JP6897068B2 - Parking support method and parking support device - Google Patents

Description

The present disclosure relates to a parking support method and a parking support device that support the exit of a vehicle when the vehicle leaves the parking lot.

Conventionally, there is known a parking support device configured to enable exit guidance from a parking position (parking section) using information stored in advance (map information in which a parking section or the like is described) (Patent Document 1). See). According to this conventional invention, a mark having a predetermined positional relationship with respect to a parking zone and having a predetermined shape is photographed by a camera, and the parking position of a vehicle in the parking zone is memorized from the image. Then, based on the parking position of the vehicle in the parking lot and the prior environmental information about the parking lot and its surrounding environment, the vehicle leaving the parking lot is guided.

Japanese Unexamined Patent Publication No. 2010-064546

However, with the conventional device, if a blind spot (lack of sensor information) occurs at the time of delivery due to a parked adjacent vehicle or pillar, and the target delivery position cannot be specified, the delivery route cannot be generated or the delivery route cannot be generated. There was a problem that it was not possible to generate an accurate delivery route.

For example, in a situation where the distance between the parked own vehicle and the adjacent vehicle is short at the time of leaving the vehicle, the parked adjacent vehicle is large, or the adjacent vehicle protrudes to the lane side and is parked. A blind spot occurs in which a part of the sensor information acquired by the own vehicle trying to leave the vehicle is missing. When this blind spot occurs, it becomes difficult to detect or estimate the width and depth of the lane and the direction of the lane with an in-vehicle sensor, so that there is a possibility that the delivery route cannot be drawn.

This disclosure focuses on the above problem, and generates an accurate delivery route even in a delivery environment where a blind spot occurs in the in-vehicle sensor information when the vehicle starts to leave the parking lot. The purpose is.

In order to achieve the above object, the present disclosure stores the surrounding environment information of the own vehicle based on the spatial information data acquired when the own vehicle moves in and out of the parking lot in the parking support method.
When the vehicle is instructed to start leaving the parking lot, it is determined whether or not there is a blind spot in the ambient environment sensor information acquired from the parked vehicle, which is a lack of in-vehicle sensor information.
When it is determined that a blind spot exists, the blind spot area information among the ambient environment sensor information is integrated by complementing it with the ambient environment memory information stored at the time of warehousing.
When the surrounding environment integrated information is acquired by complementing the information of the blind spot area in the surrounding environment sensor information, the possible issue space including the target issue position is set based on the surrounding environment integrated information.
When the target goods issue position is set to goods issue possible space, a route to a target unloading position from the vehicle position the current, never and border and the vehicle of the goods issue possible space interferes unloading path To generate.

In this way, by supplementing the lack of in-vehicle sensor information with the stored information at the time of warehousing and enabling the identification of the target warehousing position, a blind spot occurs in the in-vehicle sensor information when the own vehicle starts warehousing from the parking lot. Even in the shipping environment, it is possible to generate an accurate shipping route. In addition, even in a delivery environment situation where a blind spot exists, it is possible to set an accurate target delivery position and generate an accurate delivery route.

It is a system configuration diagram which shows the parking support system at the time of leaving a garage to which the parking support method of Example 1 and a parking support device are applied. It is a parking support control block diagram at the time of leaving which shows the control block structure centering on the ECU for parking support calculation among the parking support system at the time of leaving. It is explanatory drawing which shows the main phrase and the definition used for parking support at the time of leaving a garage. It is a flowchart which shows the flow of the parking support control processing at the time of delivery which is executed by the sensor information processing unit, the parking support calculation ECU and the vehicle control ECU of Example 1. FIG. It is a warehousing action explanatory view which shows an example of the warehousing action when the own vehicle moves to warehousing toward a parking lot while acquiring spatial information data. It is an explanatory diagram of the warehousing action showing an example of the warehousing action by the autonomous guided running along the warehousing route when the own vehicle leaves the warehousing in the warehousing environment where there is no blind spot. It is an explanatory diagram of the warehousing action showing an example of the warehousing action by the autonomous guided running along the warehousing route when the own vehicle leaves the warehousing in the warehousing environment situation where a blind spot exists. Comparison between the exit route generation action in the comparative example in which the lane information is not complemented when the own vehicle leaves the garage in the warehousing environment situation where the blind spot exists and the warehousing route generation action in the example 1 in which the lane information is complemented. It is a contrasting action explanatory diagram which shows.

Hereinafter, the best mode for realizing the parking support method and the parking support device of the present disclosure will be described with reference to the first embodiment shown in the drawings.

First, the configuration will be described.
The parking support method and the parking support device in the first embodiment are applied to an autonomous driving vehicle equipped with a parking support system at the time of leaving the parking lot to support the leaving of the parked own vehicle. Hereinafter, the configuration of the first embodiment is changed to "overall system configuration", "parking support control configuration at the time of leaving", "main terms and definitions used in parking support at the time of leaving", and "parking support control processing configuration at the time of leaving". It will be explained separately.

[Overall system configuration]
FIG. 1 is an overall system configuration diagram showing a parking support system at the time of leaving the garage to which the parking support method and the parking support device of the first embodiment are applied. Hereinafter, the overall system configuration will be described with reference to FIG.

As shown in FIG. 1, the parking support system at the time of leaving the garage includes a space recognition sensor 21, a steering angle sensor 22, a wheel speed sensor 23, a vehicle state quantity sensor 24, a warehousing start operation switch 25, and sensor information processing. It is provided with a unit 26. Further, the parking support calculation ECU 27, the vehicle control ECU 28, the actuator 29, the image processing unit 30, and the display monitor 31 are provided.

The space recognition sensor 21 is provided in the own vehicle, and acquires spatial information data around the own vehicle, for example, when the own vehicle moves in and out of the parking lot, or when the own vehicle moves out of the parking frame. It is a sensor to do. The space recognition sensor 21 is typified by a commonly used laser range finder. The laser range finder is a device that can irradiate an infrared laser on a target object and measure the distance to the target object based on the degree of reflection thereof, and can acquire the distance information of the detected object as point cloud information. However, in addition to the laser range finder, a clearance sonar that uses ultrasonic waves or a stereo camera may be used to detect the distance of an obstacle.

The steering angle sensor 22 is a sensor that acquires steering angle information for estimating the current tire steering angle amount and the like. The steering angle sensor signal is output to the parking support calculation ECU 27 and the vehicle control ECU 28.

The wheel speed sensor 23 is a sensor that acquires wheel speed information for calculating the speed and mileage of the vehicle. The wheel speed sensor signal is output to the parking support calculation ECU 27 and the vehicle control ECU 28.

The vehicle state quantity sensor 24 is a sensor that measures the state quantity of a vehicle represented by yaw rate. The vehicle state quantity sensor signal is output to the parking support calculation ECU 27.

The warehousing start operation switch 25 is an input device for giving a command to start warehousing when the own vehicle starts warehousing from the parking lot. The warehousing start operation switch 25 is, for example, a mobile terminal that gives a command to start warehousing by remote control from the driver (or user) of the own vehicle. Further, assuming that the operator is in the vehicle, various manual operation input devices such as a joystick, an operation switch, and a touch panel may be provided in the vehicle, or a mobile terminal and a manual operation input device may be provided. It may be used together. Further, the existing speaker in the vehicle may be used to provide voice guidance to the driver to prompt various operation inputs. When a mobile terminal is used, the command of the remote operator is transmitted to the vehicle by wirelessly connecting the mobile terminal and the vehicle by communication means.

The sensor information processing unit 26 inputs point cloud information and the like from the space recognition sensor 21 acquired when the own vehicle moves in and out toward the parking frame, and based on the input information, the parkable space and the runway boundary. To estimate. The estimated information of the parkable space and the runway boundary is output to the parking support calculation ECU 27.

The parking support calculation ECU 27 acquires parking frame information based on the estimated information of the parkable space, acquires lane information based on the estimated information of the track boundary, and combines the parking frame information and the lane information to the surrounding environment at the time of warehousing. Memorize information. Then, when the start of leaving the vehicle from the parking lot is instructed, the stored surrounding environment information at the time of warehousing is read out, and the space information data from the vehicle is collated with the surrounding environment information at the time of warehousing to create a blind spot. Decide if you want to. When it is determined that there is a blind spot, the lane information (complementary information at the time of leaving the vehicle) is transmitted by the request flag to the storage unit, and the blind spot area of the surrounding environment sensor information from the own vehicle is complemented by the lane information and integrated. .. When the surrounding environment integrated information is acquired, the delivery route of the own vehicle from the current position of the own vehicle to the target delivery position is generated in the space where the delivery is possible. Then, the generated delivery route is transmitted to the vehicle control ECU 28.

The vehicle control ECU 28 inputs the exit route information from the parking support calculation ECU 27, the steering angle sensor signal from the steering angle sensor 22, and the wheel speed sensor signal from the wheel speed sensor 23. Then, the actuator 29 is driven according to the guidance control command for moving the own vehicle out of the garage according to the warehousing route information. The actuator 29 includes a drive actuator, a braking actuator, a steering actuator, a range position selection actuator, and the like, which are necessary for automatic operation.

The image processing unit 30 inputs the exit route information from the parking support calculation ECU 27, and the exitable space by the parking frame and the lane of the own vehicle, the own vehicle position on the possible exit space, the target exit position / posture, and the exit. The image processing signal according to the route or the like is output to the display monitor 31.

When the image processing signal is input from the image processing unit 30, the display monitor 31 displays the possible delivery space, the position of the own vehicle, the delivery route, and the like on the monitor screen. Here, the display monitor 31 is an information display unit for confirming whether or not the autonomous guidance control of the own vehicle is being executed along the generated delivery route, and is generally provided as a liquid crystal display for navigation in the vehicle. Or, you can use a monitor attached to the remote control terminal.

The display monitor 31 supports the delivery by the driver operation so that the own vehicle reaches the target delivery position along the generated delivery route when the vehicle does not have the vehicle control ECU 28 or is switched to manual operation. It may also be used as a driving support information display unit. When using the driving support information display unit, it is possible to use an existing speaker on the vehicle to provide voice guidance that guides the steering direction so that the vehicle moves along the guidance path. Delivery guidance is possible.

[Parking support control configuration at the time of delivery]
FIG. 2 shows a control block configuration centered on the parking support calculation ECU 27 in the parking support system at the time of leaving the garage of FIG. Hereinafter, the parking support control configuration at the time of leaving the garage will be described with reference to FIG.

As shown in FIG. 2, the parking support calculation ECU 27 includes a parking frame information extraction unit 271, a lane information extraction unit 272, an ambient environment information storage unit 273 at the time of warehousing, and a current vehicle position / attitude information acquisition unit. It has 274, a blind spot determination unit 275, an ambient environment information integration unit 276, a target delivery position / attitude setting unit 277, and a delivery route generation unit 278.

The parking frame information extraction unit 271 inputs the parking space information estimated by the parking space estimation unit 261 of the sensor information processing unit 26, and extracts the parking frame information from the parking space information.

The lane information extraction unit 272 inputs the lane boundary information estimated by the lane boundary estimation unit 262 of the sensor information processing unit 26, and extracts the lane information from the lane boundary information.

The surrounding environment information storage unit 273 at the time of warehousing inputs the parking frame information from the parking frame information extraction unit 271 and the lane information from the lane information extraction unit 272, and the parking frame information and the lane information (complementary information). Stores the surrounding environment information at the time of warehousing. The roadway information (complementary information) is stored as information that can be read independently from the surrounding environment information at the time of warehousing.

The current vehicle position / attitude information acquisition unit 274 inputs sensor information from the steering angle sensor 22, the wheel speed sensor 23, and the vehicle state quantity sensor 24, and acquires the detection information of the current vehicle position and the vehicle attitude. To do.

When the blind spot determination unit 275 is instructed to start warehousing of the own vehicle from the parking lot by operating the warehousing start operation switch 25, the warehousing surrounding environment information (surroundings) stored in the warehousing surrounding environment information storage unit 273. Environmental memory information) is read. Then, a blind spot (lack of sensor information from the space recognition sensor 21) is obtained by collating the surrounding environment sensor information from the sensor information processing unit 26 that inputs the spatial information data from the space recognition sensor 21 with the surrounding environment memory information. Determine if exists. If it is determined that the blind spot exists as a result of the collation, a request flag requesting the provision of the lane information that complements the information of the blind spot area is transmitted to the surrounding environment information storage unit 273 at the time of warehousing.

When the ambient environment information integration unit 276 inputs the ambient environment sensor information and the blind spot area information from the blind spot determination unit 275, the ambient environment information integration unit 276 acquires the ambient environment sensor information excluding the blind spot area from the ambient environment sensor information. On the other hand, the road information (complementary information) of the blind spot area transmitted from the surrounding environment information storage unit 273 at the time of warehousing is acquired by the request flag from the blind spot determination unit 275. Then, by integrating the ambient environment sensor information excluding the blind spot region with the roadway information corresponding to the blind spot region, the ambient environment integrated information that complements the lack of the ambient environment sensor information is acquired.

When there is no blind spot in the spatial information data from the space recognition sensor 21, the target delivery position / attitude setting unit 277 inputs the ambient environment sensor information acquired from the sensor information processing unit 26 at the start of delivery in the blind spot determination unit 275. To do. On the other hand, when there is a blind spot in the spatial information data from the spatial recognition sensor 21, the ambient environment integration information acquired by the integration by the ambient environment information integration unit 276 is input. Then, based on any of the input surrounding environment information, it is possible to acquire the issueable space information, which is a spatial area capable of generating the exit route of the own vehicle while avoiding interference with obstacles, and issue the issue. Set the target delivery position and target posture in the space.

The delivery route generation unit 278 sets the current vehicle position and vehicle attitude information from the current vehicle position / attitude information acquisition unit 274, and sets the target issue position and target attitude from the target issue position / attitude setting unit 277. Enter the information. Then, it is a route from the current own vehicle position and the own vehicle posture to the target delivery position and the target posture, and a delivery route that does not interfere with the boundary line of the possible delivery space and the own vehicle is generated.

[Main terms and definitions used in parking support at the time of departure]
FIG. 3 shows the main terms and their definitions used in parking assistance at the time of leaving the garage. Hereinafter, the main terms and their definitions will be described with reference to FIG.

In order for the own vehicle A parked in the parking frame Sb of the parking lot SP of the parking lot PK to generate a delivery route Rout that avoids interference with the surrounding obstacle environment, the surrounding obstacle environment It is necessary to recognize the space in which the vehicle can travel. This is called a “delivery space S” and is defined as being composed of a “roadway Sa” and a “parking frame Sb” as shown in FIG.
Of these, the information on "road Sa" is composed of the width of the road, the depth of the road, and the direction of the road (represented by the set angle of the road Sa with respect to the parking frame Sb). The information of "parking frame Sb" is composed of the parking frame width and the parking frame depth.

When generating the delivery route Rout, it is necessary to determine in advance the position and direction of the own vehicle that starts the delivery, which is the start point of the route, and the position and direction of the own vehicle that completes the delivery, which is the end point of the route. is there. Therefore, the position of the own vehicle that starts warehousing is called "current own vehicle position Pn", and the direction of the own vehicle that starts warehousing is called "current own vehicle attitude Dn". The position of the vehicle that completes the warehousing is called the "target warehousing position Pt", and the direction of the vehicle that completes the warehousing is called the "target posture Dt".

The "current vehicle position Pn" connects the left and right rear wheels of the vehicle A at the warehousing completed position when the vehicle A completes warehousing by traveling backward from the "road Sa" to the "parking frame Sb". It is defined by the center position of the rear axle.

The "current vehicle attitude Dn" is the front-rear central axis that passes through the center of gravity of the vehicle A when the vehicle A completes warehousing by traveling backward from the "road Sa" to the "parking frame Sb". It is defined by the angle θ formed with respect to the y-axis (the axis in the depth direction of the lane). For example, when the own vehicle A is parked parallel to the parking frame depth direction of the "parking frame Sb", the angle θ representing the "current own vehicle attitude Dn" is θ = 90 °, and the x-axis ( Parallel to the parking frame depth direction axis).

The "target delivery position Pt" is the left and right rear wheels of the own vehicle A at the delivery completion position of the "road Sa" when the own vehicle A completes the departure movement along the delivery route Rout generated in the possible delivery space S. It is defined by the position of the center of the rear axle that connects the two.

The "target posture Dt" is before and after passing through the center of gravity of the own vehicle A at the delivery completion position of the "road Sa" when the own vehicle A completes the departure movement along the delivery route Rout generated in the delivery possible space S. It is defined by the angle θ formed by the central axis of direction with respect to the y-axis (axis in the depth direction of the lane). For example, when the own vehicle A stops parallel to the lane depth direction of "road Sa" at the delivery completion position, the angle θ representing the "target attitude Dt" is θ = 0 °, and the y-axis (vehicle). It becomes parallel to the axis in the road depth direction).

Next, how to determine the "target delivery position Pt" will be described. The "target delivery position Pt" is the position on the two-dimensional coordinate plane by the x-axis and the y-axis with the "current own vehicle position Pn" as the zero reference position, and is the distance in the x-axis direction as shown in FIG. The position is defined by the position separated by Lx and the position separated by the y-axis direction distance Ly.

When generating the delivery route Rout, the x-axis direction distance Lx of the "target delivery position Pt" avoids interference between the boundary line of the "delivery possible space S" and the own vehicle A from the "current own vehicle position Pn". However, it is set to the distance that the vehicle can reach near the median lane width. Then, the y-axis direction distance Ly of the "target delivery position Pt" is such that when the "target delivery position Pt" is reached from the "current own vehicle position Pn", the "target posture Dt" of the own vehicle A becomes the lane Sa. It is set by the distance required to be parallel to each other. That is, the "target posture Dt" is set so that the direction of the own vehicle A at the "target delivery position Pt" is parallel to the lane depth direction (y-axis direction).

[Parking support control processing configuration at the time of delivery]
FIG. 4 is a flowchart showing the flow of the parking support control process at the time of delivery executed by the sensor information processing unit 26, the parking support calculation ECU 27, and the vehicle control ECU 28 of the first embodiment. Hereinafter, each step of FIG. 4 showing the parking support control processing configuration at the time of leaving the garage will be described.

In step S1, when the own vehicle A traveling on the lane of the parking lot moves to a position near the parking frame to be parked and enters the parking lot, the space recognition sensor 21 mounted on the own vehicle A around the own vehicle. The spatial information data of the above is acquired, and the process proceeds to step S2.
Here, the spatial information data acquired by the spatial recognition sensor 21 is input to the sensor information processing unit 26.

In step S2, following the acquisition of the spatial information data in step S1, the track boundary, which is the boundary line of the track on which the own vehicle A can travel, is estimated based on the acquired spatial information data, and the process proceeds to step S3. ..
Here, "estimation of the track boundary" is executed by the track boundary estimation unit 262 of the sensor information processing unit 26.

In step S3, following the runway boundary estimation in step S2, a parkable space, which is a space in which the own vehicle A can park, is estimated based on the acquired spatial information data, and the process proceeds to step S4.
Here, the "estimation of the parkable space" is executed by the parkable space estimation unit 261 of the sensor information processing unit 26.

In step S4, following the parking space estimation in step S3, the road information is extracted from the road boundary estimation information, the parking frame information is extracted from the parking space estimation information, and the process proceeds to step S5.
Here, "extraction of lane information" is executed by the lane information extraction unit 272 of the parking support calculation ECU 27, and "extraction of parking frame information" is performed by the parking frame information extraction unit 271 of the parking support calculation ECU 27. Will be executed.

In step S5, following the extraction of the lane / parking frame information in step S4, the combination of the parking frame information and the lane information is used as the warehousing surrounding environment information, and the warehousing surrounding environment information is stored in the memory. Proceed to step S6.
Here, the roadway information in the "environmental information at the time of warehousing" is stored as supplementary information at the time of warehousing so that it can be separated from the parking frame information. The "storage of the surrounding environment information at the time of warehousing" is executed by the warehousing surrounding environment information storage unit 273 of the parking support calculation ECU 27.

In step S6, following the storage of the warehousing supplementary information (roadway information) in step S5 or the determination that the warehousing start instruction flag in step S7 has not been received, the warehousing start flag is acquired and the step Proceed to S7.
Here, the “delivery start flag” is rewritten from the issue start flag = 0 to the issue start flag = 1 when the issue start operation switch 25 is subjected to the issue start instruction operation.

In step S7, following the acquisition of the issue start flag in step S6, it is determined whether or not the issue issue start instruction flag (issue issue start flag = 1) has been received. If YES (the flag for the delivery start instruction has been received), the process proceeds to step S8, and if NO (the flag for the delivery start instruction has not been received), the process returns to step S6.

In step S8, following the determination that the flag of the delivery start instruction in step S7 has been received, the surrounding environment information (environmental environment storage information) at the time of warehousing stored in the memory in step S5 is read, and the process proceeds to step S9. ..
Here, "reading the warehousing surrounding environment information (surrounding environment storage information)" blinds the warehousing storage information stored in the warehousing surrounding environment information storage unit 273 based on the reception of the flag of the warehousing start instruction. It is performed by transmitting to the determination unit 275.

In step S9, following the reading of the surrounding environment information at the time of warehousing in step S8, the spatial information data (surrounding environment sensor information) from the space recognition sensor 21 at the time when the flag of the warehousing start instruction is received is read. Collate with the surrounding environment information (surrounding environment storage information) at the time of warehousing, and proceed to step S10.
Here, in collation of the surrounding environment sensor information with the surrounding environment storage information, the reliability of the surrounding environment sensor information (the certainty of the sensor information) is determined for the entire angle range of the angle range that can be detected by the sensor for space recognition 21. Match.

In step S10, following the collation of the spatial information data in step S9 with the ambient environment information at the time of warehousing, whether or not there is a blind spot in the spatial information data (ambient environment sensor information) which is the in-vehicle sensor information, which is the lack of sensor information. To judge. If YES (there is a blind spot), the process proceeds to step S11, and if NO (there is no blind spot), the process proceeds to step S14.
Here, the presence or absence of the blind spot is determined by setting a threshold value for the reliability of the ambient environment sensor information, and if a part of the entire angle range of the sensor detection angle range has a reliability equal to or less than the threshold value, the blind spot is determined. Judge that it exists. Then, in the sensor detection angle range, the range in which the reliability is equal to or less than the threshold value is defined as the blind spot region.

In step S11, following the determination that there is a blind spot in step S10, a request flag for requesting the lane information for supplementing the blind spot area of the surrounding environment sensor information is set to the surrounding environment information storage unit 273 at the time of warehousing. The transmission is performed, and the process proceeds to step S12.
Here, the "transmission of the request flag" is executed by the blind spot determination unit 275 of the parking support calculation ECU 27.

In step S12, following the transmission of the request flag to the storage unit in step S11, the delivery time complementary information is transmitted to the integrated unit, and the process proceeds to step S13.
Here, in the "transmission of supplementary information at the time of delivery to the integrated unit", when the request flag is transmitted, the lane information (complementary information at the time of delivery) stored in the surrounding environment information storage unit 273 at the time of receipt is stored in the surrounding environment. This is done by transmitting to the information integration unit 276.

In step S13, following the transmission of the supplementary information at the time of delivery to the integrated unit in step S12, the information of the blind spot area among the surrounding environment sensor information is complemented with the lane information stored at the time of warehousing to acquire the surrounding environment integrated information. The process proceeds to step S14.
Here, the "integration of the surrounding environment information" is executed by the surrounding environment information integration unit 276 of the parking support calculation ECU 27.

In step S14, following the integration of the surrounding environment information in step S13 or the determination that there is no blind spot in step S10, the target delivery position Pt and the target posture Dt are set in the delivery possible space S, and the target posture Dt is set in step S15. Proceed to.
Here, the "information on the warehousing space S" is acquired by determining the space of the lane Sa that can be warehousing from the lane information included in the surrounding environment sensor information when it is determined that there is no blind spot. On the other hand, when it is determined that there is a blind spot, it is acquired by determining the space of the lane Sa that can be delivered from the lane information included in the surrounding environment integration information. The "setting of the target delivery position Pt and the target posture Dt" is executed by the target delivery position / posture setting unit 277 of the parking support calculation ECU 27.

In step S15, following the setting of the target delivery position Pt and the target posture Dt in step S14, the delivery route Rout connecting the current own vehicle position Pn and the current own vehicle attitude Dn to the target delivery position Pt and the target posture Dt is set. Generate and proceed to step S16.
Here, the "generation of the exit route Rout" is performed by the exit route generation unit 278 of the parking support calculation ECU 27. In other words, the current own vehicle position Pn / own vehicle attitude Dn is connected to the target delivery position Pt / target attitude Dt, and the boundary line of the possible delivery space S and the own vehicle A are taken into consideration in consideration of the vehicle width and the total length of the own vehicle A. The delivery route Rout is generated by searching the route so that the two do not interfere with each other.

The specific delivery route Rout is generated, for example, as shown in (a) to (d) below.
(a) In the case of a parking environment with a sufficiently wide road width and parking frame width, the exit route Rout connecting the current vehicle position Pn / vehicle attitude Dn and the target exit position Pt / target attitude Dt with a simple arc. Will be done.
(b) In the case of a parking environment with a narrow road width, the target delivery position Pt is corrected by moving from the center position of the road Sa to the front side position in the road width direction, and the current vehicle position Pn and vehicle attitude Dn. It is the delivery route Rout that connects the target delivery position Pt and the target posture Dt with an arc.
(c) In the case of a parking environment with a narrow parking frame width, the target delivery position Pt is corrected by moving from the center position of the lane Sa to the back position in the lane width direction, and the current vehicle position Pn and the vehicle attitude Dn. It is the delivery route Rout that connects the target delivery position Pt and the target posture Dt with an arc.
(d) In a parking environment where both the lane width and the parking frame width are narrow, the target warehousing position Pt is corrected by moving from the center position of the lane Sa to the lane width direction and the parking frame width direction, and the own vehicle A leaves the garage. Generates a turning preparatory movement in the direction opposite to the turning direction. Then, the current own vehicle position Pn / own vehicle attitude Dn and the target delivery position Pt / target attitude Dt are combined to form a delivery route Rout connecting with an arc. In the case of a parking environment in which both the road width and the parking frame width are narrow, the exit route Rout may be generated including the turning operation by forward → backward → forward.

In step S16, following the generation of the delivery route Rout in step S15 or the determination that the delivery is not completed in step S17, vehicle guidance control for autonomously guiding the own vehicle A along the generated delivery route Rout is performed. Then, the process proceeds to step S17.
Here, the "vehicle guidance control" is performed by the vehicle control ECU 28 that inputs the exit route information from the parking support calculation ECU 27.

In step S17, following the vehicle guidance control in step S16, it is determined whether or not the delivery is completed. If YES (delivery completed), the process proceeds to the end, and if NO (delivery completed), the process returns to step S16. When the own vehicle A reaches the target delivery position Pt by vehicle guidance control, it is determined that the delivery is completed.

Next, the action will be described.
The operation of the first embodiment will be described separately for "parking support control processing action at the time of leaving the garage", "parking support method at the time of leaving the garage", "parking support control action at the time of leaving the garage", and "characteristic action of the parking support control".

[Parking support control processing action at the time of leaving]
Hereinafter, the parking support control processing operation at the time of leaving the garage will be described based on the flowchart of FIG.
First, when the own vehicle A moves the lane Sa toward the parking frame Sb and parks in the parking frame Sb, in the flowchart of FIG. 4, the steps S1 → step S2 → step S3 → step S4 → step S5. move on. That is, in step S1, when the own vehicle A enters the garage, the space recognition sensor 21 mounted on the own vehicle A acquires the space information data around the own vehicle. In step S2, the track boundary, which is the boundary line of the track on which the own vehicle A can travel, is estimated based on the acquired spatial information data. In step S3, a parkable space, which is a space in which the own vehicle A can park, is estimated based on the acquired spatial information data. In step S4, the road information is extracted from the estimated information of the runway boundary, and the parking frame information is extracted from the estimated information of the parkable space. In step S5, the combination of the parking frame information and the lane information (supplementary information at the time of leaving the garage) is regarded as the surrounding environment information at the time of warehousing, and the surrounding environment information at the time of warehousing is stored in the memory.

After parking, the process proceeds from step S5 to step S6 → step S7, and in step S7, it is determined whether or not the flag for instructing the delivery start (delivery start flag = 1) has been received. Then, while it is determined in step S7 that the flag for the delivery start instruction has not been received, the flow of proceeding from step S6 to step S7 is repeated.

On the other hand, if it is determined in step S7 that the flag of the delivery start instruction has been received, the process proceeds from step S7 to step S8 → step S9 → step S10. That is, in step S8, the surrounding environment information at the time of warehousing stored in the memory in step S5 is read out. In step S9, the spatial information data (surrounding environment sensor information) from the space recognition sensor 21 at the time when the flag for the delivery start instruction is received and the read surrounding environment information at the time of warehousing (surrounding environment storage information) are obtained. It will be collated. In step S10, it is determined whether or not there is a blind spot in which the sensor information is missing in the spatial information data (environmental environment sensor information) which is the vehicle-mounted sensor information.

If it is determined in step S10 that there is a blind spot, the process proceeds from step S10 to step S11 → step S12 → step S13 → step S14 → step S15. In step S11, a request flag requesting lane information for supplementing the blind spot area of the surrounding environment sensor information is transmitted to the surrounding environment information storage unit 273 at the time of warehousing. In step S12, supplementary information (roadway information) at the time of delivery is transmitted to the surrounding environment information integration unit 276. In step S13, the information in the blind spot area of the surrounding environment sensor information is complemented by the lane information stored at the time of warehousing, and the surrounding environment integrated information is acquired. In step S14, the target delivery position Pt and the target posture Dt are set in the delivery possible space S by using the surrounding environment integrated information. In step S15, a delivery route Rout connecting the current own vehicle position Pn and the current own vehicle attitude Dn to the target delivery position Pt and the target attitude Dt is generated.

On the other hand, if it is determined in step S10 that there is no blind spot, the process proceeds from step S10 to step S14 → step S15. In step S14, the target delivery position Pt and the target posture Dt are set in the delivery possible space S using the surrounding environment sensor information. In step S15, a delivery route Rout connecting the current own vehicle position Pn and the current own vehicle attitude Dn to the target delivery position Pt and the target attitude Dt is generated.

When the delivery route Rout is generated, the process proceeds from step S15 to step S16 → step S17, and while it is determined in step S17 that the delivery is not completed, the flow of proceeding from step S16 to step S17 is repeated. That is, in step S16, vehicle guidance control for autonomously guiding the own vehicle A along the generated delivery route Rout is performed until it is determined that the delivery is completed. When it is determined in step S17 that the warehousing is completed, the process proceeds to the end and the parking support control process at the time of warehousing is terminated.

[Parking support method at the time of leaving]
First, the parking support method at the time of warehousing is the integration of the data acquisition procedure at the time of warehousing, the information storage procedure at the time of warehousing, the information acquisition procedure at the time of the warehousing start operation, the blind spot judgment procedure at the time of the warehousing start operation, and the blind spot judgment. It has an information acquisition procedure, a route generation procedure at the time of delivery, and a route guidance procedure at the time of delivery.

In the data acquisition procedure at the time of warehousing, as shown in FIG. 5, when the own vehicle A moves to the parking frame Sb by the front entry warehousing route Rinf and the backward warehousing route Rinr, the space recognition sensor mounted on the own vehicle A The spatial information data around the own vehicle is acquired by 21. In this way, in the warehousing scene, the low-speed own vehicle A moves in and out of the surrounding area centered on the parking frame Sb, so that there is sufficient space to create the surrounding environment information at the time of warehousing based on the parking frame information and the lane information. Information data is acquired.

In the information storage procedure at the time of warehousing, when the spatial information data around the own vehicle is acquired at the time of warehousing, the surrounding environment information at the time of warehousing (parking frame information + lane information) based on the spatial information data is stored in the memory. By storing the surrounding environment information at the time of warehousing as the surrounding environment storage information in this way, is there a blind spot in the surrounding environment sensor information acquired by the space recognition sensor 21 mounted on the own vehicle A at the time of warehousing? It becomes the collation data when judging whether or not. Further, the stored lane information becomes complementary data that complements the missing information in the blind spot area when it is determined that the blind spot exists at the time of delivery.

In the information acquisition procedure at the time of the warehousing start operation, when a predetermined time has passed after parking and the flag of the warehousing start instruction is received by remote control to the warehousing start operation switch 25 or the like, the surroundings at the time of warehousing stored in the memory. Read the environment information and acquire the surrounding environment memory information. When the flag of the delivery start instruction is received, the space recognition sensor 21 mounted on the own vehicle A at the parking position reads the spatial information data around the own vehicle and acquires the surrounding environment sensor information.

In the blind spot determination procedure at the time of the delivery start operation, the ambient environment sensor information acquired in the above information acquisition procedure is collated with the ambient environment memory information, and it is determined whether or not there is a blind spot in the ambient environment sensor information. The presence / absence of the blind spot is determined by setting a threshold value for the reliability of the ambient environment sensor information, and if the entire angle range of the sensor detection angle range by the space recognition sensor 21 exceeds the threshold value, it is determined that the blind spot does not exist. .. If there is a range in which the reliability is equal to or less than the threshold value in a part of the entire angle range of the sensor detection angle range by the space recognition sensor 21, it is determined that there is a blind spot. Then, in the sensor detection angle range, the range in which the reliability is equal to or less than the threshold value is defined as the blind spot region.

In the integrated information acquisition procedure at the time of blind spot determination, when it is determined that there is a blind spot, the lane information that is complementary information of the blind spot area is read out from the surrounding environment information at the time of warehousing. Then, the information of the blind spot region among the surrounding environment sensor information based on the spatial information data by the space recognition sensor 21 is complemented by the lane information stored at the time of warehousing to acquire the surrounding environment integrated information. In this way, if it is determined that there is a blind spot, the blind spot area information is supplemented with the lane information stored at the time of warehousing, so that even if there is a blind spot that is missing sensor information in the surrounding environment sensor information, It is possible to acquire the surrounding environment integrated information that can identify the target parking position Pt.

In the route generation procedure at the time of warehousing, if there is no blind spot, the warehousing space S is acquired based on the surrounding environment sensor information, and if there is a blind spot, the warehousing space S is acquired based on the surrounding environment integrated information. To do. When the warehousing space S is acquired, by searching for a route where the boundary line of the warehousing space S and the own vehicle A do not interfere with each other, from the current own vehicle position Pn / own vehicle attitude Dn to the target warehousing position Pt / target attitude Dt. Generate a shipping route Rout that connects. In this way, by generating the delivery route Rout in which the boundary line of the delivery possible space S and the own vehicle do not interfere with each other, even if the own vehicle A is moved along the delivery route Rout, the boundary of the delivery possible space S is formed. Interference with obstacles is avoided.

In the route guidance procedure at the time of warehousing, when the warehousing route Rout is generated, vehicle guidance control is performed to autonomously guide the vehicle A from the current vehicle position Pn to the target warehousing position Pt along the generated warehousing route Rout. To do. In this way, by performing vehicle guidance control when the delivery route Rout is generated, it is possible to bring the own vehicle A to the target delivery position Pt by unmanned driving. Further, even when the vehicle is in the vehicle, it is possible to bring the vehicle A to the target delivery position Pt in the state of being released.

[Parking support control action at the time of leaving]
First, in a warehousing environment where there are no parked vehicles or pillars adjacent to the own vehicle A, the entire angle range of the sensor detection angle range SA by the space recognition sensor 21 exceeds the threshold value, as shown in FIG. Therefore, it is judged that there is no blind spot. In this way, when it is determined that there is no blind spot, the warehousing space S is acquired based on the surrounding environment sensor information by the space recognition sensor 21 from the parking position. When the warehousing space S is acquired, the target warehousing position Pt / target posture is obtained from the current vehicle position Pn / vehicle posture Dn by searching for a route in which the boundary line of the warehousing space S and the vehicle A do not interfere with each other. The delivery route Rout connecting to Dt is generated. When the delivery route Rout is generated, the vehicle guidance control is performed, so that the own vehicle A can reach the target delivery position Pt by unmanned driving.

Next, in the delivery environment situation where the parked vehicle B and the pillar C are located adjacent to the own vehicle A, as shown in FIG. 7, one of the total angle ranges of the sensor detection angle range SA by the space recognition sensor 21 Since there is a range in which the reliability is below the threshold value, it is determined that there is a blind spot. That is, the parked vehicle B at the position adjacent to the own vehicle A forms the blind spot area ZB from which the in-vehicle sensor information is missing, and the pillar C at the adjacent position of the own vehicle A forms the blind spot area ZC from which the in-vehicle sensor information is missing. Of the blind spot areas ZB and ZC, the target delivery position Pt is included in the blind spot area ZB, and if the blind spot area ZB is left as it is, the target delivery position Pt cannot be specified.

Therefore, when it is determined that there is a blind spot, the lane information that serves as complementary information for the blind spot area is read out from the surrounding environment information at the time of warehousing. Then, the surrounding environment integrated information is acquired by complementing the information of the blind spot regions ZB and ZC among the surrounding environment sensor information based on the spatial information data by the space recognition sensor 21 with the lane information stored at the time of warehousing.

In this way, when it is determined that there is a blind spot, the exitable space S is acquired based on the surrounding environment integrated information supplemented with the information of the blind spot areas ZB and ZC by the lane information stored at the time of warehousing. When the warehousing space S is acquired, the target warehousing position Pt / target posture is obtained from the current vehicle position Pn / vehicle posture Dn by searching for a route in which the boundary line of the warehousing space S and the vehicle A do not interfere with each other. The delivery route Rout connecting to Dt is generated. When the delivery route Rout is generated, the vehicle guidance control is performed, so that the own vehicle A can reach the target delivery position Pt by unmanned driving.

FIG. 8 shows the generation action of the delivery route Rout'in the comparative example that does not complement the lane information when the own vehicle A leaves the garage in the warehousing environment situation where the blind spot exists, and the first embodiment that complements the lane information. The comparison with the generation action of the delivery route Rout is shown.

In the comparative example, if the own vehicle A remains in the parking position within the parking frame Sb, the target delivery position Pt cannot be specified by the blind spot area of the surrounding environment sensor information. For this reason, the vehicle A in the parking position is advanced to a position where the blind spot area disappears, the vehicle A'in the forward position is set to the current vehicle position Pn'and the vehicle posture Dn', and the delivery route Rout'with the minimum turning radius is set. It will move to the target delivery position Pt'along. Therefore, the width W'that can be delivered is required to be about twice the width from the boundary line between the road and the parking frame to the target delivery position Pt'.

On the other hand, in the first embodiment, if the own vehicle A remains in the parking position in the parking frame Sb, the target delivery position Pt cannot be specified by the blind spot area of the surrounding environment sensor information as in the comparative example. However, by supplementing the blind spot area of the surrounding environment sensor information with the lane information stored at the time of warehousing, the surrounding environment integrated information that can identify the target warehousing position Pt is acquired. Therefore, without advancing the vehicle A in the parking position to a position where the blind spot area disappears, the vehicle A in the parking position is set to the current vehicle position Pn and the vehicle posture Dn, and is along the exit route Rout with the minimum turning radius. It will move to the target delivery position Pt. Therefore, the width W of the road that can be delivered needs to be about twice the width from the boundary line between the road Sa and the parking frame Sb to the target delivery position Pt.

As described above, in the case of the comparative example, the space of the parking frame Sb cannot be effectively utilized when the delivery route Rout'is generated because the own vehicle A needs to be advanced from the parking position. On the other hand, in the case of the first embodiment, the space of the parking frame Sb can be effectively utilized when the delivery route Rout is generated because the own vehicle A can be left in the parking position. As a result, in the case of the comparative example, a wide lane width W'is required to enable delivery, whereas in the case of the first embodiment, even a narrow lane width W (<W') is required. It is possible to issue goods along the delivery route Rout with the minimum turning radius.

[Characteristics of parking support control]
In the first embodiment, when the start of delivery of the own vehicle A from the parking lot SP is instructed, there is a blind spot in the surrounding environment sensor information acquired from the parked own vehicle A, which is a lack of in-vehicle sensor information. Determine if. When it is determined that a blind spot exists, the blind spot area information among the ambient environment sensor information is integrated by complementing it with the ambient environment memory information stored at the time of warehousing. When the integrated information of the surrounding environment of the own vehicle is acquired, the delivery route Rout of the own vehicle A from the current position Pn of the own vehicle to the target delivery position Pt is generated based on the integrated information of the surrounding environment.
That is, by storing the environmental information around the vehicle acquired at the time of warehousing, when the vehicle A is instructed to start warehousing, the surrounding environment sensor information acquired from the parked vehicle A is a blind spot. Even if there is, the missing information can be complemented (integrated). In this way, since the lack of in-vehicle sensor information is supplemented by the storage information at the time of warehousing, the target warehousing position Pt can be specified in the generation of the warehousing route Rout regardless of the surrounding environment. Therefore, when the own vehicle A starts warehousing from the parking lot SP, an accurate warehousing route Rout is generated even in a warehousing environment where a blind spot occurs in the in-vehicle sensor information.

In the first embodiment, the complementary information that complements the blind spot area in the ambient environment sensor information is the lane information extracted from the spatial information data acquired at the time of warehousing among the ambient environment memory information stored at the time of warehousing. ..
That is, when it is determined that there is a blind spot in the surrounding environment sensor information acquired from the own vehicle A at the parking position, it is most difficult to acquire the information by the in-vehicle sensor, and it is the roadway that the sensor information is missing. Information. Therefore, by using the lane information stored at the time of warehousing as supplementary information, the blind spot area can be complemented with the highly reliable lane information sensed at the time of warehousing.

In the first embodiment, the lane information is information composed of the direction of the lane, the depth of the lane, and the width of the lane.
That is, as the lane information, the lane width, the lane depth, and the lane direction sensed at the time of warehousing are acquired, and the lane information is stored. Therefore, when the blind spot area is supplemented with the roadway information, it becomes possible to acquire accurate surrounding environment integrated information.

In the first embodiment, when determining whether or not there is a blind spot, the ambient environment sensor information acquired from the parked own vehicle is collated with the ambient environment memory information stored at the time of warehousing.
That is, at the time of warehousing, it is determined whether or not there is a blind spot in the surrounding environment sensor information by collating with the highly reliable surrounding environment storage information stored at the time of warehousing. Therefore, it becomes possible to accurately determine the presence or absence of a blind spot.

In the first embodiment, when the ambient environment sensor information and the ambient environment memory information are collated, the reliability of the ambient environment sensor information with respect to the ambient environment memory information is collated over the entire angle range of the sensor detection angle range SA, and the reliability is a threshold value. It is judged that there is a blind spot if there is the following range. Areas whose reliability is equal to or less than the threshold value by collation are defined as blind spot areas ZB and ZC that are complemented by the stored information at the time of warehousing.
That is, as for the blind spot of the ambient environment sensor information, if some obstacle exists in the sensor detection angle range SA, the sensor information is lost in the angle range where the obstacle is projected. On the other hand, by collating the reliability of the ambient environment sensor information with respect to the ambient environment storage information over the entire angle range of the sensor detection angle range SA, the information collation omission is eliminated. Therefore, it becomes possible to accurately determine the blind spot that there is a blind spot that requires information complementation. Furthermore, the blind spot area where the blind spot exists can be accurately identified.

In the first embodiment, when the surrounding environment integrated information is acquired by complementing the information of the blind spot area in the ambient environment sensor information, the issueable space S including the target issue position Pt is set based on the ambient environment integrated information. To do.
That is, when there is a blind spot in the information detected by the in-vehicle sensor at the time of warehousing, the target warehousing is achieved by integrating the area where the sensor information is missing with the information acquired in advance (stored at the time of warehousing). It is possible to set the delivery possible space S including the position Pt. Therefore, even in the delivery environment situation where a blind spot exists, it is possible to set the target delivery position Pt with high accuracy and generate the delivery route Rout.

Next, the effect will be described.
In the parking support method and the parking support device according to the first embodiment, the effects listed below can be obtained.

(1) Assist the warehousing when the own vehicle A leaves the parking lot SP.
In this parking support method, the surrounding environment information of the own vehicle A is stored based on the spatial information data acquired when the own vehicle A moves in and out of the parking lot SP (S1 to S5 in FIG. 4).
When the start of leaving the vehicle A from the parking lot SP is instructed, it is determined whether or not there is a blind spot in the surrounding environment sensor information acquired from the parked vehicle A, which is a lack of in-vehicle sensor information. (S6 to S10 in FIG. 4).
When it is determined that a blind spot exists, the blind spot area information among the ambient environment sensor information is integrated by complementing it with the ambient environment memory information stored at the time of warehousing (S11 to S13 in FIG. 4).
When the integrated information of the surrounding environment of the own vehicle is acquired, the delivery route Rout of the own vehicle A from the current position Pn of the own vehicle to the target delivery position Pt is generated based on the integrated information of the surrounding environment (S14 in FIG. 4). , S15).
Therefore, it is possible to provide a parking support method for generating an accurate delivery route Rout even in a delivery environment where a blind spot occurs in the in-vehicle sensor information when the own vehicle A starts leaving the parking lot SP. ..

(2) The complementary information that complements the blind spot area in the ambient environment sensor information is the lane information extracted from the spatial information data acquired at the time of warehousing among the ambient environment memory information memorized at the time of warehousing (Fig.). 4 S5).
Therefore, in addition to the effect of (1), by using the lane information stored at the time of warehousing as supplementary information, it is possible to supplement the blind spot area with the highly reliable lane information sensed at the time of warehousing. it can.

(3) Roadway information is information composed of the direction of the roadway, the depth of the roadway, and the width of the roadway (Fig. 3).
Therefore, in addition to the effect of (2), when the blind spot area is supplemented with the roadway information, it is possible to obtain accurate surrounding environment integrated information.

(4) When determining whether or not there is a blind spot, the ambient environment sensor information acquired from the parked vehicle is collated with the ambient environment memory information stored at the time of warehousing (S8 to FIG. 4). S10).
Therefore, in addition to the effects of (1) to (3), by using highly reliable ambient environment memory information for information collation, it is possible to accurately determine whether or not a blind spot exists.

(5) When collating the ambient environment sensor information with the ambient environment memory information, the reliability of the ambient environment sensor information with respect to the ambient environment memory information is collated over the entire angle range of the sensor detection angle range SA, and the reliability is equal to or less than the threshold value. If there is a range, it is judged that there is a blind spot.
Areas whose reliability is equal to or less than the threshold value by collation are defined as blind spot areas ZB and ZC that are complemented by the stored information at the time of warehousing (Fig. 7).
Therefore, in addition to the effect of (4), it is possible to accurately determine the blind spot that there is a blind spot that requires information complementation, and it is possible to accurately identify the blind spot region where the blind spot exists.

(6) When the surrounding environment integrated information is acquired by complementing the information in the blind spot area of the ambient environment sensor information, the issueable space S including the target issue position Pt is set based on the ambient environment integrated information ( Figure 3).
Therefore, in addition to the effects of (1) to (5), it is possible to set an accurate target issue position Pt and generate an accurate issue route Rout even in a delivery environment situation where a blind spot exists. be able to.

(7) A parking support controller (eCU 27 for parking support calculation) that assists when the own vehicle A leaves the parking lot SP is provided.
In this parking support device, the parking support controller (parking support calculation ECU 27) includes an information storage unit (environmental environment information storage unit 273 at the time of warehousing), a blind spot determination unit 275, an ambient environment information integration unit 276, and a delivery route generation. It has a part 278 and.
The information storage unit (environmental environment information storage unit 273 at the time of warehousing) stores the surrounding environment information of the own vehicle A based on the spatial information data acquired when the own vehicle A moves in and out of the parking lot SP.
When the blind spot determination unit 275 is instructed to start leaving the vehicle A from the parking lot SP, the surrounding environment sensor information acquired from the parked vehicle A has a blind spot, which is a lack of sensor information. Determine if.
When it is determined that a blind spot exists, the ambient environment information integration unit 276 integrates the blind spot area information among the ambient environment sensor information by complementing it with the ambient environment memory information stored at the time of warehousing.
When the delivery route generation unit 278 acquires the integrated information of the surrounding environment of the own vehicle, the delivery route Rout of the own vehicle A from the current position Pn of the own vehicle to the target delivery position Pt is calculated based on the integrated information of the surrounding environment. Generate (Fig. 2).
Therefore, it is possible to provide a parking support device that generates an accurate delivery route Rout even in a delivery environment where a blind spot occurs in the in-vehicle sensor information when the own vehicle A starts leaving the parking lot SP. ..

Although the parking support method and the parking support device of the present disclosure have been described based on the first embodiment, the specific configuration is not limited to the first embodiment and is included in each claim of the claims. Design changes and additions are permitted as long as they do not deviate from the gist of the invention.

In the first embodiment, the surrounding environment information storage unit 273 at the time of warehousing is the surrounding environment information (lane information) of the own vehicle A based on the spatial information data acquired when the own vehicle A moves to the parking lot SP. + An example of storing parking frame information) is shown. However, the surrounding environment information storage unit at the time of warehousing may be an example of storing only the lane information that is more necessary than the parking frame information as the collation information and the supplementary information.

In the first embodiment, when the blind spot determination unit 275 is instructed to start the delivery of the own vehicle A from the parking lot SP, the surrounding environment sensor information and the surrounding environment memory information acquired from the parked own vehicle A are combined. An example of determining whether or not there is a blind spot, which is a lack of sensor information, is shown by collation. However, the blind spot determination unit may be used as an example of determining whether or not a blind spot exists by collating the surrounding environment sensor information with the roadway information. Further, the blind spot determination unit may be an example of determining whether or not a blind spot exists by collating the surrounding environment sensor information with the parking lot map information.

In the first embodiment, when the ambient environment information integration unit 276 determines that a blind spot exists, the blind spot area information among the ambient environment sensor information is complemented by using the lane information stored at the time of warehousing. An example of integration is shown. However, when it is determined that there is a blind spot, the surrounding environment information integration department cuts out the blind spot area from the lane information stored at the time of warehousing and integrates it by supplementing it with the cut lane information. It may be an example of doing.

In the first embodiment, as the delivery route generation unit 277, the delivery route Rout of the own vehicle A from the current own vehicle position Pn / own vehicle attitude Dn to the target delivery position Pt / target attitude Dt is set in the delivery possible space S. An example to generate is shown. However, the delivery route generation unit may be an example of generating the delivery route Rout of the own vehicle A from the current own vehicle position Pn to the target delivery position Pt in the possible delivery space S, except for the information regarding the posture. .. In addition, if it is determined that the searched delivery route cannot avoid interference between the own vehicle and the boundary line of the possible delivery space, the delivery start position during parking is moved to the delivery start position where a delivery route that avoids contact can be generated. It may be an example of correction. In addition, in order to correct the movement of the delivery start position, a turning back operation is added.

In the first embodiment, an example is shown in which the parking support method and the parking support device of the present disclosure are applied to an autonomous driving vehicle equipped with a parking support system at the time of leaving the garage. However, the parking support method and the parking support device of the present disclosure can also be applied to a vehicle equipped with a parking support system at the time of leaving, which only displays and guides the leaving route in order to support the driver's leaving operation. It can also be applied to a vehicle equipped with an automatic parking support system that performs only guidance control along the warehousing route generated at the time of entering the parking frame or the warehousing route generated at the time of leaving the parking frame. In short, it can be applied to any vehicle having a parking support function that somehow assists the driver's exit operation by generating a exit route in the exitable space when the own vehicle exits the parking lot.

21 Space recognition sensor 22 Steering angle sensor 23 Wheel speed sensor 24 Vehicle condition amount sensor 25 Outgoing start operation switch 26 Sensor information processing unit 261 Parkable space estimation unit 262 Track boundary estimation unit 27 Parking support calculation ECU
271 Parking frame information extraction unit 272 Road information extraction unit 273 Surrounding environment information storage unit (information storage unit) at the time of warehousing
274 Current vehicle position / attitude information acquisition unit 275 Blind spot determination unit 276 Surrounding environment information integration unit 277 Target delivery position / attitude setting unit 278 Delivery route generation unit 28 Vehicle control ECU
29 Actuator 30 Image processing unit 31 Display monitor A Own vehicle B Parked vehicle C Pillar
PK parking lot
SP parking lot S Outgoing space
Sa lane
Sb parking frame
Rout delivery route
Pn Current vehicle position
Dn Current vehicle attitude
Pt target shipping position
Dt target posture
SA sensor detection angle range
ZB, ZC blind spot area

Claims (6)

In the parking support method that assists when the vehicle leaves the parking lot
The surrounding environment information of the own vehicle is stored based on the spatial information data acquired when the own vehicle moves in and out toward the parking lot.
When the vehicle is instructed to start leaving the parking lot, it is determined whether or not there is a blind spot in the ambient environment sensor information acquired from the parked vehicle, which is a lack of in-vehicle sensor information.
When it is determined that the blind spot exists, the blind spot area information in the ambient environment sensor information is integrated by complementing it with the ambient environment memory information stored at the time of warehousing.
When the surrounding environment integrated information is acquired by complementing the information of the blind spot area in the surrounding environment sensor information, the issueable space including the target issue position is set based on the ambient environment integrated information.
When the target unloading position is set to the goods issue possible space, a path from the vehicle position the current up to the target unloading position, that the boundary line and the vehicle of the goods issue possible space interferes A parking assistance method characterized by generating an exit route without a vehicle. In the parking support method according to claim 1,
Of the ambient environment sensor information, the complementary information that complements the blind spot region is the lane information extracted from the spatial information data acquired at the time of warehousing among the ambient environment memory information stored at the time of warehousing. A featured parking support method. In the parking support method described in claim 2,
The parking support method is characterized in that the lane information is information composed of the direction of the lane, the depth of the lane, and the width of the lane. In the parking support method according to any one of claims 1 to 3.
When determining whether or not the blind spot exists, the parking support method is characterized by collating the surrounding environment sensor information acquired from the parked own vehicle with the surrounding environment memory information stored at the time of warehousing. .. In the parking support method according to claim 4,
When collating the ambient environment sensor information with the ambient environment memory information, the reliability of the ambient environment sensor information with respect to the ambient environment memory information is collated over the entire angle range of the sensor detection angle range, and the reliability is equal to or less than the threshold value. If there is a range, it is judged that there is a blind spot,
A parking support method characterized in that an area whose reliability is equal to or less than a threshold value by the collation is set as a blind spot area that is complemented by stored information at the time of warehousing. In a parking support device equipped with a parking support controller that assists when the vehicle leaves the parking lot.
The parking support controller
An information storage unit that stores information on the surrounding environment of the vehicle based on the spatial information data acquired when the vehicle moves in and out of the parking lot.
A blind spot determination unit that determines whether or not there is a blind spot, which is a lack of sensor information, in the ambient environment sensor information acquired from the parked vehicle when the vehicle is instructed to start leaving the parking lot. When,
When it is determined that the blind spot exists, the surrounding environment information integration unit that integrates the blind spot area information among the surrounding environment sensor information by complementing it with the surrounding environment storage information stored at the time of warehousing,
When the surrounding environment integrated information is acquired by complementing the information of the blind spot area in the surrounding environment sensor information, the target issuing position setting unit that sets the issuing possible space including the target issuing position based on the surrounding environment integrated information. When,
When the target unloading position is set to the goods issue possible space, a path from the vehicle position the current up to the target unloading position, that the boundary line and the vehicle of the goods issue possible space interferes The issue route generator that generates the issue route without
A parking support device characterized by having.

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