JP2019085077A - Parking support device - Google Patents

Abstract

To provide a parking support device that inhibits contamination of a floor surface of a parking lot by enabling a parking path generation part to generate a parking path while avoiding an area where a contamination influence degree of the parking lot is high.SOLUTION: A parking support device 1 comprises a floor surface contamination influence degree calculation part 30 that calculates a contamination influence degree of a floor surface within a parking lot, from a taken image obtained by imaging the periphery of a vehicle. The parking support device 1 comprises a parking path generation part 23 that generates a parking path for parking the vehicle in the parking lot, on the basis of the result of calculation by the floor surface contamination influence degree calculation part 30.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a parking assist system for a vehicle.

  Conventionally, it is known that the parking assistance device calculates an optimal route from the current position of the vehicle to a target parking position, and moves the vehicle to the target parking position according to the calculated optimal route (for example, Patent Document 1) reference).

Unexamined-Japanese-Patent No. 2017-052470

  However, when parking a vehicle in a specific garage or the like, for example, the parking assistance device described in Patent Document 1 moves the vehicle along the same route every time, which causes a problem in that the floor surface of the parking lot is contaminated. is there.

  Then, an object of this invention is to provide the parking assistance apparatus which suppresses the contamination of the floor surface of a parking lot.

  In order to achieve the above object, a parking assistance apparatus according to the present invention calculates a floor contamination influence degree calculation unit that calculates a contamination influence degree of a floor surface in a parking lot from a captured image obtained by imaging the periphery of a vehicle; And a parking route generation unit configured to generate a parking route for parking the vehicle in the parking lot based on the calculation result of the influence degree calculation unit.

  In the parking assistance device of the present invention configured as described above, the parking path generation unit generates a parking path by avoiding an area having a high degree of soiling influence of the parking lot, thereby suppressing the floor surface of the parking lot from being soiled. be able to.

FIG. 1 is a block diagram showing a system configuration of a parking assistance device of a first embodiment. FIG. 2 is a block diagram showing the configuration of an automatic driving control unit of the first embodiment. FIG. 6 is a block diagram showing a configuration of a floor surface contamination degree calculation unit of Example 1; FIG. 6 is a flowchart illustrating main control processing of parking assistance of the first embodiment; FIG. 5 is a flowchart illustrating parking path calculation processing according to the first embodiment. FIG. 7 is a flow chart for explaining a contamination impact degree calculation process of the first embodiment; FIG. FIG. 7 is an explanatory view for explaining a floor color judgment of the first embodiment. FIG. 7 is an explanatory view for explaining a floor color judgment of the first embodiment. FIG. 7 is an explanatory view for explaining the floor surface material determination of the first embodiment. FIG. 6 is an explanatory view for explaining a parking path for suppressing contamination in the first embodiment. FIG. 6 is an explanatory view for explaining a parking path with variation according to the first embodiment. FIG. 7 is an explanatory view for explaining a torque control amount calculation process of the first embodiment. FIG. 7 is an explanatory view for explaining a torque control amount calculation process of the first embodiment. 5 is a flowchart illustrating torque control amount calculation processing according to the first embodiment.

  Hereinafter, an embodiment which realizes a parking assistance device by this indication is described based on Example 1 shown in a drawing.

First, the configuration will be described.
A parking assistance apparatus according to the first embodiment is mounted on a vehicle equipped with a general black rubber tire, and is applied to a vehicle that performs parking assistance for moving the vehicle from the current position of the vehicle to the target parking position.

[System Configuration of Parking Assist Device]
FIG. 1 is a block diagram showing the system configuration of the parking assistance device of the first embodiment. Hereinafter, based on FIG. 1, the system configuration of the parking assistance apparatus of the first embodiment will be described.

  As shown in FIG. 1, the parking assistance device 1 includes a user input device 11, an illuminance sensor 12, image sensors 13a, 13b, 13c, 13d, a position information acquisition device 14, an ultrasonic sonar 15, and a radar 16. , A storage unit 17, an automatic driving control unit 20, a display unit 41, and a vehicle behavior control unit 42.

  The user input device 11 is a device such as a touch panel, for example, and receives an instruction from a user. The user can input a target parking position, an area to be excluded from the parking route, and the like to the user input device 11.

  The illuminance sensor 12 detects the brightness around the host vehicle.

  The image sensors 13a, 13b, 13c and 13d are provided on the front, rear, left and right of the vehicle. The image sensor 13a is mounted on the front grille of the vehicle toward the front of the vehicle. The image sensor 13b is mounted on the rear garnish of the vehicle toward the rear of the vehicle. The image sensor 13c is mounted on the left door mirror of the vehicle toward the left side of the vehicle. The image sensor 13d is mounted on the right door mirror of the vehicle toward the right side of the vehicle.

  With the four image sensors 13a, 13b, 13c, 13d, an area including the road surface around the vehicle can be observed without leakage. The image sensors 13a, 13b, 13c and 13d are connected to a known timer, which measures the exposure time of the image sensors 13a, 13b, 13c and 13d and gives it to the automatic operation control unit 20.

  The position information acquisition device 14 acquires current position information of the vehicle by, for example, GPS (Global Positioning System).

  The ultrasonic sonar 15 detects the distance to other vehicles, pedestrians, obstacles such as buildings existing around the vehicle.

  The radar 16 detects the distance to other vehicles, pedestrians, obstacles such as buildings existing around the vehicle. Since the radar 16 is excellent in distance measurement performance far from the ultrasonic sonar 15, the sensors used based on the distance range around the vehicle required when performing automatic parking (the radar 16, ultrasonic sonar 15 ) May be selected as appropriate.

  The storage unit 17 stores satellite photograph data 17a, map data 17b, a travel history storage unit 17c, user information 17d, and the like.

  The display unit 41 is an on-vehicle monitor, and presents information to passengers according to an instruction of the automatic driving control unit 20.

  The vehicle behavior control unit 42 is, for example, a control unit that controls a brake device, a motor, an engine, a steering, or the like to perform driving support control regarding the vehicle behavior. The vehicle behavior control unit 42 implements automatic driving by controlling the behavior of the vehicle.

  The input information of the user input device 11, the detection information of the illuminance sensor 12, the detection information of the image sensors 13a, 13b, 13c, 13d, the acquisition information (position information) of the position information acquisition device 14, and the ultrasonic sonar 15 The detection information, the detection information of the radar 16, and the storage information of the storage unit 17 are input to the automatic driving control unit 20. The automatic driving control unit 20 executes main control processing to be described later, outputs the result of the processing to the display unit 41 and the vehicle behavior control unit 42, and is used for driving assistance. For example, when the vehicle is parked in a parking lot, driving of the vehicle is supported.

[Configuration of automatic operation control unit]
FIG. 2 is a block diagram showing the configuration of the automatic driving control unit of the first embodiment. Hereinafter, based on FIG. 2, the structure of the automatic driving | operation control part of Example 1 is demonstrated.

  The automatic driving control unit 20 includes a target position calculation unit 21, a travelable area determination unit 22, a floor surface contamination degree calculation unit 30, a parking path generation unit 23, and a vehicle control amount calculation unit 24.

  The target position calculation unit 21 calculates the instructed target parking position based on the input information input to the user input device 11 or the user information recorded in advance in the storage unit 17 by the user.

  The travelable area determination unit 22 travels by avoiding obstacles such as other vehicles, pedestrians, buildings, etc. existing around the host vehicle based on detection information of the ultrasonic sonar 15, detection information of the radar 16, etc. Determine possible areas.

  The floor surface contamination impact degree calculation unit 30 executes floor surface contamination impact degree calculation processing described later. In the floor surface contamination impact degree calculation process, the floor surface contamination impact degree in the parking lot is calculated from the captured image of the surroundings of the vehicle detected by the image sensors 13a, 13b, 13c, and 13d.

  The parking route generation unit 23 executes a parking route calculation process described later. In this parking path calculation process, a parking path is calculated (generated) based on the calculation result of the floor surface contamination degree calculation unit 30.

  The vehicle control amount calculation unit 24 executes torque control amount calculation processing, which will be described later, based on the calculation result of the parking path generation unit, and calculates the torque of the wheels of the vehicle. The vehicle control amount calculation unit 24 calculates control information controlled by the vehicle behavior control unit 42 based on the processing result of the parking path calculation processing and the processing result of the torque control amount calculation processing, and this control information is calculated. It outputs to the vehicle behavior control unit 42. In addition, the vehicle control amount calculation unit 24 calculates the display information displayed by the display unit 41 based on the processing result of the parking path calculation processing and the processing result of the torque control amount calculation processing, and this display information is calculated. Output to the display unit 41. Further, the vehicle control amount calculation unit 24 acquires information from the vehicle behavior control unit 42 and outputs display information displayed by the display unit 41 to the display unit 41.

[Structure of floor contamination influence degree calculation unit]
FIG. 3 is a block diagram showing the configuration of the floor surface contamination degree calculation unit of the first embodiment. Hereinafter, based on FIG. 3, the structure of the floor surface contamination influence degree calculation part of Example 1 is demonstrated.

  The floor surface contamination degree calculation unit 30 includes a floor surface color determination unit 31, a floor surface material determination unit 32, a user-specified position determination unit 33, a past travel data comparison unit 34, and a floor surface contamination degree determination unit 35. And.

  The floor color determination unit 31 determines the density of the color of the floor around the host vehicle. If the floor color is light (bright), the stains on the floor surface due to tire marks are noticeable. On the other hand, when the color of the floor surface is dark (dark), the stain of the floor surface due to tire marks is less noticeable. For example, when the floor surface is dark, such as black, such as asphalt, staining of the floor surface due to tire marks is less noticeable. In the case of a light color like concrete or tile, the stains on the floor due to tire marks are noticeable. The floor color judgment by the floor color judgment unit 31 will be described later.

  The floor surface material determination unit 32 determines whether the floor surface has a small coefficient of friction. When the coefficient of friction of the floor is small, it is difficult to leave a tire mark on the floor. On the other hand, when the coefficient of friction of the floor surface is large, tire marks are easily attached to the floor surface. For example, in the case where the material of the floor surface is a smooth surface, even if the color of the floor surface is pale, stains on the floor surface due to tire marks are less noticeable. The floor surface material determination by the floor surface material determination unit 32 will be described later.

  The user designated position determination unit 33 determines an area where the floor surface is easily soiled by tire marks, based on input information input to the user input device 11 or user information recorded in advance in the storage unit 17 by the user. As user information, an area etc. which are excluded from a parking path can be considered.

  The past travel data comparison unit 34 generates a parking path on the basis of the storage data of the travel history storage unit 17 c which the user has driven and stored in the storage unit 17. Generally, the user moves the vehicle to the target parking position by avoiding the area where the floor surface is easily stained due to the tire marks.

  The floor surface contamination degree determination unit 35 compares the determination information of the floor color determination unit 31, the determination information of the floor material determination unit 32, the determination information of the user-specified position determination unit 33, and the past travel data comparison unit 34 Based on the information, the area affected by the stain due to tire marks on the floor is determined.

Next, the operation will be described.
Main control processing
FIG. 4 is a flowchart for explaining the main control process of the parking assistance of the first embodiment. The main control processing of the parking assistance of the first embodiment will be described below based on FIG.

  In step S1, the target position calculation unit 21 of the automatic driving control unit 20 calculates (designates) a target parking position.

  In step S2, the travelable area determination unit 22 of the automatic driving control unit 20 recognizes an obstacle and determines a travelable area.

  In step S3, the automatic driving control unit 20 executes a parking path calculation process described later. In this parking path calculation process, a parking path is calculated based on the condition of the floor surface.

  In step S4, the vehicle control amount calculating unit 24 of the automatic driving control unit 20 outputs the calculated control information for the vehicle behavior control unit 42 to the vehicle behavior control unit 42. Thus, the vehicle is moved to the target parking position by automatic driving. Further, the vehicle control amount calculation unit 24 executes a torque control amount calculation process described later.

  In step S5, based on the information acquired from the vehicle control amount calculation unit 24, the automatic driving control unit 20 outputs the information on which the automatic driving is completed to the display unit 41. As a result, the display unit 41 displays that automatic operation has been completed. After the above steps, the main control process is ended.

[Parking route calculation processing]
FIG. 5 is a flowchart illustrating the parking path calculation process of the first embodiment. Hereinafter, based on FIG. 5, the parking path calculation process of the first embodiment will be described.

  When the parking path calculation process of step S3 of the main control flow is started, first, the floor surface pollution influence degree calculation unit 30 executes a pollution influence degree calculation process (step S11). In this contamination influence degree calculation process, the contamination influence degree of the floor surface around the host vehicle is calculated by the floor color judgment by the floor color judgment unit 31 and the floor material judgment by the floor material judgment unit 32. The contamination influence degree calculation process will be described later.

  Next, the parking path generation unit 23 determines whether there is a floor surface having a high degree of contamination influence around the host vehicle (step S12). If it is determined that there is a floor surface having a high degree of contamination influence around the host vehicle (YES in step S12), the process proceeds to step S14. On the other hand, when it is determined that the floor surface having a high degree of contamination influence does not exist around the own vehicle (NO in step S12), the parking path generation unit 23 calculates (generates) the shortest parking path (step S13), The parking path calculation process is ended.

  In step S14, the parking path generation unit 23 determines whether or not a parking path that can suppress contamination on the floor surface having a high degree of contamination influence can be generated. When it is determined that a parking path capable of suppressing fouling on the floor surface having a high degree of fouling impact can be generated (YES in step S14), the parking path generation unit 23 suppresses the fouling on the floor surface around the vehicle. Are generated (step S15), and the parking path calculation process is ended. In addition, about the parking path which suppresses pollution, it mentions later.

  On the other hand, when it is determined that the parking path which can suppress the contamination to the floor surface having a high degree of contamination influence can not be generated (NO in step S14), the parking path generation unit 23 generates the parking path with variation S16), the parking route calculation process is ended. The non-uniform parking path is a path that disperses the influence of soiling on the floor, and is a path that calculates a plurality of different parking paths and avoids passing the same parking path each time. In addition, about the parking path which gave variation, it mentions later.

[Fouling impact calculation processing]
FIG. 6 is a flowchart for explaining the contamination impact degree calculation process of the first embodiment. Hereinafter, the contamination influence degree calculation process of the first embodiment will be described based on FIG.

  When the stain impact degree calculation process in step S11 of the parking path calculation process is started, the floor color determination unit 31 determines the floor color around the host vehicle (step S21). The floor color judgment by the floor color judgment unit 31 will be described later.

  Next, the floor color determination unit 31 determines whether a light color area exists around the host vehicle (step S22). If it is determined that a pale area exists around the host vehicle (YES in step S22), the process proceeds to step S24.

  On the other hand, when it is determined that there is no light colored area around the own vehicle (NO in step S22), the floor surface around the own vehicle is determined to be a floor surface with a low degree of contamination influence (step S23). End the degree calculation process.

  In step S24, the floor surface material determination unit 32 determines the material of the floor surface around the host vehicle, and the process proceeds to step S25. The floor surface material determination by the floor surface material determination unit 32 will be described later.

  In step S25, the floor surface material determination unit 32 determines whether there is a floor surface having a small coefficient of friction around the host vehicle. If it is determined that a floor with a small coefficient of friction exists around the host vehicle (YES in step S25), the floor around the host vehicle is determined to be a floor with a low degree of contamination impact (step S26), and the contamination impact degree The calculation process ends.

  On the other hand, when it is determined that a floor with a small coefficient of friction does not exist around the vehicle (NO in step S25), the floor around the vehicle is determined to be a floor with a high degree of contamination impact (step S27), The contamination impact degree calculation process ends.

  In the contamination influence degree calculation process, the contamination influence degree of the floor surface around the own vehicle is further determined using the determination information of the user-specified position determination unit 33 and the comparison information of the past travel data comparison unit 34. It is good.

[Floor color judgment]
FIG. 7 is an explanatory view for explaining the floor color judgment of the first embodiment. FIG. 8 is an explanatory view for explaining the floor color judgment of the first embodiment. Hereinafter, the floor surface color determination of the first embodiment will be described based on FIGS. 7 and 8.

  The floor color determination by the floor color determination unit 31 is performed based on the reflectance of the floor surface. The reflectance of the floor surface is calculated from the luminance value on the image, the exposure time, and the illuminance.

  First, as shown in FIG. 7, the floor color determination unit 31 acquires an image P1 from the image sensors 13a, 13b, 13c, and 13d. Next, as shown in FIG. 8, the floor color determination unit 31 converts the viewpoint of the image P1 into a bird's-eye view image P2 equivalent to a plan view, and makes it easy to grasp the positional relationship between the vehicle and its surroundings. Note that viewpoint conversion to the overhead image P2 is performed by a known general technique.

Next, the floor color determination unit 31 calculates the luminance value for the entire area of the overhead image P2. The luminance value is calculated based on the pixel value (0 to 255) of the overhead image P2 and the exposure time. For example, when pixel values Ri, Gi, Bi in RGB space are output, and the exposure time at the time of imaging is T_exp, the luminance l is expressed by the following formula.
Ri, Gi, Bi indicate output values in the RGB space.
T_exp indicates an exposure time at the time of imaging by the image sensors 13a, 13b, 13c, 13d.
K is a constant representing an attenuation factor due to hardware characteristics, and is calculated by the characteristics of the light sensor and lens used.
The numbers multiplied by the pixel values Ri, Gi, Bi (0.3, 0.5, 0.2 in the first embodiment) are values according to the sensitivity of human eyes.
Thereby, the luminance value can be calculated regardless of the sunshine condition.

Further, the luminance l can be expressed by the following formula.
E indicates the illuminance.
ρ indicates the reflectance.

From Equation 1 and Equation 2, the reflectance ρ can be expressed by the following equation.

This reflectance ρ is compared with a predetermined threshold T to determine whether the floor surface is easily soiled as shown in the following table.

If the reflectance ρ is larger than the threshold T, it is determined that the floor surface is easily soiled.
If the reflectance ρ is smaller than the threshold T, it is determined that the floor surface is not easily soiled.
That is, the floor color determination unit 31 determines whether or not a pale area exists on the floor surface around the host vehicle.

[Floor material determination]
FIG. 9 is an explanatory view for explaining the floor surface material determination of the first embodiment. Hereinafter, based on FIG. 9, the floor surface material determination of Example 1 is demonstrated.

  The floor surface material determination by the floor surface material determination unit 32 is performed based on specular reflection on the image P3 acquired from the image sensors 13a, 13b, 13c, and 13d, as shown in FIG.

  For example, the floor surface F having a small coefficient of friction due to waterproofing or the like has a small surface asperity on the surface of the floor surface F and is mirror-like. The light from the light source A1 of the streetlight appearing on the image is specularly reflected by the floor surface F to form a specular reflection area A2. The light from the light sources B1 and C1 of the headlights of other vehicles appearing on the image is specularly reflected by the floor surface F to form specular reflection areas B2 and C2.

  The specular reflection areas A2, B2 and C2 tend to be formed in line symmetry with the light sources A1, B1 and C1 with the boundary D of the floor surface F on the image as a reference line. The specular reflection areas A2, B2 and C2 are formed on the substantially vertical coordinates of the light sources A1, B1 and C1 in substantially the same size as the sizes of the light sources A1, B1 and C1. This becomes more remarkable as the floor surface is horizontal.

  For example, when a plurality of light sources A1, B1 and C1 and specular reflection areas A2, B2 and C2 appear, the floor material determination unit 32 determines that the floor F is in a specular reflection state, and the floor surface is determined. It is determined that the material of F has a small coefficient of friction. That is, the floor surface material determination unit 32 determines whether there is a floor surface with a small coefficient of friction on the floor surface around the host vehicle based on the specular reflection light of the floor surface.

[Parking path to reduce pollution]
FIG. 10 is an explanatory view for explaining a parking path for suppressing contamination in the first embodiment. Hereinafter, based on FIG. 10, the parking path which suppresses soiling of Example 1 is demonstrated.

  As shown in FIG. 10, when the vehicle V parks at the target parking position U, the shortest parking path L1 draws an arc in the area N where the degree of contamination influence is high. That is, the shortest parking route L1 is operated to change the traveling direction of the vehicle V in the area N where the contamination degree is high.

  On the other hand, in the parking path L2 that suppresses contamination, the vehicle V retreats to the front of the area N where the contamination degree is high, advances slightly while turning the steering wheel from there, and then retreats straight toward the target parking position U Do. That is, an operation to change the traveling direction of the vehicle V is performed in the area M in which the contamination degree is low, and an operation in which the traveling direction of the vehicle V is not performed in the area N in which the contamination degree is high. Therefore, the vehicle V goes straight in the area N where the degree of contamination influence is high in the parking path L2 that suppresses the contamination.

[Parking path with variation]
FIG. 11 is an explanatory view for explaining a parking path with variation according to the first embodiment. Hereinafter, based on FIG. 11, the parking path which gave the dispersion | variation of Example 1 is demonstrated.

  When it is not possible to create a parking path that can suppress fouling on a floor surface that is highly affected by fouling, a parking path with variation is selected. As shown in FIG. 11, the parking path with variations is composed of a plurality of different parking paths (in the first embodiment, parking paths L3, L4, and L5). The parking paths L3, L4, and L5 are formed in the area N where the contamination degree is high.

  When the vehicle V parks at the target parking position U, one of the parking paths L3, L4, and L5 is moved. Then, each time the vehicle is parked, the parking route along which the vehicle V moves is made different.

  For example, when the vehicle V is parked at the target parking position U for the first time, the parking path L3 is moved. When the vehicle V is parked at the target parking position U for the second time, the parking path L4 is moved. When the vehicle V is parked at the target parking position U for the third time, the parking path L5 is moved.

[Torque control amount calculation processing]
FIG. 12 is an explanatory view for explaining a torque control amount calculation process of the first embodiment. FIG. 13 is an explanatory diagram for explaining torque control amount calculation processing according to the first embodiment. FIG. 14 is a flowchart illustrating torque control amount calculation processing according to the first embodiment. The torque control amount calculation process of the first embodiment will be described below based on FIGS. 12 to 14.

  In the first embodiment, an example in which the vehicle is parked backward will be described.

  In the torque control amount calculation process of step S4 of the main control process, as shown in FIG. 12, when the vehicle V is positioned in the area M where the contamination degree is low, the vehicle control amount calculation unit 24 controls the front right wheel (right Torque strength of the front left wheel), front left wheel (left front wheel), rear right wheel (right rear wheel), and rear left wheel (left rear wheel), as shown by X1 in FIG. It is assumed that T (approximately 0.3 in the first embodiment).

  When the rear wheel of the vehicle V enters the area N where the degree of contamination influence is high, as shown by X2 in FIG. 13, the vehicle control amount calculating unit 24 converts the torque strength of the front right wheel and the front left wheel to X2 in FIG. As shown, the torque intensity of the rear right wheel and the rear left wheel is approximately 2T (approximately 0.6 in the first embodiment), with approximately zero. That is, the vehicle control amount calculation unit 24 distributes the torque necessary for the movement of the vehicle V only to the front wheels, and brings the rear wheels into an idle state.

  When the front wheel of the vehicle V enters the area N where the degree of contamination influence is high, as shown by X3 in FIG. 13, the vehicle control amount calculator 24 calculates the torque intensity of all the wheels T (about 0. 0 in the first embodiment). Return to 3).

  Next, torque control amount calculation processing will be described according to a flowchart. As shown in FIG. 14, when the torque control amount calculation process in step S4 of the main control process is started, the vehicle control amount calculation unit 24 sets the torque of the front wheel as T and the torque of the rear wheel as T (step S31). .

  Next, the vehicle control amount calculation unit 24 determines whether the rear wheel has entered a floor surface having a high degree of contamination influence (step S32). If it is determined that the rear wheel has entered a floor surface having a high degree of contamination influence (YES in step S32), the process proceeds to step S33. On the other hand, when it is determined that the rear wheel has not entered the floor surface having a high degree of contamination influence (NO in step S32), the process returns to step S32.

  Next, the vehicle control amount calculating unit 24 sets the torque of the front wheel to 2T and sets the torque of the rear wheel to 0 (step S33).

  Next, the vehicle control amount calculation unit 24 determines whether the front wheel has entered a floor surface having a high degree of contamination influence (step S34). If it is determined that the front wheel has entered a floor surface having a high degree of contamination influence (YES in step S34), the process proceeds to step S35. On the other hand, when it is determined that the front wheel has not entered the floor surface having a high degree of contamination influence (NO in step S34), the process returns to step S34.

  Next, the vehicle control amount calculation unit 24 sets the torque of the front wheels to T and the torque of the rear wheels to T (step S35), and ends the torque control amount calculation process.

  Next, the effects will be described.

  In the parking assistance device 1 of the first embodiment, the floor surface contamination influence degree calculation unit 30 for calculating the contamination degree degree of the floor surface in the parking lot from the captured image obtained by imaging the periphery of the vehicle; And a parking route generation unit configured to generate a parking route for parking the vehicle in the parking lot based on the calculation result (FIG. 2).

  As a result, the parking path generation unit 23 can generate a parking path while avoiding an area with a high degree of contamination impact of the parking lot. Therefore, the vehicle can be moved along the generated parking path, and the floor surface of the parking lot can be prevented from being soiled.

  In the parking assistance device 1 according to the first embodiment, when the floor contamination impact degree calculation unit 30 determines that the contamination impact degree is higher than a predetermined threshold value, the parking path generation unit 23 determines the floor surface as the parking path. Generate a path that suppresses contamination (FIG. 5).

  As a result, the parking path generation unit 23 generates a parking path on a path with a low degree of soiling influence of the parking lot when the degree of soiling is high, and generates a shortest parking path when the degree of soiling influence is not high. can do. Therefore, contamination of the floor surface of the parking lot can be efficiently suppressed.

  In the parking assistance device 1 according to the first embodiment, the route that suppresses soiling on the floor is a route that does not change the traveling direction of the vehicle in a region where the degree of pollution impact is higher than a predetermined threshold (FIGS. 5 and 10).

  As a result, the posture of the vehicle can be adjusted in a region where the contamination degree is not high, and the vehicle can go straight ahead so that the steering angle does not occur in the region where the contamination degree is high. Therefore, the contamination of the floor surface of the parking lot can be effectively suppressed.

  In the parking assistance device 1 according to the first embodiment, the floor contamination impact degree calculation unit 30 determines that the contamination impact degree is higher than a predetermined threshold value, and the parking path generation unit 23 generates a path that suppresses floor contamination. If not, the parking path generation unit 23 generates a plurality of different paths as the parking path (FIGS. 5 and 11).

  In this way, it is possible to prevent the same parking path from being used each time, and to prevent contamination from being accumulated in a certain place on the floor surface. Therefore, the contamination of the floor surface of the parking lot can be suppressed. This configuration can be effectively applied when the vehicle is parked in the same place every day, or when a plurality of vehicles come and go in a public parking lot.

  The parking assistance device 1 according to the first embodiment includes the vehicle control amount calculation unit 24 that calculates the adjustment amount of the torque of the wheel of the vehicle, and the vehicle control amount calculation unit 24 determines that the contamination influence degree is a predetermined threshold value among the wheels. The torque of the wheel entering the area determined to be high is calculated as the adjustment amount lowered from the torque of the wheel entering the area determined to be not higher than the predetermined threshold. 12-14).

  As a result, torque can not be applied to the wheels in the high contamination influence area, and torque can be applied only to the wheels in the low contamination influence area. Therefore, the friction between the tire and the floor can be reduced. As a result, fouling of the floor due to friction can be suppressed. In addition, when the area | region where the degree of contamination influence is high, and the low area | region are mixed in the parking path, this structure is effectively applicable.

  In the parking assistance device 1 according to the first embodiment, the vehicle control amount calculating unit 24 reduces the torques of all the wheels when the wheels enter a region determined to have a contamination impact degree higher than a predetermined threshold. From the torque calculated as the adjustment amount, the calculated adjustment amount is calculated (FIGS. 12 to 14).

  In this way, when some of all the wheels enter the high pollution impact area, torque is applied only to the wheels in the low pollution impact area and the high pollution impact area If all the wheels enter, all the wheels can be torqued. Therefore, it is possible to move the vehicle to the target parking position while suppressing the contamination of the floor surface.

  In the parking assistance device 1 according to the first embodiment, it is possible to determine the contamination influence degree of the floor surface by determining the density of the color of the floor surface based on the light reflectance of the floor surface (Table 1).

  In the parking assistance device 1 according to the first embodiment, it is possible to determine the contamination influence degree of the floor surface by determining the magnitude of the friction coefficient of the floor surface based on the specular reflection light of the floor surface (FIG. 9).

  The parking assistance device of the present disclosure has been described above based on the first embodiment. However, the specific configuration and flowchart are not limited to this embodiment, and combinations of the embodiments, changes in design, and additions may be made without departing from the scope of the invention according to the claims of the claims. Etc. are acceptable.

  In the first embodiment, the automatic driving control unit 20 executes the parking path calculation process regardless of the weather. However, the automatic driving control unit may execute the parking path calculation process in consideration of the weather.

  Specifically, when it is raining or snowing, the shortest parking route is calculated without executing the parking route calculation process. In this case, rainfall or snowfall is determined by an image captured by a rain sensor or an image sensor.

  In Example 1, the example which implements floor surface material determination based on specular reflection was shown. However, the floor surface material determination may be estimated based on the slip amount based on the behavior of the vehicle.

  Specifically, when the difference between the acceleration of the vehicle and the rotational speed of each wheel is large, it is determined that the slip amount is large. For example, when the vehicle accelerates or decelerates, the tire rotates with a slight slip in proportion to the amount of torque applied to each wheel. Therefore, the number of rotations differs between the drive wheel and the idle wheel. The road surface is more likely to slip as the difference between the rotational speeds of the drive wheels and the idle wheels is larger.

  By the way, in the case of a small parking lot where the vehicle travels in a low speed region, the wheel speed is low and the difference in rotational speed is small, so detection by the wheel rotational speed is difficult. In this case, the floor surface material determination may be made by capturing the vibration generated at the time of slip.

  Further, the floor surface material determination may be made based on the sound generated by the friction between the road surface and the tire when the steering wheel is turned.

  In the first embodiment, an example is shown in which the parking assist device of the present invention is mounted on a vehicle that performs automatic driving. However, the parking assist device may be mounted on a vehicle that urges the driver to perform a driving operation.

  In the first embodiment, an example of parking at the target parking position is shown as the parking assistance device of the present invention. However, as a parking assistance apparatus, it can apply, when taking out a vehicle from a parking lot.

DESCRIPTION OF SYMBOLS 1 Parking assistance device 23 Parking path generation part 24 Vehicle control amount calculation part 30 Floor surface contamination influence degree calculation part 33 User designated position determination part

Claims (9)

A floor surface contamination influence degree calculation unit that calculates the contamination influence degree of a floor surface in a parking lot from a captured image obtained by imaging the surroundings of the vehicle;
And a parking path generation unit configured to generate a parking path for parking the vehicle in the parking lot based on the calculation result of the floor surface contamination degree calculation unit. When the floor contamination impact degree calculation unit determines that the contamination impact degree is higher than a predetermined threshold value,
The parking assistance device according to claim 1, wherein the parking path generation unit generates a path that suppresses soiling of the floor surface as the parking path. The parking assistance device according to claim 2, wherein the path for suppressing the floor surface contamination is a path that does not change the traveling direction of the vehicle in a region where the contamination impact degree is higher than a predetermined threshold. . When the floor surface contamination impact degree calculation unit determines that the contamination impact degree is higher than a predetermined threshold, and the parking path generation unit can not generate a path that suppresses contamination of the floor surface,
The parking assistance device according to claim 2 or 3, wherein the parking path generation unit generates a plurality of different paths as the parking path. The vehicle control amount calculation unit calculates an adjustment amount of the torque of the wheel of the vehicle.
The vehicle control amount calculation unit determines that the contamination influence degree is not higher than a predetermined threshold value, of the wheels among the wheels that have entered the area determined to have the contamination influence degree higher than a predetermined threshold value. The parking assistance device according to any one of claims 2 to 4, wherein the parking assistance device according to any one of claims 2 to 4, wherein the amount of adjustment is reduced based on the torque of the wheel entering the determined region. The vehicle control amount calculation unit calculates the torque of all the wheels as the decreased adjustment amount when all the wheels enter a region determined to have the contamination influence degree higher than a predetermined threshold value. The parking assistance device according to claim 5, wherein the parking assistance device according to claim 5, wherein the parking assistance device according to claim 5, wherein the parking assistance device according to claim 5, wherein The parking assistance according to any one of claims 1 to 6, wherein the floor contamination influence degree calculation unit calculates the contamination influence degree on the basis of the light reflectance of the floor surface. apparatus. The parking assistance device according to any one of claims 1 to 7, wherein the floor surface contamination degree calculating unit calculates the contamination degree based on specular reflection light of the floor surface. . The floor contamination influence degree calculation unit has a user-specified position determination unit that determines a position at which the floor surface is easily soiled based on information designated by a user. The parking assistance device according to one item.