JP2012126193A - Automatic parking system for parking lot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic parking system in which a vehicle is automatically operated from a parking start position to a vehicle parking space.SOLUTION: A video photographed by a camera 12 loaded on the vehicle 8 is transmitted by radio to the image processing computer 15 at an automatic parking center 9 and the image processing computer 15 generates a vehicle image 22 and a parking lot image 26 from the video of the camera 12 to display them on a display 21. Displacement of a steering angle and displacement of an accelerator when an operator 25 operates a simulated steering 23 and a simulated acceleration lever 24 to park the vehicle image 22 of the display 21 in a parking space image 27 are transmitted by radio to the automatic parking ECU 13 of the vehicle 8 and the vehicle 8 is automatically operated from the parking start position P to the parking space 5c.

Description

  The present invention relates to an automatic parking system for a parking lot in which a vehicle equipped with an unmanned automatic driving device is automatically driven from a parking start position and parked in a vehicle parking space.

  In a parking lot such as a supermarket, a vehicle parking space for parking a vehicle (automobile) is provided. When a driver intends to park a vehicle in the vehicle parking space, the vehicle is temporarily stopped at a predetermined position (hereinafter referred to as a parking start position) on a traveling path provided in front of the vehicle parking space, and the steering is operated. While driving the vehicle, the vehicle is parked in the parking space.

  If the driver is a beginner (for example, someone with a short experience in driving a vehicle), when driving the vehicle from the parking start position, it is confusing as to which direction the steering wheel (steering wheel) should be operated There is. For this reason, it may take a long time until the parking operation is ended due to repeated turnover operations, and may interfere with an obstacle (for example, a pillar or a vehicle parked adjacently). .

  In order to reduce the burden when the driver parks, a support system is mounted on the vehicle. For example, in the vehicle back monitor device, when the driver puts the shift lever in the “back”, the video of the vehicle periphery monitoring camera is displayed on the display of the navigation device. The driver can reverse the vehicle while viewing the video on the display and confirming the rear. However, if the driver is a beginner, even if he can see the back of the vehicle with the back monitor device, he does not know when to turn the steering wheel or return it. It may take a long time.

  The technique disclosed in Patent Document 1 has an advantage that the vehicle can be operated while a driver outside the vehicle confirms an obstacle by himself because the vehicle can be operated by a remote controller. However, since it is the driver that determines the steering angle of the vehicle at the time of traveling, it may take a long time to determine the steering angle if the driver is a beginner.

JP 2002-120742 A

  In view of the above-described problems, an object of the present invention is to allow a vehicle to be automatically driven from a parking start position to a vehicle parking space to be parked.

The present invention for solving the above problems is as follows.
An unmanned automatic driving device is provided for a vehicle scheduled to be parked in a parking space of a parking lot, and an automatic parking system for parking the vehicle parked for parking using the unmanned automatic driving device in the parking space. Because
Imaging means for imaging a travel path from a parking start position where the vehicle has stopped to a vehicle parking space where the vehicle is scheduled to be parked;
A parking simulation unit that performs a driving simulation of the vehicle to the parking space based on the size of the vehicle photographed by the photographing unit and image information of a traveling path, and creates automatic driving information;
Transmission means for transmitting the automatic driving information determined by the parking simulation means to the vehicle,
The vehicle includes receiving means for receiving the automatic driving information transmitted from the transmitting means, and the unmanned automatic driving device is configured to travel the vehicle based on the automatic driving information received by the receiving means. And the traveling direction is controlled to automatically travel the vehicle from the parking start position to the vehicle parking space.

  An automatic parking system for a parking lot according to the present invention is created by a simulation means performing a running simulation based on image information of a running path from a parking start position of a vehicle taken by a photographing means to a vehicle parking space. The vehicle receives automatic driving information. The unmanned automatic driving device provided in the vehicle automatically causes the vehicle to travel from the parking start position to the vehicle parking space based on the automatic driving information. For this reason, it is not necessary for the driver to drive the vehicle, and the vehicle can be parked in the vehicle parking space even if the driver is a beginner.

  The unmanned automatic driving device includes a rotation speed control means for controlling an engine rotation speed for adjusting the traveling speed of the vehicle, and a steering rotation for controlling a rotation angle of the steering wheel for adjusting the traveling direction of the vehicle. Angle control means. Thereby, automatic driving | operation of a vehicle is attained.

  The photographing means includes vehicle-side photographing means mounted on the vehicle, and the parking simulation means uses the image information of the vehicle-side photographing means transmitted from the vehicle, and A driving simulation can be performed on the vehicle up to the vehicle parking space.

  The parking simulation means operates the operation unit to move the vehicle image on the display screen to the vehicle parking space, and the vehicle steering rotation angle based on the running information on the screen by the running simulation means. Driving information generating means for determining automatic driving information whose main information is engine speed or traveling speed.

It is a top view of the state which parks the vehicle 8 in the vehicle vehicle parking space 5. FIG. It is a block diagram which shows schematic structure of the automatic parking system 100 of a present Example. 2 is a plan view of a vehicle 8. FIG. It is a figure which shows the state which the operator 25 operates the simulation steering 23 and the simulation accelerator lever 24, and makes the vehicle image 22 reverse and park. It is a flowchart which shows the effect | action of the automatic parking system 100 of a present Example. It is a figure which shows the state which the operator 25 operates the simulation steering wheel 23 and the simulation accelerator lever 24, and advances the vehicle image 22 and parks it.

  Hereinafter, embodiments of the present invention will be described in detail. FIG. 1 is a plan view showing a state in which the vehicle 8 is parked in the vehicle parking space 5, FIG. 2 is a block diagram showing a schematic configuration of the automatic parking system 100 of the present embodiment, and FIG.

  As shown in FIG. 1, the road surface on one wall 1 side in the parking lot 3 surrounded on both sides by the walls 1 and 2 is provided with a white line 4 provided in parallel at a predetermined interval, A plurality of vehicle parking spaces 5 corresponding to the size are formed. In the case of the parking lot 3 shown in FIG. 1, four vehicle parking spaces 5 are illustrated, and each vehicle parking space 5 is described as 5a, 5b, 5c, 5d in order from the right. A pillar 6 is erected between the vehicle parking space 5b and the vehicle parking space 5c, and the length of the white line 4 is shortened by the amount of the pillar 6. Another vehicle is already parked in the vehicle parking spaces 5a, 5b, 5d of the parking lot 3. FIG. 1 shows that a driver (not shown) of a vehicle 8 traveling in a passage 7 of the parking lot 3 (a portion where the white line 4 is not provided in the parking lot 3) finds an empty vehicle parking space 5c. The vehicle stops at a position passing through the portion corresponding to the vehicle parking space 5c in the passage 7 (the vehicle 8 at that time is indicated by a one-dot chain line, and this position is hereinafter referred to as a parking start position P), and the vehicle moves backward The state which is going to park in the parking space 5c is shown.

  Next, the automatic parking system 100 of the Example of this invention is demonstrated. As shown in FIG. 2, the automatic parking system 100 according to the present embodiment is located in a place (hereinafter referred to as an automatic parking center 9) different from the vehicle-side automatic parking system 101 mounted on the vehicle 8 and the vehicle 8. The center side automatic parking system 102 provided is provided. The vehicle-side automatic parking system 101 controls the rotational angle of an engine ECU 10 that controls the rotational speed of an engine (not shown) of the vehicle 8 and adjusts the traveling speed of the vehicle 8 and the steering angle of the vehicle 8 (not shown). And a steering ECU 11 that adjusts the traveling direction of the vehicle 8 and a camera 12 (imaging means) that captures the surroundings of the vehicle 8. These are connected to the automatic parking ECU 13. In addition, the automatic parking ECU 13 wirelessly transmits a video (image information) captured by the camera 12 to the automatic parking center 9 and automatic driving information (described later) created by a traveling simulation performed in the automatic parking center 9. A receiving antenna 14 for receiving is provided.

  The center-side automatic parking system 102 includes an image processing computer 15 for forming a schematic image (for example, a planar image) of the parking lot 3 based on the image of the camera 12 transmitted from the automatic parking ECU 13 on the vehicle side, and image processing. A simulator 16 is provided for performing a running simulation with the image processed by the computer 15 and creating automatic driving information. The image processing computer 15 is connected to a transmission antenna 17 for receiving the video captured by the camera 12 of the vehicle 8 and transmitting the automatic driving information created by the simulator 16. A display screen 18 (for example, a display) and an operation unit 19 (for example, a mouse, a joystick, etc.) are connected to the simulator 16.

  As shown in FIG. 3, the camera 12 includes a substantially central portion in the width direction at the front end portion of the vehicle 8, a substantially central portion in the width direction at the rear end portion, and a substantially central portion in the length direction at both side portions of the vehicle 8. It is attached to a total of four locations. The viewing angle θ of each camera 12 is, for example, about 120 degrees.

  The simulator 16 will be described. As shown in FIG. 4, the simulator 16 of this embodiment includes a display 21 as a display screen 18, a simulated steering wheel 23 and a simulated accelerator as an operation unit 19 for operating a vehicle image 22 displayed on the display 21. Lever 24. The simulated steering wheel 23 imitates the steering of the vehicle 8 and is operated by an operator 25 so as to be rotatable. When the operator 25 rotates the simulated steering wheel 23 in the clockwise direction, the vehicle image 22 displayed on the display 21 is in a state in which the steering wheel is rotated in the clockwise direction, and the operator 25 turns the simulated steering wheel 23 counterclockwise. When the vehicle rotates in the turning direction, the vehicle image 22 displayed on the display 21 is in a state in which the steering wheel is rotated in the counterclockwise direction. That is, the rotation angle of the simulated steering wheel 23 operated by the operator 25 is reflected in the rotation angle of the steering wheel in the vehicle image 22.

  The simulated accelerator lever 24 imitates the accelerator pedal of the vehicle 8 and is operated by an operator 25 so as to be tiltable. The simulated accelerator lever 24 can be tilted only in the front-rear direction, and the vehicle image 22 displayed on the display 21 moves forward when the operator 25 tilts backward (upward in the drawing view of FIG. 4). When the operator 25 tilts forward (downward in the drawing view of FIG. 4), the vehicle image 22 displayed on the display 21 moves backward. When the tilt angle at that time is increased, the speed at which the vehicle image 22 moves forward or backward increases. When the operator 25 does not operate the simulated accelerator lever 24 (no force is applied to the simulated accelerator lever 24), the simulated accelerator lever 24 stands still in a standing state. In this state, the vehicle image 22 on the display 21 is stopped.

  On the display 21, a vehicle image 22 and a parking lot image 26 created by the image processing computer 15 performing image processing on the video captured by each camera 12 mounted on the vehicle 8 are displayed. In FIG. 4, as a parking lot image 26, a parking space image 27 showing each vehicle parking space 5 divided by a white line 4, a pillar image 28 showing a pillar 6, and another vehicle parked in the vehicle parking space 5 are shown. A parked vehicle image 29 and a passage image 31 showing the passage 7 in front of the vehicle parking space 5 are displayed. The operator 25 operates the simulated steering wheel 23 and the simulated accelerator lever 24 while visually recognizing the images (vehicle image 22 and parking lot image 26) displayed on the display 21.

  The operation of the automatic parking system 100 of the present embodiment will be described with reference to the flowchart of FIG. As shown in FIG. 1, when the vehicle 8 enters the parking lot 3, the automatic parking system 100 operates (step S10). When the driver manually operates an operation switch (not shown) of the automatic parking system 100 provided in the vehicle 8 in order to express his intention to park the vehicle 8, automatic parking is performed. System 100 may be activated. Then, each camera 12 attached to the vehicle 8 starts photographing (step S20). And if the driver | operator who drive | workes the channel | path 7 in the parking lot 3 finds the vacant vehicle parking space 5c, he will stop the vehicle 8 in the position (parking start position P) a little ahead of it (step S30). . The automatic parking ECU 13 transmits images taken by the cameras 12 to the automatic parking center 9 before the vehicle 8 stops at the parking start position P until a predetermined time (several seconds) before the vehicle 8 stops at the parking start position P. (Step S40). Thereby, even if the vehicle 8 passes the vehicle parking space 5c, an image of the vehicle parking space 5c can be transmitted to the automatic parking center 9. At the same time, the vehicle information of the vehicle 8 (the shape and size of the vehicle 8) is also transmitted to the automatic parking center 9.

  As shown in FIG. 4, the image processing computer 15 of the automatic parking center 9 performs image processing on the received video image of the camera 12, and the parking lot image 26 in the parking lot 3, that is, the parking space of the vehicle parking space 5. Image 27, an image of an obstacle around the vehicle parking space 5 (in this case, another vehicle image 29 of another vehicle parked in the vehicle parking space 5 and a column image 28 of the pillar 6) and a passage image 31 of the passage 7 Is displayed on the display 21 (step S50). The display 21 also displays a vehicle image 22 of the vehicle 8 stopped at the parking start position P from the vehicle information of the vehicle 8. These images (vehicle image 22 and parking lot image 26) are displayed, for example, as a plan view shown in FIG.

  The operator 25 operates the simulated steering wheel 23 and the simulated accelerator lever 24 to retract the vehicle image 22 on the display 21 and move it to the area of the parking space image 27 that displays the empty vehicle parking space 5c (step S60). . The traveling path of the vehicle image 22 at that time is indicated by an arrow 32 in FIG. The operator 25 is desirably a person skilled in driving operation for parking the vehicle 8.

  The image processing computer 15 stores data when the operator 25 moves the vehicle image 22 from the parking start position P to the vehicle parking space 5c (the rotation direction and rotation angle of the simulated steering wheel 23 and the tilt direction and tilt angle of the simulated accelerator lever 24). ) To create automatic driving information. Then, this automatic driving information is transmitted to the vehicle 8 (step S70). The automatic parking ECU 13 of the vehicle 8 that has received the automatic driving information operates the engine ECU 10 and the steering ECU 11 based on the automatic driving information. Thereby, the vehicle 8 travels (retreats). At this time, the rotation direction and rotation angle of the steering of the vehicle 8 are the rotation direction and rotation angle when the operator 25 operates the simulated steering wheel 23, and the traveling direction and traveling speed of the vehicle 8 are determined by the operator 25 by the simulated accelerator lever 24. It becomes the traveling direction and traveling speed when is operated. Thus, the vehicle 8 travels by automatic driving (step S80), moves to the vehicle parking space 5c through the travel path indicated by the arrow 32 in FIG. 4 on the display 21, and the parking is finished. In FIG. 1, the vehicle 8 parked in the vehicle parking space 5c is indicated by a two-dot chain line.

  The vehicle 8 is automatically driven unattended from the parking start position P to the vehicle parking space 5c. At this time, it is desirable that the driver gets on the vehicle 8 to prepare for unexpected situations while the vehicle 8 is automatically driven. For example, when it is visually recognized that a passerby has entered the blind spot portion of the camera 12, the driver can operate the brake. However, the rotation operation of the steering wheel and the stepping operation of the accelerator performed by the driver during the automatic driving are controlled so as not to be effective.

  As shown in FIG. 6, when the vehicle 8 is parked forward in the empty vehicle parking space 5b, the operator 25 moves the vehicle image 22 in the display 18 forward by tilting the simulated accelerator lever 24 to the back side. And move to the vehicle parking space 5b. As in the case described above, the data at this time is transmitted to the automatic parking ECU 13 of the vehicle 8, and the engine ECU 10 and the steering ECU 11 automatically drive the vehicle 8.

  In the case of the above-described embodiment, the camera 12 is mounted on the vehicle 8. However, the camera 12 may be attached to something other than the vehicle 8. For example, the camera 12 may be attached to the wall portions 1 and 2 and the pillar 6 in the parking lot, and the parking lot image 26 may be created based on images captured by the cameras 12. In the case of the above-described embodiment, the size of the vehicle 8 is transmitted to the center-side automatic driving system 102 as vehicle information. However, when the camera 12 is attached to something other than the vehicle 8, the vehicle image 22 may be created based on the image information of the vehicle 8 taken by the camera 12 and displayed on the display 21.

  The operation units in the present embodiment are the simulated steering wheel 23 and the simulated accelerator lever 24, but may be other than those (for example, a mouse, a joystick, etc.).

  The present invention can be used as a smart key system by a vehicle driver for beginners.

100 automatic parking system 8 vehicle 10 engine ECU (rotational speed control means)
11 Steering ECU (steering angle control means)
12 Camera (photographing means)
13 Automatic parking ECU (Unmanned automatic driving device)
14 Receiving antenna (receiving means)
15 Image processing computer (operation information creation means)
16 Simulator (Parking simulation means)
17 Transmitting antenna (transmitting means)
18 Display Screen 19 Operation Unit 21 Display (Display Screen)
23 Simulated steering (operation part)
24 Simulated accelerator lever (operation part)
P Parking start position

Claims (4)

An unmanned automatic driving device is provided for a vehicle scheduled to be parked in a parking space of a parking lot, and an automatic parking system for parking the vehicle parked for parking using the unmanned automatic driving device in the parking space. Because
Imaging means for imaging a travel path from a parking start position where the vehicle has stopped to a vehicle parking space where the vehicle is scheduled to be parked;
Parking simulation means for performing driving simulation of the vehicle to the vehicle parking space based on the size of the vehicle photographed by the photographing means and image information of a traveling path, and creating automatic driving information;
Transmission means for transmitting the automatic driving information determined by the parking simulation means to the vehicle,
The vehicle includes receiving means for receiving the automatic driving information transmitted from the transmitting means, and the unmanned automatic driving device is configured to travel the vehicle based on the automatic driving information received by the receiving means. And an automatic parking system for controlling the traveling direction to automatically travel the vehicle from the parking start position to the vehicle parking space.   The unmanned automatic driving device includes a rotation speed control means for controlling an engine rotation speed for adjusting the traveling speed of the vehicle, and a steering rotation for controlling a rotation angle of the steering wheel for adjusting the traveling direction of the vehicle. An automatic parking system for a parking lot according to claim 1, further comprising angle control means.   The photographing means includes vehicle-side photographing means mounted on the vehicle, and the parking simulation means uses the image information of the vehicle-side photographing means transmitted from the vehicle, and The automatic parking system for a parking lot according to claim 1 or 2, wherein a running simulation of the vehicle up to the vehicle parking space is performed. The parking simulation means includes
The display screen on which the vehicle and the vehicle parking space of the vehicle are displayed at the parking start position, and the image of the vehicle displayed at the parking start position are moved to the vehicle parking space on the display screen. A driving simulation means for moving the vehicle on the display screen by the operating unit;
Creation of driving information for determining the automatic driving information whose main information is the steering rotation angle of the vehicle and the engine speed or the driving speed based on the driving information of the vehicle on the display screen by the driving simulation means. Means,
The automatic parking system for a parking lot according to any one of claims 1 to 3, further comprising:

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