JP2018158701A - Automatic parking control method, automatic parking control device using the same, and program - Google Patents

Abstract

A technique for suppressing deterioration of passenger convenience when parking a vehicle is provided. An I/O unit 33 receives vehicle exterior detection information, which is a detection result of a situation outside the vehicle, and vehicle interior detection information, which is a detection result of a situation inside the vehicle. The derivation unit 60 derives the final parking position of the vehicle 100 based on the received outside detection information. The specifying unit 70 specifies the parking path from the parking start position of the vehicle 100 to the final parking position and the size of the space around the vehicle 100 at the final parking position. Based on the size of the specified space and the received vehicle interior detection information, the processing unit 72 determines the setting of the intermediate stop position on the specified parking route. The vehicle control unit 78 controls automatic parking of the vehicle 100 based on the instruction to move along the specified parking route and the instruction to stop at the set stop position. [Selection drawing] Fig. 3

Description

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

  The parking assistance device improves the convenience of parking assistance by changing the target parking position and the guide route from a preset reference parking sequence according to the parking space and the presence or absence of surrounding obstacles. Here, the target parking position and the guidance route are determined using the relative position between the vehicle and the parking area detected from the mark detected by the camera, the parking area information, and the detected obstacle information.

JP 2010-208358 A

  If the parking space in which the vehicle is to be parked is small, the occupant may not be able to get off or the baggage may not be taken out even if the vehicle can be parked. Thereby, the convenience of the passenger | crew of a vehicle falls.

  This invention is made | formed in view of such a condition, The objective is to provide the technique which suppresses the fall of a passenger | crew's convenience in the case of parking a vehicle.

  In order to solve the above-described problems, an automatic parking control device according to an aspect of the present invention moves from a parking start position of a vehicle to a final parking position of the vehicle specified based on out-of-vehicle detection information that is a detection result of a situation outside the vehicle. Based on the specific part for specifying the parking route of the vehicle, the size of the space around the vehicle at the final parking position, the size of the space specified in the specific part, and in-vehicle detection information which is a detection result of the in-vehicle situation In addition, a processing unit that determines the setting of the stop position on the parking route specified by the specifying unit, an instruction to move along the parking route specified by the specifying unit, and a stop at the intermediate stop position set by the processing unit A vehicle control unit that controls automatic parking of the vehicle based on the instruction.

  Another aspect of the present invention is an automatic parking control method. In this method, the parking path from the parking start position of the vehicle to the final parking position of the vehicle specified based on the detection information outside the vehicle, and the size of the space around the vehicle at the final parking position. Determining the setting of the stop position on the specified parking route based on the size of the specified space and the vehicle detection information that is the detection result of the in-vehicle situation, And a step of controlling automatic parking of the vehicle based on the instruction for movement along the parking route and the instruction for stopping at the set stop position.

  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.

  ADVANTAGE OF THE INVENTION According to this invention, the fall of the passenger | crew's convenience in the case of parking a vehicle can be suppressed.

It is a figure which shows the structure of the vehicle which concerns on embodiment. It is a figure which shows typically the interior of the vehicle of FIG. It is a figure which shows another structure of the vehicle which concerns on embodiment. It is a figure which shows the outline | summary of the specific process of the last parking position by the automatic parking control apparatus of FIG. It is a figure which shows the outline | summary of the identification process of the parking route by the automatic parking control apparatus of FIG. It is a figure which shows the outline | summary of the specific process of the magnitude | size of the space by the automatic parking control apparatus of FIG. It is a figure which shows the outline | summary of the determination process of the halfway stop position by the automatic parking control apparatus of FIG. It is a figure which shows the image displayed on the center display of FIG. It is a figure which shows the stop position on the way by the vehicle of FIG. 1 or FIG. It is a figure which shows another halfway stop position by the vehicle of FIG. 1 or FIG. It is a figure which shows another another stop position by the vehicle of FIG. 1 or FIG. It is a figure which shows another another stop position by the vehicle of FIG. 1 or FIG. It is a figure which shows another another stop position by the vehicle of FIG. 1 or FIG. It is a figure which shows another another stop position by the vehicle of FIG. 1 or FIG. It is a figure which shows another another stop position by the vehicle of FIG. 1 or FIG. It is a flowchart which shows the determination procedure of the stop position on the way by the automatic parking control apparatus of FIG.

  Before describing the present invention in detail, an outline will be described. The present embodiment relates to a vehicle that automatically executes parking. Although this embodiment focuses on automatic parking control, automatic driving control may be possible with this vehicle. The automatic parking control is performed in an automatic parking control device that automatically controls driving, braking, and steering of the vehicle. In the automatic parking control, in the parking operation from the position where the vehicle parking operation is started (hereinafter referred to as “parking start position”) to the position where the vehicle should be finally parked (hereinafter referred to as “final parking position”). A route to be traveled (hereinafter referred to as “parking route”) is derived. The vehicle travels on the parking route to the final parking position and stops at the final parking position.

  If the space around the vehicle at the final parking position is narrow, it may be difficult to open the door or the trunk. In this case, as described above, the passenger cannot get out of the vehicle or cannot take out the luggage, so the convenience of the vehicle passenger is reduced. In order to cope with this, the automatic parking control device according to the present embodiment, when the space around the vehicle at the final parking position is narrow, before arriving at the final parking position in the parking route according to the situation inside the vehicle. A setting of a position at which the vehicle is temporarily stopped (hereinafter referred to as “intermediate stop position”) is determined. Further, the automatic parking control device stops the vehicle at the stop position on the way. Here, the intermediate stop position is arranged at a position where the door can be easily opened or the trunk can be easily opened.

  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 a vehicle 100 according to an embodiment, and particularly shows a configuration related to a vehicle capable of automatic parking. 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, and an automatic parking control device 30. The automatic parking control device 30 includes a vehicle control device 34 and a parking assistance device 40. 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 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.

  FIG. 2 schematically shows the interior of the vehicle 100. The notification device 2 may be a head-up display (HUD, Head-Up Display) 2a or a center display 2b. The input device 4 may be the first operation unit 4a provided in the steering 11 or the second operation unit 4b provided between the driver seat and the passenger seat, and is a camera that recognizes a gesture. The third operation unit 4c, which is a sensor such as In addition, the alerting | reporting apparatus 2 and the input device 4 may be integrated, for example, may be mounted as a touch panel display. The vehicle 100 may further be provided with a speaker 6 that presents information related to automatic parking to the occupant by voice. In this case, the parking assistance device 40 may cause the notification device 2 to display an image indicating information related to automatic parking, and may output a sound indicating information related to automatic parking from the speaker 6 together with or instead of the information. Returning to FIG.

  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, a winker switch 14, a shift 15, and a parking brake 16. The steering 11, brake pedal 12, accelerator pedal 13, blinker switch 14, shift 15 and parking brake 16 can be electronically controlled by the steering ECU, brake ECU, engine ECU and motor ECU, blinker controller, and shift ECU. In the automatic parking mode, the steering ECU, the brake ECU, the engine ECU, the motor ECU, and the shift ECU drive the actuator according to a control signal supplied from the vehicle control device 34. The blinker controller turns on or off the blinker lamp according to a control signal supplied from the vehicle control device 34.

  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 types of detected information (hereinafter referred to as “detection information”) to the vehicle control device 34. Further, the detection unit 20 may output the detection information to the parking assistance device 40 via the vehicle control device 34 or may directly output the detection information to the parking assistance device 40. The detection unit 20 includes a position information acquisition unit 21 and a sensor 22.

  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 position information acquisition unit 21 is connected to the sensor 22 and acquires the current position of the vehicle 100 from a GNSS (Global Navigation Satellite System (s)) receiver. The position information acquisition unit 21 may acquire the current position using a steering angle, a wheel speed pulse, or the like.

  The vehicle control device 34 is an automatic driving controller that implements an automatic parking control function, and determines the behavior of the vehicle 100 in automatic parking. The vehicle control device 34 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 inputs and outputs information to and from the parking assistance device 40. Further, the I / O unit 33 inputs detection information from the detection unit 20.

  The control unit 31 applies the information input from the parking assist device 40 and the various information collected from the detection unit 20 or various ECUs to the automatic parking algorithm, and automatically controls the accelerator throttle opening, the steering angle, etc. of the vehicle 100. A control value for controlling the 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, brake ECU, engine ECU, winker controller, and shift ECU. 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 outputs information to the automatic parking 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 includes a derivation unit 60, which will be described later. 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, an information input / output unit 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 information input / output unit 53 executes interface processing with the vehicle control device 34 and inputs / outputs information to / from the vehicle control device 34. 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 vehicle control device 34 and the parking assistance device 40 are configured as separate devices. As a modification, the vehicle control device 34 and the parking assist device 40 may be integrated into the automatic parking control device 30 as indicated by a broken line in FIG. Below, in order to clarify description, the structure in the automatic parking control apparatus 30 which integrated the vehicle control apparatus 34 and the parking assistance apparatus 40 is demonstrated.

  FIG. 3 shows another configuration of the vehicle 100. The automatic parking control device 30 includes a control unit 31, a storage unit 32, and an I / O unit 33. The control unit 31 includes a derivation unit 60, a specification unit 70, a processing unit 72, and a vehicle control unit 78. Includes an estimation unit 74 and a determination unit 76. The sensor 22 includes a first sensor 22a and a second sensor 22b. Here, of the configuration of the vehicle 100 in FIG. 1, only the configuration necessary for the description is shown, but actually, the wireless device 8 and the like that are not illustrated are also included. Further, the derivation unit 60 in the control unit 31 in FIG. 3 is included in the control unit 41 in FIG. 1, but the remaining configuration in the control unit 31 in FIG. 3 is included in the control unit 31 in FIG. In the following, such a configuration is (1) identification of the final parking position, (2) identification of the parking path, (3) identification of the size of the space, (4) determination of the stop position on the way, (5), parking path Will be described in the order of the movement along the line (6) and the process of canceling the stop position on the way.

(1) Identification of final parking position The first sensor 22a represents a sensing device for detecting a situation outside the vehicle, for example, an obstacle such as another vehicle 100, among the sensors 22. An example of the first sensor 22a is a camera, a millimeter wave radar, a lider, or an ultrasonic sensor. The first sensor 22 a outputs detection information (hereinafter referred to as “external vehicle detection information”) that is a detection result of the external vehicle condition to the I / O unit 33. 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 I / O unit 33. The I / O unit 33 receives out-of-vehicle detection information from the first sensor 22a and position information from the position information acquisition unit 21. The I / O unit 33 outputs outside vehicle detection information and position information to the control unit 31.

  The deriving unit 60 receives out-of-vehicle detection information and position information from the I / O unit 33. In order to explain the processing in the deriving unit 60, FIG. 4 is used here. FIG. 4 shows an outline of the process for specifying the final parking position 130 by the automatic parking control device 30. The vehicle 100 travels in the direction of the arrow while performing sensing by the first sensor 22a. The deriving unit 60 recognizes the arrangement positions of the other vehicle 110 and the obstacle 112 based on the vehicle outside detection information acquired by sensing. By recognizing the arrangement position of the other vehicle 110 and the obstacle 112, the derivation unit 60 searches for a parking area 120 that is a parking space where the vehicle 100 can be parked.

  The search of the parking area 120 is performed by searching for an area where the other vehicle 110 and the obstacle 112 are not arranged in an area larger than the area of the vehicle 100 or searching for a frame line of the parking area 120. As a result of the search, the deriving unit 60 derives the parking area 120 that exists between the other vehicle 110 and the obstacle 112. Furthermore, the deriving unit 60 derives the final parking position 130 in the parking area 120. For example, the derivation unit 60 places the final parking position 130 in the central portion of the parking area 120. Here, the area of the final parking position 130 corresponds to the area of the vehicle 100 and is known to the derivation unit 60. Returning to FIG.

(2) Identification of Parking Route After the final parking position 130 is specified by the derivation unit 60, the specifying unit 70 specifies the parking route 140 from the parking start position 132 of the vehicle to the final parking position 130. In order to explain the processing in the specifying unit 70, FIG. 5 is used here. FIG. 5 shows an outline of the identification process of the parking route 140 by the automatic parking control device 30. The position information received by the specifying unit 70, for example, the parking start position 132 is indicated by absolute latitude and longitude (hereinafter referred to as "coordinates"). On the other hand, the final parking position 130 already identified by the derivation unit 60 is indicated by the relative direction and distance from the parking start position 132. Therefore, the specifying unit 70 derives the coordinates of the final parking position 130 based on the parking start position 132, the direction, and the distance.

  Further, the specifying unit 70 calculates a parking route 140 from the parking start position 132 to the final parking position 130 based on the coordinates of the parking start position 132 and the coordinates of the final parking position 130. In addition, in order to calculate the parking route 140, the specifying unit 70 may determine a parking scene such as parallel parking, parallel parking, and diagonal parking, and front-and-back parking directions from the detection information outside the vehicle. Here, since it was impossible to move directly from the parking start position 132 to the final parking position 130 based on the trajectory information, the parking route 140 in which the vehicle 100 is turned back at the turning back position 134 is calculated. Is done. The identifying unit 70 outputs the parking route 140 to the processing unit 72. Returning to FIG.

(3) Specifying the size of the space The specifying unit 70 uses the detection information outside the vehicle to specify the size of the space around the vehicle 100 when the vehicle 100 is parked at the final parking position 130. In order to explain the processing in the specifying unit 70, FIG. 6 is used here. FIG. 6 shows an outline of the space size specifying process performed by the automatic parking control device 30. The specifying unit 70 specifies the sizes of the first space 150, the second space 152, and the third space 154 based on the vehicle outside detection information. The first space 150 indicates the distance X to the other vehicle 110 disposed on the right side of the vehicle 100, the second space 152 indicates the distance Y to the obstacle 112 disposed on the left side of the vehicle 100, and the third space A space 154 indicates the distance Z with the obstacle 112 disposed behind the vehicle 100.

  The size of the space around the vehicle 100 is such that the other vehicle 110 is at a distance Xm on the right side of the vehicle 100 and the other vehicle 110 is parked at an angle x ° with respect to the final parking position 130. May be shown. Further, the size of the space of the vehicle 100 is indicated such that a three-dimensional object (column) exists at a distance αm from the tire position on the left front side of the vehicle 100, and no other three-dimensional object exists within a distance βm. Also good. Returning to FIG.

(4) Determination of stop position on the way The 2nd sensor 22b shows the sensing device for detecting the condition in a vehicle among the sensors 22. FIG. An example of the second sensor 22b is a camera or a load sensor. The second sensor 22b detects the situation of passengers and luggage as the situation inside the vehicle. The detection result is shown, for example, as if there are passengers in the driver's seat and passenger seat, no passengers in the rear seats, and luggage in the trunk room. The second sensor 22 b outputs in-vehicle detection information that is a detection result to the I / O unit 33. The I / O unit 33 receives in-vehicle detection information from the second sensor 22 b and outputs the in-vehicle detection information to the processing unit 72.

  The estimation unit 74 estimates a door and a trunk that are opened in the vehicle 100 when the vehicle 100 is parked at the final parking position 130 based on the in-vehicle detection information. For example, the estimation unit 74 estimates that the left front door is opened when an occupant is present in the passenger seat. Further, the estimation unit 74 estimates that the right rear door is opened when an occupant is present on the right side of the rear seat. Further, the estimation unit 74 estimates that the trunk opens when there is a load in the trunk room. Note that the doors and trunks to be opened are collectively referred to as open parts. The estimation unit 74 outputs the estimation result to the determination unit 76.

  The determining unit 76 extracts the size of the space for the door and trunk estimated by the estimating unit 74 from the size of the space specified by the specifying unit 70. For example, when the estimation unit 74 estimates that the left front door is opened, the determination unit 76 extracts the size of the second space 152. Further, when the estimation unit 74 estimates that the right rear door is opened, the determination unit 76 extracts the size of the first space 150. Furthermore, when the estimation unit 74 estimates that the trunk is opened, the determination unit 76 extracts the size of the third space 154. The determination unit 76 compares the size of the extracted space with a threshold value that is stored in advance, and when the size of the space is smaller than the threshold value, determines that an intermediate stop position is set. On the other hand, when the size of the space is equal to or larger than the threshold value, the determination unit 76 determines not to set the stop position on the way. Here, the threshold value is a value necessary for opening the door when the occupant gets off, or a value greater than a value necessary for opening the trunk.

  FIG. 7 shows an outline of the process of determining the stop position on the way by the automatic parking control device 30. Here, it is assumed that there is a passenger in the passenger seat and the size of the second space 152 is smaller than the threshold value. For example, the length of the second space 152 is about 20 cm. In such a case, when the vehicle 100 is parked at the final parking position 130, there is no space for opening the left front door, and passengers in the passenger seat cannot get off. The determination unit 76 determines to set the midway stop position 136 on the parking route 140 specified by the specifying unit 70. Here, the midway stop position 136 is set before arriving at the final parking position 130. Note that the position at which the midway stop position 136 is set will be described later. At the halfway stop position 136, the left front door of the vehicle 100 can be opened. Returning to FIG.

(5) Movement along the parking route Based on the parking route 140 from the specifying unit 70 and the position information from the I / O unit 33, the processing unit 72 moves the vehicle 100 to any part on the parking route 140. Check if it exists. The processing unit 72 instructs the vehicle control unit 78 to move along the parking route 140 according to the confirmation result. For example, in FIG. 7, when the position information indicates the parking start position 132, the processing unit 72 instructs the vehicle control unit 78 to move to the switching position 134 along the parking route 140. This corresponds to an instruction to move forward while turning right.

  When the position information indicates the turn-back position 134, the processing unit 72 instructs the vehicle control unit 78 to move from the forward direction to the reverse direction and then move to the stop position 136 along the parking path 140. . When the position information indicates the midway stop position 136, the processing unit 72 instructs the vehicle control unit 78 to instruct a stop. Thereafter, the processing unit 72 instructs the vehicle control unit 78 to move to the final parking position 130 along the parking path 140. Note that when the determination unit 76 determines not to set the mid-stop position 136, the vehicle control unit 78 is not instructed to stop at the mid-stop position 136. The vehicle control unit 78 controls automatic parking of the vehicle 100 in accordance with an instruction from the processing unit 72.

(6) Canceling the stop position on the way The processing unit 72 may generate an overhead image that looks down on the periphery of the vehicle 100 from above the vehicle 100 based on the detection information outside the vehicle, particularly an image captured by the camera. . Since a known technique may be used to generate the overhead image, description thereof is omitted here. Further, the processing unit 72 generates an image by superimposing the parking route 140 specified by the specifying unit 70 on the overhead view image. This image is displayed on the notification device 2 via the I / O unit 33. FIG. 8 shows an image displayed on the center display 2b. In the bird's-eye view image, the vehicle 100 is shown as the vehicle icon 200, and the other vehicle 110 is shown as the other vehicle icon 210. The vehicle icon 200 exists at the parking start position 132. In addition, a parking area 120, a final parking position 130, an intermediate stop position 136, and a parking route 140 are also shown. As the vehicle 100 moves, the vehicle icon 200 also moves. A cancel button 220 is displayed on the lower right side of the screen.

  When the center display 2b is a touch panel, when the occupant touches the cancel button 220, the input device 4 receives an instruction from the occupant. This instruction indicates cancellation of the setting of the stop position 136 on the way. The input device 4 outputs an operation signal indicating the cancellation of the setting to the I / O unit 33. When receiving the operation signal, the I / O unit 33 outputs the cancellation of the setting to the processing unit 72. When the processing unit 72 receives the cancellation of the setting from the I / O unit 33, the processing unit 72 cancels the setting of the stop position 136 on the way. Thus, even if the position information indicates the midway stop position 136, the processing unit 72 does not output a stop instruction to the vehicle control unit 78.

  Below, the position of the midway stop position 136 set in the determination part 76 is demonstrated in detail. Here, the case of parallel / diagonal parking will be described using FIGS. 9 to 12, and the case of parallel parking will be described using FIGS. 13 to 15. FIG. 9 shows an intermediate stop position 136 by the vehicle 100. This indicates a case where an occupant is present in the driver's seat. Therefore, the estimation unit 74 estimates that the right front door of the vehicle 100 is opened. Here, the right front door is shown as an open portion 160. When the vehicle 100 enters the parking area 120 from the rear, the condition that the vehicle does not contact the obstacle 112 even when the right front door is opened and the obstacle 112 is contacted when the right rear door is opened is satisfied and the final parking is performed. A position closest to the position 130 is set as an intermediate stop position 136. In addition, when the vehicle 100 enters the parking area 120 from the front, the position that satisfies the condition that the obstacle 112 does not come into contact even if the right front door is opened, and the position closest to the final parking position 130 is set as the intermediate stop position 136. Is done.

  FIG. 9 also shows a case where a passenger is present in the passenger seat. Therefore, the estimation unit 74 estimates that the left front door of the vehicle 100 is also opened. Here, the left front door is also shown as an open portion 160. When the vehicle 100 enters the parking area 120 from the rear, it satisfies the condition that it does not come into contact with the obstacle 112 even if the right front door and the left front door are opened, and contacts the obstacle 112 when the left rear door is opened, In addition, a position closest to the final parking position 130 is set as a midway stop position 136. Further, when the vehicle 100 enters the parking area 120 from the front, the position that does not contact the obstacle 112 even if the right front door and the left front door are opened, and the position closest to the final parking position 130 is an intermediate stop position. 136 is set.

  FIG. 10 shows another stop position 136 by the vehicle 100. This shows a case where an occupant is present in the right rear seat. Therefore, the estimation unit 74 estimates that the door on the right rear side of the vehicle 100 is also opened. Here, the right rear door is also shown as an open portion 160. When the vehicle 100 enters the parking area 120 from behind, the position that satisfies the condition that the obstacle 112 does not come into contact even if the right rear door is opened and that is closest to the final parking position 130 is set as the intermediate stop position 136. . In addition, when the vehicle 100 enters the parking area 120 from the front, the position that satisfies the condition that the obstacle 112 does not come into contact even if the right front door is opened, and the position closest to the final parking position 130 is set as the intermediate stop position 136. Is done.

  FIG. 11 shows still another halfway stop position 136 by the vehicle 100. This shows a case where an occupant is present in the left rear seat. Therefore, it is estimated by the estimation unit 74 that the left rear door of the vehicle 100 is also opened. Here, the left rear door is also shown as an open portion 160. When the vehicle 100 enters the parking area 120 from behind, the position that does not contact the obstacle 112 even if the right front door and the left rear door are opened and that is closest to the final parking position 130 is the intermediate stop position 136. Is set. Further, when the vehicle 100 enters the parking area 120 from the front, the position that does not contact the obstacle 112 even if the right front and left rear doors are opened and the position closest to the final parking position 130 is the midway stop position. 136 is set.

  FIG. 12 shows still another halfway stop position 136 by the vehicle 100. This indicates a case where luggage is present in the trunk room. Therefore, the estimation unit 74 estimates that the trunk of the vehicle 100 is opened. Here, the trunk is also shown as an open portion 160. When the vehicle 100 enters the parking area 120 from behind, the position that satisfies the condition of not contacting the obstacle 112 even when the trunk is opened and that is closest to the final parking position 130 is set as the halfway stop position 136.

  FIG. 13 shows still another midway stop position 136 by the vehicle 100. This indicates a case where passengers are present in the driver's seat and the passenger seat. Therefore, the estimation unit 74 estimates that the right front door and the left front door of the vehicle 100 are opened. Here, the right front and left front doors are shown as open portions 160. A position that satisfies the condition of not contacting the obstacle 112 even if the front door on the left side is opened and that is closest to the final parking position 130 is set as an intermediate stop position 136.

  FIG. 14 shows yet another midway stop position 136 by the vehicle 100. This shows a case where an occupant is present in the left rear seat. Therefore, it is estimated by the estimation unit 74 that the left rear door of the vehicle 100 is also opened. Here, the left rear door is also shown as an open portion 160. A position that satisfies the condition of not contacting the obstacle 112 even if the left rear door is opened and that is closest to the final parking position 130 is set as an intermediate stop position 136.

  FIG. 15 shows still another halfway stop position 136 by the vehicle 100. This indicates a case where luggage is present in the trunk room. Therefore, the estimation unit 74 estimates that the trunk of the vehicle 100 is opened. Here, the trunk is also shown as an open portion 160. A position that satisfies the condition of not contacting the obstacle 112 even if the trunk is opened and that is closest to the final parking position 130 is set as the midway stop position 136.

  As shown in FIGS. 9 to 15, the determination unit 76 sets the stop position 136 on the way so that the size of the space with respect to the open portion 160 estimated by the estimation unit 74 is equal to or larger than the threshold value and is close to the final parking position 130. Arrange. It can be said that the stop position 136 is disposed halfway so that a part of the vehicle 100 is included in the parking area 120 and the remaining part of the vehicle 100 is disposed outside the parking area 120.

  Operation | movement of the automatic parking control apparatus 30 by the above structure is demonstrated. FIG. 16 is a flowchart showing a procedure for determining a stop position on the way by the automatic parking control device 30. The deriving unit 60 identifies the parking area 120 (S10), identifies the final parking position 130 (S12), and the identifying unit 70 identifies the parking route 140 (S14). The specifying unit 70 specifies the size of the space (S16). If there is a passenger in the front passenger seat or the rear seat or there is luggage in the trunk room (Y in S18), if the size of the corresponding space is smaller than the threshold value (Y in S20), the determining unit 76 The setting is determined (S22). If there are no passengers in the passenger seat and the rear seat and there is no luggage in the trunk room (N in S18), or if the size of the space is equal to or greater than the threshold value (N in S20), the process is terminated. The specification of the parking route 140 in step 14 may be performed at any timing after step 12 and before step 22.

  According to the present embodiment, since the setting of the stop position on the way is determined based on the size of the space around the vehicle at the final parking position and the situation inside the vehicle, the convenience of the occupant when parking the vehicle Can be suppressed. Since the setting of the midway stop position is determined based on the size of the space for the door and trunk that are opened in the vehicle, the midway stop position can be set if the space when the door and the trunk are opened is small. In addition, since the stop position is arranged so that the size of the space for the door and trunk is equal to or greater than the threshold value, the space for the door and trunk can be widened. Moreover, since the space with respect to a door and a trunk becomes wide, the fall of a passenger | crew's convenience can be suppressed. Moreover, since a part of vehicle is included in a parking area, the part arrange | positioned out of a parking area among vehicles can be made small. Since the part arrange | positioned outside a parking area becomes small among vehicles, the influence which it has on driving | running | working of another vehicle can be reduced.

  In addition, since the occupant knows the stop position and the final parking position in advance, it is possible to suppress the occurrence of a situation where the passenger cannot get off after parking or cannot take out the luggage. Moreover, since the stop position on the way is arranged on the parking route to the final parking position, it is possible to eliminate the need to change the parking route. Further, if a stop is not required, the stop position is canceled and the vehicle is directly guided to the final parking position, so that there is no unnecessary stop and parking can be performed without bothering the passenger. Moreover, since it gets off at the stop position on the way, it is not troubled to get off in a narrow parking area, and the safety and convenience of passengers can be improved.

  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. An automatic parking control device according to an aspect of the present invention includes a parking path from a parking start position of a vehicle to a final parking position of the vehicle specified based on detection information outside the vehicle, which is a detection result of a situation outside the vehicle, and a final parking position. The specific part that specifies the size of the space around the vehicle in the vehicle, the parking part that is specified in the specific part based on the size of the space that is specified in the specific part and the detection information in the vehicle that is the detection result of the in-vehicle situation Based on the processing unit for determining the setting of the mid-stop position on the route, the instruction for movement along the parking route specified by the specifying unit, and the stop instruction at the mid-stop position set by the processing unit A vehicle control unit that controls automatic parking of the vehicle.

  According to this aspect, since the setting of the stop position on the way is determined based on the size of the space around the vehicle at the final parking position and the situation inside the vehicle, the convenience of the occupant when the vehicle is parked is reduced. Can be suppressed.

  The processing unit is configured to estimate an open portion that is opened in the vehicle based on the in-vehicle detection information, and of the size of the space specified by the specifying unit, the size of the space estimated by the estimating unit is the threshold size. If the value is smaller than the value, a determination unit that determines the setting of the stop position on the way may be provided. In this case, since the setting of the midway stop position is determined based on the size of the space for the open part opened in the vehicle, the midway stop position can be set if the space in the open part is small.

  The determination unit may arrange the stop position on the way so that the size of the space with respect to the open portion estimated by the estimation unit is equal to or greater than a threshold value and is close to the final parking position. In this case, since the stop position on the way is arranged so that the size of the space with respect to the open portion is equal to or greater than the threshold value, it is possible to suppress a decrease in passenger convenience.

  The identification unit identifies a parking area where the vehicle can be parked based on the detection information outside the vehicle, and then identifies the final parking position in the parking area. The determination unit includes a part of the vehicle in the parking area. In addition, the mid-stop position may be arranged so that the remaining part of the vehicle is arranged outside the parking area. In this case, since a part of the vehicle is included in the parking area, a portion of the vehicle that is disposed outside the parking area can be reduced.

  Another aspect of the present invention is an automatic parking control method. In this method, the parking path from the parking start position of the vehicle to the final parking position of the vehicle specified based on the detection information outside the vehicle, and the size of the space around the vehicle at the final parking position. Determining the setting of the stop position on the specified parking route based on the size of the specified space and the vehicle detection information that is the detection result of the in-vehicle situation, And a step of controlling automatic parking of the vehicle based on the instruction for movement along the parking route and the instruction for stopping at the set stop position.

  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 present embodiment, the case where the driver's seat is arranged on the right side of the vehicle 100 is described. However, the present invention is not limited thereto, and for example, a driver's seat may be arranged on the left side of the vehicle 100. At that time, the descriptions on the right side and the left side are reversed. According to this modification, the application range can be expanded.

  ADVANTAGE OF THE INVENTION According to this invention, the fall of the passenger | crew's convenience in the case of parking a vehicle can be suppressed.

  2 Informing device, 2a Head-up display, 2b Center display, 4 Input device, 4a 1st operation part, 4b 2nd operation part, 4c 3rd operation part, 6 Speaker, 8 Wireless device, 10 Driving operation part, 11 Steering, 12 brake pedal, 13 accelerator pedal, 14 winker switch, 15 shift, 16 parking brake, 20 detection unit, 21 position information acquisition unit, 22 sensor, 30 automatic parking control device, 31 control unit, 32 storage unit, 33 I / O Unit, 34 vehicle control device, 40 parking support device, 41 control unit, 42 storage unit, 43 I / O unit, 50 operation signal input unit, 51 image / sound output unit, 52 detection information input unit, 53 information input / output unit , 56 Communication IF, 60 Deriving part, 70 Parts, 72 unit, 74 estimation unit, 76 determining unit, 78 a vehicle control unit, 100 vehicle.

Claims (6)

From the parking start position of the vehicle, the parking route to the final parking position of the vehicle specified based on the detection result outside the vehicle that is the detection result of the situation outside the vehicle, the size of the space around the vehicle at the final parking position, A specific part for identifying
Based on the size of the space specified in the specifying unit and in-vehicle detection information that is a detection result of the situation in the vehicle, a processing unit that determines the setting of the stop position on the parking route specified in the specifying unit;
A vehicle control unit that controls automatic parking of the vehicle based on an instruction to move along the parking route specified in the specifying unit and an instruction to stop at a midway stop position set in the processing unit;
An automatic parking control device comprising: The processor is
Based on the in-vehicle detection information, an estimation unit that estimates an open portion that is opened in the vehicle;
Of the size of the space specified in the specifying unit, if the size of the space for the open portion estimated in the estimation unit is smaller than a threshold value, a determination unit that determines the setting of the stop position on the way;
An automatic parking control device according to claim 1.   3. The automatic parking control device according to claim 2, wherein the determination unit arranges the stop position on the way so that the size of the space with respect to the open portion estimated by the estimation unit is equal to or greater than a threshold value and is close to the final parking position. The specifying unit specifies a parking area where the vehicle can be parked based on the outside detection information, and then specifies a final parking position in the parking area.
3. The automatic parking control device according to claim 2, wherein the determination unit arranges the stop position on the way so that a part of the vehicle is included in a parking area and a remaining part of the vehicle is arranged outside the parking area. . From the parking start position of the vehicle, the parking route to the final parking position of the vehicle specified based on the detection result outside the vehicle that is the detection result of the situation outside the vehicle, the size of the space around the vehicle at the final parking position, Identifying steps,
Determining the setting of the stop position on the identified parking route based on the size of the identified space and the in-vehicle detection information that is the detection result of the in-vehicle situation;
A step of controlling automatic parking of the vehicle based on an instruction to move along the identified parking route and an instruction to stop at the set stop position;
An automatic parking control method comprising: From the parking start position of the vehicle, the parking route to the final parking position of the vehicle specified based on the detection result outside the vehicle that is the detection result of the situation outside the vehicle, the size of the space around the vehicle at the final parking position, Identifying steps,
Determining the setting of the stop position on the identified parking route based on the size of the identified space and the in-vehicle detection information that is the detection result of the in-vehicle situation;
The program for making a computer perform the step which controls the automatic parking of the said vehicle based on the instruction | indication of the movement along the specified parking path | route, and the instruction | indication of the stop in the set halfway stop position.

Images