JP2018163112A - Automatic parking control method and automatic parking control device and program using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for suppressing reduction of convenience for an occupant when a vehicle is parked.SOLUTION: An I/O part 33 receives detection information which is a detection result of a state of an outside of a vehicle. A derivation part 60 identifies a final parking position of a vehicle 100 based on the detection information, and an identification part 70 identifies a parking route to the final parking position from a parking start position of the vehicle 100. The I/O part 33 outputs an image in which the identified parking route is indicated to a notification device 2. The I/O part 33 receives an operation signal in which a position on the parking route of the image displayed on the notification device 2 and designated by an occupant is indicated. A processing part 72 sets a halfway stop position on the position indicated in the operation signal. A vehicle control part 78 controls automatic parking of the vehicle 100 based on instruction of movement along the identified parking route and instruction of vehicle stop at the set halfway stop position.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an automatic parking control method, an automatic parking control device using the same, and a program.

  The parking assistance device improves the convenience of parking assistance by changing the target parking position and the guide route from a preset reference parking sequence according to the parking space and the presence or absence of surrounding obstacles. Here, the target parking position and the guidance route are determined using the relative position between the vehicle and the parking area detected from the mark detected by the camera, the parking area information, and the detected obstacle information.

JP 2010-208358 A

  If the parking space in which the vehicle is to be parked is small, the occupant may not be able to get off or the baggage may not be taken out even if the vehicle can be parked. Thereby, the convenience of the passenger | crew of a vehicle falls.

  This invention is made | formed in view of such a condition, The objective is to provide the technique which suppresses the fall of a passenger | crew's convenience in the case of parking a vehicle.

  In order to solve the above-described problem, an automatic parking control device according to an aspect of the present invention provides a vehicle from a parking start position to a final parking position of a vehicle specified based on detection information that is a detection result of a situation outside the vehicle. A specific part for specifying the parking route, an output part for outputting an image showing the parking route specified by the specific part to the notification device, and a position on the parking route of the image displayed on the notification device are specified by the occupant. Based on a processing unit that sets a halfway stop position at the position indicated in the operation signal, an instruction for movement along the parking route specified in the specifying unit, and a stop instruction at the halfway stop position set in the processing unit And a vehicle control unit for controlling automatic parking of the vehicle.

  Another aspect of the present invention is an automatic parking control method. In this method, a step of specifying a parking route from a parking start position of a vehicle to a final parking position of a vehicle specified based on detection information that is a detection result of a situation outside the vehicle, and the specified parking route are indicated. A step of outputting an image to the notification device, a step of setting a stop position on the way to the position indicated by the operation signal designated by the occupant on the parking route of the image displayed on the notification device, and the identified parking route And a step of controlling automatic parking of the vehicle on the basis of an instruction to move along the vehicle and an instruction to stop at the set halfway stop position.

  An arbitrary combination of the above components, the expression of the present invention converted between an apparatus, a system, a method, a program, a recording medium recording the program, a vehicle equipped with the apparatus, and the like are also included in the present invention. It is effective as an embodiment.

  ADVANTAGE OF THE INVENTION According to this invention, the fall of the passenger | crew's convenience in the case of parking a vehicle can be suppressed.

1 is a diagram illustrating a configuration of a vehicle according to a first embodiment. It is a figure which shows typically the interior of the vehicle of FIG. It is a figure which shows another structure of the vehicle which concerns on Embodiment 1. FIG. It is a figure which shows the outline | summary of the specific process of the last parking position by the automatic parking control apparatus of FIG. It is a figure which shows the outline | summary of the identification process of the parking route by the automatic parking control apparatus of FIG. It is a figure which shows the image displayed on the center display of FIG. It is a figure which shows another image displayed on the center display of FIG. It is a figure which shows another image displayed on the center display of FIG. It is a figure which shows another image displayed on the center display of FIG. It is a flowchart which shows the setting procedure of the halfway stop position by the automatic parking control apparatus of FIG. 6 is a diagram showing an image displayed on a center display according to Embodiment 2. FIG. 6 is a flowchart showing a procedure for setting a halfway stop position by the automatic parking control apparatus according to the second embodiment. It is a flowchart which shows another setting procedure of the halfway stop position by the automatic parking control apparatus which concerns on Embodiment 2. FIG.

(Embodiment 1)
Before describing the present invention in detail, an outline will be described. The first embodiment relates to a vehicle that automatically executes parking. Although this embodiment focuses on automatic parking control, automatic driving control may be possible with this vehicle. The automatic parking control is performed in an automatic parking control device that automatically controls driving, braking, and steering of the vehicle. In the automatic parking control, in the parking operation from the position where the vehicle parking operation is started (hereinafter referred to as “parking start position”) to the position where the vehicle should be finally parked (hereinafter referred to as “final parking position”). A route to be traveled (hereinafter referred to as “parking route”) is derived. The vehicle travels on the parking route to the final parking position and stops at the final parking position.

  If the space around the vehicle at the final parking position is narrow, it may be difficult to open the door or the trunk. In this case, as described above, the passenger cannot get out of the vehicle or cannot take out the luggage, so the convenience of the vehicle passenger is reduced. In order to cope with this, the automatic parking control apparatus according to the present embodiment displays an image showing the parking route, and allows the occupant to specify a position on the parking route, and temporarily stops the vehicle according to the specification. A position to be stopped (hereinafter referred to as “intermediate stop position”) is set. Further, the automatic parking control device stops the vehicle at the stop position on the way. Here, the midway stop position is arranged according to the occupant's will at a position where the door can be easily opened or the trunk can be easily opened.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each embodiment described below is an example, and the present invention is not limited to these embodiments.

  FIG. 1 shows a configuration of a vehicle 100 according to an embodiment, and particularly shows a configuration related to a vehicle capable of automatic parking. The vehicle 100 includes a notification device 2, an input device 4, a wireless device 8, a driving operation unit 10, a detection unit 20, and an automatic parking control device 30. The automatic parking control device 30 includes a vehicle control device 34 and a parking assistance device 40. The devices shown in FIG. 1 may be connected by wired communication such as a dedicated line or a CAN (Controller Area Network). Moreover, you may connect by wired communication or wireless communications, such as USB (Universal Serial Bus), Ethernet (trademark), Wi-Fi (trademark), Bluetooth (trademark).

  The notification device 2 notifies the occupant of information related to traveling or parking of the vehicle 100. The notification device 2 is, for example, a car navigation system, a head-up display, or a center display installed in the vehicle. The notification device 2 may be a display unit that displays information such as a light emitter such as an LED (Light Emitting Diode) installed around the steering wheel, pillar, dashboard, and meter panel. In addition, the notification device 2 may be a speaker that converts information into sound and notifies the occupant, or a vibration body provided at a position that can be sensed by the occupant (for example, the occupant's seat, steering wheel). There may be. Further, the notification device 2 may be a combination thereof.

  The input device 4 is a user interface device that receives an operation input by an occupant. For example, the input device 4 is a touch panel, a lever, a button, a switch, a controller such as a joystick or a volume, a sensor such as a camera that recognizes a gesture without contact, a sensor such as a microphone that recognizes voice, or a combination thereof. Receives information on automatic parking of the vehicle entered by. The information regarding automatic parking is, for example, the start or release of automatic parking. The input device 4 outputs the received information to the parking assistance device 40 as an operation signal.

  FIG. 2 schematically shows the interior of the vehicle 100. The notification device 2 may be a head-up display (HUD, Head-Up Display) 2a or a center display 2b. The input device 4 may be the first operation unit 4a provided in the steering 11 or the second operation unit 4b provided between the driver seat and the passenger seat, and is a camera that recognizes a gesture. The third operation unit 4c, which is a sensor such as In addition, the alerting | reporting apparatus 2 and the input device 4 may be integrated, for example, may be mounted as a touch panel display. The vehicle 100 may further be provided with a speaker 6 that presents information related to automatic parking to the occupant by voice. In this case, the parking assistance device 40 may cause the notification device 2 to display an image indicating information related to automatic parking, and may output a sound indicating information related to automatic parking from the speaker 6 together with or instead of the information. Returning to FIG.

  The wireless device 8 corresponds to a mobile phone communication system, a WMAN (Wireless Metropolitan Area Network), and the like, and performs wireless communication with a data server, infrastructure, other vehicles, pedestrians, and the like. The driving operation unit 10 includes a steering 11, a brake pedal 12, an accelerator pedal 13, a winker switch 14, a shift 15, and a parking brake 16. The steering 11, brake pedal 12, accelerator pedal 13, blinker switch 14, shift 15 and parking brake 16 can be electronically controlled by the steering ECU, brake ECU, engine ECU and motor ECU, blinker controller, and shift ECU. In the automatic parking mode, the steering ECU, the brake ECU, the engine ECU, the motor ECU, and the shift ECU drive the actuator according to a control signal supplied from the vehicle control device 34. The blinker controller turns on or off the blinker lamp according to a control signal supplied from the vehicle control device 34.

  The detection unit 20 detects a surrounding situation and a running state of the vehicle 100. The detection unit 20 detects, for example, the speed of the vehicle 100, position information of the vehicle 100, and obstacles around the vehicle 100. The detection unit 20 outputs various types of detected information (hereinafter referred to as “detection information”) to the vehicle control device 34. Further, the detection unit 20 may output the detection information to the parking assistance device 40 via the vehicle control device 34 or may directly output the detection information to the parking assistance device 40. The detection unit 20 includes a position information acquisition unit 21 and a sensor 22.

  The sensor 22 is a generic name for various sensors for detecting the situation outside the vehicle and the state of the vehicle 100. For example, a camera, a millimeter wave radar, a LIDAR (Light Detection and Ranging), a sonar, a temperature sensor, an atmospheric pressure sensor, a humidity sensor, and an illuminance sensor are mounted as sensors for detecting a situation outside the vehicle. The situation outside the vehicle includes a road condition in which the host vehicle includes lane information, an environment including weather, a situation around the host vehicle, and other vehicles in the vicinity (such as other vehicles traveling in the adjacent lane). Any information outside the vehicle that can be detected by the sensor 22 may be used. Further, as the sensor 22 for detecting the state of the vehicle 100, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an inclination sensor, and the like are mounted. Sensor 22 may detect the state inside vehicle 100.

  The position information acquisition unit 21 is connected to the sensor 22 and acquires the current position of the vehicle 100 from a GNSS (Global Navigation Satellite System (s)) receiver. The position information acquisition unit 21 may acquire the current position using a steering angle, a wheel speed pulse, or the like.

  The vehicle control device 34 is an automatic driving controller that implements an automatic parking control function, and determines the behavior of the vehicle 100 in automatic parking. The vehicle control device 34 includes a control unit 31, a storage unit 32, and an I / O unit (Input / Output unit, input / output unit, input unit, output unit) 33. The configuration of the control unit 31 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM (Read Only Memory), RAM (Random Access Memory), and other LSIs can be used as hardware resources, and programs such as operating systems, applications, and firmware can be used as software resources. The storage unit 32 includes a nonvolatile recording medium such as a flash memory. The I / O unit 33 executes communication control according to various communication formats. For example, the I / O unit 33 inputs and outputs information to and from the parking assistance device 40. Further, the I / O unit 33 inputs detection information from the detection unit 20.

  The control unit 31 applies the information input from the parking assist device 40 and the various information collected from the detection unit 20 or various ECUs to the automatic parking algorithm, and automatically controls the accelerator throttle opening, the steering angle, etc. of the vehicle 100. A control value for controlling the object is calculated. The control unit 31 transmits the calculated control value to each control target ECU or controller. In this embodiment, it is transmitted to the steering ECU, brake ECU, engine ECU, winker controller, and shift ECU. In the case of an electric vehicle or a hybrid car, the control value is transmitted to the motor ECU instead of or in addition to the engine ECU.

  The parking assist device 40 outputs information to the automatic parking control device 30. The parking assist device 40 includes a control unit 41, a storage unit 42, and an I / O unit 43. The control unit 41 executes various data processing such as HMI control. The control unit 41 includes a derivation unit 60, which will be described later. The control unit 41 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources.

  The storage unit 42 is a storage area that stores data that is referred to or updated by the control unit 41. For example, it is realized by a non-volatile recording medium such as a flash memory. The I / O unit 43 executes various communication controls according to various communication formats. The I / O unit 43 includes an operation signal input unit 50, an image / audio output unit 51, a detection information input unit 52, an information input / output unit 53, and a communication IF 56.

  The operation signal input unit 50 receives an operation signal from the input device 4 by an operation of an occupant or a user outside the vehicle made to the input device 4 and outputs the operation signal to the control unit 41. The image / sound output unit 51 outputs the image data or the voice message generated by the control unit 41 to the notification device 2 for display. The detection information input unit 52 is a result of the detection process by the detection unit 20, receives detection information indicating the current surrounding state and running state of the vehicle 100 from the detection unit 20, and outputs the detection information to the control unit 41.

  The information input / output unit 53 executes interface processing with the vehicle control device 34 and inputs / outputs information to / from the vehicle control device 34. The communication IF 56 executes interface processing with the wireless device 8. The communication IF 56 transmits the data output from the control unit 41 to the wireless device 8 and causes the wireless device 8 to transmit to the device outside the vehicle. Further, the communication IF 56 receives data from a device outside the vehicle transferred by the wireless device 8 and outputs the data to the control unit 41.

  Here, the vehicle control device 34 and the parking assistance device 40 are configured as separate devices. As a modification, the vehicle control device 34 and the parking assist device 40 may be integrated into the automatic parking control device 30 as indicated by a broken line in FIG. Below, in order to clarify description, the structure in the automatic parking control apparatus 30 which integrated the vehicle control apparatus 34 and the parking assistance apparatus 40 is demonstrated.

  FIG. 3 shows another configuration of the vehicle 100. The automatic parking control device 30 includes a control unit 31, a storage unit 32, and an I / O unit 33. The control unit 31 includes a derivation unit 60, a specification unit 70, a processing unit 72, and a vehicle control unit 78. Includes a generation unit 80. Here, of the configuration of the vehicle 100 in FIG. 1, only the configuration necessary for the description is shown, but actually, the wireless device 8 and the like that are not illustrated are also included. Further, the derivation unit 60 in the control unit 31 in FIG. 3 is included in the control unit 41 in FIG. 1, but the remaining configuration in the control unit 31 in FIG. 3 is included in the control unit 31 in FIG. In the following, this configuration is (1) identification of the final parking position, (2) identification of the parking route, (3) setting of the stop position on the way, (4) movement along the movement route, (5) stop position on the way Will be described in the order of the operation after the setting of (6), and the process of canceling the stop position on the way.

(1) Identification of the final parking position The sensor 22 indicates a sensing device for detecting a situation outside the vehicle, for example, an obstacle such as another vehicle 100. An example of the sensor 22 is a camera, a millimeter wave radar, a lider, or an ultrasonic sensor. The sensor 22 outputs detection information that is a detection result of the vehicle exterior situation to the I / O unit 33. The position information acquisition unit 21 acquires the current position of the vehicle 100 as described above. The position information acquisition unit 21 outputs detection information including the current position (hereinafter referred to as “position information”) to the I / O unit 33. The I / O unit 33 receives detection information from the sensor 22 and position information from the position information acquisition unit 21. The I / O unit 33 outputs detection information and position information to the control unit 31.

  The deriving unit 60 receives out-of-vehicle detection information and position information from the I / O unit 33. In order to explain the processing in the deriving unit 60, FIG. 4 is used here. FIG. 4 shows an outline of the process for specifying the final parking position 130 by the automatic parking control device 30. The vehicle 100 travels in the direction of the arrow while performing sensing by the sensor 22. The deriving unit 60 recognizes the arrangement positions of the other vehicle 110 and the obstacle 112 based on the vehicle outside detection information acquired by sensing. By recognizing the arrangement position of the other vehicle 110 and the obstacle 112, the derivation unit 60 searches for a parking area 120 that is a parking space where the vehicle 100 can be parked.

  The search of the parking area 120 is performed by searching for an area where the other vehicle 110 and the obstacle 112 are not arranged in an area larger than the area of the vehicle 100 or searching for a frame line of the parking area 120. As a result of the search, the deriving unit 60 derives the parking area 120 that exists between the other vehicle 110 and the obstacle 112. Furthermore, the deriving unit 60 derives the final parking position 130 in the parking area 120. For example, the derivation unit 60 places the final parking position 130 in the central portion of the parking area 120. Here, the area of the final parking position 130 corresponds to the area of the vehicle 100 and is known to the derivation unit 60. Returning to FIG.

(2) Identification of Parking Route After the final parking position 130 is specified by the derivation unit 60, the specifying unit 70 specifies the parking route 140 from the parking start position 132 of the vehicle to the final parking position 130. In order to explain the processing in the specifying unit 70, FIG. 5 is used here. FIG. 5 shows an outline of the identification process of the parking route 140 by the automatic parking control device 30. The position information received by the specifying unit 70, for example, the parking start position 132 is indicated by absolute latitude and longitude (hereinafter referred to as "coordinates"). On the other hand, the final parking position 130 already identified by the derivation unit 60 is indicated by the relative direction and distance from the parking start position 132. Therefore, the specifying unit 70 derives the coordinates of the final parking position 130 based on the parking start position 132, the direction, and the distance.

  Further, the specifying unit 70 calculates a parking route 140 from the parking start position 132 to the final parking position 130 based on the coordinates of the parking start position 132 and the coordinates of the final parking position 130. In addition, in order to calculate the parking route 140, the specifying unit 70 may determine a parking scene such as parallel parking, parallel parking, and diagonal parking, and front-and-back parking directions from the detection information outside the vehicle. Here, since it was impossible to move directly from the parking start position 132 to the final parking position 130 based on the trajectory information, the parking route 140 in which the vehicle 100 is turned back at the turning back position 134 is calculated. Is done. The identifying unit 70 outputs the parking route 140 to the processing unit 72. Returning to FIG.

(3) Setting of the stop position on the way The generating unit 80 generates an overhead image that looks down on the periphery of the vehicle 100 from above the vehicle 100 based on the detection information, particularly an image captured by the camera. Since a known technique may be used to generate the overhead image, description thereof is omitted here. Note that the bird's-eye view image may be shown as an illustration instead of an image captured by a camera. The generation unit 80 generates an image by superimposing the parking route 140 specified by the specifying unit 70 on the overhead image. The generation unit 80 outputs an image to the I / O unit 33, and the I / O unit 33 causes the notification device 2 to display the image. Here, it is assumed that the notification device 2 is the center display 2b. FIG. 6 shows an image displayed on the center display 2b.

  In FIG. 6, in order to simplify the drawing, the position of the parking start position 132 and the shape of the parking path 140 are changed from those in FIG. 5, and the cut-back position 134 is omitted. Further, the vehicle 100 is shown as a vehicle icon 200 and the other vehicle 110 is shown as another vehicle icon 210. The vehicle icon 200 exists at the parking start position 132, and the parking path 140 extends from the parking start position 132 toward the final parking position 130. A cancel button 220 and an operation restart button 230 are displayed on the lower right side of the screen. When the vehicle 100 is present at the parking start position 132, an operation start button that may be touched when instructing the start of parking may be displayed. Returning to FIG.

  When the center display 2b is a touch panel, the occupant touches an arbitrary position on the parking route 140 displayed on the center display 2b, so that the input device 4 receives the designation of the position from the occupant. The input device 4 outputs an operation signal indicating the position designation to the I / O unit 33. Upon receiving the operation signal, the I / O unit 33 outputs a position designation to the processing unit 72. When the processing unit 72 receives the designation of the position from the I / O unit 33, the processing unit 72 sets an intermediate stop position 136 at the designated position in the parking route 140 from the specifying unit 70. The generation unit 80 generates an image in which the midway stop position 136 is set, and displays the image on the center display 2b via the I / O unit 33. FIG. 7 shows another image displayed on the center display 2b. This is shown in the same manner as in FIG. 6, but an intermediate stop position 136 is shown on the parking path 140. Returning to FIG.

(4) Movement along the movement route Based on the parking route 140 from the specifying unit 70 and the position information from the I / O unit 33, the processing unit 72 is located at any part on the parking route 140. Check if it exists. The processing unit 72 instructs the vehicle control unit 78 to move along the parking route 140 according to the confirmation result. For example, in FIG. 7, when the position information indicates the parking start position 132, the processing unit 72 instructs the vehicle control unit 78 to move to the midway stop position 136 along the parking route 140. When the position information indicates the midway stop position 136, the processing unit 72 instructs the vehicle control unit 78 to instruct a stop.

  When the determination unit 76 determines not to set the midway stop position 136, the vehicle control unit 78 is not instructed to stop at the midway stop position 136. The vehicle control unit 78 controls automatic parking of the vehicle 100 in accordance with an instruction from the processing unit 72. The generation unit 80 generates an image in which the position of the vehicle icon 200 changes according to the movement of the vehicle 100, and displays the image on the center display 2b via the I / O unit 33.

(5) Operation after setting the mid-stop position When the vehicle 100 arrives at the mid-stop position 136, it stops. In this state, the occupant touches the operation restart button 230 displayed on the center display 2b, whereby the input device 4 receives an instruction from the occupant. This instruction indicates the movement from the stop position 136 on the way to the final parking position 130. The input device 4 outputs an operation signal indicating movement to the I / O unit 33. When receiving the operation signal, the I / O unit 33 outputs a movement instruction to the processing unit 72. When all the occupants of vehicle 100 get off at stoppage position 136, the occupant may operate a terminal device such as a smartphone to transmit a movement instruction. In that case, a wireless device (not shown) connected to the automatic parking control device 30 receives the instruction and outputs a movement instruction to the I / O unit 33. When receiving the movement instruction, the I / O unit 33 outputs the movement instruction to the processing unit 72.

  When the processing unit 72 receives a movement instruction from the I / O unit 33, the processing unit 72 determines the movement from the mid-stop position 136 to the final parking position 130, and moves the vehicle from the mid-stop position 136 to the final parking position 130. The controller 78 is instructed. The vehicle control unit 78 controls automatic parking of the vehicle 100 in accordance with an instruction from the processing unit 72.

  The generation unit 80 generates an image while moving from the midway stop position 136 to the final parking position 130 and displays the image on the center display 2 b via the I / O unit 33. FIG. 8 shows still another image displayed on the center display 2b. A vehicle icon 200 is arranged on the parking path 140 from the midway stop position 136 to the final parking position 130. Returning to FIG.

(6) Cancellation of the stop position on the way The occupant touches the cancel button 220 displayed on the center display 2b, whereby the input device 4 receives an instruction from the occupant. This instruction indicates cancellation of the setting of the stop position 136 on the way. The input device 4 outputs an operation signal indicating the cancellation of the setting to the I / O unit 33. When receiving the operation signal, the I / O unit 33 outputs the cancellation of the setting to the processing unit 72. When the processing unit 72 receives the cancellation of the setting from the I / O unit 33, the processing unit 72 cancels the setting of the stop position 136 on the way. Thus, even if the position information indicates the midway stop position 136, the processing unit 72 does not output a stop instruction to the vehicle control unit 78. FIG. 9 shows still another image displayed on the center display 2b. The release position 240 is shown at the midway stop position 136 so far. The release position 240 is set at the midway stop position 136, but indicates that it is currently released.

  Operation | movement of the automatic parking control apparatus 30 by the above structure is demonstrated. FIG. 10 is a flowchart showing a procedure for setting a halfway stop position by the automatic parking control device 30. The deriving unit 60 identifies the parking area 120 (S10), identifies the final parking position 130 (S12), and the identifying unit 70 identifies the parking route 140 (S14). The generation unit 80 generates an image (S16), and the notification device 2 displays the image. When the input device 4 accepts the position (Y in S18), the processing unit 72 sets a midway stop position 136 (S20). If the input device 4 does not accept the position (N in S18), the process is terminated.

  According to this embodiment, an image indicating the parking route is displayed on the notification device, and the position on the parking route of the image is specified by the occupant, so that the stop position is set halfway. The vehicle can be stopped at the stop position. Since the vehicle stops at the stop position on the way, even if it is difficult to get off at the final parking position or take out the luggage, these can be easily performed. Moreover, since it is easy to get off and take out the luggage, it is possible to suppress a decrease in convenience for passengers when the vehicle is parked. In addition, when the instruction from the occupant is received, the setting of the stop position on the way is canceled, so that parking suitable for the occupant's intention can be realized. Moreover, since the movement to the last parking position is instruct | indicated when the instruction | indication from a passenger | crew is received, the parking suitable for a passenger | crew's intention is realizable.

(Embodiment 2)
Next, a second embodiment will be described. As in the first embodiment, the second embodiment relates to an automatic parking control device that outputs an instruction related to parking to an automatic parking control device that automatically controls driving, braking, and steering of a vehicle. In the first embodiment, the automatic parking control device sets a stop position on the way according to designation from the occupant. On the other hand, it is a burden for the occupant to designate a stop position every time in a place where parking is frequently performed such as a parking lot at home. The purpose here is to reduce this burden. The vehicle 100 according to the second embodiment is the same type as that shown in FIGS. 1, 2, and 3, and the automatic parking control device 30 is the same type as that shown in FIG. Here, it demonstrates centering on the difference with Embodiment 1. FIG.

  When the midway stop position 136 is set by the process (3) described above in the processing unit 72 of FIG. 3, the storage unit 42 stores the midway stop position 136 and the final parking position 130 specified by the deriving unit 60 at that time. The combination is stored. When the vehicle 100 is newly parked, the derivation unit 60 specifies the new final parking position 130 by executing the above-described process (1). The deriving unit 60 outputs the new final parking position 130 to the processing unit 72. When the processing unit 72 receives a new final parking position 130 from the derivation unit 60, the processing unit 72 confirms the combination stored in the storage unit 42. When the distance between the final parking position 130 included in the combination and the new final parking position 130 is shorter than the threshold value, the processing unit 72 is a halfway stop position 136 corresponding to the final parking position 130 included in the combination. In addition, the intermediate stop position 136 stored in the storage unit 42 is acquired.

  The processing unit 72 outputs the acquired halfway stop position 136 to the generation unit 80 as a candidate for the halfway stop position 136. The production | generation part 80 produces | generates an image by superimposing the candidate of the halfway stop position 136 on a bird's-eye view image. The image is displayed on the notification device 2 via the I / O unit 33. FIG. 11 shows an image displayed on the center display 2b according to the second embodiment. This is an image for allowing the occupant to specify the mid-stop position 136 as in FIG. 6, and is shown in the same manner as in FIG. Here, the halfway stop position 136 stored in the storage unit 42 is shown as the candidate position 250. Returning to FIG.

  As described in the above process (3), the occupant touches an arbitrary position on the parking route 140 displayed on the center display 2b, so that the input device 4 receives the designation of the position from the occupant. Here, since the candidate position 250 is shown as shown in FIG. 11, the occupant can designate the position with reference to the candidate position 250. Therefore, the operation of the occupant becomes easy. Subsequent processing is the same as heretofore, and the description is omitted here.

  In addition, when the distance between the final parking position 130 included in the combination and the new final parking position 130 is shorter than the threshold value, the processing unit 72 stops the intermediate stop position corresponding to the final parking position 130 included in the combination. 136 may not be output to the generation unit 80 as a candidate for the stop position 136 on the way. At that time, the processing unit 72 may set the halfway stop position 136 corresponding to the final parking position 130 included in the combination as a new halfway stop position 136.

  Operation | movement of the automatic parking control apparatus 30 by the above structure is demonstrated. FIG. 12 is a flowchart illustrating a procedure for setting a halfway stop position by the automatic parking control device 30 according to the second embodiment. The deriving unit 60 identifies the parking area 120 (S40), identifies the final parking position 130 (S42), and the identifying unit 70 identifies the parking route 140 (S44). When the identified final parking position 130 is close to the past final parking position 130 (Y in S46), the processing unit 72 reads the midway stop position 136 from the storage unit 42 (S48). This is equivalent to calling the stop position 136 at that time in a place where the vehicle has been parked in the past (for example, at home or at work). If the identified final parking position 130 is not close to the past final parking position 130 (N in S46), step 48 is skipped. The generation unit 80 generates an image (S50), and the notification device 2 displays the image. When the input device 4 accepts the position (Y in S52), the processing unit 72 sets a midway stop position 136 (S54). If the input device 4 does not accept the position (N in S52), the process is terminated.

  FIG. 13 is a flowchart illustrating another procedure for setting the mid-stop position by the automatic parking control device 30 according to the second embodiment. The deriving unit 60 identifies the parking area 120 (S70), identifies the final parking position 130 (S72), and the identifying unit 70 identifies the parking route 140 (S74). When the identified final parking position 130 is not close to the past final parking position 130 (N in S76), the generation unit 80 generates an image (S78), and the notification device 2 displays the image. When the input device 4 receives the position (Y in S80), the processing unit 72 sets the midway stop position 136 (S84). If the input device 4 does not accept the position (N in S80), the process is terminated. When the identified final parking position 130 is close to the past final parking position 130 (Y in S76), the processing unit 72 sets a midway stop position 136 (S84).

  According to this embodiment, if the final stop position is close to the previous final stop position, the stored intermediate stop position is informed of the image indicating the intermediate stop position as a candidate for the intermediate stop position. You can make it easier to choose. Also, if the final stop position is close to the previous final stop position, an image indicating the stored intermediate stop position as a candidate for the intermediate stop position is informed, so that the same intermediate stop position can be easily set. Moreover, since the stop instruction | indication in the stop position memorize | stored in the memory | storage part is output, operation by a passenger | crew can be made unnecessary.

  As mentioned above, although embodiment concerning this invention has been explained in full detail with reference to drawings, the function of the apparatus mentioned above and each processing part may be realized by a computer program. A computer that realizes the above-described functions by a program includes an input device such as a keyboard, mouse, and touch pad, an output device such as a display and a speaker, a CPU (Central Processing Unit), a ROM, a RAM, a hard disk device, and an SSD (Solid State Drive). Storage device such as a DVD-ROM (Digital Versatile Disk Read Only Memory), a reading device that reads information from a recording medium such as a USB memory, a network card that communicates via a network, etc., and each part is connected by a bus .

  The reading device reads the program from the recording medium on which the program is recorded, and stores the program in the storage device. Or a network card communicates with the server apparatus connected to the network, and memorize | stores the program for implement | achieving the function of said each apparatus downloaded from the server apparatus in a memory | storage device. Further, the function of each device is realized by the CPU copying the program stored in the storage device to the RAM and sequentially reading out and executing the instructions included in the program from the RAM. Moreover, you may include other road users as an obstruction. For example, a motorcycle (two-wheeled vehicle) and a bicycle (with a person on them) may be treated as other vehicles, and a person pushing a bicycle or riding a skateboard may be treated as a pedestrian.

  The outline of one embodiment of the present invention is as follows. An automatic parking control device according to an aspect of the present invention includes a specifying unit that specifies a parking route from a parking start position of a vehicle to a final parking position of the vehicle specified based on detection information that is a detection result of a situation outside the vehicle; An output unit that outputs an image showing the parking route specified by the specifying unit to the notification device, and a position on the parking route of the image displayed on the notification device at the position indicated in the operation signal designated by the occupant Controls automatic parking of the vehicle based on a processing unit that sets a stop position on the way, an instruction to move along the parking route specified by the specifying unit, and an instruction to stop at the stop position set in the processing unit A vehicle control unit.

  According to this aspect, the image indicating the parking route is displayed on the notification device, and the position on the parking route of the image is designated by the occupant, so that the stop position is set halfway. A decrease in convenience can be suppressed.

  You may further provide the memory | storage part which memorize | stores the last parking position specified and the halfway stop position set in the process part. When the distance between the newly specified final parking position and the final parking position stored in the storage unit is shorter than the threshold value, the output unit displays the intermediate stop position stored in the storage unit as a candidate for the intermediate stop position. The image may be output to the notification device. In this case, since the stored intermediate stop position is informed of an image showing the intermediate stop position as a candidate for the intermediate stop position, it is possible to make it easier for the passenger to select the intermediate stop position.

  You may further provide the memory | storage part which memorize | stores the last parking position specified and the halfway stop position set in the process part. When the distance between the newly specified final parking position and the final parking position stored in the storage unit is shorter than the threshold value, the vehicle control unit does not receive the operation signal and the intermediate stop position stored in the storage unit. The automatic parking of the vehicle may be controlled based on the stop instruction. In this case, since the stop instruction at the halfway stop position stored in the storage unit is output, the operation by the occupant can be made unnecessary.

  The processing unit may cancel the setting of the halfway stop position after setting the halfway stop position and receiving another operation signal indicating the cancellation of the setting of the halfway stop position instructed by the occupant. In this case, when the instruction from the occupant is received, the setting of the stop position on the way is canceled, so that parking suitable for the occupant's intention can be realized.

  When the processing unit receives another operation signal indicating movement to the final parking position instructed by the occupant after the vehicle has stopped at the midway stop position, the processing unit determines the movement to the final parking position, The control unit may control automatic parking of the vehicle based on an instruction to move to the final parking position determined by the processing unit. In this case, when an instruction from the occupant is received, the movement to the final parking position is instructed, so that parking suitable for the occupant's intention can be realized.

  Another aspect of the present invention is an automatic parking control method. In this method, a step of specifying a parking route from a parking start position of a vehicle to a final parking position of a vehicle specified based on detection information that is a detection result of a situation outside the vehicle, and the specified parking route are indicated. A step of outputting an image to the notification device, a step of setting a stop position on the way to the position indicated by the operation signal designated by the occupant on the parking route of the image displayed on the notification device, and the identified parking route And a step of controlling automatic parking of the vehicle on the basis of an instruction to move along the vehicle and an instruction to stop at the set halfway stop position.

  The present invention has been described based on the embodiments. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. By the way.

  In the first and second embodiments, the case where the driver's seat is arranged on the right side of the vehicle 100 is described. However, the present invention is not limited thereto, and for example, a driver's seat may be arranged on the left side of the vehicle 100. At that time, the descriptions on the right side and the left side are reversed. According to this modification, the application range can be expanded.

  ADVANTAGE OF THE INVENTION According to this invention, the fall of the passenger | crew's convenience in the case of parking a vehicle can be suppressed.

  2 Informing device, 2a Head-up display, 2b Center display, 4 Input device, 4a 1st operation part, 4b 2nd operation part, 4c 3rd operation part, 6 Speaker, 8 Wireless device, 10 Driving operation part, 11 Steering, 12 brake pedal, 13 accelerator pedal, 14 winker switch, 15 shift, 16 parking brake, 20 detection unit, 21 position information acquisition unit, 22 sensor, 30 automatic parking control device, 31 control unit, 32 storage unit, 33 I / O Unit, 34 vehicle control device, 40 parking support device, 41 control unit, 42 storage unit, 43 I / O unit, 50 operation signal input unit, 51 image / sound output unit, 52 detection information input unit, 53 information input / output unit , 56 Communication IF, 60 Deriving part, 70 Parts, 72 unit, 78 a vehicle control unit, 80 generating unit, 100 vehicle.

Claims (7)

A specifying unit that specifies a parking route from the parking start position of the vehicle to the final parking position of the vehicle specified based on detection information that is a detection result of a situation outside the vehicle;
An output unit that outputs an image showing the parking route specified in the specifying unit to the notification device;
A processing unit that sets a stop position on the way to the position indicated in the operation signal designated by the occupant on the parking route of the image displayed on the notification device;
A vehicle control unit that controls automatic parking of the vehicle based on an instruction to move along the parking route specified in the specifying unit and an instruction to stop at a midway stop position set in the processing unit;
An automatic parking control device comprising: A storage unit for storing the identified final parking position and the mid-stop position set in the processing unit;
When the distance between the newly specified final parking position and the final parking position stored in the storage unit is shorter than the threshold value, the output unit stores the intermediate stop position stored in the storage unit as an intermediate stop position candidate. The automatic parking control device according to claim 1, wherein the image shown as is output to the notification device. A storage unit for storing the identified final parking position and the mid-stop position set in the processing unit;
When the distance between the newly specified final parking position and the final parking position stored in the storage unit is shorter than a threshold value, the vehicle control unit does not receive an operation signal and stores it in the storage unit. The automatic parking control device according to claim 1, wherein automatic parking of the vehicle is controlled based on an instruction to stop at a stop position.   The processing unit cancels the setting of the halfway stop position when the intermediate stop position is set and then another operation signal instructed by the passenger to cancel the setting of the halfway stop position is received. 4. The automatic parking control device according to any one of items 1 to 3. When the processing unit receives another operation signal indicating movement to the final parking position instructed by the occupant after the vehicle has stopped at the middle stop position, the processing unit determines to move to the final parking position. ,
4. The automatic parking control device according to claim 1, wherein the vehicle control unit controls automatic parking of the vehicle based on an instruction to move to a final parking position determined by the processing unit. 5. Identifying a parking route from the parking start position of the vehicle to the final parking position of the vehicle identified based on detection information that is a detection result of a situation outside the vehicle;
Outputting an image showing the identified parking route to a notification device;
A position on the parking route of the image displayed on the notification device is set at a position indicated in the operation signal designated by the occupant;
A step of controlling automatic parking of the vehicle based on an instruction to move along the identified parking route and an instruction to stop at the set stop position;
An automatic parking control method comprising: Identifying a parking route from the parking start position of the vehicle to the final parking position of the vehicle identified based on detection information that is a detection result of a situation outside the vehicle;
Outputting an image showing the identified parking route to a notification device;
A position on the parking route of the image displayed on the notification device is set at a position indicated in the operation signal designated by the occupant;
The program for making a computer perform the step which controls the automatic parking of the said vehicle based on the instruction | indication of the movement along the specified parking path | route, and the instruction | indication of the stop in the set halfway stop position.

Images