JP2020063044A - Exit support method and device - Google Patents

Abstract

To provide an exit support method and device capable of expanding choice of exit routes.SOLUTION: An exit support method is executed by using an exit support controller for causing an own vehicle 1 to move from an exit start position to a target exit position along an exit route. The exit assist method includes the steps of: determining whether or not an adjacent parked vehicle 2 is present in a parking space adjacent to the exit start position; and when the adjacent parked vehicle 2 is present, setting the target exit position according to a position of the adjacent parked vehicle 2 and a travelling direction of the vehicle in the route in which the target exit position is set.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a shipping assistance method and apparatus.

  As a system that automatically leaves the vehicle from the parking place, the exit position is set, a trajectory from the parking place to the exit position is generated, and if an obstacle that is a stationary object is detected on the trajectory, the obstacle is detected. It is known to avoid such a situation and reset a trajectory that can reach the exit position (for example, refer to Patent Document 1).

JP, 2013-177128, A

  The system described in Patent Document 1 does not generate an exit route according to the presence / absence of a parked vehicle next to the own vehicle, and the options for the exit route are narrowed.

  The problem to be solved by the present invention is to provide a shipping assistance method and device capable of expanding the options of shipping routes.

  The present invention determines whether or not an adjacent parked vehicle exists in the parking space adjacent to the leaving start position, and when the adjacent parked vehicle exists, the position of the adjacent parked vehicle and the target exit position are determined. The above problem is solved by setting the target exit position according to the passage direction of the vehicle in the set passage.

  According to the present invention, it is possible to broaden the options for leaving routes.

It is a block diagram which shows the structure of the parking and leaving assistance device which concerns on one Embodiment of this invention. FIG. 3 is a block diagram for explaining a leaving assistance function of a parking and leaving assistance ECU of FIG. 1. It is a figure and a table for explaining the setting method of the leaving position of the self-vehicles which leave in a positive direction. It is a figure and a table for explaining the setting method of the leaving position of the own vehicle which goes out backward. It is a figure for demonstrating the method of automatically setting the leaving direction of the own vehicle. It is a figure for demonstrating the method of automatically setting the leaving direction of the own vehicle. It is a flowchart which shows the procedure which sets the leaving position of the own vehicle according to the distance to a destination. It is a flowchart which shows the procedure which sets the leaving position of the own vehicle according to the required time to a destination. It is a figure for demonstrating the method of automatically setting the leaving direction of the own vehicle. It is a figure which shows the remote control key which an operator operates. It is a figure for demonstrating the method of manually setting the leaving position of the own vehicle made to leave by remote control. It is a figure for demonstrating the method of automatically setting the leaving position of the own vehicle made to leave by remote control. It is a figure for demonstrating the method of automatically setting the leaving position of the own vehicle 1 made to leave by remote control. It is a figure for demonstrating the method of automatically setting the leaving position of the own vehicle 1 made to leave by remote control. It is a figure for demonstrating the method of automatically setting the leaving position of the own vehicle 1 made to leave by remote control. It is a figure for demonstrating the method of automatically setting the leaving position of the own vehicle made to leave by remote control in an unmanned parking lot. It is a figure for demonstrating the method of estimating the width X of the passage which exits. It is a figure for demonstrating the method of detecting the parking vehicle adjacent to the own vehicle. It is a figure for demonstrating the method of detecting the parking vehicle adjacent to the own vehicle. It is a figure for explaining the generation processing of the leaving path of the own vehicle leaving in the positive direction. It is a figure for demonstrating the production | generation process of the leaving path of the own vehicle which goes out backward. It is a flow chart which shows the procedure of generation processing of a shipping route. It is a figure for explaining generation processing of a shipping route. It is a figure for explaining generation processing of a shipping route. It is a flow chart which shows the procedure of generation processing of a leaving route concerning other embodiments.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a parking and leaving assistance device 100 according to an embodiment of the present invention. The parking and leaving assistance device 100 of the present embodiment is mounted on a vehicle and supports an operation of moving (parking) the vehicle to a parking space and an operation of moving the vehicle from the parking space (leaving). In addition, the parking and leaving assist device 100 may realize the parking operation or the leaving operation of the vehicle by remote control. For example, the occupant of the vehicle may realize the parking or leaving operation of the vehicle by inputting an instruction to start the parking or leaving assistance to a remote control device such as a remote controller or a mobile terminal outside the vehicle. .

  The parking and leaving assist device 100 of the present embodiment includes a camera group 10, a distance measuring device 15, a moving distance sensor 20, a steering angle sensor 30, a main switch 40, a parking and leaving assist ECU (Electronic control unit). 50, a vehicle control ECU 60, and a navigation system 70. The parking and leaving assist device 100 also includes a hardware group such as an engine control ECU (not shown) and a power assist ECU for steering, which are mounted on a normal vehicle. These components are connected by a CAN (Controller Area Network) or other vehicle-mounted LAN in order to exchange information with each other.

  The camera group 10 includes, for example, a front camera 11, a right side camera 12, a left side camera 13, and a rear camera 14 as illustrated. The front camera 11 is installed in the front bumper of the vehicle or in the vicinity thereof, and images the front of the own vehicle and outputs image information to the parking and shipping assistance ECU 50. The right side camera 12 is installed on the right side of the vehicle (for example, on the right side of the front end of the vehicle), images the right side of the own vehicle, and outputs image information to the parking and leaving assist ECU 50. The left side camera 13 is installed on the left side of the vehicle (for example, on the left side of the front end of the vehicle), captures the left side of the host vehicle, and outputs image information to the parking and shipping assistance ECU 50. The rear camera 14 is installed in the rear bumper of the vehicle or in the vicinity thereof, and images the rear of the vehicle and outputs image information to the parking and leaving assist ECU 50.

  The distance measuring device 15 is a radar device such as a millimeter wave radar, a laser radar, an ultrasonic radar, or sonar, is installed at the same position as the cameras 11 to 14, and is an obstacle around a vehicle, a pedestrian, another vehicle, or the like. The presence or absence of these, these positions, and the distance to these are detected.

  The movement distance sensor 20 calculates the movement amount of the own vehicle and outputs it to the parking and leaving assistance ECU 50. The travel distance sensor 20 can be configured using, for example, a rotation speed sensor that detects the rotation speed of the wheels of the vehicle.

  The steering angle sensor 30 is installed, for example, inside a steering column, detects the rotation angle of the steering wheel, and outputs it to the parking and leaving assist ECU 50.

  The main switch 40 is a switch operated by the user to instruct the start of parking assistance and leaving assistance, outputs an off signal to the parking and leaving assistance ECU 50 when not operated, and an on signal when operated. Is output to the parking and leaving assist ECU 50. The main switch 40 is, for example, a remote controller held by an occupant who is remotely operated outside the vehicle, a remote operation device such as a portable terminal, or a driver around the instrument panel of the vehicle or around the steering wheel. It is installed at a position where it can be operated. The main switch 40 may be a software switch provided on the screen of a mobile terminal such as a smartphone that can communicate with the vehicle via a network, or a software switch provided on the screen of the navigation device.

  The parking and leaving support ECU 50 is a controller that controls the parking and leaving support device 100 as a whole. The parking and leaving assist ECU 50 executes a program stored in the ROM 52 that stores the parking and leaving assist program, and the CPU 51 as an operation circuit that functions as the parking and leaving assist device 100 of the present embodiment. And a RAM 53 functioning as an accessible storage device. The parking and leaving assist ECU 50 receives the detection information or the command from the camera group 10, the distance measuring device 15, the moving distance sensor 20, the steering angle sensor 30, and the main switch 40, and outputs the target steering angle and the target vehicle speed of the own vehicle. It is calculated and output to the vehicle control ECU 60.

  The vehicle control ECU 60 is a controller that controls the drive of the vehicle. The vehicle control ECU 60 functions as a ROM 62 in which a vehicle drive control program is stored, a CPU 61 as an operation circuit that functions as a vehicle control device by executing the program stored in the ROM 62, and an accessible storage device. And a RAM 63. The vehicle control ECU 60 receives the target steering angle and the target vehicle speed of the vehicle from the parking and leaving assist ECU 50, and controls the drive of the vehicle in cooperation with the engine control ECU, the steering power assist ECU, and the like.

  FIG. 2 is a block diagram for explaining a parking assistance function of the parking and assistance ECU 50. As shown in this figure, the parking and leaving assist ECU 50 includes a leaving position setting unit 501, a leaving start position setting unit 502, a passage width estimating unit 503, a surrounding object detecting unit 504, and a leaving route generating unit 505. An exit route tracking control unit 506 and a target speed generation unit 507 are provided. Further, the vehicle control ECU 60 includes a steering angle control unit 601 and a speed control unit 602. Furthermore, the navigation system 70 includes a current position estimation unit 701. The current position estimation unit 701 estimates the current position of the own vehicle and outputs it to the leaving start position setting unit 502 and the leaving route tracking control unit 506. In this current position estimation processing, the current position of the host vehicle is measured using GPS (Global Positioning System), the current position is acquired by road-to-vehicle communication, and based on the steering amount of the steering wheel and the accelerator operation amount. The present position may be calculated by calculating the present position, or by accumulating the movement amount and position of the vehicle.

  The exit position setting unit 501 sets a position (hereinafter, referred to as a target exit position) at which the host vehicle leaves the parking position by automatic driving. Here, depending on the presence or absence of a parked vehicle adjacent to the own vehicle, the positional relationship between the parked vehicle and the own vehicle, or the like, the exit direction of the own vehicle may or may not be restricted. When the exit direction of the own vehicle is restricted by the adjacent parked vehicle, the exit position setting unit 501 determines the positional relationship between the parked vehicle and the own vehicle and whether the vehicle exits on the right side or the left side of the passage. , Set the delivery position. On the other hand, when there is no adjacent parked vehicle or when the adjacent parked vehicle does not restrict the exit direction of the own vehicle, the exit position setting unit 501 sets the exit position by various methods described below.

  Here, the exit position set by the exit position setting unit 501 when the exit direction of the own vehicle is restricted by an adjacent parked vehicle cannot be changed by the selection of the occupant, that is, the exit position is limited. Alternatively, it may be changed by the occupant's selection, that is, it may be initialized or recommended.

  3 and 4 are diagrams and tables for explaining a method for setting the exit position of the vehicle 1. FIG. 3 shows a table and a diagram for explaining a method of setting the exit position when the host vehicle 1 exits in the forward direction, and FIG. 4 shows the setting of the exit position when the host vehicle 1 exits in the backward direction. 3 shows a table and a figure for explaining the method.

  As shown in the diagram on the left side of FIG. 3, when there is an adjacent parked vehicle 2 on the right side of the host vehicle 1 that exits in a forward direction and the aisle for exiting is on the right side, the left side when viewed from the host vehicle 1 is Since it is easier to leave the warehouse than on the right side, the exit position is set in the right lane on the left side as viewed from the host vehicle 1. On the other hand, when there is an adjacent parked vehicle 2 on the right side of the host vehicle 1 that exits in a positive direction and the aisle for exiting is on the left side, the ease of exiting the host vehicle 1 is viewed from the host vehicle 1. Since there is no significant difference between the left side and the right side, the exit position of the vehicle 1 is not restricted. The easiness of leaving the own vehicle 1 is determined by the length of the distance in a straight line movement section, the size of the turning radius, and the number of times of turning back, which will be described later.

  On the other hand, as shown in the diagram on the right side of FIG. 3, when there is an adjacent parked vehicle 2 on the left side of the vehicle 1 that exits in a forward direction and the aisle for exiting is left-hand traffic, it is viewed from the vehicle 1. Since the right side is easier to leave than the left side, the leaving position is set in the left side traffic zone on the right side as viewed from the host vehicle 1. On the other hand, when there is an adjacent parked vehicle 2 on the left side of the own vehicle 1 that exits in a positive direction and the aisle for leaving the vehicle is on the right side, the easiness of leaving the own vehicle 1 is not seen from the own vehicle 1. Since there is no significant difference between the left side and the right side, the exit position of the vehicle 1 is not restricted.

  As shown in the diagram on the left side of FIG. 4, when there is an adjacent parked vehicle 2 on the right side (left side as viewed from the driver) of the own vehicle 1 that exits backwards, and the exit passage is on the right side, Since the right side when viewed from the host vehicle 1 (the rear left side when viewed from the driver) is easier to leave than the left side (the rear right side when viewed from the driver), the right side viewed from the host vehicle 1 (the rear left side viewed from the driver) ) Set the exit position in the right side traffic zone. On the other hand, when there is an adjacent parked vehicle 2 on the right side of the own vehicle 1 that exits in a backward direction and the aisle for leaving the vehicle is on the left side, the ease of leaving the own vehicle 1 is as seen from the own vehicle. Since there is no significant difference between the left side and the right side, the exit position of the vehicle 1 is not restricted. In addition, when leaving the vehicle in the rearward direction, the vehicle makes a turn based on the front wheel axle, but as shown by the solid arrow in the diagram on the left side of FIG. While the clearance between the front wheel and the adjacent parked vehicle 2 is large, when the vehicle exits to the left as seen from the own vehicle, as indicated by the dashed arrow in the diagram on the left side of FIG. The clearance with the adjacent parked vehicle 2 becomes relatively small. Therefore, in the situation shown in the diagram on the left side of FIG. 4, the right side when viewed from the vehicle 1 is easier to leave than the left side.

  On the other hand, when there is an adjacent parked vehicle 2 on the left side (right side when viewed from the driver) of the vehicle 1 that exits backwards and the aisle to exit is left-hand side, the left side when viewed from the vehicle 1 (driving Since the right side (rear side when viewed from the hand) is easier to leave than the right side (rear left side when viewed from the driver), set the exit position in the left side lane on the left side (rear right side when viewed from the driver) when viewed from the vehicle 1. Set. On the other hand, if there is an adjacent parked vehicle 2 on the left side of the own vehicle 1 that exits backwards and the aisle for leaving the vehicle is on the right side, the easiness of leaving the own vehicle 1 is not seen from the own vehicle 1. Since there is no significant difference between the left side and the right side, the exit position of the vehicle 1 is not restricted.

  Here, when the exit position of the host vehicle 1 is not restricted by the presence of the adjacent parked vehicle 2, the exit position of the host vehicle 1 is set automatically or manually. 5 to 16 are diagrams for explaining a method of automatically or manually setting the leaving direction of the vehicle 1.

First, as shown in FIG. 5, as a method of automatically setting the exit position of the own vehicle 1, a method of setting the exit direction in the passage direction of the exit passage can be exemplified. Here, the following methods (1) to (4) can be exemplified as the method of setting the passage direction of the passage for exiting.
(1) A sign or a road mark indicating a traveling direction is detected from the image information of the cameras 11 to 14, and the detected sign or the road mark is set in the direction.
(2) The traveling direction of the other vehicle is detected from the image information of the cameras 11 to 14 or the distance measurement information of the distance measuring device 15, and the detected traveling direction of the other vehicle is set.
(3) A traveling history including a traveling direction until the own vehicle is parked at the parking position is recorded, and the traveling direction included in the traveling history is set.
(4) The traffic direction is received from the base station of the parking lot, and the received traffic direction is set.

但し、Ｔ_ｉは経過時間であり、Ｄ_ｉは出庫方向であって、右方向の場合にはＤ_ｉ＝＋１、左方向の場合にはＤ_ｉ＝−１である。 As a method for automatically setting the exit position of the host vehicle 1, a method of setting based on the past exit history of the host vehicle 1 can be exemplified. In this setting method, when the judgment value J represented by the following formula (1) is a positive value, the leaving direction is set to the right, and when the judgment value D is a negative value, the leaving direction is set. To the left.

However, T _i is the elapsed time, D _i is the exit direction, D _i = + 1 in the case of the right direction, and D _i = −1 in the case of the left direction.

Table 1 shows an example of the delivery history. For the parking lot A shown in this table, J = (((1/1) × (+1)) + ((1/2) × (+1)) + ((1/2) × (+1))) = It will be +2 and will be to the right. For the parking lot B, J = (((1/2) * (-1) + ((1/2) * (-1)) + ((1/4) * (-1))) = It becomes −1.25, which is the left direction.For the parking lot C, J = (((1/2) × (+1) + ((1/1) × (+1)) + ((1/1 ) × (−1))) = + 0.5, which is the rightward direction.In this way, by including the elapsed time in the above formula (1), the latest shipping history is prioritized for determination. In other words, even if the leftward priority was given to the left in the past, if the latest priority was given to the right direction, the right is issued. In addition, the warehousing that is suitable for the current warehousing environment can be performed.Also, the elapsed time in the following table 1 is not limited to the hour, such as 1 hour, but it is not limited to that. And, the day or the like may be used.

  As shown in FIG. 6, as a method of automatically setting the exit position of the own vehicle 1, a method of setting the exit direction in the direction of the route R to the target point searched by the navigation system 70 can be exemplified.

  7 and 8 are flowcharts showing the procedure for automatically setting the exit position of the vehicle 1 according to the embodiment. FIG. 7 is a flowchart showing a procedure for setting the exit position of the vehicle 1 according to the distance to the destination. As shown in the flowchart of this figure, first, in step S1, the leaving position setting unit 501 calculates the distance to the destination when leaving in the right direction. Next, in step S2, the leaving position setting unit 501 calculates the distance to the destination when leaving to the left. Next, in step S3, the leaving position setting unit 501 determines whether or not the distance to the destination when leaving in the right direction is shorter than the distance to the destination when leaving in the left direction. When the determination is affirmative, the process proceeds to step S4, and when the determination is negative, the process proceeds to step S5. In step S4, the leaving position setting unit 501 sets the leaving direction to the right. On the other hand, in step S5, the leaving position setting unit 501 sets the leaving direction to the left. With that, the process ends.

  FIG. 8 is a flowchart showing a procedure for setting the exit position of the vehicle 1 according to the time required to reach the destination. As shown in the flowchart of this figure, first, in step S11, the leaving position setting unit 501 calculates the time required to reach the destination when leaving in the right direction. Next, in step S12, the leaving position setting unit 501 calculates the time required to reach the destination when leaving to the left. Next, in step S13, the exit position setting unit 501 determines whether the time required to reach the destination when leaving in the right direction is shorter than the time required to reach the destination when leaving in the left direction. To do. If the determination is affirmative, the process proceeds to step S14, and if the determination is negative, the process proceeds to step S15. In step S14, the leaving position setting unit 501 sets the leaving direction to the right. On the other hand, in step S15, the leaving position setting unit 501 sets the leaving direction to the left. With that, the process ends.

  As an example of a method for automatically setting the exit position of the vehicle 1 as shown in FIG. 9, a method of setting the exit direction in a direction in which the number of times of turning back is small can be exemplified. As shown on the left side of FIG. 9, the number of times of turning back is 2 when leaving to the left, whereas as shown on the right side of FIG. 9, the number of turning back is 0. In the case of turning, set the shipping direction to the right.

  Next, a method of setting the leaving position of the own vehicle 1 when the own vehicle 1 is brought out by remote control will be described. As a method of manually setting the leaving position of the own vehicle 1 to be brought out by remote control, a method of setting according to the operation of the touch panel display or operation keys of the navigation system 70, a touch panel display or operation keys of a mobile terminal such as a smartphone is used. Setting according to the operation, setting according to the operation of the turn signal lever, setting according to the steering angle or steering torque detected during the steering operation, and setting according to the operation of the remote control key button Etc. can be illustrated. Note that, as shown in FIG. 10, the remote control key 3 may be provided with a button 3L for instructing the leaving to the left and a button 3R for instructing the leaving to the right.

  Further, as shown in FIG. 11, as a method of manually setting the leaving position of the own vehicle 1 to be brought out by remote control, a method of setting according to the operation of the operator 4 can be exemplified. For example, the operator 4 indicates the leaving direction with his / her arm, and the operation of the operator 4 is carried out by sensors such as cameras 11 to 14 of the own vehicle 1 and the distance measuring device 15 mounted on the vehicle, or a portable terminal held by the operator 4. Alternatively, there may be mentioned a method in which the direction detected by the remote controller or a sensor installed in a parking lot and set by the operator 4 is set as the exit direction.

  As a method of automatically setting the leaving position of the own vehicle 1 to be brought out by remote control, a method of setting the leaving position in the vicinity of the operator 4 can be exemplified as shown in FIG. As a method of detecting the position of the operator 4, a vehicle-mounted sensor such as the cameras 11 to 14 and the distance measuring device 15 of the vehicle 1, a mobile terminal or a remote controller held by the operator 4, or a parking lot is installed. It is possible to exemplify a method of detecting with a sensor or the like. As a method of selecting the shipping direction, the distance between the shipping position in the right direction and the operator 4 and the distance between the shipping position in the left direction and the operator 4 are compared, and the shipping position in the shorter distance is selected. The method of doing can be illustrated.

  Further, as a method of automatically setting the leaving position of the own vehicle 1 to be brought out by remote control, as shown in FIGS. 13 and 14, a method of setting the leaving position at a position where the operator 4 can easily get into the own vehicle 1 Can be illustrated. As a position where the operator 4 can easily get into the own vehicle 1, as shown in FIG. 13, a space S between the door on the driver's seat side of the own vehicle 1 and the wall 5 is large enough to allow the operator 4 to get into the own driver's seat. 14 and a position where the operator S can secure a space S between the door on the passenger side of the vehicle 1 and the wall 5, as shown in FIG.

  Further, as a method of automatically setting the exit position of the own vehicle 1 to be exited by remote control, as shown in FIG. 15, a space S can be secured between the parking position and the exit position so that another vehicle 6 can pass through. The position can be illustrated.

  Further, as shown in FIG. 16, as a method for automatically setting the exit position of the vehicle 1 to be exited by remote control in an unmanned parking lot, the exit direction is set according to a command from the base station 7 of the parking lot. The method of doing can be illustrated. Examples of the exit direction instructed from the base station 7 include a direction in which the distance to the exit 8 of the parking lot is shortened, a direction according to the traveling direction of the other vehicle 6, and the like.

  Returning to FIG. 2, the delivery start position setting unit 502 sets a position at the start of the delivery support process (hereinafter referred to as a delivery start position) and outputs it to the delivery route generation unit 505. For example, when the main switch 40 is operated, the shipping start position setting unit 502 acquires the current position of the host vehicle 1 at that time from the current position estimation unit 701 and sets the acquired current position as the shipping start position. .

  The passage width estimation unit 503 estimates a width (hereinafter, referred to as a passage width) X of the passage to be delivered and outputs the estimated width X to the delivery route generation unit 505. For example, as shown in FIG. 17, when the vehicle exits the passage between the parking space 9 and the wall 5, the position of the frame of the parking space 9 is detected from the image information of the cameras 11 to 14, and the vehicle 1 is detected. The distance to the wall 5 is detected from the distance measurement information of the distance measuring device 15 and the image information of the cameras 11 to 14, and the passage width X between the frame of the parking space 9 and the wall 5 is determined based on these detection information. You can estimate it. The position of the parked vehicle 2 may be detected instead of the position of the parking space 9 and the distance between the parked vehicle 2 and the wall 5 may be estimated as the passage width X, or the distance between the own vehicle 1 and the wall 5. May be estimated as the passage width X. Further, the passage width X may be estimated and recorded based on the distance measurement information of the distance measuring device 15 or the image information of the cameras 11 to 14 at the time of storage. Further, as a sensor for measuring the distance from the vehicle 1 to the wall 5, a sonar sensor, an infrared sensor, a laser sensor, a radar sensor, a stereo camera, etc. can be exemplified. Furthermore, it is not essential to estimate the passage width X based on the detection information of the cameras 11 to 14 and the distance measuring device 15. For example, the passage width X can be obtained by communication with the outside of the vehicle, so-called road-vehicle communication, or vehicle-vehicle communication. Information may be acquired. Here, as the road-vehicle communication, communication between the base station of the parking lot and the host vehicle 1 can be exemplified.

Returning to FIG. 2, the surrounding object detection unit 504 detects the parked vehicle 2 adjacent to the own vehicle 1 and outputs it to the exit route generation unit 505. As an example of the method of detecting the adjacent parked vehicle 2 as shown in FIG. 18, a method of detecting with a vehicle-mounted sensor such as the cameras 11 to 14 and the distance measuring device 15 can be exemplified. Examples of the vehicle-mounted sensor include a sonar sensor, an infrared sensor, a laser sensor, a radar sensor, and a stereo camera. Here, as the determination condition for the presence or absence of the adjacent parked vehicle 2, if the distance between the object that has entered the detection range R _D of the vehicle-mounted sensor and the host vehicle 1 is less than or equal to the threshold value, there is the adjacent parked vehicle 2. The judgment conditions for the judgment can be exemplified. The threshold value in this case may be set based on the distance between the parked vehicles 2 in a general parking lot.

  As an example of the method of detecting the adjacent parked vehicle 2, as shown in FIG. 19, a method of detecting the presence or absence of the adjacent parked vehicle 2 from the detection state of the white line WL on the back side of the adjacent parking frame can be exemplified. Here, as the determination condition of the presence or absence of the adjacent parked vehicle 2, a determination condition of determining that the adjacent parked vehicle 2 exists when the length of the detected white line WL is equal to or less than a threshold value can be exemplified. In this case, the threshold may be set to a length slightly shorter than the length of the general white line WL.

  Note that it is not essential to detect the presence or absence of the adjacent parked vehicle 2 using an in-vehicle sensor. For example, information on the presence or absence of the adjacent parked vehicle 2 is obtained by communication with the outside of the vehicle, so-called road-to-vehicle communication, inter-vehicle communication. May be obtained. Here, as the road-vehicle communication, communication between the base station of the parking lot and the host vehicle 1 can be exemplified.

  Returning to FIG. 2, the shipping route generation unit 505 generates a route from the shipping start position set by the shipping start position setting unit 502 to the shipping position set by the shipping position setting unit 501 (hereinafter referred to as shipping route). Then, the information is output to the exit route tracking control unit 506 and the target speed generation unit 507. In the exit route generation processing, the exit route is calculated according to the presence / absence of the adjacent parking vehicle 2 and the positional relationship between the adjacent parking vehicle 2 and the own vehicle 1.

  20: is a figure for demonstrating the production | generation process of the leaving path of the own vehicle 1 leaving frontward, and FIG. 21 is a figure for demonstrating the production | generation process of the leaving path of the own vehicle 1 leaving backward. is there. As shown in FIG. 20, when there is an adjacent object such as a parked vehicle next to the own vehicle 1 and the vehicle exits to the side where the adjacent object exists in a forward direction, first, the vehicle advances linearly (hereinafter referred to as linear movement). ), And then, a leaving path is created for turning and leaving so as not to interfere with an adjacent object.

但し、Ｌは、出庫開始位置からの直線移動区間の距離（以下、直線移動距離という）であり、ｌ_０は、出庫開始位置に位置する自車両１の後輪車軸から隣接物体の前端までの距離であり、ｌ_１は、Ｌだけ前進した自車両１の後輪車軸から隣接物体の前端までの距離であり、ｗは、自車両１と隣接物体とのクリアランスであり、Ｒは、Ｌだけ前進した自車両１の後輪且つ内輪を基準とした旋回半径である。 In the situation shown in FIG. 20, the shipping route generation unit 505 generates a shipping route that satisfies the following expressions (2) and (3).

However, L is the distance of the linear movement section from the leaving start position (hereinafter referred to as the linear movement distance), and l ₀ is from the rear wheel axle of the vehicle 1 located at the leaving start position to the front end of the adjacent object. Is the distance, l ₁ is the distance from the rear wheel axle of the vehicle 1 that has moved forward by L to the front end of the adjacent object, w is the clearance between the vehicle 1 and the adjacent object, and R is only L The turning radius is based on the rear wheels and the inner wheels of the host vehicle 1 that has moved forward.

但し、Ｔは、自車両１の車幅である。 As shown in FIG. 21, when there is an adjacent object such as an adjacent vehicle on both sides of the vehicle 1 and the vehicle exits backward on the side of one of the adjacent objects, first, the vehicle is linearly moved backward (hereinafter referred to as linear movement). ), And then, a delivery path is created in which the vehicle exits by turning so as not to interfere with adjacent objects on both sides. In such a situation, the exit route generation unit 505 calculates the routes of the rear wheels and the inner wheels that satisfy the above expressions (2) and (3), and the routes of the front wheels and the outer wheels that satisfy the above expressions (2) and (4). Then, the route having the longer linear movement distance L from the delivery start position is generated as the delivery route.

However, T is the vehicle width of the host vehicle 1.

Here, it is not essential to generate a shipping route including the linear movement distance L. For example, the straight line movement distance may be set to L = 0 when there is no interference with the adjacent object even when the turning is started from the leaving start position or when there is no adjacent object. In the present embodiment, the exit route generation unit 505 determines that the distance between the rear wheel axle of the vehicle 1 located at the exit start position and the front end of the adjacent object is less than l ₁ and that the adjacent object is not detected. In addition, a shipping route having a linear movement distance of L = 0 is generated. However, when the space next to the host vehicle 1 is a prohibited area or an area where the road surface condition is poor, the exit route generation unit 505 determines the linear movement distance L as in the case where an adjacent object exists. Generate a shipping route that includes. As an area where the road surface condition is bad, an area where water pools, mud, snow, ice, oil, etc. are present can be exemplified.By creating a delivery route that does not pass through such areas, the vehicle body becomes dirty. It is possible to prevent a decrease in the accuracy of shipping assistance due to slippage or slip.

  FIG. 22 is a flowchart showing the procedure of the delivery route generation process, and FIGS. 23 and 24 are diagrams for explaining the delivery route generation process. The process of generating the exit route shown in the flowchart of FIG. 22 is started when the main switch 40 is operated to instruct the start of the exit support, and the process proceeds to step S101.

  In step S101, the exit route generation unit 505 determines the distance from the rear wheel axle of the host vehicle 1 located at the exit start position to the rear end (wall, parking frame, etc.) of the exit passage (hereinafter, depth setting value). Is calculated based on the image information of the cameras 11 to 14 and the distance measurement information of the distance measuring device 15. Next, in step S102, the exit route generation unit 505 sets the target exit line TL in the exit passage. Here, as the target delivery line TL, a center line of a passage for delivery (see FIG. 23), a center line of a front or back passage that divides the passage for delivery in two in the width direction, and the like can be exemplified. Note that it is not essential to execute step S101 prior to step S102, and step S102 may be executed prior to step S101.

  Next, in step S103, the exit route generation unit 505 determines whether or not the neighboring object detection unit 504 has detected the adjacent parked vehicle 2. If a positive determination is made in this step, the process proceeds to step S104, and if a negative determination is made, the process proceeds to step S105. In step S104, the exit route generation unit 505 uses the above equations (2) and (3) in the case of forward exit, and the above equations (2) to (4) in the case of backward exit. The straight line movement distance L is calculated. Depending on the positional relationship between the rear wheel axle of the vehicle 1 and the front end of the adjacent parked vehicle 2, the linear movement distance may be L = 0. On the other hand, in step S105, the exit route generation unit 505 sets the linear movement distance to L = 0.

  After steps S104 and S105, in step S106, the exit route generation unit 505 uses the above formulas (2) and (3) in the case of the forward exit, and in the case of the backward exit, the above (2)- The turning radius R is calculated based on the equation (4), and the exit route is generated according to the linear movement distance L set in steps S104 and S105 and the turning radius R calculated in this step.

  Here, as shown in FIG. 23, when there are adjacent parked vehicles 2, a clearance is provided between the turning own vehicle 1 and the adjacent parked vehicle 2 to such an extent that an occupant does not feel uncomfortable. , The linear movement distance L and the turning radius R are set. Therefore, when the adjacent parking vehicle 2 exists, a delivery route is generated such that the host vehicle 1 passes outside the adjacent parking space 9. On the other hand, as shown in FIG. 24, when the adjacent parking vehicle 2 does not exist, an exit route is generated such that the host vehicle 1 passes through the adjacent parking space 9.

  Returning to FIG. 22, in step S107, the exit route generation unit 505 determines whether the target exit line TL can be reached when the host vehicle 1 is exited along the exit route generated in step S106. If a positive determination is made in this step, the process proceeds to step S108, and if a negative determination is made, the process proceeds to step S109.

  In step S108, when the exit route generation unit 505 exits the host vehicle 1 along the exit route generated in step S106, the host vehicle 1 within the passage width corresponding to the depth setting value set in step S101. Determine whether or not can proceed. If the affirmative judgment is made in this step, the processing is ended, and if the negative judgment is made, the routine proceeds to step S109.

  In step S109, the delivery route generation unit 505 generates a delivery route including a cutback. After that, the process returns to step S107, and steps S107 to S109 are repeatedly executed. Here, when a negative determination is made again in step S107 or step S108, the exit route having a plurality of times of turning back is generated.

  As described above, in the exit assistance method according to the present embodiment, when there is an adjacent parked vehicle 2, depending on the position of the adjacent parked vehicle 2 and the traffic direction of the vehicle in the exit passage. The target exit position is set (see FIGS. 3 and 4). For example, as described above, when there is the adjacent parked vehicle 2 on the right side and the passage for leaving the vehicle is on the right side and the vehicle exits in the forward direction, the leaving position is set on the left side. As a result, it is possible to generate a shipping route that gently turns from the shipping start position to the target shipping position, and it is possible to reduce the uncomfortable feeling given to the occupant at the time of shipping.

  Further, in the exit assistance method according to the present embodiment, it is determined whether or not the adjacent parking vehicle 2 exists in the parking space 9 adjacent to the exit start position of the own vehicle 1, and when the adjacent parking vehicle 2 does not exist. For example, the exit route including the adjacent parking space 9 is generated (see FIG. 24). Thereby, for example, when the route is recorded in the parking process to the parking position and the recorded route is set as the exit route, or when the exit route is set in advance, the exit route regardless of the presence or absence of the adjacent parking vehicle 2. Compared with the case of generating, the options of shipping routes can be expanded.

  Here, when the exit route including the adjacent parking space 9 is generated, the linear movement distance L from the exit start position is reduced as compared with the case where the exit route that does not include the adjacent parking space 9 is generated. It is also possible to reduce the turning radius. This makes it easy to reach the target shipping line TL, and it is possible to reduce the number of times of turning back and shorten the shipping time.

  By the way, a method is conceivable in which an empty space is detected from image information of a camera or the like, and a shipping route passing through the empty space is generated. When detecting a vacant space from the image information of the camera with this method, the detection accuracy is ensured outdoors because strong sunlight in the daytime, dark shadows, insufficient lighting at night, retrograde and reflection of lights will be obstacles. Difficult to do, limited to underground and indoors. Therefore, depending on the surrounding environment, it is difficult to estimate details of the vacant space (for example, width, length, presence / absence of white line detection, etc.) and the vacant space with high accuracy, so that the exit route cannot be accurately generated. There are cases.

  On the other hand, in the exit assistance method according to the present embodiment, the presence or absence of the adjacent parked vehicle 2 is detected based on the image information of the camera or the ranging information of the ranging device 15. It is easy to ensure the detection accuracy regardless of the brightness of the surroundings, that is, regardless of whether it is indoors or outdoors. That is, the presence or absence of the adjacent parked vehicle 2 is easier to detect than to estimate the details of the vacant space or to accurately estimate the vacant space. Therefore, regardless of the surrounding environment, it is possible to accurately estimate the space for generating the shipping route, and to generate the shipping route with high accuracy.

  Further, in the exit assistance method according to the present embodiment, when there is an adjacent parked vehicle 2, a linear movement section that linearly moves from the exit start position and an adjacent parking vehicle 2 from the end point of the linear movement section do not interfere. The exit route including the turning section that turns like this is generated (see FIG. 23). Here, the distance L of the linear movement section is set according to the distance W between the adjacent parked vehicle 2 and the own vehicle 1 (see FIGS. 20 and 21). Thereby, when the adjacent parking vehicle 2 exists, the exit route that does not interfere with the adjacent parking vehicle 2 is generated, while when the adjacent parking vehicle 2 does not exist, the exit route including the adjacent parking space 9 is generated. Can be generated.

  Further, in the exit assistance method according to the present embodiment, the distance L of the linear movement section is set to 0 when there is no adjacent parked vehicle 2. Thereby, when there is no adjacent parked vehicle 2, it is possible to generate an exit route including the adjacent parking space 9.

  Further, in the shipping assistance method according to the present embodiment, the operator's command for designating the target parking position is accepted, and the target parking position is set according to the accepted command (see FIGS. 10 and 11). For example, as described above, the instruction of the operator is received by the buttons 3L, 3R of the remote control key 3, or the instruction of the operator 4 is received by detecting the operation of the operator 4. As a result, it is possible to leave the operator 4 at a position according to the request of the operator 4, and it is possible to reduce the uncomfortable feeling given to the operator 4 when leaving the operator.

  Further, in the shipping assistance method according to the present embodiment, the target shipping position is set according to a predetermined automatic setting condition (see FIGS. 5 to 9 and 12 to 16). For example, the target exit position may be set so that the passing direction of the exit passage may coincide with the exit direction (see FIG. 5), or the direction of the route R to the target point searched by the navigation system 70 may be different from the exit direction. The target shipping position is set so as to match (see FIG. 6), or the target shipping position is set in the direction in which the number of times of turning back is reduced (see FIG. 9). As a result, it is possible to reduce the uncomfortable feeling given to the occupant when leaving the garage.

  Further, in the shipping assistance method according to the present embodiment, the target shipping position is set according to the position of the operator 4 who remotely operates the vehicle 1 (see FIGS. 12 to 14). For example, a target parking position is set in the vicinity of the operator 4 (see FIG. 12), or a space S is provided between the driver-side door of the vehicle 1 and the wall 5 so that the operator 4 can get into the driver's seat. The target parking position can be set at a position where the vehicle can be secured (see FIG. 13), and a space S can be secured between the door on the passenger side of the vehicle 1 and the wall 5 so that the operator 4 can get into the passenger seat. The target parking position is set to the position (see FIG. 14). As a result, it is possible to reduce the uncomfortable feeling given to the operator 4 who operates remotely.

  FIG. 25 is a flowchart showing the procedure of the shipping route generation processing according to another embodiment. The process of generating the exit route shown in the flowchart of FIG. 25 is started when the main switch 40 is operated to instruct the start of the exit support, and steps S101 to S105 of the flowchart shown in FIG. 22 are executed.

  After step S104 and step S105, in step S110, the exit route generation unit 505 changes the linear movement distance L. In this step, the linear movement distance L set in step S104 or step S105 is extended. Next, in step S106, the delivery route generation unit 505 uses the above equations (2) and (3) in the case of forward delivery, and in the above equations (2) to (4) in the case of backward delivery. Based on this, the turning radius R is calculated, and a delivery route is generated according to the linear movement distance L set in step S110 and the turning radius R calculated in this step.

  Next, steps S107 to S109 of the flowchart shown in FIG. 22 are executed. When it is determined in step S107 that the target delivery line can be reached, and when it is determined in step S108 that the target delivery line can proceed within the range of the depth set value, the delivery route generation unit 505 determines in step S111. It is determined whether the generated delivery route satisfies a predetermined determination condition. When a negative determination is made in this step, the process returns to step S110, the linear movement distance L is changed again, and steps S106 to S109 and S111 are executed. On the other hand, if a positive determination is made in this step, the process ends.

  Here, the process of changing the linear movement distance L in step S110 is executed according to the passage width and the target exit position. For example, the linear movement distance L is made longer as the passage width becomes wider and the distance from the leaving start position to the target leaving position becomes longer.

  Examples of the predetermined determination condition in step S111 include whether or not the total distance of the delivery route is a predetermined distance or less, and whether the delivery time is a predetermined time or less. It is possible to exemplify that the predetermined distance or the predetermined time in this determination condition is set to such a length that the occupant or an operator who operates remotely does not feel uncomfortable. Further, it is exemplified that the loop of steps S110, S106 to S109, and S111 is always repeated a plurality of times, and an optimal shipping route is selected from a plurality of shipping routes generated during that time based on conditions such as distance and time. it can. As the predetermined determination condition of step S111 in this case, a determination condition of selecting the delivery route having the highest total value of evaluation points such as distance and time from the plurality of generated delivery routes can be exemplified.

  As described above, in the shipping assistance method according to the present embodiment, the linear movement distance L is set according to conditions such as the passage width and the target shipping position, and the set linear movement distance L is included, and the predetermined determination condition is included. A shipping route that satisfies the above is generated. As a result, it is possible to generate an exit route that is suitable for the occupants and operators.

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

  For example, in the above-described embodiment, when the adjacent parked vehicle 2 exists, the exit route that does not include the adjacent parking space 9 is generated, but this is not essential, and it may interfere with the adjacent parked vehicle 2. If it is possible to turn without a vehicle, an exit route including the adjacent parking space 9 may be generated.

1 Own vehicle 2 Parking vehicle 9 Parking space 50 Parking and leaving assist ECU
100 Parking and leaving assistance device L Distance of linear movement section, linear movement distance W Distance between own vehicle 1 and adjacent parking vehicle 2

Claims (8)

A shipping assistance method that is executed by using a shipping assistance controller that moves a vehicle along a shipping route from a shipping start position to a target shipping position,
Determine whether or not there is an adjacent parking vehicle in the parking space adjacent to the leaving start position,
When there is the adjacent parking vehicle, the exit assistance method for setting the target exit position according to the position of the adjacent parking vehicle and the traveling direction of the vehicle in the passage for setting the target exit position. When the adjacent parking vehicle is present, the exit route not including the adjacent parking space is generated,
The delivery assistance method according to claim 1, wherein the delivery route including the adjacent parking space is generated when the adjacent parking vehicle does not exist. The exit route in the case where the adjacent parked vehicle exists, the straight travel section that linearly moves from the exit start position, and the turning that turns from the end point of the straight travel section so as not to interfere with the adjacent parked vehicle Including sections and
The leaving assistance method according to claim 1 or 2, wherein the distance of the linear movement section is set according to the distance between the adjacent parked vehicle and the own vehicle.   The exit assisting method according to claim 3, wherein the distance of the linear movement section is set to 0 when the adjacent parked vehicle does not exist.   The shipping assistance method according to any one of claims 1 to 4, wherein a command from an operator designating the target shipping position is received, and the target shipping position is set according to the received command.   The shipping assistance method according to any one of claims 1 to 4, wherein the target shipping position is set according to a predetermined automatic setting condition.   7. The shipping assistance method according to claim 6, wherein the predetermined automatic setting condition is a condition set according to a position of an operator who remotely operates the vehicle. A shipping assistance device including a shipping assistance controller for moving a vehicle along a shipping route from a shipping start position to a target shipping position,
The delivery support controller,
Determine whether or not there is an adjacent parking vehicle in the parking space adjacent to the leaving start position,
When there is the adjacent parked vehicle, the exit assistance device that sets the target exit position according to the position of the adjacent parked vehicle and the traveling direction of the vehicle in the passage that sets the target exit position.

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