JP2019046100A - Parking assistance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform highly accurate automatic parking control while simplifying a configuration on a vehicle side and reducing a cost. SOLUTION: The parking support device is provided in a facility at a place different from the vehicle, and the image is taken by an image pickup device provided in the facility and at a position where the vehicle and the parking area of the vehicle can be imaged. When the vehicle is recognized in the image, the route is traveled to the vehicle based on the route generator that generates the route from the vehicle's current position to the parking area, and the surrounding three-dimensional information and the route regarding the land around the facility. The generated driving control command is transmitted to the driving control command generation unit that generates the driving control command, which is the command to be controlled, and the vehicle control device that is mounted on the vehicle and performs automatic driving control of the vehicle based on the driving control command. It is equipped with a communication unit. [Selection diagram] Fig. 2

Description

  The present invention relates to a parking assistance device.

  Conventionally, a parking assistance system is known which automatically guides a vehicle to a parking area. In such a conventional parking assistance system, there is a technology for improving the accuracy of automatic parking control using captured images captured by both an imaging device mounted on a vehicle and an imaging device installed on a facility side .

JP 2007-161119 A

However, in such a conventional technique, it is necessary to mount an imaging device for each vehicle, or a device for calculating a route from a current position to a parking area for each vehicle has to be mounted. It becomes complicated and the cost also increases.
In order to solve such problems, the present invention has an object to provide a parking assistance device capable of performing highly accurate automatic parking control while simplifying the configuration on the vehicle side and reducing the cost. .

  A parking assistance apparatus according to the present invention is a parking assistance apparatus provided at a facility different from a vehicle, and provided at the facility and at a position where an image of the vehicle and a parking area of the vehicle can be captured. Route generation unit configured to generate a route from the current position of the vehicle to the parking area when the vehicle is recognized in a captured image captured by the imaging device, and surrounding three-dimensional information on land around the facility And a drive control command generation unit for generating a drive control command that is a command for control to cause the vehicle to travel the route based on the route and the route, and the vehicle mounted on the vehicle, and based on the drive control command And a communication unit that transmits the generated operation control instruction to a vehicle control device that performs automatic operation control. With this configuration, according to the present embodiment, as an example, the configuration on the vehicle side can be simplified, and the cost can be reduced while highly accurate automatic parking control can be performed.

  Further, in the parking assistance device according to the present invention, the operation control command includes commands of a driving force, a braking force and a steering angle corresponding to the position of the route, and the three-dimensional surrounding information is The driving control command generation unit generates the driving control command to increase or decrease the driving force, the braking force, or the steering angle according to the level difference and the slope of the road surface along the route, including information on the level difference and the slope of the road surface. Do. With this configuration, according to the present embodiment, as one example, automatic driving of the vehicle can be controlled with higher accuracy.

  Further, in the parking assistance device of the present invention, the route generation unit generates the route based on the turning characteristic according to the recognized identification information of the vehicle and the surrounding three-dimensional information. With this configuration, according to the present embodiment, as an example, it is possible to generate a route along which the vehicle travels with higher accuracy.

  Further, in the parking assistance device of the present invention, the communication unit further receives, from the vehicle control device, vehicle parameters including the number of occupants in the vehicle, the riding position of the occupant, and the vehicle height, and generates the route. The unit corrects the turning characteristic based on the vehicle parameters, and generates the route based on the corrected turning characteristic. With this configuration, according to the present embodiment, as an example, the route can be generated with higher accuracy by accurately reflecting the state of the vehicle on the turning characteristic.

  Further, in the parking assistance device of the present invention, the communication unit further receives, from the vehicle control device, the operation control command, the route, and the identification information of the vehicle when the vehicle is manually operated. The parking assistance apparatus further includes a storage unit, and a storage unit that associates the received identification information, the operation control instruction, and the route and stores the same in the storage unit, and the route generation unit When a vehicle is recognized, the storage unit acquires the route corresponding to the identification information of the recognized vehicle, and the driving control command generation unit determines the identification of the recognized vehicle in the storage unit. The driving control command corresponding to information is acquired, and the communication unit transmits the acquired driving control command to the vehicle control device. With this configuration, according to the present embodiment, as one example, parking assistance in line with the driver's request can be realized.

FIG. 1 is a diagram showing an example of the overall configuration of the parking assistance system of the first embodiment. FIG. 2 is a block diagram showing a functional configuration of the parking assistance apparatus according to the first embodiment. FIG. 3 is a view showing an example of the turning characteristic table of the first embodiment. FIG. 4 is a schematic view showing an example of a virtual three-dimensional space of peripheral 3D data according to the first embodiment. FIG. 5 is a diagram showing an example of the operation control command of the first embodiment. FIG. 6 is a block diagram showing an entire configuration of a vehicle control device in the vehicle of the first embodiment. FIG. 7 is a functional block diagram for explaining the function of the ECU of the first embodiment. FIG. 8 is a sequence diagram illustrating an example of the procedure of the parking assistance process according to the first embodiment. FIG. 9 is a diagram illustrating an example of a path generated in the first embodiment. FIG. 10 is a diagram showing an example of a state in which the vehicle is parked in the parking area in the first embodiment. FIG. 11 is a sequence diagram illustrating an example of the procedure of the parking position switching process according to the second embodiment. FIG. 12 is a sequence diagram showing an example of the procedure of the parking position change process (cont.) Of the second embodiment. FIG. 13 is a sequence diagram showing an example of the procedure of the parking position change process (cont.) Of the second embodiment. FIG. 14 is a diagram showing an example of a state before replacing the vehicle in the parking position replacing process of the second embodiment. FIG. 15 is a diagram showing an example of a state of temporary retraction of the vehicle in the parking position switching process of the second embodiment. FIG. 16 is a diagram illustrating an example of a state after the replacement of the vehicle in the parking position replacement process of the second embodiment. FIG. 17 is a block diagram showing an example of a functional configuration of the parking assistance device of the third embodiment. FIG. 18 is a diagram of an example of a data structure of history data according to the third embodiment. FIG. 19 is a sequence diagram illustrating an example of the procedure of registration processing during manual operation according to the third embodiment. FIG. 20 is a sequence diagram illustrating an example of the procedure of the parking assistance process of the third embodiment.

  The same components as those in the following exemplary embodiments and the like will be denoted by the same reference numerals, and overlapping descriptions will be appropriately omitted.

(Embodiment 1)
FIG. 1 is a diagram showing an example of the overall configuration of the parking assistance system of the first embodiment. FIG. 1 shows a house 200 as a facility and a parking assistance area 210. The parking assistance system of the present embodiment includes a parking assistance device 100, two cameras 201 as imaging devices, and a vehicle control device (not shown) provided in the vehicle 20.

  The parking assistance device 100 is provided in a house 200 at home, which is a facility different from the vehicle 20. The parking assist device 100 is a device that remotely controls the vehicle 20 that has entered the parking assist range 210 from the outside, guides the vehicle 20 to the parking area 220, and assists in parking by automatic driving. The parking assistance range 210 is an area where the parking assistance device 100 can assist the vehicle 20 for parking.

  The vehicle control device mounted on the vehicle 20 receives an instruction from the parking assistance device 100 and controls automatic driving of the vehicle 20.

  The two cameras 201 are installed in the house 200, and are connected to the parking assistance device 100 by a network or the like. The two cameras 201 are provided at positions where the parking assistance range 210 including the vehicle 20 and the parking area 220 of the vehicle 20 can be imaged in the house 200. The camera 201 does not necessarily have to be newly installed for the parking assistance apparatus 100, and an existing security camera can be used, whereby the installation cost of the parking assistance apparatus 100 can be reduced.

  The number of cameras 201 is not limited to two as long as the camera 200 is provided at a position at which the parking assistance range 210 including the vehicle 20 and the parking area 220 can be imaged in the house 200. For example, if it is possible to image the parking assistance range 210 with a single camera 201, it is not necessary to provide two or more, and three or more cameras 201 are installed and the parking assistance range 210 is comprehensively covered by three cameras 201. It may be configured to take an image.

  Next, the details of the parking assistance device 100 will be described. The parking assistance device 100 is configured as a computer including at least a memory such as a CPU, a RAM, a ROM, and a storage device such as a solid state drive (SSD) or a hard disk drive (HDD) as hardware.

  FIG. 2 is a block diagram showing a functional configuration of the parking assistance device 100 according to the first embodiment. As shown in FIG. 2, the parking assistance apparatus 100 according to the present embodiment mainly includes a captured image input unit 101, a route generation unit 102, an operation control command generation unit 103, a communication unit 104, and a storage unit 110. Have.

  The captured image input unit 101 inputs a captured image captured by the camera 201. The communication unit 104 wirelessly communicates with the vehicle control device of the vehicle 20, requests the vehicle control device for the vehicle parameters of the vehicle 20, and receives the vehicle parameters transmitted from the vehicle control device according to the request. In addition, the communication unit 104 transmits a drive control command generated by a drive control command generation unit 103 described later to the vehicle control device of the vehicle 20 targeted for parking assistance.

  Here, the vehicle parameter is a parameter that indicates the state of the vehicle 20 or the state of the occupant. In the present embodiment, the number of occupants, the riding position of the occupant, and the height of the vehicle 20 correspond to the vehicle parameters, but the invention is not limited thereto.

  The storage unit 110 is a storage medium such as an SSD or an HDD. As shown in FIG. 2, the storage unit 110 stores a turning characteristic table 111 and peripheral 3D data 112.

  The turning characteristic table 111 is data in which a turning characteristic determined for each vehicle type of the vehicle 20 is registered. Here, the turning characteristic is a parameter indicating the characteristic when the vehicle 20 turns, and in the present embodiment, the turning radius corresponds. FIG. 3 is a diagram showing an example of the turning characteristic table 111 of the first embodiment. As shown in FIG. 3, in the turning characteristic table 111, a vehicle type and a turning radius are registered in association with each other.

  Returning to FIG. 2, the surrounding 3D data 112 is information on land such as a road surface around the house 200. The peripheral 3D data 112 corresponds to peripheral three-dimensional information. When the vehicle 20 is remotely operated from the parking assistance device 100 and guided to the parking area 220, the environment around the house 200 at home and the environment of the parking area 220 are different. For this reason, in the present embodiment, information on land around the house 200 is prepared in advance as the peripheral 3D data 112, stored in the storage unit 110, and used for parking assistance. The surrounding 3D data 112 includes information on the level difference and inclination of the surrounding road surface for each position coordinate in the virtual three-dimensional space. Here, the information on the inclination is the inclination angle of the road surface.

  The route generation unit 102 analyzes the captured image captured by the camera 201, and periodically monitors the presence of the vehicle 20 in the parking assistance range 210 from the captured image. Then, when the vehicle 20 is recognized in the parking assistance range 210, the route generation unit 102 determines the vehicle type from the appearance of the vehicle 20 captured in the captured image. Here, the vehicle type can also be used as identification information of the vehicle 20.

  Further, the route generation unit 102 calculates and generates a route from the current position of the vehicle 20 to the parking area 220. Specifically, the route generation unit 102 acquires the turning characteristic (turning radius) according to the recognized vehicle type of the vehicle 20 from the turning characteristic table 111 of the storage unit 110, and the turning characteristic (turning radius) A path is generated based on the 3D data 112.

  FIG. 4 is a schematic view showing an example of a virtual three-dimensional space of peripheral 3D data 112 according to the first embodiment. In the surrounding 3D data 112 of the present embodiment, a house 200 and a parking area 220 are defined on a virtual three-dimensional space. The route generation unit 102 virtually moves the vehicle 20 from the current position to the parking area 220 to determine a route on the virtual three-dimensional space, taking into consideration the turning characteristic.

  For example, the route generation unit 102 can generate a route from the peripheral 3D data 112 so as to avoid the position of the slope or the step. The route generation unit 102 can be configured to generate a route without avoiding the position of the slope or the step, and the operation control command generation unit 103 can generate the operation control command according to the slope or the step as described later. .

  The surrounding 3D data 112 is not limited to the virtual three-dimensional space, and may be configured as data in which information on the level difference and inclination of the surrounding road surface is associated with the position coordinate.

  Here, the route generation unit 102 corrects the turning characteristic based on the vehicle parameters (the number of occupants, the riding position of the occupant, the vehicle height) received by the communication unit 104 from the vehicle control device of the vehicle 20 and corrected. A path is generated based on the turning characteristic. Specifically, the route generation unit 102 increases turning when it is determined that the passenger's boarding position is biased to the outside of turning based on the vehicle parameters, or when it is determined that the height of the vehicle outside the turning is high. Make corrections. When the route generation unit 102 determines that the rider's riding position is biased to the inside of the turning radius or determines that the vehicle height inside the turning is high according to the vehicle parameters, the route generating unit 102 performs correction to reduce the turning radius. Do. The route generation unit 102 does not perform the correction of the turning radius when it is determined by the vehicle parameters that the passenger's riding positions are equal.

  The operation control instruction generation unit 103 generates an operation control instruction based on the surrounding 3D data 112 and the route generated by the route generation unit 102. Here, the operation control instruction is an instruction to control the vehicle 20 to travel the route. FIG. 5 is a diagram showing an example of the operation control command of the first embodiment. As shown in FIG. 5, in the operation control command, the amounts of steering angle, accelerator, and brake are registered corresponding to the position range in the route. The steering angle is a steering wheel steering angle. The accelerator is a driving force, and may be an amount of depression of an accelerator pedal. The brake is a braking force, and may be an amount of depression of the brake pedal.

  More specifically, the operation control command generation unit 103 determines the steering angle, driving force, and braking force of the steering wheel for each position when the vehicle 20 moves along the route. Then, an instruction of the steering angle of the steering wheel, the driving force, and the braking force determined for each predetermined position range is generated as the operation control instruction. Here, in the route generated by the route generation unit 102 in the virtual three-dimensional space of the surrounding 3D data 112 shown in FIG. Identify Then, the driving control command generation unit 103 generates a driving control command to increase or decrease the driving force, the braking force, and the steering angle according to the level difference or the slope of the road surface.

  For example, the operation control command generation unit 103 generates, from the surrounding 3D data 112, the operation control command for increasing the driving force according to the inclination angle when the position on the route is the position to climb the inclination. In addition, the operation control command generation unit 103 generates, from the surrounding 3D data, the operation control command for increasing the braking force in accordance with the inclination angle when the position on the route is a position where the inclination falls.

  Further, from the peripheral 3D data 112, the operation control command generation unit 103 reduces the driving force and increases the braking force or increases the steering angle before the step when the step is at the position of the step. Generate an operation control command that avoids

  The increase and decrease of the driving force and the braking force in the generation of the operation control command as described above is an example, and the invention is not limited thereto. Further, the operation control command generation unit 103 may be configured to increase or decrease the steering angle according to the inclination.

  Next, details of the vehicle control device mounted on the vehicle 20 will be described. FIG. 6 is a block diagram showing an overall configuration of a vehicle control device 520 in the vehicle 20 of the first embodiment. The vehicle control device 520 controls the driving of the vehicle 20 by automatic driving (including partial automatic driving).

  As shown in FIG. 6, the vehicle control device 520 includes a braking system 22, an acceleration system 24, a steering system 26, a transmission system 28, a wheel speed sensor 30, a vehicle height sensor 81, and a weight detection sensor 82. , Monitoring device 32, an ECU 34, and an in-vehicle network 36.

  In the present embodiment, the vehicle 20 is not provided with an imaging device such as a camera. The parking assistance of the vehicle 20 is performed not by the vehicle control device 520 installed in the vehicle 20 but by the parking assistance device 100 installed in the house 200 different from the vehicle 20, so the imaging device becomes unnecessary in the vehicle 20. The configuration on the 20 side is simple.

  The braking system 22 controls the deceleration of the vehicle 20. The braking system 22 includes a braking unit 40, a braking control unit 42, and a braking unit sensor 44.

  The braking unit 40 includes, for example, a brake and a brake pedal, and is a device for decelerating the vehicle 20.

  The braking control unit 42 is, for example, a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The braking control unit 42 controls the braking unit 40 based on an instruction from the ECU 34 to control the deceleration of the vehicle 20.

  The braking unit sensor 44 detects the state of the braking unit 40 for the ECU 34 to determine whether the braking unit 40 is operated. The braking unit sensor 44 is, for example, a position sensor, and detects the position of the braking unit 40 or the pressure acting on the braking unit 40 when the braking unit 40 is a brake pedal. The braking unit sensor 44 outputs the detected state of the braking unit 40 to the in-vehicle network 36.

  The acceleration system 24 controls the acceleration of the vehicle 20. The acceleration system 24 includes an acceleration unit 46, an acceleration control unit 48, and an acceleration unit sensor 50.

  The acceleration unit 46 includes, for example, an accelerator pedal, and is a device for accelerating the vehicle 20.

  The acceleration control unit 48 is, for example, a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The acceleration control unit 48 controls the acceleration unit 46 based on an instruction from the ECU 34 to control the acceleration of the vehicle 20.

  The acceleration unit sensor 50 detects the state of the acceleration unit 46 for the ECU 34 to determine whether the acceleration unit 46 is operated. The acceleration unit sensor 50 is, for example, a position sensor, and detects the pressure acting on the position of the acceleration unit 46 or the movable unit when the acceleration unit 46 is an accelerator pedal. The acceleration unit sensor 50 outputs the detected state of the acceleration unit 46 to the in-vehicle network 36.

  The steering system 26 controls the traveling direction of the vehicle 20. The steering system 26 includes a steering unit 52, a steering control unit 54, and a steering unit sensor 56.

  The steering unit 52 includes, for example, a steering wheel or a steering wheel, and is a device that steers the steered wheels of the vehicle 20.

  The steering control unit 54 is, for example, a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The steering control unit 54 controls the steering unit 52 based on an instruction from the ECU 34 to control the traveling direction of the vehicle 20.

  The steering unit sensor 56 detects the state of the steering unit 52 for the ECU 34 to determine whether the steering unit 52 is operated. The steering unit sensor 56 is, for example, an angle sensor including a hall element or the like, and detects a rotation angle of the steering unit 52. The steering unit sensor 56 may be, for example, a pressure sensor, and when the steering unit 52 is a steering wheel, detects a pressure acting on the steering unit 52 held by the driver. The steering unit sensor 56 outputs the detected state of the steering unit 52 to the in-vehicle network 36.

  The transmission system 28 controls the transmission gear ratio of the vehicle 20. The transmission system 28 includes a transmission unit 58, a transmission control unit 60, and a transmission unit sensor 62.

  The transmission unit 58 is, for example, a device that includes a shift lever and the like to change the transmission gear ratio of the vehicle 20.

  The shift control unit 60 is, for example, a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The transmission control unit 60 controls the transmission ratio of the vehicle 20 by controlling the transmission unit 58 based on an instruction from the ECU 34.

  The transmission unit sensor 62 detects the state of the transmission unit 58 for the ECU 34 to determine whether the transmission unit 58 is operated. The transmission unit sensor 62 is, for example, a pressure sensor, and when the transmission unit 58 is a shift lever, detects the pressure acting on the transmission unit 58 held by the driver. The transmission unit sensor 62 outputs the detected state of the transmission unit 58 to the in-vehicle network 36.

  The wheel speed sensor 30 is, for example, a sensor that has a Hall element provided in the vicinity of the wheel of the vehicle 20 and detects the amount of rotation of the wheel or the number of rotations per unit time. The wheel speed sensor 30 outputs a wheel speed pulse number indicating the detected amount of rotation or the number of rotations to the in-vehicle network 36 as a sensor value.

  The vehicle height sensor 81 is a sensor provided in the vicinity of the wheel to detect the height of the vehicle body from the ground. The weight detection sensor 82 is provided under each seat in the vehicle and is a sensor that detects an occupant seated in the seat.

  The monitor device 32 is provided on a dashboard or the like in the cabin of the vehicle 20. The monitor device 32 has a display unit 64, an audio output unit 66, and an operation input unit 68.

  The display unit 64 displays an image based on the image data transmitted by the ECU 34. The display unit 64 is, for example, a display device such as a liquid crystal display (LCD) or an organic electroluminescent display (OELD). The display unit 64 displays, for example, images related to various operation instructions.

  The voice output unit 66 outputs voice based on the voice data transmitted by the ECU 34. The audio output unit 66 is, for example, a speaker. The sound output unit 66 outputs, for example, sounds relating to various operation instructions.

  The operation input unit 68 receives an input of an occupant. The operation input unit 68 is, for example, a touch panel. The operation input unit 68 is provided on the display screen of the display unit 64. The operation input unit 68 is configured to be able to transmit an image displayed by the display unit 64. Thus, the operation input unit 68 can cause the occupant to visually recognize the image displayed on the display screen of the display unit 64. The operation input unit 68 receives an instruction input when the occupant touches the position corresponding to the image displayed on the display screen of the display unit 64, and transmits the instruction to the ECU 34. The operation input unit 68 is not limited to a touch panel, and may be a push button type hard switch or the like.

  The ECU 34 is a computer including a microcomputer. The ECU 34 transmits data relating to an image or sound to the monitor device 32. The ECU 34 transmits to the monitor device 32 data relating to an image or voice, such as an instruction to the driver and a notification to the driver. The ECU 34 controls the respective systems 22, 24, 26, 28 to assist the vehicle 20 by driving automatically. The ECU 34 includes a central processing unit (CPU) 34a, a read only memory (ROM) 34b, a random access memory (RAM) 34c, a display control unit 34d, an audio control unit 34e, and a solid state drive (SSD) 34f. Equipped with The CPU 34a, the ROM 34b and the RAM 34c may be integrated in the same package.

  The CPU 34a is an example of a hardware processor, reads a program stored in a non-volatile storage device such as the ROM 34b, and executes various arithmetic processing and control according to the program. The CPU 34a executes, for example, image processing such as a driving support image to be displayed on the display unit 64.

  The ROM 34 b stores each program and parameters required to execute the program. The RAM 34 c temporarily stores various data used in the calculation in the CPU 34 a. The display control unit 34 d performs image processing, data conversion of an image for display to be displayed on the display unit 64, and the like in the arithmetic processing in the ECU 34. The voice control unit 34 e mainly performs processing of voice to be output to the voice output unit 66 among the calculation processing in the ECU 34. The SSD 34 f is a rewritable non-volatile storage device, and maintains data even when the power of the ECU 34 is turned off.

  The in-vehicle network 36 includes an acceleration system 24, a braking system 22, a steering system 26, a transmission system 28, a wheel speed sensor 30, a vehicle height sensor 81, a weight detection sensor 82, and an operation input unit of the monitor 32. 68 and the ECU 34 are mutually connected so as to be able to transmit and receive information.

  Next, the functional configuration of the ECU 34 will be described. FIG. 7 is a functional block diagram for explaining the function of the ECU 34. As shown in FIG. As shown in FIG. 7, the ECU 34 has a communication unit 91, an automatic driving control unit 92, and a parameter generation unit 93.

  The communication unit 91 wirelessly communicates with the parking assistance device 100 of the house 200. The communication unit 91 receives a request for a vehicle parameter from the parking assistance device 100, and transmits the vehicle parameter generated by the parameter generation unit 93 to the parking assistance device 100 as a response thereto. The communication unit 91 also receives an operation control command from the parking assistance device 100.

  The autonomous driving control unit 92 controls the autonomous driving of the vehicle 20 according to the steering angle, the accelerator (driving force), and the brake (braking force) for each position range registered in the driving control command received by the communication unit 91. More specifically, the automatic driving control unit 92 accelerates the output command of the driving force corresponding to the position range every time the vehicle 20 moves along the route and reaches the position range registered in the driving control command. 24 to the acceleration control unit 48, and an output command of the braking force corresponding to the position range is sent to the braking control unit 42 of the braking system 22, and a steering command of the steering angle corresponding to the position range is steering control of the steering system 26 Send to section 54. As a result, the vehicle 20 moves along the route by automatic driving in accordance with the operation control command generated by the parking assistance device 100 and parks it in the parking area 220.

  In the present embodiment, neither the ECU 34 nor the vehicle control device 520 is provided with a route generation unit that calculates and generates a route from the current position of the vehicle 20 to a target parking position such as the parking area 220. This is because, in the present embodiment, the function of generating a route and performing parking assistance is provided to the parking assistance apparatus 100 installed in the house 200 which is a facility rather than the vehicle 20. For this reason, the vehicle control device 520 mounted on the vehicle 20 only needs to have a function of controlling automatic driving, and the configuration is simplified as compared with the conventional vehicle control device.

  When the communication unit 91 receives a request for a vehicle parameter from the parking assistance device 100, the parameter generation unit 93 generates a vehicle parameter (the number of occupants, the riding position of the occupant, the height of the vehicle 20). Specifically, the parameter generation unit 93 specifies the number of occupants and the riding position of the occupant based on a detection signal from the weight detection sensor 82 for each seat. That is, for example, when the weight is detected by each weight detection sensor 82 of the driver's seat and the passenger's seat, and the weight is not detected by each weight detection sensor 82 of the rear seat, the parameter generation unit 93 The two riders identify the driver's seat and the passenger seat. Further, the parameter generation unit 93 specifies the height of the vehicle 20 from the detection signal from the height sensor 81. Then, the parameter generation unit 93 outputs the number of occupants thus identified, the riding position of the occupant, and the height of the vehicle 20 to the communication unit 91 as vehicle parameters.

  Next, parking support processing by the parking support system according to the present embodiment configured as described above will be described. FIG. 8 is a sequence diagram illustrating an example of the procedure of the parking assistance process according to the first embodiment. The parking support process of the present embodiment is a process of causing the vehicle 20 that has entered the parking support range 210 to move backward and park the vehicle 20 in the parking area 220.

  When the vehicle 20 reaches the parking assistance range 210 (S11), in the parking assistance device 100, the route generation unit 102 recognizes the vehicle 20 from the captured image from the camera 201 (S12). The route generation unit 102 determines the turning characteristic by specifying the recognized vehicle type of the vehicle 20 from the captured image and acquiring the turning characteristic corresponding to the specified vehicle type from the turning characteristic table 111 of the storage unit 110 ( S13). Then, in the parking assistance device 100, the communication unit 104 transmits a request for vehicle parameters to the vehicle control device 520 of the vehicle 20 (S14).

  In the vehicle control device 520 of the vehicle 20, when the communication unit 91 receives a request for a vehicle parameter, the parameter generation unit 93 detects the vehicle parameter (the occupant's vehicle) from the detection results of the vehicle height sensor 81 and the weight detection sensor 82 as described above. The number of people, the riding position, the vehicle height) is determined (S15). Then, the communication unit 91 transmits the vehicle parameter to the parking assistance device 100 (S16).

  In the parking assistance device 100, when the communication unit 104 receives a vehicle parameter from the vehicle control device 520, the route generation unit 102 corrects the turning characteristic based on the received vehicle parameter (S17). The turning characteristic may not be corrected depending on the vehicle parameter.

  Next, the path generation unit 102 acquires the peripheral 3D data 112 from the storage unit 110 (S18). Then, the route generation unit 102 determines whether parking is possible from the surrounding 3D data 112, the current position of the vehicle 20, and the parking area 220 (S19). If parking can not be performed, the communication unit 104 transmits, to the vehicle control device 520, an indication that parking can not be performed. When the vehicle control device 520 receives an indication that parking can not be performed, the vehicle control device 520 ends without performing automatic driving.

  If parking is possible, the route generation unit 102 calculates and generates a route from the current position to the parking area 220 (target parking position) based on the turning characteristic and the surrounding 3D data 112 (S20). FIG. 9 is a diagram illustrating an example of the generated route R in the first embodiment.

  Then, the operation control instruction generation unit 103 generates an operation control instruction based on the surrounding 3D data 112 and the route (S21). The communication unit 104 transmits the generated operation control command to the vehicle control device 520 (S22).

  In the vehicle control device 520, when the communication unit 91 receives a drive control command, the automatic drive control unit 92 of the ECU 34 controls the braking system 22, the acceleration system 24, and the steering system 26 according to the drive control command, to thereby obtain the vehicle 20. Automatic operation to move along the route is performed (S23). As a result, the vehicle 20 reaches the parking area 220 (target parking position) (S24). FIG. 10 is a diagram showing an example of the state in which the vehicle 20 is parked in the parking area 220 in the first embodiment.

  As described above, in the present embodiment, in the parking assistance device 100 provided in the house 200 that is a facility different from the vehicle 20, the route generation unit 102 is provided in the house 200 and images the vehicle 20 and the parking area 220. When the vehicle 20 is recognized in the captured image captured by the camera 201 provided at a possible position, a route from the current position of the vehicle 20 to the parking area 220 is generated, and the operation control command generation unit 103 Based on the data 112 and the route, a drive control command for causing the vehicle 20 to automatically drive the route is generated, and the communication unit 104 transmits the drive control command to the vehicle control device 520 mounted on the vehicle 20. Further, in the present embodiment, in the vehicle control device 520, the automatic driving control unit 92 of the ECU 34 automatically drives the vehicle 20 on the route to the parking area 220 according to the received driving control command. Therefore, according to the present embodiment, the vehicle 20 need not be equipped with an imaging device such as a camera or a distance measuring sensor such as a sonar, and the vehicle control device 520 provided in the vehicle 20 performs remote communication. It is sufficient to have a function of automatic driving such as automatic driving and automatic steering, and it is not necessary to incorporate a function of calculating a route such as a route generation unit. Therefore, according to the present embodiment, the configuration on the vehicle 20 side can be simplified as compared with the conventional device, and a reduction in manufacturing cost can be realized.

  Further, in the present embodiment, the peripheral 3D data 112 includes information on the level difference and inclination of the road surface of the land around the house 200, and the operation control command generation unit 103 of the parking assistance device 100 uses information on the level difference and inclination of the road surface. Accordingly, the driving control command is generated by increasing or decreasing the driving force and the braking force. Therefore, according to the present embodiment, it is possible to control the automatic driving of the vehicle 20 with higher accuracy as compared with the conventional device for controlling the automatic driving which uses only two-dimensional data as the peripheral information. . In particular, according to the present embodiment, it is possible to realize parking assistance by automatic driving corresponding to any facility environment without the need for marking a parking position or providing a feature point in a route.

  Further, in the present embodiment, the route generation unit 102 of the parking assistance device 100 generates a route based on the turning characteristics according to the vehicle type of the vehicle 20 and the surrounding 3D data 112, so the vehicle 20 with higher accuracy. Can generate the route that the vehicle travels.

  Further, in the present embodiment, the communication unit 104 of the parking assistance device 100 receives, from the vehicle control device 520, vehicle parameters including the number of occupants in the vehicle 20, the riding position of the occupant, and the vehicle height. , Correct the turning characteristic based on the vehicle parameters, and generate a route based on the corrected turning characteristic. For this reason, according to the present embodiment, it is possible to generate the route with higher accuracy by accurately reflecting the state of the vehicle 20 in the turning characteristic.

  Furthermore, in the present embodiment, since the camera 201 enables comprehensive coverage imaging of the parking assistance range 210, parking assistance can be realized with high accuracy without the imaging of the vehicle 20 moving on the route being impossible. .

Second Embodiment
In the second embodiment, when two vehicles are parked in series in the parking area 220 (when parallel parking is performed), the parking positions of the two vehicles are automatically switched.

  The configuration of the parking assistance system of the present embodiment, the configuration of the parking assistance device 100, and the configurations of the vehicle 20 and the vehicle control device 520 are the same as in the first embodiment.

  11 to 13 are sequence diagrams illustrating an example of the procedure of the parking position exchange process according to the second embodiment. FIGS. 14 to 16 are diagrams showing an example of the state of the vehicle in the parking position switching process of the second embodiment. In the present embodiment, as shown in FIG. 14, the vehicle 20a (vehicle A) parks in the parking area 220A (target parking position A) and the vehicle 20b in the parking area 220B (target parking position B) in front of the parking area 220A. It is assumed that (vehicle B) is parked. Then, according to the operation control command from the parking assistance device 100 at night or the like, the vehicle B is moved from the parking area 220B to the vacant position 221B (vacant position B) by automatic driving as shown in FIG. It moves from parking area 220A to vacant position 221A (vacant position A) by automatic driving. Thereafter, according to the operation control command from the parking assistance device 100, as shown in FIG. 16, the vehicle B is moved from the vacant position 221B to the parking area 220A by automatic driving, and then the vehicle A is moved from the vacant position 221A to the parking area 220B. Move by automatic driving. As a result, the parking positions of the vehicle A and the vehicle B are automatically switched.

  Hereinafter, this will be described in detail according to the sequence diagrams of FIG. 11 to FIG. In the state of FIG. 14, the vehicle A in the parking area 220A and the vehicle B in the parking area 220B are recognized from the captured image from the camera 201 on the side of the parking assistance apparatus 100 (S41). When the parking assistance apparatus 100 receives a vehicle replacement instruction from the user (S42), the route generation unit 102 identifies the vehicle type of each of the recognized vehicles A and B, and responds to the vehicle type from the turning characteristic table 111 of the storage unit 110. The turning characteristics of each of the vehicles A and B to be determined are determined (S43). Then, the communication unit 104 requests the vehicle A for vehicle parameters (S44).

  In the vehicle control device 520 of the vehicle A, when the request for the vehicle parameter is received, the parameter generation unit 93 generates the vehicle parameter (S45), and the communication unit 91 transmits the vehicle parameter to the parking assistance device 100 (S46). Then, the automatic operation control unit 92 starts the engine (S47).

  Next, in the parking assistance device 100, the communication unit 104 requests the vehicle B for vehicle parameters (S48).

  In the vehicle control device 520 of the vehicle B, when receiving the request for the vehicle parameter, the parameter generation unit 93 generates the vehicle parameter (S49), and the communication unit 91 transmits the vehicle parameter to the parking assistance device 100 (S50). Then, the automatic operation control unit 92 starts the engine (S51).

  In the parking assistance device 100, the route generation unit 102 corrects the turning characteristics of each of the vehicles A and B based on the received vehicle parameters of each of the vehicles A and B (S52). Next, the path generation unit 102 acquires the peripheral 3D data 112 from the storage unit 110 (S61). Then, the route generation unit 102 calculates and generates a route from the parking area 220B of the vehicle B to the vacant position 221B (vacant position B) based on the turning characteristic of the vehicle B and the surrounding 3D data 112 (S62) . Furthermore, in the parking assistance device 100, the drive control command generation unit 103 generates a drive control command of the vehicle B based on the surrounding 3D data 112 and the route generated in S62 (S63). Then, the communication unit 104 transmits a drive control command to the vehicle control device 520 of the vehicle B (S64).

  In the vehicle control device 520 of the vehicle B, when the communication unit 91 receives the operation control instruction, the automatic operation control unit 92 of the ECU 34 performs the automatic operation of moving the vehicle B along the route according to the operation control instruction (S65). As a result, the vehicle B reaches the vacant position 221B (vacant position B) (S66).

  The parking assistance apparatus 100 recognizes that the vehicle B has reached the vacant position 221 B (vacant position B) from the captured image from the camera 201. Thereafter, the route generation unit 102 of the parking assistance device 100 calculates a route from the parking area 220A of the vehicle A to the vacant position 221A (vacant position A) based on the turning characteristic of the vehicle A and the peripheral 3D data 112 Generate (S67). Furthermore, in the parking assistance device 100, the driving control command generation unit 103 generates a driving control command of the vehicle A based on the surrounding 3D data 112 and the route generated in S67 (S68). Then, the communication unit 104 transmits a drive control command to the vehicle control device 520 of the vehicle A (S69).

  In the vehicle control device 520 of the vehicle A, when the communication unit 91 receives the operation control instruction, the automatic operation control unit 92 of the ECU 34 performs the automatic operation of moving the vehicle A along the route according to the operation control instruction (S70). As a result, the vehicle A reaches the vacant position 221A (vacant position A) (S71). The state at this time is as shown in FIG.

  In the parking assistance device 100, the captured image from the camera 201 grasps that the vehicle B has reached the vacant position 221B (vacant position B) and the vehicle A has reached the vacant position 221A (vacant position A). Thereafter, based on the turning characteristic of the vehicle B and the peripheral 3D data 112, the route generation unit 102 of the parking assistance device 100 moves from the vacant position 221B (vacant position B) of the vehicle B to the parking area A (target parking position A). The route of is calculated and generated (S81). Furthermore, in the parking assistance device 100, the drive control command generation unit 103 generates a drive control command of the vehicle B based on the surrounding 3D data 112 and the route generated in S81 (S82). Then, the communication unit 104 transmits a drive control command to the vehicle control device 520 of the vehicle B (S83).

  In the vehicle control device 520 of the vehicle B, when the communication unit 91 receives the operation control instruction, the automatic operation control unit 92 of the ECU 34 performs the automatic operation of moving the vehicle B along the route according to the operation control instruction (S84). As a result, the vehicle B reaches the parking area 220A (target parking position A) from the vacant position 221B (vacant position B) (S85).

  In the parking assistance device 100, the captured image from the camera 201 grasps that the vehicle B has reached the parking area 220A (the target parking position A). Thereafter, based on the turning characteristic of the vehicle A and the peripheral 3D data 112, the route generation unit 102 of the parking assistance device 100 moves from the vacant position 221A (vacant position A) of the vehicle A to the parking area B (target parking position B). The route of is calculated and generated (S86). Furthermore, in the parking assistance device 100, the driving control command generation unit 103 generates a driving control command of the vehicle A based on the surrounding 3D data 112 and the route generated in S86 (S87). Then, the communication unit 104 transmits a drive control command to the vehicle control device 520 of the vehicle A (S88).

  In the vehicle control device 520 of the vehicle A, when the communication unit 91 receives the operation control instruction, the automatic operation control unit 92 of the ECU 34 performs the automatic operation of moving the vehicle A along the route according to the operation control instruction (S89). As a result, the vehicle A reaches the parking area 220B (target parking position B) from the vacant position 221A (vacant position A) (S90). As a result, as shown in FIG. 16, the parking positions of the vehicle A and the vehicle B are switched from the position of FIG.

  As described above, in the present embodiment, when two vehicles are parked in series in the parking area 220 (when parallel parking is performed), the parking positions of the two vehicles are automatically switched, so various conveniences can be obtained. It is possible to improve the quality. For example, in the case where vehicles A and B are PHV vehicles (plug-in hybrid car) capable of directly charging the battery by non-contact power feeding, and in the case where the non-contact power feeding device is provided in parking area 220A First, after charging the battery of the vehicle A in the parking area 220A by non-contact power feeding, the vehicle A is automatically replaced with the vehicle B in the parking area 220A and parked, and the battery of the vehicle B is charged by non-contact power feeding. Can.

  Also, for example, when a person who uses the vehicle A comes home first and parks in the parking area 220A, and then a person who uses the vehicle B comes home and parks in the parking area 220B, the next day. When the departure time is earlier than the departure time of the vehicle B, the parking positions of both vehicles can be automatically switched at night so that the vehicle A can be delivered first.

(Embodiment 3)
In the third embodiment, in addition to the functions of the first and second embodiments, the route when driving the vehicle 20 manually and parking in the parking area 220 and the operation control command are transmitted to the side of the parking assistance apparatus 1100 and stored. After the next time, when the vehicle 20 arrives at the parking assistance range 210, the vehicle 20 is automatically driven and parked in the parking area 220 according to the stored route and operation control command.

  The configuration of the parking assistance system of the present embodiment and the configuration of the vehicle control device 520 are the same as in the first and second embodiments. FIG. 17 is a block diagram showing an example of a functional configuration of the parking assistance device 1100 of the third embodiment. As shown in FIG. 17, the parking assistance device 1100 of the present embodiment includes a captured image input unit 101, a route generation unit 1102, an operation control command generation unit 1103, a communication unit 1104, a storage unit 1105, and a storage unit. 1110 is mainly provided. Here, the captured image input unit 101 is the same as that of the first embodiment.

  The communication unit 1104 has the same function as that of the first embodiment, and receives from the vehicle control device 520 the operation control command and the route and the vehicle ID that is the identification information of the vehicle 20 when the vehicle 20 is driven manually. Do.

  The storage unit 1105 stores the position at which the vehicle 20 is recognized, the vehicle ID received from the vehicle control device 520, the driving control instruction, and the route in the storage unit 1110 as history data 1113 in association with each other. In the storage unit 1110, as shown in FIG. 17, a turning characteristic table 111, peripheral 3D data 112, and history data 1113 are stored. Here, the turning characteristic table 111 and the peripheral 3D data 112 are the same as in the first embodiment.

  FIG. 18 is a view showing an example of the data structure of the history data 1113 according to the third embodiment. In the history data, as shown in FIG. 18, the position at which the vehicle 20 is recognized, the vehicle ID, the route, and the driving control instruction are registered in association with each other.

  Referring back to FIG. 17, the route generation unit 1102 has the same function as that of the first embodiment, and when the vehicle 20 is recognized, a route corresponding to the vehicle 20 vehicle ID recognized from the history data 1113 of the storage unit 1110. To get

  The driving control command generation unit 1103 has a function similar to that of the first embodiment, and also acquires a driving control command corresponding to the recognized vehicle ID of the vehicle 20 from the history data 1113 of the storage unit 1110.

  Next, registration processing at the time of manual operation by the parking assistance system of the present embodiment configured as described above will be described. FIG. 19 is a sequence diagram illustrating an example of the procedure of registration processing during manual operation according to the third embodiment.

  When the vehicle 20 reaches the parking assistance range 210 (S101), in the parking assistance device 1100, the route generation unit 1102 recognizes the vehicle 20 from the captured image from the camera 201 (S102).

  In the vehicle 20, the driver manually drives to the parking area 220 (target parking position) (S103). The route at this time and the operation control instruction (position, driving force, braking force, steering angle) are sequentially recorded in the SSD 34 f by the ECU 34. The vehicle 20 reaches the parking area 220 (target parking position) (S104). Then, the communication unit 91 transmits the vehicle ID of the vehicle 20, the route recorded in the SSD 34f by manual driving, and the operation control instruction to the parking assistance device 1100 (S105).

  The parking assistance device 1100 receives the vehicle ID, the route, and the operation control command received by the communication unit 1104 from the vehicle control device 520. Then, the storage unit 1105 associates the position of the vehicle 20 when the vehicle 20 is recognized in S102, the vehicle ID received by the communication unit 1104, the route, and the driving control command in the storage unit 1110 as history data 1113. Save (S106). Such processing is performed each time the manual driving is performed for each vehicle 20.

  Next, the parking support processing of the third embodiment will be described. FIG. 20 is a sequence diagram illustrating an example of the procedure of the parking assistance process of the third embodiment.

  When the vehicle 20 reaches the parking assistance range 210 (S111), in the parking assistance device 1100, the route generation unit 1102 recognizes the vehicle 20 by the captured image from the camera 201 (S112).

  In the parking assistance apparatus 1100, the route generation unit 1102 identifies the position of the vehicle 20 recognized by the captured image in S112 and the vehicle ID of the recognized vehicle 20, and registers the recognized position and the vehicle ID as keys. The present history data 1113 is searched (S113). Here, when there is no history data 1113 registered from the recognition position and the vehicle ID, the route generation and the operation control instruction are performed as in the first embodiment.

  If history data 1113 registered by the recognition position and the vehicle ID exists, the route generation unit 1102 acquires a route from the searched history data 1113 (S114). Next, the operation control instruction generation unit 1103 acquires an operation control instruction from the retrieved history data 1113 (S115). Then, the communication unit 1104 transmits the driving control command acquired in S115 to the vehicle control device 520 (S116).

  In the vehicle control device 520, when the communication unit 91 receives the drive control command, the automatic drive control unit 92 of the ECU 34 performs the automatic drive for moving the vehicle 20 along the route according to the drive control command (S117). As a result, the vehicle 20 reaches the parking area 220 (target parking position) (S118).

  As described above, in the present embodiment, the route and driving control command when the vehicle 20 is driven manually and parked in the parking area 220 are transmitted to the side of the parking assistance device 1100 and stored, When the vehicle arrives at the parking assistance range 210, the vehicle 20 is automatically driven and parked in the parking area 220 by the stored route and operation control command, so that the route preferred by the driver of the vehicle 20 is reproduced by automatic driving. It is possible to realize parking assistance in line with the driver's wishes.

  In the parking assistance device 1100 of the present embodiment, the history data 1113 is searched using both the recognized position of the vehicle 20 and the vehicle ID as keys, but the history data 1113 is searched using only the vehicle ID as a key. The path generation unit 1102 may be configured. In this case, if the position of the searched vehicle ID (that is, the previous parking start position) is different from the recognized position of the vehicle 20 (that is, the current parking start position), the acquired route is recognized It is more convenient to configure the route generation unit 1102 to correct the route from the position to the parking area 220.

  While certain embodiments of the present invention have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

(Modification)
For example, in the above embodiment, the turning characteristic corresponding to the vehicle type is registered in advance in the turning characteristic table 111 on the side of the parking assistance device 100 installed in the house 200, and the vehicle type of the vehicle 20 recognized by the camera 201 is specified. Above, although the turning characteristic according to a vehicle type is acquired from the turning characteristic table 111, it is not limited to this. For example, the vehicle control device 520 side of the vehicle 20 holds the turning characteristic of the own vehicle, transmits the turning characteristic to the parking assistance device 100, and the parking assistance device 100 transmits the turning characteristic from the vehicle control device 520 by the communication unit 104. It may be configured to use the received and received turning characteristics.

  In addition, for example, when parked from the front of the vehicle 20 in the parking area 220, the vehicle 20 moves backward from the parking area 220 and automatically changes the direction of the vehicle 20, and parks from the rear of the vehicle 20 The route generation units 102 and 1102 and the operation control command generation units 103 and 1103 may be configured to generate a route to be parked in the area 220 and generate such operation control commands. In this case, there is an advantage that the driver can be released from restraint and stress of the parking time.

  In the above-mentioned embodiment, although the house 200 was mentioned as an example and explained as a facility, it is not limited to these. For example, it is possible to apply the above-mentioned embodiment also to a small store as a facility. That is, a parking assist apparatus is installed to install the camera 201 in a small store and use the camera 201 and 3D data 112 around the small store's land to automatically drive the visited vehicle 20 to the parking lot of the small store 100, 1100 may be configured. In this case, when the parking lot is wide, a large number of cameras 201 may be installed to cover the parking assistance range 210.

  In addition, the parking assistance apparatus 100 may be configured to guide the vehicle to the parking area 220 while correcting the route based on the position captured by the camera 201 while the vehicle 20 moves backward to the parking area 220. In this case, when the camera 201 can not capture the position of the vehicle 20 by B1F or a carport with a roof, etc., the parking assistance device 100 appropriately uses the information on the land around the peripheral 3D data 112 to the parking area 220 It can move.

  In the above embodiment, the configuration in which the vehicle 20 does not include an imaging device such as a camera is described as an example, but the vehicle 20 may include an imaging device.

(Supplementary Note 1)
The above-mentioned parking support device
When the first vehicle and the second vehicle are parked in series in the parking area and the second vehicle is parked in front of the first vehicle,
The path generation unit is configured to generate a first path from a first parking area, which is a parking position of the first vehicle, to a first vacant position, and a second parking area, which is a parking position of the second vehicle. Generate a second route from the second to the second vacant position,
The operation control instruction generation unit generates a first operation control instruction that is an instruction to automatically drive the first vehicle along the first route based on the surrounding three-dimensional information and the first route. And generating a second operation control command, which is a command to automatically drive the second vehicle on the second route, based on the surrounding three-dimensional information and the second route,
The communication unit transmits the second operation control command to the vehicle control device of the second vehicle to move the second vehicle from the second parking area to the second vacant position. After the movement, the first driving control command is transmitted to the vehicle control device of the first vehicle to move the first vehicle from the first parking area to the first vacant position.
When the first vehicle is parked at the first vacant position and the second vehicle is parked at the second vacant position,
The path generation unit generates a third path from the second vacant position to the first parking area and a fourth path from the first vacant position to the second parking area And
The operation control command generation unit is a command to automatically drive the second vehicle at the second vacant position along the third route based on the surrounding three-dimensional information and the third route. It is a command to generate the operation control command of 3, and to automatically drive the first vehicle at the first vacant position on the fourth route based on the surrounding three-dimensional information and the fourth route. Generate a fourth operation control command,
The communication unit transmits the third operation control command to the vehicle control device of the second vehicle to move the second vehicle from the second vacant position to the first parking area. A parking assistance apparatus that transmits the fourth operation control command to the vehicle control device of the first vehicle after movement to move the first vehicle from the first vacant position to the second parking area .

(Supplementary Note 2)
The above-mentioned parking support device
When parked from the front of the vehicle in the parking area,
The said path | route production | generation part is a parking assistance apparatus which produces | generates the path | route which parks in the said parking area from the rear part of the said vehicle from the said parking area by the said vehicle moving backward and changing direction.

  20: Vehicle, 34: ECU, 81: Vehicle height sensor, 82: Weight detection sensor, 91: Communication, 92: Automatic operation control unit, 93: Parameter generation unit, 100, 1100: Parking support device, 101: Captured image input Sections 102, 1102 Path generation section 103, 1103 Operation control command generation section 104 1104 Communications section 110 1101 Storage section 111 Turning characteristic table 112 Peripheral 3D data 200 House 201 ... camera, 210 ... parking assistance range, 220 ... parking area, 1105 ... storage unit, 1113 ... history data.

Claims (5)

A parking assistance device provided at a facility different from the vehicle,
When the vehicle is recognized in a captured image captured by an imaging device provided in the facility and provided at a position capable of capturing the vehicle and a parking area of the vehicle, the parking is performed from the current position of the vehicle A route generation unit that generates a route to the area;
A driving control command generation unit that generates a driving control command that is a control command for causing the vehicle to travel the route based on surrounding three-dimensional information on the land around the facility and the route;
A communication unit that transmits the generated operation control instruction to a vehicle control device mounted on the vehicle and performing automatic operation control of the vehicle based on the operation control instruction;
Parking assistance device provided with. The operation control command includes commands of a driving force, a braking force and a steering angle corresponding to the position of the path,
The surrounding three-dimensional information includes information on level differences and slopes of the land surface, and
The operation control instruction generation unit generates the operation control instruction to increase or decrease the driving force, the braking force, or the steering angle according to the level difference and the inclination of the road surface in the route.
The parking assistance device according to claim 1. The route generation unit generates the route based on the turning characteristic according to the recognized identification information of the vehicle and the surrounding three-dimensional information.
The parking assistance apparatus of Claim 1 or 2. The communication unit further receives, from the vehicle control device, vehicle parameters including the number of occupants in the vehicle, the riding position of the occupant, and the height of the vehicle.
The route generation unit corrects the turning characteristic based on the vehicle parameter, and generates the route based on the corrected turning characteristic.
The parking assistance device according to claim 3. The communication unit further receives, from the vehicle control device, the operation control command, the route, and identification information of the vehicle when the vehicle is manually operated.
The parking assistance device
A storage unit,
And a storage unit for storing the received identification information, the operation control command, and the route in association with each other in the storage unit,
When the vehicle is recognized, the route generation unit acquires the route corresponding to the identification information of the recognized vehicle in the storage unit.
The drive control command generation unit acquires the drive control command corresponding to the identification information of the recognized vehicle in the storage unit.
The communication unit transmits the acquired operation control command to the vehicle control device.
The parking assistance apparatus as described in any one of Claims 1-4.

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