JP2018073336A - Automatic driving control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a workload given on a driver of a vehicle by performing parking in a parking space of the vehicle or withdrawing from the parking space by way of an automatic driving control.SOLUTION: An empty space information generating unit 27 is configured by an on-vehicle sensor 26 to generate empty space information on empty spaces in which an own vehicle 24 can move around the own vehicle 24. When the own vehicle 24 is a reception-sided vehicle that has received movement request information from a request-sided vehicle A by a communication unit 32, an automatic driving unit 22 E moves, by an automatic driving control, the own vehicle 24 to the empty space according to a control content determined based on the empty space information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic driving control device for a vehicle.

In recent years, a vehicle that travels on a road by automatic driving control based on a detection result of an in-vehicle sensor has been proposed.
If such a vehicle is parked in a parking lot in a parking lot or a parallel parking lot on the street by automatic driving control, or if the vehicle is withdrawn from the parking space, the driver can park or leave in a narrow parking space. In this case, it is not necessary to perform complicated driving operations, which is advantageous in reducing the burden on the driver.
Patent Document 1 proposes a parking system for a vehicle such as a golf cart that automatically travels along a guide line while detecting a predetermined guide line as a technique for automatically parking the vehicle in a parking lot. .
In this system, each vehicle is provided with a rear-end collision preventing means for keeping the inter-vehicle distance constant, and when the vehicle enters the parking lot, the operating level of the rear-end collision preventing means is changed to shorten the inter-vehicle distance, It is intended to improve the storage capacity.

JP 2002-73173 A

However, the above prior art is based on the premise that the vehicle parks in the parking space along the guide line or leaves the parking space, and is not intended for automatic driving control.
The present invention has been made in view of such circumstances, and an object of the present invention is to reduce the burden on the driver by performing automatic driving control to park the vehicle in or leave the parking space. It is another object of the present invention to provide an automatic driving control device for a vehicle that is advantageous.

In order to achieve the above object, the invention according to claim 1 is characterized in that an empty space information generating unit that generates empty space information related to an empty space in which the host vehicle can move around the host vehicle, and the host vehicle is parked. In the case of a reception-side vehicle that has received movement request information transmitted from a request-side vehicle that requests parking in a space or leaving the parking space, the host vehicle according to the control content determined based on the empty space information And an automatic operation unit that moves the vehicle to the empty space by automatic operation control.
The invention described in claim 2 includes a determination unit that determines whether or not a predetermined movement condition is satisfied based on the empty space information. When the movement condition is satisfied, the automatic operation unit The control content of the host vehicle is determined based on the empty space information generated by the empty space information generation unit of the vehicle.
According to a third aspect of the present invention, when the host vehicle is the reception-side vehicle and the moving condition is not satisfied, another vehicle parked around the host vehicle is treated as another reception-side vehicle. And a first transfer unit that transfers the movement request information to the other reception side vehicle.
According to a fourth aspect of the present invention, when the host vehicle is the reception side vehicle, the other vehicle parked in front of and behind the host vehicle is treated as another reception side vehicle and the movement request is made to the other reception side vehicle. A second transfer unit that transfers information is provided.
The invention according to claim 5 is a first response unit that transmits the empty space information, the position information of the receiving vehicle, and the identification information of the receiving vehicle to the requesting vehicle, and the received empty space information. A second response unit that determines the control content of the reception-side vehicle based on position information of the reception-side vehicle and identification information of the reception-side vehicle and transmits the control content to the reception-side vehicle. It is characterized by that.
According to a sixth aspect of the present invention, when the host vehicle is the requesting vehicle, the automatic driving unit is configured to use the host vehicle based on the empty space information generated by the empty space information generating unit of the host vehicle. The control content is determined.
According to a seventh aspect of the present invention, when the host vehicle is the requesting vehicle, the automatic driving unit controls the host vehicle to automatically leave the parking space using the empty space. It is made to move by.

According to the first aspect of the present invention, by mounting the automatic driving control device for a vehicle on the vehicle, the requesting vehicle can be parked and exited from the parking space without requiring a driver's driving operation. This can be done by automatic driving control, which is advantageous in reducing the burden on the driver.
According to the invention described in claim 2, it is sufficient for the automatic driving control device for a vehicle to execute limited processing such as determining the control content based on the empty space information around the vehicle. This is advantageous for simplifying the control.
According to the third aspect of the invention, since the movement request information is transferred between the reception side vehicles, the plurality of reception side vehicles sequentially move to the empty space by the automatic driving control based on the empty space information. This is advantageous for smoothly parking the requesting vehicle in the parking space or leaving the parking space.
According to the fourth aspect of the present invention, the requesting vehicle can be parked in the parking space for parallel parking and can be withdrawn from the parking space by automatic driving control, which is advantageous in reducing the burden on the driver.
According to the invention of claim 5, in a plurality of reception side vehicles, it is possible to shorten the time required for transmission / reception of the information as compared with the case where the empty space information, position information and identification information of the reception side vehicle are transferred, This is advantageous in reducing the time required for parking in the parking space and for leaving the requesting vehicle from the parking space.
According to the sixth aspect of the present invention, it is advantageous to simplify the control in the automatic driving control device for a vehicle of the requesting vehicle.
According to the seventh aspect of the invention, it is advantageous to smoothly exit the requesting vehicle from the parking space for parallel parking.

It is a block diagram which shows the structure of the vehicle automatic driving control apparatus which concerns on 1st Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of a request side vehicle when a request side vehicle parks in the parking space of a parking lot in 1st Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of the reception side vehicle at the time of a request side vehicle parking in the parking space of a parking lot in 1st Embodiment. (A)-(D) is explanatory drawing in case a request side vehicle parks in the parking space of a parking lot in 1st Embodiment. (A)-(D) is explanatory drawing of the other example in case a request side vehicle parks in the parking space of a parking lot in 1st Embodiment. It is a flowchart explaining operation | movement of the automatic drive control apparatus for vehicles of a request side vehicle when a request side vehicle leaves the parking space of a parking lot in 1st Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of the reception side vehicle when a request side vehicle leaves the parking space of a parking lot in 1st Embodiment. (A)-(D) is explanatory drawing in case a request side vehicle leaves the parking space of a parking lot in 1st Embodiment. (A)-(D) is explanatory drawing of the other example in case a request side vehicle leaves the parking space of a parking lot in 1st Embodiment. It is a block diagram which shows the structure of the automatic driving control apparatus for vehicles which concerns on 2nd Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of a request | requirement vehicle when a request | requirement vehicle parks in the parking space of a parking lot in 2nd Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of the reception side vehicle when a request side vehicle parks in the parking space of a parking lot in 2nd Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of a request side vehicle when a request side vehicle leaves the parking space of a parking lot in 2nd Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of the reception side vehicle at the time of a request side vehicle leaving the parking space of a parking lot in 2nd Embodiment. It is a block diagram which shows the structure of the vehicle automatic driving control apparatus which concerns on 3rd Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of a request side vehicle when a request side vehicle parks in the parking space for parallel parking in 3rd Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of the reception side vehicle when a request side vehicle parks in the parking space for parallel parking in 3rd Embodiment. (A)-(D) is explanatory drawing in case a request side vehicle parks in the parking space for parallel parking in 3rd Embodiment. (A)-(C) is explanatory drawing of the other example in case a request side vehicle parks in the parking space for parallel parking in 3rd Embodiment. It is a flowchart explaining operation | movement of the automatic drive control apparatus for vehicles of a request side vehicle when a request side vehicle leaves the parking space for parallel parking in 3rd Embodiment. It is a flowchart explaining operation | movement of the automatic drive control apparatus for vehicles of the reception side vehicle when a request side vehicle leaves the parking space for parallel parking in 3rd Embodiment. (A)-(D) is explanatory drawing in case a request side vehicle leaves a parking lot in 3rd Embodiment. (A)-(C) is explanatory drawing of the other example in case a request side vehicle leaves a parking lot in 3rd Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of a request side vehicle when a request side vehicle parks in the parking space for parallel parking in 4th Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of the reception side vehicle when a request side vehicle parks in the parking space for parallel parking in 4th Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of a request side vehicle when a request side vehicle leaves the parking space for parallel parking in 4th Embodiment. It is a flowchart explaining operation | movement of the automatic driving | operation control apparatus for vehicles of the reception side vehicle when a request side vehicle leaves the parking space for parallel parking in 4th Embodiment.

(First embodiment)
Next, embodiments of the present invention will be described with reference to the drawings.
The vehicle automatic driving control device of the present embodiment moves a vehicle to a parking space by automatic driving control and parks it or leaves the parking space.
In the present specification, the automatic driving control means control for causing the vehicle to travel without intervening by the driver. Therefore, there may be an occupant or no occupant in the vehicle that is traveling under the automatic driving control.
In the following description, a vehicle that requests parking in a parking space and a departure from the parking space is referred to as a requesting vehicle, and a vehicle that receives the above request is referred to as a receiving vehicle.
The request-side vehicle and the reception-side vehicle will be described as being equipped with the vehicle automatic driving control device of the present invention and configured to be able to travel by automatic driving control.
In other words, the vehicle automatic driving control device will be described as being mounted on all of the vehicle that is to be parked in the parking space, the vehicle that is about to leave the parking space, and the vehicle that is parked in the parking lot.
For convenience of explanation, when it is necessary to distinguish the vehicle from the own vehicle and the other vehicle, they are described as “own vehicle” and “other vehicle”, respectively, and it is not necessary to distinguish the own vehicle from the other vehicle. In this case, it is described as “vehicle”.

As shown in FIG. 4A, a plurality of parking spaces 12 are secured in the parking lot 10, and each parking space 12 is partitioned by white lines 13 as shown by dotted lines in the figure.
The parking lot 10 is not provided with a dedicated traveling path on which the vehicle 24 travels in addition to the parking space 12, and the vehicle 24 is located between the parking space 12 where the vehicle 24 is not parked and between the vehicles 24. The vehicle travels over the space, that is, the empty space S, and parks or leaves.
In the parking lot 10, an entrance for the vehicle 24 to enter the parking lot 10 and an exit for the vehicle 24 to exit the parking lot 10 are used as a single entrance 14.
In the present embodiment, the case where the parking lot 10 does not have a dedicated travel path and includes a single entrance / exit 14 will be described, but the presence / absence of the travel path, the number of entrances and exits, the arrangement of the entrances and exits Is optional.
In the figure, reference numeral 16 denotes a fence surrounding the parking lot 10.

FIG. 1 is a block diagram showing a configuration of an automatic driving control apparatus 20A for a vehicle according to an embodiment of the present invention.
The vehicle automatic driving control device 20 </ b> A includes an ECU 22 mounted on the vehicle 24.
The ECU 22 is responsible for automatic operation control. The ECU 22 is a storage unit 23 such as a CPU, a ROM that stores and stores a control program, a RAM as an operation area of the control program, and an EEPROM that holds various data in a rewritable manner. And an interface unit for interfacing with peripheral circuits and the like.

The vehicle 24 includes an on-vehicle sensor 26, a navigation device 28, an operation unit 30, a communication unit 32, a drive ECU 34, a brake ECU 36, and a steering ECU 38.
The in-vehicle sensor 26 is a sensor that detects an object around the vehicle 24. In the present embodiment, the in-vehicle sensor 26 includes a camera unit 2602, a radar unit 2604, and a sonar unit 2606.
The camera unit 2602 images the entire circumference of the vehicle 24, generates image information around the vehicle 24, detects the presence or absence of an object from the image information, and detects relative position information of the object with respect to the vehicle 24. In other words, the camera unit 2602 detects presence / absence of an empty space in which the host vehicle 24 can move around the host vehicle 24 and relative position information of the empty space with respect to the host vehicle 24.
The camera unit 2602 supplies position information to the ECU 22.

The radar unit 2604 transmits transmission waves composed of electromagnetic waves toward the front and rear of the vehicle 24, receives the reflected waves reflected by the object, and detects the presence of the object and the distance to the object.
The radar unit 2604 is suitable for detecting an object far from the vehicle 24.
The sonar unit 2606 transmits a transmission wave composed of ultrasonic waves toward the front and rear of the vehicle 24, receives the reflected wave reflected by the object, and detects the presence of the object and the distance to the object.
The sonar unit 2606 is suitable for detecting an object close to the vehicle 24.
The radar unit 2604 and the sonar unit 2606 supply the detection result to the ECU 22.
The radar unit 2604 and the sonar unit 2606 may be used to detect the presence / absence of an empty space and the position information of the empty space. The position information of the empty space may be detected.
In the present embodiment, the in-vehicle sensor 26 constitutes a vacant space information generation unit 27 that generates vacant space information related to vacant spaces in which the host vehicle 24 can move around the host vehicle 24.
The empty space information includes the presence or absence of an empty space and the position (direction) of the empty space with respect to the host vehicle 24.

The navigation device 28 is provided with map information, receives position signals of the vehicle 24 by receiving signals from positioning satellites, and provides route guidance for the vehicle 24.
The map information may include parking lot map data including the layout of the parking lot 10.
The navigation device 28 supplies the ECU 22 with map information including position information of the vehicle 24 and parking lot map data.

The operation unit 30 receives an occupant's operation and supplies a control signal to the ECU 22 to instruct parking in the parking space 12 by automatic driving control or to leave the parking space 12.
The operation unit 30 may be configured by an operation switch or a touch panel provided in the vehicle interior, or may be configured by a remote controller that is portable and that supplies a control signal to the ECU 22 from outside the vehicle via wireless communication. It may be.

The communication unit 32 communicates with a device outside the vehicle 24 and can communicate even when the vehicle 24 is parked.
In the present embodiment, the communication unit 32 performs inter-vehicle communication with the communication unit 32 of another vehicle 24.
Moreover, in this Embodiment, the distance which can communicate by the communication part 32 is a distance (for example, about several meters) of the grade which can be performed between the adjacent vehicles 24, and the vehicle-to-vehicle communication by the communication part 32 is, for example, , Wi-Fi communication and the like are performed using conventionally known wireless communication.

The drive ECU 34 controls traveling of the vehicle 24 by controlling an engine or a motor that is a drive source of the vehicle 24 based on control of an automatic driving unit 22E described later.
The brake ECU 36 controls the braking of the vehicle 24 by controlling the actuator of the braking mechanism based on the control of the automatic driving unit 22E.
The steering ECU 38 steers the vehicle 24 by controlling the actuator of the steering mechanism based on the control of the automatic driving unit 22E.

The ECU 22 implements an information acquisition unit 22A, a movement request unit 22B, a determination unit 22C, a first transfer unit 22D, and an automatic driving unit 22E by executing the above control program.
The information acquisition unit 22A receives empty space information supplied from the in-vehicle sensor 26, map information including position information supplied from the navigation device 28 and map data of the parking lot 10, and a control signal supplied from the operation unit 30. It is.

When the own vehicle 24 is a requesting vehicle, the movement request unit 22B receives a control signal instructing parking in the parking space 12 supplied from the operation unit 30, and moves indicating a request for parking in the parking space 12. Request information is transmitted to the reception side vehicle by the communication unit 32.
Further, when the movement request unit 22B receives a control signal instructing to leave the parking space 12 supplied from the operation unit 30, the communication requesting unit 32 receives movement request information indicating a request for leaving the parking space 12. It is sent to the vehicle.

The determination unit 22C determines whether or not a predetermined movement condition is satisfied based on the empty space information.
In the present embodiment, the predetermined movement condition is that there is an empty space where the own vehicle 24 can move around the own vehicle 24, and the empty space is a space where the own vehicle 24 can move and park, Or it is the space which can pass.
That is, if there is an empty space around the host vehicle 24, and there is no obstacle on the route along which the host vehicle 24 moves to the empty space, the determination unit 22C can move to the empty space. It is determined that the movement condition is satisfied.
On the other hand, when there is no empty space around the own vehicle 24, or even if there is an empty space, there is an obstacle on the route along which the own vehicle 24 moves to the empty space, and movement to the empty space is impossible. If it is, the determination unit 22C determines that the movement condition is not satisfied.
The presence / absence of an obstacle is detected by the in-vehicle sensor 26.

  When the host vehicle 24 is a reception-side vehicle and the movement condition is not established, the first transfer unit 22D transfers the other vehicle 24 parked around the host vehicle 24 by the communication unit 32 to the other reception-side vehicle. The movement request information is transferred to the other reception side vehicle.

When the own vehicle 24 is a reception-side vehicle that has received movement request information from the requesting vehicle by the communication unit 32, the automatic driving unit 22E automatically moves the own vehicle 24 according to the control content determined based on the empty space information. It is moved to an empty space by operation control.
Specifically, when the communication unit 32 receives the movement request information, the automatic driving unit 22E determines the control content based on the empty space information when the determination unit 22C determines that a predetermined movement condition is satisfied, According to the contents of the control, the own vehicle 24 is moved to an empty space by automatic driving control.
Further, when the own vehicle 24 is a requesting vehicle and the determination unit 22C determines that the movement condition is satisfied, the automatic driving unit 22E determines the control content based on the empty space information, and the control content Accordingly, the host vehicle 24 is moved to an empty space by automatic driving control.
Therefore, in the present embodiment, the automatic driving section 22E determines the control contents, and gives the control contents to the drive ECU 34, the brake ECU 36, and the steering ECU 38, thereby performing the automatic driving control.

Further, the automatic driving unit 22 </ b> E moves based on the position information supplied from the navigation device 28, or the travel route along which the host vehicle 24 has moved based on the position information supplied from the navigation device 28 and the map data of the parking lot 10. It has a function of storing information in the storage unit 23 of the ECU 22.
Further, the automatic driving unit 22E has a function of moving the host vehicle 24 so as to return to the original position by the automatic driving control along the route along which the host vehicle 24 has moved based on the moving route information.
The automatic driving unit 22E performs automatic driving control based on the detection result of the in-vehicle sensor 26 so that the own vehicle 24 does not collide with another vehicle 24 or an obstacle.

(Operation when parking in the parking space 12)
Next, the operation when the requesting vehicle is parked in the parking space of the parking lot 10 by automatic driving control will be described with reference to the flowcharts of FIGS. 2 and 3 and the explanatory diagrams of FIGS.
FIG. 2 is a flowchart of the requesting vehicle, and FIG. 3 is a flowchart of the receiving vehicle.
In the following description, the requesting vehicle is denoted as A by requesting the vehicle A, and the receiving vehicle is denoted by BE as the receiving vehicle BE.
As shown in FIG. 4 (A), the empty space S is one for six parking spaces 12 in the parking lot 10 and one for the requesting vehicle A located outside the entrance 14. A case where two reception side vehicles E and F exist between the two empty spaces S will be described.

First, referring to FIG. 2, if the occupant of the requesting vehicle A visually recognizes that there is an empty space S in the parking lot 10, the requesting vehicle A stops at the outside of the entrance 14 and the operation unit 30. Is operated to request parking to the parking space 12 by the automatic driving control of the requesting vehicle A (step S10). After this operation, the occupant may be in the state of getting on from the requesting vehicle A without getting off. When the occupant gets off, the requesting vehicle A is ready for unmanned travel.
When the movement request unit 22B of the requesting vehicle A receives a control signal for instructing parking in the parking space 12 from the operation unit 30 via the information acquisition unit 22A, the movement request information indicating a request for parking in the parking space 12 Is transmitted to the reception-side vehicle E by the communication unit 32 (step S12).

On the other hand, as shown in FIG. 3, the reception-side vehicle E that is parked in the parking lot 10 and that is adjacent to the request-side vehicle A waits for the movement request information to be received by the functioning communication unit 32 even when parked. (Step S30).
When the movement request information is received, detection by the in-vehicle sensor 26 is performed (step S32), and free space information is generated (step S34).
The determination unit 22C determines whether or not the movement condition is satisfied (step S36). If the determination is not satisfied, the movement request information is transferred to another reception-side vehicle F adjacent to the reception-side vehicle E via the communication unit 32. (Step S38).
Similarly to the reception side vehicle E, the reception side vehicle F stands by for the movement request information by the communication unit 32 that functions even when the vehicle is parked (step S30).
When movement request information is received by the reception-side vehicle F, detection by the in-vehicle sensor 26 is performed (step S32), and free space information is generated (step S34).
The determination unit 22C determines whether or not the movement condition is satisfied (step S36).
In this case, since the empty space S exists behind the reception-side vehicle F, the movement condition is satisfied.
Therefore, as shown in FIG. 4B, the reception-side vehicle F moves the reception-side vehicle F to the empty space S by automatic driving control according to the control content determined by the automatic driving unit 22E based on the empty space information. (Step S40).
On the other hand, in the receiving side vehicle E, after transferring the movement request information (step S38), the process returns to step S32 and the same processing is repeated.
When the reception side vehicle F moves to the empty space S and the empty space S is secured behind the reception side vehicle E, the movement condition is satisfied (step S36). ), The reception-side vehicle E is moved to the empty space S by the automatic driving control according to the control content determined by the automatic driving unit 22E based on the empty space information (step S40).

Then, as shown in FIG. 2, in the requesting vehicle A, after the moving condition is not satisfied (step S18), the process returns to step S14 and the same processing is repeated.
When the reception side vehicle E moves to the empty space S and the empty space S is secured behind the requesting vehicle A, the movement condition is satisfied (step S18). ), The requesting vehicle A is moved to the empty space S by the automatic driving control according to the control content determined by the automatic driving unit 22E based on the empty space information (step S20).
This completes the movement and parking of the requesting vehicle A to the parking space 12.

In addition, in this example, the case where the two reception side vehicles E and F were moved by transferring movement request information using 1st transfer part 22D, and the request side vehicle A was parked was demonstrated.
However, the number of reception-side vehicles that move and the movement route thereof vary depending on various conditions such as the layout of the parking space 12 in the parking lot 10 and the relative positional relationship between the request-side vehicle and the position of the empty space S. .
For example, as shown in FIG. 5A, when there is an empty space S adjacent to the rear of the reception-side vehicle C, the movement request information is sequentially transferred by the first transfer unit 22D of each reception-side vehicle. The
That is, the movement request information is transmitted from the requesting vehicle A to the adjacent receiving vehicle E. Next, the movement request information is transferred from the reception side vehicle E to the adjacent reception side vehicle B. Next, the movement request information is transferred from the reception side vehicle B to the adjacent reception side vehicle C.
As a result, as shown in FIGS. 5B and 5C, the receiving side vehicles C, B, and E sequentially move to the empty space S in the same procedure as the above-described operation, as shown in FIG. 5D. The requesting vehicle A moves to the empty space S and parks.

(Operation when leaving the parking space 12)
Next, the operation when the requesting vehicle leaves the parking space 12 by automatic driving control will be described with reference to the flowcharts of FIGS. 6 and 7 and the explanatory diagrams of FIGS.
FIG. 6 is a flowchart of the requesting vehicle, and FIG. 7 is a flowchart of the receiving vehicle.
As shown in FIG. 8 (A), the vehicle 24 is parked in all of the parking spaces 12 for the six parking spaces 10, and the receiving side vehicles E and F exist between the own vehicle 24 and the entrance / exit 14. The case where it is doing is demonstrated.
First, referring to FIG. 6, the occupant of the requesting vehicle A operates the operation unit 30 to perform an exit request operation from the parking space 12 by the automatic driving control of the host vehicle 24 (step S <b> 60).
When the movement request unit 22B of the requesting vehicle A receives a control signal instructing to leave the parking space 12 from the operation unit 30 via the information acquisition unit 22A, the movement request information indicating a request to leave the parking space 12 Is transmitted to the reception-side vehicle F by the communication unit 32 (step S62).

On the other hand, as shown in FIG. 7, the reception-side vehicle F that is parked in the parking lot 10 and that is adjacent to the front of the request-side vehicle A waits for movement request information by the communication unit 32 (step S80).
When the movement request information is received, detection by the in-vehicle sensor 26 is performed (step S82), and free space information is generated (step S84).
The determination unit 22C determines whether or not the movement condition is satisfied (step S86). If the determination is not satisfied, the movement request information is transferred to the reception-side vehicle E adjacent to the reception-side vehicle F via the communication unit 32 ( Step S88).
The reception side vehicle E is also waiting for movement request information by the communication part 32 (step S80).
When the movement request information is received by the reception-side vehicle E, detection by the in-vehicle sensor 26 is performed (step S82), and empty space information is generated (step S84).
The determination unit 22C determines whether or not the movement condition is satisfied (step S86).
In this case, since there is an empty space S (outside the entrance / exit 14) in front of the reception-side vehicle E, the movement condition is satisfied.
Therefore, as shown in FIG. 8 (B), the reception-side vehicle F allows the reception-side vehicle E to be vacant on the outside of the entrance / exit 14 by automatic driving control according to the control content determined by the automatic driving unit 22E based on the empty space information. Move to space S (step S90).
At this time, the automatic driving unit 22E of the reception-side vehicle F stores the movement route information of the reception-side vehicle F in the storage unit 23 (step S92).

On the other hand, after receiving the movement request information (step S88), the reception-side vehicle F returns to step S82 and repeats the same processing.
When the reception side vehicle E moves to the vacant space S and the vacant space S is secured in front of the reception side vehicle F (step S86), the movement condition is satisfied (step S86). ), The reception-side vehicle F is moved to the empty space S outside the entrance / exit 14 by automatic operation control according to the control content determined by the automatic driving unit 22E based on the empty space information (step S90).
At this time, the automatic driving unit 22E of the reception-side vehicle E stores the movement route information of the reception-side vehicle E in the storage unit 23 (step S92).

As shown in FIG. 6, in the requesting vehicle A, after the movement condition is not satisfied (step S68), the process returns to step S64 and the same processing is repeated.
When the reception side vehicles E and F move to the empty space S, respectively, and the empty space S is secured in front of the requesting vehicle A (step S68), the movement condition is satisfied (step S68). As shown in FIG. 8 (D), the requesting vehicle A is moved to the empty space S outside the entrance / exit 14 by the automatic driving control according to the control content determined by the automatic driving unit 22E based on the empty space information (step S70). .
This completes the exit of the requesting vehicle A from the parking space 12.

When the exit of the request side vehicle A from the parking space 12 is completed, the automatic operation unit 22E of the reception side vehicles E, F is based on the detection result of the in-vehicle sensor 26 as shown in FIG. It is determined whether or not A has left the parking space 12 (parking lot 10) (step S94).
If it is determined that the request side vehicle A has left, the automatic driving unit 22E of the receiving side vehicles E and F receives the receiving side vehicles E and F by automatic driving control based on the movement route information stored in the storage unit 23. Is moved back to the original position (step S96), and a series of processing ends.

In addition, in this example, the case where the two reception side vehicles E and F are moved by transferring the movement request information using the first transfer unit 22D and the request side vehicle A is withdrawn has been described.
However, as in the case where the requesting vehicle A is parked, the number of the receiving vehicles that move and the movement route thereof are relative to the layout of the parking space 12 in the parking lot 10 and the position of the requesting vehicle and the empty space S. It changes according to various conditions such as general positional relationship.
For example, as shown in FIG. 9A, when the requesting vehicle A is parked adjacent to the rear of the receiving vehicle C, the movement request information is sent by the first transfer unit 22D of each receiving vehicle. Sequentially transferred.
That is, the movement request information is transmitted from the requesting vehicle A to the adjacent receiving vehicle C. Next, the movement request information is transferred from the reception-side vehicle C to the adjacent reception-side vehicle B. Next, the movement request information is transferred from the reception side vehicle B to the adjacent reception side vehicle E.
As a result, as shown in FIGS. 9B and 9C, the receiving-side vehicles E and C sequentially move to the empty space S in the same procedure as described above, and as shown in FIG. 9D, The requesting vehicle A leaves the parking lot 10.

As described above, according to the present embodiment, the host vehicle 24 has received the movement request information from the requesting vehicle requesting parking in the parking space 12 or leaving the parking space 12 by the communication unit 32. In the case of the side vehicle, the own vehicle 24 is moved to the empty space S by automatic driving control according to the control content determined based on the empty space information.
Accordingly, if the vehicle automatic driving control device 20A is mounted on the requesting vehicle and the receiving vehicle, the vehicle 24 is automatically parked in the parking space 12 and exited from the parking space 12 without requiring a driving operation by the driver. This can be done by driving control, which is advantageous in reducing the burden on the driver.
Further, since it is not necessary to install a management device that communicates with the vehicle 24 and controls the vehicle 24 in the parking lot 10, it is advantageous in reducing the facility cost of the parking lot 10.

In the present embodiment, when the movement condition is satisfied, the automatic driving unit 22E determines the control content of the own vehicle 24 based on the empty space information generated by the empty space information generating unit 27 of the own vehicle 24. I tried to do it.
Therefore, the vehicle automatic driving control device 20A for the requesting vehicle and the receiving vehicle only needs to execute limited processing such as determining the control content based on the empty space information around the vehicle, and the vehicle automatic driving control device is sufficient. This is advantageous in simplifying the control operation executed at 20A.

Further, in the present embodiment, when the own vehicle 24 is a reception-side vehicle and the movement condition is not satisfied, the other vehicle 24 parked around the own vehicle 24 is treated as another reception-side vehicle. The movement request information is transferred to the reception side vehicle by the first transfer unit 22D.
Therefore, when there are a plurality of reception-side vehicles, the reception-side vehicles sequentially move to the empty space S by automatic driving control based on the empty space information, so that the request-side vehicle A is parked or parked in the parking space 12. This is advantageous for smoothly leaving the space 12.

(Second Embodiment)
Next, a second embodiment will be described. In the following embodiments, the same parts and portions as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and description thereof is omitted.
In the first embodiment, by transferring the movement request information between the plurality of reception side vehicles, the automatic driving units 22E of the plurality of reception side vehicles respectively determine the control content based on the empty space information, The case where the reception side vehicle sequentially moves to the empty space S by the automatic driving control has been described.
On the other hand, in the second embodiment, the requesting vehicle communicates with each of the plurality of reception side vehicles on a one-to-one basis, so that the empty space information, the position information of the reception side vehicle, and the identification information of the reception side vehicle And the control contents of the plurality of reception side vehicles are determined on the basis of the information, and the control contents are transmitted to the plurality of reception side vehicles. This is different from the first embodiment in that it is moved sequentially.

Moreover, in 2nd Embodiment, the communication part 32 is comprised so that communication between the communication parts 32 of the some other vehicle 24 parked in the parking lot 10 is possible.
Moreover, the communication part 32 may communicate between the other vehicles 24 via the internet.
As shown in FIG. 10, in the vehicle automatic driving control apparatus 20B of the second embodiment, the ECU 22 includes a storage unit 23, an information acquisition unit 22A, a movement request unit 22B, a first response unit 22F, and a second response unit. 22G and automatic operation unit 22E are provided, and determination unit 22C and first transfer unit 22D of the first embodiment are not provided.
When the host vehicle 24 is a reception-side vehicle, the first response unit 22F transmits empty space information, reception-side vehicle position information, and reception-side vehicle identification information to the request-side vehicle through the communication unit 32. is there.
When the host vehicle 24 is the requesting vehicle, the second response unit 22G controls the reception side vehicle based on the empty space information received by the communication unit 32, the position information of the reception side vehicle, and the identification information of the reception side vehicle. And the control content is transmitted by the communication unit 32 to the reception-side vehicle.
Note that the position information of the reception-side vehicle is acquired from the navigation device 28.
Moreover, the identification information of the reception side vehicle is acquired through the communication unit 32 as follows. That is, in order to communicate between the vehicles 24 via the communication unit 32, each vehicle 24 is provided with identification information (ID information) for identifying the vehicle 24, and communication is performed using the identification information of each vehicle 24. And the vehicle 24 is specified.
When the host vehicle 24 is a requesting vehicle, the automatic driving unit 22E determines the control content of the requesting vehicle based on the empty space information generated by the empty space information generating unit 27 of the requesting vehicle.

(Operation when parking in the parking space 12)
Next, referring to the flowcharts of FIGS. 11 and 12 for the operation when the requesting vehicle A is parked in the parking space 12 of the parking lot 10 by automatic driving control, the explanatory diagrams of FIGS. 4A to 4D are diverted. To explain.
First, referring to FIG. 11, if the occupant of the requesting vehicle A visually recognizes that there is an empty space S in the parking lot 10, the requesting vehicle A stops before the entrance 14 and the operation unit 30. Is operated to request parking to the parking space 12 by the automatic driving control of the requesting vehicle A (step S100).
When the movement request unit 22B receives a control signal instructing parking in the parking space 12 from the operation unit 30 via the information acquisition unit 22A, the communication request unit 32 transmits movement request information indicating a request for parking to the parking space 12. It transmits to all the reception side vehicles BF in the parking lot 10 (step S102).

On the other hand, as shown in FIG. 12, the reception-side vehicle BF parked in the parking lot 10 is waiting for movement request information by the functioning communication unit 32 even when parked (step S130).
When the movement request information is received, the vehicle-mounted sensor 26 of each reception-side vehicle BF is detected (step S132), and empty space information is generated (step S134).
The first response unit 22F of the reception-side vehicle BF causes the requesting vehicle A to transmit the empty space information, position information, and identification information of the reception-side vehicle BF from the communication unit 32 (step S136).

As shown in FIG. 11, the requesting vehicle A waits for reception of empty space information, position information, and identification information of the receiving vehicle BF (step S104).
When the communication unit 32 of the requesting vehicle A receives the empty space information, position information, and identification information of the receiving vehicle BF, based on the received empty space information, position information, and identification information of the receiving vehicle BF. The second response unit 22G of the requesting vehicle A determines the control content of the reception side vehicle BF (step S106), and transmits the control content from the communication unit 32 to the reception side vehicle BF (step S108).
That is, the control content includes the control content for moving the reception-side vehicle F to the empty space S as shown in FIG. 4 (B) and the reception-side vehicle E as the empty space S as shown in FIG. 4 (C). Control content to be moved to. In this case, the control content related to the reception side vehicles B, C, and D that do not require movement to the empty space S is the content for maintaining the parking.

As shown in FIG. 12, the receiving side vehicles E and F are waiting for reception of control content by the communication unit 32 (step S138).
When the control content is received, the automatic driving unit 22E of the receiving side vehicles E and F moves the receiving side vehicles E and F to the empty space S by the automatic driving control according to the control content (step S140).
As a result, as shown in FIG. 4C, an empty space S is secured in the vicinity of the entrance / exit 14 which is the rear side of the requesting vehicle A.

As shown in FIG. 11, in the requesting vehicle A, detection by the in-vehicle sensor 26 is performed (step S109), and free space information is generated (step S110).
The automatic driving unit 22E of the requesting vehicle A determines the control content based on the empty space information (step S112), and moves the requesting vehicle A to the empty space S by automatic driving control according to the control content (step S114).
This completes the movement and parking of the requesting vehicle A to the parking space 12.

(Operation when leaving the parking space 12)
Next, the operation when the requesting vehicle A leaves the parking space 12 by automatic driving control will be described with reference to the flowcharts of FIGS. 13 and 14 and FIGS. 8A to 8D.
As shown in FIG. 13, the occupant of the requesting vehicle A operates the operation unit 30 to perform an exit request operation from the parking space 12 by the automatic driving control of the requesting vehicle A (step S160).
When the movement request unit 22B of the requesting vehicle A receives a control signal instructing to leave the parking space 12 from the operation unit 30 via the information acquisition unit 22A, the movement request information indicating a request to leave the parking space 12 Is transmitted to all the reception side vehicles BF in the parking lot 10 by the communication unit 32 (step S162).

On the other hand, as shown in FIG. 14, the reception-side vehicle BF parked in the parking lot 10 is waiting for movement request information by the communication unit 32 (step S180).
When the movement request information is received, detection by the in-vehicle sensor 26 is performed (step S182), and free space information is generated (step S184).
The first response unit 22F of the reception-side vehicle BF causes the requesting vehicle A to transmit the empty space information, the position information, and the identification information of the reception-side vehicle BF from the communication unit 32 (Step S186).

As shown in FIG. 13, the request-side vehicle A waits for reception of empty space information, position information of the reception-side vehicle BF, and identification information of the reception-side vehicle (step S164).
When receiving the vacant space information of the reception side vehicle BF, the location information of the reception side vehicle, and the identification information of the reception side vehicle, the second response unit 22G receives the vacant space of the reception side vehicle BF received by the communication unit 32. The control content of the reception side vehicle BF is determined based on the information, the position information of the reception side vehicle, and the identification information of the reception side vehicle (step S166), and the control content is transmitted from the communication unit 32 to the reception side vehicle BF. (Step S168).
That is, the control content includes the control content for moving the reception side vehicle E to the outside of the parking lot 10 as shown in FIG. 8B and the reception side vehicle F as shown in FIG. 8C. Control contents to be moved to the outside of the parking lot 10. In this case, the control content related to the reception side vehicles B, C, and D that do not require movement to the empty space S is the content for maintaining the parking.

As shown in FIG. 14, the reception-side vehicles E and F are waiting for reception of control content by the communication unit 32 (step S188).
When the control content is received, the automatic driving unit 22E of the reception side vehicles E and F moves the reception side vehicle to the empty space S by automatic driving control according to the control content (step S190).
At this time, the automatic driving unit 22E of the reception side vehicles E and F stores the movement route information of the reception side vehicles E and F in the storage unit 23, respectively (step S192).
As a result, an empty space S is secured between the requesting vehicle A and the entrance / exit 14 as shown in FIG.

As shown in FIG. 13, in the requesting vehicle A, detection by the in-vehicle sensor 26 is performed (step S169), and free space information is generated (step S170).
The automatic driving unit 22E of the requesting vehicle A determines the control content based on the empty space information (step S172), and moves the requesting vehicle A to the empty space S outside the doorway 14 by automatic driving control according to the control content. (Step S174).
This completes the exit of the requesting vehicle A from the parking space 12.
When the exit of the request side vehicle A from the parking space 12 is completed, the automatic operation unit 22E of the reception side vehicles E and F, as shown in FIG. It is determined whether or not A has left the parking space 12 (parking lot 10) (step S194).
If it is determined that the request side vehicle A has left, the automatic driving unit 22E of the receiving side vehicles E and F receives the receiving side vehicles E and F by automatic driving control based on the movement route information stored in the storage unit 23. Is moved back to the original position (step S196), and a series of processing ends.

  In the second embodiment, as in the first embodiment, the number of reception-side vehicles to be moved when the request-side vehicle is parked or exited and the movement route thereof are the same as those in the parking lot 10. It changes depending on various conditions such as the layout of the space 12 and the relative positional relationship between the requesting vehicle and the position of the empty space S, and the number of receiving vehicles and the movement route are not limited.

According to the second embodiment, as in the first embodiment, automatic driving control is performed for parking the vehicle 24 in the parking space 12 and leaving the parking space 12 without requiring a driver's driving operation. This is advantageous in reducing the burden on the driver, and since there is no need to install a management device in the parking lot 10, it is advantageous in reducing the equipment cost of the parking lot 10.
Further, according to the second embodiment, the requesting vehicle acquires the empty space information, the position information, and the identification information of the receiving vehicle, determines the control content of the receiving vehicle, and receives the control content of the vehicle. Since the transmission to the vehicle is performed collectively, the time required for transmitting and receiving the information can be shortened compared with the case where the information is transferred in a plurality of reception side vehicles, and parking in the parking space 12 and exiting from the parking space 12 are performed. This is advantageous in reducing the time required for the process.

In addition, according to the second embodiment, when the host vehicle 24 is a requesting vehicle, the automatic driving unit 22E determines the own vehicle 24 based on the vacant space information generated by the vacant space information generating unit 27 of the host vehicle 24. The control content of the vehicle 24 is determined.
Therefore, the control content of the requesting vehicle A can be determined by a simple process, which is advantageous in simplifying the control of the vehicle automatic driving control device 20B.

(Third embodiment)
Next, a third embodiment will be described.
As shown in FIG. 15, the automatic driving control device for a vehicle 20C of the third embodiment is a modification of the first embodiment, and as shown in FIG. It differs from the first embodiment in that it is parked in a parking space 42 for parallel parking provided on a road or a parking lot by control, or is exited from the parking space 42 for parallel parking. Is the same as in the first embodiment.
As shown in FIG. 15, the vehicle automatic driving control device 20C includes an information acquisition unit 22A, a movement request unit 22B, a determination unit 22C, and an automatic driving unit 22E, as in the first embodiment. In addition, a second transfer unit 22H is provided instead of the first transfer unit 22D of the first embodiment.

When the host vehicle 24 is a reception-side vehicle, the second transfer unit 22H treats the other vehicle 24 parked before and after the host vehicle 24 as another reception-side vehicle and transfers the movement request information to the other reception-side vehicle. To do.
That is, the first transfer unit 22D of the first embodiment transfers the movement request information to another reception-side vehicle when the movement condition is satisfied, but the second transfer unit 22H of the second embodiment The movement request information is transferred to the other reception side vehicle regardless of whether the movement condition is satisfied or not.
Further, when the host vehicle 24 is a requesting vehicle, the automatic driving unit 22E moves the host vehicle 24 by automatic driving control so that the empty space S is used to exit the parking space 42 for parallel parking. .
In 3rd Embodiment, it is necessary for 20 C of automatic driving | operation control apparatuses for vehicles to recognize beforehand that the parking space is the space 42 for parallel parking. For example, the operation unit 30 may recognize that the parking space is a parallel parking space 42, or the parking space may be a parallel parking space based on the detection result of the camera unit 2602 of the in-vehicle sensor 26. You may make it recognize that it is 42.

(Operation when parking in the parking space 42 for parallel parking)
Next, the operation when the requesting vehicle is parked in the parking space 42 for parallel parking by automatic driving control will be described with reference to the flowcharts of FIGS. 16 and 17 and the explanatory diagrams of FIGS. . In the following description, the case where the parking space 42 for parallel parking is provided on the road 40 will be described. However, the parking space 42 for parallel parking can be any place such as a parking lot or an open space.
As shown in FIG. 18A, in the parking space 42 for parallel parking, two motorcycles 44 are parked in parallel at intervals in the direction in which the road 40 extends. A parking space 42 for parallel parking for five vehicles is secured in between, and four reception-side vehicles B, C, D, and E are already parked in parallel in the parking space 42 for parallel parking.
And although there is a small empty space S between the two motorcycles 44 and the reception side vehicles B, C, D, E, each empty space S is a space sufficient for the transmission side vehicle A to move and park. Narrower than that, the requesting vehicle A cannot be parked.

As shown in FIG. 16, when the occupant of the requesting vehicle A stops the requesting vehicle A to the side of the receiving vehicle C, the occupant of the requesting vehicle A operates the operation unit 30 to perform parallel parking by automatic driving control of the requesting vehicle A. The parking request to the parking space 42 is performed (step S200).
When the movement request unit 22B of the requesting vehicle A receives a control signal instructing movement from the operation unit 30 to the parking space 42 for parallel parking via the information acquisition unit 22A, the movement request unit 22B to the parking space 42 for parallel parking Movement request information indicating a request for movement is transmitted to the reception-side vehicle C by the communication unit 32 (step S202).

On the other hand, as shown in FIG. 17, the reception-side vehicle C adjacent to the request-side vehicle A waits for movement request information by the functioning communication unit 32 even when parked (step S220).
When the movement request information is received, detection by the in-vehicle sensor 26 is performed (step S222), and free space information is generated (step S224).
The 2nd transfer part 22H of reception side vehicle C transfers movement request information to other reception side vehicles B and D adjacent to reception side vehicle C via communication part 32 (Step S226).
Similarly to the reception side vehicle C, the reception side vehicles B and D are also waiting for the movement request information by the functioning communication unit 32 even when parked (step S220).
When the movement request information is received by the receiving side vehicles B and D, detection by the in-vehicle sensor 26 is performed (step S222), and empty space information is generated (step S224).
The second transfer unit 22H of the reception side vehicle D transfers the movement request information to another reception side vehicle E adjacent to the reception side vehicle D via the communication unit 32 (step S226).
Even if the reception-side vehicle E is parked, the communication unit 32 that functions is waiting for movement request information (step S220).
When the movement request information is received by the reception-side vehicle E, detection by the in-vehicle sensor 26 is performed (step S222), and free space information is generated (step S224).
Accordingly, as shown in FIGS. 18B and 18C, the automatic driving unit 22E of the reception side vehicles B, C, D, and E performs the reception side vehicle B according to the control content determined based on the empty space information. , C, D, E are moved to the empty space S by automatic operation control (step S228).

Further, as shown in FIG. 16, in the requesting vehicle A, after the movement condition is not satisfied (step S208), the process returns to step S204 and the same process is repeated.
When the reception side vehicles B, C, D, and E move to the empty space S and a large empty space S1 is secured on the side of the requesting vehicle A, the moving condition is satisfied (step S208). As shown in FIG. 18D, the vehicle A moves the requesting vehicle A to the empty space S1 by the automatic driving control according to the control content determined by the automatic driving unit 22E based on the empty space information (step S210). .
This completes the movement and parking of the requesting vehicle A to the parking space 42 for parallel parking.

In addition, in this example, the case where all the reception side vehicles B, C, D, and E move by transferring the movement request information using the second transfer unit 22H of the reception side vehicles B, C, and D has been described. .
However, as shown in FIGS. 19 (A), (B), and (C), a large empty space S1 sufficient for the requesting vehicle A to park as a result of the movement of one receiving vehicle C is that of the receiving vehicle 24C. When it is secured in the front (or behind), the transfer request information is not transferred using the second transfer unit 22H.
That is, when the requesting vehicle is parked in the parking space 42 for parking parallel parking, the number of the receiving vehicles to be moved and the moving distance thereof are determined before and after the receiving vehicle parked in the parking space 42 for parking parking. It varies depending on various conditions such as the size of the empty space S formed in the vehicle and the positional relationship between the requesting vehicle and the receiving vehicle.

(Operation when leaving the parking space 42 for parallel parking)
Next, the operation when the requesting vehicle leaves the parking space 42 for parallel parking by automatic driving control will be described with reference to the flowcharts of FIGS. 20 and 21 and the explanatory diagrams of FIGS. 22 (A) to (D). .
As shown in FIG. 22 (A), two motorcycles 44 are parked in the parking space 42 for parallel parking at intervals in the road extending direction. Four parking spaces 42 for parallel parking are secured, and four vehicles, request side vehicle A and reception side vehicles B, C, D, are already parked in the parallel parking space 42. .
And although there are empty spaces S before and after the requesting vehicle A, these empty spaces S are narrower than the space where one requesting vehicle A can move out of the parking space 42 for parallel parking and leave. Then, the requesting vehicle A is in a state where it cannot leave the parking space 42 for parallel parking.

As shown in FIG. 20, the occupant of the requesting vehicle A operates the operation unit 30 to perform an exit request operation from the parking space 42 for parallel parking by automatic driving control of the host vehicle 24 (step S240).
When the movement request unit 22B of the requesting vehicle A receives a control signal instructing exit from the parallel parking parking space 42 from the operation unit 30 via the information acquisition unit 22A, the movement request unit 22B from the parallel parking parking space 42 receives the control signal. Movement request information indicating an exit request is transmitted to the reception side vehicles C and D by the communication unit 32 (step S242).

On the other hand, as shown in FIG. 22, the reception side vehicle C adjacent to the front side of the requesting vehicle A and the reception side vehicle D adjacent to the rear side are parked in the parallel parking parking space 42 by the communication unit 32. Waiting for information (step S270).
When the movement request information is received by the reception side vehicles C and D, detection by the in-vehicle sensor 26 is performed (step S272), and empty space information is generated (step S274).
The 2nd transfer part 22H of reception side vehicle C transfers movement request information to other reception side vehicles B adjacent to reception side vehicle C via communication part 32 (Step S276).
Similarly to the reception-side vehicle C, the reception-side vehicle B waits for movement request information by the functioning communication unit 32 even when it is parked (step S270).
When the movement request information is received by the reception-side vehicle B, detection by the in-vehicle sensor 26 is performed (step S222), and free space information is generated (step S274).
Therefore, as shown in FIGS. 22 (B) and 22 (C), the receiving side vehicles B, C, D according to the control content determined based on the empty space information by the automatic driving unit 22E of the receiving side vehicles B, C, D. D is moved to the empty space S by automatic operation control (step S278).
As the reception side vehicles B, C, and D move to the empty space S, large empty spaces S1 and S2 are secured in front of or behind the requesting vehicle A.

As shown in FIG. 20, in the requesting vehicle A, after the movement condition is not satisfied (step S248), the process returns to step S244 and the same processing is repeated.
When large empty spaces S1 and S2 are secured in front of or behind requesting vehicle A, the moving condition is satisfied (step S248), and automatic driving unit 22E of requesting vehicle A is shown in FIG. 22 (D). As described above, the requesting vehicle A is moved to the front empty space S1 or the rear empty space S2 by the automatic operation control according to the control content determined based on the empty space information (step S250), and further the requesting vehicle A is automatically By driving control, the vehicle is moved out of the parallel parking space 42 (step S252).
This completes the exit of the requesting vehicle A from the parking space 42 for parallel parking.

In addition, in this example, the case where all the reception side vehicles B, C, and D move by transferring the movement request information using the second transfer unit 22H has been described.
However, as shown in FIGS. 23 (A), (B), and (C), an empty space S1 that is sufficient for the requesting vehicle A to leave when the one receiving vehicle C moves is in front of the receiving vehicle 24C. (Or behind), the movement request information is not transferred using the second transfer unit 22H.
That is, when the requesting vehicle leaves the parking space 42 for parking parallel parking, the number of the receiving vehicles to be moved and the moving distance thereof are the front and rear of the requesting vehicle parked in the parking space 42 for parking parallel parking. And the size of the empty space S formed before and after the reception-side vehicle and the positional relationship between the request-side vehicle and the reception-side vehicle.

According to the third embodiment, the parking space 42 where the host vehicle 24 is about to park is the parking space 42 for parallel parking, or the parking space 42 where the host vehicle 24 is about to leave is for parallel parking. Even in the case of the parking space 42, the same effect as in the first embodiment can be obtained.
Further, according to the third embodiment, the second transfer unit 22H treats the other vehicle 24 parked in front of and behind the host vehicle 24 as another reception side vehicle, and sends the movement request information to the other reception side vehicle. Therefore, even if there are a plurality of other vehicles 24 in the parking space 42 for parallel parking, the other vehicle 24 (other reception side vehicle) is free space S by automatic driving control based on the empty space information. Therefore, it is advantageous to smoothly park the requesting vehicle A in the parking space 42 for parallel parking or leave the parking space 42 for parallel parking.

  Further, according to the third embodiment, the automatic driving unit 22E of the requesting vehicle A automatically uses the empty space S to automatically move the requesting vehicle A so as to leave the parallel parking parking space 42. Since it is moved by the driving control, it is advantageous to smoothly exit the requesting vehicle A from the parking space 42 for parallel parking.

(Fourth embodiment)
Next, a fourth embodiment will be described.
The automatic driving control device for a vehicle according to the fourth embodiment is a modification of the second embodiment, and the vehicle 24 is parked in the parking space 42 for parallel parking on the road by automatic driving control, or the vertical driving is controlled. The point which makes it leave from the parking space 42 for parking differs from 2nd Embodiment, and the other point is the same as that of 2nd Embodiment.
Referring to FIG. 10, the vehicle automatic driving control device 20D is similar to the second embodiment in that the information acquisition unit 22A, the movement request unit 22B, the first response unit 22F, the second response unit 22G, An automatic operation unit 22E is provided.
In the fourth embodiment as well, as in the third embodiment, the parking space 42 for parallel parking is determined by the operation of the operation unit 30 or the detection result by the camera unit 2602 of the in-vehicle sensor 26. The vehicle automatic driving control device 20D is configured to recognize that it is a space for parallel parking.

(Operation when parking in the parking space 42 for parallel parking)
Next, regarding the operation when the requesting vehicle is parked in the parking space 42 for parallel parking by automatic driving control, refer to the flowcharts of FIGS. 24 and 25 and divert the explanatory diagrams of FIGS. I will explain.
As shown in FIG. 24, when the occupant of the requesting vehicle A stops the requesting vehicle A to the side of the receiving vehicle C, the occupant performs parallel parking by operating the operation unit 30 and performing automatic driving control of the requesting vehicle A. A parking request to the parking space 42 is performed (step S300).
When the movement request unit 22B of the requesting vehicle A receives a control signal instructing parking from the operation unit 30 to the parking space 42 for parallel parking via the information acquisition unit 22A, the movement request unit 22B to the parking space 42 for parallel parking Movement request information indicating a request for parking is transmitted by the communication unit 32 to all the reception side vehicles BE parked in the parking space 42 for parallel parking (step S302).

On the other hand, as shown in FIG. 25, the reception-side vehicle BE that is parked in the parallel parking space 42 is waiting for the movement request information by the functioning communication unit 32 even when it is parked (step). S320).
When the movement request information is received, detection by the in-vehicle sensor 26 of the reception-side vehicle BE is performed (step S322), and empty space information is generated (step S324).
The first response unit 22F of the reception-side vehicle BE causes the communication unit 32 to transmit the empty space information, position information, and identification information of the reception-side vehicle BE to the requesting vehicle A (Step S326).

As shown in FIG. 24, the requesting vehicle A waits for reception of empty space information, position information, and identification information of the receiving vehicle BE (step S304).
When the communication unit 32 of the requesting vehicle A receives the empty space information, position information, and identification information of the receiving vehicle BE, the second response unit 22G of the requesting vehicle A receives the empty space information received by the communication unit 32. Based on the position information and the identification information, the control content of the reception-side vehicle BE is determined (step S306), and the control content is transmitted from the communication unit 32 to the reception-side vehicle BE (step S308).
That is, the above control contents include the control contents for moving the reception side vehicles B and E to the empty space S as shown in FIG. 18B, and the reception side vehicles C and D as shown in FIG. 18C. And control contents for moving to the empty space S.

As shown in FIG. 25, the reception-side vehicle BE waits for reception of control content by the communication unit 32 (step S328).
When the control content is received, the automatic driving unit 22E of the reception-side vehicle BE moves the reception-side vehicle BE to the empty space S by automatic driving control according to the control content (Step S330).
As a result, as shown in FIG. 18C, a large empty space S1 is secured on the side of the requesting vehicle A.

As shown in FIG. 24, in the requesting vehicle A, detection by the in-vehicle sensor 26 is performed (step S310), and empty space information is generated (step S312).
The automatic driving unit 22E of the requesting vehicle A determines the control content based on the empty space information (step S314), and moves the requesting vehicle A to the empty space S by automatic driving control according to the control content (step S316).
This completes the movement and parking of the requesting vehicle A to the parking space 42 for parallel parking.

(Operation when leaving the parking space 42 for parallel parking)
Next, referring to the flowcharts of FIGS. 26 and 27, the operation when the requesting vehicle A (requesting vehicle) leaves the parallel parking parking space 42 by the automatic driving control will be described with reference to FIGS. This will be explained.
As shown in FIG. 26, the occupant of the requesting vehicle A operates the operation unit 30 to perform an exit request operation from the parallel parking parking space 42 by the automatic driving control of the requesting vehicle A (step S340). .
When the movement request unit 22B of the requesting vehicle A receives a control signal instructing exit from the parallel parking parking space 42 from the operation unit 30 via the information acquisition unit 22A, the movement request unit 22B from the parallel parking parking space 42 receives the control signal. The movement request information indicating the request for leaving is transmitted to all the reception side vehicles BE parked in the parking space 42 for parallel parking by the communication unit 32 (step S342).

On the other hand, as shown in FIG. 27, the parking-side reception vehicle BD waits for movement request information by the communication unit 32 (step S360).
In the reception-side vehicle BD, when the movement request information is received, detection by the in-vehicle sensor 26 is performed (step S362), and empty space information is generated (step S364).
In the reception side vehicle BD, the first response unit 22F causes the request unit vehicle A to transmit the empty space information, position information, and identification information of the reception side vehicle BD from the communication unit 32 (step S366).

As shown in FIG. 26, the requesting vehicle A waits for reception of empty space information, position information, and identification information of the receiving vehicle BD (step S344).
When the communication unit 32 of the requesting vehicle A receives the vacant space information, the position information, and the identification information of the receiving vehicle BD, the second response unit 22G receives the vacant space information, the position information, and the identification information. The control content of the side vehicle BD is determined (step S346), and the control content is transmitted from the communication unit 32 to the reception side vehicle BD (step S348).
That is, the above control contents include the control contents for moving the reception side vehicles B and D to the empty space S as shown in FIG. 22B and the reception side vehicle C as empty as shown in FIG. Control contents to be moved to the space S.

As shown in FIG. 27, the reception-side vehicle BD waits for reception of control content by the communication unit 32 (step S368).
When the control content is received, the automatic driving unit 22E of the reception-side vehicle BD moves the reception-side vehicle to the empty space S by automatic driving control according to the control content (step S370).
As the reception side vehicles B, C, and D move to the empty space S, large empty spaces S1 and S2 are secured in front of or behind the requesting vehicle A.

As shown in FIG. 28, in the requesting vehicle A, detection by the in-vehicle sensor 26 is performed (step S350), and empty space information is generated (step S352).
The automatic driving unit 22E of the requesting vehicle A determines the control content based on the empty space information (Step S354), and the requesting vehicle A is automatically operated by the automatic driving control according to the control content, so that the front empty space S1 or the rear empty space S2 is determined. (Step S356), and the requesting vehicle A is moved out of the parking space 42 for parallel parking by automatic driving control (Step S358).
This completes the exit of the requesting vehicle A from the parking space 42 for parallel parking.

  Also in the fourth embodiment, as in the third embodiment, the requesting vehicle A is parked in the parking space 42 for parking parallel parking or exits from the parking space 42 for parking parking. The number of reception-side vehicles to be moved and the movement route thereof vary depending on various conditions, and the number of reception-side vehicles and the movement route are not limited.

  According to the fourth embodiment, even when the parking space is the parking space 42 for parallel parking, the same effects as those of the second embodiment are achieved.

DESCRIPTION OF SYMBOLS 10 Parking lot 12 Parking space 20A-20D Automatic driving control apparatus 22 for vehicles 22 ECU
22A Information acquisition unit 22B Movement request unit 22C Determination unit 22D First transfer unit 22E Automatic operation unit 22F First response unit 22G Second response unit 22H Second transfer unit 24 Vehicle 26 Vehicle-mounted sensor 27 Free space information generation unit 30 Operation unit 32 Communication part 42 Parking space A for parallel parking Request vehicle BF Reception vehicle

Claims (7)

An empty space information generating unit for generating empty space information relating to an empty space in which the host vehicle can move around the host vehicle;
When the own vehicle is a reception-side vehicle that has received movement request information transmitted from a request-side vehicle that requests parking in a parking space or leaving the parking space, the vehicle is determined based on the empty space information. An automatic driving unit for moving the host vehicle to the empty space by automatic driving control according to the control content;
An automatic driving control device for a vehicle, comprising: A determination unit that determines whether a predetermined movement condition is satisfied based on the empty space information;
When the movement condition is satisfied, the automatic driving unit determines the control content of the host vehicle based on the empty space information generated by the empty space information generation unit of the host vehicle.
The automatic driving control apparatus for a vehicle according to claim 1. When the host vehicle is the reception side vehicle and the moving condition is not satisfied, the other vehicle parked around the host vehicle is treated as another reception side vehicle and the other reception side vehicle A first transfer unit that transfers the movement request information;
The automatic driving control apparatus for a vehicle according to claim 2. When the host vehicle is the reception-side vehicle, a second transfer unit that treats another vehicle parked before and after the host vehicle as another reception-side vehicle and transfers the movement request information to the other reception-side vehicle. Comprising
The automatic driving control apparatus for a vehicle according to claim 2. A first response unit that transmits the empty space information, the position information of the reception side vehicle, and the identification information of the reception side vehicle to the requesting vehicle;
The control content of the reception side vehicle is determined based on the received empty space information, the position information of the reception side vehicle, and the identification information of the reception side vehicle, and the control content is transmitted to the reception side vehicle. 2 response units,
The automatic driving control apparatus for a vehicle according to claim 1. When the host vehicle is the requesting vehicle, the automatic driving unit determines the control content of the host vehicle based on the empty space information generated by the empty space information generating unit of the host vehicle.
The automatic driving control device for a vehicle according to claim 5. When the host vehicle is the requesting vehicle, the automatic driving unit moves the host vehicle by automatic driving control so as to leave the parking space using the empty space.
The automatic driving control apparatus for a vehicle according to claim 1.

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