CN110027545B - Driving support device and driving support method - Google Patents
Driving support device and driving support method Download PDFInfo
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- CN110027545B CN110027545B CN201810026528.4A CN201810026528A CN110027545B CN 110027545 B CN110027545 B CN 110027545B CN 201810026528 A CN201810026528 A CN 201810026528A CN 110027545 B CN110027545 B CN 110027545B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000000605 extraction Methods 0.000 claims abstract description 25
- 239000000284 extract Substances 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 26
- 238000013500 data storage Methods 0.000 claims description 14
- 238000010586 diagram Methods 0.000 description 8
- 238000003672 processing method Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 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
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- 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
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- 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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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Abstract
The invention discloses a driving assistance device and a driving assistance method. The device has: a destination setting unit; a route planning unit; an automatic driving control unit; a parking judgment unit; an open/close information acquisition unit that acquires open/close information of a plurality of entrances and exits in a facility; an entrance extraction unit that extracts an entrance that can pass through at a predetermined timing from among the plurality of entrances based on opening/closing information of the plurality of entrances after a vehicle stops; a destination setting unit that sets, as a destination, another entrance that is different from a predetermined entrance and that can pass at a predetermined time, when the entrance extraction unit does not extract the predetermined entrance; the automatic driving control unit controls the vehicle to be automatically driven to reach the destination at the predetermined timing. The invention can utilize the opening and closing information of each entrance of the access facility, and when the user comes out of the facility, the vehicle can automatically wait for the user at the entrance of the user by automatic driving according to the acquired opening and closing information.
Description
Technical Field
The present invention relates to a driving support device and a driving support method, and more particularly, to a driving support device and a driving support method capable of preventing inconvenience that an original entrance cannot pass when a vehicle returns to a parking lot from a facility along an original route, and that the vehicle is far from the original parking space after another entrance is changed.
Background
With the development of technology, there is a vehicle having an automatic driving function (hereinafter, simply referred to as an automatic driving vehicle) that is provided with an automatic driving control device so that a user can arrive at a desired location at a desired timing. Specifically, the automatic driving apparatus locks location information to be reached by the next user based on the user's schedule information, sets the location information as a destination, and finally, the automatic driving vehicle reaches the destination by automatic driving (see patent document 1).
Generally, a user enters a parking space of a parking lot of a facility after entering and exiting the parking lot of the facility, and then enters the facility through an entrance nearest to the parking space. However, since each entrance of a large-scale building facility (e.g., a large mall or the like) is provided with an open/close time, even though a user enters the facility from the entrance closest to a parking position, there is a possibility that the entrance at the time of returning is changed from an open state to a closed state due to time, and thus the user has to search for another open entrance at that time, and a parking space to be returned to a parking lot from such an entrance may be far away.
However, in the prior art, if a user records facility entrance/exit information that can be passed when the user departs from a facility in a schedule, a vehicle arrives at the entrance/exit by automatic driving and waits. Although the problem that the user gets the car around the distance can be avoided by using the technology, the user needs to investigate the opening and closing conditions of each entrance and exit in the facility in advance and then manually set the next destination to which the user wants to go, so that the problem of time waste exists; meanwhile, if the user does not set the next destination to which the user will go in advance, but the user has to go around to pick up the car when the entrance and exit have to be changed due to an emergency in the facility.
Patent document 1: japanese laid-open patent publication No. 2012-48563
Disclosure of Invention
The present invention has been made to solve the above problems of the prior art, and an object of the present invention is to provide: a driving assistance device and a driving assistance method which enable a vehicle to automatically wait for a user at an entrance/exit where the user comes out by automatic driving based on acquired opening/closing information when the user comes out of a facility, by using the opening/closing information of each entrance/exit of an access facility.
The present invention provides a driving assistance device, including: a position acquisition unit that acquires a current position of the vehicle; a map data storage unit for storing map data; a destination setting unit; and a route planning unit for planning a route from the vehicle position to the destination by using the map data; an automatic driving control unit for automatically driving the vehicle along the route; a parking determination unit that determines whether or not a vehicle is parked in a facility having a plurality of entrances and exits; an open/close information acquisition unit that acquires open/close information of a plurality of entrances and exits in the facility; an entrance extraction unit that extracts an entrance that can pass through at a predetermined timing from the plurality of entrances based on opening/closing information of the plurality of entrances after the vehicle is stopped; a destination setting unit that sets, as a destination, another doorway that is different from the predetermined doorway and that is accessible at the predetermined time when the doorway extracting unit does not extract the predetermined doorway; the automatic driving control unit controls the vehicle to automatically drive to the destination at the predetermined timing.
In the driving support device, when the doorway extracting unit extracts a predetermined doorway, the destination setting unit sets the extracted predetermined doorway as a destination, and the automated driving control unit controls the automated driving of the vehicle so that the vehicle can reach the set destination at the predetermined timing.
In the driving assistance device, the predetermined doorway is a doorway through which a driver of the vehicle passes after the vehicle stops.
In the driving assistance device, the predetermined doorway is a doorway closest to a parking position at which the vehicle is parked.
Further, the driving assistance device further includes: a schedule information acquisition unit that acquires schedule information including at least stay time information for staying in the facility; the predetermined time is a time of exit from the facility.
Further, the driving assistance device further includes: and a communication unit that communicates with a portable terminal device of a driver of the vehicle and transmits a position of an entrance/exit of the destination set by the destination setting unit to the portable terminal device.
The present invention also provides a driving assistance device including: a position acquisition unit that acquires a current position of the vehicle; a map data storage unit for storing map data; a destination setting unit for setting a facility having a plurality of entrances and exits as a destination; a route planning unit for planning a route from the vehicle position to the destination using the map data; and a navigation unit for navigating the route; an opening/closing information acquisition unit that acquires opening/closing information of the plurality of entrances and exits; an entrance extraction unit that extracts an entrance that can pass through at a predetermined time from the plurality of entrances, based on the acquired opening/closing information of the plurality of entrances; the destination setting unit sets the doorway extracted by the doorway extracting unit as the destination of the vehicle.
Further, the driving assistance device further includes: a communication unit for communicating with a portable terminal device of a user of a facility; a schedule information acquiring unit for acquiring schedule information of a user of the facility via the portable terminal device; the predetermined time is a time when the driver exits from the facility.
The invention provides a vehicle driving assistance method, comprising: a position acquisition step of acquiring a current position of the vehicle; a map data storage step of storing map data; a destination setting step; and a route planning step of planning a route from the vehicle position to the destination by using the map data; an automatic driving control step of automatically driving the vehicle along the route; a parking determination step of determining whether or not a vehicle is parked in a facility having a plurality of entrances and exits; an open/close information acquisition step of acquiring open/close information of a plurality of entrances and exits in the facility; a doorway extracting step of extracting a doorway that can pass through at a predetermined timing from the plurality of doorways, based on opening/closing information of the plurality of doorways, after the vehicle stops; a destination setting step of setting, as a destination, another doorway that is different from the predetermined doorway and that is passable at the predetermined time, when the predetermined doorway is not extracted in the doorway extracting step; the automatic driving control step controls the vehicle to be automatically driven to reach the destination at the predetermined timing.
In the driving assistance method, when the predetermined doorway is extracted in the doorway extracting step, the destination setting step sets the extracted predetermined doorway as the destination, and the automatic driving control step controls the vehicle to automatically drive so that the vehicle can reach the set destination at the predetermined timing.
The driving assistance method further includes: a communication step of communicating with a portable terminal device of a driver of the vehicle, and transmitting a position of an entrance/exit of the destination set by the destination setting unit to the portable terminal device.
The present invention also provides a vehicle driving assistance method having: a vehicle position acquisition step of acquiring a current position of a vehicle; a map data storage step for storing map data; a destination setting step of setting a facility having a plurality of entrances and exits as a destination; a route planning step for planning a route from the vehicle position to the destination using the map data; and a navigation step of navigating the route; an open/close information acquisition step of acquiring open/close information of the plurality of entrances and exits; an entrance extraction step of extracting an entrance that can pass through at a predetermined timing from among the plurality of entrances based on the acquired opening/closing information of the plurality of entrances; the destination setting step sets the doorway extracted by the doorway extracting unit as the destination of the vehicle.
The invention has the following effects:
according to the driving assistance device and the driving assistance method provided by the invention, the problem that when the vehicle comes out of a facility and returns to a parking lot according to an original route, the original entrance cannot pass through and the inconvenience that the vehicle is far away from the original parking space after other entrances and exits are changed can be avoided.
Drawings
Fig. 1 is a block diagram showing a driving assistance device according to a first embodiment of the present invention.
Fig. 2 is a flowchart of a driving control processing method of the driving assistance device according to the first embodiment of the present invention.
Fig. 3 is a block diagram showing a configuration of a driving assistance device according to a second embodiment of the present invention.
Fig. 4 is a flowchart of a driving control processing method of the driving assistance device according to the second embodiment of the present invention.
Fig. 5 is an exemplary diagram of opening/closing information of each doorway of a facility according to the embodiment of the present invention.
Fig. 6 is an exemplary diagram of a reservation table in the embodiment of the present invention.
Fig. 7 is an exemplary view of a plurality of entrances and exits of a facility in an embodiment of the present invention.
Fig. 8 is a block diagram showing the configuration of a driving assistance device according to a third embodiment of the present invention.
Fig. 9 is a flowchart of a driving control processing method of the driving assistance device according to the third embodiment of the present invention.
Description of reference numerals:
100A, 100B, 100C: a driving assistance device; 101: a position acquisition unit; 102: a map data storage unit; 103: a parking determination unit; 104: an opening/closing information acquisition unit; 105: an entrance extraction part; 106: a destination setting unit; 107: a route planning unit; 108: an automatic driving control unit; 109: a schedule information acquisition unit; 110: a communication unit; 111: a navigation unit; 1 to 9: a parking space; A. b, C, D, E: and (4) an inlet and an outlet.
Detailed Description
Hereinafter, a driving assistance device and a driving assistance method according to an embodiment of the present invention will be described with reference to the drawings. In the embodiments, the components of the apparatus may be changed, deleted or added according to the actual situation, and the steps of the method may be changed, deleted, added or changed in order according to the actual situation.
Implementation mode one
Fig. 1 is a block diagram showing a driving assistance device according to a first embodiment of the present invention. The driving assistance device according to the present embodiment can be implemented as one function of a navigation device mounted in a vehicle, for example. The driving assistance device according to the present embodiment is also applicable to an autonomous vehicle.
As shown in fig. 1, the driving assistance device 100A is constituted by a position acquisition section 101; a map data storage unit 102; a parking determination unit 103; an opening/closing information acquisition unit 104; an entrance extraction unit 105; a destination setting unit 106; a route planning unit 107; and an automatic driving control unit 108.
Each of the functional blocks 101 to 108 may be formed of one or more of hardware, a DSP (Digital Signal Processor), and software. For example, when the function modules are constituted by software, the functions of the functional modules 101 to 108 are actually realized by program operations stored in a computer program such as a CPU, a RAM, and a ROM, and a storage medium such as a RAM, a ROM, hardware, and a semiconductor memory.
The position acquisition unit 101 acquires the current position (longitude and latitude) of the vehicle. For example, the position acquisition unit 101 is configured by at least one of a GPS receiver for receiving GPS (Global Positioning System) satellite GPS signals, a vehicle speed sensor for detecting a vehicle speed, and an angular velocity sensor capable of calculating a yaw angle of the vehicle.
The map data storage unit 102 stores map data necessary for ensuring that the navigation function is realized for the driving assistance apparatus. The map data is composed of: road data Of road network information, background data Of a drawing map, route calculation cost information at the time Of performing route search, and the like constitute route calculation data and facility data having POI (Point Of Interest) information. Therefore, the facility data includes data such as the position of the parking lot in the facility, the position of the entrance of the facility, and the opening/closing time of the entrance. Further, map data necessary for automatic driving is stored together with or separately from the above-described map data.
The parking determination unit 103 determines whether or not the vehicle has been parked based on the current position of the vehicle acquired by the position acquisition unit 101. Here, the parking refers to: the current position of the vehicle does not change during a continuous time interval (e.g., 5 minutes is a time interval). One method for judging whether the vehicle is parked is as follows: the parking determination unit 103 determines that the vehicle has been parked when it detects that the current position of the vehicle does not change for a certain time or more in a place (parking lot or the like in a facility) other than the road in the map data. The parking determination unit 103 may determine whether or not the vehicle is parked based on whether or not the engine of the vehicle is off, and may determine that the vehicle is parked when the engine of the vehicle is off. Then, the parking determination unit 103 determines whether or not the vehicle has already been parked in the parking lot of the facility based on the map data, and then determines whether or not there are a plurality of (2 or more) entrances and exits in the facility with reference to the facility data in the map data.
The opening/closing information acquiring unit 104 acquires opening/closing information of each entrance of a facility where the vehicle is parked. Specifically, there are many methods for acquiring opening/closing information of each entrance of a facility, and for example, the opening/closing time of each entrance of the facility may be acquired by acquiring opening/closing time of the entrance of the facility from map data and then communicating with a communication device in the facility through a communication unit, not shown, in the driving assistance device; the opening/closing time information of each doorway may be acquired by photographing the opening/closing time of each doorway in a facility with a vehicle-mounted camera, not shown. Here, the open/close time means that the facility can be freely accessed through the doorway. Then, the acquired opening/closing time information of each entrance is sent to the entrance extraction unit 105.
The doorway extracting unit 105 extracts the doorway (at least 1 doorway) that can pass at a predetermined timing from the opening/closing time information of each doorway acquired by the opening/closing information acquiring unit 104, and transmits the extracted information to the destination setting unit 106. Thus, the predetermined time is, for example, a departure time at which the driver leaves the facility, and the time may be directly uploaded to the driving assistance device 100A after the driver parks the vehicle, or may be set to a fixed time in advance, for example, 2 hours after parking.
The destination setting unit 106 determines whether or not the entrance extraction unit 105 has received a predetermined entrance from among the plurality of entrances, and, for example, when the predetermined entrance is: when the driver enters the entrance through which the facility passes (a specific example will be described later), the destination setting unit 106 determines whether or not a predetermined entrance is included in the plurality of entrances received by the entrance extraction unit 105; for example, when the predetermined entrances and exits are: when the entrance having the shortest distance to the parking position is determined from the parking position of the vehicle and the position of the entrance in the facility included in the map data, the destination setting unit 106 determines whether or not the entrance having the shortest distance to the parking position is included in the plurality of entrances and exits received by the entrance/exit extraction unit 105. When the judgment result is that: when the vehicle includes a gateway specified when the driver enters the facility, the gateway is set as a destination, and the vehicle waits for the user without moving at the current parking position, and the process is terminated. When the judgment result is that: when the predetermined entrance is not included, the destination setting unit 106 selects one of the received entrances, that is, automatically sets, as the destination, an entrance other than the predetermined entrance, which the driver can pass through at the departure time when the driver departs from the facility.
The route planning unit 107 plans a route from the current position of the vehicle to the destination set by the destination setting unit 106 using the map data. In addition, by properly considering the traffic information, the route is planned on the premise that the vehicle can reach the destination when the driver leaves the facility.
The automatic driving control unit 108 includes: the vehicle control device includes an external recognition unit, a route correction unit, and a vehicle control unit. The external recognition unit (not shown) recognizes an obstacle, a pedestrian, and a road surface by the vehicle-mounted camera and the vehicle-mounted sensor. The obstacle, pedestrian, and road surface recognized by the outside recognition unit are combined with the route planned by the route planning unit 107 and a route correction unit (not shown) that corrects the route for automatic driving, and control (for example, control of a steering wheel, accelerator control, brake control, and the like) is performed for driving the vehicle. The vehicle control parameters controlled by the vehicle control unit of the automated driving control unit 108 are transmitted by an automated driving unit, not shown, and the automated driving unit 108 automatically operates a steering wheel, an accelerator, a brake, and the like based on the vehicle control parameters, thereby enabling automated driving to reach a destination.
Fig. 2 is a flowchart of the driving assistance device according to embodiment 1 of the present invention.
First, the position acquisition unit 101 acquires the current vehicle position of the vehicle continuously at predetermined time intervals (step S101);
next, the parking determination unit 103 determines whether or not the vehicle is parked in the parking lot of the facility based on the change in the current position of the vehicle acquired by the position acquisition unit 101 and the map data (step S102). When the judgment result is that: in the case where the vehicle is not parked in the parking lot of the facility (no in step S102), the vehicle repeats step S102 until the vehicle is parked in the parking lot of the facility as a result of the determination.
Then, when the judgment result is: when the vehicle is parked in the parking lot of the facility (yes in step S102), the parking determination unit 103 determines whether or not the facility where the vehicle is parked has a plurality of (2 and 2 or more) entrances through which the vehicle can pass (step S103). When the judgment result is that: if there are no plurality of entrances and exits through which the vehicle can pass (no in step S103), the driving assistance control processing method ends.
When the judgment result is that: the facility where the vehicle parks has a plurality of accessible entrances and exits (step S103: yes), and the opening/closing information acquisition unit 104 acquires opening/closing time information of each entrance and exit in the facility where the vehicle parks from the map data storage 102 and a channel such as communication with the facility (step S104).
Then, the doorway extracting unit 105 extracts the doorway that can pass through at the departure time when the driver departs from the facility, based on the opening/closing time information of each doorway acquired in step S104 (step S105).
Then, the destination setting unit 106 determines whether or not a predetermined entrance is present among the passable entrances extracted in the step S105 (step S106), that is, whether or not an entrance having the shortest distance to the parking position is present among the passable entrances extracted in the step S105 (step S106). When the judgment result is that: if there is an entrance with the shortest distance to the parking position among the passable entrances extracted in step S105 (yes in step S106), the destination setting unit 106 sets a predetermined entrance as the destination (step S110). Here, the destination setting unit 106 optimally sets the entrance having the shortest distance to the parking position as the destination.
When the judgment result is that: if there is no entrance with the shortest distance to the parking position among the passable entrances extracted in step S105 (no in step S106), the destination setting unit 106 sets the passable entrance extracted in step S105 at the time when the driver departs from the facility as the destination (step S107).
Finally, the route planning unit 107 plans a route from the current position (parking position) of the vehicle to the destination set in the above step S107 or S110 (step S108). The automated driving control unit 108 performs automated driving control to the destination at the time when the driver moves away from the facility along the route planned in step S108 (step S109).
Second embodiment
Next, a second embodiment of the present invention will be described in detail. Fig. 3 is a block diagram showing a configuration of a driving assistance device according to a second embodiment of the present invention. The driving assistance device 100B may be mounted on a vehicle as one function of a navigation device, for example. The driving assistance device according to the present embodiment is applied to a vehicle that can be automatically driven.
Here, the components different from embodiment 1 will be described in detail, and the components different from the first embodiment will not be described.
The communication section 110 is capable of data communication with a terminal device carried by the driver, and is wirelessly connected (for example, wrielessLAN). The communication data here includes at least information such as a movement trajectory of the portable terminal device after the driver gets on or off the vehicle after the vehicle is stopped, and schedule information of the driver.
The schedule information acquisition section 109 acquires schedule information of the user from the portable terminal device through the communication section 110. Here, the schedule information includes information such as a schedule name, facility information, and time information (start time and end time). The schedule information acquisition unit 109 may acquire the schedule information from the schedule information stored in the storage unit, not shown, in which the driver has logged in advance.
The doorway extracting unit 105 extracts doorways (1 or more) that can pass through at a predetermined timing based on the opening/closing time information of each doorway acquired by the opening/closing information acquiring unit 104, and transmits the extracted doorways to the destination setting unit 106. Here, the prescribed time refers to: the schedule information acquiring unit 109 acquires schedule information specifying a departure time at which the driver departs from the facility.
The destination setting unit 106 determines whether or not a predetermined entrance is included in the one or more entrances received from the entrance/exit extraction unit 105. The predetermined doorway may be a doorway that is the shortest distance from the parking position, which is determined based on the parking position of the vehicle and the position of the doorway in the facility included in the map data in the first embodiment; the vehicle may be a doorway through which the driver passes when entering the facility, which is determined by the communication between the terminal device held by the driver and the communication unit 110, by combining the driver's movement trajectory recorded in the terminal device held by the driver with the map data. In the present embodiment, a description is given taking a predetermined doorway as an example of a doorway through which a driver passes when entering a facility, and when one or more doorways received by the doorway extracting unit 105 include a doorway through which a user passes when entering the facility, the destination setting unit 106 automatically sets the doorway through which the user passes when entering the facility as a destination; on the other hand, when the one or more gateways received by the gateway extraction unit 105 do not include a gateway through which the user has entered the facility, the destination setting unit 106 automatically sets one of the extracted gateways as the destination, and when there are a plurality of extracted gateways, the destination setting unit 106 preferably sets the gateway closest to the gateway through which the driver has entered the facility as the destination, or may set an uncongested gateway as the destination according to the congestion around each gateway.
Fig. 4 is a flowchart of the driving assistance device according to embodiment 2 of the present invention.
Steps S201 to S204 shown in fig. 4 are the same as steps S101 to S104 shown in fig. 2, and the description is omitted here, and the description is started from step S205.
First, the schedule information acquisition unit 109 acquires the time information from the schedule information of the driver received from the portable terminal by the communication unit 110 or the schedule information of the driver stored in the driving assistance device 100B that the user has logged in (step S205). Here, the schedule information includes information such as a schedule name, facility information, and time information (start time and end time).
Next, the entrance/exit extraction unit 105 calculates the departure time at which the driver departs from the facility, based on the time information (start time and end time) acquired by the schedule information acquisition unit 109 (step S206).
Then, the doorway extracting unit 105 extracts the doorway that can pass through at the departure time when the driver departs from the facility, based on the opening/closing information of each doorway acquired by the opening/closing information acquiring unit 104 (step S207).
Then, the entrance/exit extraction unit 105 locks the entrance through which the driver actually enters, based on the movement trajectory and the position of the entrance/exit of the facility included in the map data, after the communication unit 110 receives the movement trajectory recorded by the mobile terminal (step S208).
Next, the doorway extracting unit 105 determines whether or not the doorway extracted in step S207 includes the doorway locked in step S208, that is, whether or not the doorway extracted in step S207 includes the doorway through which the driver actually enters the facility (step S209). When the judgment result is that: if there is no doorway through which the driver actually enters the doorway extracted in step S207 (no in step S209), the destination setting unit 106 selects one doorway from the received doorways and automatically sets the selected doorway as the destination (step S210). The destination setting unit 106 may set an entrance closest to an entrance through which the driver enters the facility as the destination, or may set an entrance without congestion as the destination according to congestion around each entrance. When the judgment result is that: if the doorway extracted in step S207 includes a doorway through which the driver actually enters the facility (yes in step S209), the destination setting unit 106 automatically sets the doorway through which the driver actually enters the facility as the destination (step S211).
Finally, the route planning unit 107 plans the route from the current position (parking position) of the vehicle to the destination set in step S210 or step S211 (step S212), and the automated driving control unit 108 performs automated driving control to the destination that can be reached by the driver at the time of departure from the facility, according to the route planned in step S212 (step S213).
When it is determined in step S209 that there is no doorway through which the driver actually enters the facility, the destination setting unit 106 may wait in place without setting the destination.
When the destination setting unit 106 sets one entrance of the facility as the destination in step S210 or step S211, the communication unit 110 transmits the current position of the vehicle acquired by the position acquisition unit 101 to the mobile terminal. Thus, the user can clearly grasp whether or not the vehicle has reached the predetermined destination.
Next, a second embodiment of the present invention will be described in detail with reference to practical examples. Here, as shown in fig. 7, taking a facility having an entrance a to an entrance E as an example, the opening/closing schedule of each entrance is shown in fig. 5, and the user schedule is shown in fig. 6.
First, after the user arrives at the destination, the vehicle is parked in parking space 1 shown in fig. 7, and then enters the facility from doorway E.
First, in steps S201 and S202, it is determined whether or not the vehicle is stopped. In step S203, it is determined whether or not there are a plurality of entrances (entrance a to entrance E) in the facility to which the parking position belongs. In step S204, after the vehicle is parked, the opening/closing information acquisition unit 104 acquires the opening/closing information of each entrance/exit in the facility as shown in fig. 5 from the map data storage unit 102 or the communication with the facility communication device.
In step S205, the schedule information acquisition section 109 acquires the schedule information of the driver as shown in fig. 6 through communication between the communication section 110 and the portable terminal device.
Then, in step S206, for example, when the current time is "20 weekdays", the entrance extraction unit 105 can calculate that the time when the driver leaves the facility is 22 points by knowing that a movie of "speed and passion 8" exists between 20 points and 22 points on the basis of the schedule of the driver.
Then, in step S207, the doorway extracting unit 105 extracts the doorway C that can pass through at point 22. Next, in step S208, the entrance extraction unit 105 locks the entrance through which the user enters the facility as the entrance E based on the communication between the communication unit 110 and the mobile terminal device.
Then, in step S209, the entrance/exit extraction unit 105 determines that the entrance C extracted in step S207 is not the same entrance as the entrance E extracted in step S208, and then the destination setting unit 106 automatically sets the entrance C as the destination in step S210.
Finally, in step S212, the route planning unit 107 plans a route from the current position of the vehicle, i.e., the parking space 1 in fig. 7, to the entrance C. In step S213, the automated driving control unit 108 controls the automated driving of the vehicle so that the vehicle can reach the doorway C at the time when the driver exits from the facility, that is, at point 22, along the route planned in step S212.
As another embodiment, for example, when it is calculated that the time when the driver leaves the facility is "21 o 'clock on weekday", the doorway extracting unit 105 extracts the doorway B and the doorway C that can pass through "21 o' clock on weekday", and at this time, the destination setting unit 106 automatically sets the doorway B that is the shortest distance from the parking position as the destination.
Third embodiment
Next, a third embodiment of the present invention will be described in detail. Fig. 8 is a block diagram showing the configuration of a driving assistance device according to a third embodiment of the present invention. The driving assistance device 100C may be mounted on a vehicle as one function of a navigation device, for example. The driving assistance device according to the present embodiment is applicable not only to a vehicle that can be automatically driven but also to a general vehicle that does not have an automatic driving function. Here, the components different from those of the second embodiment will be described in detail, and the components different from those of the second embodiment will not be described.
After setting the destination based on an input operation by the driver, a point search operation, or the like, the destination setting unit 106 further sets the doorway extracted by the doorway extracting unit 105 from the facility of the destination as the final destination.
The route planning unit 107 plans a route from the current position of the vehicle to the doorway extracted by the doorway extracting unit 105.
The navigation unit 111 navigates according to the route planned by the route planning unit 107.
Next, a flowchart of a driving assistance device according to a third embodiment of the present invention will be described with reference to fig. 9.
First, when the driver sets a facility as a destination and travels along a planned route, the position acquisition unit 101 acquires the current position of the vehicle in real time (step S301).
An opening/closing information acquisition unit 104 for acquiring entrance/exit information of a destination facility set by a driver and determining whether or not the facility has a plurality of entrances/exits based on the information (step S302); when the facility does not have a plurality of entrances and exits (no in step S302), the process ends.
When the facility has a plurality of entrances and exits (yes in step S302), the opening/closing information acquisition unit 104 acquires opening/closing time information of each entrance and exit through the map data storage unit 102 or communication with the facility (step S303).
The schedule information acquiring unit 109 acquires the schedule information of the driver from the schedule information of the driver received from the portable terminal by the communication unit 110 and from the schedule information of the driver stored in the driving assistance device 100C in which the driver has logged in advance (step S304). Here, the schedule information includes: schedule name, facility information, time information (start time and end time), and the like.
Next, the entrance/exit extraction unit 105 calculates the time for the driver to leave the facility based on the time information in the schedule information acquired by the schedule information acquisition unit 109 (step S305).
Then, the doorway extracting unit 105 extracts a doorway through which the driver can pass when the driver departs from the facility, based on the opening/closing information of each doorway acquired from the opening/closing information acquiring unit 104 (step S306).
Then, the destination setting unit 106 automatically sets 1 of the entrances and exits extracted by the entrance/exit extraction unit 105 as the destination (step S307). Here, if there are a plurality of entrances extracted by the entrance extraction unit 105, one entrance may be selected as the destination by the driver's operation, or an entrance closest to the current position may be selected as the destination by default.
Finally, the route planning unit 107 plans a route from the current position of the vehicle to the destination (entrance/exit of the facility) set in step S307 (step S308). The navigation unit 111 performs navigation based on the route planned in step S308 (step S309).
Next, a third practical example of the embodiment of the driving assistance device according to the present invention will be described in detail. Here, as shown in fig. 7, taking a facility having an entrance a to an entrance E as an example, the opening/closing schedule of each entrance is shown in fig. 5, and the user schedule is shown in fig. 6.
First, in step S302, it is determined in step S301 that the vehicle is traveling to the destination already set and that a plurality of entrances and exits (entrances and exits a to E) are present in the facility of the destination.
Then, in step S303, the opening/closing information acquisition unit 104 acquires opening/closing information of a plurality of entrances and exits of the facility as shown in fig. 5.
Then, in step S304, the schedule information acquisition section 109 acquires schedule information as shown in fig. 6 by communicating with the portable terminal.
Then, in step S305, for example, when the current time is "20 o 'clock at ordinary times", it is known that the time when the driver departs from the facility is 22 o' clock by referring to the time table of the driver, and it is known that there is a movie of "speed and passion 8" from 20 o 'clock to 22 o' clock.
Next, in step S306, the doorway extracting unit 105 extracts the doorway C that can pass through at point 22, and in step S307, the doorway C is automatically set as the destination.
Finally, a route from the current position of the vehicle to the doorway C is planned in step S308, and navigation is performed according to the planned route in step S309.
When the current time is "20 weekends", it is known that the time when the driver leaves the facility is 22 points by referring to the schedule of the driver and recognizing that there is a movie of "speed and passion 8" from 20 points to 22 points. The doorway that can be accessed at point 22 includes three doorways, i.e., doorway C, doorway D, and doorway E. In this case, the driver can select one entrance as the destination to set according to the congestion situation around each entrance and the number of empty spaces.
The embodiments and specific examples of the present invention have been described above with reference to the accompanying drawings. The above-described embodiments and specific examples are merely specific examples of the present invention and are not intended to limit the scope of the present invention. Those skilled in the art can modify the embodiments and specific examples based on the technical idea of the present invention, and various modifications, combinations, and appropriate omissions of the elements can be made, and the embodiments obtained thereby are also included in the scope of the present invention. For example, the above embodiments and specific examples may be combined with each other, and the combined embodiments are also included in the scope of the present invention.
However, the steps included in the priority application determining method according to each of the above embodiments of the present invention may be implemented as steps included in a priority application determining program or as a recording medium on which the priority application determining program is recorded, and the same technical effects can be obtained.
Claims (9)
1. A driving assistance device includes:
a position acquisition unit that acquires a current position of the vehicle; a map data storage unit for storing map data; a destination setting unit; and a route planning unit for planning a route from the current position of the vehicle to the destination set by the destination setting unit using the map data; an automatic driving control unit for automatically driving the vehicle along the route; it is characterized by comprising:
a parking determination unit that determines whether or not a vehicle is parked in a facility having a plurality of entrances and exits;
an open/close information acquisition unit that, when a plurality of passable entrances and exits exist in a facility where a vehicle is parked, acquires open/close information of the plurality of entrances and exits in the facility;
an entrance extraction unit for extracting, based on opening/closing information of the plurality of entrances after the vehicle is stopped,
extracting a doorway which can pass through at a predetermined timing from the plurality of doorways;
the destination setting unit determines whether or not a predetermined entrance is included in the extracted entrance, and sets, as a destination, another entrance that can pass through at a predetermined time and is different from the predetermined entrance when the predetermined entrance is not included in the extracted entrance;
the automatic driving control unit controls automatic driving of the vehicle so that the vehicle can reach the destination at the predetermined timing.
2. The driving assistance apparatus according to claim 1,
the predetermined doorway is a doorway through which a driver of the vehicle passes after the vehicle stops.
3. The driving assistance apparatus according to claim 1,
the predetermined entrance is an entrance closest to a parking position where the vehicle is parked.
4. The driving assistance apparatus according to any one of claims 1 to 3, characterized by further comprising:
a schedule information acquisition unit that acquires schedule information including at least stay time information for a user of a facility to stay in the facility;
the predetermined time is a time when the driver exits from the facility.
5. A driving assistance device includes:
a position acquisition unit that acquires a current position of the vehicle; a map data storage unit for storing map data; a destination setting unit for setting a facility having a plurality of entrances and exits as a destination; a route planning unit for planning a route from the current position of the vehicle to the destination by using the map data; and a navigation unit for navigating the route; it is characterized by comprising:
an opening/closing information acquisition unit that acquires opening/closing information of the plurality of entrances and exits;
an entrance extraction unit that extracts an entrance that can pass through at a predetermined time from the plurality of entrances, based on the acquired opening/closing information of the plurality of entrances;
the destination setting unit sets the doorway extracted by the doorway extracting unit as the destination of the vehicle.
6. The driving assistance apparatus according to claim 5, further comprising:
a communication unit for communicating with a portable terminal device of a user of a facility;
a schedule information acquiring unit for acquiring schedule information of a user of the facility via the portable terminal device;
the predetermined time is a time when the driver exits from the facility.
7. A driving assistance method having:
a position acquisition step of acquiring a current position of the vehicle; a map data storage step of storing map data; a destination setting step; and a route planning step of planning a route from the current position of the vehicle to the destination set in the destination setting step by using the map data; an automatic driving control step of automatically driving the vehicle along the route;
a parking determination step of determining whether or not a vehicle is parked in a facility having a plurality of entrances and exits;
an open/close information acquisition step of acquiring open/close information of a plurality of entrances and exits in a facility where a vehicle is parked, when the facility has the plurality of entrances and exits that can pass through;
an entrance extraction step of extracting, based on opening/closing information of the plurality of entrances after the vehicle stops,
extracting a doorway which can pass through at a predetermined timing from the plurality of doorways;
a destination setting step of determining whether or not a predetermined doorway is included in the extracted doorway, and setting, as a destination, another doorway that is different from the predetermined doorway and that can pass through at a predetermined time when the extracted doorway does not include the predetermined doorway;
the automatic driving control step controls the vehicle to be automatically driven to reach the destination at the predetermined timing.
8. The driving assistance method according to claim 7, further comprising:
a communication step of communicating with a portable terminal device of a driver of the vehicle and transmitting the position of the entrance/exit of the destination set in the destination setting step to the portable terminal device.
9. A driving assistance method having:
a position acquisition step of acquiring a current position of the vehicle; a map data storage step for storing map data; a destination setting step of setting a facility having a plurality of entrances and exits as a destination; a route planning step of planning a route from the current position of the vehicle to the destination by using the map data; and a navigation step of navigating the route;
an open/close information acquisition step of acquiring open/close information of the plurality of entrances and exits;
an entrance extraction step of extracting an entrance that can pass through at a predetermined timing from among the plurality of entrances, based on the acquired opening/closing information of the plurality of entrances;
the destination setting step sets the doorway extracted in the doorway extracting step as a destination of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810026528.4A CN110027545B (en) | 2018-01-11 | 2018-01-11 | Driving support device and driving support method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810026528.4A CN110027545B (en) | 2018-01-11 | 2018-01-11 | Driving support device and driving support method |
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| CN110027545A CN110027545A (en) | 2019-07-19 |
| CN110027545B true CN110027545B (en) | 2023-03-24 |
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| CN201810026528.4A Active CN110027545B (en) | 2018-01-11 | 2018-01-11 | Driving support device and driving support method |
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