JP2019018796A - Parking control method and parking control device - Google Patents

Abstract

To notify people outside the vehicle of start of movement of a vehicle V.SOLUTION: A parking control method for moving and parking a vehicle V in a parking route controls a steering device 50 of the vehicle V to execute a steering command when the vehicle V transfers to a first state where the vehicle is in stopping to a second state of starting movement.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parking control method and a parking control device.

  A technique for performing a notification operation to the outside of a vehicle using an LED or a speaker at the start of unmanned traveling is known (Patent Document 1).

Japanese Patent No. 4754883

  However, in the conventional parking control, since the vehicle transmits after the notification operation to the outside of the vehicle is executed, it is difficult to understand the timing at which the vehicle starts to move.

  The problem to be solved by the present invention is to make it easy for a person outside the vehicle to know the timing at which the vehicle starts to move.

  The present invention solves the above problem by steering the vehicle when shifting from the first state in which the vehicle is stopped to the second state in which movement is started.

  According to the present invention, the timing at which the vehicle starts to move can be easily shown to a person outside the vehicle.

FIG. 1 is a block diagram showing an example of a parking control system according to the present embodiment according to the present invention. FIG. 2 is a flowchart illustrating an example of a control procedure of the parking control system according to the present embodiment. FIGS. 3A and 3B are diagrams for explaining a first example of a parking route calculation method according to the present embodiment. FIG. 4 shows an example of the subroutine of step 106. FIG. 5A is a diagram for explaining a control command according to the first aspect of this embodiment. FIG. 5B is a flowchart for explaining the execution of the control command according to the first aspect of the present embodiment. FIG. 6A is a diagram for explaining a control command according to the second mode of this embodiment. FIG. 6B is a flowchart for explaining the execution of the control command according to the second mode of this embodiment. FIG. 7A is a diagram for explaining a control command according to the third aspect of the present embodiment. FIG. 7B is a flowchart for explaining execution of a control command according to the third aspect of the present embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In this embodiment, a case where the parking control device according to the present invention is applied to a parking control system will be described as an example. The parking control device may be applied to a portable operation terminal (a device such as a smartphone or a PDA: Personal Digital Assistant) capable of exchanging information with the in-vehicle device. Further, the parking control method according to the present invention can be used in a parking control device described later.

  FIG. 1 is a block diagram of a parking control system 1000 having a parking control device 100 according to an embodiment of the present invention. The parking control system 1000 of the present embodiment includes a camera 1a to 1d, a distance measuring device 2, an information server 3, an operation terminal 5, a parking control device 100, a vehicle controller 70, a drive system 40, and a steering angle. A sensor 50a and a vehicle speed sensor 60 are provided. The parking control device 100 according to the present embodiment controls an operation of moving (parking) the vehicle V that is a control target in the parking space based on the operation command input from the operation terminal 5.

  The operation terminal 5 is a computer having a portable input function and a communication function that can be taken out of the vehicle V. The operation terminal 5 receives an input of an operation command from the operator M for controlling the driving (motion) of the vehicle V that is a parking target. Driving includes parking (incoming and outgoing) operations. The operator M inputs a command including an operation command for executing parking through the operation terminal 5. The operation command includes information necessary for parking control execution / stop, target parking space selection / change, parking route selection / change, and the like. The operator M can cause the parking control device 100 to recognize (input) an instruction including an operation command by using the gesture of the operator M without using the operation terminal 5.

The operation terminal 5 includes a communication device and can exchange information with the parking control device 100 and the information server 3. The operation terminal 5 transmits an operation command input outside the vehicle to the parking control device 100 via the communication network, and causes the parking control device 100 to input the operation command. The operation terminal 5 communicates with the parking control device 100 using a signal including a unique identification symbol.
The operation terminal 5 includes a display 53. The display 53 presents an input interface and various information. When the display 53 is a touch panel type display, it has a function of receiving an operation command.
The operation terminal 5 receives an input of an operation command used in the parking control method of the present embodiment, and is a smartphone installed with an application for sending the operation command to the parking control device 100, a portable device such as a PDA: Personal Digital Assistant. It may be a type of device.

  The information server 3 is an information providing device provided on a communicable network. The information server includes a communication device 31 and a storage device 32. The storage device 32 includes readable map information 33, parking lot information 34, and obstacle information 35. The parking control device 100 and the operation terminal 5 can access the storage device 32 of the information server 3 and acquire each information.

  The parking control device 100 of this embodiment includes a control device 10, an input device 20, and an output device 30. Each component of the parking control device 100 is connected by a CAN (Controller Area Network) or other vehicle-mounted LAN in order to exchange information with each other. The input device 20 includes a communication device 21. The communication device 21 receives the operation command transmitted from the external operation terminal 5 and inputs it to the input device 20. The subject who inputs the operation command to the external operation terminal 5 may be a human (user, occupant, driver, parking facility worker). The input device 20 transmits the received operation command to the control device 10. The output device 30 includes a display 31. The output device 30 transmits parking control information to the driver. The display 31 of the present embodiment is a touch panel type display having an input function and an output function. When the display 31 has an input function, the display 31 functions as the input device 20. Even when the vehicle V is controlled based on an operation command input from the operation terminal 5, an occupant can input an operation command such as an emergency stop via the input device 20.

  The control device 10 of the parking control device 100 of the present embodiment includes a ROM 12 that stores a parking control program, and an operation circuit that functions as the parking control device 100 of the present embodiment by executing the program stored in the ROM 12. And a RAM 13 that functions as an accessible storage device.

  The parking control program according to the present embodiment controls the parking of the vehicle V according to a control command including a steering command for steering the vehicle V when the vehicle V shifts from the first state where the vehicle V is stopped to the second state where the movement is started. Includes a program that executes The parking control program is executed by the control device 10 of the parking control device 100 of the present embodiment.

The parking control device 100 of the present embodiment is of a remote control type that sends an operation command from the outside, controls the movement of the vehicle V, and parks the vehicle V in a predetermined parking space. The occupant may be outside the passenger compartment or in the passenger compartment.
The parking control device 100 of the present embodiment may be an automatic control type in which a steering operation and an accelerator / brake operation are automatically performed. The parking control device 100 may be a semi-automatic type in which a steering operation is automatically performed and an accelerator / brake operation is performed by a driver.
In the parking control program of the present embodiment, the user may arbitrarily select the target parking space, or the parking control device 100 or the parking facility side may automatically set the target parking space.

  The control device 10 of the parking control device 100 according to the present embodiment has a function of executing a parking route calculation process, a control command calculation process, and a parking control process. The control device 10 further includes a function of executing an obstacle detection process and calculating a parking route in consideration of the position of the obstacle. Each process described above is executed by cooperation of software for realizing each process and the hardware described above.

  The control device 10 calculates a parking route RT and a control command for moving the vehicle V according to the parking route RT. The control command includes a speed when moving on the parking route RT, acceleration / deceleration, execution position (timing) of acceleration / deceleration control, a turning point, a steering amount, and the like.

  The control command of the present embodiment includes a steering control command for steering the vehicle V when shifting from the first state in which the vehicle V is stopped to the second state in which movement is started. When the steering command is executed by the steering device 50 of the vehicle V when the movement starts from the state where the vehicle V is stopped, the tire is steered when the vehicle V starts to move, and the tire can be moved. The tire can be visually recognized by a person located outside the vehicle. A person outside the vehicle in which the vehicle V is in sight can predict that there is a change in the movement of the vehicle V by looking at the movement of the tire. By including a steering control command for notifying the start of movement in the control command for executing the parking process, it is possible to notify a person outside the vehicle that the vehicle V starts to move. The steering wheel may be rotated in accordance with the movement of the tire. A person outside the vehicle can also see the movement of the steering wheel in the vehicle interior, and it is easier to predict that there is a change in the movement of the vehicle V.

Hereinafter, the control procedure of parking control will be described based on the flowchart shown in FIG.
FIG. 2 is a flowchart showing a control procedure of parking control processing executed by the parking control system 1000 according to the present embodiment. The trigger for starting the parking control process is not particularly limited, and may be that the start switch of the parking control device 100 is operated.

  The parking control device 100 of the present embodiment has a function of automatically moving the vehicle V to a parking space based on an operation command acquired from outside the vehicle.

  In step 101, the control device 10 of the parking control device 100 according to the present embodiment acquires distance measurement signals by the distance measurement devices 2 attached to a plurality of locations of the vehicle V. The control device 10 acquires captured images captured by the cameras 1a to 1d attached to a plurality of locations of the vehicle V, respectively. Although not particularly limited, the camera 1a is disposed on the front grill portion of the vehicle V, the camera 1d is disposed in the vicinity of the rear bumper, and the cameras 1b and 1c are disposed below the left and right door mirrors. As the cameras 1a to 1d, cameras having wide-angle lenses with a large viewing angle can be used. The cameras 1a to 1d capture images of the boundaries of the parking space around the vehicle V and objects existing around the parking space. The cameras 1a to 1d are CCD cameras, infrared cameras, and other imaging devices.

In step 102, the control device 10 detects a parking space where parking is possible. The control apparatus 10 detects the frame (area | region) of a parking space based on the captured image of the cameras 1a-1d. The control device 10 detects a free parking space using the detection data of the distance measuring device 2 and the detection data extracted from the captured image. The control device 10 detects a parking space that is an empty vehicle (no other vehicle is parked) in the parking space and that can calculate a route for completing parking as a parking space.
In this embodiment, the fact that the parking route can be calculated means that the locus of the route from the current position to the target parking space can be drawn on the road surface coordinates without interfering with obstacles (including parked vehicles).

  In step 103, the control device 10 transmits the parking available space to the operation terminal 5, displays it on the display 53, and requests the operator M to input target parking space selection information for parking the vehicle V. The target parking space may be automatically selected by the control device 10 or the parking facility side. When an operation command specifying one parking space is input to the operation terminal 5, the parking space is set as the target parking space.

  In this embodiment, in step 104, the passenger is dismounted. Thereafter, the vehicle V is moved to the target parking space by remote control. The target parking space may be selected after the passenger gets off the vehicle.

  In step 106, the control device 10 detects the presence of an obstacle and the position of the obstacle. Obstacles include parking lot walls, pillars and other structures, installations around the vehicle, pedestrians, other vehicles, parked vehicles, and the like. The control device 10 detects an obstacle based on the detection results of the plurality of distance measuring devices 2 provided on the vehicle V and the captured image of the camera 1. The distance measuring device 2 detects the presence / absence of an object, the position of the object, the size of the object, and the distance to the object based on the received signal of the radar device. The presence / absence of the object, the position of the object, the size of the object, and the distance to the object are detected based on the captured images of the cameras 1a to 1d. In addition, you may perform the detection of an obstruction using the technique of the motion stereo by the cameras 1a-1d. This detection result is used to determine whether or not the parking space is vacant (whether or not it is parked). Further, the control device 10 can detect an obstacle including a structure such as a wall or a pillar of the parking lot based on the parking lot information 34 acquired from the storage device 32 of the information server 3. The parking lot information includes location information of each parking lot (parking lot), an identification number, a passage, a pillar, a wall, and a storage space in the parking facility. The information server 3 may be managed by a parking lot.

In step 106, the control device 10 calculates a parking route from the stop position of the vehicle V to the target parking space. The parking route includes a turning point necessary for moving to the parking space. At this time, the parking route is defined as a line, and is defined as a band-shaped area corresponding to the occupied area of the vehicle V corresponding to the vehicle width. The occupation area of the vehicle V is defined in consideration of the vehicle width and a margin width secured for movement.
In this step, the control device 10 calculates a control command for the vehicle V for moving the vehicle V on the parking route. The control command includes an operation command for any one or more of the steering amount, steering speed, steering acceleration, shift position, speed, acceleration, and deceleration of the vehicle V. Further, the control command includes the execution timing or execution position of the operation command of the vehicle V.

  In particular, the control command of the present embodiment includes a steering command that is executed by the steering device 50 of the vehicle V when the vehicle V shifts from the first state where the vehicle V is stopped to the second state where the movement is started. The steering command in the present embodiment is executed during the period from the first state to the second state. This is different from the steering command except during the period from the first state to the second state. The steering command in the present embodiment is a steering command that is executed from the stop state to the predetermined speed.

  An example of a general parking route RT is shown in FIG. 3A, and an example of the parking route RT of the present embodiment is shown in FIG. As shown in FIGS. 3A and 3B, the vehicle V at the parking control start point VS moves along the parking route RT to the turn-back point VT, and further moves along the parking route RT to the target parking space VP.

  In the general parking route RT shown in FIG. 3A, the direction of the tire STF in the first state in which the vehicle V that has started parking control is stopped is a direction along the vehicle length direction. The vehicle V goes straight when starting to move and moving to the turning point VT. The general parking route RT includes a straight section RTL having a predetermined length from the parking control start point VS. Similarly, the direction of the tire STF in the first state temporarily stopped at the turning point VT is the direction along the vehicle length direction. Since the shift position of the vehicle V is changed at the turning point VT, and the vehicle V starts to move backward, the direction of the tire STF is the vehicle length direction. Therefore, when the vehicle V starts to move to the target parking space VP, the vehicle V Go straight ahead. The general parking route RT includes a straight section RTL having a predetermined length from the turn-back point VP. The general parking route RT includes a straight line portion corresponding to the straight traveling section RTL, an arc portion corresponding to the steering section, and a cresoid curve portion connecting the straight line portion and the arc portion.

  On the other hand, in the parking route RT in the present embodiment shown in FIG. 3B, the direction of the tire STF in the first state in which the vehicle V that has started the parking control is stopped is the direction in which the turning point VT exists (in FIG. 3B). It is steered in the right turn direction). When the vehicle V starts to move to the turning point VT, the vehicle V turns in the steering direction of the steering wheel or the turning angle direction of the tire STF (right side in the figure) immediately after starting. The parking route RT of the present embodiment does not include a straight traveling section RTL extending from the parking control start point VS seen in the general parking route RT shown in FIG. Similarly, the direction of the tire STF in the first state temporarily stopped at the turning point VT is steered in the direction in which the rear target parking space VP exists (in the figure, the rear left side with reference to the traveling direction). When the vehicle V starts to move to the target parking space VP, the vehicle V turns in the steering direction of the steering wheel or the turning angle direction of the tire STF (left rear in the figure) immediately after starting (retreating). The parking route RT of the present embodiment does not include a straight section RTL extending from the turn-back point VT seen in the general parking route RT shown in FIG.

  The parking route RT of the present embodiment shown in FIG. 3B does not include a straight line portion corresponding to the straight traveling section RTL. In the parking route RT of the present embodiment, the length of the straight line portion is short or zero. In the parking route RT of the present embodiment, the length of the crethoid curve portion is short or zero. The parking route RT of the present embodiment may be composed of a straight line portion and an arc portion.

  When the general parking route RT shown in FIG. 3A is compared with the parking route RT of this embodiment shown in FIG. 3B, the length of the parking route RT of this embodiment shown in FIG. Is relatively short. Since the steering command is executed when shifting from the first state to the second state in which movement is started, the straight line portion and the cresoid curve portion of the parking route RT can be shortened, so that the parking route can be shortened. As a result, the time required for the parking process can be shortened.

According to the parking control method of the present embodiment, the moving direction according to the steering command that is performed when shifting from the first state to the second state where movement is started is along the direction of the parking route. The steering direction in the steering command is a direction to a turn-back point in the parking route or a target parking space.
Specifically, at the parking control start point VS, the steering direction in the steering command is along the direction of the parking route leading to the turn-back point VT. The difference between the steering direction in the steering command and the direction from the parking control start point VS to the turn-back point VT is less than a predetermined angle.
At the turning point VT, the steering direction in the steering command is along the direction of the parking route from the turning point VT to the target parking space VP. The difference between the steering direction in the steering command and the direction from the turning point VT to the target parking space VP is less than a predetermined angle.
Since the tire turning angle after execution of the steering command is the same as the moving direction of the vehicle V, a person outside the vehicle can guess the traveling direction of the vehicle V by looking at the tire turning angle. Since the steering direction is common, even if a steering command is executed to notify a person outside the vehicle that the vehicle V starts to move, the movement of the vehicle V moving along the parking route is not hindered. In addition, as shown in FIG. 3B, when the steering direction in the steering command is along the turning direction of the curve of the parking route RT, the vehicle V can be turned by executing the steering command. The length of the parking route RT can be shortened. As a result, the time until parking is completed can be shortened.

  In the steering command executed when shifting from the first state in which the vehicle V is stopped in the present embodiment to the second state in which the movement has started, the steering amount is an amount corresponding to 360 degrees or more as the steering angle. Is preferred. When the steering wheel is rotated once (360 degrees in steering angle), about half of the tire width (50%) comes out of the vehicle body as the steering amount of the tire, and the person outside the vehicle confirms the movement (rotation) of the tire it can. The steering amount in the steering command is preferably 540 degrees or more as a steering angle. When the steering wheel is rotated 1.5 times, about 75% of the tire width comes out of the vehicle body as a steering amount of the tire, and a person outside the vehicle can clearly confirm the movement (rotation) of the tire. The steering amount in the steering command is preferably 720 degrees or more as the steering angle. When the steering wheel is rotated twice, the entire tire width (one width) comes out of the vehicle body as the amount of steering of the tire, and a person outside the vehicle can more clearly confirm the movement (rotation) of the tire. Although it is easier for a person outside the vehicle to confirm the amount of tire coming out of the vehicle body, the steering amount in the steering command from the rack movable range of a general automobile steering mechanism is 900 degrees (2.5 Rotation) degree is maximized.

  The control device 10 includes a steering command and generates a control command for moving the vehicle V on the calculated parking route. The specification information of the vehicle V necessary for the control command is stored in advance by the control device 10. The control command includes the steering amount, steering speed, steering acceleration, shift position, speed (including zero), acceleration, deceleration, etc. of the vehicle V associated with the timing or position when the vehicle V travels on the parking route. Including the operation instructions. The vehicle V can be moved (parked) to the target parking space by the vehicle V executing an operation command associated with the parking route and the parking route.

  FIG. 4 shows the subroutine of step 106. As shown in FIG. 4, in step 121, the control device 10 calculates a steering command. The steering command includes a steering amount and a steering timing. The steering amount in the steering command is 360 degrees or more. Preferably, it may be 720 degrees or more. The steering timing is during the transition from the first state where the vehicle V is stopped to the second state where the movement is started.

  The steering timing may be (1) the timing when the vehicle V is in the first state, that is, when the vehicle V is stopped (zero speed), or (2) the vehicle V is in the second state, ie, the vehicle. (3) The vehicle V is between the first state and the second state, that is, the speed of the vehicle V is not zero and is a speed greater than zero. However, the timing may be less than a predetermined value.

Moreover, you may limit this state with the time from parking control start.
The steering timing may be (4) the vehicle V is in the first state, that is, within a predetermined time from the start of parking control (the vehicle V is stopped), or (5) the vehicle V is in the second state. That is, it may be a timing after a predetermined time has elapsed from the start of parking control. (6) The vehicle V is between the first state and the second state, that is, predetermined after the parking control starts (the vehicle V is stopped). It may be the start timing after the passage of time.

  The steering timing may be a combination of the above (1) and (4), and the vehicle V is in the first state, that is, the vehicle V is stopped (speed is zero), and the parking control start timing may be used. Combining the steering timings (2) and (5) above, the vehicle V is in the second state, that is, the speed of the vehicle V is less than a predetermined value, and a predetermined time has elapsed from the start timing after the start of parking control. It is good also as the timing. By combining the steering timings (3) and (6) above, the vehicle V is between the first state and the second state, that is, the speed of the vehicle V is greater than zero and less than a predetermined value, It may be the start timing after a predetermined time has elapsed from the start of parking control (the vehicle V is stopped).

  If the steering command can be calculated, in step 122, the control device 10 determines whether or not a parking route can be calculated in consideration of the movement of the vehicle V by the steering command in which the steering angle and the steering timing are defined. This is because if the steering command is executed, the vehicle V may not be guided to the target parking space. If the parking route can be calculated, the process proceeds to step 123.

  In step 123, the control device 10 determines whether or not a control command including a steering command has been calculated. The control command includes a steering command and simulates whether or not the vehicle V can be moved along the calculated parking route. It is determined whether or not a control command satisfying conditions such as an upper limit speed, an upper limit acceleration, an upper limit steering amount, and an upper limit steering speed can be calculated. When the control command can be calculated, the process returns to step 107 in FIG.

  Hereinafter, three aspects of the steering command in this embodiment will be described. The steering commands of these three modes differ in the execution timing of the steering control. 5A and 5B is a mode in which a steering command is executed while the vehicle V is stopped, and a second mode shown in FIGS. 6A and 6B is a mode in which the steering command is executed when the vehicle V starts. The third mode shown in FIGS. 7A and 7B is a mode in which a steering command is executed while the vehicle V is moving. The steering command of the present embodiment includes a first steering command, a second steering command, and a third steering command.

First, the steering command of the first aspect will be described based on FIGS. 5A and 5B. The steering command of this aspect includes a first steering command and a second steering command. The steering command of this aspect may include only the first steering command.
The first steering command is executed in a first state where the vehicle V is stopped. FIG. 5A shows a time chart from the start to the completion of parking control. After the parking control is started, the vehicle V transits from the first stopped state to the second moving state through the starting operation. The first steering command in the present embodiment causes steering control to be performed by the steering device 50 of the vehicle V in the first state. The first steering command causes a steering control to cause the steering device 50 of the vehicle V to steer before the start operation. The operation of the steering device 50 is a so-called stationary operation.

  Thus, the first steering control for turning the tire before the vehicle V starts is executed, and the tire moves, so that the person outside the vehicle V can be notified that the vehicle V starts to move. In parking control by remote control, the operator M may be away from the vehicle V to be controlled, and it is difficult to communicate with pedestrians around the vehicle and drivers of other vehicles during parking control. Since the vehicle V itself performs a characteristic operation before starting, a pedestrian around the vehicle and a driver of another vehicle can recognize that the vehicle V starts to move. In general parking control, steering control is not executed in a stop state before starting. In addition to the behavior at the time of normal parking control, when the vehicle V performs such a characteristic operation, a change in the behavior of the vehicle V can be notified to the surroundings.

After the first steering command is executed, a second steering command that waits for the steering state until a predetermined time elapses may be executed. During a predetermined time for waiting for the steering state, the steering device 50 executes steering control so as to maintain the steering amount. The steering device 50 keeps the state as it is after turning the tire by the steering amount as instructed by the first steering command. The steering state of the tire does not change. The steering amount of the tire during a predetermined time is constant. During a predetermined time, the tires facing left and right at the turning angle corresponding to the steering amount are also kept as they are. And the movement of the vehicle V is started after predetermined time progress. The first steering control for turning the tires is performed a predetermined time before the vehicle V starts, and it is possible to notify the person outside the vehicle V in advance that the vehicle V starts to move.
In this way, it is possible to notify the person outside the vehicle V in advance that the first steering control for turning the tire is performed a predetermined time before the vehicle V starts and the vehicle V starts to move. Further, since the second steering control that waits in the steering state is executed until a predetermined time has elapsed, it is possible to notify a person outside the vehicle V that the vehicle V starts to move. Instead of starting as it is after steering, a characteristic operation of stopping for a predetermined time after the steering operation is performed, so that pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move. it can. In general parking control, steering control is not performed in a stop state before starting, and steering control for maintaining the steering amount is not performed thereafter. Thus, when the vehicle V performs a characteristic operation, a change in the behavior of the vehicle V can be notified to the surroundings.

Based on FIG. 5B, the processing procedure of the steering command including the first steering command will be described. The processing procedure shown in the figure is a subroutine of steps 109 and 117 in FIG.
In step 131, the control device 10 determines whether or not the vehicle V is in the first state. Whether or not the vehicle is in the first state is determined based on the fact that the shift position of the vehicle V is parked and the speed of the vehicle V is zero. When the vehicle V is in the first state, the process proceeds to step 132, and the first steering command is executed. Next, in step 133, the second steering command is executed. When it is confirmed that the predetermined time for standby set in the second steering command has elapsed, the control device 10 starts the vehicle V in step 134. In step 135 after starting, the vehicle V is in the second state. In this aspect, the second steering command is executed after the first steering command, but it is also possible to skip step 133 from step 132 to step 134 without executing the second steering command.

  Next, the steering command of the second aspect will be described based on FIGS. 6A and 6B. The steering command of this aspect includes a third steering command. The third steering command is executed in the second state in which the vehicle V is starting or moving. FIG. 6A shows a time chart from the start to the completion of parking control. After the parking control is started, the vehicle V transits from the first stopped state to the second moving state through the starting operation. The third steering command in the present embodiment causes steering control to be performed by the steering device 50 of the vehicle V in the second state. The third steering command causes steering control to cause the steering device 50 of the vehicle V to steer when starting or moving.

  When the vehicle starts, the third steering control for turning the tire on the vehicle V is executed and the tire moves, so that the person outside the vehicle V can be notified that the vehicle V starts to move. In remote control parking control, the operator M may be away from the vehicle V to be controlled, and it is difficult to communicate with pedestrians around the vehicle and drivers of other vehicles. Since the vehicle V itself performs a characteristic operation when starting, a pedestrian around the vehicle and a driver of another vehicle can recognize that the vehicle V starts to move.

Based on FIG. 6B, the processing procedure of the steering command including the third steering command will be described. The processing procedure shown in the figure is a subroutine of steps 109 and 117 in FIG.
In step 141, the control device 10 determines whether or not the vehicle V is in the second state. Whether or not the vehicle is in the second state is determined based on the fact that the shift position of the vehicle V is a drive and that the speed of the vehicle V is not zero but less than a predetermined speed. When the vehicle V is in the second state, the process proceeds to step 142, and the third steering command is executed.

Finally, the steering command of the third aspect will be described based on FIGS. 7A and 7B. The steering command of this aspect includes a first steering command, a second steering command, and a third steering command.
The first steering command is executed in a first state in which the vehicle V is stopped and a second state in which the vehicle V is moving after starting.

  FIG. 7A shows a time chart from the start to the completion of parking control. After the parking control is started, the vehicle V transits from the first stopped state to the second moving state through the starting operation. The first steering command in the present embodiment causes steering control to be performed by the steering device 50 of the vehicle V in the first state. The first steering command causes a steering control to cause the steering device 50 of the vehicle V to steer before starting. The operation of the steering device 50 is a so-called stationary operation.

  Thus, the first steering control for turning the tire before the vehicle V starts is executed, and the tire moves, so that the person outside the vehicle V can be notified that the vehicle V starts to move. Since the vehicle V itself performs a characteristic operation before starting, a pedestrian around the vehicle and a driver of another vehicle can recognize that the vehicle V starts to move. In general parking control, steering control is not executed in a stop state before starting. Thus, when the vehicle V performs a characteristic operation, a change in the behavior of the vehicle V can be notified to the surroundings.

In the present aspect, after the first steering command is executed, the second steering command for waiting until a predetermined time elapses is executed. The steering device 50 does nothing during the predetermined time to wait. The steering device 50 maintains the state after turning the tire by the steering amount as instructed by the first steering command. The steering state of the steering wheel and tire does not change. The steering amount of the tire during a predetermined time is constant. During a predetermined time, the tires facing left and right at the turning angle corresponding to the steering amount are also kept as they are.
Thus, the first steering control for turning the tire is executed before the vehicle V starts, and the second steering control for standby in that state is executed, so that the vehicle V starts to move outside the vehicle V. Can be reported to those who are. Since it does not start as it is after steering but is added with a characteristic operation of stopping for a predetermined time after the steering operation, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move. it can. In general parking control, steering control is not executed in a stop state before starting, and stop control is not executed thereafter. Thus, when the vehicle V performs a characteristic operation, a change in the behavior of the vehicle V can be notified to the surroundings.

In this aspect, the third steering command is executed after the second steering command is executed.
The third steering command is executed in the second state in which the vehicle V is starting or moving. The third steering command in the present embodiment causes the steering control to cause the steering device 50 of the vehicle V in the second state that is starting or moving to be steered. The third steering command causes the steering control to cause the steering device 50 of the vehicle V to steer while starting or moving.

  The third steering control for turning the tire on the vehicle V during the start or movement is executed and the tire moves, so that the person outside the vehicle V can be notified that the vehicle V starts to move. Since the vehicle V itself performs a characteristic operation when starting, a pedestrian around the vehicle and a driver of another vehicle can recognize that the vehicle V starts to move.

Based on FIG. 7B, the processing procedure of the steering command including the first steering command will be described. The processing procedure shown in the figure is a subroutine of steps 109 and 117 in FIG.
In step 151, the control device 10 determines whether or not the vehicle V is in the first state. Whether or not the vehicle is in the first state is determined based on the fact that the shift position of the vehicle V is parked and the speed of the vehicle V is zero. When the vehicle V is in the first state, the process proceeds to step 152, and the first steering command is executed. Subsequently, in step 153, the second steering command is executed. When it is confirmed that the predetermined time for standby set in the second steering command has elapsed, in step 154, the control device 10 determines whether or not the vehicle V is in the second state. Whether or not the vehicle is in the second state is determined based on the fact that the shift position of the vehicle V is a drive and that the speed of the vehicle V is not zero but less than a predetermined speed. It can be determined whether or not the vehicle V is in the second state even after the parking control is started and it is determined that the vehicle is not in the first state. When the vehicle V is in the second state, the process proceeds to step 155 to execute the third steering command.

  Returning to FIG. 2, the processing after step 109 will be described. The parking control device 100 according to the present embodiment performs parking by transmitting a setting command for setting a target parking space, a start command for parking control processing, a parking interruption / cancellation command, etc. from the outside to the vehicle V without boarding the vehicle V. Carry out parking control processing by remote control. In step 107, the control device 10 presents a parking route on the display 53 of the operation terminal 5.

If it is confirmed in step 108 that the parking route is appropriate, the process proceeds to step 109. In step 109, the control device 10 causes the steering device 50 to execute a steering command. The steering device 50 steers the tire and moves the tire according to the steering command. The operator M and passers-by who are outside the vehicle know that the vehicle V starts to move.
In step 110, the control apparatus 10 of this embodiment receives the execution command of the operator M outside a vehicle after execution of this steering command. That is, after the steering command is executed, the parking process of the vehicle V is started based on the operation command acquired from the operator M outside the vehicle V. The operator M outside the vehicle knows that the parking process can be started from the movement of the tire of the vehicle V. The operator M confirming this movement confirms the surroundings of the vehicle V again and inputs an execution command by remote operation. On the other hand, a passerby outside the vehicle (other than the operator M) knows that the vehicle V starts to move from the movement of the tire of the vehicle V. By executing the operation command, the operator M knows the execution timing of the remote control, and other passers-by can know the timing when the vehicle V starts to move. In step 111, the control apparatus 10 performs parking control according to the execution command by the operator M's remote operation.

  In step 112, the control device 10 periodically detects surrounding obstacles. In step 113, the control device 10 determines whether or not there is a change in the environment around the vehicle such as an obstacle approaching. If there is a change, the parking route is calculated again. When a new appropriate parking route can be calculated, a new parking route is adopted. The control device 10 calculates a control command for the new parking route. In step 114, the control device 10 updates the parking route and control command calculated in step 106 to a new parking route and control command corresponding to the obstacle that has appeared over time. If there is no change in step 113, it is not necessary to calculate a new parking route and control command, so the routine proceeds to step 115.

  In step 115, the control device 10 monitors obstacles around the vehicle until the vehicle V reaches the turning point. When the vehicle V reaches the turning point, a shift change included in the control command is executed in step 116. Thereafter, in step 117, the parking control is completed by continuously executing the control command.

  The parking control device 100 of the present embodiment controls the operation of the drive system 40 via the vehicle controller 70 in accordance with the control command so that the vehicle V moves along the parking route. The parking control device 100 feeds back the output value of the steering angle sensor 50a included in the steering device 50 so that the travel locus of the vehicle V coincides with the calculated parking route, and supplies it to the drive system 40 of the vehicle V such as an EPS motor. The command is calculated, and a signal of this command is sent to the drive system 40 or the vehicle controller 70 that controls the drive system 40.

  The parking control device 100 of this embodiment includes a parking control control unit. The parking control unit obtains shift range information from the AT / CVT control unit, wheel speed information from the ABS control unit, rudder angle information from the rudder angle control unit, engine speed information from the ECM, and the like. Based on these, the parking control control unit calculates and outputs instruction information regarding automatic steering to the EPS control unit, instruction information such as a warning to the meter control unit, and the like. The control device 10 acquires, via the vehicle controller 70, each piece of information acquired by the steering angle sensor 50a provided in the steering device 50 of the vehicle V, the vehicle speed sensor 60, and other sensors provided in the vehicle V.

  The drive system 40 of the present embodiment moves (runs) the vehicle V from the current position to the target parking space by driving based on the command signal acquired from the parking control device 100. The steering device 50 of this embodiment is a drive mechanism that moves the vehicle V in the left-right direction. The EPS motor included in the drive system 40 drives the power steering mechanism provided in the steering mechanism of the steering device 50 based on the control command signal acquired from the parking control device 100 to control the steering amount of the tire, and targets the vehicle V. Control the operation when moving to the parking space. In addition, the control content and operation | movement method of the vehicle V for parking are not specifically limited, The method known at the time of application can be applied suitably.

  In the parking control device 100 according to the present embodiment, when moving the vehicle V to the target parking space along the route calculated based on the position of the vehicle V and the position of the target parking space, the accelerator / brake is designated. The vehicle is automatically controlled based on the controlled vehicle speed (set vehicle speed), and the operation of the steering device 50 automatically controls the movement of the vehicle V according to the vehicle speed.

  Since the parking control method of the embodiment of the present invention is used in the parking control device as described above, the following effects can be obtained. Since the parking control device 100 of the present embodiment is configured and operates as described above, the following effects are achieved.

  [1] According to the parking control method of the present embodiment, when the steering command is executed by the steering device 50 of the vehicle V when the vehicle V starts moving from the stopped state, the tire is generated when the vehicle V starts to move. Can be moved. The tire can be visually recognized by a person located outside the vehicle. A person outside the vehicle in which the vehicle V is in sight can predict that there is a change in the movement of the vehicle V by looking at the movement of the tire. By including a steering control command for notifying the start of movement in the control command for executing the parking process, it is possible to notify a person outside the vehicle that the vehicle V starts to move. When the vehicle V performs a characteristic operation that is not performed in general parking control, a change in the behavior of the vehicle V can be notified to the surroundings.

  [2] The first steering command of the steering command in the parking control method of the present embodiment causes the steering control to cause the steering device 50 of the vehicle V in the first state to be steered. The first steering command causes a steering control to cause the steering device 50 of the vehicle V to steer before the start operation. The operation of the steering device 50 is a so-called stationary operation. Thereby, the steering control for turning the tire before the vehicle V starts is executed, and the tire moves, so that the person outside the vehicle V can be notified that the vehicle V starts to move. In remote control parking control, the operator M may be away from the vehicle V to be controlled, and it is difficult to communicate with pedestrians around the vehicle and drivers of other vehicles. Since the vehicle V itself performs a characteristic operation before starting, a pedestrian around the vehicle and a driver of another vehicle can recognize that the vehicle V starts to move. In general parking control, steering control is not executed in a stop state before starting. In addition to the behavior at the time of normal parking control, when the vehicle V performs such a characteristic operation, a change in the behavior of the vehicle V can be notified to the surroundings.

  [3] After executing the first steering command of the steering command in the parking control method of the present embodiment, the state may be shifted to the second state after a predetermined time has elapsed. The steering device 50 starts the movement of the vehicle V after a predetermined time has elapsed after turning the tire by the steering amount as commanded by the first steering command. In this way, it is possible to notify the person outside the vehicle V in advance that the first steering control for turning the tire is performed a predetermined time before the vehicle V starts and the vehicle V starts to move. Since it does not start as it is after steering but is added with a characteristic operation of stopping for a predetermined time after the steering operation, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move. it can. In general parking control, steering control is not performed in a stop state before starting. Thus, when the vehicle V performs a characteristic operation, a change in the behavior of the vehicle V can be notified to the surroundings.

  [4] After executing the first steering command of the steering command in the parking control method of the present embodiment, a second steering command for waiting for the steering state until a predetermined time elapses may be executed. During a predetermined time for waiting for the steering state, the steering device 50 executes steering control so as to maintain the steering amount. The steering device 50 keeps the state as it is after turning the tire by the steering amount as instructed by the first steering command. The steering state of the tire does not change. The steering amount of the tire during a predetermined time is constant. During a predetermined time, the tires facing left and right at the turning angle corresponding to the steering amount are also kept as they are. Thus, the first steering control for turning the tire is executed before the vehicle V starts, and the second steering control for standby in that state is executed, so that the vehicle V starts to move outside the vehicle V. Can be reported to those who are. Since it does not start as it is after steering but is added with a characteristic operation of stopping for a predetermined time after the steering operation, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move. it can. In general parking control, steering control in a stop state is not performed before starting, and then steering control for maintaining the steering amount is not executed. Thus, when the vehicle V performs a characteristic operation, a change in the behavior of the vehicle V can be notified to the surroundings.

  [5] In the parking control method of the present embodiment, the third steering control for turning the tire on the vehicle V at the time of start is executed, and the tire moves, so that the person outside the vehicle V can start moving the vehicle V. Can be notified. In remote control parking control, the operator M may be away from the vehicle V to be controlled, and it is difficult to communicate with pedestrians around the vehicle and drivers of other vehicles. Since the vehicle V itself performs a characteristic operation when starting, a pedestrian around the vehicle and a driver of another vehicle can recognize that the vehicle V starts to move.

[6] According to the parking control method of the present embodiment, the moving direction according to the steering command performed when shifting from the first state to the second state in which movement is started is along the direction of the parking route. The steering direction in the steering command is a direction to a turn-back point in the parking route or a target parking space.
Specifically, at the parking control start point VS, the steering direction in the steering command is along the direction of the parking route leading to the turn-back point VT. The difference between the steering direction in the steering command and the direction from the parking control start point VS to the turn-back point VT is less than a predetermined angle.
At the turning point VT, the steering direction in the steering command is along the direction of the parking route from the turning point VT to the target parking space VP. The difference between the steering direction in the steering command and the direction from the turning point VT to the target parking space VP is less than a predetermined angle.
Since the tire turning angle after execution of the steering command is the same as the moving direction of the vehicle V, a person outside the vehicle can guess the traveling direction of the vehicle V by looking at the tire turning angle. Since the steering direction is common, even if a steering command is executed to notify a person outside the vehicle that the vehicle V starts to move, the movement of the vehicle V moving along the parking route is not hindered. In addition, as shown in FIG. 3B, when the steering direction in the steering command is along the turning direction of the curve of the parking route RT, the vehicle V can be turned by executing the steering command. The length of the parking route RT can be shortened. As a result, the time until parking is completed can be shortened.

  [7] According to the parking control method of the present embodiment, in the steering command executed when shifting from the first state in which the vehicle V in the present embodiment is stopped to the second state in which movement is started, the steering amount Is preferably an amount corresponding to a steering angle of 360 degrees or more. When the steering wheel is rotated once (360 degrees in steering angle), about half of the tire width (50%) comes out of the vehicle body as the steering amount of the tire, and the person outside the vehicle confirms the movement (rotation) of the tire it can. The steering amount in the steering command is preferably 540 degrees or more as a steering angle. When the steering wheel is rotated 1.5 times, about 75% of the tire width comes out of the vehicle body as the steering amount of the tire, and a person outside the vehicle can confirm the movement (rotation) of the tire.

  [8] According to the parking control method of the present embodiment, the control device 10 causes the steering device 50 to execute a steering command. The steering device 50 steers the tire and moves the tire according to the steering command. The operator M and passers-by who are outside the vehicle know that the vehicle V can start moving. Although not specifically limited, the control apparatus 10 of this embodiment receives the execution command of the operator M outside a vehicle after execution of this steering command. That is, after the steering command is executed, the parking process of the vehicle V is started based on the operation command acquired from the operator M outside the vehicle V. The operator M outside the vehicle knows that the parking process can be started from the movement of the tire of the vehicle V. The operator M confirming this movement confirms the surroundings of the vehicle V again and inputs an execution command by remote operation. On the other hand, a passerby outside the vehicle (other than the operator M) knows that the vehicle V starts to move from the movement of the tire of the vehicle V. By the operation command, the operator M can know the execution timing of the remote control, and other passers-by can know the timing when the vehicle V starts to move.

  [9] The parking control device 100 in which the parking control method of the present embodiment is executed also exhibits the operations and effects described in 1 to 11 above.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

1000 ... Parking control system 100 ... Parking control device 10 ... Control device 11 ... CPU
12 ... ROM
13 ... RAM
132 ... Storage device 133 ... Map information 134 ... Parking lot information 135 ... Obstacle information 20 ... Input device 21 ... Communication device 30 ... Output device 31 ... Display 1a-1d ... Camera 2 ... Ranging device 3 ... Information server 31 ... Communication Device 32 ... Storage device 33 ... Map information 34 ... Parking lot information 35 ... Obstacle information 5 ... Operation terminal 51 ... Communication device 52 ... Input device 53 ... Display 200 ... In-vehicle device 40 ... Drive system 50 ... Steering device 50a ... Steering angle Sensor 60 ... Vehicle speed sensor 70 ... Vehicle controller V ... Vehicle

Claims (9)

A parking control method for moving a parking route to a vehicle and parking the vehicle,
A parking control method for causing a steering command of the vehicle to execute a steering command when shifting from a first state in which the vehicle is stopped to a second state in which movement is started.   The parking control method according to claim 1, wherein the steering device of the vehicle in the first state executes a first steering command.   The parking control method according to claim 2, wherein after the first steering command is executed, the second state is entered after a predetermined time has elapsed.   The parking control method according to claim 2 or 3, wherein after executing the first steering command, a second steering command for waiting for a predetermined time to elapse is executed.   The parking control method according to any one of claims 1 to 4, wherein the steering device of the vehicle in the second state executes a third steering command.   The parking control method according to any one of claims 1 to 5, wherein a steering direction in the steering command is a direction to a turn-back position or a target parking space in the parking route.   The parking control method according to any one of claims 1 to 6, wherein a steering amount indicated by the steering command is an amount corresponding to a steering angle of 360 degrees or more.   The parking control method according to any one of claims 1 to 7, wherein after the steering command is executed, the vehicle is parked based on an operation command acquired from an operator outside the vehicle. A parking control device comprising a control device for executing a control command for moving a parking route to a vehicle and parking the vehicle,
The control device includes:
A parking control device that causes the steering device of the vehicle to execute a steering command when shifting from the first state in which the vehicle is stopped to the second state in which movement is started.

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