JP2019084866A - Automatic parking control device - Google Patents

Abstract

To enable proper parking control even if a cargo is loaded on a vehicle.SOLUTION: An automatic parking control device 1 utilizes outer shape data of a vehicle 2 to perform parking control of the vehicle 2 and includes: an information acquisition section which acquires information regarding a cargo loaded on the vehicle 2 and having a portion protruding from the vehicle 2; and a control section which specifies second outer shape data indicating an outer shape of the vehicle 2 including the cargo on the basis of first outer shape data indicating the outer shape of the vehicle 2 and the information and utilizes the second outer shape data to perform parking control of the vehicle 2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic parking control device.

The parking control device stores the required parking size according to the width dimension and the length dimension of the vehicle, converts the moving distance of the vehicle while making the obstacle detection means detect the width direction side of the vehicle, and moves the vehicle A technology has been proposed for determining whether or not parking is possible by determining whether an obstacle is detected before the distance becomes equal to the required parking size (see, for example, Patent Document 1).
In addition, although it is not a technology to control parking, entity information such as height, length, width, weight, etc. of the vehicle on which the load is loaded, current location and destination, mobile in-vehicle device to send to information center, entity information There has been proposed a communication system including an information center which receives a current position and a destination, and transmits a route to a mobile on-vehicle device for a route avoiding obstacles when the vehicle travels to the destination (for example, Patent Document 2).

JP 2007-91047 A JP 2001-195690 A

However, according to the technique of Patent Document 1, when the vehicle loads the load, the size (corresponding to the outer shape) of the vehicle changes, so that the vehicle can not be controlled to an appropriate parking position.
On the other hand, Patent Document 2 can search for a parking lot matched to the size of the vehicle when the vehicle loads a load. However, patent document 2 is a technique corresponding to the size change accompanied by the change of a parking lot etc., and can not respond to the size change without the change of a parking lot. Thus, the parking control can not be modified or changed according to the presence or absence of the load even by the techniques of either of the documents 1 and 2.
An object of the present invention is to enable appropriate parking control even when a load is loaded.

  The present invention relates to an automatic parking control apparatus that performs parking control of the vehicle using external shape data of the vehicle, wherein the information acquisition unit acquires information on a load that is loaded on the vehicle and has a portion that protrudes from the vehicle. Based on the first outer shape data indicating the outer shape of the vehicle and the information, second outer shape data indicating the outer shape of the vehicle including the load is specified, and parking control of the vehicle is performed using the second outer shape data. And a controller for performing the control.

  In the automatic parking control device according to the present invention, the information acquisition unit has a database for accumulating information on a plurality of loads, and an instruction input unit for inputting a selection result of the loads loaded on the vehicle. The control unit refers to the database based on the selection result and identifies information on a load loaded on the vehicle.

  The present invention is characterized in that, in the automatic parking control device, the instruction input unit inputs a selection result of at least one of the type, the number, the size, and the loading place of the load.

  In the automatic parking control device according to the present invention, the control unit may, as the parking control, route guidance for securing a margin between the load and an object present around the load based on the second outer shape data. It is characterized by doing.

  In the automatic parking control device according to the present invention, the control unit may control, as the parking control, route guidance for putting the vehicle including the load in a parking area based on the second outer shape data, and stop control. It is characterized by doing.

  In the automatic parking control device according to the present invention, the control unit determines, as the parking control, whether or not the vehicle including the load fits in a parking area based on the second outer shape data. It is characterized in that notification processing is performed to notify the determination result when at least the vehicle does not fit in the parking area.

  According to the present invention, even when a load is loaded, parking control can be appropriately performed.

It is a figure showing the composition of the vehicles carrying the automatic parking control device concerning this embodiment. It is a flowchart which shows a load article registration process. It is a figure which shows an example of the menu screen which can instruct | indicate execution of a load article registration process. The figure which shows the example of a transition of the menu screen in the case of registering a several load. It is a flowchart which shows a load thing automatic parking process. It is a figure which shows an example of the path | route calculated by the process of step SB2. It is a figure which shows an example of the automatic parking process of step SB4. It is a figure which shows an example in case the height of the vehicle containing a load is in the height restrictions of a parking space. It is a figure which shows an example of a display process of the vehicle which synthesize | combined the image corresponding to a load.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a view showing the configuration of a vehicle 2 equipped with an automatic parking control device 1 according to the present embodiment. In FIG. 1, only the configuration particularly related to the automatic parking control device 1 is shown for the vehicle 2.
The vehicle 2 is a vehicle on which an occupant including a driver is boarded and the driver can drive. During parking, the automatic parking control device 1 controls the operation of the parking lot without the driver driving (parking (parking) Control, also called automatic parking control) is possible. The type of the vehicle 2 is not particularly limited, but in the present embodiment, the case of a four-wheeled vehicle classified as a so-called ordinary vehicle will be described.
The vehicle 2 includes an accelerator sensor 6 that detects the operation of the accelerator pedal operated by the driver, a brake sensor 8 that detects the operation of the brake pedal operated by the driver, and a shift stage of the transmission included in the vehicle 2 (shift position And a steering angle sensor 12 for detecting the steering angle of the front wheel of the vehicle 2, and a vehicle speed sensor 14 for detecting the vehicle speed.

  The vehicle 2 is provided with a vehicle condition detection controller 26. The vehicle status detection controller 26 detects the status of the vehicle 2 based on the detection results of the accelerator sensor 6, the brake sensor 8, the shift position detection sensor 10, and the vehicle speed sensor 14. The condition of the vehicle 2 is, for example, the operation of the accelerator pedal and the brake pedal of the vehicle 2, the shift position, the steering angle of the front wheels, and the vehicle speed. At the time of parking, the status of the vehicle 2 is output to the automatic parking control device 1.

The vehicle 2 includes a driving control unit 24 that controls the driving of the vehicle 2. The operation control unit 24 includes an accelerator control unit 32, a brake control unit 34, a steering angle control unit 36, and a shift control unit 38.
The accelerator control unit 32 controls the amount of fuel supplied to the engine of the vehicle 2. The engine is, for example, an internal combustion engine such as a gasoline engine or a diesel engine.
The brake control unit 34 controls the braking device of the vehicle 2 to control the braking force of the vehicle 2. For example, a disk brake device is applied as the brake device.
The steering angle control unit 36 controls a steering device that adjusts the traveling direction of the vehicle 2 to control the traveling direction of the vehicle 2.
The shift control unit 38 controls the shift speed of the transmission of the vehicle 2. For example, a known automatic transmission in which the clutch operation and the gear change operation are automated is applied to the transmission.
When the driver drives the vehicle 2, the driving control unit 24 controls the accelerator control unit 24 based on the accelerator sensor 6, the brake sensor 8, the shift position detection sensor 10, and the vehicle speed sensor 14. It controls 32, a brake control unit 34, a steering angle control unit 36, and a shift control unit 38.
When the automatic parking control device 1 performs parking control, the operation control unit 24 controls the accelerator control unit 32, the brake control unit 34, the steering angle control unit 36, and shift control under the control of the automatic parking control device 1. And control the unit 38.

  The vehicle 2 captures a front camera 16 capturing the front of the vehicle 2, a rear camera 22 capturing the rear of the vehicle 2, a left side camera 18 capturing the left of the vehicle 2, and a right capturing of the vehicle 2 A right side camera 20 is provided. Each of the front camera 16, the rear camera 22, the left side camera 18 and the right side camera 20 is configured as a camera capable of photographing at least an obstacle around the vehicle 2 and a parking space where the vehicle 2 is to park It is done.

The vehicle 2 is provided with a navigation device 28 that performs route guidance to a destination. The navigation device 28 includes a display unit 40 for displaying various information used for route guidance and the like, and an operation unit 42 for inputting various instructions to the navigation device 28. The display unit 40 doubles as a display unit for displaying various information from the automatic parking control device 1, and the operation unit 42 doubles as an operation unit for inputting various instructions to the automatic parking control device 1.
For example, when the driver drives to the destination, the screen of the route guidance is displayed on the display unit 40, and when the shift position is reverse gear (at the time of parking), the respective cameras 16, 18, 20, 22 are displayed. An image obtained from shooting data shot by at least one of the above is displayed. In addition, when setting and the like described later are performed using the automatic parking control device 1, a screen for performing setting and the like under the control of the automatic parking control device 1 is displayed on the display unit 40.

  The operation unit 42 inputs an instruction and a selection operation for the navigation device 28 and an instruction and a selection operation for the automatic parking control device 1. For example, the operation unit 42 has a transparent touch panel disposed overlapping the screen of the display unit 40, and receives an operation on the operation screen displayed on the display unit 40 via the touch panel. The input result is output to a control unit of the navigation device 28 or an instruction input unit 50 described later of the automatic parking control device 1. A display unit and an operation unit dedicated to the automatic parking control device 1 may be provided.

The vehicle 2 is configured to be able to mount, for example, any of a ski tool, a snowboard, a bicycle, and a canoe. The ski equipment, the snowboard, the bicycle, and the canoe are mounted on, for example, the rear, the roof, etc. of the vehicle 2. Depending on the object to be mounted, for example, a carrier or a roof box is used.
In conventional automatic parking control, a predetermined margin may be secured between a vehicle and a parking space, an obstacle, and the like. If the vehicle is equipped with skis, snowboards, bicycles, or canoes, some of these may run off the vehicle. In the conventional automatic parking control, the protruding part may cross the white line of the parking space or may touch an obstacle. In the present embodiment, when mounted on the vehicle 2, a ski tool or the like having a portion protruding from the vehicle 2 is referred to as a load.

The automatic parking control device 1 has a function of performing parking control of the vehicle 2 using external shape data of the vehicle 2 at the time of parking.
The contour data of the vehicle 2 includes the height, width, and length of the vehicle 2. The automatic parking control device 1 uses this external shape data to calculate a route in which the vehicle 2 fits in the parking space, and controls the engine, the brake device, the steering device, and the transmission provided in the vehicle 2 to obtain this route. The route guidance of the vehicle 2 is performed along. In the present description, the outer shape data of the vehicle 2 are “first outer shape data” which is outer shape data of the vehicle 2 in a state where no load is loaded and outer shape data of the vehicle 2 in a state where the load is loaded. There is "second external data". The second outer shape data corresponds to data obtained by adding the height, width, and length of the load protruding from the vehicle 2 to the height, width, and length of the vehicle 2 in the first outer shape data. .

  The automatic parking control device 1 includes a computer provided with a CPU, a ROM, a RAM, and the like, and the CPU executes the predetermined control program by the CPU to execute an instruction input unit 50, an information processing unit 51, and an image combining unit 54. An image processing unit 55, a moving object detection unit 58, a route calculation unit 60, and a route information generation unit 62 are configured.

The instruction input unit 50 inputs the selection result of the load. The selection result of the load indicates any of the type, the number, the size, and the loading location of the load selected by the driver via the touch panel.
The information processing unit 51 performs various information processing. Specifically, the information processing unit 51 records, as registration information, information indicating the selection result input from the instruction input unit 50 in the recording unit 48 described later. In addition, the information processing unit 51 refers to the database 64 based on the registration information, so that the length of the loaded object protruding from the outer shape of the vehicle 2 (length protruding in the front-rear direction, length protruding in the height direction, width) The specified load is included by specifying the length protruding in the direction, and adding the specified length to the first outer shape data, which is the outer shape data of the vehicle 2 in a state where no load is loaded. Second outer shape data which is outer shape data of the vehicle 2 is calculated.

The image combining unit 54 combines various images obtained from data stored in the recording unit 48 described later and images obtained from shooting data from the respective cameras 16, 18, 20, 22 etc. The corresponding image data is output to the display unit 40.
The image processing unit 55 includes a parking space detection unit 56 that performs an image recognition process of detecting a parking space from images corresponding to shooting data from the cameras 16, 18, 20, 22. Further, the image processing unit 55 performs an image recognition process for detecting an object (obstacle, person, etc.) present around the vehicle 2 from the image corresponding to the imaging data from each of the cameras 16, 18, 20, 22. An object detection unit 57 is provided. For example, the parking space detection unit 56 detects a white line or a yellow line around the vehicle 2 and detects an area having a predetermined size divided by the white line or the yellow line as a parking space.
The moving object detection unit 58 detects whether the object detected by the object detection unit 57 is a moving object. For example, the moving object detection unit 58 detects a moving object approaching the vehicle 2 by comparing shooting data having different shooting times.

The route calculation unit 60 acquires the information of the parking space detected by the parking space detection unit 56 and the external shape data of the vehicle 2, and the route from the current position to the position where the vehicle 2 fits in the parking space (parking Calculate the route). In this case, the route calculation unit 60 adjusts the position where the vehicle 2 fits in the parking space according to the external shape data of the vehicle 2, and secures a sufficient margin with other obstacles such as other vehicles. Adjust to the route you want. In addition, the process which the path | route calculation part 60 performs can employ | adopt a well-known process except the point whose external shape data of the vehicle 2 are external shape data including a load.
The route information generation unit 62 guides the vehicle 2 along the route calculated by the route calculation unit 60, and generates data for stopping control. At the time of parking, this data is output to the operation control unit 24, and each of the engine, the brake device, the steering device, and the transmission provided in the vehicle 2 is controlled based on the data. Thereby, parking control of the vehicle 2 using the external shape data of the vehicle 2 including the load is performed. Also for this parking control, publicly known control can be adopted except that the outer shape data of the vehicle 2 used for the parking control is outer shape data including a load.

  The recording unit 48 is a first data indicating data such as a control program required to execute various processes, and an outline (longitudinal length, width, and height in the present configuration) of the vehicle 2 in a state where no load is loaded. External data and a database 64 for storing information on a plurality of loads are recorded. The recording unit 48 also records registration information registered by a loaded object registration process described later. As the recording unit 48, widely known data recording devices such as a flash memory, an EEPROM, a hard disk, or an SSD can be applied.

The database 64 can specify the second outer shape data indicating the outer shape (longitudinal length, width, height) of the vehicle 2 in the loaded state with the type, number, size, and loading location of the load as parameters. Information is stored.
For example, the database 64 has the length of the load (the length in the front-rear direction, the length in the height direction, the width), with the type, number, size, and loading location of the load as parameters. Store table data that can specify the length of protrusion in the direction.

In the present configuration, the information processing unit 51 refers to the database 64 based on the selection result input by the instruction input unit 50, and identifies the outer shape of the vehicle 2 in a state in which the load is loaded. Thus, the information processing unit 51, the instruction input unit 50, and the database 64 constitute an information acquisition unit that acquires information on the outer shape of the vehicle 2 in a state in which the load is loaded.
The instruction input unit 50, the information processing unit 51, the image combining unit 54, the image processing unit 55, the moving object detection unit 58, the route calculation unit 60, and the route information generation unit 62 cooperate with one another. Perform various controls. These parts are collectively described as the control unit 46, and the operation of the automatic parking control device 1 will be described below.

When a load is loaded on the vehicle 2, a load registration process for registering the load is required.
FIG. 2 is a flowchart showing the loading object registration processing, and FIG. 3 is a view showing an example of the menu screen 70 capable of instructing execution of the loading object registration processing.
The menu screen 70 is a screen displayed on the display unit 40 by the control unit 46, for example, when the power of the automatic parking control device 1 is turned on. On the left side of the menu screen 70, an image 75 of the vehicle 2 is displayed. On the right side of the menu screen 70, a load setting button 74 for instructing execution of the load registration process and a position adjustment button 71 for instructing adjustment of the position of the image 82 of the load are displayed.

  When the operation for the load setting button 74 is input (step SA1), the control unit 46 displays an image or a sound to the occupant such as a driver to determine whether the load mounted on the vehicle 2 is selected. It inquires (step SA2). For example, an image 75 showing the current selection state is displayed on the left side of the menu screen 70, and the occupant looks at the image 75 to easily determine whether the load carried on the vehicle 2 is selected or not. It is possible. In addition, the case where the image 75 of the vehicle 2 when the load is not registered is displayed on the menu screen 70 shown on the upper side of FIG. In addition, the image 75 of the vehicle 2 may be, for example, an image in which the entire circumference of the vehicle 2 is compounded and obtained by combining imaging data captured by the respective cameras 16, 18, 20, and 22.

  When it is input from the occupant that the load loaded on the vehicle 2 is not selected (step SA2: NO), the control unit 46 displays the load on the right side of the menu screen 70 as shown in FIG. An image for receiving selection of type, number, size, and loading location is displayed (step SA3). Specifically, control unit 46 receives type selection unit 76 that receives selection of the type of load, size selection unit 78 that receives selection of the size of load, and loading location selection unit 80 that receives selection of the loading location. And a registration button 81 for accepting registration of the information received by the selection units 76, 78, and 80.

  When an operation is performed on each of the selection units 76, 78, 80, the control unit 46 changes the image 75 displayed on the left side of the menu screen 70 according to each operation. Specifically, an image combining the image 75 of the vehicle 2 and the image 82 of the load is displayed so as to reflect the type, size, and loading location of the selected load.

When the registration button 81 is operated, the control unit 46 records in the recording unit 48 registration information indicating the type, size, and loading location of the selected load, and the occupant is asked whether the load is correct or not. Inquire (step SA4). When it is input from the occupant that the load is correct (step SA4: YES), the control unit 46 ends the load registration process. This completes the registration of the load.
On the other hand, when it is input from the occupant that the load is not correct (step SA4: NO), the control unit 46 proceeds to the process of step SA2, and performs the processes of steps SA3 and SA4.

  Although it has been described that the process of step SA4 determines whether the load is correct based on the input from the occupant, the control unit 46 may automatically determine. For example, the control unit 46 identifies the load carried on the vehicle 2 by image recognition of the shooting data of each camera 16, 18, 20, 22, and the specified load is selected on the menu screen 70. If it matches the load, it may be determined that the registered load is correct.

  Further, in the above-described load registration process, the position of the load to be registered can be adjusted by the position adjustment button 71. For example, in a state where the load is selected, the position of the load in the image 75 displayed on the left side of the menu screen 70 is changed by the occupant operating the position adjustment button 71, and the passenger It can be adjusted. Then, when the registration button 81 is operated, the registration information may be recorded in the recording unit 48 by reflecting the changed position.

Moreover, in the above-mentioned load registration process, it is not limited to when registering one load, A plurality of loads can be registered.
FIG. 4 shows a transition example of the menu screen 70 in the case of registering a plurality of loads. First, after registering the first load (two bicycles loaded at the rear in FIG. 4), the passenger registers one load loaded on the roof in the second load (FIG. 4). Register your bicycle). In this manner, the control unit 46 records the information (corresponding to the type, the size, and the loading location) on the plurality of loaded articles in the recording unit 48 by receiving registration of the loaded articles a plurality of times. By this, it is possible to register all the load of the vehicle 2.
In this case, the image of the registered load and the image of the selected load are also synthesized on the image 75 displayed on the left side of the menu screen 70, and the occupant can visually confirm.

Next, parking control after registration of a load (hereinafter, referred to as load automatic parking processing) will be described.
FIG. 5 is a flowchart showing the load item automatic parking process.
When an operation to start the load item automatic parking process is input by the operation unit 42, the control unit 46 refers to the database 64 based on the registration information, and the length of the load item (in the present configuration, from the outer shape of the vehicle 2) The length of the load to be transferred (corresponding to the length to be extended in the front-rear direction, the length to extend in the height direction, the length to extend in the width direction) is read (step SB1).
The control unit 46 calculates the second outer shape data, which is the outer shape data of the vehicle 2 including the load, by adding the read-in length to the first outer shape data indicating the outer shape of the vehicle 2 and calculating the second Based on the outline data, a route for guiding the vehicle 2 to the parking space is calculated (step SB2).

Subsequently, the control unit 46 determines whether the height of the parking space is limited as a confirmation item before the start of the parking control (step SB3). For example, if the parking space is a garage having a ceiling, the height will be limited. Whether or not the height of the parking space is restricted may be input from the outside by an occupant operating the operation unit 42 or the like, or the control unit 46 based on the photographing data of the cameras 16, 18, 20, 22. May judge automatically. In addition, the control unit 46 acquires position information indicating the current position of the vehicle 2, identifies a parking space based on the position information, and externally acquires information on whether or not the parking space has a height restriction. You may
If the height of the parking space is not restricted (step SB3: NO), the control unit 46 starts parking control (step SB4). In this parking control, an automatic parking process is performed in which the vehicle 2 including the load is contained in the parking space.

FIG. 6 is a diagram showing an example of the path 92 calculated in the process of step SB2.
A route 92 in FIG. 6 is a part of the route calculated using external shape data (corresponding to second external shape data) of the vehicle 2 including the load. This path 92 indicates the approach angle of the vehicle 2 to the parking space 89, and the vehicle 2 including the load is stored in the frame of the parking space 89 (within the range of width 96 and length 97), and The angle is set so as to secure a sufficient margin between the vehicle 2 including the load and the surrounding vehicles 98A, 98B, 98C.

In FIG. 6, reference numeral 102 denotes a part of the route calculated using the external shape data (corresponding to the first external shape data) of the vehicle 2 not including the load, and the approach angle of the vehicle 2 to the parking space 89 Is shown. As shown in FIG. 6, since this route 102 does not consider the load 100 (bicycle in FIG. 6) loaded at the rear, compared with the route 92 considering this load 100, surrounding vehicles (especially vehicles) 98C) may not be sufficiently secured.
Also, if the rear load 100 is not taken into consideration, there is a possibility that the parking space 89 may be pushed out. However, in the present configuration, the load 100 is considered, so the vehicle 2 including the load 100 is within the frame of the parking space 89. The stop position can be controlled to fit.

FIG. 7 is a view showing an example of the automatic parking process of step SB4. Note that FIG. 7 shows the case where the load 100 protrudes at least in front of the vehicle 2. Since the control unit 46 performs travel control of the vehicle 2 in consideration of the load 100, the surrounding entity 104 (person in FIG. 7) obtained from the imaging data of the cameras 16, 18, 20, 22 and the vehicle It is possible to control the travel and stop of the vehicle so as to secure a sufficient margin 105 between two.
If the load 100 is not taken into consideration, the margin 105 between the surrounding entity 104 and the vehicle 2 including the load 100 is narrowed.

  Referring to FIG. 5, after starting the parking control in step SB4, control unit 46 controls the parking space detected by image recognition and the parking space required for vehicle 2 including the load by the processing in steps SB5 and SB6. The vehicle 2 is stopped at a position where the vehicle 2 including the load is properly stored in the parking space. When it is necessary to recalculate the route to the parking space based on the comparison result (step SB5: YES or step SB6: NO), the control unit 46 recalculates the route (step SB7), correct to the appropriate path.

If the height of the parking space is limited (step SB3: YES), the control unit 46 determines that the height of the vehicle 2 including the load (for example, the height including the load 100 on the roof) is the height of the parking space. It is determined whether it is within the limit (step SB8).
If it is within the height limitation of the parking space (step SB8: YES), the control unit 46 shifts to the processing of step SB4 and starts parking control.

  If it is not within the height limit of the parking space (step SB8: NO), the control unit 46 interrupts the load automatic parking process (step SB9) to emit a warning sound, and the load 100 from the vehicle 2 Is displayed on the display unit 40 (step SB10). Thereby, the occupant is notified that it is necessary to lower the load 100 to park the vehicle 2.

Further, the control unit 46 displays on the display unit 40 an icon for inputting whether or not the occupant has lowered the load 100. For example, a “YES” button indicating that the load 100 has been dropped and a “NO” button indicating that the load 100 has not been dropped are displayed.
When the occupant inputs that the load 100 has been lowered ("YES" button is operated) (step SB11: YES), the control unit 46 shifts to the processing of step SB4 and starts parking control. On the other hand, when the occupant inputs that the load 100 has not been lowered (corresponding to not intending to lower it) (by operating the "NO" button) (step SB11: NO), the control unit 46 performs the process of step SB9. Migrate and continue suspension of the load automatic parking process.

  FIG. 8 is a view showing an example of the case where the height of the vehicle 2 including the load is within the height limit of the parking space 108. In FIG. 8, since the load 100 (bicycle in FIG. 8) is on the roof of the vehicle 2, the height of the vehicle 2 exceeds the height of the ceiling 108 </ b> T of the parking space 108. Therefore, a warning sound is emitted by the control unit 46, and a message prompting to unload the load 100 from the vehicle 2 is displayed. When the load 100 is lowered by the occupant, the control unit 46 starts parking control based on the input operation from the occupant, and the vehicle 2 is parked in the parking space 108.

FIG. 9 is a diagram showing an example of display processing of the vehicle 2 in which the images corresponding to the load are combined.
By the way, conventionally, when the vehicle 2 is parked, an image showing the vehicle 2 together with the surrounding scenery is generated using the photographed data taken by the cameras 16, 18, 20, 22 and the generated image is displayed in the vehicle A process (hereinafter referred to as a vehicle display process) to be displayed on the display unit 40 is performed. However, the load loaded on the roof or the like of the vehicle 2 is not displayed on the display unit 40 because the load is usually out of the imaging range of each camera 16, 18, 20, 22.
So, in this composition, when performing vehicle display processing at the time of parking etc., as shown in Drawing 9, vehicles 2 which compounded the picture corresponding to a load thing are displayed on indicator 40. As shown in FIG. In this display process, for example, the control unit 46 specifies the information (corresponding to the type, the size, and the loading place) related to the load of the vehicle 2 based on the registration information recorded in the recording unit 48, and the specified type The image of the vehicle 2 in which the load corresponding to the size is combined with the identified loading location is generated, and the generated image of the vehicle 2 is combined with the previously generated surrounding image and displayed on the display unit 40. In this way, it is possible to clearly show that the load is on the passenger and prevent the load from being forgotten. When the occupant takes down the load, step SB11 is the result. In that case, it is preferable to display the image in which the load is erased on the display unit 40.

  As described above, in the present embodiment, the control unit 46 of the automatic parking control device 1 adds the length of the load to the first outer shape data indicating the outer shape of the vehicle 2 that does not include the load. The second outer shape data indicating the outer shape of the vehicle 2 including the object is specified, and parking control is performed using the second outer shape data. Thus, parking control can be performed according to the outline of the vehicle 2 including the load, and parking control can be appropriately performed even when the load is loaded.

  Further, the control unit 46 specifies the information such as the length of the load carried on the vehicle 2 by inputting the selection result of the load from the occupant and referring to the database 64 based on the selection result. . As a result, the load can be easily identified, and information on the load of the vehicle 2 can be easily acquired using the information of the database 64.

  In this case, the control unit 46 can accurately specify the size of the load affecting the outline of the vehicle 2 by inputting the selection result of at least one of the type, number, size, and loading location of the load. . Therefore, more appropriate parking control is possible as compared to the case where the parking control is performed without considering the type, number, size and loading place of the load.

  Further, the control unit 46 calculates, as parking control, a route for securing a margin between the vehicle 2 including the load and an object such as an obstacle present around the vehicle based on the second outer shape data, and this route Since the vehicle 2 is route-guided along, the margin in consideration of the load can be secured. This also allows more appropriate parking control.

Further, the control unit 46 performs, as parking control, route guidance for putting the vehicle 2 including the load in a parking space (corresponding to a parking area) based on the second outer shape data, and stop control,
Appropriate route guidance and stop control are possible for the vehicle 2 including a load.

  Furthermore, the control unit 46 determines, as parking control, whether or not the vehicle 2 including the load can be accommodated within the height limit of the parking space (corresponding to the parking area) based on the second outer shape data. When it does not fit in the parking space, the notification process of notifying the determination result is performed. As a result, it becomes easy for the occupant to take measures such as unloading and parking.

The embodiment described above is merely an example of the present invention, and any modification and application can be made without departing from the spirit of the present invention.
For example, the vehicle 2 may be an electric vehicle such as an electric vehicle equipped with a motor or a plug-in hybrid vehicle equipped with a motor and an engine.

  Moreover, FIG. 1 is the schematic which classified and showed the functional structure of the automatic parking control apparatus 1 according to the main processing content, It is not limited to this structure. For example, each functional configuration may be configured by one hardware or may be configured by multiple hardware.

  Further, the processing units in the flowcharts of FIG. 2 and FIG. 5 are divided according to the main processing contents in order to facilitate understanding of the processing. The present invention is not limited by the method and name of division of the processing unit. That is, each process can be divided into more process steps according to the process content. Also, one processing step can be divided to include more processing.

Reference Signs List 1 automatic parking control device 2 vehicle 46 control unit 50 instruction input unit 51 information processing unit 56 parking space detection unit 57 object detection unit 60 route calculation unit 62 route information generation unit 64 database 89 parking space 104 entity (object)

Claims (6)

In an automatic parking control device that performs parking control of the vehicle using external shape data of the vehicle,
An information acquisition unit for acquiring information on a load carried on the vehicle and having a portion protruding from the vehicle;
Based on the first outer shape data indicating the outer shape of the vehicle and the information, second outer shape data indicating the outer shape of the vehicle including the load is specified, and parking control of the vehicle is performed using the second outer shape data. Control unit to perform
An automatic parking control device comprising: The information acquisition unit is a database that accumulates information on a plurality of loads.
And an instruction input unit for inputting the selection result of the load loaded on the vehicle,
The automatic parking control apparatus according to claim 1, wherein the control unit refers to the database based on the selection result and specifies information on a load loaded on the vehicle.   The automatic parking control device according to claim 2, wherein the instruction input unit inputs a selection result of at least one of the type, the number, the size, and the loading place of the load.   The said control part performs the route guidance which ensures a margin between the said load and the object which exists around based on said 2nd external shape data as said parking control, It is characterized by the above-mentioned. Automatic parking control device according to any of the.   The said control part performs the route guidance which puts the said vehicle containing the said load in a parking area based on said 2nd external shape data as said parking control, and stop control, It is characterized by the above-mentioned. The automatic parking control device according to any one of 4. The control unit determines, as the parking control, whether or not the vehicle including the load fits in the parking area based on the second outer shape data, and the determination result when at least the vehicle does not fit in the parking area The automatic parking control device according to any one of claims 1 to 5, wherein a notification process for giving notification is performed.

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