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WO2018193577A1 - Dispositif de commande d'aide au stationnement et procédé de commande d'aide au stationnement - Google Patents

Dispositif de commande d'aide au stationnement et procédé de commande d'aide au stationnement Download PDF

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Publication number
WO2018193577A1
WO2018193577A1 PCT/JP2017/015886 JP2017015886W WO2018193577A1 WO 2018193577 A1 WO2018193577 A1 WO 2018193577A1 JP 2017015886 W JP2017015886 W JP 2017015886W WO 2018193577 A1 WO2018193577 A1 WO 2018193577A1
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WO
WIPO (PCT)
Prior art keywords
parking
low
vehicle
parking assistance
damage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/015886
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English (en)
Japanese (ja)
Inventor
中村　好孝
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to DE112017007462.2T priority Critical patent/DE112017007462T5/de
Priority to JP2019513159A priority patent/JP6771658B2/ja
Priority to PCT/JP2017/015886 priority patent/WO2018193577A1/fr
Publication of WO2018193577A1 publication Critical patent/WO2018193577A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects

Definitions

  • the present invention relates to a parking assistance control device and a parking assistance control method.
  • Patent Document 1 a parking support function in which a vehicle ECU (electronic control unit) controls parking of a vehicle without a driver's operation using a camera and an external sensor has become widespread (for example, Patent Document 1 and Patent Document 2). reference).
  • a space between vehicles or a region surrounded by a white line is detected as a parking space, and the driver is notified that a parking space has been detected.
  • parking assistance is executed.
  • the parking assistance During the parking assistance, obstacles around the vehicle are continuously detected. If it is determined that interference with an obstacle is caused by continuing the parking support, the parking support is interrupted or canceled.
  • the wheel when a conventional parking assist function is executed and the vehicle is parked, the wheel may be damaged by a low-profile obstacle that does not interfere with the vehicle body but interferes with the wheel. there were.
  • Patent Document 1 and Patent Document 2 no consideration was given to wheel damage caused by a low-profile obstacle that does not interfere with the vehicle body but interferes with the wheel.
  • the present invention has been made in order to solve the above-described problems, and parking assist control that suppresses a wheel from being damaged by a low-profile obstacle that does not interfere with the vehicle body but interferes with the wheel.
  • An object is to provide a device and a parking assistance control method.
  • a parking assistance control device is a parking assistance control device that assists in parking a vehicle, and a low-profile obstacle detection unit that detects a low-profile obstacle that interferes with a wheel without interfering with the vehicle body of the vehicle, Based on the detection result of the low-profile obstacle detection unit, the damage possibility determination unit that determines whether or not the vehicle wheel may be damaged by contact with the low-profile obstacle, and the determination by the damage possibility determination unit A parking assistance control unit that performs parking assistance control of the vehicle according to the result.
  • a parking assistance control method is a parking assistance control method for assisting parking of a vehicle, and detects a low-profile obstacle that interferes with a wheel without interfering with the vehicle body of the vehicle, and detects a low-profile obstacle. Based on this, it is determined whether or not the vehicle wheel is likely to be damaged by contact with a low-profile obstacle, and the vehicle parking assist control is performed according to the presence or absence of the possibility of injury.
  • the parking assist control device detects a low-profile obstacle that does not interfere with the vehicle body of the vehicle but interferes with the wheel, and determines whether or not the vehicle wheel may be damaged by contact with the low-profile obstacle. Then, parking support control is performed according to the possibility of damage. Therefore, for example, when it is determined that there is a possibility of being damaged, it is possible to suppress the low-back obstacle from coming into contact with the wheel in parking by parking assistance by releasing the parking assistance. .
  • the parking assist control method detects a low-profile obstacle that does not interfere with the vehicle body of the vehicle but interferes with the wheel, and determines whether or not the vehicle wheel may be damaged by contact with the low-profile obstacle. Then, parking support control is performed according to the possibility of damage. Therefore, for example, when it is determined that there is a possibility of being damaged, it is possible to suppress the low-back obstacle from coming into contact with the wheel in parking by parking assistance by releasing the parking assistance. .
  • FIG. 4 is a flowchart showing the operation of the parking assistance control apparatus according to the first embodiment. 4 is a flowchart showing an operation of a damage possibility determination unit according to the first embodiment. 4 is a flowchart showing an operation of a parking assistance control unit according to the first embodiment. 10 is a flowchart showing an operation of a parking assistance control unit according to the second embodiment.
  • FIG. 10 is a flowchart showing an operation of a parking assistance control unit according to the third embodiment. It is a figure which shows the screen which a parking assistance control part which concerns on Embodiment 3 displays on a display. 10 is a flowchart showing an operation of a parking assistance control unit according to the fourth embodiment. It is the figure which looked at the driving
  • FIG. 10 is a flowchart showing an operation of a parking assistance control unit according to the fifth embodiment. It is a figure which shows the screen which the parking assistance control part which concerns on Embodiment 5 displays on a display. 14 is a flowchart showing an operation of a parking support control unit according to the sixth embodiment. It is a figure which shows the screen which the parking assistance control part which concerns on Embodiment 6 displays on a display. 18 is a flowchart illustrating an operation of a damage possibility determination unit according to the seventh embodiment.
  • FIG. 10 is a block diagram of a parking assistance control device according to an eighth embodiment.
  • FIG. It is a block diagram of the parking assistance control apparatus which concerns on Embodiment 9.
  • FIG. It is a flowchart which shows the operation
  • FIG. 22 is a flowchart showing the operation of the parking assistance control device in the base technology.
  • FIG. 23 is a diagram of a traveling locus of the vehicle viewed from above until a parking space is detected by the parking assist control device according to the base technology.
  • FIG. 24 is a diagram of a traveling locus of the vehicle viewed from above in the parking in the parking space by the parking assist control device in the base technology.
  • the parking assist control device in the base technology controls the vehicle ECU mounted on the vehicle 31.
  • the parking support control device starts detecting the parking space 30 on the assumption that parking support is requested.
  • the parking support control device instructs the driver to drive slowly (step S11).
  • the parking space 30 is detected when the parking assist control device searches for a parking space based on information from the external camera and the external sensor during slow driving (step S12). That is, as shown in FIG. 23, when the vehicle 31 passes in front of the parking space 30, the parking assistance control device detects the parking space 30. In FIG. 23, the parking space 30 exists between the parked vehicle L1 and the parked vehicle L2.
  • the parking support control device When the parking support control device detects the parking space 30, it notifies the driver that the parking space 30 has been detected using a man-machine interface such as a display and voice, and instructs to stop (step S 13). ).
  • a man-machine interface such as a display and voice
  • the parking support control device After the vehicle 31 stops at the position P1, the parking support control device requests the driver to determine whether or not to continue parking support through a man-machine interface such as a display and voice (step S14).
  • the parking assistance control device calculates a predicted traveling locus from the position P1 where the vehicle 31 has stopped to the parking space 30 (step S15).
  • a predicted travel locus is a travel route of a vehicle predicted in parking assistance.
  • a parking assistance control apparatus performs parking assistance so that the vehicle 31 may be moved based on the calculated estimated driving
  • the parking assist control device controls the engine by the engine control unit, the brake by the brake control unit, and the transmission by the transmission control unit via the vehicle body control unit.
  • the steering control unit controls the steering mechanism, and the steering control unit reads the output of the steering angle sensor.
  • the parking support control device also monitors the surrounding environment based on input information from an external camera and an external sensor, performs a parking support operation in accordance with the predicted travel locus described above, and moves the vehicle to within a parking space. Then, parking support is terminated.
  • the parking route from the stop position of the vehicle 31 to the parking space 30 will be described with reference to FIG.
  • the parking assistance control device moves the vehicle 31 backward to the position P3 via the position P2.
  • the parking support control apparatus advances the vehicle 31 to the position P4 and performs turn-back.
  • the parking assist control device reverses the vehicle 31 from the position P4 to the position P5 and completes parking in the parking space 30.
  • the low-profile obstacle 40 is an obstacle that interferes with the wheel without interfering with the vehicle body of the vehicle 31.
  • the low-profile obstacle 40 is an obstacle provided on the assumption that the vehicle 31 gets over the obstacle.
  • the low-profile obstacle 40 is, for example, a step provided between the road and the parking space 30 in order to improve drainage of the road during rainfall.
  • the low-profile obstacle 40 is, for example, an L-shaped side groove defined by Japanese Industrial Standards standard number JIS A 5372, but is not limited thereto.
  • FIG. 25 is a view of the vehicle 31 located at the position P2 in FIG. 24 as viewed from above.
  • FIG. 26 is a perspective view of the vehicle 31 and the low-profile obstacle 40 located at the position P2 (that is, FIG. 25) in FIG.
  • FIG. 27 is an enlarged perspective view of the rear wheel and the low-back obstacle 40 of the vehicle 31 in FIG.
  • the approach angle ⁇ is defined. As shown in FIGS. 25 to 27, the approach angle ⁇ is an angle formed by the extending direction of the low-profile obstacle 40, that is, the x direction, and the locus of the tire 311 in the predicted traveling locus of the vehicle 31, that is, the y direction. It is.
  • the positional relationship between the low-profile obstacle 40 and the vehicle 31 in FIGS. 25 to 27 is schematic, and the approach angle ⁇ on the paper surface corresponds to the approach angle at which the wheel 312 is actually damaged. Do not mean. 25 and 26, the approach angle ⁇ looks different, but the difference in how the angle appears is caused by drawing convenience, and these are the same angle.
  • FIG. 1 is a block diagram of the parking assistance control apparatus 100 according to the first embodiment.
  • the parking support control device 100 is a parking support control device that supports parking of the vehicle 31.
  • the parking support control device 100 includes a low-profile obstacle detection unit 5, a damage possibility determination unit 61, and a parking support control unit 6.
  • the low-profile obstacle detection unit 5 detects the low-profile obstacle 40 that does not interfere with the vehicle body of the vehicle 31 but interferes with the wheel 312.
  • the possibility determination unit 61 determines whether or not the wheel 312 of the vehicle 31 may be damaged by contact with the low-profile obstacle 40 based on the detection result of the low-profile obstacle detection unit 5, that is, whether or not there is a possibility of damage. judge.
  • the parking support control unit 6 performs parking support control of the vehicle 31 according to the determination result of the damage possibility determination unit 61.
  • FIG. 2 is a hardware configuration diagram of the parking assistance control apparatus 100.
  • the functions of the damage possibility determination unit 61 and the parking support control unit 6 in the parking support control device 100 are realized by the processing circuit HW2. That is, the parking assistance control device 100 determines whether there is a possibility that the wheel 312 of the vehicle 31 is damaged by contact with the low-back obstacle 40 based on the detection result of the low-back obstacle detection unit 5.
  • a processing device for performing parking assist control of the vehicle 31 according to the determination result is provided.
  • the processing circuit HW2 is dedicated hardware, it is also called a CPU (Central Processing Unit, a central processing unit, a processing unit, a processing unit, a microprocessor, a microcomputer, a processor, and a DSP that executes a program stored in a memory. ).
  • a CPU Central Processing Unit, a central processing unit, a processing unit, a processing unit, a microprocessor, a microcomputer, a processor, and a DSP that executes a program stored in a memory.
  • the processing circuit HW2 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
  • Each function of each part of the possibility determination part 61 and the parking assistance control part 6 may be realized by a processing circuit, or the functions of each part may be realized by a single processing circuit.
  • the processing circuit HW2 is a processor
  • the functions of the damage possibility determination unit 61 and the parking support control unit 6 are realized by a combination of software and the like (software, firmware or software and firmware).
  • Software or the like is described as a program and stored in the memory HW4.
  • the processor HW3 applied to the processing circuit HW2 implements the functions of the respective units by reading and executing the program stored in the memory HW4. That is, when the parking assistance control device 100 is executed by the processing circuit HW2, the wheel 312 of the vehicle 31 is damaged by contact with the low-profile obstacle 40 based on the detection result of the low-profile obstacle 40.
  • a memory HW4 is provided for storing a program that results in a step of determining the possibility of being injured and a step of performing parking support control of the vehicle 31 depending on the possibility of being damaged. Moreover, it can be said that these programs make a computer perform the procedure and method of the possibility determination part 61 of a damage, and the parking assistance control part 6.
  • the memory HW4 is a non-volatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), etc. Or a volatile semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), or any other storage medium to be used in the future.
  • a part may be implement
  • the processing circuit HW2 can realize the above-described functions by hardware, software, firmware, or a combination thereof.
  • the low-profile obstacle detection unit 5 in the parking assistance control device 100 is realized by the low-profile obstacle detection sensor HW1 and the processing circuit HW2.
  • the low-back obstacle detection unit 5 may be realized by the low-back obstacle detection sensor HW1, the processor HW3, and the memory HW4.
  • the low-profile obstacle detection sensor HW1 includes, for example, a projector that projects a line on the ground and a camera that recognizes an image of the line projected on the ground.
  • the installation position and imaging angle of the camera are different from those of the projector described above. If the line projected on the ground is a straight line, it means that there is no low-profile obstacle 40 on the road surface. On the other hand, when the line projected on the ground is bent, it means that the low-profile obstacle 40 exists on the ground.
  • the low-profile obstacle detection sensor HW1 may include an ultrasonic sensor (also referred to as “sonar”), a camera, a millimeter wave radar, a laser radar, and the like.
  • FIG. 4 is a block diagram showing a connection relationship between the parking assistance control device 100 and the elements constituting the vehicle 31.
  • the vehicle 31 includes a vehicle ECU 1, an external camera 2, an external sensor 3, a speedometer 4, a vehicle body control unit 7, a parking support enabling unit 8, a display, in addition to the parking support control device 100 described above. 9, audio output unit 10, display operation unit 11, steering control unit 12, steering mechanism 13, steering angle sensor 14, engine control unit 15, engine 16, brake control unit 17, brake 18, transmission control unit 19, transmission 20.
  • the vehicle ECU 1 controls the vehicle 31.
  • the external camera 2 captures a state outside the vehicle 31.
  • the external sensor 3 senses a state outside the vehicle.
  • the speedometer 4 notifies the vehicle speed information to the parking support control unit 6 and the vehicle body control unit 7.
  • the vehicle body control unit 7 controls the vehicle body in accordance with a request from the parking support control unit 6.
  • the parking assistance validation unit 8 validates the parking space detection function and validates the parking assistance based on the driver's operation.
  • Display 9 displays the surrounding state of vehicle 31 during parking assistance, and displays various selection screens.
  • the display 9 is, for example, a liquid crystal display or a head-up display.
  • the audio output unit 10 outputs information related to parking assistance, warnings, and the like.
  • the display operation unit 11 is used when the driver inputs various types of information such as numerical information, character information, and instruction information to the parking assistance control device 100.
  • the display 9 and the display operation unit 11 may be integrally formed.
  • the display operation unit 11 may be configured by a touch panel or a voice input device capable of voice operation input.
  • Steering control unit 12, engine control unit 15, brake control unit 17 and transmission control unit 19 are controlled by vehicle body control unit 7.
  • the steering mechanism 13 is controlled by the steering control unit 12.
  • the steering angle sensor 14 outputs the steering angle amount of the steering mechanism 13 to the steering control unit 12.
  • the engine 16 is controlled by the engine control unit 15.
  • the brake 18 is controlled by the brake control unit 17.
  • the transmission 20 is controlled by the transmission control unit 19.
  • FIG. 5 is a flowchart showing the operation of the parking assistance control apparatus 100 according to the first embodiment.
  • FIG. 6 is a flowchart illustrating an operation of determining whether or not there is a possibility of damage by the damage possibility determination unit 61 in the parking assistance control apparatus 100.
  • FIG. 7 is a flowchart showing an operation of executing parking support control in accordance with the possibility of damage of the parking support control unit 6 in the parking support control device 100.
  • the low-profile obstacle detection unit 5 detects the low-profile obstacle 40 (step S1 in FIG. 5).
  • the detection of the low-profile obstacle 40 is performed, for example, when the vehicle 31 slowly passes in front of the parking space 30. If the low-profile obstacle 40 is not detected, the parking support control unit 6 performs parking support based on the predicted travel locus as described in the base technology using FIG.
  • the possibility determination unit 61 determines whether there is a possibility that the wheel 312 of the vehicle 31 is damaged by contact with the low-profile obstacle 40 based on the detection result of the low-profile obstacle detection unit 5. (Step S2 in FIG. 5). And the parking assistance control part 6 performs parking assistance control of the vehicle 31 according to the determination result of the damage possibility determination part 61 (step S3 of FIG. 5).
  • the damage possibility determination unit 61 (that is, step S2 in FIG. 5) will be described with reference to FIG.
  • the possibility determination unit 61 of injury is calculated as an approach angle ⁇ (step S21).
  • the approach angle ⁇ is an angle formed by the direction in which the low-profile obstacle extends and the trajectory of the tire 311 of the vehicle 31 in the predicted travel trajectory of the vehicle 31.
  • the definition of the approach angle ⁇ is the same as that described with reference to FIGS. 25 to 27 in the base technology.
  • the damage possibility determination unit 61 determines whether or not the calculated approach angle ⁇ is less than a specified angle (step S22).
  • the prescribed angle is determined in advance and stored in the memory HW4.
  • the specified angle can be arbitrarily set between 0 degrees and 90 degrees depending on the requirement of how much the wheel 312 is likely to contact the low-profile obstacle 40.
  • step S25 the damage possibility determination unit 61 determines that the wheel 312 is not likely to be damaged.
  • step S23 the damage possibility determination unit 61 determines whether or not the height of the low-profile obstacle 40 is equal to or higher than a specified height.
  • the specified height is determined in advance and stored in the memory HW4. The specified height is set to be lower than the height of the sidewall 311a with reference to the height of the sidewall 311a of the tire 311 of the vehicle 31.
  • step S23 when the height of the low-profile obstacle 40 is not equal to or higher than the predetermined height, the damage possibility determination unit 61 determines that the wheel 312 is not likely to be damaged (step S25). On the other hand, when the height of the low-profile obstacle 40 is equal to or higher than the specified height in step S23, the damage possibility determination unit 61 determines that the wheel 312 may be damaged (step S24).
  • the possibility determination part 61 of damage performed determination with respect to approach angle (theta) and determination with respect to the height of the low-profile obstacle 40 either determination with respect to approach angle (theta) or determination with respect to the height of the low-profile obstacle 40 is carried out. Whether or not there is a possibility of damage may be determined based on the above.
  • the parking assist control device 100 displays the size data of the tire 311 mounted on the vehicle 31, that is, the tire flatness, the tire width, the tire inner diameter, and the like. It is good also as input possible. Then, the parking assistance control device 100 may be able to calculate the optimum prescribed angle and the optimum prescribed height based on the input size data.
  • step S3 the parking assistance control unit 6 determines whether or not it is determined that there is a possibility of being damaged (step S31). When it is determined that there is no possibility of being damaged, that is, when it is determined that there is no possibility of being damaged, the parking support control unit 6 is based on the predicted traveling locus as described in the base technology with reference to FIG. Parking assistance is performed (step S33).
  • step S31 if it is determined in step S31 that there is a possibility of injury, the parking support control unit 6 cancels the parking support (step S32).
  • the parking assistance is canceled, the vehicle 31 is switched to manual driving.
  • the parking assistance control apparatus 100 is a parking assistance control apparatus that assists parking of the vehicle 31 and detects a low-profile obstacle 40 that does not interfere with the vehicle body of the vehicle 31 but interferes with the wheel 312. Based on the detection results of the back obstacle detection unit 5 and the low-back obstacle detection unit 5, the wheel 312 of the vehicle 31 can be damaged to determine whether or not it may be damaged by contact with the low-back obstacle 40. And a parking support control unit 6 that performs parking support control of the vehicle 31 according to the determination result of the damage possibility determination unit 61.
  • the parking assist control device 100 detects the low-profile obstacle 40 that does not interfere with the vehicle body of the vehicle 31 but interferes with the wheel 312, and the wheel 312 of the vehicle 31 may be damaged by contact with the low-profile obstacle 40.
  • the presence / absence is determined, and parking support control is performed according to the possibility of damage. Therefore, for example, when it is determined that there is a possibility of being damaged, it is possible to prevent the low-profile obstacle 40 from being damaged by contacting the wheel 312 in parking by parking assistance by releasing the parking assistance. It becomes.
  • the damage possibility determination unit 61 in the parking assistance control apparatus 100 is based on the detection result of the low-back obstacle detection unit 5 and the trajectory of the tire 311 of the vehicle 31 in the predicted travel trajectory of the vehicle 31. Determine if there is a possibility of scratching.
  • the wheel 312 attached to the tire 311 and the low-profile obstacle 40 may come into contact with each other by considering the trajectory of the tire 311 of the vehicle 31 in the predicted travel trajectory of the vehicle. It is possible to accurately determine whether there is any.
  • the low-profile obstacle detection unit 5 in the parking assistance control apparatus 100 detects the extending direction of the low-profile obstacle 40, and the damage possibility determination unit 61 is based on the approach angle ⁇ .
  • the approach angle ⁇ is an angle formed by the direction in which the low-profile obstacle 40 extends and the trajectory of the tire 311 of the vehicle 31 in the predicted travel trajectory of the vehicle 31.
  • the low-profile obstacle detection unit 5 in the parking assistance control apparatus 100 detects the height of the low-profile obstacle 40, and the damage possibility determination unit 61 determines the height of the low-profile obstacle 40.
  • the presence / absence of damage is determined based on a comparison between the height of the tire 311 and the predetermined height, and the predetermined height is determined based on the height of the sidewall 311a of the tire 311 of the vehicle 31.
  • the possibility that the wheel 312 and the low-profile obstacle 40 come into contact with each other increases. Therefore, it is possible to perform the determination with high accuracy by determining whether or not there is a possibility of damage based on a comparison between the height of the low-profile obstacle 40 and a predetermined height.
  • the parking support control unit 6 in the parking support control apparatus 100 cancels the parking support when the damage possibility determination unit 61 determines that there is a possibility of damage.
  • the parking assistance By canceling the parking assistance when it is determined that there is a possibility of being damaged, it is possible to reliably prevent the low-profile obstacle 40 from coming into contact with the wheel 312 and being damaged.
  • FIG. 8 is a flowchart showing the operation of the parking assistance control unit 6 in the second embodiment.
  • the parking support control unit 6 indicates that the wheel 312 of the vehicle 31 may be damaged before the step of releasing the parking support (step S ⁇ b> 32).
  • a warning is displayed on the display 9 (step S311). Note that step S11 and step S32 may be executed simultaneously.
  • FIG. 9 is a diagram showing a screen that the parking support control unit 6 displays on the display 9.
  • the display 9 displays a warning indicating that the wheel may be damaged when the parking assistance is executed, and a sentence indicating that the parking assistance has been released.
  • the warning indicating that there is a possibility that the wheel may be damaged when the parking assistance is executed is not limited to text, and may be displayed as an illustration or an animation. Further, at the same time that the warning is displayed on the display 9, a voice indicating the warning, a sound effect, or the like may be output by the voice output unit 10.
  • the parking assistance control unit 6 may indicate that the wheel 312 of the vehicle 31 may be damaged.
  • a display signal for displaying the warning to be displayed on the display 9 is generated. Therefore, it is possible to notify the driver that the wheel 312 of the vehicle 31 may be damaged.
  • FIG. 10 is a flowchart showing the operation of the parking assist control unit 6 according to the third embodiment.
  • the damage possibility determination unit 61 determines that there is a possibility of damage, the driver can select whether to continue the parking assistance or cancel the parking assistance.
  • step S31 in FIG. 10 If it is determined in step S31 in FIG. 10 that there is a possibility of damage, the parking assistance control unit 6 displays a warning indicating that the wheel 312 of the vehicle 31 may be damaged on the display 9 (step S311). And the parking assistance control part 6 displays on the display 9 so that it can select whether parking assistance is continued or cancelled
  • FIG. 11 is a diagram showing a screen that the parking support control unit 6 displays on the display 9.
  • the display 9 displays a warning indicating that the wheel may be damaged when parking assistance is executed.
  • “YES” and “NO” are displayed on the display 9 so as to be selectable together with a text asking whether or not to continue parking assistance.
  • the driver selects “YES” or “NO” by operating the display operation unit 11 (for example, a touch panel disposed on the display 9).
  • a sound indicating a warning, a sound effect, or the like may be output by the sound output unit 10.
  • Parking support control unit 6 determines whether or not to continue parking support is selected (step S313). When “YES” is selected on the screen of FIG. 11, it is determined that the parking assistance is selected, and the process proceeds to step S33. In step S33, the parking assistance control unit 6 performs parking assistance without changing the calculated travel locus.
  • step S32 the parking assistance control unit 6 cancels parking assistance.
  • the parking assistance control unit 6 when the damage possibility determination unit 61 determines that there is a possibility of damage, the parking assistance control unit 6 causes the wheel 312 of the vehicle 31 to be A warning indicating that there is a possibility of injury and whether to continue or cancel the parking support are displayed on the display 9 in a selectable manner.
  • the parking support control unit 6 is selected to continue the parking support, the vehicle Parking assistance is executed without changing the travel locus. Therefore, after notifying the driver that the wheel 312 of the vehicle 31 may be damaged, parking assistance can be executed according to the driver's intention.
  • FIG. 12 is a flowchart showing the operation of the parking assistance control unit 6 in the fourth embodiment.
  • the parking support control unit 6 performs parking support by changing to parking support for low-profile obstacles.
  • step S32A the parking assistance control unit 6 performs parking assistance by changing to parking assistance for low-profile obstacles.
  • Parking assistance for low-profile obstacles is parking assistance performed on a travel locus with a larger approach angle ⁇ .
  • FIG. 13 is a view of the traveling locus of the vehicle 31 in the parking assistance for the low-profile obstacle as viewed from above.
  • the approach angle ⁇ is small in the parking support in the base technology as described with reference to FIGS. 25 to 27. Therefore, the wheel 312 of the vehicle 31 is used. Is likely to contact the low-profile obstacle 40. Therefore, in the parking assistance for the low-profile obstacle, the parking assistance control unit 6 moves the vehicle 31 straight back from the position P1 to the position P6 in FIG. Next, the parking assistance control unit 6 moves forward so as to shake the head of the vehicle 31 from the position P6 to the position P7. And the parking assistance control part 6 reverses the vehicle 31 from the position P7 via the position P8 to the position P5, and completes the parking to the parking space 30.
  • FIG. 14 is a view of the vehicle located at position P8 in FIG. 13 as viewed from above.
  • the approach angle ⁇ is larger than the parking assistance in the base technology (FIG. 25). That is, it can be seen that the approach angle ⁇ approaches 90 degrees.
  • the parking assistance control unit 6 changes to parking assistance for low-profile obstacles and provides parking assistance.
  • the parking assistance for the low-profile obstacle is parking assistance on a traveling locus with a larger approach angle ⁇ . Therefore, when it is determined that there is a possibility of being damaged, the low-back obstacle 40 comes into contact with the wheel 312 in parking by parking assistance by performing parking assistance on a traveling locus with a larger approach angle ⁇ . It becomes possible to suppress sticking.
  • FIG. 15 is a flowchart showing the operation of the parking assist control unit 6 according to the fifth embodiment.
  • the parking support control unit 6 changes the parking support to a low-profile obstacle and parks the vehicle. Perform assistance.
  • the parking support control unit 6 performs the parking support for the back obstacle before the step of executing the parking support for the low-back obstacle (step S32A).
  • a notification to be changed is displayed on the display 9 (step S314).
  • FIG. 16 is a diagram showing a screen displayed on the display 9 by the parking support control unit 6.
  • a text notifying that the parking assistance has been changed to the parking assistance for the low-profile obstacle is displayed on the display 9.
  • this notification is not limited to text, and may be displayed as an illustration or animation.
  • a sound indicating a warning, a sound effect, or the like may be output by the sound output unit 10.
  • the parking assistance control unit 6 displays a notification to change to parking assistance for a low-profile obstacle. 9, parking assistance for low-profile obstacles is executed, and parking assistance for low-profile obstacles is parked on a traveling locus in which the approach angle ⁇ is larger than the approach angle ⁇ based on the predicted traveling locus. It is support.
  • FIG. 17 is a flowchart showing the operation of the parking assist control unit 6 according to the sixth embodiment.
  • the damage possibility determination unit 61 determines that there is a possibility of damage, the parking assistance is continued as it is, or the parking assistance for the low-profile obstacle is changed, or the parking assistance is canceled. The driver can select either.
  • step S31 in FIG. 17 If it is determined in step S31 in FIG. 17 that there is a possibility of damage, the parking support control unit 6 displays a warning on the display 9 indicating that the wheel 312 of the vehicle 31 may be damaged (step S311). And the parking assistance control part 6 displays on the display 9 so that it can select whether it continues parking assistance, changes to the parking assistance for low-profile obstacles, or cancels parking assistance (step S315). Note that step S311 and step S315 may be executed simultaneously.
  • FIG. 18 is a diagram showing a screen displayed on the display 9 by the parking support control unit 6.
  • the display 9 displays a warning indicating that the wheel may be damaged when parking assistance is executed.
  • “continuation” indicating that the parking support is continued can be selected on the display 9, “change” indicating that the parking support for the low-profile obstacle is changed, and “cancel” indicating that the parking support is canceled can be selected.
  • the driver selects any one of “continue”, “change”, and “cancel” by operating a touch panel arranged on the display 9. Simultaneously with the display on the display 9, a warning sound, a sound effect, or the like may be output.
  • Parking support control unit 6 determines whether or not to continue parking support has been selected (step S316). When “continuation” is selected on the screen of FIG. 18, it is determined that the parking assistance is to be continued, and the process proceeds to step S317. In step S317, the parking assistance control unit 6 performs parking assistance without changing the calculated travel locus.
  • the parking support control unit 6 determines whether or not to change to parking support for a low-profile obstacle has been selected (step S318). When “change” is selected on the screen of FIG. 18, it is determined that changing to parking assistance for a low-profile obstacle has been selected, and the process proceeds to step S319. In step S319, the parking assistance control unit 6 performs parking assistance by changing to parking assistance for low-profile obstacles. When changing to the parking assistance for the low-profile obstacle is not selected, that is, when “cancel” is selected on the screen of FIG. 18, the parking assistance controller 6 cancels the parking assistance (step S320).
  • the parking assistance control unit 6 determines that the wheel 312 of the vehicle 31 is in the parking assistance.
  • a warning indicating that there is a possibility of injury, and whether to continue parking support, to change to parking support for low-profile obstacles, or to cancel parking support is displayed on the display 9 and parking support control
  • the unit 6 executes the parking support based on the predicted travel locus, and the parking support control unit 6 is selected to change to the parking support for the low-profile obstacle.
  • the parking assistance is performed by changing to parking assistance for a low-profile obstacle
  • the parking assistance for the low-profile obstacle is a traveling locus where the approach angle ⁇ is larger than the approach angle ⁇ based on the predicted traveling locus No It is car support.
  • the parking assistance control unit 6 continues the parking assistance or changes the parking assistance for the low-profile obstacle.
  • the parking assistance control can be performed by a method desired by the driver.
  • the configuration of parking assist control device 700 in the seventh embodiment is the same as that of parking assist control device 100 (FIG. 1) in the first embodiment, the description thereof is omitted.
  • the operation of the possibility determination unit 61 is different from that of the first embodiment.
  • the damage possibility determination unit 61 determines that there is a possibility of damage when the distance between the low-profile obstacle 40 and the wheel 312 of the vehicle 31 is equal to or less than a predetermined distance. .
  • the low-profile obstacle detection unit 5 in the parking assistance control apparatus 700 according to the seventh embodiment is realized by the low-profile obstacle detection sensor HW1.
  • the low-back obstacle detection sensor HW1 is a camera for recognizing images of the wheel 312 and the low-back obstacle 40 of the vehicle 31, for example.
  • FIG. 19 is a flowchart showing the operation of the possibility of damage determination unit 61 in the seventh embodiment.
  • the parking space 30 has already been detected, and parking assistance is executed based on the predicted travel path from the stop position P ⁇ b> 1 of the vehicle 31 to the parking space 30. That is, it is assumed that the vehicle 31 is traveling based on the calculated predicted traveling locus.
  • the low-profile obstacle detection unit 5 always monitors the wheel 312 and the low-profile obstacle 40 of the vehicle 31 during execution of parking assistance.
  • the damage possibility determination unit 61 calculates the distance between the wheel 312 and the low-profile obstacle 40 (step S26). Then, the possibility determination unit 61 determines whether or not the distance between the wheel 312 and the low-profile obstacle 40 is equal to or less than a specified distance (step S27). If the distance between the wheel 312 and the low-profile obstacle 40 is equal to or less than the specified distance, the damage possibility determination unit 61 determines that there is a possibility of damage (step S28). On the other hand, if the distance between the wheel 312 and the low-profile obstacle 40 is not equal to or less than the specified distance, the damage possibility determination unit 61 determines that there is no possibility of damage (step S29).
  • the parking support control unit 6 cancels the parking support in the same manner as in the first embodiment (FIG. 7).
  • Canceling parking assistance in the seventh embodiment means stopping the vehicle 31 and switching to manual driving.
  • the parking assistance control unit 6 continues the parking assistance.
  • a warning indicating that the wheel 312 of the vehicle 31 may be damaged before the parking assistance is canceled is displayed. 9 may be displayed.
  • the driver determines whether to continue or cancel the parking assistance. It may be selectable.
  • the wheel 312 and the low-profile obstacle of the vehicle 31 are running. 40, the vehicle 31 may be stopped when the distance between the wheel 312 and the low-profile obstacle 40 is equal to or less than a specified distance. Thereby, it is possible to further suppress the low profile obstacle 40 from coming into contact with the wheel 312 and being damaged.
  • the possibility determination unit 61 determines in advance the distance between the low-back obstacle 40 detected by the low-back obstacle detection unit 5 and the wheel 312 of the vehicle 31. It is determined that there is a possibility of being damaged when the distance is less than the specified distance.
  • the vehicle 312 when the distance between the low-profile obstacle 40 and the wheel 312 is equal to or less than a predetermined distance, for example, by releasing the parking assistance and stopping the vehicle 31, the vehicle 312 is lowered in the parking assistance parking. It is possible to prevent the back obstacle 40 from coming into contact and being damaged.
  • the parking assist control device is not only a device that can be mounted on the vehicle 31 but also a parking system that is appropriately combined with a communication terminal device, a server device, and the like. It can be applied to support systems.
  • the mobile communication device is, for example, a mobile phone, a smartphone, a tablet terminal device, or the like.
  • each component of the parking support control device is included in each device that constructs the system. It may be arranged in a distributed manner, or may be arranged in one device.
  • the configuration when the parking support control unit 6 and the damage possibility determination unit 61 provided in the parking support control device 100 are arranged in the server device will be described in the following eighth embodiment. Further, the configuration in the case where the parking support control unit 6 and the damage possibility determination unit 61 provided in the parking support control device 100 are arranged in the mobile communication device will be described in the following ninth embodiment.
  • FIG. 20 is a block diagram of parking assist control apparatus 800 in the eighth embodiment.
  • the parking assistance control device 800 includes a low-profile obstacle detection unit 5 and a server device 50.
  • the server device 50 includes a parking assistance control unit 6 and a damage possibility determination unit 61. Since parking assistance control apparatus 800 in the eighth embodiment includes the same configuration as the parking assistance control apparatus (FIG. 1) in the first to seventh embodiments, the same reference is made to the same structure. Reference numerals are assigned and common descriptions are omitted.
  • the server device 50 communicates with the low-profile obstacle detection unit 5 and the vehicle ECU 1 mounted on the vehicle 31 via a communication network such as the Internet.
  • the structure which the parking assistance control part 6 is mounted in the vehicle 31, and the damage possibility determination part 61 is provided in the server apparatus 50 may be sufficient.
  • the parking support control device 800 in the configuration of the eighth embodiment in which some components of the parking support control device 800 are arranged in the server device 50, the parking support control device in the first to seventh embodiments described above and Similar effects can be obtained.
  • FIG. 21 is a block diagram of parking assist control apparatus 900 according to the ninth embodiment.
  • the parking assistance control device 900 includes a low-profile obstacle detection unit 5 and a mobile communication device 60.
  • the portable communication device 60 includes a parking assistance control unit 6 and a damage possibility determination unit 61. Since parking assistance control device 900 in the ninth embodiment includes the same configuration as the parking assistance control device (FIG. 1) in the first to seventh embodiments, the same reference is made to the same configuration. Reference numerals are assigned and common descriptions are omitted.
  • the mobile communication device 60 communicates with the low-profile obstacle detection unit 5 and the vehicle ECU 1 mounted on the vehicle 31 via a communication network such as the Internet.
  • the mobile communication device 60 communicates with the low-profile obstacle detection unit 5 and the vehicle ECU 1 mounted on the vehicle 31 by radio such as Bluetooth (registered trademark) or a wireless LAN that is a short-range wireless communication standard. May be performed.
  • the mobile communication device 60 may communicate with the vehicle 31 by a wire such as a USB (Universal Serial Bus) cable or a LAN cable.
  • the structure by which the parking assistance control part 6 is mounted in the vehicle 31, and the damage possibility determination part 61 is provided in the portable communication apparatus 60 may be sufficient.
  • the mobile communication device 60 may include the display 9, the audio output unit 10, and the display operation unit 11.
  • the parking support control device in the first to seventh embodiments described above can be obtained.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'objectif de la présente invention est de fournir un dispositif de commande d'aide au stationnement et un procédé de commande d'aide au stationnement qui empêchent une roue d'être endommagée par contact avec un obstacle bas qui n'interagit pas avec une carrosserie de véhicule mais interagit avec la roue. Ce dispositif de commande d'aide au stationnement (100) aide au stationnement d'un véhicule (31) et comprend : une unité de détection d'obstacle bas (5) permettant de détecter un obstacle bas (40), qui n'interagit pas avec la carrosserie du véhicule (31) mais interagit avec une roue (312) ; une unité de détermination de possibilité de détérioration (61) qui détermine la possibilité de détérioration de la roue (312) du véhicule (31) par contact avec l'obstacle bas (40), sur la base du résultat de détection de l'unité de détection d'obstacle bas (5) ; et une unité de commande d'aide au stationnement (6) qui réalise la commande d'aide au stationnement du véhicule (31) en fonction du résultat de détermination de l'unité de détermination de possibilité de détérioration (61).
PCT/JP2017/015886 2017-04-20 2017-04-20 Dispositif de commande d'aide au stationnement et procédé de commande d'aide au stationnement Ceased WO2018193577A1 (fr)

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DE112017007462.2T DE112017007462T5 (de) 2017-04-20 2017-04-20 Parkassistenzsteuervorrichtung und Parkassistenzsteuerverfahren
JP2019513159A JP6771658B2 (ja) 2017-04-20 2017-04-20 駐車支援制御装置および駐車支援制御方法
PCT/JP2017/015886 WO2018193577A1 (fr) 2017-04-20 2017-04-20 Dispositif de commande d'aide au stationnement et procédé de commande d'aide au stationnement

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JP2021094931A (ja) * 2019-12-13 2021-06-24 本田技研工業株式会社 駐車支援システム
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CN112977418B (zh) * 2019-12-13 2024-03-29 本田技研工业株式会社 驻车辅助系统
JP7015821B2 (ja) 2019-12-13 2022-02-03 本田技研工業株式会社 駐車支援システム
CN111319615A (zh) * 2020-03-16 2020-06-23 湖北亿咖通科技有限公司 智能代客泊车方法、计算机可读存储介质及电子设备
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JPWO2021205191A1 (fr) * 2020-04-06 2021-10-14
US12091047B2 (en) 2020-04-06 2024-09-17 Nissan Motor Co., Ltd. Driving assistance method and driving assistance device

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