JP2019153224A - Parking support system - Google Patents

Abstract

To achieve suitable updating of map information used for parking support.SOLUTION: A parking support system (10) is the parking support system which supports parking of a plurality of vehicles (100, 200) sharing a parking lot. Each of the plurality of vehicles includes: support means (212) for executing parking support using map information of the parking lot; update means (151) for updating map information according to a present state of the parking lot when a change point is detected between a present state of the parking lot and the map information, during execution of parking support; transmission means (151) for transmitting the map information updated by the update means to any other vehicle than an own vehicle of the plurality of vehicles; and acquisition means (211) for acquiring the map information transmitted from the transmission means of the other vehicle as new map information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technical field of a parking assistance system capable of parking a vehicle.

  As a self-position estimation technique of an autonomous mobile device (for example, a vehicle that automatically travels), one that uses appropriately updated map information is known. For example, Patent Document 1 discloses a technique of updating map information based on surrounding environment information acquired by an environment information acquisition sensor included in a mobile body.

JP 2014-203145 A

  In parking support control, for example, it is desirable to perform driving support using map information of a parking lot. However, changes in map information (specifically, changes in the arrangement position of obstacles, etc.) frequently occur in places used by a plurality of people, such as a parking lot at home. For this reason, it is not possible to maintain the map information in an appropriate state (for example, the latest state) only by updating the map information using the sensor of the host vehicle as in the technique described in Patent Document 1, for example. difficult.

  This invention is made | formed in view of the said problem, and makes it a subject to provide the parking assistance system which can update the map information used for parking assistance suitably.

  In one aspect of the parking support system according to the present invention, the parking support system supports parking of a plurality of vehicles sharing a parking lot, and each of the plurality of vehicles parks using map information of the parking lot. When a change point is detected between the current situation of the parking lot and the map information during the execution of the parking assistance, the support means for executing the assistance, depending on the current situation of the parking lot Update means for updating the map information, transmission means for transmitting the map information updated by the update means to a vehicle other than the host vehicle among the plurality of vehicles, and the transmission means for the other vehicles Acquisition means for acquiring the map information transmitted from as new map information.

It is a block diagram which shows the structure of the parking assistance system which concerns on this embodiment. It is a flowchart which shows the operation | movement performed with the 1st vehicle in the parking assistance system which concerns on this embodiment. It is a flowchart which shows the operation | movement performed with the 2nd vehicle in the parking assistance system which concerns on this embodiment.

  Hereinafter, an embodiment of a parking assistance system will be described with reference to the drawings.

<System configuration>
First, the structure of the parking assistance system which concerns on this embodiment is demonstrated with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a parking assistance system according to the present embodiment.

  In FIG. 1, a parking support system 10 according to the present embodiment is configured to include a first vehicle 100, a second vehicle 200, and a network 300. In addition, the number of vehicles with which the parking assistance system 10 is provided may be two or more.

  The first vehicle 100 and the second vehicle 200 are vehicles that share a parking lot, and are configured to be communicable via the network 300. More specifically, the first vehicle 100 and the second vehicle 200 are configured to be able to transmit / receive map information of a shared parking lot via the network 300. Instead of the network 300, a server that can communicate with each of the first vehicle 100 and the second vehicle 200 may be provided.

  The first vehicle 100 includes a periphery monitoring sensor 110, a vehicle state sensor 120, a GPS (Global Positioning System) sensor 130, an IG-SW (ignition switch) 140, and an automatic driving device 150.

  The peripheral monitoring sensor 110 is a detection device that detects peripheral information of the vehicle 10 (for example, information on obstacles existing around the vehicle 10). The periphery monitoring sensor 11 includes, for example, a camera, a radar, and a rider (LIDER: Laser Imaging Detection and Ranging). The periphery information detected by the periphery monitoring sensor 11 is configured to be output to the parking lot map update unit 151.

  The vehicle state sensor 120 is a detection device that detects information (various parameters inside the vehicle) indicating the state of the vehicle. The vehicle state sensor 120 includes, for example, a vehicle speed sensor, a steering angle sensor, a shift sensor, an acceleration sensor, and the like. Information detected by the vehicle state sensor 120 is output to the parking lot map update unit 151 and the parking completion determination unit 152.

  The GPS sensor 130 acquires position information of the host vehicle using GPS. The position information acquired by the GPS sensor 130 is configured to be output to the parking completion determination unit 152.

  The IG-SW 140 acquires the ignition information of the vehicle. The ignition information acquired by the IG-SW 140 is configured to be output to the parking completion determination unit 152.

  The automatic driving device 150 is a device that automatically travels the vehicle, and is configured to execute, for example, parking assistance (specifically, control for automatically parking the vehicle in a predetermined parking space). The automatic driving device 150 in the first vehicle 100 includes a parking lot map update unit 151 and a parking completion determination unit 152 as a processing block or a physical processing circuit for realizing a function related to parking assistance.

  The parking lot map update unit 151 is configured to update the map information of the parking lot based on the peripheral information detected by the peripheral monitoring sensor 11 and the information detected by the vehicle state sensor 120. More specifically, the parking lot map updating unit 151 has a function of updating the current parking lot map information to the latest one according to the current parking lot situation. The parking lot map update unit 151 is configured to be able to transmit the updated map information to the second vehicle 200 via the network 300. The parking lot map update unit 151 is a specific example of “update means” and “transmission means” in an appendix to be described later.

  The parking completion determination unit 152 completes the parking operation of the first vehicle 100 based on the information detected by the vehicle state sensor 120, the position information acquired by the GPS sensor 130, and the ignition information acquired by the IG-SW 140. It is possible to determine whether or not it has been done. The parking completion determination unit 152 is configured to be able to transmit to the parking lot map update unit 151 that the parking operation of the first vehicle 100 has been completed.

  The second vehicle 200 includes an automatic driving device 210 and ECUs (Electric Control Units) 220.

  Similar to the automatic driving device 150 in the first vehicle 100, the automatic driving device 210 is a device that automatically runs the vehicle, and is configured to be able to perform parking assistance, for example. The automatic driving device 210 in the second vehicle 200 includes a parking lot map update unit 211 and an automatic travel determination unit 212 as a processing block or a physical processing circuit for realizing a function related to parking assistance.

  The parking lot map update unit 210 acquires the map information of the parking lot transmitted from the parking lot map update unit 150 of the first vehicle 100 and updates it as the latest map information. The map information updated by the parking lot map update unit 210 is appropriately output to the automatic travel determination unit 212. The parking lot map update unit 210 is a specific example of “acquisition means” in an appendix to be described later.

  The automatic travel determination unit 212 uses the map information of the parking lot method acquired from the parking lot map update unit 210 at the time of parking support execution, and various parameters (for example, a travel route, Each control amount (braking force, driving force, shift, steer, power supply switching, etc.) is determined. Various parameters determined by the automatic travel determination unit 212 are configured to be output to each ECU 220. The automatic travel determination unit 212 is a specific example of “support means” in an appendix to be described later.

  Each ECU 220 is a control unit group that controls the operation of each part of the vehicle, and controls the traveling of the vehicle based on various parameters determined by the automatic traveling determination unit 212.

  Each component included in the first vehicle 100 described above also includes the second vehicle 200. Similarly, each component included in the second vehicle 200 described above also includes the first vehicle 100. That is, the first vehicle 100 and the second vehicle 200 each have a function of updating and transmitting map information and a function of acquiring (receiving) and updating map information. However, in the present embodiment, for convenience of explanation, the description will be made assuming that the first vehicle 100 is a vehicle that transmits map information and the second vehicle 200 is a vehicle that receives map information.

<Description of operation>
Next, operation | movement of the parking assistance system 10 which concerns on this embodiment is demonstrated with reference to FIG.2 and FIG.3. FIG. 2 is a flowchart showing an operation executed by the first vehicle in the parking assistance system according to the present embodiment. FIG. 3 is a flowchart showing an operation executed by the second vehicle in the parking support system according to the present embodiment.

  As shown in FIG. 2, in the first vehicle 100, it is first determined whether or not parking assistance has been started (step S101). When it is determined that parking assistance has not been started (step S101: NO), the subsequent processing is omitted, and a series of processing ends. In this case, after the predetermined period has elapsed, the process of step S101 is executed again.

  When it is determined that parking support has been started (step S101: YES), the parking lot map update unit 150 is based on the peripheral information detected by the peripheral monitoring sensor 11 and the information detected by the vehicle state sensor 120. It is determined whether or not there is a change point (for example, a change in the position of an obstacle) between the current situation of the parking lot and the current map information (step S102). When the change point has occurred (step S102: YES), the parking lot update unit 150 updates the map information to the latest according to the current situation of the parking lot (that is, the current position of the obstacle, etc.). Update the map information to reflect). On the other hand, when there is no change point (step S102: NO), the map information update process in step S103 is omitted.

  Subsequently, the parking completion determination unit 152 determines whether or not the parking operation of the first vehicle 100 has been completed (step S104). When it is determined that the parking operation of the first vehicle 100 has not been completed (step S104: NO), the process does not proceed to the subsequent processing and enters a standby state. When it is determined that the parking operation of the first vehicle 100 has been completed (step S103: YES), the timing at which the parking operation is completed is transmitted from the parking completion determination unit 152 to the parking lot map update unit 150. Processing begins.

  Subsequently, the parking lot map update unit 150 determines whether or not the map information has been updated when the parking assistance is executed (step S105). That is, it is determined whether the process for updating the map information in step S103 has been executed or omitted. When the map information is updated (step S105: YES), the parking lot update unit 150 transmits (uploads) the updated map information to the second vehicle 200. On the other hand, when the map information has not been updated (step S105: NO), the map information transmission process in step S106 is omitted.

  As shown in FIG. 3, in the second vehicle 200, it is first determined whether or not the updated map information has been uploaded from the first vehicle 100 (step S201). That is, it is determined whether the upload process of step S106 in FIG. 2 has been executed or omitted. When it is determined that the map information has not been uploaded (step S201: NO), the subsequent processing is omitted and a series of processing ends. In this case, after the predetermined period has elapsed, the process of step S201 is executed again.

  When it is determined that the map information has been uploaded (step S201: YES), the parking lot map update unit 210 acquires the map information uploaded from the first vehicle 100 (step S202). And the parking lot map update part 210 overwrites the acquired map information on the current map information, and updates it as the newest map information (step S203).

  The map information updated in this way is used when parking assistance is performed in the second vehicle 200. In addition, when parking assistance is performed in the second vehicle 200, the same processing as the series of processing performed by the first vehicle 100 described in FIG. In this case, the map information updated by the second vehicle 200 is transmitted to the first vehicle 100.

<Effect of embodiment>
Next, the technical effect obtained by the parking assistance system 10 according to the present embodiment will be described in detail.

  As described with reference to FIGS. 1 to 3, according to the parking assistance system 10 according to the present embodiment, the map information of the parking lot can be shared between the first vehicle 100 and the second vehicle 200. . Therefore, parking assistance can be executed using the latest map information even for a parking lot where the position of an obstacle frequently changes, such as a parking lot at home. Thereby, compared with the case where map information cannot be shared, for example, more suitable parking assistance can be realized.

  More specifically, in the configuration of the comparative example in which the map information cannot be shared, the map information is not updated in the second vehicle 200 even if the map information is updated during the parking assistance of the first vehicle 100. For this reason, the second vehicle 200 cannot know the current state of the parking lot after the parking assistance is executed and actually enters the parking lot. As a result, in the parking assistance system according to the comparative example, inappropriate parking assistance may be executed when the second vehicle 200 is parked. However, in the present embodiment, as described above, when the map information is updated during the parking assistance of the first vehicle 100, the map information of the second vehicle 200 is also updated. For this reason, in the 2nd vehicle 200, before the parking assistance is performed and it approachs into a parking lot, the present condition of the parking lot is grasped | ascertained. Therefore, when the second vehicle 200 is parked, appropriate parking assistance considering the current situation is realized.

  In the above-described embodiment, the parking support system 10 has been described with an example including two vehicles (that is, the first vehicle 100 and the second vehicle 200). However, the parking support system 10 includes three or more vehicles. The same technical effect can be obtained even in the case of Specifically, the map information is transmitted to all other vehicles from the vehicle whose parking lot map information is updated during parking assistance, so that the latest information can be obtained from a plurality of vehicles included in the parking assistance system 10. You can share map information.

<Appendix>
Various aspects of the invention derived from the embodiments described above will be described below.

(Appendix 1)
The parking support system according to attachment 1 is a parking support system that supports parking of a plurality of vehicles that share a parking lot, and each of the plurality of vehicles provides parking support using map information of the parking lot. When the change means is detected between the current situation of the parking lot and the map information during the execution of the parking assistance, the map according to the current situation of the parking lot Update means for updating information, transmission means for transmitting the map information updated by the update means to a vehicle other than the host vehicle among the plurality of vehicles, and transmission from the transmission means of the other vehicles Acquisition means for acquiring the map information thus obtained as new map information.

  According to the parking support system of appendix 1, the map information of the parking lot updated according to the current situation of the parking lot is transferred from the vehicle executing the parking support to another vehicle sharing the parking lot. Sent. Thereby, the latest map information of a parking lot is shared among a plurality of vehicles. Therefore, even when performing parking support to a parking lot where map information should be updated frequently (for example, a parking lot at home where the location of obstacles changes daily), Appropriate parking assistance (specifically, parking assistance using map information according to the current parking conditions) can be executed for each.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit or concept of the invention that can be read from the claims and the entire specification. Moreover, it is included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Parking assistance system 100 1st vehicle 110 Perimeter monitoring sensor 120 Vehicle state sensor 130 GPS sensor 140 IG-SW
DESCRIPTION OF SYMBOLS 150 Automatic driving device 151 Parking lot map update part 152 Parking completion judgment part 200 2nd vehicle 210 Automatic driving device 211 Parking lot map update part 212 Automatic travel judgment part 220 Each ECU
300 network

Claims (1)

A parking support system that supports parking of a plurality of vehicles sharing a parking lot,
Each of the plurality of vehicles is
Support means for performing parking support using the map information of the parking lot;
Update means for updating the map information according to the current situation of the parking lot when a change point is detected between the current situation of the parking lot and the map information during the execution of the parking assistance When,
Transmitting means for transmitting the map information updated by the updating means to a vehicle other than the own vehicle among the plurality of vehicles;
A parking support system comprising: an acquisition unit that acquires the map information transmitted from the transmission unit of the other vehicle as new map information.

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