vehicle 1 is parked, and surrounding objects (obstacles, people, bicycles, vehicles, etc.). Take an image and output as a captured image.

  The imaging unit 15a is positioned at the rear end 2e of the vehicle body 2, and is provided on a wall portion below the rear trunk door 2h. The imaging unit 15b is located at the right end 2f of the vehicle body 2 and is provided on the right door mirror 2g. The imaging unit 15c is located at the front end 2c of the vehicle body 2, and is provided on a front bumper or the like. The imaging unit 15d is positioned at the left end 2d of the vehicle body 2, and is provided on the door mirror 2g as a left protruding portion.

  As shown in FIGS. 1 and 2, the vehicle body 2 is provided with eight distance measuring units 17 a to 17 h as a plurality of distance measuring units (sensors). The distance measuring unit 17 is a sonar that emits ultrasonic waves and detects reflected waves from obstacles around the vehicle. The sonar is also referred to as a sonar sensor, an ultrasonic detector, or an ultrasonic sonar. For example, when an obstacle (object) approaches the vehicle 1 and the distance between the vehicle 1 and the obstacle is equal to or less than a preset distance, the distance measuring unit 17 starts from the obstacle. The reflected wave of is detected. Further, the distance measuring unit 17 detects a reflected wave from an obstacle (for example, a parked vehicle, a curb, a step, a wall, a fence) existing around the vehicle 1 when the vehicle 1 is parked or delivered.

  The distance measuring units 17a, 17b, 17c, and 17d are provided in the rear portion of the vehicle 1 (the end portion 2e in the present embodiment) so as to be separated in the vehicle width direction of the vehicle 1. Then, the distance measuring units 17a, 17b, 17c, and 17d emit ultrasonic waves behind the vehicle 1 (the traveling direction of the vehicle 1) to detect reflected waves from the obstacles. In the present embodiment, the distance measuring units 17 a and 17 b are provided at the rear of the vehicle 1 in the order of the distance measuring unit 17 b and the distance measuring unit 17 a from the approximate center of the vehicle 1 toward the left side. The distance measuring units 17c and 17d are provided at the rear of the vehicle 1 in the order of the distance measuring unit 17c and the distance measuring unit 17d from the approximate center of the vehicle 1 to the right side.

  The distance measuring portions 17e, 17f, 17g, and 17h are provided in the front portion of the vehicle 1 (in the present embodiment, the end portion 2c) so as to be separated from each other in the vehicle width direction of the vehicle 1. Then, the distance measuring units 17e, 17f, 17g, and 17h emit ultrasonic waves in front of the vehicle 1 (the traveling direction of the vehicle 1) to detect reflected waves from the obstacles. In the present embodiment, the distance measuring units 17e and 17f are provided in the front portion of the vehicle 1 in the order of the distance measuring unit 17f and the distance measuring unit 17e from the approximate center of the vehicle 1 to the right side. The distance measuring units 17g and 17h are provided at the front of the vehicle 1 in the order of the distance measuring unit 17g and the distance measuring unit 17h from the approximate center of the vehicle 1 to the left side. In the present embodiment, an example in which a sonar is used as the distance measuring unit 17 will be described. However, the present invention is not limited to this as long as it is a sensor that can detect a distance from an obstacle present around the vehicle. For example, the distance measuring unit 17 is provided separately in the vehicle width direction of the vehicle 1, and light (for example, laser, infrared) or radio wave (for example, laser or infrared) in the traveling direction of the vehicle 1 (forward or backward in the present embodiment). A sensor that emits a millimeter wave radar and detects a reflected wave from an obstacle existing around the vehicle 1 may be used.

  FIG. 4 is a block diagram illustrating an example of a delivery support system included in the vehicle according to the present embodiment. As shown in FIG. 4, in the vehicle 1, in addition to the monitor device 11 and the distance measuring unit 17, the steering system 13, the ECU 14, the brake system 18, the steering angle sensor 19, the accelerator sensor 20, the shift sensor 21, and the wheel speed sensor 22. Are electrically connected via an in-vehicle network 23 as an electric communication line. The in-vehicle network 23 is a CAN (Controller Area Network) or the like.

  The ECU (Electronic Control Unit) 14 controls the steering system 13, the brake system 18, and the like by sending a control signal through the in-vehicle network 23. The ECU 14 also detects detection results of the torque sensor 13b, the brake sensor 18b, the rudder angle sensor 19, the distance measuring unit 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the like via the in-vehicle network 23, and the operation input unit. An operation signal such as 10 is received.

  The ECU 14 includes a CPU (Central Processing Unit) 14a, a ROM (Read Only Memory) 14b, a RAM (Random Access Memory) 14c, a display control unit 14d, an audio control unit 14e, an SSD (Solid State Drive, flash memory) 14f, and the like. . The CPU 14a executes various types of arithmetic processing such as image processing for images displayed on the display devices 8 and 12, calculation of the movement path of the vehicle 1, and detection of obstacles around the vehicle 1. The CPU 14a reads a program installed and stored in a nonvolatile storage device such as the ROM 14b, and executes arithmetic processing according to the program.

  The ROM 14b stores various programs and parameters necessary for executing the programs. The RAM 14c temporarily stores various types of data used in computations by the CPU 14a. The display control unit 14d mainly performs a process of outputting a captured image obtained by imaging of the imaging unit 15 to the CPU 14a, and acquires a display image from the CPU 14a. 12 is executed.

  In addition, the voice control unit 14 e mainly performs processing on voice data output from the voice output device 9 among the calculation processes in the ECU 14. The SSD 14f is a rewritable nonvolatile storage unit. The CPU 14a, ROM 14b, RAM 14c, etc. are integrated in the same package. Further, the ECU 14 may have a configuration in which another logical operation processor such as a DSP (Digital Signal Processor), a logic circuit, or the like is used instead of the CPU 14a. Further, an HDD (Hard Disk Drive) may be provided instead of the SSD 14f, and the SSD 14f and the HDD may be provided on a circuit board different from the ECU 14.

  The steering system 13 includes an actuator 13a and a torque sensor 13b. The steering system 13 is electrically controlled by the ECU 14 and the like to operate the actuator 13a. The steering system 13 is, for example, an electric power steering system, an SBW (Steer By Wire) system, or the like. The steering system 13 adds torque, that is, assist torque to the steering unit 4 by the actuator 13a to supplement the steering force, or steers the wheel 3 by the actuator 13a. In this case, the actuator 13a may steer one wheel 3 or may steer a plurality of wheels 3. Moreover, the torque sensor 13b detects the torque which a driver | operator gives to the steering part 4, for example.

  The brake system 18 includes an anti-lock brake system (ABS) that suppresses the locking of the brake, a skid prevention device (ESC: Electronic Stability Control) that suppresses the skidding of the vehicle 1 during cornering, and increases the braking force (the brake assist is applied). (Execute) electric brake system, BBW (Brake By Wire), etc. The brake system 18 applies a braking force to the wheels 3 and thus to the vehicle 1 via the actuator 18a. Further, the brake system 18 can execute various controls by detecting brake lock, idle rotation of the wheels 3, signs of skidding, and the like from the difference in rotation between the left and right wheels 3. The brake sensor 18b is a sensor that detects the position of the movable part of the braking operation unit 6, for example. The brake sensor 18b can detect the position of a brake pedal as a movable part. The brake sensor 18b includes a displacement sensor.

  The steering angle sensor 19 is, for example, a sensor that detects the steering amount of the steering unit 4 such as a steering wheel. The rudder angle sensor 19 is configured using, for example, a hall element. The ECU 14 acquires the steering amount of the steering unit 4 by the driver, the steering amount of each wheel 3 during automatic steering, and the like from the steering angle sensor 19 and executes various controls. The rudder angle sensor 19 detects the rotation angle of the rotating part included in the steering unit 4.

  The accelerator sensor 20 is, for example, a sensor that detects the position of the movable part of the acceleration operation unit 5. The accelerator sensor 20 includes a displacement sensor and detects the position of an accelerator pedal as a movable part.

  The shift sensor 21 is, for example, a sensor that detects the position of the movable part of the speed change operation unit 7. The shift sensor 21 can detect the position of a lever, arm, button, etc. as a movable part. The shift sensor 21 may include a displacement sensor or may be configured as a switch.

  The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations per unit time. The wheel speed sensor 22 outputs a wheel speed pulse number indicating the detected rotation speed as a sensor value. The wheel speed sensor 22 is configured using, for example, a Hall element. The ECU 14 calculates the amount of movement of the vehicle 1 based on the sensor value acquired from the wheel speed sensor 22 and executes various controls. The wheel speed sensor 22 may be provided in the brake system 18. In that case, the ECU 14 acquires the detection result of the wheel speed sensor 22 via the brake system 18. The configuration, arrangement, electrical connection form, and the like of the various sensors and actuators described above are examples, and can be set (changed) in various ways.

  FIG. 5 is a block diagram illustrating an example of a functional configuration of the leaving support apparatus implemented in the ECU of the vehicle according to the present embodiment. As shown in FIG. 5, the ECU 14 mainly includes a distance calculation unit 500, a virtual endpoint setting unit 501, an execution unit 502, and a virtual endpoint update unit 503. The distance calculation unit 500, virtual end point setting unit 501, execution unit 502, and virtual end point update unit 503 are realized by the CPU 14a of the ECU 14 executing a program stored in the ROM 14b. These configurations may be realized by hardware.

  The distance calculation unit 500 is based on the detection result of the reflected wave by the distance measurement units 17a, 17b, 17c, and 17d, and the rear distance that is the distance from the vehicle 1 to the obstacle (for example, the rear corner of the vehicle 1 and the parking area). The distance between the obstacle present near the entrance of the area and the distance between the rear portion of the vehicle 1 and the obstacle present in the back of the parking area are calculated. In addition, the distance calculation unit 500 determines the forward distance that is the distance from the vehicle 1 to the obstacle (for example, the front corner of the vehicle 1) based on the detection results of the reflected waves by the distance measurement units 17e, 17f, 17g, and 17h. To the distance to the obstacle present near the exit of the parking area.

  The virtual endpoint setting unit 501 is present on the exit direction side of the vehicle 1 and the vehicle 1 when an operation signal instructing the exit from the parking area where the vehicle 1 is parked in parallel is input from the operation input unit 10. A point that is a predetermined distance away from the vehicle 1 in the traveling direction is set as a virtual end point (hereinafter referred to as a virtual end point) of an obstacle existing around the vehicle 1. The virtual end point setting unit 501 is a virtual end point that is a predetermined distance away from the vehicle 1 toward the front of the vehicle 1 when the vehicle 1 travels forward from the parking area in which the vehicles 1 are parked in parallel. Set to. On the other hand, when the virtual end point setting unit 501 proceeds from the parking area where the vehicle 1 is parked in parallel to the rear of the vehicle 1 and leaves the vehicle, the virtual end point setting unit 501 moves a point away from the vehicle 1 by a predetermined distance toward the rear of the vehicle 1. Set to virtual endpoint. Here, the predetermined distance is a preset distance. In the present embodiment, the predetermined distance is determined by the distance measurement unit 17 after the vehicle 1 is instructed to exit from the parking area and before the exit of the vehicle 1 starts when the vehicle 1 proceeds forward. This is the forward distance calculated by the distance calculation unit 500 based on the detection result of the reflected wave. In addition, the virtual endpoint setting unit 501 calculates the shortest distance among the calculated forward distances when different forward distances are calculated based on the detection results of the reflected waves of the distance measuring units 17e, 17f, 17g, and 17h. A predetermined distance. Further, in the present embodiment, the predetermined distance is determined when the vehicle 1 travels backward and exits, after the exit of the vehicle 1 from the parking area is instructed and before the exit of the vehicle 1 starts. 17 is a backward distance calculated by the distance calculation unit 500 based on the detection result of the reflected wave by 17. In addition, the virtual endpoint setting unit 501 calculates the shortest distance among the calculated backward distances when different backward distances are calculated based on the detection results of the reflected waves of the distance measuring units 17a, 17b, 17c, and 17d. A predetermined distance.

  Although the distance to the obstacle can be calculated from the detection result of the reflected wave by the distance measuring unit 17, it is difficult to specify the direction in which the obstacle exists. Therefore, in this embodiment, the virtual end point setting unit 501 sets the front or rear distance calculated by the distance measurement unit 17 based on the detection result of the reflected wave, and the position away from the vehicle 1 as the virtual end point. Then, the execution unit 502 controls the vehicle 1 to exit with reference to the virtual end point, thereby causing the vehicle 1 to exit without colliding with an obstacle such as a vehicle existing in the traveling direction of the vehicle 1. Thus, when the vehicle 1 is taken out from the parking area where the parallel parking is performed without providing a distance measuring unit for calculating the distance to the obstacle present on the side of the vehicle 1, the vehicle 1 side Since the end point of the obstacle which exists in the direction can be calculated | required, the vehicle model which can mount the system which assists the delivery of the vehicle 1 can be increased. Specifically, the execution unit 502 executes processing related to the exit of the vehicle 1 from the parking area where the vehicle 1 is parked in parallel according to the virtual end point set by the virtual end point setting unit 501. For example, the execution unit 502 determines a route for taking the vehicle 1 out of the parking area according to the virtual endpoint, and moves the vehicle 1 according to the determined route, or causes the display device 12 to display the determined route. Thereby, the vehicle 1 from the parking area is supported.

  In addition, when an operation signal instructing parking in the parking area of the vehicle 1 is input from the operation input unit 10, the execution unit 502 is based on the detection results of the reflected waves by the distance measuring units 17 a to 17 d. According to the distance calculated by 500, a process related to parking the vehicle 1 in the parking area is executed. For example, the execution unit 502 determines a route for parking the vehicle 1 in the parking area according to the distance calculated by the distance calculation unit 500, moves the vehicle 1 according to the determined route, or displays the route on the display device 12. To display. Thereby, parking to the parking area of the vehicle 1 is supported.

  It is preferable to update the virtual endpoint when the distance calculation unit 500 can calculate an accurate front distance or rear distance after the vehicle 1 starts to be delivered. Therefore, the virtual end point updating unit 503 has a direction in which the vehicle 1 is delivered out of the distance measuring units 17e, 17f, 17g, and 17h (hereinafter referred to as an exit direction) after the vehicle 1 has advanced forward and started delivery. When a reflected wave is detected only by the distance measuring unit 17 provided on the opposite side, the distance calculation unit 500 calculates the reflected wave in a range where the reflected wave can be detected by the distance measuring unit 17 (hereinafter referred to as a detection range). The virtual endpoint is updated with the forward distance and the endpoint on the exit direction side away from the vehicle 1. The virtual end point updating unit 503 is a distance measuring unit 17 provided on the opposite side to the exit direction among the distance measuring units 17a, 17b, 17c, and 17d after the vehicle 1 travels backward and starts to issue. When only the reflected wave is detected, the virtual end point is updated with the rear distance calculated by the distance calculating unit 500 and the end point on the exit direction side away from the vehicle 1 in the detection range of the distance measuring unit 17. Thus, since the end point of the obstacle existing outside the vehicle 1 can be obtained with high accuracy even after the vehicle 1 starts to leave, the forward or backward movement necessary for turning over when the vehicle 1 is released. The movement efficiency of the vehicle 1 can be improved by reducing the amount. Furthermore, since the end point of the obstacle existing outside the vehicle 1 is updated with high accuracy, when executing the exit assistance of the vehicle 1 using the end point of the obtained obstacle, The end point can be used as a material for determining whether or not to exit the vehicle 1.

  Next, an example of the flow of the virtual endpoint update process by the ECU 14 according to the present embodiment will be described with reference to FIGS. 6, 7 </ b> A to 7 </ b> G, and FIG. 8. FIG. 6 is a flowchart illustrating an example of a flow of virtual endpoint update processing by the ECU of the vehicle according to the present embodiment. 7A to 7G and FIG. 8 are diagrams for explaining an example of the virtual endpoint update processing in the vehicle according to the present embodiment. In the following description, the virtual end point update process when the vehicle 1 goes out from the parking area while traveling forward will be described, but the same applies to the case where the vehicle 1 leaves the parking area while moving backward. Update endpoints.

  When an operation signal is input from the operation input unit 10 to instruct to assist the vehicle 1 to leave the parking area where the vehicles 1 are parked in parallel, the distance calculation unit 500 may measure the distance measurement units 17e, 17f, and 17g. , 17h, sensor information indicating the detection result of the reflected wave by the distance measuring units 17e, 17f, 17g, 17h is acquired (step S601). In the present embodiment, it is assumed that the ECU 14 does not execute the process shown in FIG. 6 when an operation signal instructing assistance for leaving the vehicle 1 is not input from the operation input unit 10. Next, the distance calculation unit 500 calculates the forward distance to the obstacle existing in front of the vehicle 1 based on the detection result of the reflected wave indicated by the acquired sensor information (step S602).

  Next, the virtual endpoint setting unit 501 determines whether or not a virtual endpoint is set (step S603). When it is determined that the virtual endpoint is not set (step S603: Yes), the virtual endpoint setting unit 501 is located on the exit side of the vehicle 1 and is a predetermined distance away from the vehicle 1 toward the front of the vehicle 1. Are set as virtual end points (step S604).

  In this embodiment, the virtual end point setting unit 501 sets a point on the extension line X of the side surface of the vehicle 1 on the exit direction Y side and the front side of the vehicle 1 as the virtual end point P as shown in FIG. 7A. To do. Thereby, when the vehicle 1 starts leaving the parking area, it is possible to set the point at which the possibility of the vehicle 1 coming into contact with the obstacle is the lowest, so that the vehicle 1 leaves the parking area. It is possible to prevent contact with an obstacle when doing so. At that time, the virtual end point setting unit 501 indicates the detection result of the reflected wave by the distance measuring units 17e, 17f, 17g, and 17h after the vehicle 1 is instructed to leave the parking area and before the vehicle 1 starts to leave. The forward distance calculated based on this is defined as a predetermined distance L. Then, the virtual end point setting unit 501 sets a point that exists on the extension line X and is separated from the vehicle 1 by a predetermined distance L as the virtual end point P, as shown in FIG. 7A. Thereby, since the point closer to the end point of the obstacle can be set as the virtual end point, when leaving the vehicle 1 from the parking area, the vehicle 1 is made to leave on the route passing the point closer to the obstacle. Is possible.

On the other hand, the virtual endpoint setting unit 501 did not detect a reflected wave by the distance measuring units 17e, 17f, 17g, and 17h after the vehicle 1 was instructed to leave the parking area and before the vehicle 1 started to leave. In this case (that is, when there is no obstacle ahead of the vehicle 1), as shown in FIG. 7B, the upper limit distance L of the distance to the obstacle that can detect the reflected wave by the distance measuring units 17e, 17f, 17g, and 17h. _{Let max} be a predetermined distance L. Then, the virtual end point setting unit 501 sets a point that exists on the extension line X and is separated from the vehicle 1 by the upper limit distance L _max as the virtual end point P, as shown in FIG. 7B. Thereby, when the vehicle 1 starts leaving the parking area, it is possible to set the point at which the possibility of the vehicle 1 coming into contact with the obstacle is the lowest, so that the vehicle 1 leaves the parking area. It is possible to prevent contact with an obstacle when doing so.

  After setting the virtual end point P, the process returns to step S601, and the distance calculation unit 500 acquires sensor information from the distance measurement units 17e, 17f, 17g, and 17h, and based on the detection result of the reflected wave indicated by the sensor information, A forward distance to an obstacle existing in front of the vehicle 1 is calculated. In this case, since it is determined that a virtual endpoint is set (step S603: No), the virtual endpoint update unit 503 causes the vehicle 1 to move backward based on the detection results of the accelerator sensor 20, the shift sensor 21, and the like. It is determined whether or not there is (step S605). When it is determined that the vehicle 1 is moving backward (step S605: Yes), the virtual endpoint update unit 503 does not update the virtual endpoint P.

  For example, as illustrated in FIG. 7C, when the vehicle 1 is moving backward after the start of the vehicle 1, the virtual endpoint update unit 503 uses the distance measuring units 17 e, 17 f, 17 g, and 17 h from the obstacle. Even if the reflected wave is detected and an obstacle exists in front of the vehicle 1, the virtual end point P is not updated. Further, as shown in FIG. 7D, when the vehicle 1 is moving backward after the vehicle 1 is started, the virtual end point updating unit 503 is reflected from the obstacle by the distance measuring units 17e, 17f, 17g, and 17h. Even if no wave is detected and no obstacle exists in front of the vehicle 1, the virtual end point P is not updated. When the vehicle 1 travels forward and exits from the parking area, when the vehicle 1 travels in the direction opposite to the exit direction (that is, reverse) in part of the process, the vehicle 1 is an obstacle present in the exit direction. It will be away from. In this case, the distance between the distance measurement unit 17 and the obstacle is increased, and the detection accuracy of the reflected wave from the obstacle by the distance measurement unit 17 is reduced, or the detection result of the reflected wave of the obstacle by the distance measurement unit 17 is reduced. There is a high possibility that errors will be included. Therefore, in the present embodiment, the virtual endpoint update unit 503 does not update the virtual endpoint P when traveling in the direction opposite to the direction in which the vehicle 1 leaves (forward or backward). Note that when the vehicle 1 travels backward and exits, the virtual endpoint update unit 503 does not update the virtual endpoint P when determining that the vehicle 1 is moving forward. In the present embodiment, the virtual endpoint updating unit 503 does not update the virtual endpoint P when traveling in the direction opposite to the direction in which the vehicle 1 leaves (forward or backward), but is not limited thereto. The virtual end point P may be updated even when the vehicle 1 is traveling in the direction opposite to the direction in which the vehicle 1 leaves.

Further, when the virtual end point update unit 503 determines that the vehicle 1 is not moving backward (step S605: No), whether or not the vehicle 1 is moving forward based on the detection results of the accelerator sensor 20, the shift sensor 21, and the like. Is determined (step S606). When it is determined that the vehicle 1 is not moving forward (step S606: No), the virtual endpoint update unit 503 does not update the virtual endpoint P. On the other hand, when it is determined that the vehicle 1 is moving forward (step S606: Yes), the virtual endpoint update unit 503 determines the forward distance calculated last by the distance calculation unit 500 on the extension line X of the virtual endpoint P. The first virtual endpoint correction amount is calculated (step S607). The virtual endpoint update unit 503 calculates the upper limit distance _Lmax as the first virtual endpoint correction amount when no reflected wave is detected by the ranging units 17e, 17f, 17g, and 17h after the vehicle 1 moves forward. To do.

  Next, based on the sensor information acquired by the distance calculation unit 500, the virtual end point update unit 503 is a distance measurement unit 17 (provided on the side opposite to the exit direction Y among the distance measurement units 17e, 17f, 17g, and 17h. In the present embodiment, it is determined whether or not the reflected wave is detected only by the distance measuring unit 17h) (step S608). When it is determined that the reflected wave is detected in the distance measuring unit 17 provided on the delivery direction Y side among the distance measuring units 17e, 17f, 17g, and 17h (step S608: No), the virtual endpoint update unit 503 Based on the virtual end point correction amount, the position of the virtual end point P on the extension line X is updated (step S609).

Specifically, the virtual endpoint update unit 503 directs the virtual endpoint P from the front portion (for example, the end portion 2c) of the vehicle 1 to the front of the vehicle 1 on the extension line X as shown in FIG. 7E. And updated to a point separated by the first virtual end point correction amount. When no reflected wave is detected by the distance measurement units 17e, 17f, 17g, and 17h after the vehicle 1 moves forward, the virtual endpoint update unit 503 sets the virtual endpoint P to the extension line as shown in FIG. 7F. On X, the vehicle 1 is updated to a point away from the front portion of the vehicle 1 by the upper limit distance _Lmax toward the front of the vehicle 1. Thereby, after the vehicle 1 starts leaving, the point where the possibility that the vehicle 1 comes into contact with the obstacle can be the virtual end point. Therefore, when the vehicle 1 leaves the parking area, the obstacle Can be prevented from contacting.

  When it is determined that the reflected wave is detected only by the distance measuring unit 17h (step S608: Yes), the virtual end point updating unit 503 issues the delivery in the detection range of the distance measuring unit 17h from the extension line X in the delivery direction Y. The distance to the end on the direction Y side is calculated as the second virtual endpoint correction amount (step S610). Next, the virtual endpoint update unit 503 updates the position of the virtual endpoint P based on the first virtual endpoint correction amount and the second virtual endpoint correction amount (step S609).

  Specifically, as illustrated in FIG. 7G, the virtual endpoint update unit 503 is separated from the front portion of the vehicle 1 by the first virtual endpoint correction amount on the extension line X toward the front of the vehicle 1 and extends. The virtual end point P is updated to a point away from X by the second virtual end point correction amount toward the opposite side to the exit direction Y. That is, as shown in FIG. 8, the virtual endpoint update unit 503 moves the virtual endpoint P away from the distance measuring unit 17h by a forward distance in the detection range A in which the distance to the obstacle can be detected by the distance measuring unit 17h. The end point P ′ is updated. Then, ECU14 repeats the process shown to step S601, step S602, step S603, step S605, and step S609 until the vehicle 1 completes leaving the parking area.

  In this embodiment, the virtual end point update unit 503 calculates the second virtual end point correction amount when it is determined that the reflected wave is detected only by the distance measurement unit 17h, but other than the distance measurement unit 17h, Even when the reflected waves are detected by the distance measuring units 17e, 17f, and 17g, the second virtual end point correction amount is continuously calculated, and the virtual end point P is calculated based on the first virtual end point correction amount and the second virtual end point correction amount. The position of may be updated. Specifically, when the reflected wave is detected by the center sonar (for example, the distance measuring unit 17f or the distance measuring unit 17g) before the reflected wave is detected only by the distance measuring unit 17h, the virtual endpoint update unit 503 In Y, the distance from the extension line X to the end on the exit direction Y side in the detection range of the center sonar is calculated as the second virtual endpoint correction amount. The virtual end point update unit 503 then only the first virtual end point correction amount from the front portion of the vehicle 1 toward the front of the vehicle 1 on the extension line X, even before the reflected wave is detected only by the distance measuring unit 17h. The virtual endpoint P is continuously updated to a point that is away from the extension line X and away from the extension direction X by the second virtual endpoint correction amount. Thereby, even before the reflected wave is detected only by the distance measuring unit 17h, the position of the virtual end point P in the leaving direction Y can be brought close to the position of the actual end point of the obstacle, so that the vehicle 1 becomes an obstacle. The possibility of contact can be lowered.

  Thus, according to the vehicle 1 according to the present embodiment, the parallel parking area can be used without providing a distance measuring unit for calculating the distance to the obstacle present on the side of the vehicle 1. Since the end point of the obstacle which exists in the side of the vehicle 1 can be calculated | required when making the vehicle 1 leave, the vehicle model which can mount the system which assists the vehicle 1 leaving can be increased.

  Note that the program executed by the ECU 14 of the vehicle 1 of the present embodiment is provided by being incorporated in advance in a ROM or the like. The program executed by the ECU 14 of the present embodiment is an installable or executable file and can be read by a computer such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk). The recording medium may be recorded and provided.

  Furthermore, the program executed by the ECU 14 of the present embodiment may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network. Moreover, you may comprise so that the program run by ECU14 of this embodiment may be provided or distributed via networks, such as the internet.

  The program executed by the ECU 14 according to the present embodiment has a module configuration including the above-described units (distance calculation unit 500, virtual endpoint setting unit 501, execution unit 502, and virtual endpoint update unit 503). As the ware, the CPU 14a reads the program from the ROM and executes it, whereby the above-described units are loaded onto the main storage device. The distance calculation unit 500, the virtual endpoint setting unit 501, the execution unit 502, and the virtual endpoint update unit 503 are the main components. It is generated on a storage device.

  As mentioned above, although embodiment of this invention was illustrated, the said embodiment is an example to the last, Comprising: It is not intending limiting the range of invention. The above embodiment can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. In addition, the configuration and shape of each embodiment can be partially exchanged.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 14 ... ECU, 14a ... CPU, 14b ... ROM, 14c ... RAM, 14f ... SSD, 17 ... Distance measuring part, 500 ... Distance calculation part, 501 ... Virtual end point setting part, 502 ... Execution part, 503 ... Virtual end point update unit, L ... predetermined distance, P ... virtual end point, X ... extension line, Y ... exit direction.

Claims (6)

A calculation unit for calculating a distance to an obstacle based on detection results by a plurality of sensors provided apart in the vehicle width direction of the vehicle;
When an exit from a parking area where the vehicle is parked in parallel is instructed, a point that is present on the exit direction side of the vehicle and is a predetermined distance away from the vehicle in the traveling direction of the vehicle is A setting unit for setting a virtual end point;
An execution unit that executes processing related to the vehicle exit according to the virtual end point;
A delivery support apparatus comprising:   When the reflected wave is detected only by the first sensor provided on the side opposite to the vehicle exit direction among the plurality of sensors after the vehicle starts to leave, the reflected wave is reflected by the first sensor. The delivery support apparatus according to claim 1, further comprising an update unit that updates the virtual end point with a distance calculated by the calculation unit and an end point on the exit direction side away from the vehicle within a detectable range.   The leaving support apparatus according to claim 1 or 2, wherein the setting unit sets a point in the traveling direction of the vehicle that exists on an extension line of a side surface of the vehicle on the leaving direction side as the virtual end point.   The said predetermined distance is a distance calculated by the said calculation part based on the said detection result after the delivery from the said parking area is instruct | indicated and before the said vehicle starts leaving. The delivery support apparatus according to one.   5. The predetermined distance is an upper limit distance to the obstacle at which the reflected wave can be detected by the sensor when the reflected wave is not detected by the sensor before the vehicle starts to leave. The delivery support device described in 1. The update unit, when the reflected wave is not detected by the sensor after the vehicle starts leaving, on the extension line, the upper limit distance of the distance to the obstacle that can detect the reflected wave by the sensor, The leaving support apparatus according to claim 2, wherein the virtual end point is updated by a point away from the vehicle.

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