CN108407802B - Parking assistance device and parking assistance method - Google Patents
Parking assistance device and parking assistance method Download PDFInfo
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- CN108407802B CN108407802B CN201710072205.4A CN201710072205A CN108407802B CN 108407802 B CN108407802 B CN 108407802B CN 201710072205 A CN201710072205 A CN 201710072205A CN 108407802 B CN108407802 B CN 108407802B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The invention provides a parking assist apparatus and a parking assist method, which can smoothly drive away other vehicles from a parking space even if the vehicle stops on a non-parking space and blocks other vehicles. The parking assistance device includes: a vehicle position acquiring unit and a vehicle moving unit for automatically driving a vehicle from a parking position; a peripheral vehicle detection unit that detects another vehicle that is stopped around the own vehicle; a vehicle-travel-position estimation unit configured to estimate a travel-position of the vehicle; an obstacle detection unit that detects whether or not a parking position of a host vehicle hinders the other vehicle from driving away from the parking position; a vehicle-travel-distance monitoring unit configured to monitor a travel distance of the vehicle when the vehicle-stop position detected by the obstacle detecting unit interferes with the vehicle; and a vehicle moving unit that moves the vehicle to a position where the vehicle does not interfere with the movement of the other vehicle when the other vehicle movement observation unit observes that the other vehicle has a movement to move away.
Description
Technical Field
The present invention relates to a parking assist apparatus and a parking assist method, and more particularly to a parking assist apparatus and a parking assist method when a user parks a vehicle in a non-parking space.
Background
In recent years, as to the driving state of a vehicle, in addition to the conventional manual driving in which the vehicle is driven according to a driving operation by a user, an automatic driving mode in which the vehicle is driven according to a route set in advance without a driving operation by the user, that is, the automatic driving mode is also silently established. The so-called automatic driving is a driving mode capable of detecting a current position of a vehicle, a lane line when the vehicle is running, and positions of other vehicles around the vehicle from time to time, and automatically controlling a steering wheel, an engine, a brake, and the like of the vehicle to run along a predetermined route, for example.
Based on the automatic driving technique described above, there is a parking assist technique in which the own vehicle automatically stops the vehicle in the parking space and automatically drives the vehicle out of the parking space based on information about the monitored own vehicle. For example, patent document 1 (japanese patent application laid-open No. 2003-306105) describes a technique for capturing an image of the situation around a vehicle when the vehicle is driven away from a parking space, forming an image, and displaying the image information on a display in a vehicle cab to provide a driver with attention to the situation around the vehicle. When an object exists in a certain distance range of the vehicle, the technology can judge whether the vehicle can drive away from the parking position according to the distance between the object and the vehicle, and when the vehicle can safely drive away from the parking position, the driving away route, the operation direction of the steering wheel, the operation time point of the steering wheel and the like are displayed on a display in the form of pictures, and meanwhile, the technology assists in prompting a user by voice.
However, in the above-described technique, if the driver parks the own vehicle in the vicinity of the parking position of the other vehicle, there may occur a problem of blocking the other vehicle from exiting from its parking space. In this case, if the technology described in the above patent document is used, the problem that another vehicle stopped by the own vehicle to go to the road cannot smoothly drive away from the parking space cannot be completely solved. However, in reality, since the parking space is limited, the vehicle must be parked near another parked vehicle, and another vehicle cannot be driven away from the parking position.
Patent document 1: japanese patent laid-open publication No. 2003-306105
Disclosure of Invention
The present invention has been made to solve the above-described problems of the conventional art, and an object of the present invention is to provide a parking support apparatus and a parking support method that can smoothly drive away a parked vehicle from a parking space even when the parked vehicle is parked in a non-parking space and the parked vehicle is stopped by another vehicle.
In order to achieve the above object, the present invention provides a parking assistance device including a vehicle position acquiring unit for acquiring a current position of a vehicle and a vehicle moving unit for automatically driving the vehicle from a parking position; a peripheral vehicle detection unit that detects another vehicle that is stopped around the own vehicle; a vehicle route prediction unit that predicts a vehicle route to be traveled away from a parking position by the other vehicle; an obstacle detection unit that detects whether or not a parking position of a host vehicle hinders the other vehicle from driving away from the parking position; a vehicle-travel-distance detecting unit that detects a vehicle travel distance of the vehicle from the other vehicle when the vehicle is stopped; and a vehicle moving unit that moves the vehicle to a position where the vehicle does not interfere with the movement of the other vehicle when the other vehicle movement observation unit observes the movement of the other vehicle.
The parking assist apparatus provided by the present invention further includes: a parking space determination unit that determines whether or not a parking position of the host vehicle is a parking space; the peripheral vehicle detecting unit detects another vehicle parked around the own vehicle when the parking space determining unit determines that the parking space of the own vehicle is a non-parking space.
In the parking support apparatus according to the present invention, the vehicle moving unit further includes a vehicle moving route generating unit. The vehicle movement route generation unit sets the vehicle parking position as a departure point and a position other than the position on the departure route as a destination, and generates a travel route from the departure point to the destination.
In the parking support apparatus according to the present invention, the own vehicle moving unit automatically drives the own vehicle to the empty parking space to park the own vehicle after the obstacle detecting unit detects that the other vehicle has left the parking space.
In the parking assistance device according to the present invention, the obstacle detection unit detects another vehicle that is obstructed by the parking position of the own vehicle, based on whether the parking position of the own vehicle is on a departure route of the another vehicle, and determines that the own vehicle obstructs the another vehicle from departing from the parking position when the parking position of the own vehicle is on the departure route of the another vehicle; if the parking position of the vehicle is not on the driving away route of the other vehicle, it is determined that the vehicle does not prevent the other vehicle from driving away from the parking position.
In the parking assist apparatus according to the present invention, the operation of moving the other vehicle away includes: the doors of other vehicles are opened, the engines of other vehicles are started, and other vehicles start to move.
The present invention also provides a parking assist method, including: a peripheral vehicle detection step of detecting other vehicles stopped around the own vehicle; a second vehicle route prediction step of predicting a drive-away route on which the second vehicle has driven away from the parking position; an obstacle detection step of detecting whether or not a parking position of the own vehicle hinders the other vehicle from driving away from the parking position; a step of observing the movement of another vehicle, when the parking position of the host vehicle detected in the obstacle detecting step obstructs the other vehicle, the other vehicle moving away from the parking position is observed; and a vehicle moving step of moving the vehicle to a position where the vehicle does not interfere with the movement of the other vehicle when the other vehicle has a movement-away operation observed in the other vehicle movement observation step.
The invention has the following effects:
according to the parking assist apparatus and the parking assist method provided by the present invention, even if the own vehicle parks in a non-parking space where the other vehicle is prevented from exiting the parking space, the own vehicle can smoothly exit from the parking space by automatically moving the vehicle, and thus the non-parking space can be effectively used in a place where the parking space is narrow.
Drawings
Fig. 1 is a block diagram showing a configuration of a parking assistance device according to an embodiment of the present invention.
Fig. 2 is a flowchart of a parking control process of the parking assist apparatus according to the embodiment of the present invention.
Fig. 3 to 6 are examples of a parking assist apparatus according to an embodiment of the present invention.
Fig. 7 is an example of a parking assist apparatus according to another embodiment of the present invention.
Description of reference numerals:
100: a parking assist device; 101: a vehicle position acquisition unit; 102: a parking space judging section; 103: a surrounding vehicle detection unit; 104: other vehicle route prediction unit; 105: an obstacle detection unit; 106: other vehicle operation observation units; 107: a vehicle movement route generation unit; 108: a vehicle moving part.
Detailed Description
Hereinafter, a parking assistance device and a parking assistance method according to an embodiment of the present invention will be described with reference to the drawings. In the embodiments, the components of the apparatus may be changed, deleted or added according to the actual situation, and the steps of the method may be changed, deleted, added or changed in order according to the actual situation.
First, the configuration of the parking assist apparatus 100 according to the embodiment of the present invention will be described with reference to fig. 1. In addition, the parking assistance apparatus includes various components, and only components related to the technical idea of the present invention are shown in fig. 1, and other components are omitted.
As shown in fig. 1, the parking support apparatus 100 according to the present embodiment can be used for a vehicle having a manual driving mode and an automatic driving mode. In the present invention, the manual driving mode is a mode in which the vehicle travels in accordance with an operation of an accelerator pedal, a clutch pedal, a brake pedal, a steering wheel, a hand brake, and the like by a driver, as in a normal vehicle. The automatic driving mode is a driving mode in which the vehicle itself autonomously avoids obstacles, changes a route, and the like according to the operation of the driver even if the driver operates an accelerator pedal, a clutch pedal, a brake pedal, a steering wheel, a hand brake, and the like.
As shown in fig. 1, the parking assistance apparatus 100 includes: a vehicle position acquiring unit 101, a parking space determining unit 102, a surrounding vehicle detecting unit 103, another vehicle route predicting unit 104, an obstacle detecting unit 105, another vehicle operation observing unit 106, a vehicle movement route generating unit 107, and a vehicle moving unit 108.
In the present embodiment, the vehicle location acquiring unit 101 includes a device (not shown) for receiving gps (global Positioning system) signals for detecting the absolute location (longitude and latitude) of the vehicle, and an orientation detecting unit (not shown) for detecting the relative location of the vehicle using a gyrocompass or the like. The vehicle position acquiring unit 101 may perform map matching processing using map data information stored in a map storage unit (not shown), and accurately specify the position of the vehicle on the map based on the processing result. Further, the accuracy of the vehicle position information can be improved by capturing the position and the periphery of the vehicle where the vehicle is parked by a camera (not shown) attached to the vehicle body, comparing the captured image with data on a map to specify the position of the vehicle, and performing map matching positioning processing on the map information.
The parking space determination unit 102 determines whether or not the position where the own vehicle is parked is a parking space. Here, a location of an area size that can allow a vehicle to stop can be regarded as a parking space. A parking lot is usually provided with a plurality of parking spaces, and each parking space is generally divided by a white line, a stop line, and the like. The method for judging one parking space comprises the following steps: detecting whether or not a mark such as a white line indicating a parking space exists in an image of a parking position captured by a camera of the parking position acquisition unit 101, and determining whether or not the position is a parking space based on the mark; the determination method may also be: and the attribute of the parking position of the own vehicle is specified on the map with high precision, and the attribute of the position is set for the destination of the parking space in the parking lot.
The surrounding vehicle detection unit 103 specifies the position of another vehicle based on an image captured by a camera mounted on the vehicle body. For example, the surrounding vehicle detection unit 103 detects the edge of the vehicle from the captured image, and calculates the distance between the vehicle and another vehicle based on the distance from the vehicle to the edge. The method of calculating the distance between the host vehicle and the other vehicle is not limited to the above method, and the distance between the host vehicle and the other vehicle may be obtained by other means, for example, by measuring the distance using a radar.
Another-vehicle route predicting unit 104 configured to set, as a departure point, a position of another vehicle stopped around the own vehicle detected by the surrounding-vehicle detecting unit 103, and set, as a destination, a lane closest to the another vehicle; then, a route between the departure point and the destination is planned by using a route planning function of a general navigation device. The information on the generated route is composed of information such as a combination of a link ID and a traveling direction that can identify a road in a certain section.
The obstacle detection unit 105 detects whether or not the own vehicle interferes with the other vehicle to get out of the parking position. Specifically, the link ID and the traveling direction of the travel route of the other vehicle predicted by the other vehicle route prediction unit 104 are compared with the link ID of the position where the own vehicle is parked, and whether or not the own vehicle is on the travel route of the other vehicle is determined based on the determination result. If the own vehicle is on the driving route of other vehicles, the own vehicle is considered to prevent the other vehicles from driving away from the parking position; if the own vehicle is not on the travel route of the other vehicle, it is considered that the own vehicle does not prevent the other vehicle from traveling away from the parking position.
The other-vehicle operation observation unit 106 observes the operation of the other vehicle around the own vehicle from time to time, and particularly observes whether or not the other vehicle around the own vehicle has a drive-away operation, using a sensor (for example, a camera or the like attached to the periphery of the own vehicle) attached to the own vehicle body. Here, as an example in which the other-vehicle behavior observation unit 106 observes the other-vehicle drive-away behavior: if the door of the observed vehicle is opened or the engine is started, the vehicle is considered to be driven away from the parking position; or a series of operations made by the driver in order to start the vehicle may also consider that the vehicle is about to move away from the parking position. Therefore, if the vehicle performs the drive-away operation, the information is transmitted to the vehicle moving unit 108 as a signal.
The vehicle movement unit 108 includes a vehicle movement route generation unit 107. When the obstacle detection unit 105 detects that the own vehicle obstructs the movement of another vehicle from the parking position and the other vehicle movement observation unit 106 observes the movement of the other vehicle from the parking position, the own vehicle movement route generation unit 107 sets the current position as a departure point, sets a position around the current position where the own vehicle is allowed to park and is not on the movement route of the other vehicle, that is, a position where the movement of the other vehicle is not obstructed, as a destination, and generates a movement route from the departure point to the destination, in accordance with an instruction from the own vehicle movement unit 108.
The vehicle moving unit 108 automatically drives the vehicle along the route to the set destination of the route, based on the travel route generated by the vehicle moving route generating unit 107.
The number of cameras used in the vehicle position acquisition unit 101, the surrounding vehicle detection unit 103, and the other vehicle operation observation unit 106 is one or more. The types and functions of the cameras can be different; the cameras can work at the same time or in different time periods.
Next, a parking assistance method of a parking assistance apparatus according to an embodiment of the present invention will be described with reference to a flowchart of fig. 3.
First, after the vehicle is parked, the vehicle position acquisition unit 101 detects the position at which the vehicle is parked (step S200).
Then, the parking space determination unit 102 determines whether or not the parking position of the own vehicle detected in the previous step is a parking space (step S201); when the detected parking position of the host vehicle is the parking space (yes in step S201), the processing flow ends.
When the parking space determining unit 102 detects that the parking position of the vehicle is not the parking space (no in step S201), the peripheral vehicle detecting unit 103 detects the position of the vehicle parked within a predetermined distance around the vehicle (step S202).
Then, after the position of the parked vehicle within a certain distance around the own vehicle is detected by the surrounding vehicle detection unit 103, the other-vehicle route prediction unit 104 predicts a route from the parking position (starting point) of the other vehicle to a general lane (destination) (step S203). Here, the number of other vehicles around the own vehicle may be 1, 2, or 2 or more. In addition, when there are a large number of other vehicles around the detected own vehicle, the own vehicle can predict a route from a parking position (starting point) of one or a few vehicles closest to the own vehicle to a general lane (destination). Then, it is determined whether or not the parking position of the own vehicle detected by the own vehicle position acquisition unit 101 is on the drive-off route of the other vehicle (step S204); if the parking position of the own vehicle is not at any point of the travel-away route of the other vehicle (NO in step S204), the processing flow ends.
If the parking position of the own vehicle is at any point on the travel path of at least one of the other vehicles (step S204: YES), the own vehicle is considered to prevent the other vehicle from traveling away from the parking position, and then the own vehicle observes the movement of the other vehicle (step S205). The number of other observed vehicles is determined by the number of other vehicles obstructed by the own vehicle, and may be one or more than one.
Then, it is determined whether or not another vehicle existing around the observed own vehicle has performed a specific drive-away operation (step S206); if the other vehicle under observation does not make the specific drive-off action (step S206: NO), step S206 is repeated until the vehicle under observation makes the specific drive-off action.
If the observed vehicle performs a specific driving-away operation (step S206: YES), a route from the current parking position of the vehicle to the destination is calculated by using the position where the vehicle does not interfere with the driving-away of other vehicles as the starting position (step S207).
Then, the host vehicle automatically moves to the destination according to the calculated movement route (step S208).
Finally, when the observed vehicle has left the parking space and completely exited the parking space, the other-vehicle operation observing unit 106 detects an empty parking space, recognizes the empty parking space using a camera mounted on the vehicle body of the own vehicle, and stops the vehicle in the empty parking space by automatic driving (step S209).
Next, an illustration of a parking assist apparatus according to an embodiment of the present invention will be described with reference to fig. 3 to 7.
As shown in fig. 3, a plurality of other vehicles are parked in parallel in the parking space, and the host vehicle 0 is parked in a non-parking space other than the parking space. First, the parking position information where the vehicle is parked is acquired by the vehicle position acquiring unit 101, and then the parking position determining unit 102 determines whether or not the parking position is a parking space. In this embodiment, it can be determined that the position where the vehicle 0 is parked is a non-parking space.
As shown in fig. 4, when the own vehicle 0 is parked at a non-parking space, the peripheral vehicle detection unit 103 detects and confirms the parking position of another vehicle (including the vehicle 1, the vehicle 2, the vehicle 3, the vehicle 4, the vehicle 5, and the like) present around the own vehicle 0. After the confirmation of the parking position of the other vehicle is completed, the other vehicle course prediction unit 104 predicts the departure course of the other vehicle from the parking position to the lane. The predicted drive-off course is indicated by a dashed line in fig. 4. Then, the obstacle detection unit 105 determines whether the own vehicle 0 is on the predicted travel route of the other vehicle. As shown in the figure, the own vehicle 0 is on the departure route of the other vehicle 2 and the other vehicle 3, that is, the parking position at which the own vehicle 0 is parked prevents the other vehicle 2 and the other vehicle 3 from coming out of the parking space.
As shown in fig. 5, the other-vehicle operation observation unit 106 of the own vehicle 0 can observe the operations of the other vehicle 2 and the other vehicle 3 from time to time. Therefore, when the door of the other vehicle 2 is opened, and the vehicle moving unit 108 estimates that the other vehicle 2 is about to travel away from the parked position, the vehicle moving route generating unit 107 calculates the target position of the vehicle that does not interfere with the travel of the other vehicle 2 away from the currently parked position, and as shown in the drawing, the target position of the vehicle in the present embodiment is represented by a rectangle formed by a broken line; then, the own vehicle travel route generation unit 107 generates a travel route, i.e., a avoidance route, based on the current position and the target position of the own vehicle 0.
As shown in fig. 6, the host vehicle 0 automatically moves to the target position (rectangular shape indicated by a dotted line) along the generated escape route. The driver of the other vehicle 2 can drive the vehicle to the destination according to the own travel route after moving the vehicle 0.
In the above-described embodiment, the case where the vehicle body is laterally stopped in front of the exit of another vehicle and the other vehicle cannot drive out is explained, but other cases than the embodiment are also applicable to the present invention because the other vehicle is prevented from driving out of the parking position after the vehicle is stopped in a position other than the parking position.
Finally, a modified example of the parking assist apparatus according to the embodiment of the present invention will be explained with reference to fig. 7.
As shown in fig. 7, in the embodiment shown in fig. 6, after the other vehicle 2 has left the parking space, the parking space is changed from the original state with a vehicle to the state without a vehicle, and in this case, the own vehicle 0 can automatically drive to the parking space to park in order to fully utilize the empty parking space.
Although the above embodiment has been described with respect to the case where only one other vehicle has left the parking space, the present invention is also applicable to the case where 2 or more other vehicles are provided, that is, when 2 or more other vehicles simultaneously want to leave the parking space, the own vehicle observes the leaving actions of the plurality of other vehicles, and then plans a leaving route, in which the leaving of any other vehicle is not obstructed, for avoiding.
In the above-described embodiment, the explanation is made on the case where another vehicle is parked in a parking space that is planned with a white line or the like as a boundary, and the present invention is also applicable to the case where a vehicle that is parked later in time order when the vehicle is parked in a parking space that is not planned with a clear boundary such as a white line or the like hinders the vehicle that was parked earlier from driving away from the parking position.
In the above-described actual embodiment, the vehicle moving unit 108 may move the vehicle according to the movement route generated by the vehicle movement route generating unit 107, or may move the vehicle from the current position to a position where the vehicle can use without preventing another vehicle from moving away from the parking space, by using a sensor such as a camera mounted on the vehicle body of the vehicle, and map data if necessary.
Therefore, the present invention is not limited to the embodiments described herein, but is applicable to other variations within the scope of the claims herein.
Claims (6)
1. A parking assistance device having a vehicle position acquisition unit for acquiring a current position of a vehicle and a vehicle movement unit for automatically driving the vehicle from the parking position, comprising:
a parking space determination unit that determines whether or not a parking position of a host vehicle is a parking space;
a peripheral vehicle detection unit that detects another vehicle that is parked around the own vehicle when the parking space determination unit determines that the parking space of the own vehicle is a non-parking space;
a second vehicle route prediction unit that predicts a driving-away route of the second vehicle from the parking position to the closest lane;
an obstacle detection unit that detects whether or not the parking position of the host vehicle hinders the other vehicle from driving away from the respective parking positions;
a vehicle-travel-distance detecting unit that detects a vehicle travel distance of the host vehicle from the other vehicle when the other vehicle is stopped; and
and a vehicle moving unit that moves the vehicle to a position where the vehicle does not interfere with the movement of the other vehicle when the other vehicle movement observation unit observes the movement of the other vehicle.
2. Parking assistance device according to claim 1,
the vehicle moving unit further includes a vehicle moving route generating unit,
the vehicle movement route generation unit sets the parking position of the vehicle as a departure point and a position other than the departure route as a destination, and generates a travel route from the departure point to the destination.
3. Parking assistance device according to claim 2,
the vehicle moving unit automatically drives the vehicle to an empty parking space to park after the obstacle detection unit detects that the other vehicle has left the parking space.
4. Parking assistance device according to claim 1,
the obstacle detection unit detects the other vehicle that is obstructed by the parking position of the host vehicle, based on whether or not the parking position of the host vehicle is on the departure route of the other vehicle, and determines that the host vehicle obstructs the departure of the other vehicle from the respective parking positions when the parking position of the host vehicle is on the departure route of the other vehicle; if the parking position of the host vehicle is not on the departure route of the other vehicle, it is determined that the host vehicle does not hinder the other vehicle from departing from the respective parking position.
5. Parking assistance device according to claim 1,
the operation of driving away the other vehicle includes: the door of the other vehicle is opened, the engine of the other vehicle is started, and the other vehicle starts moving.
6. A parking assist method of a parking assist apparatus, comprising:
a parking space judgment step of judging whether the parking position of the own vehicle is a parking space;
a peripheral vehicle detection step of detecting another vehicle parked around the own vehicle when the parking space determination unit determines that the parking space of the own vehicle is a non-parking space;
a second vehicle route prediction step of predicting a departure route from each parking position to a closest lane;
an obstacle detection step of detecting whether or not a parking position of a host vehicle hinders the other vehicles from driving away from the respective parking positions;
a vehicle-travel-distance monitoring step of monitoring a vehicle-travel distance of the other vehicle when the other vehicle is obstructed by the parking position of the host vehicle detected by the obstacle detecting step; and
and a vehicle moving step of moving the vehicle to a position where the vehicle does not interfere with the movement of the other vehicle when the other vehicle has a movement-away operation observed in the other vehicle movement observation step.
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| JP2022028092A (en) * | 2018-12-20 | 2022-02-15 | ソニーグループ株式会社 | Vehicle controller, vehicle control method, program, and vehicle |
| KR20200103464A (en) * | 2019-02-25 | 2020-09-02 | 현대자동차주식회사 | Vehicle control apparatus and method |
| CN111127584A (en) * | 2019-11-19 | 2020-05-08 | 奇点汽车研发中心有限公司 | Method and device for establishing visual map, electronic equipment and storage medium |
| CN112950995B (en) * | 2019-12-11 | 2023-07-21 | 奥迪股份公司 | Parking assistance device, corresponding method, vehicle and server |
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| JP2014240244A (en) * | 2013-06-12 | 2014-12-25 | トヨタ自動車株式会社 | Parking support device |
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| US8948990B2 (en) * | 2010-06-25 | 2015-02-03 | Nissan Motor Co., Ltd. | Parking assist control apparatus and control method |
| JP6511930B2 (en) * | 2015-04-16 | 2019-05-15 | 株式会社デンソー | Evacuation driving support device |
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