JP2011141854A - Automatic parking apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic parking device without infrastructure facilities with a small calculation processing load during automatic running. <P>SOLUTION: The automatic parking device includes: a parking completion decision means 102 for deciding whether a vehicle is positioned at a parking completion position; an automatic parking start decision means 108 for deciding whether or not an automatic parking start condition is satisfied; a behavior information acquisition means 104 for successively acquiring vehicle behavior information from when the vehicle is decided to be positioned at the parking completion position to when the automatic parking start condition is decided to be satisfied, and for storing the behavior information into a storage device 120; and an automatic running control means 110, when the automatic parking start condition is satisfied, for moving the vehicle to the parking completion position by automatically driving the vehicle in a reverse direction of a vehicle movement locus obtained from when the vehicle is decided to be positioned to the parking completion position to when the automatic parking start condition is satisfied, based on the behavior information stored in the storage device 120. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an automatic parking device, and more particularly to an automatic parking device suitable for parking an own vehicle in a parking space where an obstacle such as another vehicle or a wall is present close to the side of the own vehicle at a parking position. .

  Various automatic parking devices and systems have been proposed in which a vehicle automatically moves to a parking space and parks when the driver is not on the vehicle. For example, it is the thing of patent document 1.

  The system of Patent Literature 1 includes a remote control device carried by a user and an automatic parking assistance device mounted on a vehicle. When the user operates the remote control device and gives an automatic parking command signal to the automatic parking assistance device mounted on the vehicle, the automatic parking assistance device automatically parks the distance from the current position of the vehicle to the automatic parking designated position. The unmanned travel is started based on the determination that the distance is possible (for example, 100 m or less). During unmanned traveling, the vehicle position is sequentially transmitted to the remote control device. In addition, traffic congestion information on the route to the automatic parking designated position and parking space presence / absence information are acquired by road-to-vehicle communication or vehicle-to-vehicle communication. When the congestion frequency is equal to or higher than the predetermined frequency and when there is no parking space, the fact is transmitted to the remote control device. Further, even when the vehicle has finished automatic parking normally, the fact is transmitted to the remote control device.

JP 2006-302187 A

  By the way, generally, when an obstacle such as another vehicle or a wall exists close to the side of the vehicle at the parking position, it is necessary to get off the vehicle while paying attention to the side obstacle. In particular, in Patent Document 1, the vehicle to which the automatic parking assistance system is applied is a single-seat vehicle that does not include a door. However, unlike a general automobile that includes a door, You have to get off the car with care not to hit the door against obstacles close to your vehicle.

  Using the system of Patent Document 1, in such a situation, before reaching the final parking position, get off the vehicle in a wide place where there is little need to pay attention to side obstacles, and then unmanned The vehicle can be driven and parked in the parking space.

  However, the thing of patent document 1 acquires the traffic jam information of the route to the automatic parking designation position and the presence / absence information of the parking space by road-to-vehicle communication or vehicle-to-vehicle communication. For this reason, it is necessary to provide a vehicle with a device for performing road-to-vehicle communication and vehicle-to-vehicle communication, and infrastructure facilities that can use road-to-vehicle communication and vehicle-to-vehicle communication must be prepared. There was a problem that unmanned driving was not possible in places where there was not.

  Further, in the cited document 1, there is a problem that the calculation is complicated because the steering angle calculation for automatically traveling the route between the current position and the automatic parking designation position has to be performed.

  The present invention has been made based on this situation, and an object of the present invention is to provide an automatic parking apparatus that does not require infrastructure equipment and that has a low processing load during automatic traveling. .

  In order to achieve the object, an invention according to claim 1 is an automatic parking device that is mounted on a vehicle and can automatically park the vehicle so that the storage device and the vehicle are parked. Parking completion determination means for determining whether or not the vehicle has been positioned, automatic parking start determination means for determining whether or not an automatic parking start condition is satisfied, and trajectory information relating to the traveling locus of the vehicle, When it is determined that the automatic parking start condition is satisfied after it is determined that the automatic parking start condition is satisfied, the trajectory information acquisition means stored in the storage device, and when the automatic parking start condition is satisfied, Based on the trajectory information stored in the storage device, the movement trajectory of the vehicle from when it is determined that the vehicle is positioned at the parking completion position until when the automatic parking start condition is satisfied is reversed. The vehicle by automatically traveling, characterized in that it comprises an automatic travel control means for moving the vehicle to the parking completion position to.

  When a driver driving a vehicle equipped with the automatic parking device of the present invention parks his or her vehicle in a parking space where obstacles such as other vehicles and walls are close to the side of the own vehicle at the parking position. The following operations will be performed.

  First, the driver drives the vehicle and moves the vehicle to a position where it is finally desired to park. Then, a predetermined operation for teaching the automatic parking apparatus of the present invention that the vehicle is located at the parking completion position at this time is performed. Thereby, the parking completion determination means determines that the vehicle is located at the parking completion position.

  Next, the driver causes the vehicle to travel again to a position where it is easy to get off the vehicle. The trajectory information at this time is stored in the storage device. Thereafter, the driver gets off the vehicle. In addition, when other occupants are on the vehicle, the other occupants also get off. After this disembarkation, the occupant transmits an automatic parking start instruction signal from the portable device, and the automatic parking apparatus receives the automatic parking start instruction signal, or the automatic parking apparatus automatically determines whether the occupant gets off, etc. When the automatic parking start determining means determines that the automatic parking start condition is satisfied, the automatic driving control means automatically parks from the time when the parking completion signal is acquired based on the trajectory information stored in the storage device. The vehicle travels automatically in the reverse direction until the start condition is satisfied, and the vehicle is moved to the position where the parking completion signal is acquired.

  As described above, according to the present invention, the automatic travel control means automatically travels to the parking completion position based on the trajectory information stored in the storage device, so that automatic parking is performed even in a place where infrastructure facilities are not provided. Can be performed. In addition, since the route for automatic traveling is merely the reverse of the vehicle trajectory from the parking completion position until the automatic parking start condition is satisfied, the calculation processing load during automatic traveling is small.

  Further, according to a second aspect of the present invention, there is provided a peripheral object detection device that detects an object around the vehicle and an object around the vehicle by the peripheral object detection device while the vehicle is automatically traveling by the automatic travel control means. Risk determination means for determining whether or not the vehicle collides with an obstacle based on a detection result, and the automatic travel control means has a risk of collision of the vehicle with the obstacle by the risk determination means. The automatic traveling of the vehicle is stopped based on the determination that it is present. In this way, it is possible to reduce the risk of the vehicle colliding with an obstacle during automatic traveling.

  According to a third aspect of the present invention, during manual travel in which the vehicle is driven by a driver's driving operation from when it is determined that the vehicle is positioned at the parking completion position until it is determined that the automatic parking start condition is satisfied, Manual travel peripheral information acquisition means for acquiring manual travel peripheral information which is an object detection result by the peripheral object detection device and storing it in the storage device, and the risk determination means is the automatic travel control means by the automatic travel control means Based on the comparison between the peripheral information at the time of automatic driving and the peripheral information at the time of manual driving based on the comparison between the peripheral information at the time of automatic driving and the peripheral information at the time of manual driving, the risk of the vehicle colliding with an obstacle Determine presence or absence.

  In this way, if the risk during automatic driving is determined based on the comparison between the peripheral information at the time of manual driving and the peripheral information at the time of automatic driving, stationary objects such as parked vehicles that are present in the surrounding area are excluded. As a result, only the moving object can be set as the determination target, so that the danger determination can be performed with high accuracy.

  According to a fourth aspect of the present invention, the vehicle-mounted receiver further includes a vehicle-mounted receiver that receives a boarding position movement signal transmitted from a portable device carried by the driver of the vehicle, and the automatic travel control means includes the vehicle-mounted receiver that moves the boarding position. Based on the reception of the signal, the vehicle is automatically driven to a boardable position.

  In this way, not only when the vehicle is parked, it is also easy to get on the vehicle in a state where an obstacle is present close to the side of the vehicle at the parking position.

  A fifth aspect of the present invention further includes an in-vehicle receiver that receives a travel stop instruction signal transmitted from a portable device carried by the driver of the vehicle, and the automatic travel control means is configured such that the in-vehicle receiver is configured to receive the travel stop instruction. The automatic running of the vehicle is stopped based on reception of the signal.

  In this way, the driver operates the portable device when the driver monitors the surroundings and determines that there is a risk of the vehicle colliding with an obstacle when the vehicle is traveling automatically. Thus, automatic driving can be stopped. Therefore, it is possible to reduce the risk of the vehicle colliding with an obstacle due to automatic traveling.

  When it is assumed that the driver monitors a vehicle that is traveling automatically as in claim 5, it is preferable that the driver is in accordance with claim 6.

  According to a sixth aspect of the present invention, there is further provided driver presence determination means for sequentially determining whether or not a driver of the vehicle is present around the vehicle while the vehicle is automatically traveling by the automatic travel control means. The automatic travel control means stops the automatic travel of the vehicle based on the fact that the driver is determined not to exist in the vicinity of the vehicle by the driver presence determination means.

  In this way, if it is determined that the driver is not present in the vicinity of the vehicle, the automatic traveling is stopped, so that the vehicle is obstructed by the automatic traveling while the driver is not monitoring. The possibility of a collision can be reduced.

  The presence of the driver can be set, for example, as in claims 7 and 8. Claim 7 further includes an in-vehicle communication device capable of communicating with the portable device carried by the driver of the vehicle when the portable device exists around the vehicle, and the driver When the communication between the in-vehicle communication device and the portable device is possible, the presence determination means determines that the driver of the vehicle exists in the vicinity of the vehicle, and the presence of the in-vehicle communication device and the portable device When communication with the aircraft is not possible, it is determined that the driver of the vehicle does not exist in the vicinity of the vehicle.

  Further, the present invention further includes a peripheral imaging device that captures an image of the periphery of the vehicle, and the driver presence determination unit analyzes the image of the periphery of the vehicle captured by the peripheral imaging device, and is detected by a person If possible, it is determined that the driver of the vehicle exists in the vicinity of the vehicle, and if the person cannot be detected, it is determined that the driver of the vehicle does not exist in the vicinity of the vehicle. To do.

1 is a block diagram showing an overall configuration of an automatic parking system including an automatic parking apparatus 10 to which the present invention is applied. FIG. 2 is a block diagram illustrating a control function of the main control unit 100 of the automatic parking apparatus 10. It is a figure explaining the difference information of the periphery information at the time of manual travel, and the periphery information at the time of automatic travel. It is a figure which shows the state before it is judged with the parking completion judgment means 12 that the vehicle was located in the parking completion position. It is a figure which shows the state which the own vehicle 300 parked in the parking space 310 by manual operation. It is a figure which shows the state which moved the own vehicle 300 to the place where it is easy to get off by manual operation. It is a figure which shows the state which the driver | operator 350 gets off from the own vehicle 300, and is transmitting the automatic parking start instruction signal. It is a figure which shows the state which the driver | operator 350 is transmitting the boarding position signal, in order to make the own vehicle 300 drive automatically to a boarding possible position. It is a figure which shows the state which the own vehicle 300 has started automatic driving | running | working toward a boarding start position.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an overall configuration of an automatic parking system 1 including an automatic parking apparatus 10 to which the present invention is applied.

  As shown in FIG. 1, the automatic parking system 1 includes a peripheral object detection device 20, a peripheral imaging device 30, a drive control unit 40, a steering control unit 50, an automatic parking brake unit 60, a door lock control unit 70, and an in-vehicle communication device 80. , A speaker 90, a main control unit 100, and a portable device 200. Among these, the devices other than the portable device 200 are mounted on a vehicle (not shown), and the automatic parking device 10 is configured by devices other than the portable device 200, and the automatic parking system 1 is configured by the automatic parking device 10 and the portable device 200. Composed.

  The peripheral object detection device 20 detects an object existing around a vehicle (hereinafter simply referred to as a vehicle or the host vehicle) on which the automatic parking device 10 is mounted. As the peripheral object detection device 20, for example, a sonar can be used. The peripheral object detection device 20 can detect an object over the entire periphery of the vehicle. Therefore, when using a sonar, the sonar is provided at four locations, for example, a vehicle front end, a vehicle rear end, a vehicle right side, and a vehicle left side. Instead of sonar, a camera that captures an image around the vehicle or a laser sensor can be used.

  The peripheral imaging device 30 is a camera such as a CCD camera and captures images around the vehicle. The peripheral imaging device 30 is for determining whether or not there is a vehicle driver around the vehicle from the image captured by the peripheral imaging device 30. Therefore, the imaging range is, for example, from the vicinity of the vehicle to a distance of several tens of meters from the vehicle, and the angular range is as wide as possible around the vehicle, preferably around the vehicle. It will be all. Note that the peripheral imaging device 30 may be used as the peripheral object detection device 20.

  The drive control unit 40 controls running / stopping of the vehicle by controlling the driving source and the braking device of the vehicle. More specifically, when the vehicle includes only the internal combustion engine as the driving force source, the engine ECU and the brake ECU are the drive control unit 40, and when the vehicle includes the internal combustion engine and the motor as the driving force source. The at least one of the engine ECU and the motor ECU and the brake ECU are the drive control unit 40, and when only the motor is provided as a driving force source, the motor ECU and the brake ECU are the drive control unit 40. When there is an instruction from the main control unit 100, the drive control unit 40 can drive the driving force source even when the ignition switch is off.

  The steering control unit 50 controls the steering angle of the vehicle. For example, the EPS-ECU that controls the EPS motor in the electric power steering apparatus is the steering control unit 50.

  The automatic parking brake unit 60 can automatically start and release the parking brake, and includes a mechanical brake mechanism and a control unit that electronically controls the mechanical brake mechanism.

  The door lock control unit 70 is an ECU that controls a mechanical mechanism (door lock mechanism) that locks and unlocks the door of the vehicle.

  The in-vehicle communication device 80 uses a predetermined range (for example, several m to several tens of m) around the vehicle as a communication range, and performs wireless communication with the portable device 200 carried by the driver of the vehicle. A signal transmitted by the wireless communication includes a request signal. A signal received by the wireless communication includes, for example, a response signal transmitted from the portable device 200 in response to the request signal. The request signal is transmitted at a predetermined cycle for a predetermined period after the vehicle stops or the passenger gets off, and is transmitted at a predetermined cycle even during automatic traveling. The stop of the vehicle is detected by, for example, turning off the ignition, and the passenger getting off is detected by opening or closing the door after the vehicle stops or by locking the door.

  The speaker 90 of the present embodiment outputs sound targeting a person existing around the vehicle.

  The main control unit 100 is a computer including a CPU, a ROM, a RAM, and the like, and includes a peripheral object detection device 20, a peripheral imaging device 30, a drive control unit 40, a steering control unit 50, an automatic parking brake unit 60, and a door lock control unit. 70, the vehicle-mounted communication device 80, and the speaker 90 are connected to receive signals from them and output signals such as control signals to them. The main control unit 100 is supplied with signals indicating the shift position, position information, vehicle speed, steering angle, and travel distance. The main control unit 100 also includes a writable storage device 120 therein. The storage device 120 may be provided outside the main control unit 100. The control function of the main control unit 100 will be described in detail later with reference to FIG.

  The portable device 200 is carried by a driver of the vehicle and includes a wireless unit 210, an operation unit 220, and a control unit 230. The wireless unit 210 has a transmission / reception function for transmitting / receiving a signal to / from the in-vehicle communication device 80, and transmits a signal transmitted from the control unit 230 to the in-vehicle communication device 80. Is output to the control unit 230. The communicable distance of the wireless unit 210 is about several meters to several tens of meters.

  The operation unit 220 is a part that is operated by the driver, and includes, for example, a plurality of push buttons. The control unit 230 wirelessly transmits an automatic parking start instruction signal for instructing the start of automatic parking and an instruction to stop the automatic traveling based on a predetermined operation performed on the operation unit 220. The data is transmitted from the unit 210. In addition, when a request signal is received from the in-vehicle communication device 80, a response signal is transmitted from the wireless unit 210.

  The function of the portable device 200 is preferably incorporated in a system key that allows the driver to open and close the vehicle door and turn the ignition on and off without operating the key.

  Next, the control function of the main control unit 100 of the automatic parking apparatus 10 will be described with reference to FIG. FIG. 2 is a block diagram illustrating a control function of the main control unit 100 of the automatic parking apparatus 10. The main control unit 100 realizes various functions (means) shown in FIG. 2 by executing a program stored in the ROM while the CPU uses the temporary storage function of the RAM.

  As shown in FIG. 2, the main control unit 100 includes a parking completion determination unit 102, a behavior information acquisition unit 104, a manual travel time peripheral information acquisition unit 106, an automatic parking start determination unit 108, an automatic travel control unit 110, and an automatic travel time. Peripheral information acquisition means 112, danger determination means 114, and driver presence determination means 116 are provided.

  The parking completion determination unit 102 sequentially determines whether or not the vehicle is located at the parking completion position. This determination is made based on a signal that can be acquired when the driver has manually driven the vehicle to a desired parking completion position and stopped the vehicle (or before or after that).

  For example, when an “automatic parking assistance button” or the like is provided at a predetermined position in the vehicle interior and a signal indicating that the automatic parking assistance button is pressed is acquired, it is determined that the vehicle is located at the parking completion position. To do.

  Further, it may be determined that the vehicle is positioned at the parking completion position when it can be determined from the signal from the navigation device that the vehicle is located at the parking lot and it can be determined that the vehicle has stopped. Whether or not the vehicle has stopped is determined based on, for example, a shift position signal. When a shift position signal indicating a parking position can be obtained, it is determined that the vehicle has stopped. Alternatively, it may be determined that the vehicle has stopped when the vehicle speed is zero for a predetermined time (for example, about several seconds) or longer. Further, when the shift position signal and the vehicle speed are combined and the vehicle speed is zero for a predetermined time or more and then a shift position signal indicating the running position (D position, L position, R position, etc.) is acquired, the vehicle is stopped. You may judge. Further, it may be determined that the vehicle has stopped when a signal indicating that the parking brake is turned on and a signal indicating that the ignition switch is turned off are acquired.

  A driver who drives a vehicle equipped with the automatic parking device 10 of the present embodiment can get off at the parking completion position, but obstacles such as other vehicles and walls are at the side of the own vehicle at the parking completion position. If the vehicle is in the vicinity of the vehicle, the vehicle is moved again to a position where it is easy to get off and then get off. Therefore, the automatic parking apparatus 10 includes the following behavior information acquisition unit 104.

  The behavior information acquisition means 104 corresponds to the trajectory information acquisition means in the claims, and after the parking completion determination means 102 determines that the vehicle is located at the parking completion position, the automatic parking start determination means 108 described later. Until it is determined that the automatic parking start condition is satisfied, the behavior information is sequentially acquired, and the acquired behavior information is stored in the storage device 120.

  The behavior information is information indicating a position, a vehicle speed, a steering angle, and a moving distance, for example. The position information is indicated by, for example, latitude and longitude, and is acquired from the navigation device. The vehicle speed and the steering angle are acquired from the vehicle speed sensor and the steering angle sensor, respectively. The travel distance may be acquired from the navigation device or may be calculated from the vehicle speed and travel time.

  However, the behavior information only needs to be able to calculate a travel locus during manual travel, and does not necessarily require all of the position, vehicle speed, steering angle, and travel distance. For example, only the position information or only the position information and the steering angle may be acquired as the behavior information. Conversely, the travel locus can be calculated from the steering angle, vehicle speed, and travel distance by the same calculation as the autonomous navigation of the navigation device without using position information (latitude, longitude), so the steering angle, vehicle speed, travel distance May be acquired as behavior information. Further, the position information (latitude, longitude) may be corrected by at least one of the steering angle, the vehicle speed, and the moving distance.

  The manual travel time peripheral information storage means 106 determines that the automatic parking start condition is satisfied by the automatic parking start determination means 108 described later from the time when the parking completion determination means 102 determines that the vehicle is located at the parking completion position. During manual driving in which the vehicle is driven by the driving operation of the driver until it is done, the surrounding object detection device 20 detects objects present around the vehicle. Then, the peripheral information at the time of manual travel, which is the detection result, is acquired and stored in the storage device 120. Here, the object detection result is indicated by, for example, the direction and distance of the object.

  The automatic parking start determination unit 108 sequentially determines whether or not the automatic parking start condition is satisfied after the parking completion determination unit 102 determines that the vehicle is located at the parking completion position. The automatic parking start condition is, for example, that an automatic parking start instruction signal transmitted from the portable device 200 has been received. Moreover, it is good also as automatic parking start conditions that it detects automatically that the passenger | crew of a vehicle got off, and predetermined time (for example, about several seconds) passed.

  When it is determined by the automatic parking start determination unit 108 that the automatic parking start condition is satisfied, the automatic travel control unit 110 first outputs a signal that instructs the automatic parking brake unit 60 to release the parking brake. Then, a signal for automatically driving the vehicle unattended to the position of the vehicle when it is determined by the parking completion determination means 102 to be positioned at the parking completion position, that is, to the parking completion position, a drive control unit 40, a steering control unit 50.

  The travel route at the time of this automatic travel is a route that travels in the reverse direction from the parking completion position until it is determined that the automatic parking start condition is satisfied, which is indicated by the behavior information stored in the storage device 120. . The traveling speed is low (for example, 3 km / h or less). Furthermore, during automatic traveling, a sound for calling attention to the fact that the vehicle is moving is output from the speaker 90.

  And if a vehicle moves to a parking completion position, automatic driving will be terminated. However, in the case where the automatic travel is performed only while the operation unit 220 of the portable device 200 is continuously pressed (so-called long press), a signal indicating that the operation unit 220 of the portable device 200 is being pressed (hereinafter, referred to as the operation unit 220). The automatic traveling is also stopped when it becomes impossible to receive the press signal). The automatic travel is also stopped when a travel stop instruction instruction is received from the portable device 200. Also, when it is determined that there is a risk that the vehicle will collide with an obstacle, as will be described later, or when it is determined that the driver is not in the vicinity of the vehicle, as described later. Stop automatic driving.

  In addition, if it moves to a parking completion position and complete | finishes automatic travel, the automatic travel control means 110 will perform a predetermined parking process. In this parking process, when the door is not locked, a signal instructing the door lock is output to the door lock control unit 70, and the automatic parking brake 60 is activated (turned on). Outputs the instruction signal. When the driving force source is an internal combustion engine, a signal instructing stop of the internal combustion engine is output to the drive control unit 40.

  The peripheral information acquisition unit 112 during automatic driving causes the peripheral object detection device 20 to detect an object existing around the vehicle while the vehicle is automatically traveling by the automatic traveling control unit 110, and the detection result. Get peripheral information during automatic driving.

  The risk determination unit 114 is configured to determine whether the vehicle is traveling automatically during traveling based on a comparison between the manual traveling peripheral information stored in the storage device 120 and the automatic traveling peripheral information acquired by the automatic traveling peripheral information acquiring unit 112. Determine if there is a danger of colliding with an obstacle.

  Specifically, the comparison between the peripheral information at the time of manual driving and the peripheral information at the time of automatic driving first calculates the difference information between the two information at the same position, as shown in FIG. And when this difference information is more than a predetermined threshold value, it determines with there being a danger that a vehicle will collide with an obstacle.

  In this way, by determining whether there is a risk that the vehicle will collide with an obstacle based on the comparison between the peripheral information at the time of manual driving and the peripheral information at the time of automatic driving, the stationary vehicle such as a parked vehicle existing around the own vehicle is stopped. It is possible to exclude only moving objects and to make only moving objects to be determined.

  In FIG. 3, the peripheral information at the time of manual driving and the peripheral information at the time of automatic driving are illustrated as being one for each position. , Each position has a plurality of pieces of information for each predetermined direction.

  The driver presence determination unit 116 sequentially determines whether or not the driver exists in the vicinity of the vehicle while the vehicle is automatically traveling by the automatic traveling control unit 110. Whether or not the driver exists in the vicinity of the vehicle is determined based on whether or not the in-vehicle communication device 80 can communicate with the portable device 200, for example. Further, an image around the vehicle imaged by the peripheral imaging device 30 may be analyzed to determine whether or not a person can detect it. When the peripheral imaging device 30 is used, the detected person may be a person other than the driver. Therefore, it may be further determined whether or not the detected person stays at a certain position. If the vehicle is running automatically, the driver will not move away from the vehicle or move around the vehicle, so if the detected person stays at a certain position What is necessary is just to judge that a driver exists.

  As described above, the automatic travel control unit 110 determines that the risk determination unit 114 determines that the vehicle is in danger of colliding with an obstacle, and the driver presence determination unit 116 indicates that the driver is not in the vicinity of the vehicle. If it is determined, automatic driving is stopped.

  Moreover, when the vehicle-mounted communication device 80 receives the boarding position movement signal from the portable device 200 when the vehicle is parked at the parking completion position, the automatic travel control means 110 is able to board from the parking completion position. Until the vehicle runs automatically. Here, the possible boarding position may be a position where it is determined that the aforementioned automatic parking start condition is satisfied, that is, a position where an occupant gets out of the vehicle, or simply when automatically traveling toward the parking completion position. May be a position that is linearly moved by a predetermined distance in the direction of travel on the opposite side as the boardable position. The predetermined distance is a distance at which the driver's seat door does not collide with the other vehicle when the driver's seat door of the own vehicle is opened on the assumption that the other vehicle exists adjacent to the host vehicle.

  Even when the vehicle automatically travels to the boardable position, when the travel stop instruction signal is received from the portable device 200, the automatic travel is stopped. The automatic traveling is also stopped when the driver presence determination means 116 determines that the driver is not in the vicinity of the vehicle. In addition, when the vehicle automatically travels to the boardable position, the traveling speed is set to a low speed (for example, 3 km / h or less), and during automatic traveling, a sound for calling attention to the fact that the vehicle is moving Is output from the speaker 90.

  Then, after the vehicle automatically travels to the boardable position and stops traveling, or after the traveling is stopped by the stop instruction signal from the portable device 200, the drive control unit 40 is instructed to set the shift position to the parking position or the neutral position. And a signal instructing the door lock control unit 70 to release the door lock.

  4 to 9 are diagrams illustrating vehicle positions that are changed by the control process of the main control unit 100 described above. Next, the relationship between the control process of the main control unit 100 and the change in the vehicle position will be described with reference to FIGS.

  FIG. 4 shows a state before the parking completion determination unit 102 determines that the vehicle is positioned at the parking completion position. In this state, the driver is still in the vehicle and the vehicle 300 is now parked in the parking space 310 by manual operation. In this parking space 310, as shown in FIG. 4, other vehicles 320 and 330 are parked on the left and right. Reference numeral 340 is an example of an object detection range (peripheral monitoring area) of the peripheral object detection device 20 (such as sonar).

  FIG. 5 shows a state in which the host vehicle 300 is parked in the parking space 310 by a manual operation, that is, a state in which the host vehicle 300 is positioned at the parking completion position. In this state, the parking completion determination means 102 determines that the host vehicle 300 is located at the parking completion position.

  As shown in FIG. 5, the space between the host vehicle 300 and the other vehicles 320 and 330 is narrow, and it is difficult to get off by opening the door of the host vehicle 300 at this position. Therefore, the driver drives the host vehicle 300 again, and as shown in FIG. 6, the host vehicle 300 reaches a place where it is easy to get off (a place where the door can be opened without worrying about other vehicles 320 and 330). Move. While the host vehicle 300 moves from the position shown in FIG. 5 to the position shown in FIG. 6, the behavior information and the manual driving peripheral information are stored as described above.

  Then, as shown in FIG. 7, after the driver 350 gets off the host vehicle 300, the driver 350 is located around the host vehicle 300 (here, in front of the host vehicle 300). An automatic parking start instruction signal is transmitted from the portable device 200 not shown.

  As a result, the host vehicle 300 starts unmanned automatic travel and moves to the parking completion position as shown in FIG. Note that when it is determined that there is a risk of collision with an obstacle while the host vehicle 300 moves from the position of FIG. 7 to the position of FIG. 8, or when it is determined that the driver 350 does not exist, Automatic driving is stopped.

  Further, when it is desired to get on the own vehicle 300 parked at the position shown in FIG. 8, the driver 350 causes the portable device 200 to transmit a ride position movement signal around the own vehicle 300. As a result, as shown in FIG. 9, the host vehicle 300 starts automatic traveling toward the boarding possible position (FIG. 7). If the driver determines that the host vehicle 300 has moved to a position where it can be easily boarded during the automatic travel, the driver transmits a travel stop instruction signal from the portable device 200, and the host vehicle 300 is in a position where the driver can ride. It is also possible to stop the host vehicle 300 before moving to the position and board the host vehicle 300 at that position. Of course, unlike FIG. 9, when the other vehicle 320 no longer exists, the vehicle 300 may be boarded at the parking completion position.

  As described above, according to the present embodiment described above, since the vehicle automatically travels to the parking completion position based on the behavior information stored in the storage device 120, automatic parking can be performed even in a place where infrastructure facilities are not provided. It becomes possible.

  In addition, since the route for automatic traveling is merely the reverse of the vehicle trajectory from the parking completion position until the automatic parking start condition is satisfied, the calculation processing load during automatic traveling is small.

  Further, according to the present embodiment, during automatic traveling, when it is determined that there is a risk that the host vehicle collides with an obstacle, or when a traveling stop instruction signal is received from the portable device 200, automatic traveling is stopped. Therefore, the risk of the vehicle colliding with an obstacle during automatic traveling can be reduced.

  In addition, since automatic driving stops even when the driver determines that the vehicle is not present around the vehicle, there is a possibility that the vehicle may collide with an obstacle due to automatic driving while the driver is not monitoring. Can be reduced.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following embodiment is also contained in the technical scope of this invention, and also the summary other than the following is also included. Various modifications can be made without departing from the scope.

  For example, FIG. 4 to FIG. 9 are examples in which automatic parking is performed at the parking completion position by reverse travel, but the present invention can also automatically park at the parking completion position by forward travel.

DESCRIPTION OF SYMBOLS 1: Automatic parking system, 10: Automatic parking apparatus, 20: Surrounding object detection apparatus, 30: Peripheral imaging device, 40: Drive control part, 50: Steering control part, 60: Automatic parking brake part, 70: Door lock control part 80: In-vehicle communication device (in-vehicle receiver), 90: Speaker, 100: Main control unit, 102: Parking completion determination means, 104: Behavior information acquisition means (trajectory information acquisition means), 106: Acquisition of peripheral information during manual travel Means: 108: automatic parking start determination means; 110: automatic travel control means; 112: peripheral information acquisition means during automatic travel; 114: danger determination means; 116: driver presence determination means; 120: storage device; 210: Radio unit 220: Operation unit 230: Control unit 300: vehicle, 310: parking spaces, 320: other vehicle, 330: other vehicle, 340: object detection range, 350: driver

Claims (8)

An automatic parking device that is mounted on a vehicle and that can automatically run and park the vehicle,
A storage device;
Parking completion judging means for judging whether or not the vehicle is located at a parking completion position;
Automatic parking start determination means for determining whether or not automatic parking start conditions are satisfied;
Trajectory information related to the travel trajectory of the vehicle is sequentially acquired until it is determined that the automatic parking start condition is satisfied after it is determined that the vehicle is positioned at the parking completion position, and the trajectory information is stored in the storage device. Means,
When the automatic parking start condition is satisfied, it is determined that the automatic parking start condition is satisfied after it is determined that the vehicle is positioned at the parking completion position based on the trajectory information stored in the storage device. An automatic parking apparatus, comprising: automatic traveling control means for automatically traveling the vehicle in a reverse direction along a trajectory of the vehicle until the vehicle travels to move the vehicle to the parking completion position. In claim 1,
A surrounding object detection device for detecting an object around the vehicle;
While the vehicle is automatically traveling by the automatic traveling control means, a risk determination for determining whether or not there is a risk that the vehicle collides with an obstacle based on an object detection result around the vehicle by the peripheral object detection device Means, and
An automatic parking apparatus, wherein the automatic traveling control means stops the automatic traveling of the vehicle based on the fact that the risk determining means determines that the vehicle has a risk of colliding with an obstacle. In claim 2,
The peripheral object detection device during manual travel in which the vehicle is driven by a driver's driving operation from when it is determined that the vehicle is positioned at a parking completion position until it is determined that the automatic parking start condition is satisfied. Manual travel peripheral information acquisition means for acquiring manual travel peripheral information that is an object detection result by and storing the information in the storage device;
The risk determination means is configured to compare the peripheral information during automatic traveling, which is an object detection result by the peripheral object detection device while the vehicle is automatically traveling by the automatic traveling control means, and the peripheral information during manual traveling. An automatic parking apparatus that determines whether or not the vehicle has a risk of colliding with an obstacle. In claim 1,
A vehicle-mounted receiver for receiving a ride position movement signal transmitted from a portable device carried by the driver of the vehicle;
The automatic parking control device, wherein the automatic driving control means automatically drives the vehicle to a boarding possible position based on the fact that the on-vehicle receiver receives the boarding position movement signal. In any one of Claims 1-4,
A vehicle-mounted receiver for receiving a travel stop instruction signal transmitted from a portable device carried by the driver of the vehicle;
The automatic parking control device, wherein the automatic traveling control means stops the automatic traveling of the vehicle based on the fact that the in-vehicle receiver has received the traveling stop instruction signal. In claim 5,
A driver presence determination unit that sequentially determines whether or not a driver of the vehicle exists around the vehicle while the vehicle is automatically traveling by the automatic travel control unit;
The automatic traveling control means stops the automatic traveling of the vehicle based on the determination that the driver is not present around the vehicle by the driver presence determining means. . In claim 6,
An in-vehicle communication device capable of communicating with the portable device carried by the driver of the vehicle when the portable device exists around the vehicle;
The driver presence determination means determines that the driver of the vehicle is present around the vehicle when communication between the in-vehicle communication device and the portable device is possible, and the in-vehicle communication device When the communication between the mobile device and the portable device is impossible, it is determined that the driver of the vehicle does not exist around the vehicle. In claim 6,
A peripheral imaging device that captures an image of the periphery of the vehicle;
The driver presence determination means determines that the driver of the vehicle exists around the vehicle when a person can be detected by analyzing an image around the vehicle imaged by the peripheral imaging device, If the vehicle cannot be detected, it is determined that the driver of the vehicle does not exist around the vehicle.

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