JP2019119233A - Parking control method and parking control apparatus - Google Patents

Abstract

To execute parking control in which to facilitate an operator outside of a vehicle V to monitor the position and movement of the vehicle.SOLUTION: A parking control apparatus 100 includes a control device 10 that causes a vehicle V to execute a control command to cause the vehicle V to move along a path to a target parking space on the basis of an operation instruction obtained from an operator M outside of the vehicle V. The control device 10 performs: obtaining a position of the operator M; setting a given zone that includes the vehicle V on the basis of the position of the operator M; and calculating a path belonging to the given zone.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parking control method and a parking control device.

  In the case of parking in a parking space existing within a predetermined distance from a vehicle, there is known a technique for permitting execution of parking control by remote control (Patent Document 1).

International Publication No. 2014/162753

  However, when the vehicle moves away from the operator, there is a problem that it is difficult for an operator outside the vehicle to confirm the movement of the vehicle.

  However, the problem to be solved by the present invention is to execute parking control in which an operator outside the vehicle can easily check the movement of the vehicle.

  The present invention acquires the position of the operator when parking the vehicle by remote control, sets the predetermined area including the vehicle based on the position of the operator, and calculates the route belonging to the predetermined area. Solve the above problems.

  According to the present invention, it is possible to execute parking control in which it is easy for the operator outside the vehicle to confirm the movement of the vehicle.

FIG. 1 is a block diagram showing an example of a parking control system of the present embodiment according to the present invention. FIG. 2A is a diagram for explaining a first detection method of the position of the operator. FIG. 2B is a diagram for describing a second detection method of the position of the operator. FIG. 2C is a diagram for explaining a third detection method of the position of the operator. FIG. 2D is a diagram for describing a fourth detection method of the position of the operator. FIG. 2E is a diagram for explaining a fifth detection method of the position of the operator. FIG. 3A is a diagram for explaining a first detection method of an obstacle. FIG. 3B is a diagram for explaining a second detection method of an obstacle. FIG. 4 is a flowchart showing an example of a control procedure of the parking control system of the present embodiment. FIG. 5 is a flowchart showing a first example of the calculation process of the parking path and the calculation process of the control command. FIG. 6A is a first diagram for describing a setting method of the predetermined area. FIG. 6B is a second diagram for describing the setting method of the predetermined area. FIG. 6C is a third diagram for describing the setting method of the predetermined area. FIG. 7A is a diagram for describing a first setting method of the turning start position. FIG. 7B is a diagram for describing a second setting method of the turning start position. FIG. 7C is a diagram for describing a third setting method of the turning start position. FIG. 8 is a flowchart showing a second example of the calculation process of the parking path and the calculation process of the control command. FIG. 9A is a diagram for explaining a first setting method of the turning back position. FIG. 9B is a diagram for describing a second setting method of the turning back position. FIG. 10A is a diagram for describing an example of a route according to the first position of the operator. FIG. 10B is a diagram for describing an example of a route according to the first position of the operator.

First Embodiment
Hereinafter, embodiments of the present invention will be described based on the drawings.
In the present embodiment, the case where the parking control device according to the present invention is applied to a parking control system will be described as an example. The parking control device may be applied to a portable operation terminal (a smartphone, a device such as a PDA (Personal Digital Assistant), etc.) capable of exchanging information with the in-vehicle device. Further, the parking control method according to the present invention can be used in a parking control device described later.

  FIG. 1 is a block diagram of a parking control system 1000 having a parking control apparatus 100 according to an embodiment of the present invention. The parking control system 1000 according to the present embodiment includes the cameras 1a to 1d, the distance measuring device 2, the information server 3, the operation terminal 5, the parking control device 100, the vehicle controller 70, the drive system 40, and the steering angle. A sensor 50 and a vehicle speed sensor 60 are provided. The parking control apparatus 100 according to the present embodiment controls an operation of moving (parking) a vehicle to be controlled in a parking space based on an operation command input from the operation terminal 5.

  The parking control apparatus 100 according to the present embodiment moves a vehicle to be controlled along a first route to a target parking space (Parking lot) based on an operation command acquired from an operator (parking control command) Are executed by a vehicle control unit (ECU: Electric control unit). The parking control device 100 of the present embodiment controls an operation of moving (parking) the vehicle to be controlled in the target parking space based on the operation command input from the operation terminal 5. Although the case where the operator M exists outside the vehicle is described as an example in the present embodiment, it may exist in the cabin of the vehicle. In addition, an occupant including a driver may be present in the vehicle compartment, and an operator M (such as a parking lot manager) may be present outside the vehicle.

  The operation terminal 5 is a computer having a portable input function and a communication function that can be brought out of the vehicle. Operation terminal 5 receives an input of an operation command of operator M for controlling the operation (operation) of the vehicle for parking. Driving includes parking (receipt and exit) operations. The operator M inputs an instruction including an operation instruction for performing parking via the operation terminal 5. The operation command includes execution / stop of parking control, selection / change of a target parking position, selection / change of a parking path, and other information necessary for parking. The operator M can also cause the parking control device 100 to recognize (input) an instruction including an operation instruction by a gesture of the operator M or the like without using the operation terminal 5. The operation command input by the operator M via the operation terminal 5 includes not only the operation command for executing parking but also a save command for moving the vehicle away from the target parking space.

  The operation terminal 5 includes a communication device, and can exchange information with the parking control device 100 and the information server 3. The operation terminal 5 transmits an operation command input outside the vehicle to the parking control device 100 via the communication network, and causes the parking control device 100 to input the operation command. The operation terminal 5 communicates with the parking control device 100 using a signal including a unique identification symbol. The operation terminal 5 includes a display 53. The display 53 presents an input interface and various information. When the display 53 is a touch panel display, it has a function of receiving an operation command. The operation terminal 5 receives an input of an operation command used in the parking control method of the present embodiment, and a smartphone such as a smart phone or PDA: Personal Digital Assistant, etc., installed with an application for transmitting the operation command to the parking control apparatus 100. It may be a type of device.

  The information server 3 is an information providing device provided on a communicable network. The information server includes a communication device 31 and a storage device 32. The storage device 32 includes readable map information 33, parking lot information 34, and object information 35. The parking control device 100 and the operation terminal 5 can access the storage device 32 of the information server 3 to acquire each information.

  The parking control device 100 of the present embodiment includes a control device 10, an input device 20, and an output device 30. Each configuration of the parking control device 100 is connected by a CAN (Controller Area Network) or another in-vehicle LAN in order to exchange information with each other. The input device 20 includes a communication device 21. The communication device 21 receives the operation command transmitted from the external operation terminal 5, and inputs the operation command to the input device 20. A subject who inputs an operation command to the external operation terminal 5 may be a human (a user, an occupant, a driver, a worker of a parking facility). The input device 20 transmits the received operation command to the control device 10. The output device 30 includes a display 31. The output device 30 transmits parking control information to the driver. The display 31 of the present embodiment is a touch panel display having an input function and an output function. When the display 31 has an input function, the display 31 functions as the input device 20. Even when the vehicle is controlled based on the operation command input from the operation terminal 5, the occupant can input an operation command such as an emergency stop via the input device 20.

  The control device 10 of the parking control device 100 according to the present embodiment executes the ROM 12 in which the parking control program is stored and the program stored in the ROM 12 to function as an operation circuit functioning as the parking control device 100 according to the present embodiment. It is a computer for parking control provided with CPU11 as, and RAM13 which functions as an accessible storage device.

  The parking control program of the present embodiment causes the vehicle to execute a control command for moving the vehicle along the route to the target parking space based on the operation command acquired from the operator outside the vehicle. Furthermore, the parking control program acquires the position of the operator, sets a predetermined area including the position (presence area) of the vehicle based on the position of the operator, calculates the route belonging to the predetermined area, and calculates the target parking space And a program for causing a control device of the vehicle to execute a control command for moving the vehicle along the route to the road. The parking control program is executed by the vehicle under the processing of the control device 10 of the parking control device 100 of the present embodiment. The setting method of the predetermined area is not limited. The predetermined area may be set based on the position of the operator and the position of the target parking space. A predetermined area may be set from (within the range of) the first distance from the position of the operator. At this time, a virtual boundary is set at a position separated by a predetermined distance in a predetermined direction (a predetermined X-axis / Y-axis direction, for example, a latitude / longitude direction) from the position of the vehicle, and set on the vehicle side of the virtual boundary You may Also, a predetermined area may be set between the position of the target parking space and the second distance.

  The parking control apparatus 100 of the present embodiment is of a remote control type that sends an operation command from the operation terminal 5, controls the movement of the vehicle, and parks the vehicle in a predetermined parking space. The occupant operating the operation terminal 5 may be outside the vehicle exterior or in the vehicle interior.

The parking control device 100 according to the present embodiment may be of an automatic control type in which a steering operation and an accelerator / brake operation are automatically performed. The parking control device 100 may be a semi-automatic type in which the steering operation is automatically performed and the driver performs the accelerator and brake operations.
In the parking control program of the present embodiment, the user may arbitrarily select the target parking position, or the parking control apparatus 100 or the parking facility may automatically set the target parking position.

  The control device 10 of the parking control device 100 according to the present embodiment performs processing of acquiring the position of the operator, processing of setting a predetermined area within a predetermined distance from the position of the operator, and processing of calculating a route belonging to the predetermined area. And a function of causing the vehicle to execute a control command to move the vehicle along the route to the target parking space based on the operation command acquired from the operator outside the vehicle. The above-described respective processes are executed by cooperation of software for realizing the respective processes and the hardware described above.

  The process of detecting the position of the operator M will be described based on FIGS. 2A to 2E. The control device 10 acquires the position of the operator M. The position of the operator M is used for route calculation processing. The position of the operator M includes information on the position of the vehicle V on the movement plane. The position of the operator M includes height position information. The position of the operator M may be detected based on a sensor signal from a sensor provided on the vehicle V, or the position of the operation terminal 5 possessed by the operator M is detected, and the position of the operator M is detected. The position of the operator M may be calculated. The operation terminal 5 may be provided at a predetermined position or may be possessed by the operator M. When the operation terminal 5 is provided at a predetermined position, the operator M moves to the arrangement position of the operation terminal 5 and uses the operation terminal 5. In these cases, the position of the operation terminal 5 can be set as the position of the operator M.

  As shown in FIG. 2A, the position of the operator M is detected based on the detection results of the plurality of distance measuring devices 2 provided in the vehicle V and / or the captured image of the camera 1. The position of the operator M can be detected based on the images captured by the cameras 1a to 1d. The distance measuring device 2 can use a radar device such as a millimeter wave radar, a laser radar, an ultrasonic radar, or a sonar. Since the plurality of distance measuring devices 2 and their detection results are distinguishable, the two-dimensional position and / or the three-dimensional position of the operator M can be detected based on the detection results. Similarly for the camera 1, the distance measuring device 2 may be provided at the same position as the cameras 1 a to 1 d or at different positions. The control device 10 can also detect the gesture of the operator M based on the images captured by the cameras 1a to 1d, and identify the operation command associated with the feature of the image of the gesture.

  As shown to FIG. 2B, the position of the operator M who possesses the operating terminal 5 or the operating terminal 5 is detected based on the communication electric wave of each of the antenna 211 provided in the different position of the vehicle V, and the operating terminal 5. It is also good. When the plurality of antennas 211 communicate with one operation terminal 5, the strengths of the radio waves received by the respective antennas 211 are different. The distance from the vehicle V can be detected based on the difference in intensity of the radio waves received by the antennas 211. Further, based on the radio waves received by the plurality of antennas 211, the direction in which the operation terminal 5 is present can be calculated. The two-dimensional position and / or the three-dimensional position of the operation terminal 5 or the operator M can be calculated from the intensity difference of the received radio waves of the respective antennas 211.

  If the two antennas 211 are mounted on the vehicle V, it can be determined whether the operation terminal 5 is present in front, rear, left or right with respect to the vehicle V. As shown in FIG. 2C, it can be determined which quadrant of the first to fourth quadrants (QD1 to QD4) of the coordinate system having the position of the vehicle V as the origin, to which the operation terminal 5 belongs. Moreover, if the three antennas 211 are mounted in the vehicle V1, the position of the operation terminal 5 with respect to the vehicle V can be detected by trigonometry. According to the direction and intensity of the received radio wave, the existing position of the operation terminal 5 can be detected, but as shown in FIG. 2C, as the distance from the antenna 211 increases, the detected position of the operation terminal 5 (operator M) The position information (resolution) becomes rough and its detection accuracy becomes low. From the viewpoint of securing the accuracy of the position information of the operation terminal 5, the distance between the vehicle V and the operation terminal 5 (operator M) such that the resolution (detection accuracy) corresponding to the distance shown in FIG. Etc. (eg, 6 m or less or 5 m or less). Of course, the position of the operation terminal 5 (operator M) may be calculated using the position information acquired from the distance measuring device 2 together with the position information acquired by this method.

  As shown in FIG. 2D, a predetermined position (direction / distance: D1, D2) may be designated in advance as the operation position of the operator M or the arrangement position of the operation terminal 5 with respect to the driver's seat DS of the vehicle V. For example, when the operator M temporarily stops the vehicle V at the designated position and dismounts and operates the operation terminal 5 provided at the predetermined position, the operation performed by the operator M or the operator M with respect to the vehicle V The initial position of the terminal 5 can be calculated.

  Similarly, as shown in FIG. 2E, image information indicating the operation position (the standing position of the operator M: Operation Position) with respect to the vehicle V is displayed on the display 53 of the operation terminal 5. The display control may be executed by an application installed on the operation terminal 5 side, or may be executed based on an instruction of the control device 10.

Object detection processing will be described based on FIGS. 3A and 3B. The “object” in the present embodiment includes a wall of a parking lot, a structure such as a pillar, an installation around a vehicle, a pedestrian, another vehicle, a parked vehicle, and the like. In the present embodiment, an object to be considered in the execution of the parking process is detected as an obstacle.
As shown in FIG. 3A, an object is detected based on an image captured by the camera 1 as a detection result of the plurality of distance measuring devices 2 provided in the vehicle V. The distance measuring device 2 detects the presence or absence of an object, the position of the object, the size of the object, and the distance to the object based on the reception signal of the radar device. The presence or absence of an object, the position of the object, the size of the object, and the distance to the object are detected based on the images captured by the cameras 1a to 1d. Note that the detection of an object may be performed using a motion stereo technique with the cameras 1a to 1d. The detection result is used to determine whether a parking space is available (whether or not parking is in progress).

  As shown to FIG. 3B, based on the parking lot information 34 acquired from the memory | storage device 32 of the information server 3, the object containing structures, such as a wall of a parking lot and a pillar, can be detected. The parking lot information includes location information of each parking lot (each parking lot), identification number, passage of parking facility, pillar, wall, storage space and the like. The information server 3 may be managed by a parking lot.

Hereinafter, the control procedure of the parking control will be described based on the flowchart shown in FIG.
FIG. 4 is a flowchart showing a control procedure of the parking control process performed by the parking control system 1000 according to the present embodiment. The trigger of the start of the parking control process is not particularly limited, and may be triggered by the operation of the start switch of the parking control device 100.

  The parking control device 100 according to the present embodiment has a function of automatically moving the vehicle V to the parking space based on the operation command acquired from the outside of the vehicle.

  In step 101, the control device 10 of the parking control device 100 acquires information around the vehicle at a predetermined cycle. The acquisition process of the distance measurement signal and the acquisition process of the captured image may be executed alternatively. The control device 10 acquires distance measurement signals from the distance measurement devices 2 attached to a plurality of locations of the vehicle V, as necessary. The control device 10 acquires captured images captured by the cameras 1 a to 1 d attached to a plurality of locations of the vehicle V, as necessary. Although not particularly limited, the camera 1a is disposed at the front grille portion of the vehicle V, the camera 1d is disposed near the rear bumper, and the cameras 1b and 1c are disposed below the left and right door mirrors. As the cameras 1a to 1d, it is possible to use a camera provided with a wide angle lens having a large viewing angle. The cameras 1a to 1d capture the boundary of the parking space around the vehicle V and an object present around the parking space. The cameras 1a to 1d are CCD cameras, infrared cameras, and other imaging devices.

  In step 102, the controller 10 detects a parking space available for parking. The position and size of the parking space are factors of the parking environment that affect the parking control of the vehicle V. The control device 10 detects a frame (area) of the parking space based on the images captured by the cameras 1a to 1d. The control device 10 detects a vacant parking space by using detection data of the distance measuring device 2 and detection data extracted from the captured image. The control device 10 detects, among the parking spaces, a parking space which is empty (other vehicles are not parked) and whose route for completing the parking can be calculated as the parking available space. Identify a target parking space where the vehicle is to be parked out of the parking available space. In the present embodiment, being able to calculate the parking path means that the path of the path from the current position to the target parking position can be drawn on the road surface coordinates without interfering with the object including the obstacle (including the parked vehicle) .

  In step 103, the control device 10 transmits the parking available space to the operation terminal 5, displays it on the display 53, and requests the operator M to input selection information of a target parking position where the vehicle V is parked. The target parking position may be automatically selected by the control device 10 or the parking facility side. When an operation command specifying one parking space is input to the operation terminal 5, the parking space is set as a target parking position.

  In step 104, the control device 10 acquires position information (detection result) of the operator M or the operation terminal 5 detected by the above-described method.

  In step 105, the control device 10 acquires the detection result of the object detected by the above-described method. The objects include pedestrians, signs, road structures, cargoes, movable objects, structures constituting a parking space, curbs dividing a parking space, and the like. The structures that constitute the parking space are structures that constitute garages, carports and the like. The detection of an object includes the detection of an obstacle that impedes the execution of parking control. These are parking environment factors that affect the parking control of the vehicle V.

  In step 106, the controller 10 calculates a route to the target parking space. A method known at the time of filing can be used as calculation processing of the route to the target parking space. The parking path is defined as a line and is defined as a band-like area according to the occupied area of the vehicle V according to the vehicle width. The occupied area of the vehicle V is defined in consideration of the vehicle width and the allowance width secured for movement. The specific method will be described later.

  In step 107, the control device 10 generates a control command for causing the vehicle V to move on the calculated route. The control device 10 stores the specification information of the vehicle V necessary for the control command in advance. The control command is the steering amount, steering speed, steering acceleration, shift position, speed (including zero), acceleration, deceleration, etc. of the vehicle V associated with the timing or position when the vehicle V travels the parking path. Operation instruction of The control command moves the vehicle V to the target parking position by the vehicle V executing the operation command associated with the parking path and the parking path including the execution timing or execution position of the operation command of the vehicle V ( Can be parked).

FIG. 5 shows an example of path calculation processing and control instruction calculation processing.
In step 201, the control device 10 sets a predetermined area including the vehicle V which defines the setting range of the route. Based on the position of the operator M acquired in step 104, the control device 10 sets a predetermined region including the vehicle V that defines the setting range (extent) of the route. Specifically, a virtual first boundary line is set at a position separated by a first distance from the position of the operator M, and a route belonging to a predetermined area on the vehicle side of the first boundary line is calculated. The position of the first boundary can be defined by the distance in the parking plane in the X and / or Y directions. Further, the first boundary line may be a boundary line (virtual line) of an arc separated by a first distance from the position of the operator M. The predetermined area is set on a parking plane parallel to the road surface of the parking lot. The parking plane can be defined by XY coordinates (latitude and longitude). In the route calculation process of the parking process, the vehicle V moves within a range where the operator M can easily check by setting the predetermined region and calculating the route belonging to the predetermined region.
In particular, in the case of parallel parking, the parking path may extend to a position away from the target parking space because the freedom of setting the parking path is high. In the present embodiment, first, after setting the first boundary (and / or the second boundary), the operation is performed by calculating the route belonging to the predetermined area set on the vehicle side of the first boundary. The vehicle V moves within the range where the person M can easily check.

  The position of the first boundary line can be defined by the distance along the direction (for example, Y direction) along the traveling direction of the vehicle V1 to be subjected to parking control in the setting process of the predetermined area (before the route calculation process). The traveling direction is the traveling direction at the time of calculation processing of the first route, that is, the traveling direction at the timing before the execution of the control command after the start of the parking control. One example is the traveling direction at the timing when the vehicle V enters a parking lot (a place where parking lots are arranged) and a target parking space is determined. The position of the first boundary can be defined based on the first distance in the depth direction of the traveling direction of the vehicle V1. The direction of the distance defining the position of the first boundary line is the direction along the reference axis (X axis or Y axis) at the coordinates at which the parking path is calculated.

  FIG. 6A shows a method of setting the first boundary LY. In the example shown in FIG. 6A, the first boundary line LY is set to the first distance DY from the position OP1 of the operator M of the vehicle V1. When performing the process of calculating the route, a first boundary line LY is defined by a first distance DY along a direction (Y direction in the drawing) along the traveling direction VF1 of the vehicle V1 at the timing before reaching the target parking space.

  The setting process of the first boundary line LY is performed before the route calculation process. The predetermined region where the route RT is set is set closer to the vehicle V than the first boundary line LY. The control device 10 does not set the route beyond the set first boundary LY. The control device 10 sets areas QD1 to QD4 in which the value of Y is smaller than the first boundary line LY as predetermined areas. The route RT is not included in the region where the value of Y is larger than the first boundary line LY.

  The control device 10 sets a first boundary LY, sets a predetermined region based on the first boundary LY, and calculates the curvature of the route RT such that the route RT belongs to the predetermined region.

  By setting the parking route RT in a predetermined area on the vehicle V side of the first boundary line LY so as not to exceed the first boundary line LY set to a predetermined distance from the position of the operator M, It is possible to execute parking control in which the movement of the vehicle V can be easily confirmed by the operator M. As a method of setting the route RT so as not to exceed the first boundary LY, the control device 10 may set a virtual obstacle (virtual wall) at the position of the first boundary LY.

  Since the parking route RT belonging to the predetermined area is calculated, the vehicle V under parking control moves from the operator M at a position not more than the predetermined distance. Thereby, the operator M can easily monitor the movement of the vehicle V.

The control device 10 acquires the position of the target parking space identified in step 103. The position of the target parking space may be determined based on a captured image of the camera 1 or may be acquired from the parking lot information 34 via the communication device 21.
Control device 10 sets a predetermined area including vehicle V, which defines the setting range of the route, based on the position of the target parking space. Specifically, a virtual second boundary line LX is set at a position separated by a second distance from the position of the target parking space, and a predetermined area is set on the vehicle V side with respect to the second boundary line LX. Calculate a route RT belonging to The position of the second boundary line LX can be defined by the distance in the X direction and / or the Y direction on the parking plane. Further, the second boundary may be a boundary (virtual line) of an arc separated by a second distance from the position of the target parking space.

  FIG. 6B shows a method of setting the second boundary line LX. In the example shown in FIG. 6B, the second boundary line DX is set to the second distance DX from the target parking space P. When performing the process of calculating the route, a second boundary line LX is defined by the second distance DX from the target parking space P at the timing before reaching the target parking space. The direction of the second distance DX is a direction orthogonal to the direction of the first distance DY. The direction of the second distance DX is a direction (X direction in the drawing) substantially orthogonal to the traveling direction VF1 of the vehicle V1 when performing the process of calculating the route. The second distance DX is a distance between the position PX of the inlet / outlet of the target parking space P and the X axis of the position OP of the operator M.

  The position of the second boundary can be defined by the distance from the position of the target parking space at the timing of setting processing of the predetermined area (timing before the processing of calculating the route). The position of the second boundary is a position of a second distance from the boundary between the inlet / outlet of the target parking space and the passage to the vehicle side. The direction of the second distance is a direction substantially orthogonal to the boundary between the vehicle entrance and exit of the target parking space and the vehicle passage.

  The setting process of the second boundary line LX is performed before the calculation process of the route RT. The predetermined region where the route RT is set is set closer to the vehicle V than the second boundary line LX. The control device 10 does not set the route RT beyond the set second boundary line LX. The control device 10 sets areas QD2 and QD3 having a value of X smaller than the second boundary line LX as predetermined areas. The route RT is not included in the region where the value of X is larger than the second boundary line LX.

  By setting the parking route RT in a predetermined area on the vehicle V side of the second boundary line LX so as not to exceed the second boundary line LX set to a predetermined distance from the position of the target parking space, It is possible to execute parking control in which the movement of the vehicle V can be easily confirmed by the operator M. As a method of setting the route RT so as not to exceed the second boundary line LX, the control device 10 may set a virtual obstacle (virtual wall) at the position of the second boundary line LX.

  The second boundary line LX is substantially orthogonal to the first boundary line LY. The predetermined area can be defined by the first boundary LY and the second boundary LX. As a result, the route is set in a predetermined area that does not exceed the first boundary LY and the second boundary LX, so that parking control can be easily performed by the operator M outside the vehicle.

  The control device 10 sets a second boundary line LX, sets a predetermined region based on the second boundary line LX, and calculates the curvature of the route RT such that the route RT belongs to the predetermined region.

  As shown to FIG. 6C, the control apparatus 10 can define a predetermined area | region by the 1st boundary line LY and 2nd boundary line LX which orthogonally cross. In this example, QD2 and QD3 in which the value of Y is smaller than the first boundary line LY and the value of X is smaller than the second boundary line LX can be set as the predetermined region.

  The path of the present embodiment includes a pivoting portion and a turning back portion. The path includes a turning start point and a turning point. The vehicle V moving on the route starts turning at the turning start point. The vehicle V moving on the route travels to the turning point, changes the shift position to the rear at the turning point, and moves backward.

In step 202, the control device 10 sets a turning start point.
The control device 10 sets the route such that the turning start point included in the route is less than a predetermined distance from the position of the operator M. By turning the vehicle at a position less than the predetermined distance from the operator M, the operator M can easily confirm the position and the movement of the vehicle V at the time of turning. It is preferable that the path downstream of the turning start point be equal to or less than a predetermined distance from the operator M. The predetermined distance between the operator M and the route can be about 5 m from the viewpoint that the operator M can view the movement of the vehicle V, and the operator M monitors the movement of the vehicle V, and according to the change of the situation. It can be set to about 3 m from the viewpoint of being able to stop immediately. The predetermined distance can be set as appropriate in consideration of the degree of facility of the parking lot, safety, and the like.

In the case shown in FIG. 7A in which a route is set between the parallel parking target parking space P and the operator M, the vehicle V moving on the general parking route approaches the operator M and then the turning start point RO1 Approaches or separates from the operator M.
The inventors conduct experiments and the like, and for the operator M, the movement or position of the vehicle V in a state of being separated from the operator M moves or the position of the vehicle V in a state of approaching the operator M We have found that it is relatively easy to grasp.

  In the example shown in FIGS. 7A and 7B, the route is located between the operator M and the target parking space. That is, the operator M is located inside an arc including a turning trajectory of the vehicle V (a circle of a curvature radius defining the turning trajectory). In this case, depending on the turning position of the vehicle V, whether the vehicle V approaches or separates from the operator M after passing the operator M is different. If the position of the turning start point is set upstream of the position passing the side of the operator M (Y = 0) (Y is smaller / lower side of Y axis / in front of turning start point RO1), vehicle V Takes an in-course path, and the possibility of approaching the operator M is high. On the other hand, the position of the turning start point is a position passing the side of the operator M (Y = 0: refer to FIG. 7A) or downstream (Y is larger than this position (Y = 0)) If the vehicle V is set to a position (Y = TO2: see FIG. 7B) behind the turning start point RO1, the vehicle V takes an out-in-course path and the possibility of approaching the operator M is low.

  In order for the control device 10 to move away from the operator M after turning the vehicle V, the position (Y = 0) where the turning start point passes by the operator M or this position (Y = 0) It can be set to the value RO2 (Y) on the downstream side (Y is larger / the upper side of the Y axis / the back of the turning start point RO1) than Y. By turning the vehicle V on the downstream side of the position passing the side of the operator M, the vehicle can be separated from the operator M after turning, so that the operator M accurately moves and positions the vehicle V. It can confirm.

  Specifically, as shown in FIG. 7A, the control device 10 sets the turning start point RO1 included in the route to a position where the vehicle V passes by the operator M. A passing point at which the operator M who has been located in front of the vehicle V as viewed from the vehicle V is located beside the vehicle V as the vehicle V travels is the turning start point RO1. That is, the Y value of the turning start point RO1 is equal to the Y value of the position OP1 of the operator M in the plane coordinates defining the path, and the curvature of the turning start point RO1 in the path is the predetermined value or more.

  It is difficult for the operator M to accurately grasp the movement and position of the approaching vehicle. In this example, the vehicle V is turned at a position crossing the operator M (at a position passing the operator M). In the positional relationship shown in FIG. 7A, the vehicle V comes closest to the operator M at the turning start point RO1. After crossing the operator M at the turning start point RO1 of this example, the vehicle V separates from the operator M. By setting the turning start point RO1 on the path along which the vehicle V moves away from the operator M, it is possible to easily confirm the movement and the position of the vehicle V at the time of turning. The route of the present embodiment is set within a predetermined distance from the operator M. This concept is the same as in the example shown in FIG. 7B described later. In order to make all points included in the route to the target parking space P within the predetermined distance from the operator M, the switching point CS1 is also set within the predetermined distance from the operator M, and if necessary, a plurality of switching points Set CS1. However, when the turning point CS1 is a predetermined number or more, the parking process takes a long time, giving anxiety to the operator M. In such a case, the target parking space is changed to change the position of the turning start point RO1. Try to recalculate the parking path such as changing.

  In this example, on the upstream side of the turning start point RO1, a route of a predetermined pattern set in advance is introduced. The predetermined pattern includes a straight path only, a stationary steering operation in which a straight path and a stationary state are steered, for example, a straight path and a path including a curve corresponding to the maximum steering angle or a curve corresponding to a fixed steering angle. can do. After passing the turning start point RO1, that is, on the downstream side of the turning start point RO1, a route in which the radius of curvature gradually increases toward the turning point may be calculated.

  As shown in FIG. 7B, the control device 10 sets the turning start point included in the route downstream of the position where the vehicle V passes by the operator M (on the first boundary line LY side). That is, the Y value of the turning start point RO2 is a value RO2 (Y) on the traveling direction VF1 side of the vehicle V than the Y value of the position OP2 of the operator M. Since the movement of the vehicle V approaching the operator M is a movement in the direction in which the area of the viewing angle of the operator M spreads, it is difficult for the operator M to grasp the movement of the approaching vehicle V. In other words, when visually recognizing the approaching vehicle V, the operator M has to widen the area of the viewing angle. That is, for the operator M, it is more difficult to grasp the movement or position of the approaching vehicle V than the difficulty to grasp the movement or position of the vehicle V separated from the operator M. In other words, it is easier for the operator M to grasp the movement and the position of the distant vehicle V than to the approaching vehicle V. The present invention focuses on this point. After crossing the operator M (after passing the operator M), by turning the vehicle V when the vehicle V is separated from the operator M, it is easy to confirm the movement and position of the vehicle V at the time of turning can do.

However, as shown in FIG. 7C, when the operator M is located between the route and the target parking space, that is, the operator M is an arc including the turning trajectory of the vehicle V (curvature defining the turning trajectory In the case of being located outside the circle of radius), the vehicle V moving while turning is separated from the operator M. As described above, for the operator M, the movement or position of the vehicle V in a state of being separated from the operator M is relatively more than the movement or position of the vehicle V in a state of approaching the operator M Easy to grasp.
When the operator M is located between the route and the target parking space, the vehicle V is separated from the operator M after passing the operator M. The position can be set to a value RO3 (Y) on the upstream side (Y is small / lower side of Y axis) than the position (Y = 0) passing by the side of the operator M. Even if the vehicle V turns on the upstream side of the position passing the side of the operator M, the operator M is separated from the operator M, so that the operator M can accurately confirm the movement and position of the vehicle V .

  In step 203, the control device 10 sets the curvature at each point on the route, including the turning start point. The first curvature upstream of the turning start point is smaller than the second curvature downstream of the turning start point.

  At step 204, the control device 10 sets a turning point. Control device 10 calculates a path including a turning point set at a position less than a predetermined distance from operator M. Although not particularly limited, the control device 10 sets a turning point at a position less than a predetermined distance from the operator M. As a result, by turning back the vehicle at a position less than the predetermined distance from the operator M, it is possible to easily confirm the position and movement of the vehicle V when the operator M turns back.

  In step 205, the control device 10 confirms that the number of switching points, that is, the number of switching operations is less than a predetermined number. If the number of turns is equal to or greater than the predetermined number, the turning start point is reset, and a route having the number of turns equal to or less than the predetermined number (for example, three or less) is calculated. When a path whose number of times of switching is less than the predetermined number can be calculated, in step 206, the control device 10 determines the path as a calculation result.

  In step 207, the control device 10 calculates a steering amount for moving the vehicle V along the calculated route. In step 208, when steering while moving, the control device 10 calculates a clothoid curve while moving. The clothoid curve is a relaxation curve which is introduced so that the change of the curvature radius becomes smooth when the change of the curvature radius is discontinuous. The introduction of the clothoid curve can be performed using software based on the simulation method known at the time of filing of the present application.

  The amount of change in tire angle in the path after passing the operator M is larger than the amount of change in tire angle in the path before passing the position of the operator M. As the vehicle V approaches the operator M, the detection accuracy of the position of the operator M becomes more accurate. As the position of the operator M is accurately identified by passing the operator M, the amount of change in the tire angle can be increased. In particular, when the turning start point is set downstream of the position passing the side of the operator M, moving the vehicle V along an appropriate route based on the accurate position of the operator M it can.

  Similarly, in step 207, the control device 10 may calculate the steering amount for stopping the vehicle V and stopping steering. In step 208, the control device 10 calculates the steering amount for steering. In the present process, the control device 10 once decelerates or stops the vehicle V, steers the vehicle V, and cuts a tire. As described above, by switching the steering wheel, the accuracy of causing the vehicle V to follow the route can be increased.

  In step 209, the controller 10 sets the speed. The control device 10 calculates the speed according to the steering amount / the steering angle of the stationary steering wheel. Although not particularly limited, the control device 10 sets the speed in the control command to be lower as the distance between the turning start point and the position passing the side of the operator M is longer (more upstream). When the vehicle V approaches, the operator M has difficulty in grasping the movement and the position of the vehicle V. The longer the distance that the vehicle V approaches while turning, the harder it is to grasp the movement or position of the vehicle V, so by setting the speed of the vehicle V low, it is easy to grasp the movement or position of the vehicle V can do.

  At step 210, control device 10 sends the determined control command to vehicle controller 70.

  Returning to FIG. 4, in step 108, the control device 10 receives an input of an execution instruction of a control instruction from the operator. When an execution instruction is input, the process proceeds to step 109 to start the execution of the control instruction. The execution instruction may be an input to the dead man switch of the operation terminal 5. The dead man switch is a switch that has the function of continuing execution of the parking control process only while the operator applies a force to the switch and interrupting or stopping the execution of the parking control process except for the force given to the switch. is there. While the dead man switch of the operation terminal 5 is pressed, the parking control process is continuously executed.

  The parking control device 100 of the present embodiment controls the operation of the drive system 40 via the vehicle controller 70 in accordance with the control command so that the vehicle V moves along the parking path. The parking control apparatus 100 instructs the drive system 40 of the vehicle V such as an EPS motor while feeding back the output value of the steering angle sensor 50 provided in the steering device so that the travel path of the vehicle V matches the calculated parking path. A signal is calculated and this command signal is sent to the drive system 40 or a vehicle controller 70 that controls the drive system 40.

  The parking control device 100 of the present embodiment includes a parking control unit. The parking control unit acquires shift range information from the AT / CVT control unit, wheel speed information from the ABS control unit, steering angle information from the steering angle control unit, engine speed information from the ECM, and the like. Based on these, the parking control unit calculates and outputs instruction information on automatic steering to the EPS control unit, instruction information such as a warning to the meter control unit, and the like. The control device 10 acquires, via the vehicle controller 70, the respective information acquired by the steering angle sensor 50, the vehicle speed sensor 60, and the other sensors of the vehicle V included in the steering device of the vehicle V.

  The drive system 40 of the present embodiment moves (travels) the vehicle V1 from the current position to the target parking position by driving based on the control command signal acquired from the parking control device 100. The steering device of the present embodiment is a drive mechanism that moves the vehicle V in the left-right direction. The EPS motor included in drive system 40 drives the power steering mechanism provided in the steering of the steering device based on the control command signal acquired from parking control device 100 to control the amount of steering, and moves vehicle V to the target parking position Control the operation when In addition, the control content and operation method of the vehicle V for making it park are not specifically limited, The method known at the time of application can be applied suitably.

  When moving the vehicle V to the target parking position along the route calculated based on the position of the vehicle V and the position of the target parking position, the parking control device 100 according to the present embodiment specifies an accelerator and a brake. The automatic control is performed based on the controlled vehicle speed (set vehicle speed), and the operation of the steering device automatically controls the movement of the vehicle V according to the vehicle speed.

  In step 110, the control device 10 monitors the change in the parking environment around the vehicle until the vehicle V reaches the turnaround position. When the vehicle V reaches the turning position, in step 112, the shift change included in the control command is performed. Thereafter, in step 113, the parking control is completed by continuously executing the control command.

  Since the parking control method according to the first embodiment of the present invention is used as described above in the parking control device, the following effects can be obtained. The parking control device 100 according to the present embodiment is configured and operates as described above, and thus offers the following effects.

  [1] According to the parking control method or the parking control device of the present embodiment, the present invention acquires the position of the operator M when parking the vehicle by remote control, and based on the position of the operator M, By setting a predetermined area including the position of the vehicle and calculating a route to be the predetermined area, it is possible to execute parking control in which an operator outside the vehicle can easily confirm the movement of the vehicle.

  [2] According to the parking control method or the parking control device of the present embodiment, the predetermined area is set based on the position of the operator M and the position of the target parking space, and the route to be the predetermined area is calculated. It is possible to execute parking control in which it is easy for the operator M outside the vehicle to confirm the movement of the vehicle moving to the target parking space.

[3] According to the parking control method or the parking control device of the present embodiment, the predetermined area is set between the position of the operator M and the first distance (within the range from the position of the operator M to the second distance) By calculating the route to be in the predetermined area, it is possible to execute parking control in which it is easy for the operator outside the vehicle to confirm the movement of the vehicle.
Further, according to the parking control method or the parking control device of the present embodiment, the route can be set such that the turning start point included in the route is less than a predetermined distance from the position of the operator M. By turning the vehicle at a position less than the predetermined distance from the operator M, the operator M can easily confirm the position and the movement of the vehicle V at the time of turning.

[4] According to the parking control method or the parking control device of the present embodiment, the predetermined area is set between the position of the target parking space and the second distance (within the range from the position of the target parking space to the second distance) By calculating the route to be in the predetermined area, it is possible to execute parking control in which it is easy for the operator outside the vehicle to confirm the movement of the vehicle.
Further, according to the parking control method or the parking control device of the present embodiment, the route can be set such that the turning start point included in the route is less than a predetermined distance from the position of the target parking space. By turning the vehicle at a position less than the predetermined distance from the target parking space, it is possible for the operator M who monitors the vehicle moving to the target parking space to easily confirm the position and movement of the vehicle V at the time of turning.

  [5] According to the parking control method or the parking control device of the present embodiment, the operator outside the vehicle calculates the route including the turning start point set at a position less than the predetermined distance from the position of the operator M It is possible to execute parking control in which the movement of the vehicle at the time of turning can be easily confirmed. It is difficult for the operator M to accurately grasp the movement of the vehicle at turning and the positional relationship with the obstacle. By turning the vehicle V in a range less than the predetermined distance from the operator M, it is possible to easily confirm the movement and the position of the vehicle V at the time of turning.

  [6] According to the parking control method or the parking control device of the present embodiment, the turning start point included in the route is set to a position where the vehicle V passes by the operator M. It is difficult for the operator M to accurately grasp the movement and position of the approaching vehicle. By turning the vehicle V at a point crossing the operator M (at a point passing the operator M), it is possible to easily confirm the movement and position of the vehicle V at the time of turning.

  [7] According to the parking control method or the parking control device of the present embodiment, the turning start point included in the route is set on the downstream side of the position where the vehicle V passes by the operator M. It is easier for the operator M to grasp the movement and position of the separated vehicle V than the approaching vehicle V. After crossing the operator M (after passing the operator M), by turning the vehicle V when the vehicle V is separated from the operator M, it is easy to confirm the movement and position of the vehicle V at the time of turning can do.

[8] In the parking control method or the parking control device of the present embodiment, when the position of the operator M is between the route and the target parking space, the turning start point is from the position passing the side of the operator Also calculate the route set on the upstream side.
If the operator M is located between the route and the target parking space, that is, the operator M is located outside the circle including the turning trajectory of the vehicle V (the circle of the radius of curvature defining the turning trajectory) In this case, the vehicle V moving while turning is separated from the operator M. Such an observation position of the operator M is relatively easy to grasp the movement and the position of the vehicle V. When the operator M is located between the route and the target parking space, the turning start point can be set upstream of the position passing the side of the operator M. Even if the vehicle V turns upstream of the position passing the side of the operator M, the operator M can confirm the movement and the position of the vehicle V.

  [9] In the parking control method or the parking control device of the present embodiment, the longer the distance between the turning start point and the position passing the side of the operator M (the more the turning start point is on the upstream side) Set the speed low. When the vehicle V approaches, the operator M has difficulty in grasping the movement and the position of the vehicle V. The longer the distance that the vehicle V approaches while turning, the harder it is to grasp the movement or position of the vehicle V, so by setting the speed of the vehicle V low, it is easy to grasp the movement or position of the vehicle V can do.

  [10] In the parking control method or the parking control device of the present embodiment, a route including a turning point set at a position less than a predetermined distance from the operator M is calculated. A turning point is set at a position less than a predetermined distance from the operator M. As a result, by turning back the vehicle at a position less than the predetermined distance from the operator M, it is possible to easily confirm the position and movement of the vehicle V when the operator M turns back.

  [11] As described above, also in the parking control device 100 in which the method of the present embodiment is executed, the operations and effects described in the above 1 to 8 are exhibited.

Second Embodiment
The second embodiment will be described below.
The second embodiment is different from the first embodiment in the setting method of the predetermined area. Here, differences will be mainly described, and the description in the first embodiment will be incorporated for common points.

FIG. 8 is a flowchart showing an example of a process of calculating a parking path and a process of calculating a control command in the second embodiment.
In step 301, the control device 10 sets a predetermined area based on the position of the operator M and the position of the target parking space P. The control device 10 sets a turning start point.
When the turning start point is set, in step 302, the control device 10 determines a turning position (inclination with respect to the target parking space P) of the vehicle V based on the target parking space P. That is, the control device 10 sets a predetermined area based on the turning start point set based on the position of the operator M and the position of the target parking space P.

  The control device 10 sets the turning start point RO1 included in the route to a position where the vehicle V passes by the operator M (see FIG. 7A). The Y value of the turning start point RO1 is the same as the Y value of the position OP1 of the operator M. At a timing when the operator M located in front of the vehicle V is located beside the vehicle V as the vehicle V advances, the control device 10 calculates a path of curvature with which the turning amount is equal to or more than a predetermined value. It is difficult for the operator M to accurately grasp the movement and position of the approaching vehicle. By turning the vehicle V when crossing the operator M (when passing the operator M), it is possible to easily confirm the movement and position of the vehicle V at the time of turning.

  The control device 10 sets the turning start point included in the route on the downstream side (the first boundary line LY side) of the position where the vehicle V passes by the operator M (see FIG. 7B). The Y value of the turning start point RO2 is a value RO2 (Y) on the side of the traveling direction VF1 of the vehicle V than the Y value of the position OP2 of the operator M. It is easier for the operator M to grasp the movement and position of the separated vehicle V than the approaching vehicle V. After crossing the operator M (after passing the operator M), by turning the vehicle V when the vehicle V is separated from the operator M, it is easy to confirm the movement and position of the vehicle V at the time of turning can do.

  The control device 10 turns when the operator M is located between the route and the target parking space, that is, when the operator M is located outside a circle including the turning track of the vehicle V. The moving vehicle V moves away from the operator M (see FIG. 7C). Such an observation position of the operator M is relatively easy to grasp the movement and the position of the vehicle V. When the operator M is located between the route and the target parking space, the turning start point is upstream (Y is smaller than the position (Y = 0) at which the operator M passes by / Y) The lower side of the axis) can be set to the value RO3 (Y). Even if the vehicle V turns upstream of the position passing the side of the operator M, the operator M can confirm the movement and the position of the vehicle V.

  In step 303, the control device 10 can obtain the first boundary line LY and the second boundary line LX in consideration of the occupation range of the vehicle V at the turning position and its margin width. A predetermined area to which the parking route belongs can be set from the first boundary line LY and the second boundary line LX.

  In step 304, the control device 10 sets the curvature at each point on the route, including the turning start point. The first curvature upstream of the turning start point is smaller than the second curvature downstream of the turning start point.

  Since steps 305 to 310 are processes common to steps 305 to 310 in FIG. 5 of the first embodiment, the description in FIG. 5 is used.

  According to the present embodiment, by setting a predetermined area from the position of the operator M and the position of the target parking space and setting a parking path in the predetermined area, the movement of the vehicle is confirmed by the operator M outside the vehicle Easy to carry out parking control.

  As modes of parking control by remote operation, as shown in FIG. 10A, there are modes where it passes by the side of the operator M and as shown in FIG. 10B, modes where it does not pass by the side of the operator M. In the aspect of FIG. 10A, the vehicle V moves from the front to the back of the operator M (or from the right to the left). In the embodiment of FIG. 10B, the vehicle V is present only in front of or behind the operator M (or on either the right or left side).

  By the way, the route calculated by the method of the first embodiment or the second embodiment described above may include the aspect as described above, and a plurality of routes to the target parking space may be calculated. In such a case, the control device 10 selects a path with a relatively short time to parking completion (time required for parking control processing) or a path with a relatively short travel distance to parking completion.

  Since the parking control method according to the embodiment of the present invention is used as described above in the parking control device, the following effects can be obtained. The parking control device 100 according to the present embodiment is configured and operates as described above, and thus offers the following effects.

  [1] According to the parking control method or the parking control device of the present embodiment, the predetermined area including the vehicle is set based on the position of the operator M or based on the operator M and the position of the target parking space. A route belonging to the predetermined area is calculated. By setting the parking path in the predetermined area, it is possible to execute parking control in which the movement of the vehicle can be easily confirmed by the operator M outside the vehicle.

  [2] According to the parking control method or the parking control device of the present embodiment, the route is set such that the turning start point included in the route is less than a predetermined distance from the position of the operator M. By turning the vehicle at a position less than the predetermined distance from the operator M, the operator M can easily confirm the position and the movement of the vehicle V at the time of turning.

  [3] According to the parking control method or the parking control device of the present embodiment, the turning start point included in the route is set to a position where the vehicle V passes by the operator M. It is difficult for the operator M to accurately grasp the movement and position of the approaching vehicle. By turning the vehicle V when crossing the operator M (when passing the operator M), it is possible to easily confirm the movement and position of the vehicle V at the time of turning.

  [4] According to the parking control method or the parking control device of the present embodiment, the turning start point included in the route is set on the downstream side of the position where the vehicle V passes by the operator M. It is easier for the operator M to grasp the movement and position of the separated vehicle V than the approaching vehicle V. After crossing the operator M (after passing the operator M), by turning the vehicle V when the vehicle V is separated from the operator M, it is easy to confirm the movement and position of the vehicle V at the time of turning can do.

  [5] In the parking control method or the parking control apparatus of the present embodiment, when the operator M is located between the route and the target parking space, that is, the operator M is a circle including the turning trajectory of the vehicle V The vehicle V moving while turning is separated from the operator M. Such an observation position of the operator M is relatively easy to grasp the movement and the position of the vehicle V. When the operator M is located between the route and the target parking space, the turning start point can be set upstream of the position passing the side of the operator M. Even if the vehicle V turns upstream of the position passing the side of the operator M, the operator M can confirm the movement and the position of the vehicle V.

  [6] In the parking control method or the parking control device according to the present embodiment, the longer the distance between the turning start point and the position passing the side of the operator M (the more the turning start point is upstream) Set the speed low. When the vehicle V approaches, the operator M has difficulty in grasping the movement and the position of the vehicle V. The longer the distance that the vehicle V approaches while turning, the harder it is to grasp the movement or position of the vehicle V, so by setting the speed of the vehicle V low, it is easy to grasp the movement or position of the vehicle V can do.

  [7] In the parking control method or the parking control device of the present embodiment, a route including a turning point set at a position less than a predetermined distance from the operator M is calculated. A turning point is set at a position less than a predetermined distance from the operator M. As a result, by turning back the vehicle at a position less than the predetermined distance from the operator M, it is possible to easily confirm the position and movement of the vehicle V when the operator M turns back.

  [8] As described above, also in the parking control device 100 in which the method of the present embodiment is executed, the operations and effects described in the above 1 to 7 can be obtained.

  The embodiments described above are described to facilitate the understanding of the present invention, and are not described to limit the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents that fall within the technical scope of the present invention.

1000 ... parking control system 100 ... parking control device 10 ... control device 11 ... CPU
12 ... ROM
13 ... RAM
132: storage device 133: map information 134: parking lot information 135: object information 20: input device 21: communication device 211: antenna 30: output device 31: display 1a to 1d: camera 2: distance measuring device 3: information server 31 ... communication device 32 ... storage device 33 ... map information 34 ... parking lot information 35 ... object information 5 ... operation terminal 51 ... communication device 511 ... antenna 52 ... input device 53 ... display 200 ... in-vehicle device 40 ... drive system 50 ... steering angle Sensor 60: Vehicle speed sensor 70: Vehicle controller V, V1: Vehicle

Claims (11)

A parking control method for causing a vehicle to execute a control command to move the vehicle along a route to a target parking space based on an operation command acquired from an operator outside the vehicle.
Get the position of the operator,
Setting a predetermined area including the vehicle based on the position of the operator;
A parking control method for calculating a route belonging to the predetermined area. Acquiring the position of the target parking space specified by the operation command;
The parking control method according to claim 1, wherein the predetermined area is set based on the position of the operator and the position of the target parking space.   The parking control method according to claim 1 or 2, wherein the predetermined area is set between the position of the operator and the first distance. The setting process of the predetermined area is
Acquiring the position of the target parking space specified by the operation command;
The parking control method according to claim 2 or 3, wherein the predetermined area is set between the position of the target parking space and the second distance. In the process of calculating the route,
The parking control method according to any one of claims 1 to 4, wherein the route including a turning start point set at a position less than a predetermined distance from the position of the operator is calculated. In the process of calculating the route,
The parking control method according to claim 5, wherein the route set at a position where the turning start point passes by the operator is calculated. In the process of calculating the route,
The parking control method according to claim 5, wherein the route set on the downstream side of the position where the turning start point passes by the operator is calculated. In the process of calculating the route,
If the position of the operator is between the route and the target parking space:
The parking control method according to claim 5, wherein the route set on the upstream side of the position where the turning start point passes by the side of the operator is calculated. In the process of calculating the control command,
The parking control method according to claim 8, wherein the speed in the control command is set lower as the distance between the turning start point and the position passing the side of the operator is longer. In the process of calculating the route,
The parking control method according to any one of claims 1 to 9, wherein the route including a turning point set at a position less than a predetermined distance from the operator is calculated. A parking control apparatus comprising a control device that causes the vehicle to execute a control command for moving the vehicle along a route to a target parking space based on an operation command acquired from an operator outside the vehicle,
The controller is
Get the position of the operator,
Setting a predetermined area including the vehicle based on the position of the operator;
A parking control device that calculates a route belonging to the predetermined area.

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