JP2018149983A - Parking control device, program, and recording medium recording the program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking control device enabling leaving of a parked vehicle and allowing passengers to get on or off the vehicle without being influenced by a bad situation of a parking space: to provide a program: and to provide a recording medium recording the program.SOLUTION: A parking control device includes: an input part receiving first road surface information as information on the road surface of a vacant parking space; an estimation part estimating an area likely to form puddles or snow accumulation on the basis of the first load surface information received in the input part; and a determination part determining whether or not parking the vehicle in the parking space on the basis of second road surface information on the area estimated by the estimation part.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a parking control device, a program, and a recording medium recording the program.

  2. Description of the Related Art Conventionally, road surface state detection means that is mounted on a vehicle such as an automobile and detects a puddle or snow accumulation is known.

JP 2009-199154 A

  By the way, when a puddle or snow accumulation or the like is generated on the parking space due to precipitation, not only the vehicle gets dirty with water splashes when the vehicle leaves, but also there is a risk of slipping. In addition, there is a problem that passengers get wet and slip when getting on and off the vehicle, which makes them uncomfortable.

  An object of the present invention is to provide a parking control device, a program, and a recording medium on which the program is recorded, capable of leaving the vehicle and getting on and off the vehicle without being affected by the bad situation of the parking space.

In order to achieve the above object, a parking control device according to the present invention includes:
An input unit for receiving first road surface information which is information related to a road surface of an empty parking space;
An estimation unit that estimates an area that is likely to become a puddle or snow based on the first road surface information received by the input unit;
A determination unit that determines whether to park the vehicle in the parking space based on second road surface information that is information related to the area estimated by the estimation unit.

The program according to the present invention is
On the computer,
A process of receiving first road surface information that is information related to a road surface of an empty parking space;
A process for estimating an area that is likely to become a puddle or snow based on the received first road surface information;
And determining whether to park the vehicle in the parking space based on second road surface information that is information related to the estimated area.

The recording medium according to the present invention is
On the computer,
A process of receiving first road surface information that is information related to a road surface of an empty parking space;
A process for estimating an area that is likely to become a puddle or snow based on the received first road surface information;
A program for executing whether or not to park the vehicle in the parking space based on second road surface information that is information related to the estimated area is recorded.

  According to the present invention, it is possible to leave the vehicle and get on and off the vehicle without being affected by the bad situation of the parking space.

View of the empty space from directly above The block diagram which shows the structural example of the parking control apparatus which concerns on embodiment of this invention. The flowchart which shows the operation example of the parking control apparatus which concerns on embodiment of this invention. The figure which shows the example of parking state of the car The flowchart which shows the other operation example of the parking control apparatus which concerns on a modification.

(Knowledge that led to the invention)
The knowledge that led to the present invention will be described with reference to FIG. 1 (a) to FIG. 1 (c). FIG. 1A to FIG. 1C are views of an empty space in which one automobile can be parked as viewed from directly above.

  As shown in FIG. 1A, it is assumed that a concave portion Po exists on the road surface of the empty space BS. Then, as shown in FIG. 2B, it is assumed that there is an area P that is likely to become a puddle or snow. Furthermore, as shown in FIG.1 (c), it assumes that the motor vehicle C was parked in the empty space BS by the backward parking by automatic driving | operation. Backward parking is a method of entering the empty space BS from behind the vehicle body and parking.

  In this case, as shown in FIG. 1 (c), when the area P is located on the track of the wheel when the car is delivered, and the area P becomes a puddle or snow, the water splashes when the car is delivered. Not only does the car get dirty, it also has a risk of slipping. In addition, as shown in the figure, if the area P is located in front of the door d (near side in the boarding direction) and the area P becomes a puddle or snowfall, when the passenger gets on and off the door d, There is a possibility that your feet will get wet or the occupant will slip.

  In view of the above, an object of the present invention is to make it possible to leave a vehicle and get on and off a vehicle without being affected by a bad situation in a parking space.

(Embodiment)
Embodiments of the present invention will be described below with reference to the drawings.

  The structure of the parking control apparatus 1 which concerns on embodiment of this invention is demonstrated using FIG. FIG. 2 is a diagram illustrating a configuration example of the parking control device 1 according to the present embodiment.

  In FIG. 2, the parking control device 1 is electrically connected to the detection device 2 and the vehicle control ECU 3. The parking control device 1, the detection device 2, and the vehicle control ECU 3 are mounted on a vehicle. In the present embodiment, a case where the vehicle is an automobile will be described as an example.

  The detection device 2 is a device that detects a road surface shape of an empty space. For example, the detection device 2 detects the road surface shape using a stereo camera attached in the traveling direction of the automobile. Here, the road surface shape is, for example, a three-dimensional shape such as a recess and an inclination of the road surface with respect to the horizontal plane.

  The detection device 2 is not limited to a method using a stereo camera, and may detect a road surface shape by a known method (for example, a method using a camera capable of three-dimensional measurement or a method using a laser sensor). Good.

  When detecting the road surface shape of the empty space, the detection device 2 outputs information relating to the road surface of the empty space (hereinafter referred to as first road surface information) to the parking control device 1. The first road surface information includes at least position information indicating the position of the detected road surface shape. In addition to the position information, for example, area information indicating the area (range) of the road surface shape may be included.

  The parking control device 1 includes an input unit 11, an estimation unit 12, and a determination unit 13. Although not shown, the parking control device 1 includes, for example, a CPU (Central Processing Unit), a recording medium such as a ROM (Read Only Memory) storing a control program, a working memory such as a RAM (Random Access Memory), and the like. It has a communication circuit. Each function (details will be described later) of the input unit 11, the estimation unit 12, and the determination unit 13 is realized by the CPU executing a control program.

  The control program may be provided by being stored in a recording medium such as a DVD or a USB memory, or may be stored in a server device on the network so as to be downloadable via the network.

  The input unit 11 receives the first road surface information from the detection device 2 and outputs the first road surface information to the estimation unit 12.

  The estimation unit 12 estimates an area P (see FIG. 1B) that is likely to become a puddle or snow accumulation based on the first road surface information. For example, the estimation unit 12 estimates the area P based on the road surface shape (the recess Po in FIG. 1A, the inclination of the road surface with respect to the horizontal plane, etc.). The estimation unit 12 outputs second road surface information that is information related to the area P to the determination unit 13. The second road surface information includes at least position information indicating the position of the area P and area information indicating the area (range) of the area P. The second road surface information is stored in the internal memory of the parking control device 1.

  Based on the second road surface information, the determination unit 13 determines whether or not the area of the area P in the empty space is equal to or larger than a predetermined area when the automobile is parked in the empty space. Here, for example, even if the area P becomes a puddle or snow cover, the predetermined area is an area where the vehicle can be taken out and passengers can get on and off the vehicle without being affected by the influence.

  When the area P of the area P is less than the predetermined area, the determination unit 13 provides the vehicle control ECU 3 (an example of a predetermined device) with instruction information for instructing parking at the first parking position set in advance for the empty space. Output to.

  The determination unit 13 determines whether there is another free space when the area of the area P is equal to or larger than a predetermined area.

  The determination unit 13 determines whether or not the area P is located in front of a predetermined door of the automobile when there is no other empty space. Specifically, the determination unit 13 determines whether or not the area P is located within a predetermined distance from a predetermined door. The predetermined distance here is, for example, a distance that can secure a space where an occupant can get on and off without stepping on the area P. The predetermined door here (hereinafter also referred to as a determination target door) is set in advance.

  If the determination unit 13 determines that the area P is not located within a predetermined distance from the door, the determination unit 13 outputs instruction information for instructing parking at the first parking position to the vehicle control ECU 3.

  On the other hand, if the determination unit 13 determines that the area P is located within a predetermined distance from the door, the determination unit 13 outputs to the vehicle control ECU 3 instruction information for instructing parking at a second parking position different from the first parking position. .

  The second parking position is a parking position in an empty space where the area P is not located within a predetermined distance from the door.

  The first parking position and the second parking position may include the direction of the vehicle with respect to the empty space. The second parking position may be a position that is opposite to the direction of the vehicle parked at the first parking position.

  Further, the second parking position may be a position shifted by a predetermined distance from the position of the vehicle parked at the first parking position.

  The vehicle control ECU 3 calculates a steering angle, a travel locus, a stop position, and the like based on the instruction information received from the parking control device 1. And vehicle control ECU3 parks a motor vehicle in an empty space by automatic driving based on a calculation result.

  The configuration of the parking control device 1 has been described above.

  Next, operation | movement of the parking control apparatus 1 is demonstrated using FIG. FIG. 3 is a flowchart illustrating an operation example of the parking control device 1. In the following description, the area information means second road surface information.

  First, the determination unit 13 determines whether or not the puddle estimation is turned on (step S100). The determination unit 13 moves the operation to step S150 when the puddle estimation is not turned on (step S100: NO), and moves the operation to step S110 when the puddle estimation is turned on (step S100: YES). Move to.

  In step S110, the determination unit 13 determines whether or not area information (second road surface information) is stored in the internal memory. When the area information is stored (step S110: YES), the determination unit 13 moves the operation to step S140. When the area information is not stored (step S110: NO), the determination unit 13 moves the operation to step S120. .

  In step S120, the detection device 2 detects the road surface shape of the empty space. The input unit 11 receives first road surface information from the detection device 2. The input unit 11 outputs the first road surface information to the estimation unit 12.

  In step S130, the estimation unit 12 estimates an area P (see FIG. 1B) that is likely to become a puddle or snow accumulation based on the first road surface information. The estimation unit 12 outputs area information (second road surface information) that is information related to the area P to the determination unit 13.

  In step S140, the determination unit 13 determines whether the area of the area P is equal to or larger than a predetermined area based on the area information. The determination unit 13 moves the operation to step S160 when the area of the area P is equal to or larger than the predetermined area (step S140: YES), and performs the operation when the area of the area P is less than the predetermined area (step S140: NO). Move to step S150.

  In step S150, the determination unit 13 outputs instruction information for instructing parking at the first parking position in the empty space to the vehicle control ECU 3. And vehicle control ECU3 controls a motor vehicle so that it parks in a 1st parking position.

  In step S160, the determination unit 13 determines whether there is another free space that can be parked. When there is another free space (step S160: YES), the determination unit 13 moves the operation to step S190, and when there is no other free space (step S160: NO), the determination unit 13 moves the operation to step S170. .

  In step S170, when the vehicle is parked at the first parking position, the determination unit 13 is positioned in front of the door (here, within a predetermined distance from the predetermined door), and the area P is parked at the second position. It is determined whether or not the area P is not located in front of the door.

  For example, as shown in FIG. 1B, there is an area P in the empty space BS, the position of the car C shown in FIG. 1C is set to the first parking position, and the driver's seat side door Assume that (for example, the door d in FIG. 1C) is set as the determination target door. Further, it is assumed that backward parking is set as the parking method.

  The determination unit 13 determines that the area P is located within a predetermined distance from the predetermined door when the automobile is parked at the first parking position, and the area P is within the predetermined distance from the predetermined door when parked at the second position. Is determined not to be positioned (step S170: YES), instruction information for instructing parking at the second parking position is output to the vehicle control ECU 3 (step S180). And vehicle control ECU3 controls a motor vehicle so that it parks in the 2nd parking position.

  Here, the example of parking to a 2nd parking position is shown to Fig.4 (a) and FIG.4 (b). 4 (a) and 4 (b), the same elements as those in FIGS. 1 (b) and 1 (c) are denoted by the same reference numerals.

  For example, the automobile C is parked forward as shown in FIG. Forward-facing parking is a method of entering an empty space from the front of the vehicle body and parking. Thereby, the automobile C is parked at the second parking position where the door d is not located within a predetermined distance from the area P.

  Or, for example, the car C is parked with a predetermined distance between the area P and the door d as shown in FIG. Thereby, the automobile C is parked at the second parking position where the door d is not located within a predetermined distance from the area P. The second parking position shown in FIG. 4B is, for example, a position that is deviated from the first parking position shown in FIG. 1C by a predetermined distance in the vehicle width direction.

  On the other hand, the determination unit 13 determines that the area P is located within a predetermined distance from the predetermined door when the automobile is parked at the first parking position, and is within the predetermined distance from the predetermined door when parked at the second position. If it is not determined that the area P is not located (step S170: NO), the instruction information for instructing parking at the first parking position is output to the vehicle control ECU 3 (step S150). And vehicle control ECU3 controls a motor vehicle so that it parks in a 1st parking position.

  In step S190, the determination unit 13 outputs instruction information for changing the empty space to the vehicle control ECU 3. Specifically, the determination unit 13 may output instruction information for instructing to park in another empty space to the vehicle control ECU 3. In this case, you may output the instruction information which instruct | indicates to park in the other empty space where the road surface shape is already detected to vehicle control ECU3.

  The operation of the parking control device 1 has been described above.

  As described in detail, the parking control device 1 according to the present embodiment estimates an area P that is likely to become a puddle or snow in an empty space scheduled for parking, and determines that the area of the area P is equal to or larger than a predetermined area. If so, it is determined whether there is another free space that can be parked. Thereby, since it is avoided to park a car in the empty space with the area P more than a predetermined area, it is possible to leave the vehicle and get on the vehicle without being affected by the bad situation of the parking space.

  The present invention is not limited to the description of the above embodiment, and various modifications can be made. Hereinafter, each modification will be described.

<Modification 1>
In the above embodiment, when the puddle estimation is turned on, the input unit 11 receives the first road surface information, and the estimation unit 12 is an area that is likely to become a puddle or snow accumulation based on the first road surface information. The determination unit 13 outputs instruction information for instructing parking based on the area information to the vehicle control ECU 3 (for example, steps S130 to S150 in FIG. 3), but the input unit 11 uses the first road surface information. You may make it receive based on a weather forecast (for example, precipitation forecast). Thereby, the input unit 11 receives the first road surface information when the puddle estimation is turned on and the predicted precipitation amount is equal to or greater than a predetermined amount.

  On the other hand, even if the puddle estimation is on, the input unit 11 does not receive the first road surface information and the estimation unit 12 does not estimate the area when the predicted precipitation is less than the predetermined amount. . For this reason, the vehicle control ECU 3 parks the automobile in the empty space based on the initial calculation result without receiving the instruction information from the determination unit 13.

<Modification 2>
In the above embodiment, when the vehicle is parked at the first parking position, the area P is located within a predetermined distance from the predetermined door, and when the vehicle is parked at the second position, the area is within the predetermined distance from the predetermined door. When P is not located (step S170: YES), the determination unit 13 outputs instruction information for instructing parking at the second parking position to the vehicle control ECU 3 (step S180). In this case, the determination unit 13 may determine which of the second parking position illustrated in FIG. 4A or the second parking position illustrated in FIG. . This example will be described below with reference to FIG.

  FIG. 5 is a flowchart showing another operation example of the parking control device 1. In the following description, for example, it is assumed that a driver's seat side door (for example, door d shown in FIG. 1B) is set as a determination target door. Further, it is assumed that backward parking is set as the parking method.

  The determination unit 13 determines that the area P is located within a predetermined distance from the predetermined door when the automobile is parked at the first parking position, and the area P is within the predetermined distance from the predetermined door when parked at the second position. Is not located (step S170: YES), it is determined whether the area P is not located within a predetermined distance from the driver side door when the vehicle is parked forward at the second parking position (step S200).

  When the area P is not located within a predetermined distance from the driver's seat side door when the forward parking is parked at the second parking position, the determination unit 13 performs vehicle control on the instruction information instructing the forward parking (step S200: YES). It outputs to ECU3 (step S210). Thereby, the automobile is parked at the second parking position shown in FIG.

  On the other hand, when the area P is located within a predetermined distance from the driver's seat side door when parked in the second parking position with forward parking, the determination unit 13 performs the driver's seat side door in the rearward parking. And instructing to park at a predetermined distance between the vehicle and the area P is output to the vehicle control ECU 3 (step S220). Thereby, the automobile is parked at the second parking position shown in FIG. 4B, for example.

<Modification 3>
In the first modification, when the area P is not located within a predetermined distance from the driver side door (step S200: YES in FIG. 5), the determination unit 13 outputs instruction information for instructing forward parking to the vehicle control ECU 3. (Step S210 in FIG. 5). That is, the forward parking is prioritized over the backward parking (step S220 in FIG. 5). Note that the backward parking may be prioritized over the forward parking.

<Modification 4>
In the above embodiment, the case where there is one determination target door has been described as an example, but a plurality of doors may be used. In that case, a priority is set for each door, and the determination unit 13 determines whether the area P is located within a predetermined distance from each door in descending order of priority. Instruction information for parking so as not to be located within the distance may be output.

  INDUSTRIAL APPLICABILITY The present invention is suitably used for a parking control device that controls parking in a parking space, a parking control method, and a parking control program.

DESCRIPTION OF SYMBOLS 1 Parking control apparatus 2 Detection apparatus 3 Vehicle control ECU
DESCRIPTION OF SYMBOLS 11 Input part 12 Estimation part 13 Judgment part

Claims (9)

An input unit for receiving first road surface information which is information related to a road surface of an empty parking space;
An estimation unit that estimates an area that is likely to become a puddle or snow based on the first road surface information received by the input unit;
A determination unit that determines whether to park the vehicle in the parking space, based on second road surface information that is information related to the area estimated by the estimation unit;
A parking control device comprising:   The parking control device according to claim 1, wherein the input unit receives the first road surface information based on a weather forecast. The second road surface information includes area information indicating an area of the area,
The determination unit
When it is determined that the area of the area is less than a predetermined area, instruction information for instructing the parking of the vehicle at the first parking position with respect to the parking space is output to a predetermined device,
When it is determined that the area of the area is equal to or larger than a predetermined area, it is determined whether there is another parking space,
When it is determined that the other parking space does not exist, instruction information for instructing the parking of the parking at the second parking position different from the direction of the vehicle parked at the first parking position is the predetermined device. The parking control device according to claim 1, which outputs to The second road surface information includes position information indicating the position of the area,
The parking control device according to claim 3, wherein the second parking position is a parking position where the area is not positioned in front of the door.   The parking control device according to any one of claims 3 and 4, wherein the first parking position and the second parking position include an orientation of the vehicle with respect to the parking space.   The parking control device according to any one of claims 3 to 5, wherein the second parking position is a parking position that is opposite to a direction of the vehicle parked at the first parking position. .   5. The parking control device according to claim 3, wherein the second parking position is a parking position shifted from the position of the vehicle parked at the first parking position by a predetermined distance. 6. On the computer,
A process of receiving first road surface information that is information related to a road surface of an empty parking space;
A process for estimating an area that is likely to become a puddle or snow based on the received first road surface information;
A process for determining whether or not to park the vehicle in the parking space, based on second road surface information that is information relating to the estimated area;
A program that executes On the computer,
A process of receiving first road surface information that is information related to a road surface of an empty parking space;
A process for estimating an area that is likely to become a puddle or snow based on the received first road surface information;
A process for determining whether or not to park the vehicle in the parking space, based on second road surface information that is information relating to the estimated area;
A recording medium on which a program for executing is recorded.

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