JP2015075899A - Parking support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support system which immediately determines whether an automatic driving vehicle can park in a parking position space in a parking facility when the vehicle locates at the entrance or parking entering position of the parking facility, with a little processing load.SOLUTION: A parking support control device 120 is configured to recognize a type of a vehicle 100 when the vehicle 100 locates at the entrance 116A or a parking entering position 102A of a parking facility 12, and determine whether the vehicle 100 can park at a parking position space 122 in the parking facility 12. Thus it is possible to immediately determine whether the vehicle 100 can park in the parking position space 122 with a little processing load.

Description

  The present invention relates to a parking assistance system that includes an automatic driving unit that is mounted on a vehicle and automatically travels the vehicle, and a parking assistance control device that can communicate with the automatic driving unit and is provided separately from the vehicle. About.

  Recently, as shown in Patent Document 1, a management center on the parking facility side automatically sets a travel route to an empty parking position space in a parking lot for a vehicle having an automatic driving function that has transmitted vehicle state information. A parking lot management device has been developed that uses the automatic driving function to guide the vehicle to an empty parking position space.

  In the parking lot management apparatus according to Patent Document 1, an apparatus and a method for automatically parking a vehicle in a parking position space in the parking lot by performing timely communication between the vehicle and the management center have been proposed. In particular, the management center determines whether the parking situation (presence of an empty parking position space, etc.) or vehicle from each image taken using a plurality of fixedly arranged cameras, so-called surveillance cameras (also referred to as infrastructure cameras). It is described that the state (during automatic driving, parking position stop, etc.) is recognized.

  In Patent Document 2, an image including a host vehicle in a parking lot, a parked vehicle (a vehicle parked in a parking position space), and a parking possible position (a vacant parking position space) taken by an infrastructure camera is taken as a portable terminal. Display on a touch panel type display.

  And in patent document 2, a driver selects the own vehicle displayed on the display with a finger under monitoring control by a terminal control device constituting the portable terminal, and drags and drops it to the parking position space. Thus, it is disclosed that a movement route from the position of the host vehicle to the parking position space is input to the terminal control device.

  Further, in Patent Document 2, the terminal control device determines whether or not the host vehicle can move to the parking position space along the input movement route. Is disclosed to be set on the display based on vehicle information transmitted from the vehicle guidance ECU of the vehicle. Specifically, an area through which the front and rear wheels of the vehicle can pass is calculated from the vehicle length, wheelbase length, maximum steering angle, and wheel position, and based on this area, the movable range is determined from the entire captured image. It is disclosed to set.

  Furthermore, in Patent Document 2, it is determined whether or not the movement route input by the driver is within the movable range, and when it is determined that the vehicle is within the movable range (allowable range). Discloses that the vehicle is guided according to this movement route, and if it is determined that the movement route input by the driver is out of the movable range of the vehicle, a notification that the vehicle cannot be moved and a warning sound are notified. Has been.

JP 2011-54116 A ([0021], [0029]) JP-A-2005-41433 ([0050], [0052], [0059], [0063], [0078], FIGS. 4, 5, and 6)

  By the way, in a parking facility, for example, when a driver places a vehicle that can be automatically driven at an entrance or a warehousing position by manual driving (manual driving), the automatic driving vehicle is placed in the parking facility on the parking facility side. It is automatically determined whether or not parking is possible in the empty parking position space, and if parking is possible, the driver leaves the spot and entrusts the parking process of the automatic driving vehicle to the parking facility side, When parking is not possible, there is a request for notification to that effect.

  However, in Patent Document 1, since it is a technique based on the premise that there is an empty parking position space, there is room for improvement in the above-described determination processing as to whether or not parking is possible. Moreover, in patent document 2, the setting of the movement path | route to an empty parking position space is left to a driver | operator, and there exists a subject that it is very complicated. Moreover, in Patent Document 2, since it is determined whether or not parking is possible from an unspecified position in the parking lot, not a specific warehousing position, there is a problem that the processing load of the terminal control device of the portable terminal is extremely large.

  The present invention has been made in consideration of such problems, and when a vehicle capable of automatic driving is arranged at the entrance of a parking facility where automatic driving processing is performed or a storage position, the vehicle is parked. It is an object of the present invention to provide a parking support system that can instantly determine whether or not parking is possible in a parking position space in a facility with a small processing load.

  The parking assist system according to the present invention is arranged at a parking facility and receives at least one fixed camera for photographing a vehicle and a captured image that is disposed on the parking facility side and is transmitted from the fixed camera and receives vehicle guidance information. A parking assistance control device to be created, and an automatic that is mounted on the vehicle, receives the vehicle guidance information from the parking assistance control device, and automatically travels the vehicle from a storage position to a parking position space based on the received vehicle guidance information A vehicle having a driving unit, and the parking assist control device recognizes the type of the vehicle when the vehicle is placed at the entrance of the parking facility or the storage position, and sets the recognized vehicle type. Based on this, it is determined whether the vehicle is a vehicle that can be parked in the parking position space in the parking facility.

  According to this invention, the parking assist control device recognizes the type of the vehicle when the vehicle is arranged at the entrance of the parking facility or the warehousing position, and based on the recognized vehicle type, the vehicle Since it is configured to determine whether or not the vehicle can be parked in the parking position space in the facility, whether or not the vehicle can be parked in the parking position space in the parking facility is reduced in processing load and It can be determined instantaneously.

  In this case, the vehicle further includes a storage unit that stores a type of the vehicle, and the parking support control device is configured to store the vehicle when the vehicle is disposed at an entrance of the parking facility or the storage position. When recognizing the type, at the entrance of the parking facility or at the storage position, a request signal for inquiring about the type of the vehicle is transmitted to the automatic driving unit of the vehicle, and the automatic driving unit receives the request signal. The type of the vehicle stored in the storage unit is transmitted to the parking support control device, and the parking support control device is based on the received type of the vehicle, and the vehicle is parked in the parking facility. You may make it determine whether it is a vehicle which can be parked in a position space.

  Alternatively, when the vehicle is placed at the entrance of the parking facility or at the warehousing position, the fixed camera captures the image of the vehicle at the entrance of the parking facility or at the warehousing position. The parking support control device that has transmitted to the device and received the captured image at the entrance of the parking facility or the storage location recognizes the type of the vehicle based on the received captured image, and You may make it determine whether it is a vehicle which can be parked in a parking position space.

  In this case, when it determines with the said vehicle not being a vehicle which can be parked in the said parking position space in the said parking facility, it is preferable to alert | report that from an alerting | reporting part.

  Furthermore, when the parking assist control apparatus recognizes the type of the vehicle at the entrance of the parking facility or the storage position of the vehicle, the parking support control device moves from the storage position according to the recognized vehicle type to the parking position space. A route may be generated as the vehicle guidance information and transmitted to the automatic driving unit.

  Further, the parking support control device continues to recognize the type of the vehicle from the captured image while the vehicle is automatically traveling from the storage position to the parking position space, and based on the type of the vehicle that continues to recognize, It is preferable to track whether the vehicle is moving along the moving route.

  The vehicle type may include at least one of the vehicle size, wheelbase length, tread width, and license plate information.

  According to this invention, the parking assist control device recognizes the type of the vehicle when the vehicle is arranged at the entrance of the parking facility or the warehousing position, and based on the recognized vehicle type, the vehicle Since it is configured to determine whether or not the vehicle can be parked in the parking position space in the facility, whether or not the vehicle can be parked in the parking position space in the parking facility is reduced in processing load and The effect that it can be determined instantaneously is achieved.

It is a schematic plan view which shows the schematic position of the various sensors attached to the vehicle which can be automatically driven used for the parking assistance system which concerns on this embodiment. It is a block diagram which shows the parking assistance system which concerns on this embodiment. It is a schematic plan view showing an example of a parking facility. It is a recognition schematic diagram of a vehicle by an infrastructure camera. It is explanatory drawing of the picked-up image by each infrastructure camera in the state of FIG. It is explanatory drawing of the detection of the movement obstruction by an infrastructure camera. It is a flowchart which shows each process of a parking assistance control apparatus and a vehicle. FIG. 8 is a detailed flowchart of the initial process of step S1 in the flowchart of FIG. In the flowchart of FIG. 8, it is a flowchart corresponding to the parking facility of the modification of the parking availability determination process to the empty parking position space of step S1C. It is explanatory drawing of the movement path | route from the warehousing position to the parking position in the parking facility which concerns on this embodiment. FIG. 8 is a detailed flowchart of the vehicle recognition / tracking process in step S <b> 6 in the flowchart of FIG. 7. It is explanatory drawing which shows the state in which the vehicle was located in the parking position on the travel locus. It is explanatory drawing of the parking assistance by 2 units | sets simultaneous cooperative automatic driving | running | working. It is explanatory drawing of the parking assistance including the obstacle avoidance assistance by two vehicle simultaneous automatic driving | running | working.

  Hereinafter, a preferred embodiment of the parking assistance system 14 according to the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic plan view showing schematic positions of various sensors attached to the vehicle 100 capable of automatic driving used in the parking assistance system 14 according to this embodiment. FIG. 2 is a block diagram showing the parking support system 14 according to this embodiment. FIG. 3 is a schematic plan view showing a parking facility 12 as an example.

  In FIG. 1, an in-vehicle camera (rear camera) 20 (imaging device) for rear photographing is installed in the vicinity of the center of the outer surface such as a tailgate on the rear surface of the vehicle 100. The vehicle surrounding image including the road surface 104 (FIG. 3) behind the vehicle can be taken by the in-vehicle camera 20 at a wide angle.

  A yaw rate sensor 22 is installed near the center of gravity of the vehicle 100. By integrating the output (yaw rate: angular velocity) of the yaw rate sensor 22, the direction of the vehicle 100, that is, the vehicle direction can be detected. For this reason, the yaw rate sensor 22 functions as a vehicle direction sensor. As the vehicle direction sensor, a geomagnetic sensor or various gyros can be used instead of the yaw rate sensor 22.

  A steering angle sensor 28 is installed on a steering shaft (not shown) of the vehicle 100. A steering angle (of the vehicle 100) of the front wheels 30 (the right front wheel 30R and the left front wheel 30L) is detected by the steering angle sensor 28.

  A wheel speed sensor 26 (right wheel speed sensor 26R and left wheel speed sensor 26L) is installed adjacent to the rear wheel 24 (right rear wheel 24R and left rear wheel 24L) of the vehicle 100. The vehicle speed is detected based on the wheel speed sensor 26, and the moving distance is detected in consideration of the diameters of the front and rear wheels 30, 24. Therefore, the wheel speed sensor 26 also functions as a distance sensor.

  A GPS sensor 32 (position detection sensor) is installed on a dashboard or the like (not shown). The position (latitude, longitude, height) of the vehicle 100 is detected by the GPS sensor 32. Although the GPS sensor 32 functions as a position sensor of the vehicle 100, the position sensor is replaced with the GPS sensor 32. The wheel speed sensor 26 and the yaw rate sensor 22 indicate the travel distance and travel direction at a constant distance or a constant time. It is also possible to calculate the position of the vehicle from the coordinate origin by so-called inertial navigation. In the case of inertial navigation, a start point position, for example, a warehousing position (a warehousing space or a warehousing space) 102 (either a warehousing position 102A or a warehousing position 102B) shown in FIG. 3 is set as the coordinate origin.

  A shift position sensor 34 (forward / reverse detection sensor) is installed in the vicinity of a shift knob (not shown) of the vehicle 100. Advance or reverse of the vehicle 100 can be detected by the shift position sensor 34.

  As shown in FIG. 2, the various sensors are collectively referred to as a sensor 50. In this case, the position of the vehicle by inertial navigation is calculated by the general ECU 52 connected to each other via an in-vehicle communication line 54 such as an in-vehicle LAN, and inertial navigation is executed. The overall ECU 52, which is a control device that controls the entire vehicle, functions as an in-vehicle parking support control device (an in-vehicle parking support unit). The ECU is an electronic control unit (Electronic Control Unit), a computer including a microcomputer, a CPU (Central Processing Unit), a ROM (including EEPROM), a RAM (Random Access Memory), a RAM (Random Access Memory), In addition, it has input / output devices such as A / D converters and D / A converters, a timer as a timekeeping unit, etc., and various function realizing units by the CPU reading and executing programs recorded in the ROM (Function realization means), for example, functions as a control unit, a calculation unit, a processing unit, and the like.

  The overall ECU 52 is electrically connected to the automatic operation ECU 56 and is connected to the steering control ECU 58, the brake ECU 60, and the driving force ECU 62 through the in-vehicle communication line 54. The general ECU 52 and the automatic operation ECU 56 constitute the automatic operation unit 57, but they may be combined into one ECU.

  The storage unit of the automatic operation ECU 56 is provided with a vehicle type storage unit 64 that stores the type of the vehicle 100, and the vehicle type storage unit 64 includes the vehicle 100 corresponding to the circumscribed cuboid (rectangular model) of the vehicle 100. The dimensions (full length, full width, and full height), wheelbase length, and tread width are stored in advance as minimum information that defines the type of vehicle 100. The minimum turning radius of the vehicle 100 may be included in the minimum information.

  In order for the parking assistance control device 120 to acquire the type of the vehicle 100 (described later), the size (full length, full width, full height) (vehicle dimensions) of the vehicle 100, the wheelbase length, the tread width, etc. May be stored directly in the vehicle type storage unit 64 of the automatic operation ECU 56, but instead of this, a vehicle for the parking support control device 120 to indirectly obtain such information. The manufacturer name, vehicle name, and vehicle grade may be stored in the vehicle type storage unit 64 as the vehicle type. Using the vehicle identification information including the vehicle manufacturer name, vehicle name, and vehicle grade, the parking assistance control device 120 can transmit the data from the so-called big data on the Internet or the corresponding server device via the Internet. The size (full length, full width, full height) (vehicle dimensions), wheel base length, tread width, minimum turning radius, and the like of the vehicle 100 can be acquired.

  The types of the vehicle 100 include the size of the vehicle 100 (full length, full width, full height) (vehicle dimensions), wheelbase length, tread width, minimum turning radius, front / rear overhang, maximum weight, and License plate information {plate size, display on the plate (letters, numbers, etc.)} may be included. The license plate information can be recognized and acquired by the parking support control device 120 from a captured image of the infrastructure camera 106 (described later).

  The steering control ECU 58 controls the steering mechanism (not shown) of the vehicle 100 to control the steering angle of the front wheels 30 in this embodiment. The brake ECU 60 controls the behavior of the vehicle 100 including stoppage by independently controlling all four wheels, the front and rear wheels 30 and 24, independently of each other.

  The driving force ECU 62 controls the engine 100 and / or the motor to drive the vehicle 100 by applying a rotational driving force to the front wheels 30 and / or the rear wheels 24 of the vehicle 100 directly or through a transmission.

  Information necessary for the sensor 50 is shared by the general ECU 52, the steering control ECU 58, the brake ECU 60, and the driving force ECU 62.

  The overall ECU 52 is electrically connected to the automatic operation ECU 56.

  As shown in FIG. 3, the parking facility 12 has, for example, a road surface 104 of several tens of meters square, and infrastructure cameras (surveillance cameras) 106 (106a, 106b) which are wide-angle fixed cameras at four corners of a substantially square road surface 104. 106c, 106d).

  The infrastructure camera 106 is attached so that the line of sight of each of the infrastructure cameras 106a to 106d is directed to the lower side on the diagonal line of the substantially rectangular road surface 104, and each of the infrastructure cameras 106 is installed at the entrance 116 (116A, 116B) of the parking facility 12. ), And is installed and adjusted so that a substantially entire area of the road surface 104 can be photographed. In other words, all the moving bodies including the vehicle 100 in the parking facility 12 including the entrance 116 of the parking facility 12 can be photographed (wide-angle photographing) by the infrastructure cameras 106a to 106d, and can be tracked or monitored as described later. It is like that.

  The infrastructure camera 106 is electrically connected to a parking support control device 120 such as a boarding / exiting terminal (see FIG. 2), and various image processing and the like are performed on the captured image 108 captured by the infrastructure camera 106. Executed by the device 120.

  For example, as shown in FIG. 4, when the vehicle 100 arranged on the road surface 104 of the parking facility 12 is photographed, as schematically shown in FIG. 5, the infrastructure cameras 106 a, 106 b, 106 c, and 106 d are corresponded. Photographed images (also referred to as vehicle extracted images) 108a, 108b, 108c, and 108d are extracted, and image processing of the parking support control device 120 from the photographed images 108 (108a to 108d), here, a known inter-frame difference method or the like. Thus, a captured image (vehicle image) 110 (110a, 110b, 110c, 110d) obtained by detecting the vehicle 100 as a moving body and cutting out the vehicle 100 can be acquired. Not only the inter-frame difference method but also a photographed image of the road surface 104 (referred to as a reference photographed image) including the entrance 116 where no moving body such as the vehicle 100 is present with the infrastructure camera 106 under a prescribed light quantity. In addition, it is possible to cut out (detect) the vehicle 100 or the like that is a moving body from a difference image (an image based on the difference method) from the reference captured image after correcting the amount of light of the captured image 108 when the moving body enters. The light amount correction can be executed by the infrastructure camera 106 or the parking assistance control device 120.

  When the vehicle 100 is cut out, the parking support control device 120 sets a circumscribed cuboid representing the size of the vehicle 100 in order to detect (recognize and track) the type of the vehicle 100, and sets the vehicle dimensions (full length and full width). And the total height) is detected. At the same time, the tire wheel and the tire are detected, and the wheel base length and the tread width are obtained. Get back and forth overhangs as needed. When the vehicle 100 is located at the entrance 116 or the storage position 102, the vehicle dimensions (full length, full width, full height) representing the size of the vehicle 100, the wheel base length, and the tread width are minimized. The visual field of the infrastructure camera 106 is adjusted in advance so that it can be always acquired as information and stored in its own storage unit.

  At that time, on the road surface 104 excluding the entrance 116 and the warehousing position 102, even if the circumscribed cuboid cannot be detected, at least one of the upper surface, the side surface, the front surface, and the rear surface of the vehicle 100 (one surface view such as a top view) is present. Since detection is possible, the vehicle 100 that automatically travels from the warehousing position 102 to the parking position (also referred to as a parking section or parking position space) 121 to 126 can be tracked based on the detected one surface and wheelbase length or tread width.

  As shown in FIG. 5, in the captured image 110a by the infrastructure camera 106a, the right front portion and the right side surface of the vehicle 100 can be confirmed (tracked). From the captured image 110a, the shape of the tire wheel, A feature point pattern (also referred to as a feature point or feature pattern) indicating the type of the vehicle 100 such as the wheel base length between the front wheel 30 and the rear wheel 24, the front / rear overhang, and the distance from the front emblem to the tire wheel of the front wheel 30R. .) (Type of vehicle 100) can be extracted.

  In the captured image 110b by the infrastructure camera 106b, the rear and rear upper surfaces of the vehicle 100 can be confirmed (tracked). From the captured image 110b, the shape of the reflector embedded in the rear bumper by the parking assist control device 120, and between the reflectors A feature point pattern of the vehicle 100 (type of the vehicle 100) such as the distance, the distance between the reflector and the emblem, and the tread width between the rear wheels 24R and 24L can be extracted.

  In the captured image 110c by the infrastructure camera 106c, the front portion of the vehicle 100 can be confirmed (tracked), and the tread width between the front wheels 30R and 30L, the front emblem and the front wheel 30 can be checked from the captured image 110c by the parking assist control device 120. The feature point pattern of the vehicle 100 (type of the vehicle 100) such as the distance to the vehicle, the shape of the front lamp, and the distance between the emblem and the license plate can be extracted.

  In the captured image 110d of the infrastructure camera 106d, the left front portion and the left side surface of the vehicle 100 can be confirmed. From the captured image 110d, the parking assist control device 120 determines the tire wheel shape, the wheelbase length, and the front wheel from the front emblem. A feature point pattern (vehicle type) of the vehicle 100 such as a distance to a 30 L tire wheel can be extracted.

  Further, for example, as shown in FIG. 6, a moving obstacle 112 for the vehicle 100 (this example) is clearly different from the external shape of the vehicle 100 stored in advance in the road surface 104 of the parking facility 12 such as a ball or a person. In this example, when a moving obstacle 114 (a person in this example) enters, parking assistance control is performed for these moving obstacles 112 and 114 by the above-described difference method or the like based on the captured image 108 of the infrastructure camera 106. It can be detected (recognized) by the device 120.

  On the road surface 104, a rectangular white line area indicating the entrance (also referred to as an entrance position or entrance position space) 116 of the parking facility 12, an entry position (also referred to as an entry compartment or entry position space) 102 (102A, 102B). In addition to the rectangular white line section indicating the square, the rectangular white line section indicating the parking positions 121 to 126 and the T-shaped white line guideline 128 are drawn, and position information (coordinate information or (Also referred to as map information) is stored in advance in the storage unit of the parking assistance control device 120.

  Further, in the storage unit of the parking assistance control device 120, the type of the vehicle 100 stored at the storage positions 102A and 102B {the size of the vehicle 100 (full length, full width, full height) (vehicle dimensions), wheel base length, , Each movement route corresponding to the tread width (precisely, the tread width of the steered wheel, but usually the front wheel)} is created and stored in advance. The minimum turning radius is set (stored) or calculated (predicted) in advance based on the wheelbase length and the tread width. The storage unit is not a storage unit of the parking support control device 120 but a storage unit of an external server (external distribution unit) connected to the parking support control device 120 via a communication line, and is stored in this storage unit. You may make it read.

  The parking assist control device 120 is obtained by the captured images 108 and 110 of the infrastructure camera 106, the vehicle 100 located at the entrance 116 and the entry position 102, and the cuboid of the vehicle 100 existing at any position in the road surface 104. Detect (track) the vehicle 100 by comparing the size (full length, full width, full height) or one side of the circumscribed cuboid, the wheelbase length, and the tread width with the type of the vehicle (so-called pattern matching). Can do.

  The parking assistance control device 120 of the parking facility 12 and the automatic driving ECU 56 of the vehicle 100 transmit information by bidirectional wireless communication such as DSRC method (narrow region wireless communication method).

  The parking assistance system 14 according to this embodiment basically has the above-described configuration or action. Next, the parking processing system 14 according to the above-described embodiment and the parking process 12 on the entrance 116 and the parking position 102 are parked. The automatic travel parking operation to the positions 121 to 126 will be described in detail based on the flowchart shown in FIG.

  In step S1, an initial process is performed by the parking assistance control device 120.

  FIG. 8 shows a detailed flowchart of the initial process.

  In step S1A, based on the photographed image 108 from the infrastructure camera 106, the parking support control device 120 determines whether or not the vehicle 100 has entered (positioned) the entrance 116 or the warehousing position 102.

  When the parking assistance control device 120 detects that the vehicle 100 has entered the entrance 116 or the storage location 102 from the captured image 108 of the infrastructure camera 106 (step S1A: YES), the type of the vehicle 100 is recognized in step S1B. The

  The recognition of the type of the vehicle 100 can select either one of the two methods described below.

  Vehicle type recognition method 1: When the captured image 108 obtained by photographing the vehicle 100 is received from the infrastructure camera 106, the parking assistance control device 120 transmits a request signal for inquiring the type of the vehicle 100 to the automatic driving unit 57 of the vehicle 100. . When the automatic driving unit 57 receives the request signal, the type of the vehicle 100 stored in the vehicle type storage unit 64 {the size of the vehicle 100 corresponding to the circumscribed cuboid of the vehicle 100 (the total length, the total width, the total height ), Wheelbase length, and tread width} are transmitted to the parking assist control device 120, and the parking assist control device 120 recognizes and stores the type of the vehicle 100 in the storage unit.

  Vehicle type recognition method 2: Based on the captured image 108 received from the infrastructure camera 106, a circumscribed cuboid of the vehicle 100 is set from the captured images 108, 110, and the size of the vehicle 100 (full length, full width, and ), And the wheel base length, tread width}, and license plate information are detected from the captured image 110 to recognize the type of the vehicle 100 and store it in the storage unit.

  After the type of the vehicle 100 is recognized in step S1B, it is determined in step S1C whether the vehicle 100 can be parked in the empty parking position space based on the recognized type of the vehicle 100.

  If it is determined in step S1C that the vehicle 100 is not a vehicle that can be parked in the empty parking position space (step S1C: NO), the parking assist control device 120 speaker or the like indicates that parking is not possible in step S1D. To the driver of the vehicle 100. In addition, when informing, it is also possible to make an announcement from an in-vehicle speaker (sound generating device) (not shown) in the vehicle 100 through the automatic driving unit 57 or to notify the in-vehicle display to that effect.

  The flowchart of FIG. 9 is a flowchart of a modification of the determination process (“whether parking is possible in an empty parking position space”) in step S1C applied to a parking facility different from the parking facility 12 illustrated in FIG.

  A parking facility (not shown) to which the flowchart of this modification is applied has a plurality of large parking positions on the front side when the vehicle 100 is located at the entrance or the entry position, as viewed from the current position of the vehicle 100. There is a parking lot composed of a space (referred to as a parking lot for a large vehicle), and there is a parking lot (referred to as a parking lot for a small vehicle) composed of a plurality of small parking spaces through narrow paths. Assume the case.

  In this case, whether or not the vehicle 100 can be parked in a large parking position space based on the type of the vehicle 100 in step S1Ca (FIG. 9) after the type recognition processing of the vehicle 100 in step S1B (FIG. 8) described above. Is determined. When it is determined that parking is not possible in the large parking position space (step S1Ca: NO), the notification process of step S1D (FIG. 8) described above is executed.

  On the other hand, if it is determined in step S1Ca that parking is possible in a large parking position space based on the type of vehicle 100 (step S1Ca: YES), small parking is performed based on the type of vehicle 100 in step S1Cb. It is determined whether or not parking is possible in the position space. If it is determined that parking is not possible in the small parking position space (step S1Cb: NO), a parking lot in the large parking position space is selected in step S1Ce.

  If it is determined in step S1Cb that parking is possible in a small parking position space based on the type of vehicle 100 (step S1Cb: YES), the depth of the large parking lot is determined based on the type of vehicle 100 in step S1Cc. It is determined whether or not the narrow road existing in can pass. If it is determined that the narrow road is not allowed to pass (step S1Cc: NO), a parking lot having a large parking position space is selected in step S1Ce. On the other hand, if it is determined in step S1Cc that narrow-path traffic is possible (step S1Cc: YES), a parking lot with a small parking position space is selected in step S1Cd.

  In the flowchart of FIG. 9, the processing results of step S1Cd and step S1Ce correspond to the determination of step S1C: YES in the flowchart of FIG. 8, and in the flowchart of FIG. 9, the determination result of step S1Ca: NO is the flowchart of FIG. Note that this corresponds to the determination result of step S1C: NO.

  Next, in step S1E of FIG. 8, it is determined whether or not the vehicle 100 has entered the warehousing position 102 from the captured image 108 of the infrastructure camera 106. Hereinafter, the automatic parking traveling process from the warehousing position 102 to the parking position spaces 121 to 126 will be described with reference to the parking facility 12 shown in FIG.

  Therefore, for example, when it is detected that the vehicle 100 has entered the warehousing position 102A as shown in FIG. 3 (step S1E: YES), the initial process of step S1 shown in FIG. In step S2, the direction of the vehicle 100 (reverse direction or forward direction) is determined by the parking assistance control device 120 based on the captured image 108 from the infrastructure camera 106 or based on information from the shift position sensor 34 from the automatic driving unit 57. Orientation).

  Next, in step S3, a parking support start signal generated by an operation result such as an automatic parking start button (not shown) installed in the parking support control device 120 being pushed by a driver getting off the vehicle 100 or the like. It is determined by the parking assistance control device 120 whether or not it has been received.

  When the parking support start signal is received (step S3: YES), in step S4, the parking support control device 120 moves to the vacant parking position (here, the parking position 122) selected in step S1C. A route is created or selected based on the type of the vehicle 100 that has entered the entry position 102A.

  Here, for example, as shown in FIG. 10, a movement route 130 is created. The travel route 130 is basically calculated as an integrated value of a combination of the steering angle of the vehicle 100 (0 [deg] in a straight line) and the travel distance of the vehicle 100 that maintains this steering angle.

  Next, in step S5, the automatic parking start control device 120 transmits an automatic travel start instruction and information on the travel route 130 (the integrated value) to the automatic operation ECU 56 of the vehicle 100.

  The automatic operation ECU 56 on the vehicle 100 side is in a state of waiting for an automatic travel start instruction in step S31, and when receiving an automatic travel start instruction (step S31: YES), the automatic travel control and the vehicle are performed in step S32. Position / direction detection processing is performed sequentially (every predetermined travel distance or every predetermined time).

  That is, in step S32, the vehicle position is detected or calculated from the result of traveling by inertial navigation based on the outputs of the steering angle sensor 28, the wheel speed sensor 26, and the yaw rate sensor 22, or the sequential reception position of the GPS sensor 32. The calculation of the travel locus by the inertial navigation is executed by the overall ECU 52, and the calculation result is sequentially transmitted to the parking assistance control device 120 via the automatic driving ECU 56. The vehicle direction is detected by the overall ECU 52 based on the shift position (forward position, reverse position) by the shift position sensor 34.

  Next, in step S33, the direction of the vehicle 100 based on the detection result (the forward traveling direction corresponding to the forward position or the backward traveling direction corresponding to the reverse position) and the vehicle position are sequentially controlled via the automatic driving ECU 56. Transmitted to the device 120.

  After the transmission, in step S34, the automatic operation ECU 56 determines whether or not an automatic travel end instruction has been received from the parking assistance control device 120. If not received (step S34: NO), the process proceeds to step S32. Returning, the process of step S32 is continued.

  On the other hand, the parking assistance control device 120 that has detected the automatic travel of the vehicle 100 (travel for automatic parking) by receiving the vehicle position / direction information performs the vehicle recognition / tracking process in step S6.

  FIG. 11 is a detailed flowchart of the vehicle recognition / tracking process in step S6.

  In step S6a, when the parking assistance control device 120 receives (acquires) information on the vehicle position / direction from the automatic driving ECU 56, in the next step S6b, a captured image (in FIG. Based on the captured images 110a, 110b, 110c, 110d, etc. shown), the relative posture of the vehicle 100 (how the vehicle 100 is viewed from each infrastructure camera 106) is determined.

  Next, in step S6c, it is determined whether there is a captured image 110 in which the side surface of the vehicle 100 can be seen from the posture determined in step S6b. If there is a captured image 110 in which the side surface is visible (step S6c: YES), In step S6d, a feature point pattern (tire wheel shape, wheelbase length, etc.) for discriminating the type of the vehicle 100 related to the above-described side surface is extracted from the captured image 110 in which the side surface, which is basically a saddle, can be seen. In step S6e, it is determined by pattern matching whether or not the extracted feature point pattern (type of vehicle 100) matches the previously extracted feature point pattern (type of vehicle 100). If the pattern does not match (step S6e: NO), automatic operation is interrupted in step S6f. When the automatic driving is interrupted in step S6f, the parking assistance control device 120 notifies the maintenance staff and the like to that effect. In this case, the cause of failure is investigated and recovered by so-called offline processing by maintenance personnel. In practice, the determination in step S6c should be detected by any one of the captured images 108, 110 of the four infrastructure cameras 106 regardless of where the vehicle 100 is located on the road surface 104 of the parking facility 12. Therefore, the determination in step S6c is usually positive (established).

  On the other hand, when the feature point pattern (type of vehicle 100) extracted this time matches the feature point pattern (type of vehicle 100) extracted last time in step S6e, the parking assistance control device 120 in step S6g. The current position (current position coordinates) on the road surface 104 of the vehicle 100 is detected on the basis of the current captured images 108 and 110 subjected to pattern matching with reference to the map of the own parking facility 12.

  Next, returning to the flowchart of FIG. 7, in step S7, it is determined whether or not the current position is the parking position 122. When the current position is not the parking position 122 (step S7: NO), in step S8, The current position detected in step S6g is transmitted to the automatic operation ECU 56. At this time, the positional deviation amount (deviation) of the current position with respect to the instructed movement route 130 may be transmitted instead of the current position or together with the current position.

  On the other hand, when the side surface is not visible in step S6c of FIG. 11 (step S6c: NO), it is determined in step S6h whether or not there are captured images 108 and 110 in which the front surface of the vehicle 100 can be seen. When there are the photographed images 108 and 110 that can be seen (step S6h: YES), in step S6i, the feature point pattern (emblem and front wheel 30 from the emblem and the front wheel 30 to the front wheel 30) is captured from the photographed images 108 and 110 in the same manner as in step S6d. Distance, etc.) (type of vehicle 100) is extracted, and whether or not the extracted feature point pattern (type of vehicle 100) matches the previously extracted feature point pattern (type of vehicle 100) in step S6e. Judgment is made by matching, and the position transmission processing in step S8 (FIG. 7) is performed thereafter.

  In step S6h, when the front surface cannot be seen (step S6h: NO), the rear surface should be visible. A feature point pattern (distance between reflectors, reflector shape, etc.) (type of vehicle 100) is extracted, and in step S6e, the extracted feature point pattern (type of vehicle 100) is extracted last time. It is determined by pattern matching whether or not it matches (type), and the position transmission process in step S8 is performed thereafter.

  Next, the overall ECU 52 that has received the current vehicle position or the deviation amount (deviation) of the vehicle position from the parking assistance control device 120 via the automatic operation ECU 56 again, in step S32, the above-described automatic travel control and vehicle position / Direction detection processing is performed sequentially (every predetermined travel distance or every predetermined time).

  However, in the second and subsequent processes in step S32, a distance correction process and a steering angle correction process for correcting a positional deviation amount (deviation) between the movement route 130 and the current position are performed.

  Thereafter, a vehicle position / direction transmission process is performed in step S33, and a vehicle recognition / tracking process is performed in step S6.

  In this way, when the determination at step S7, that is, when the current position is (positioned) at the parking position 122 on the travel locus, the parking assist control device 120 is automatically set at step S9 as shown in FIG. Send a travel end instruction.

  The automatic operation ECU 56 that has received the automatic travel end instruction in step S34 terminates the automatic travel through the overall ECU 52 in step S35, transmits the fact that the automatic travel has been terminated to the parking support control device 120, and the main switch such as an ignition switch. Turn the switch off.

  In addition, in the parking assistance system 14 according to this embodiment, since all the moving bodies on the road surface 104 of the parking facility 12 can be detected, as shown in FIG. The two vehicles 100, 100 ′ can be parked by automatically traveling (simultaneous two-unit automatic traveling) at the parking positions 122, 125 along the movement paths 130, 132.

  In addition, as shown in FIG. 14, when the vehicles 100 and 100 ′ are discharged from the parking positions 122 and 125 to the storage positions 102 </ b> A and 102 </ b> B, the parking assistance control device 120 is also used even when the movement paths 134 and 136 cross each other. Since the current position of the vehicles 100 and 100 'and the movement paths 134 and 136 are grasped, collision determination (when there is a possibility that the vehicles 100 and 100' partially overlap at the same position at the same time, they may overlap) One vehicle (vehicle 100 or vehicle 100 ′) is stopped until only the other vehicle (vehicle 100 ′ or vehicle 100 ′) is moved until it becomes non-existent, and is stopped in a state where there is no possibility of overlapping. The other vehicle is allowed to travel again, so that interference can be avoided.

  In this case, when the position, moving direction 141, and moving speed of the moving obstacle 142 such as a ball are detected, an interference avoidance process between the movement predicted path of the moving obstacle 142 and the moving paths 134, 136 is performed. It is also possible (obstacle avoidance support control by two-unit simultaneous automatic driving).

  As described above, the parking support system 14 according to the above-described embodiment is disposed in the parking facility 12 and is disposed on the parking facility 12 side with the infrastructure camera 106 as at least one fixed camera that captures the vehicle 100, A parking support control device 120 that receives a captured image 108 transmitted from the infrastructure camera 106 and creates a travel route 130 as vehicle guidance information, and is mounted on the vehicle 100 and receives information on the travel route 130 from the parking support control device 120. And an automatic operation unit 57 that automatically travels the vehicle 100 from the warehousing position 102 to the parking position space 122 based on the received information on the moving route 130.

  The parking support control device 120 recognizes the type of the vehicle 100 when the vehicle 100 is arranged at the entrance 116A or the warehousing position 102A of the parking facility 12, and based on the recognized type of the vehicle 100, the vehicle 100 It is determined whether or not the vehicle 100 can be parked in the parking position space 122 in the vehicle 12.

  According to this embodiment, the parking assistance control device 120 recognizes the type of the vehicle 100 when the vehicle 100 is arranged at the entrance 116A or the storage position 102A of the parking facility 12, and based on the recognized type of the vehicle 100. Since it is configured to determine whether or not the vehicle 100 is a vehicle 100 that can be parked in the parking position space 122 in the parking facility 12, the vehicle 100 is placed in the parking position space 122 in the parking facility 12. Whether or not parking is possible can be determined instantaneously with less processing load.

  In this case, the vehicle 100 further includes a vehicle type storage unit 64 that stores the type of the vehicle 100, and the parking support control device 120 is arranged when the vehicle 100 is arranged at the entrance 116A or the storage position 102A of the parking facility 12. In addition, when recognizing the type of the vehicle 100, when the captured image 108 obtained by photographing the vehicle 100 is received from the infrastructure camera 106 at the entrance 116A or the storage location 102A of the parking facility 12, a request signal for inquiring the type of the vehicle 100 is sent to the vehicle. When the automatic driving unit 57 receives the request signal, the automatic driving unit 57 transmits the type of the vehicle 100 stored in the vehicle type storage unit 64 to the parking assistance control device 120, and parking assistance. The control device 120 determines that the vehicle 100 is a parking facility based on the received type of the vehicle 100. Whether it is a vehicle 100 that can be parked in the parking position the space 122 within 2 or may be determined.

  Alternatively, the infrastructure camera 106 photographs the vehicle 100 when the vehicle 100 is placed at the entrance 116A or the entry position 102A of the parking facility 12, and parks the captured image 108 at the entrance 116A or the entry position 102A of the parking facility 12. The parking support control device 120 that has transmitted to the support control device 120 and has received the captured image 108 at the entrance 116A or the warehousing position 102A of the parking facility 12 recognizes the type of the vehicle 100 based on the received captured image 108, You may make it determine whether it is the vehicle 100 which can be parked in the parking position space 122 in the parking facility 12. FIG.

  In this case, when it is determined that the vehicle 100 is not the vehicle 100 that can be parked in the parking position space 122 in the parking facility 12, the fact is notified from the notification unit of the parking assistance control device 120 and / or the notification unit of the automatic driving unit 57. It is preferable to report from (a vehicle-mounted speaker or vehicle-mounted display of the vehicle 100).

  Furthermore, when the parking assist control device 120 recognizes the type of the vehicle 100 at the entrance 116A of the parking facility 12 or the storage location 102A of the vehicle 100, from the storage location 102A according to the recognized type of the vehicle 100 to the parking location space 122. The movement route 130 may be generated as vehicle guidance information and transmitted to the automatic driving unit 57.

  The types of the vehicle 100 preferably include the size (the total length, the total width, and the total height), the wheel base length, and the tread width of the vehicle 100, but the size of the vehicle 100, the wheel base length, It may include at least one of tread width and license plate information.

  In addition, the parking assist control device 120 continues to recognize the type of the vehicle 100 from the captured image of the infrastructure camera 106 while the vehicle 100 is automatically traveling from the warehousing position 102A to the parking position space 122. It is preferable to track or monitor whether the vehicle 100 is moving along the movement route 130 based on the type.

  Here, the parking support control device 120 determines that the vehicle 100 is based on the vehicle information including the vehicle position and the moving direction and the captured image while the vehicle 100 is automatically traveling from the storage position 102A to the parking position 122. By tracking (feedback control) through the automatic driving unit 57 so as to move along the movement route 130, the vehicle 100 can travel and park accurately along the movement route 130.

  Furthermore, the parking assist control device 120 is configured to detect the moving obstacle 142 and (the vehicle 100 ′ for the vehicle 100 or the vehicle 100 ′ for the vehicle 100) according to the captured image while the vehicle 100 is automatically traveling along the movement paths 134 and 136. When it is detected that the vehicle 100) may enter the movement paths 134 and 136, a technique for avoiding the interference between the vehicles 100 and 100 'and the moving obstacle 142 (100' and 100) is calculated, and the automatic driving unit 57 By transmitting, the vehicles 100 and 100 ′ on which the automatic driving unit 57 is mounted avoids interference with the moving obstacle 142 (100 ′ and 100), for example, smoothly performs avoidance processing such as stopping and spending time. Can do.

  The vehicle 100 further includes an in-vehicle camera 20, and the automatic driving unit 57 stops the vehicle 100 based on the captured images 108 and 110 when the vehicle 100 is stopped at the parking position 122. By configuring, the vehicle 100 can be stopped at the parking position 122 very accurately.

  Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the contents described in this specification.

DESCRIPTION OF SYMBOLS 12 ... Parking facility 14 ... Parking assistance system 50 ... Sensor 52 ... General ECU 56 ... Automatic operation ECU
57 ... Automatic driving unit 100, 100 '... Vehicles 102, 102A, 102B ... Storage positions 106, 106a to 106d ... Infrastructure cameras 108, 110 ... Captured image 120 ... Parking support control devices 121-126 ... Parking positions 130, 132, 134 136 ... Movement route

Claims (7)

At least one fixed camera located in the parking facility and photographing the vehicle;
A parking assistance control device that is arranged on the parking facility side, receives a captured image transmitted from the fixed camera, and creates vehicle guidance information;
A vehicle having an automatic driving unit mounted on the vehicle, receiving the vehicle guidance information from the parking assistance control device, and automatically driving the vehicle from a storage position to a parking position space based on the received vehicle guidance information;
With
The parking assist control device includes:
When the vehicle is placed at the entrance of the parking facility or the storage location, the vehicle type is recognized, and the vehicle is parked in the parking position space in the parking facility based on the recognized vehicle type. It determines whether it is a possible vehicle. The parking assistance system characterized by the above-mentioned. In the parking assistance system according to claim 1,
The vehicle further includes a storage unit that stores a type of the vehicle of the vehicle,
When the parking assist control device recognizes the type of the vehicle when the vehicle is arranged at the entrance of the parking facility or the warehousing position,
At the entrance of the parking facility or at the storage location, a request signal for inquiring the type of the vehicle is transmitted to the automatic driving unit of the vehicle, and the automatic driving unit stores the request signal in the storage unit when the request signal is received. The type of the vehicle being used is transmitted to the parking support control device, and the parking support control device can park the vehicle in the parking position space in the parking facility based on the received type of the vehicle. It determines whether it is a vehicle. The parking assistance system characterized by the above-mentioned. In the parking assistance system according to claim 1,
The fixed camera is
When the vehicle is arranged at the entrance of the parking facility or the warehousing position, the vehicle is photographed and an image taken at the entrance of the parking facility or the warehousing position is transmitted to the parking support control device,
The parking assistance control device that has received the captured image at the entrance of the parking facility or at the warehousing position,
The parking assistance system characterized by recognizing the type of the vehicle based on the received photographed image and determining whether or not the vehicle can be parked in the parking position space in the parking facility. In the parking assistance system according to any one of claims 1 to 3,
The parking assist control device includes:
In addition, it has a notification unit,
When it determines with the said vehicle not being a vehicle which can be parked in the said parking position space in the said parking facility, it notifies from that from the said alerting | reporting part. The parking assistance system characterized by the above-mentioned. In the parking assistance system according to any one of claims 1 to 4,
The parking assist control device includes:
When the vehicle type is recognized at the entrance of the parking facility or the warehousing position of the vehicle, a movement route from the warehousing position to the parking position space corresponding to the recognized vehicle type is generated as the vehicle guidance information. A parking support system, wherein the parking assistance system is transmitted to the automatic driving unit. In the parking assistance system according to claim 5,
The parking assist control device includes:
While the vehicle is automatically traveling from the warehousing position to the parking position space, the vehicle continues to recognize the type of the vehicle from the captured image, and the vehicle continues to recognize along the movement route based on the type of the vehicle. A parking assistance system that tracks whether or not the vehicle is moving. In the parking assistance system according to any one of claims 1 to 6,
The type of vehicle includes at least one of the size, wheelbase length, tread width, and license plate information of the vehicle.

Images