JP2018200508A - Automatic parking system, method, and program - Google Patents

Abstract

To provide an automatic parking system capable of reducing a possibility of occurrence of contact with another vehicle after parking an own vehicle.SOLUTION: In an automatic parking system, a parking space detection section (12) detects a free space to be parked from parking spaces of a parking lot. A related information acquisition section (14) acquires related information related to a possibility of occurrence of contact with an own vehicle of other vehicles parking in parking spaces adjacent to free spaces when the parking space detection section (12) detects multiple free spaces. A parking space selection section (16) selects a candidate parking space where the own vehicle is to be parked from multiple free spaces on the basis of the related information acquired by the related information acquisition section (14).SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic parking system that automatically parks a vehicle by automatic driving in a parking lot.

  Conventionally, various automatic parking systems that automatically park a vehicle by automatic driving in a parking lot have been proposed (see, for example, Patent Document 1).

JP 2006-31412 A

  However, in the conventional automatic parking system, when the host vehicle is automatically parked, a parking space for parking the host vehicle is selected in order to reduce the possibility of occurrence of contact with another vehicle after the host vehicle is parked. Or determining the parking mode of the vehicle in the parking space.

  The present invention has been made in view of the above problems, and an object thereof is to provide an automatic parking system, method, and program capable of reducing the possibility of occurrence of contact with another vehicle after the host vehicle is parked. There is to do.

  The present invention employs the following technical means in order to solve the above problems. The symbol in parentheses described in the claims and in this section is an example showing the correspondence with the specific means described in the embodiment described later as one aspect, and limits the technical scope of the present invention. Not what you want.

  In the first embodiment of the present invention, when a plurality of empty spaces are detected by the parking space detecting unit (12) that detects an empty space that can be parked from the parking space of the parking lot, and the parking space detecting unit, A related information acquisition unit (14; 22) for acquiring related information related to the possibility of contact with the own vehicle for other vehicles parked in a parking space adjacent to each empty space, and the related information A parking space selection unit (16) that selects a planned parking space for parking the vehicle from a plurality of empty spaces based on related information acquired by an acquisition unit.

  In the second embodiment of the present invention, a parking space detecting step for detecting a free space that can be parked from a parking space of a parking lot, and when a plurality of free spaces are detected by the parking space detecting step, Regarding other vehicles parked in a parking space adjacent to the space, a related information acquisition step for acquiring related information related to the possibility of contact with the host vehicle, and related information acquired by the related information acquisition step And a parking space selection step of selecting a parking space for parking the host vehicle from a plurality of empty spaces.

  In the third embodiment of the present invention, when a plurality of free spaces are detected by a parking space detection function for detecting a free space that can be parked from a parking space of a parking lot, and the parking space detection function, For other vehicles parked in the parking space adjacent to each empty space, the related information acquisition function for acquiring related information related to the possibility of contact with the host vehicle and the related information acquisition function This is an automatic parking program for realizing a parking space selection function for selecting a planned parking space for parking the vehicle from a plurality of empty spaces based on the related information.

  In the present invention, it is possible to reduce the possibility of occurrence of contact with another vehicle after the host vehicle is parked.

The block diagram which shows the automatic parking system of 1st Embodiment of this invention. The flowchart which shows the automatic parking method of 1st Embodiment of this invention. The schematic diagram which shows the parking space selection step of 1st Embodiment of this invention. The schematic diagram which shows the parking position determination step of 1st Embodiment of this invention. The block diagram which shows the automatic parking system of 2nd Embodiment of this invention. The flowchart which shows the automatic parking method of 2nd Embodiment of this invention. The schematic diagram which shows the parking space selection step of 2nd Embodiment of this invention. The schematic diagram which shows the parking attitude | position determination step of 2nd Embodiment of this invention. The flowchart which shows the automatic parking method of 3rd Embodiment of this invention. The schematic diagram which shows the parking space reselection step of 3rd Embodiment of this invention. The flowchart which shows the automatic parking method of 4th Embodiment of this invention. The schematic diagram which shows the parking position redetermination step of 4th Embodiment of this invention.

A first embodiment of the present invention will be described with reference to FIGS.
In the present embodiment, it is premised on a situation in which manually operated vehicles and autonomously driven vehicles are mixed in a transitional period of the spread of autonomously driven vehicles. In a parking lot, manually parked vehicles and automatically parked vehicles are mixed. Situation.

  And about this embodiment, priority is given to the empty space adjacent to an automatic parking vehicle rather than the empty space adjacent to a manually parked vehicle, and the own vehicle is parked in the parking space, and the automatic parking vehicle rather than the manually parked vehicle. The host vehicle is parked at a position displaced to the side.

With reference to FIG. 1, the automatic parking system of this embodiment is demonstrated.
As shown in FIG. 1, the automatic parking system of the present embodiment includes a parking space detection unit 12, a parking type information acquisition unit 14, a parking space selection unit 16, a parking position determination unit 18, and a vehicle control unit 20. .

The parking space detection unit 12 has a function of detecting an available space that can be parked from the parking space of the parking lot.
When a plurality of empty spaces are detected by the parking space detection unit 12, the parking type information acquisition unit 14 communicates with other vehicles parked in the parking spaces adjacent to the respective empty spaces, thereby The vehicle has a function of acquiring parking type information indicating whether the vehicle is a manually parked vehicle or an automatically parked vehicle from another vehicle.

  Based on the parking type information acquired by the parking type information acquisition unit 14, the parking space selection unit 16 determines that the automatic parking vehicle is more than a free space adjacent to the parking space where the manually parked vehicle is parked. It has a function of selecting a planned parking space where the host vehicle is parked, giving priority to an empty space adjacent to the parked parking space. The parking space selection unit 16 has a function of selecting the nearest empty space as the parking scheduled space when there is no empty space adjacent to the parking space where the automatic parking vehicle is parked.

  The parking position determination unit 18 parks a manually parked vehicle in one of the parking spaces adjacent to the planned parking space selected by the parking space selection unit 16 and parks an automatically parked vehicle in the other parking space. In the case where the vehicle is parked, the vehicle has a function of determining, as the planned parking position, a position shifted from the neutral position in the left-right direction toward the parking space where the automatic parking vehicle is parked. In other cases, the parking position determination unit 18 has a function of determining a neutral position in the left-right direction as the planned parking position in the planned parking space.

  The vehicle control unit 20 has a function of controlling the host vehicle and parking the host vehicle at the planned parking position determined by the parking position determining unit 18 in the planned parking space selected by the parking space selecting unit 16. .

With reference to FIG. 2 thru | or FIG. 4, the automatic parking method of this embodiment is demonstrated.
As shown in FIG. 2, in the automatic parking method of the present embodiment, the following steps are executed.

Entrance Step In the entrance step, after the passenger gets off at the destination, the vehicle enters the parking lot by automatic driving and travels within the parking lot (S10).

Parking Space Detection Step In the parking space detection step, an empty space where the host vehicle can be parked is detected from the parking space of the parking lot (S11).

Parking type information acquisition step In the parking type information acquisition step, it is determined whether or not a plurality of empty spaces are detected in the parking space detection step (S12). When a plurality of vacant spaces are detected, it is determined whether there is another vehicle communicable with the host vehicle for other vehicles parked in the parking space adjacent to each vacant space (S13). When there is another vehicle that can communicate with the own vehicle, parking type information indicating whether the other vehicle is a manually parked vehicle or an automatically parked vehicle is acquired by communication with the other vehicle (S14). ).

Parking Space Selection Step It is determined whether or not there is an empty space where an automatic parking vehicle is parked in an adjacent parking space among a plurality of empty spaces (S15). As shown in FIG. 3, when there is an empty space where the automatic parking vehicle A is parked in the adjacent parking space, the manually parked vehicle M is parked in the adjacent parking space. Prior to the empty space, it is selected as a planned parking space T in which the host vehicle X is parked (S16).

On the other hand, when only one empty space is detected in the parking space detection step (S12), the nearest empty space is selected as a parking planned space (S17).
In addition, when a plurality of empty spaces are detected and there is no other vehicle that can communicate with the own vehicle for other vehicles parked in the parking space adjacent to each empty space (S13), the nearest empty space Is selected as a planned parking space (S17).

  Further, when a plurality of empty spaces are detected and there is no parking space where an automatic parking vehicle is parked in a parking space adjacent to each of the empty spaces (S15), the nearest empty space is selected as a parking planned space. (S17).

Parking position determination step When an empty space in which an automatic parking vehicle is parked in an adjacent parking space is selected as a parking planned space (S16), a manually parked vehicle is set in the other parking space adjacent to the parking planned space. It is determined whether or not is parked (S18). As shown in FIG. 4, when the automatic parking vehicle A is parked in one parking space adjacent to the planned parking space T and the manually parked vehicle M is parked in the other parking space, the planned parking space T The offset position that is shifted toward the parking space where the automatic parking vehicle A is parked from the neutral position in the left-right direction is determined as the planned parking position U where the host vehicle X is parked (S19). In other cases, the neutral position in the left-right direction is determined as the planned parking position in the planned parking space (S20).

Parking Step In the parking planned space selected in the parking space selecting step, the host vehicle is parked by automatic driving at the planned parking position determined in the parking position determining step (S21).

The automatic parking system and method of this embodiment have the following effects.
In this embodiment, when the own vehicle is automatically parked in the parking lot, an adjacent parking space is more than a free space where a manually parked vehicle is parked in an adjacent parking space among a plurality of free spaces that can be parked. The vehicle is parked in preference to the empty space where the automatic parking vehicle is parked. Here, with respect to the manually parked vehicle, the door is opened and closed when the occupant gets on the vehicle, so the own vehicle is parked in the parking space adjacent to the parked parking space of the other vehicle which is a manually parked vehicle. In this case, there is a possibility that contact between the door and the host vehicle occurs due to opening / closing of the door of the other vehicle. Further, when another vehicle leaves the parking space, the other vehicle is manually operated, so that there is a possibility that contact between the other vehicle and the host vehicle occurs. On the other hand, since the self-parking vehicle is unattended in the parking lot and the door is not opened and closed, the self-parking vehicle is parked in a parking space adjacent to the parking space where another vehicle that is an automatic parking vehicle is parked. In such a case, contact between the door and the host vehicle can be avoided by opening and closing the door of the other vehicle. Further, when another vehicle leaves the parking space, the other vehicle is controlled by automatic driving, so that the contact between the other vehicle and the host vehicle is avoided. As described above, in the present embodiment, the vehicle is parked with priority given to the empty space in which the automatically parked vehicle is parked in the adjacent parking space. The possibility of occurrence of contact is reduced.

Further, in the present embodiment, when an automatic parking vehicle is parked in one parking space adjacent to the planned parking space and a manually parked vehicle is parked in the other parking space, The host vehicle is parked at a deviated position deviated from the neutral position toward the parking space where the automatic parking vehicle is parked. For this reason, in the parking space, the own vehicle is arranged away from a manually parked vehicle that is likely to cause contact with the vehicle and close to an automatic parking vehicle that is less likely to cause contact with the vehicle. Will be. Therefore, in this embodiment, the possibility of occurrence of contact with another vehicle after the host vehicle is parked is reduced.

A second embodiment of the present invention will be described with reference to FIGS.
In the present embodiment, the parking lot is premised on a situation in which hinge door vehicles and slide door vehicles, both of which are manually parked, are mixed. In the present application, the sliding door vehicle includes a vehicle in which the front door is a hinge door and the rear door is a sliding door, and the vehicle is hereinafter referred to as a rear sliding door vehicle.

  And about this embodiment, priority is given to the empty space adjacent to a slide door vehicle over the empty space adjacent to a hinge door vehicle, and the own vehicle is parked in the parking space from the front side hinge door of a rear slide door vehicle. The host vehicle is parked in a separate inclined posture.

With reference to FIG. 5, the automatic parking system of this embodiment is demonstrated. The description of the same configuration as that of the first embodiment is omitted.
As shown in FIG. 5, in the automatic parking system of the present embodiment, a door type information acquisition unit 22 is used instead of the parking type information acquisition unit 14, and a parking posture determination unit replaces the parking position determination unit 18. 24 is used.

  When a plurality of vacant spaces are detected by the parking space detection unit 12, the door type information acquisition unit 22 communicates with other vehicles parked in the parking spaces adjacent to the vacant spaces. It has a function of acquiring door type information indicating whether the other vehicle is a hinge door vehicle or a slide door vehicle. The door type information includes information indicating whether the slide door vehicle is a rear slide door vehicle.

  Based on the door type information acquired by the door type information acquisition unit 22, the parking space selection unit 16 parks the slide door vehicle from a plurality of empty spaces, rather than an empty space adjacent to the parking space where the hinged door vehicle is parked. The function has a function of selecting a parking scheduled space where the host vehicle is parked, giving priority to an empty space adjacent to the parking space. The parking space selection unit 16 has a function of selecting the nearest empty space as a parking scheduled space when there is no empty space adjacent to the parking space where the sliding door vehicle is parked.

  When the sliding door vehicle parked in the parking space adjacent to the planned parking space is a rear sliding door vehicle, the parking posture determination unit 24 is separated from the front hinge door of the rear sliding door vehicle in the planned parking space. And it has the function which determines the inclination attitude | position inclined with respect to the front-back direction so that it may approach a rear side slide door as a parking plan attitude | position. In other cases, the parking posture determination unit 24 has a function of determining a neutral posture along the front-rear direction as the planned parking posture in the planned parking space.

With reference to FIG. 6 thru | or FIG. 8, the automatic parking method of this embodiment is demonstrated.
As shown in FIG. 6, in the automatic parking method of the present embodiment, the following steps are executed. Description of steps similar to those in the first embodiment will be omitted as appropriate.

Entrance step and parking space detection step The entrance step and parking space detection step are the same as in the first embodiment (S30 and S31).

Door type information acquisition step When a plurality of vacant spaces are detected in the parking space detection step, the other vehicle slides with the hinged door vehicle by communication with another vehicle parked in the parking space adjacent to each vacant space. Door type information indicating which vehicle is a door vehicle is acquired (S32, S33, and S34).

Parking Space Selection Step As shown in FIG. 7, when there is an empty space where the slide door vehicle S is parked in the adjacent parking space, the hinge door vehicle H is parked in the adjacent parking space. It is selected as a planned parking space T in which the host vehicle X is parked in preference to the empty space that has been set (S35 and S36).
In other cases, the nearest empty space is selected as the planned parking space (S32, S33, S35 and S37).

Parking posture determination step When an empty space in which a sliding door vehicle is parked in an adjacent parking space is selected as a parking planned space (S36), it is determined whether the sliding door vehicle is a rear sliding door vehicle ( S38). As shown in FIG. 8, when the slide door vehicle S is the rear slide door vehicle RS, within the planned parking space T, the slide door vehicle S is separated from the front hinge door of the rear slide door vehicle RS and approaches the rear slide door. Thus, the inclined posture inclined with respect to the front-rear direction is determined as the planned parking posture W for parking the host vehicle X (S39). In other cases, the neutral posture along the front-rear direction is determined as the planned parking posture in the planned parking space (S40).

Parking Step The host vehicle is parked by automatic driving in the planned parking space selected in the parking posture determination step in the parking planned space selected in the parking space selection step (S41).

The automatic parking system and method of this embodiment have the following effects.
In the present embodiment, when the vehicle is automatically parked in the parking lot, the parking space adjacent to the parking space is larger than the space where the hinged door vehicle is parked in the parking space adjacent to the parking space. Priority is given to the empty space where the sliding door vehicle is parked, and the own vehicle is parked. Here, with respect to the hinge door vehicle, since the door is opened and closed in the left-right direction when the passenger gets into the vehicle, the host vehicle is parked in the parking space adjacent to the parking space where the other vehicle which is the hinge door vehicle is parked. In this case, there is a possibility that contact between the door and the host vehicle occurs due to opening and closing of the door of the other vehicle. On the other hand, for a sliding door vehicle, the door is opened and closed in the front-rear direction when an occupant gets into the vehicle, so the vehicle is parked in a parking space adjacent to the parking space where another vehicle that is a sliding door vehicle is parked. In this case, contact between the door and the host vehicle is avoided by opening and closing the door of the other vehicle. As described above, in the present embodiment, since the own vehicle is parked in preference to the empty space in which the sliding door vehicle is parked in the adjacent parking space, the other vehicle after the own vehicle is parked. The possibility of occurrence of contact is reduced.

  Further, in the present embodiment, when the slide door vehicle parked in the parking space adjacent to the planned parking space is a rear slide door vehicle, it is separated from the front hinge door of the rear sliding door vehicle in the planned parking space. Then, the host vehicle is parked in an inclined posture inclined with respect to the front-rear direction so as to approach the rear-side sliding door. Therefore, in the parking space, move away from the front hinge door, which is likely to cause contact with the vehicle by opening and closing the door, and approach the rear side sliding door, which is less likely to cause contact with the vehicle, and A vehicle will be arranged. Therefore, in this embodiment, the possibility of occurrence of contact with another vehicle after the host vehicle is parked is reduced.

  In the present embodiment, communication with another vehicle is used to acquire the door type information. However, the door type information is acquired by capturing an image of the other vehicle with an in-vehicle camera and analyzing the captured image. You may do it.

  In each of the embodiments described above, vehicle information indicating the characteristics of the vehicle is used as related information related to the possibility of contact with the host vehicle, and parking type information or door type information is used as the vehicle information. Various other information can be used as the related information.

  For example, manual parking without a parking support function, manual parking with a parking support function, and automatic parking may be used as the parking type of the parking type information. Here, it can be said that a manually parked vehicle with parking assistance is less likely to generate contact with the host vehicle when leaving the parking space than a manually parked vehicle without parking assistance function. For this reason, when such parking type information is used, a manually parked vehicle with parking assistance is located in an adjacent parking space rather than an empty space where a manually parked vehicle without a parking assistance function is parked in the adjacent parking space. Give priority to empty spaces that have been parked, and give priority to empty spaces where automatic parking vehicles are parked in adjacent parking spaces rather than empty spaces where manual parking vehicles with parking assistance are parked in adjacent parking spaces. It will be selected as a parking space.

  Value information indicating the value of the vehicle may be used as the vehicle information. As value information, based on sales price, luxury cars are more valuable than popular cars, based on years of use, new cars are more valuable than used cars, repair history is used as a standard, It is possible that a vehicle with fewer repairs is more valuable. Here, it is assumed that an occupant of a high-value vehicle carefully opens / closes and operates the door so as not to cause contact with the vehicle for his / her own vehicle. For this reason, when using such value information, priority is given to the empty space where the vehicle with high value is parked in the adjacent parking space, and it selects as a parking plan space.

  As the related information, occupant information indicating the characteristics of the occupant of the vehicle may be used, and as the occupant information, risk information indicating the degree of risk that the occupant may come into contact with the vehicle may be used. As the risk information, if the occupant includes a young child, the door is inadvertently opened and closed, and there is a high possibility of causing contact with the vehicle. If the driver has a large number of contact occurrences, it is possible that the risk is high and the risk is high. When such risk information is used, an empty space in which a vehicle on which a low-risk occupant gets in the adjacent parking space is preferentially selected as a parking planned space.

  A plurality of pieces of related information may be used as a criterion for determining the priority for selecting an empty space. For example, when an empty space is selected based on the parking type information and there are a plurality of selected empty spaces, an empty space is selected based on the door type information, and there are a plurality of selected empty spaces. Alternatively, an empty space may be selected based on the value information.

A third embodiment of the present invention will be described with reference to FIGS.
About this embodiment, after automatic parking of the own vehicle, corresponding to the change of the situation of an empty space, the parking plan space is reselected and the own vehicle is reparked.

The automatic parking system of this embodiment has the same configuration as the automatic parking system of the first embodiment shown in FIG.
However, in the automatic parking system of the present embodiment, the parking space selection unit 16 detects the parking space around the parking space where the host vehicle is parked by the parking space detection unit 12 even after the host vehicle is parked. It has a function to monitor the status of free space. And the parking space selection part 16 has a function which re-selects a parking plan space from the parking space where the own vehicle is parked, and the surrounding empty space, when the condition of an empty space changes. The range of the parking space to be monitored can be set as appropriate so as to avoid frequent reselection. For example, as the range of the parking space to be monitored, a range that can be recognized by the in-vehicle camera of the host vehicle It may be set.
The parking position determination unit 18 has a function of redetermining the planned parking position when the parking space selection unit 16 reselects the parking planned space.

With reference to FIG.9 and FIG.10, the automatic parking method of this embodiment is demonstrated.
As shown in FIG. 9, in the automatic parking method of the present embodiment, the following steps are executed.
Parking Step The vehicle is automatically parked in the same manner as in the first embodiment (S50).

Monitoring Step In the monitoring step, after parking the host vehicle, monitoring of the empty space status is continued for the parking spaces around the parking space where the host vehicle is parked (S51).

Reselection step In the reselection step, it is determined whether or not the status of the empty space has changed for the parking spaces around the parking space where the host vehicle is parked (S52). When the situation of the vacant space changes, the planned parking space is reselected from the parking space where the host vehicle is parked and the surrounding vacant spaces (S53). For example, as shown in FIG. 10, the manually parked vehicle M is parked in both parking spaces adjacent to the parking space where the host vehicle X is parked, and the manually parked vehicle M leaves from one parking space. When the parking space adjacent to the parking space where the automatic parking vehicle A is parked becomes an empty space, the empty space is selected again as the parking scheduled space T. If the status of the empty space does not change (S52), the monitoring of the status of the empty space is continued (S51).

Re-parking step In the re-parking step, it is determined whether or not the re-selected parking space is different from the parking space where the host vehicle is parked (S54). If the re-selected parking space is different from the parking space where the host vehicle is parked, the parking position is determined again (S55). Subsequently, the vehicle is re-parked by automatic driving at the re-determined parking position in the re-selected parking space (S56).

The automatic parking system and method of this embodiment have the following effects.
In this embodiment, even after parking the host vehicle, for the parking spaces around the parking space where the host vehicle is parked, the status of the empty space continues to be monitored. If you re-select the planned parking space from the parking space where your vehicle is parked and the free space around it, and if the re-selected parking space is different from the parking space where your vehicle is parked, I try to repark the vehicle. For this reason, even after parking the host vehicle, it is possible to reduce the possibility of occurrence of contact with other vehicles in response to a change in the situation of empty spaces around the parking space where the host vehicle is parked. It is possible.

A fourth embodiment of the present invention will be described with reference to FIGS. 11 and 12.
About this embodiment, after automatic parking of the own vehicle, corresponding to the change of parking classification information, the parking planned position is determined again, and the own vehicle is reparked.

The automatic parking system of this embodiment has the same configuration as the automatic parking system of the first embodiment shown in FIG.
However, in the automatic parking system of the present embodiment, the parking position determination unit 18 is acquired by the parking type information acquisition unit 14 for the parking space adjacent to the parking space where the host vehicle is parked even after the host vehicle is parked. It has a function to monitor parking type information. And the parking position determination part 18 has a function which performs redetermination of a parking plan position in the parking space where the own vehicle is parked, when parking classification information changes.

With reference to FIG.11 and FIG.12, the automatic parking method of this embodiment is demonstrated.
As shown in FIG. 11, in the automatic parking method of the present embodiment, the following steps are executed.
Parking Step The vehicle is automatically parked in the same manner as in the first embodiment (S60).

Monitoring Step In the monitoring step, monitoring of the parking type information is continued for the parking space adjacent to the parking space where the host vehicle is parked after the host vehicle is parked (S61).

Redetermination step In the redetermination step, it is determined whether or not the parking type information has changed for the parking space adjacent to the parking space where the host vehicle is parked (S62). If the parking type information has changed, the planned parking position is determined again in the parking space where the host vehicle is parked (S63). For example, as shown in FIG. 12, the automatic parking vehicle A is parked in one parking space adjacent to the parking space where the host vehicle X is parked, and the other parking space is an empty space. When a manually parked vehicle M enters the vacant space, the parking space in which the host vehicle X is parked deviates from the neutral position in the left-right direction toward the parking space where the automatic parked vehicle A is parked. The determined deviation position is determined again as the planned parking position U. When the parking type information does not change (S62), the monitoring of the parking type information is continued (S61).

Re-parking step In the re-parking step, it is determined whether the re-determined parking position is different from the parking position of the host vehicle (S64). When the re-determined parking position is different from the parking position of the own vehicle, the self-vehicle is re-parked by automatic driving at the re-determined parking position in the parking space where the own vehicle is parked ( S65).

The automatic parking system and method of this embodiment have the following effects.
In the present embodiment, after parking the host vehicle, the parking type information is continuously monitored for the parking space adjacent to the parking space where the host vehicle is parked. The planned parking position is re-determined in the parking space where the vehicle is parked. If the re-determined parking position is different from the parking position of the own vehicle, the own vehicle is re-parked. For this reason, even after parking the host vehicle, the possibility of occurrence of contact with the other vehicle in response to a change in the parking type of the other vehicle with respect to the parking space adjacent to the parking space where the host vehicle is parked. It is possible to reduce.

  In the present embodiment, after automatic parking of the vehicle by the automatic parking method of the first embodiment, the automatic parking system of the same embodiment is used to re-select the parking planned space and redetermine the parking planned position. However, after automatic parking of the host vehicle by the automatic parking method of the second embodiment, the automatic parking system of the same embodiment may be used to reselect the planned parking space and redetermine the planned parking posture. .

  In the above-described embodiments and modifications thereof, the automatic parking system and method have been described. However, a program for causing a computer to implement various functions of the automatic parking system according to each embodiment and the modification, and the computer according to each embodiment. A program for executing various procedures of the automatic parking method and its modifications is also included in the scope of the present invention.

  DESCRIPTION OF SYMBOLS 12 ... Parking space detection part, 14 ... Parking classification information acquisition part, 16 ... Parking space selection part, 22 ... Door classification information acquisition part

Claims (14)

A parking space detector (12) for detecting an available space from the parking space of the parking lot;
When a plurality of vacant spaces are detected by the parking space detection unit, the other vehicle parked in the parking space adjacent to each vacant space is related to the possibility of contact with the host vehicle. A related information acquisition unit (14; 22) for acquiring information;
Based on the related information acquired by the related information acquisition unit, a parking space selection unit (16) for selecting a parking planned space for parking the vehicle from a plurality of empty spaces;
An automatic parking system comprising: A parking mode determination unit that determines a parking plan mode of the host vehicle in the parking plan space based on related information of other vehicles parked in the parking space adjacent to the parking plan space selected by the parking space selection unit ( 18; 24),
The automatic parking system according to claim 1. In the parking space around the parking space where the host vehicle is parked after the host vehicle is parked, the parking space selection unit is a parking space where the host vehicle is parked. And re-select the parking space for parking the vehicle from the free space around the parking space,
The automatic parking system according to claim 1. In the parking space adjacent to the parking space in which the host vehicle is parked after the parking of the host vehicle, the parking mode determination unit determines that the parking space in which the host vehicle is parked is changed. Re-determine the parking plan of the vehicle within
The automatic parking system according to claim 2. The related information acquisition unit includes a vehicle information acquisition unit (14; 22) that acquires vehicle information indicating the characteristics of the vehicle as the related information.
The automatic parking system according to claim 1. The related information acquisition unit includes an occupant information acquisition unit indicating characteristics of an occupant who rides a vehicle as the related information.
The automatic parking system according to claim 1. The vehicle information acquisition unit includes a parking type information acquisition unit (14) that acquires parking type information indicating whether the vehicle information is a manually parked vehicle or an automatic parked vehicle,
The parking space selection unit preferentially selects an empty space adjacent to a parking space where an automatic parking vehicle is parked over an empty space adjacent to a parking space where a manually parked vehicle is parked,
The automatic parking system according to claim 5. The vehicle information acquisition unit has a door type information acquisition unit (22) for acquiring door type information indicating which vehicle is a hinge door vehicle or a slide door vehicle as the vehicle information,
The parking space selection unit preferentially selects an empty space adjacent to the parking space where the sliding door vehicle is parked, rather than an empty space adjacent to the parking space where the hinge door vehicle is parked,
The automatic parking system according to claim 5. The vehicle information acquisition unit includes a value information acquisition unit that acquires value information indicating a value of a vehicle as the vehicle information,
The parking space selection unit preferentially selects an empty space adjacent to a parking space where a high-value vehicle is parked over an empty space adjacent to a parking space where a low-value vehicle is parked,
The automatic parking system according to claim 5. The occupant information acquisition unit has a risk level information acquisition unit that acquires risk level information indicating a level of risk that the occupant causes a vehicle contact as the occupant information,
The parking space selection unit is an empty space adjacent to a parking space where a vehicle on which a low-risk occupant rides is parked, rather than an empty space adjacent to a parking space where a vehicle on which a high-risk occupant rides is parked. To give priority to selection,
The automatic parking system according to claim 6. The related information acquisition unit includes a vehicle information acquisition unit that acquires vehicle information indicating characteristics of a vehicle as the related information,
The vehicle information acquisition unit includes a parking type information acquisition unit that acquires parking type information indicating whether the vehicle information is a manually parked vehicle or an automatically parked vehicle,
The parking space selection unit preferentially selects an empty space adjacent to a parking space where an automatic parking vehicle is parked, rather than an empty space adjacent to a parking space where a manually parked vehicle is parked,
The parking mode determination unit is configured to park when an automatic parking vehicle is parked in one parking space and a manually parked vehicle is parked in the other parking space among both parking spaces adjacent to the parking planned space. In the space, there is a parking position determination unit (18) that determines a shifted position shifted to the parking space side where the automatic parking vehicle is parked from the neutral position in the left-right direction as a planned parking position.
The automatic parking system according to claim 2. The related information acquisition unit includes a vehicle information acquisition unit that acquires vehicle information indicating characteristics of a vehicle as the related information,
The vehicle information acquisition unit includes a door type information acquisition unit that acquires door type information indicating which vehicle is a hinge door vehicle or a slide door vehicle as the vehicle information,
The door type information includes information indicating whether the sliding door vehicle is a rear sliding door vehicle,
The parking space selection unit preferentially selects an empty space adjacent to the parking space where the sliding door vehicle is parked, rather than an empty space adjacent to the parking space where the hinge door vehicle is parked,
When the sliding door vehicle parked in the parking space adjacent to the planned parking space is a rear sliding door vehicle, the parking mode determining unit is separated from the front hinge door of the rear sliding door vehicle in the planned parking space. And a parking posture determining unit (24) for determining a tilted posture inclined with respect to the front-rear direction so as to approach the rear side sliding door as a planned parking posture,
The automatic parking system according to claim 2. A parking space detection step for detecting an available space from the parking space of the parking lot;
When a plurality of vacant spaces are detected in the parking space detection step, related to the possibility of contact with the own vehicle for other vehicles parked in the parking space adjacent to each vacant space A related information acquisition step for acquiring information;
Based on the related information acquired by the related information acquisition step, a parking space selection step for selecting a parking planned space for parking the vehicle from a plurality of empty spaces;
An automatic parking method comprising: On the computer,
A parking space detection function for detecting an available space from the parking space of the parking lot;
When a plurality of vacant spaces are detected by the parking space detection function, the other vehicle parked in the parking space adjacent to each vacant space is related to the possibility of contact with the host vehicle. Related information acquisition function to acquire information,
Based on the related information acquired by the related information acquisition function, a parking space selection function for selecting a planned parking space for parking the vehicle from a plurality of empty spaces;
Automatic parking program to realize.

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