JP2018151962A - Parking assistance method, parking assistance device using the same, automatic operation control device, program - Google Patents

Abstract

Provided is a technique for performing efficient parking support when there is no empty parking area. A detection information input unit 52 receives detection information that is a detection result of a situation outside the vehicle. Based on the detection information received by the detection information input unit 52, the detection unit 72 detects a change in state from the unlit state to the lit state in the parking area. When the detection unit 72 detects a change in state, the command output unit 55 outputs a vehicle standby instruction to the automatic driving control device 30 that controls automatic parking of the vehicle. The automatic operation control device 30 causes the vehicle to wait in accordance with the vehicle standby instruction from the command output unit 55. [Selection] Figure 2

Description

  The present invention relates to a parking assist method for a vehicle, a parking assist device using the same, an automatic driving control device, and a program.

  2. Description of the Related Art A technique for searching for a free parking area around a host vehicle and performing guidance support for the host vehicle to the parking area is used. For example, using a laser beam, a guidance route of the host vehicle to a parking area where no object exists is generated, and guidance of the host vehicle to the parking region is performed along the guidance route.

JP 2014-104939 A

  When the parking lot is full, there is no free parking area, so that a free parking area can be continuously searched. Therefore, the fuel is wasted by continuing to travel for searching. In addition, another vehicle may park in a vacant parking area while traveling.

  This invention is made | formed in view of such a condition, The objective is to provide the technique which performs efficient parking assistance, when an empty parking area does not exist.

  In order to solve the above-described problem, a parking assist device according to an aspect of the present invention is based on an input unit that receives detection information that is a detection result of a situation outside the vehicle, and in the parking area based on the detection information received by the input unit. A detection unit that detects a change in state from a light-off state to a light-on state, and an output unit that outputs a standby instruction to an automatic driving control device that controls automatic parking of the vehicle when the detection unit detects a state change. Prepare.

  Another aspect of the present invention is an automatic operation control device. This device includes an input unit that receives detection information that is a detection result of a situation outside the vehicle, and a detection unit that detects a state change from an unlit state to a lit state in a parking area based on the detection information received in the input unit. And an automatic driving control unit that controls automatic parking of the vehicle based on a standby instruction when the detection unit detects a change in state.

  Yet another aspect of the present invention is a parking assistance method. The method includes a step of receiving detection information that is a detection result of a situation outside the vehicle, a step of detecting a state change from an unlit state to a lit state in the parking area based on the received detection information, and detecting a state change. In this case, a step of outputting a standby instruction to an automatic driving control device that controls automatic parking of the vehicle is provided.

  An arbitrary combination of the above components, the expression of the present invention converted between an apparatus, a system, a method, a program, a recording medium recording the program, a vehicle equipped with the apparatus, and the like are also included in the present invention. It is effective as an embodiment.

  According to the present invention, efficient parking support can be executed when there is no empty parking area.

1 is a diagram illustrating a configuration of a vehicle according to a first embodiment. It is a figure which shows the structure of the parking assistance apparatus of FIG. It is a figure which shows arrangement | positioning of the parking area in the parking lot where the vehicle of FIG. 1 tends to park. It is a figure which shows the outline | summary of the parking by the vehicle of FIG. It is a front view which shows the external appearance of the parked vehicle of FIG. It is a flowchart which shows the parking procedure by the parking assistance apparatus of FIG. It is a figure which shows arrangement | positioning of the parking area in the parking lot where the vehicle which concerns on Embodiment 2 tends to park. 6 is a flowchart illustrating a processing procedure performed by the parking assistance device according to the second embodiment.

(Embodiment 1)
Before describing the present invention in detail, an outline will be described. The present embodiment relates to a vehicle that automatically executes parking. This vehicle can perform automatic driving control, and in this embodiment, attention is paid to automatic parking control. In particular, the present invention relates to a parking assist device that outputs an instruction regarding parking to an automatic driving control device that automatically controls traveling, braking, and steering of a vehicle. In the automatic parking control, as described above, when an empty parking area where the vehicle can be parked is detected, a route to be traveled in the parking operation up to the parking region (hereinafter referred to as “parking route”) is derived, and the parking route A vehicle travels along.

  Here, an indoor parking lot such as a shopping mall is assumed. This parking lot is provided with a plurality of parking areas. When the vehicle is full, a vehicle is parked in each of the plurality of parking areas. Under such circumstances, the vehicle continues to travel in order to detect an empty parking area. By continuing to travel, fuel is wasted. On the other hand, in a parking lot that cannot be circulated, it is impossible to continue traveling, and the vehicle is stuck. In addition, it is sufficient that the parking area is vacated with good timing while continuing traveling, but if the timing is bad, a situation may occur in which another vehicle parks first and cannot be parked indefinitely.

  In order to cope with this, when the parking assist device according to the present embodiment detects a vehicle that is likely to be out of the vehicles parked in each parking area, the parking support device until the vehicle is out. Stand by near the area, and automatically park in an empty parking area as soon as you leave. Here, detection of a vehicle with a high possibility of leaving is performed by turning on a headlight (taillight) of a parked vehicle. Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each embodiment described below is an example, and the present invention is not limited to these embodiments.

  FIG. 1 shows a configuration of vehicle 100 according to Embodiment 1, and particularly shows a configuration related to an autonomous driving vehicle. The vehicle 100 includes a notification device 2, an input device 4, a wireless device 8, a driving operation unit 10, a detection unit 20, an automatic driving control device 30, and a parking assistance device 40. The vehicle 100 can travel in the automatic driving mode, but automatic parking is an object of description here. The devices shown in FIG. 1 may be connected by wired communication such as a dedicated line or a CAN (Controller Area Network). Moreover, you may connect by wired communication or wireless communications, such as USB (Universal Serial Bus), Ethernet (trademark), Wi-Fi (trademark), Bluetooth (trademark).

  The notification device 2 notifies the occupant of information related to traveling or parking of the vehicle 100. The notification device 2 is, for example, a car navigation system, a head-up display, or a center display installed in the vehicle. The notification device 2 may be a display unit that displays information such as a light emitter such as an LED (Light Emitting Diode) installed around the steering wheel, pillar, dashboard, and meter panel. In addition, the notification device 2 may be a speaker that converts information into sound and notifies the occupant, or a vibration body provided at a position that can be sensed by the occupant (for example, the occupant's seat, steering wheel). There may be. Further, the notification device 2 may be a combination thereof.

  The input device 4 is a user interface device that receives an operation input by an occupant. For example, the input device 4 is a touch panel, a lever, a button, a switch, a controller such as a joystick or a volume, a sensor such as a camera that recognizes a gesture without contact, a sensor such as a microphone that recognizes voice, or a combination thereof. Receives information on automatic driving or automatic parking of the vehicle entered by. The information regarding automatic parking is, for example, the start or release of automatic parking. The input device 4 outputs the received information to the parking assistance device 40 as an operation signal.

  The wireless device 8 corresponds to a mobile phone communication system, a WMAN (Wireless Metropolitan Area Network), and the like, and performs wireless communication with a data server, infrastructure, other vehicles, pedestrians, and the like. The driving operation unit 10 includes a steering 11, a brake pedal 12, an accelerator pedal 13, and a winker switch 14. The steering 11, the brake pedal 12, the accelerator pedal 13, and the winker switch 14 can be electronically controlled by a steering ECU, a brake ECU, an engine ECU, a motor ECU, and a winker controller. In the automatic driving mode or the automatic parking mode, the steering ECU, the brake ECU, the engine ECU, and the motor ECU drive the actuator in accordance with a control signal supplied from the automatic driving control device 30. The blinker controller turns on or off the blinker lamp according to a control signal supplied from the automatic operation control device 30.

  The detection unit 20 detects a surrounding situation and a running state of the vehicle 100. The detection unit 20 detects, for example, the speed of the vehicle 100, position information of the vehicle 100, and obstacles around the vehicle 100. The detection unit 20 outputs various detected information (hereinafter referred to as “detection information”) to the automatic operation control device 30. The detection unit 20 may output the detection information to the parking assistance device 40 via the automatic driving control device 30 or may directly output the detection information to the parking assistance device 40. The detection unit 20 includes a position information acquisition unit 21, a sensor 22, a speed information acquisition unit 23, and a map information acquisition unit 24.

  The position information acquisition unit 21 acquires the current position of the vehicle 100 from a GNSS (Global Navigation Satellite System (s)) receiver. The sensor 22 is a generic name for various sensors for detecting the situation outside the vehicle and the state of the vehicle 100. For example, a camera, a millimeter wave radar, a LIDAR (Light Detection and Ranging), a sonar, a temperature sensor, an atmospheric pressure sensor, a humidity sensor, and an illuminance sensor are mounted as sensors for detecting a situation outside the vehicle. The situation outside the vehicle includes a road condition in which the host vehicle includes lane information, an environment including weather, a situation around the host vehicle, and other vehicles in the vicinity (such as other vehicles traveling in the adjacent lane). Any information outside the vehicle that can be detected by the sensor 22 may be used. Further, as the sensor 22 for detecting the state of the vehicle 100, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an inclination sensor, and the like are mounted. Sensor 22 may detect the state inside vehicle 100.

  The speed information acquisition unit 23 acquires the current speed of the vehicle 100 from the vehicle speed sensor. The map information acquisition unit 24 acquires map information around the current position of the vehicle 100 from the map database. The map database may be recorded on a recording medium in the vehicle 100, or may be downloaded from a map server via a network when used. The map information includes information on roads, intersections, and parking lots.

  The automatic driving control device 30 is an automatic driving controller that implements an automatic driving control function, and determines the behavior of the vehicle 100 in automatic driving or automatic parking. In the following, description regarding automatic driving is omitted. The automatic operation control device 30 includes a control unit 31, a storage unit 32, and an I / O unit (Input / Output unit, input / output unit) 33. The configuration of the control unit 31 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM (Read Only Memory), RAM (Random Access Memory), and other LSIs can be used as hardware resources, and programs such as operating systems, applications, and firmware can be used as software resources. The storage unit 32 includes a nonvolatile recording medium such as a flash memory. The I / O unit 33 executes communication control according to various communication formats. For example, the I / O unit 33 outputs information related to automatic parking to the parking support device 40 and inputs a control command from the parking support device 40. Further, the I / O unit 33 inputs detection information from the detection unit 20.

  The control unit 31 applies the control command input from the parking assist device 40 and various information collected from the detection unit 20 or various ECUs to the automatic parking algorithm, and automatically controls the accelerator throttle opening, steering steering angle, etc. of the vehicle 100. A control value for controlling the controlled object is calculated. The control unit 31 transmits the calculated control value to each control target ECU or controller. In this embodiment, it is transmitted to the steering ECU, the brake ECU, the engine ECU, and the winker controller. In the case of an electric vehicle or a hybrid car, the control value is transmitted to the motor ECU instead of or in addition to the engine ECU.

  The parking assist device 40 controls the automatic driving control device 30 in automatic parking of the vehicle 100 by outputting a control command to the automatic driving control device 30. The parking assist device 40 includes a control unit 41, a storage unit 42, and an I / O unit 43. The control unit 41 executes various data processing such as HMI control. The control unit 41 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources.

  The storage unit 42 is a storage area that stores data that is referred to or updated by the control unit 41. For example, it is realized by a non-volatile recording medium such as a flash memory. The I / O unit 43 executes various communication controls according to various communication formats. The I / O unit 43 includes an operation signal input unit 50, an image / audio output unit 51, a detection information input unit 52, a command IF (Interface) 53, and a communication IF 56.

  The operation signal input unit 50 receives an operation signal from the input device 4 by an operation of an occupant or a user outside the vehicle made to the input device 4 and outputs the operation signal to the control unit 41. The image / sound output unit 51 outputs the image data or the voice message generated by the control unit 41 to the notification device 2 for display. The detection information input unit 52 is a result of the detection process by the detection unit 20, receives detection information indicating the current surrounding state and running state of the vehicle 100 from the detection unit 20, and outputs the detection information to the control unit 41.

  The command IF 53 executes interface processing with the automatic driving control device 30 and includes an action information input unit 54 and a command output unit 55. The behavior information input unit 54 is information on the vehicle 100 transmitted from the automatic driving control device 30 and receives information related to automatic parking and outputs the information to the control unit 41. The command output unit 55 receives a control command for instructing the automatic driving control device 30 from the automatic parking mode from the control unit 41 and transmits the control command to the automatic driving control device 30.

  The communication IF 56 executes interface processing with the wireless device 8. The communication IF 56 transmits the data output from the control unit 41 to the wireless device 8 and causes the wireless device 8 to transmit to the device outside the vehicle. Further, the communication IF 56 receives data from a device outside the vehicle transferred by the wireless device 8 and outputs the data to the control unit 41.

  Here, the automatic driving control device 30 and the parking assistance device 40 are configured as separate devices. As a modified example, as shown by a broken line in FIG. 1, the automatic driving control device 30 and the parking assistance device 40 may be integrated into one controller. In other words, one automatic driving control device may be configured to have both functions of the automatic driving control device 30 and the parking assist device 40 of FIG.

  In the following, the automatic parking process in the vehicle 100 will be described in more detail. FIG. 2 shows the configuration of the parking assist device 40. The parking assist device 40 includes a control unit 41, a detection information input unit 52, and a command output unit 55. The control unit 41 includes a specifying unit 70, a detection unit 72, and a processing unit 74. In addition, the position information acquisition unit 21, the sensor 22, and the map information acquisition unit 24 are connected to the detection information input unit 52, and the automatic operation control device 30 is connected to the command output unit 55.

  The position information acquisition unit 21 acquires the current position of the vehicle 100 as described above. The position information acquisition unit 21 outputs detection information including the current position (hereinafter referred to as “position information”) to the detection information input unit 52. Moreover, the map information acquisition part 24 memorize | stores the map of the parking lot where the vehicle 100 tends to park. In addition, the map of a parking lot may be acquired previously, and may be acquired in a parking lot via the radio | wireless apparatus 8 of FIG. FIG. 3 shows the arrangement of the parking area 110 in the parking lot 200 where the vehicle 100 intends to park. In the parking lot 200, the first parking area 110a to the 14th parking area 110n, which are collectively referred to as the parking area 110, are arranged. The number of parking areas 110 is not limited to “14”. In the map of the parking lot, for example, the coordinates of the frame line of each parking area 110 are shown. Returning to FIG.

  The sensor 22 represents a sensing device for detecting a situation outside the vehicle, for example, an obstacle, a parked vehicle 120 parked in the parking area 110. An example of the sensor 22 is a camera, a millimeter wave radar, a lider, or an ultrasonic sensor. A plurality of types of sensors may be combined with the sensor 22. The sensor 22 outputs detection information, which is a detection result of the situation outside the vehicle, to the detection information input unit 52. The detection information input unit 52 receives position information from the position information acquisition unit 21, a parking lot map from the map information acquisition unit 24, and detection information from the sensor 22. The detection information input unit 52 outputs these to the control unit 41.

  The identification unit 70 receives a map of the parking lot from the detection information input unit 52. The identifying unit 70 identifies the positions of the plurality of parking areas 110 in the parking lot based on the parking lot map. The identification unit 70 outputs information regarding the positions of the identified plurality of parking areas 110 to the detection unit 72. The detection unit 72 receives detection information and position information from the detection information input unit 52. Based on the detection information, the detection unit 72 searches for a parking area 110 that can be parked from the plurality of parking areas 110, that is, an empty parking area 110. For example, as shown in FIG. 3, the vehicle 100 travels in the direction of the arrow while performing sensing in the sensing area 80. Detection information acquired by sensing is indicated by a relative direction and distance from the vehicle 100. The detection unit 72 uses the position information to correct the detection information to coordinates indicated by latitude and longitude.

  When the information received from the specifying unit 70 and the corrected detection information is included in the information related to the positions of the plurality of parking areas 110, the detection unit 72 detects another vehicle 100 parked in the parking area 110. (Hereinafter referred to as “parked vehicle 120”). On the other hand, the detection unit 72 detects a parking area 110 where the parked vehicle 120 is not arranged as an empty parking area 110. When detecting the empty parking area 110, the detection unit 72 outputs the detected position of the empty parking area 110 to the processing unit 74, thereby instructing the processing unit 74 to park in the empty parking area 110. On the other hand, processing in the case where the detection unit 72 does not detect an empty parking area 110 will be described later.

  When the processing unit 74 is informed of the position of the empty parking area 110 from the detection unit 72, the processing unit 74 executes an automatic parking process to the parking area 110. Here, FIG. 4 is used to explain this process. FIG. 4 shows an outline of parking by the vehicle 100, which shows a parking lot 200 in which a part of FIG. 3 is enlarged. Here, it is assumed that the detection unit 72 is informed that the twelfth parking area 110l is an empty parking area 110. In addition, it is assumed that the eleventh parking vehicle 120k and the thirteenth parking vehicle 120m exist in the eleventh parking region 110k and the thirteenth parking region 110m adjacent to the twelfth parking region 110l. The processing unit 74 specifies the final parking position 112 in the twelfth parking area 110l. For example, the specifying unit 70 places the final parking position 112 in the central portion of the twelfth parking area 110l. Here, the area of the final parking position 112 corresponds to the area of the vehicle 100 and is known to the processing unit 74.

  Next, the processing unit 74 calculates a parking route 116 from the parking start position 114 to the final parking position 112. At that time, the processing unit 74 holds in advance trajectory information that the vehicle 100 can travel, and uses the trajectory information. Moreover, in order to calculate the parking path | route 116, the process part 74 may determine parking scenes, such as parallel parking, parallel parking, diagonal parking, and the parking direction of front insertion and back insertion from detection information. Based on the parking route 116 and the position information from the detection information input unit 52, the processing unit 74 sequentially confirms in which part on the parking route 116 the vehicle 100 exists. The processing unit 74 generates a command indicating an instruction for movement along the parking route 116 according to the confirmation result. For example, in FIG. 4, when the position information indicates the parking start position 114, the processing unit 74 generates a command for instructing to move to the final parking position 112 along the parking route 116. Returning to FIG. The processing unit 74 sequentially outputs the generated commands to the command output unit 55. The command output unit 55 outputs a command indicating an instruction for movement along the parking route 116 specified by the specifying unit 70 to the automatic driving control device 30. The automatic driving control device 30 controls automatic parking of the vehicle 100 in accordance with a command from the command output unit 55.

  On the other hand, when the empty parking area 110 is not detected, it corresponds to the situation of FIG. At that time, the detection unit 72 detects the state change from the unlit state to the lit state in the parking region 110 based on the detection information with the parking region 110 identified by the identifying unit 70 as a processing target. FIG. 5 is a front view showing the appearance of the parked vehicle 120. The parked vehicle 120 is generally provided with two lights 122, a first light 122a and a second light 122b. The light 122 may be a headlight or a taillight. In the indoor parking lot 200, when the parked vehicle 120 on which the occupant gets out, the two lights 122 are turned on. Here, although the positions of the two lights 122 differ depending on the vehicle type, they are included in the height direction range 150 and included in the range between the minimum interval 152 and the maximum interval 154. For example, the height direction range 150 is set to a range of 30 cm to 1.5 m in height. If the state change from the unlit state to the lit state in these ranges is detected, the parked vehicle 120 that is likely to leave can be detected.

  The detection unit 72 sequentially receives images captured by the camera as detection information, and monitors the height direction range 150 and the range between the minimum interval 152 and the maximum interval 154 in each image. In the two consecutive images, when the difference in luminance in the range becomes larger than the threshold value, the detection unit 72 detects a change in state of the two or more lights 122 from the unlit state to the lit state. When the state change is detected, the detection unit 72 outputs the position of the parking area 110 where the state change is detected to the processing unit 74, thereby instructing the processing unit 74 to wait until the parking area 110 becomes empty.

  When the detection unit 72 is informed of the position of the parking area 110 where the state change has been detected, the processing unit 74 generates a command for instructing waiting near the parking area 110. The processing unit 74 outputs the generated command to the command output unit 55, and the command output unit 55 outputs a command indicating a standby instruction near the parking area 110 where the state change is detected to the automatic driving control device 30. . The automatic driving control device 30 causes the vehicle 100 to wait in accordance with a command from the command output unit 55.

  The detection unit 72 determines whether or not the parking area 110 is empty based on the detection information while the vehicle 100 is on standby. When detecting the empty parking area 110, the detection unit 72 instructs the processing unit 74 to park in the empty parking area 110. Subsequent processing is the same as heretofore, and the description is omitted here.

  Operation | movement of the parking assistance apparatus 40 by the above structure is demonstrated. FIG. 6 is a flowchart showing a parking procedure by the parking assist device 40. The detection information input unit 52 receives position information, detection information, and a map of the parking lot 200 (S10). The identification unit 70 identifies the parking area 110 (S12). When the detection part 72 detects the empty parking area 110 (Y of S14), the process part 74, the command output part 55, and the automatic driving | operation control apparatus 30 perform the automatic parking to the said parking area 110 (S22). On the other hand, when the vacant parking area 110 is not detected (N in S14), the detection unit 72 searches for a parked vehicle 120 that is likely to leave (S16). If there is no parked vehicle 120 that is likely to leave (N in S18), the process returns to step 12. If there is a parked vehicle 120 that is likely to leave (Y in S18), the processing unit 74, the command output unit 55, and the automatic operation control device 30 cause the vehicle 100 to stand by near the parking area 110 (S20). When the parked vehicle 120 leaves, the process part 74, the command output part 55, and the automatic driving | operation control apparatus 30 perform the automatic parking to the said parking area | region 110 (S22).

  According to the present embodiment, when a change in state from the unlit state to the lit state in the parking area is detected, the standby is instructed, so that the parking area can be parked after the parking area becomes empty. In addition, since parking is performed in the parking area after the parking area becomes empty, efficient parking support can be executed when there is no empty parking area. Further, since the state change is detected in the parking area specified by the map information, the position where the state change should be detected can be limited. Further, since the position where the state change detection is to be performed is limited, the processing amount can be reduced. Moreover, since the state change from the light extinction state of two or more lights to a lighting state is detected, the state change in a vehicle can be detected. Moreover, since the state change from the light extinction state within the range of 30 cm to 1.5 m in height to a lighting state is detected, the state change in a vehicle can be detected.

(Embodiment 2)
Next, a second embodiment will be described. As in the first embodiment, the second embodiment relates to a parking assistance device that outputs an instruction regarding parking to an automatic driving control device that automatically controls driving, braking, and steering of a vehicle. In a situation where an empty parking area is not detected, the parking assist device detects a parked vehicle that is likely to be out of the parked vehicles in each parking area. Wait and park as soon as you leave. However, when another vehicle is already waiting for the parked vehicle to leave the parking area, parking is not possible even if the vehicle is further waiting near the parking area. In the second embodiment, when there is another vehicle that is already waiting (hereinafter referred to as “standby vehicle”), even if a parking area where a parked vehicle is likely to leave is detected, no waiting is performed. The vehicle 100 according to the second embodiment is the same type as that shown in FIG. 1, and the parking assist device 40 is the same type as that shown in FIG. Here, it demonstrates centering on the difference with Embodiment 1. FIG.

  In Embodiment 2, when the detection part 72 does not detect the empty parking area 110, it shows as FIG. FIG. 7 shows the arrangement of the parking area 110 in the parking lot 200 where the vehicle 100 according to the second embodiment is to park. Although FIG. 7 is shown in the same manner as FIG. 3, the standby vehicle 130 exists in a passage other than the parking area 110. The standby vehicle 130 is a vehicle that waits for the parking area 110 to become free as the parked vehicle 120 leaves. Returning to FIG.

  The detection unit 72 detects the standby vehicle 130 in an area other than the parking area 110 in the image captured by the camera as detection information. The standby vehicle 130 may be detected by blinking a hazard lamp. When the detection unit 72 detects the standby vehicle 130, even if the parking area 110 in which two or more lights 122 have changed from the unlit state to the lit state is detected, the detection unit 72 continues until the parking area 110 becomes free for a certain period of time. The processing unit 74 is not instructed to wait. For this reason, the command output unit 55 does not output a command indicating a standby instruction.

  Operation | movement of the parking assistance apparatus 40 by the above structure is demonstrated. FIG. 8 is a flowchart illustrating a processing procedure performed by the parking assist device 40. When the detection unit 72 detects the standby vehicle 130 (Y in S50), the processing unit 74, the command output unit 55, and the automatic driving control device 30 do not cause the vehicle 100 to wait for a certain period (S52). When the detection unit 72 does not detect the standby vehicle 130 (N in S50), step 52 is skipped.

  According to the present embodiment, since the standby is not performed if the presence of the standby vehicle is detected, it is possible to further suppress the occurrence of a standby situation when the standby vehicle exists.

  As mentioned above, although embodiment concerning this invention has been explained in full detail with reference to drawings, the function of the apparatus mentioned above and each processing part may be realized by a computer program. A computer that realizes the above-described functions by a program includes an input device such as a keyboard, mouse, and touch pad, an output device such as a display and a speaker, a CPU (Central Processing Unit), a ROM, a RAM, a hard disk device, and an SSD (Solid State Drive). Storage device such as a DVD-ROM (Digital Versatile Disk Read Only Memory), a reading device that reads information from a recording medium such as a USB memory, a network card that communicates via a network, etc., and each part is connected by a bus .

  The reading device reads the program from the recording medium on which the program is recorded, and stores the program in the storage device. Or a network card communicates with the server apparatus connected to the network, and memorize | stores the program for implement | achieving the function of said each apparatus downloaded from the server apparatus in a memory | storage device. Further, the function of each device is realized by the CPU copying the program stored in the storage device to the RAM and sequentially reading out and executing the instructions included in the program from the RAM. Moreover, you may include other road users as an obstruction. For example, a motorcycle (two-wheeled vehicle) and a bicycle (with a person on them) may be treated as other vehicles, and a person pushing a bicycle or riding a skateboard may be treated as a pedestrian.

  The outline of one embodiment of the present invention is as follows. A parking assist device according to an aspect of the present invention is a state in which a parking area is switched from an unlit state to a lit state based on an input unit that receives detection information that is a detection result of a situation outside the vehicle, and detection information that is received in the input unit. A detection unit that detects a change, and an output unit that outputs a standby instruction to an automatic driving control device that controls automatic parking of the vehicle when the detection unit detects a state change.

  According to this aspect, when the state change from the unlit state to the lit state in the parking area is detected, the standby is instructed, so that the parking area can be parked after the parking area becomes empty.

  You may further provide the specific | specification part which pinpoints the parking area in a parking lot based on the map information of a parking lot. The detection unit may detect a state change in the parking area specified by the specifying unit. In this case, since the state change is detected in the parking area specified by the map information, the position where the state change should be detected can be limited.

  A detection part may detect the state change from the light extinction state of two or more lights to a lighting state in a parking area. In this case, since the state change from the light-off state of two or more lights to the light-on state is detected, the state change in the vehicle can be detected.

  A detection part may detect the state change from the light extinction state in the range of 30 cm to 1.5 m in a parking area to a lighting state. In this case, since the state change from the unlit state to the lit state within the range of 30 cm to 1.5 m in height is detected, the state change in the vehicle can be detected.

  The detection unit detects standby of another vehicle in an area other than the parking area based on the detection information received in the input unit, and when the detection unit detects standby of another vehicle, The instruction may be non-output. In this case, since the standby is not performed if the standby of another vehicle is detected, it is possible to suppress the occurrence of a situation of further standby when the other vehicle is standby.

  Another aspect of the present invention is an automatic operation control device. This device includes an input unit that receives detection information that is a detection result of a situation outside the vehicle, and a detection unit that detects a state change from an unlit state to a lit state in a parking area based on the detection information received in the input unit. And an automatic driving control unit that controls automatic parking of the vehicle based on a standby instruction when the detection unit detects a change in state.

  According to this aspect, when the state change from the unlit state to the lit state in the parking area is detected, the standby is instructed, so that the parking area can be parked after the parking area becomes empty.

  Yet another aspect of the present invention is a parking assistance method. The method includes a step of receiving detection information that is a detection result of a situation outside the vehicle, a step of detecting a state change from an unlit state to a lit state in the parking area based on the received detection information, and detecting a state change. In this case, a step of outputting a standby instruction to an automatic driving control device that controls automatic parking of the vehicle is provided.

  The present invention has been described based on the embodiments. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. By the way.

  In the first and second embodiments, the detection unit 72 uses an image captured by the camera in order to detect the change in the parking area 110 from the unlit state to the lit state and detect the standby vehicle 130. ing. However, the present invention is not limited thereto, and for example, the detection unit 72 may use thermal information acquired by the infrared sensor in order to detect them. According to this modification, the degree of freedom of configuration can be improved.

  According to the present invention, efficient parking support can be executed when there is no empty parking area.

  DESCRIPTION OF SYMBOLS 2 Notification apparatus, 4 Input apparatus, 8 Radio | wireless apparatus, 10 Driving operation part, 11 Steering, 12 Brake pedal, 13 Accelerator pedal, 14 Winker switch, 20 Detection part, 21 Position information acquisition part, 22 Sensor, 23 Speed information acquisition part , 24 map information acquisition unit, 30 automatic operation control device, 31 control unit, 32 storage unit, 33 I / O unit, 40 parking support device, 41 control unit, 42 storage unit, 43 I / O unit, 50 operation signal input Section, 51 image / sound output section, 52 detection information input section, 53 command IF, 54 action information input section, 55 command output section, 56 communication IF, 70 identification section, 72 detection section, 74 processing section, 80 sensing area, 100 vehicles.

Claims (8)

An input unit for receiving detection information that is a detection result of the situation outside the vehicle;
Based on the detection information received in the input unit, a detection unit for detecting a state change from the unlit state to the lit state in the parking area,
When the detection unit detects a state change, an output unit that outputs a standby instruction to an automatic driving control device that controls automatic parking of the vehicle;
A parking assistance device comprising: Based on the map information of the parking lot, further comprising a specific unit for specifying the parking area in the parking lot,
The parking support device according to claim 1, wherein the detection unit detects a state change in the parking area specified by the specifying unit.   The parking support device according to claim 1 or 2, wherein the detection unit detects a state change from a light-off state to a light-on state of two or more lights in a parking area.   The parking support device according to any one of claims 1 to 3, wherein the detection unit detects a state change from a light-off state to a light-on state within a range of a height of 30 cm to 1.5 m in the parking area. The detection unit detects waiting of another vehicle in a region other than the parking region based on the detection information received in the input unit,
The parking support device according to any one of claims 1 to 4, wherein the output unit does not output a standby instruction when the detection unit detects a standby of another vehicle. An input unit for receiving detection information that is a detection result of the situation outside the vehicle;
Based on the detection information received in the input unit, a detection unit for detecting a state change from the unlit state to the lit state in the parking area,
When the detection unit detects a change in state, an automatic driving control unit that controls automatic parking of the vehicle based on a standby instruction;
An automatic operation control device comprising: Receiving detection information which is a detection result of the situation outside the vehicle;
Based on the received detection information, detecting a state change from a light-off state to a light-on state in the parking area;
A step of outputting a standby instruction to an automatic driving control device for controlling automatic parking of a vehicle when a state change is detected;
A parking assistance method comprising: Receiving detection information which is a detection result of the situation outside the vehicle;
Based on the received detection information, detecting a state change from a light-off state to a light-on state in the parking area;
A program for causing a computer to execute a step of outputting a standby instruction to an automatic driving control device that controls automatic parking of a vehicle when a state change is detected.

Images