JP2020140348A - Vehicle control system, vehicle control method, and program - Google Patents

Abstract

To provide a vehicle control system, a vehicle control method, and a program that can stop a vehicle in response to a predicted behavior of a crewmember.SOLUTION: A vehicle control system includes: recognition units (130, 131) for recognizing the surrounding environment of a vehicle; and driving control units (140, 160) for performing speed control and steering control of the vehicle based on recognition results of the recognition units. When moving the vehicle to a boarding position at which a crewmember candidate gets on and stopping it, the driving control unit controls the vehicle based on the position of the crewmember candidate recognized by the recognition unit and the state of equipment installed at the boarding position. When the crewmember candidate is at the boarding position and the equipment is not installed, the driving control unit performs first stop control to stop the vehicle at the position of the crewmember candidate, and when the crewmember candidate is at the boarding position and the equipment is installed, the driving control unit performs second stop control to stop the vehicle based on the position of the equipment.SELECTED DRAWING: Figure 1

Description

The present invention relates to vehicle control systems, vehicle control methods, and programs.

In recent years, research has been conducted on the automatic control of vehicles. In connection with this, there is known a technique of stopping the vehicle at a position where it is easy to load the luggage when the occupant who is going to get on the vehicle has the luggage (for example, Patent Document 1).

JP-A-2017-185954

Here, even when the occupant is in possession of luggage, it may not be preferable to stop the vehicle in the vicinity of the occupant depending on the next action performed by the occupant. However, in the conventional technique, it may be difficult to determine the stop position of the vehicle according to the state of the occupant.

The present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a vehicle control system, a vehicle control method, and a program capable of stopping a vehicle according to a predicted behavior of an occupant. It is one of.

The vehicle control system, the vehicle control method, and the program according to the present invention have adopted the following configurations.
(1): The vehicle control system according to one aspect of the present invention includes a recognition unit that recognizes the surrounding environment of the vehicle, and a driving control unit that performs speed control and steering control of the vehicle based on the recognition result of the recognition unit. The operation control unit is installed at the position of the occupant candidate recognized by the recognition unit and the occupancy position when the vehicle is moved to the boarding position on which the occupant candidate rides and stopped. The vehicle is controlled based on the state of the existing equipment, and when the occupant candidate exists at the occupant position and the equipment is not installed, the first stop for stopping the vehicle at the occupant candidate position. Control is performed, and when a occupant candidate exists at the boarding position and the equipment is installed, the second stop control for stopping the vehicle based on the position of the equipment is performed.

(2): In the aspect of (1) above, when the recognition unit recognizes that the occupant candidate has a cart, the operation control unit starts from the position of the occupant candidate in the second stop control. Also stops the vehicle at a position close to the installation of the equipment recognized by the recognition unit.

(3): In the aspect of the above (2), the operation control unit is the occupant candidate in the second stop control when the operation control unit is installed in the traveling direction of the vehicle. The vehicle is made to follow the movement until the installation of the equipment.

(4): In the aspect of the above (3), the operation control unit is in the case where some occupants have already boarded the vehicle and some other occupants are present at the boarding position as the occupant candidates. In the second stop control, the vehicle is made to follow the movement of the occupant candidate when the occupant who is already in the vehicle is in a safe state even if the vehicle starts traveling.

(5): In the above aspects (3) to (4), when the occupant is not in the vehicle, the operation control unit locks the door of the vehicle and then moves the occupant candidate to the vehicle. Is to follow.

(6): In the above aspects (3) to (5), when the occupant is not in the vehicle, the operation control unit moves the occupant candidate in response to an instruction to lock the door of the vehicle. Is to follow the vehicle.

(7): In the above aspects (2) to (6), the operation control unit acquires equipment position information indicating the installation position of the equipment at the boarding position from the management device of the facility at the boarding position. The stop position of the vehicle is determined based on the acquired equipment position information.

(8): In the above aspects (2) to (6), the operation control unit indicates equipment position information indicating the installation position of the equipment recognized by the recognition unit when the vehicle has previously visited the boarding position. Based on the above, the stop position of the vehicle is determined.

(9): In any one of the above (1) to (8), a snow recognition unit that recognizes the degree of snow accumulated on the vehicle is further provided, and the operation control unit is used in the second stop control. When the snow recognition unit recognizes that the degree is equal to or higher than the threshold value at which running cannot be continued, and the recognition unit recognizes the installation position of the snow unloader, the snow unloading device is close to the installation position. The vehicle is stopped at a position.

(10): In the aspect of the above (9), when the snow recognition unit recognizes that the degree is equal to or higher than the threshold value at which the traveling cannot be continued, the vehicle control system performs the snow removal by the occupant. It is further provided with a notification unit for notifying candidates.

(11): In the above aspects (9) to (10), when the snow recognition unit recognizes that the degree is less than the threshold value at which traveling can be continued, the vehicle control system determines. It is further provided with a notification unit for notifying the outside of the vehicle that the vehicle can travel.

(12): In the vehicle control method according to one aspect of the present invention, the computer recognizes the surrounding environment of the vehicle, performs speed control and steering control of the vehicle based on the recognition result, and the occupant candidate selects the vehicle. When moving to the boarding position to board and stopping, the vehicle is controlled based on the recognized position of the occupant candidate and the state of the equipment installed at the boarding position, and the occupant candidate exists at the boarding position. If the equipment is not installed, the first stop control for stopping the vehicle at the position of the occupant candidate is performed, and if the occupant candidate exists at the occupant position and the equipment is installed, the vehicle is stopped. The second stop control for stopping the vehicle is performed based on the position of the equipment.

(13): The program according to one aspect of the present invention causes a computer to recognize the surrounding environment of the vehicle, performs speed control and steering control of the vehicle based on the recognition result, and a occupant candidate rides on the vehicle. When moving to the riding position and stopping, the vehicle is controlled based on the recognized position of the occupant candidate and the state of the equipment installed at the riding position, and the occupant candidate exists at the riding position. In addition, when the equipment is not installed, the first stop control for stopping the vehicle at the position of the occupant candidate is performed, and when the occupant candidate exists at the occupant position and the equipment is installed, the vehicle is stopped. The second stop control for stopping the vehicle is performed based on the position of the equipment.

According to (1) to (13), the vehicle can be stopped according to the predicted behavior of the occupant.

It is a block diagram of the vehicle system 1 using the vehicle control device which concerns on embodiment. It is a functional block diagram of the 1st control unit 120 and the 2nd control unit 160. It is a figure which shows typically the scene where the self-propelled parking event is executed. It is a figure which shows an example of the structure of the parking lot management device 400. It is a figure which shows an example of the scene where the own vehicle M stops in the vicinity of the occupant candidate P. It is a figure which shows an example of the content of correspondence information 182. It is a figure which shows an example of the stop position based on the stop rule when the possession of a occupant candidate P is a cart CT. It is a figure which shows an example of the scene where the moving direction of the occupant candidate P and the traveling direction of the own vehicle M match. It is a figure which shows an example of the stop position based on the stop rule when the own vehicle M has snow. It is a figure which shows an example of the stop position based on the stop rule when the own vehicle M has snow, and the own vehicle M is not equipped with a snow unloader RR. It is a figure which shows an example of the stop position based on the stop rule when the occupant candidate P has a baggage. It is a flowchart which shows an example of a series of operations of the automatic operation control device 100 which concerns on this embodiment. It is a figure which shows an example of the hardware composition of the automatic operation control device 100 of an embodiment.

Hereinafter, embodiments of the vehicle control device, vehicle control method, and program of the present invention will be described with reference to the drawings. In the following, the case where the left-hand traffic regulation is applied will be described, but when the right-hand traffic regulation is applied, the left and right sides may be read in reverse.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using the vehicle control device according to the embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as two wheels, three wheels, or four wheels, and the drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates by using the electric power generated by the generator connected to the internal combustion engine or the electric power generated by the secondary battery or the fuel cell.

The vehicle system 1 includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a snow cover camera 18, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, and the like. It includes a navigation device 50, an MPU (Map Positioning Unit) 60, a driving operator 80, an automatic driving control device 100, a traveling driving force output device 200, a braking device 210, and a steering device 220. These devices and devices are connected to each other by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted or another configuration may be added.

The camera 10 is, for example, a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary position of the vehicle (hereinafter, own vehicle M) on which the vehicle system 1 is mounted. The camera 10 periodically and repeatedly images the periphery of the own vehicle M, for example. The camera 10 may be a stereo camera.

The radar device 12 radiates radio waves such as millimeter waves around the own vehicle M, and also detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and orientation) of the object. The radar device 12 is attached to an arbitrary position of the own vehicle M. The radar device 12 may detect the position and velocity of the object by the FM-CW (Frequency Modulated Continuous Wave) method.

The finder 14 is a LIDAR (Light Detection and Ranging). The finder 14 irradiates the periphery of the own vehicle M with light and measures the scattered light. The finder 14 detects the distance to the target based on the time from light emission to light reception. The light to be irradiated is, for example, a pulsed laser beam. The finder 14 is attached to an arbitrary position of the own vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection results of a part or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic operation control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 to the automatic operation control device 100 as they are. The object recognition device 16 may be omitted from the vehicle system 1.

The snow camera 18 is, for example, a digital camera that uses a solid-state image sensor such as a CCD or CMOS. The snow cover camera 18 is, for example, a snow accumulated on the front window of the own vehicle M or a bonnet (a vehicle bonnet shaped so that snow does not accumulate on the front window, or a vehicle bonnet having an eaves on the upper side of the front window). Hereinafter, it can be attached to an arbitrary position where the image of snow) can be taken. The snow camera 18 is attached to the back side of the room mirror or at a position where the snow accumulated on the bonnet can be imaged through the front windshield of the instrument panel. The snow cover camera 18 images the bonnet and roof of the own vehicle M, for example, periodically or at a predetermined timing.

The communication device 20 uses, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to use another vehicle or a parking lot management device (existing in the vicinity of the own vehicle M). (See below) or communicate with various server devices.

The HMI 30 presents various information to the occupants of the own vehicle M and accepts input operations by the occupants. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys and the like.

The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the own vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the own vehicle M, and the like.

The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a routing unit 53. The navigation device 50 holds the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory. The GNSS receiver 51 identifies the position of the own vehicle M based on the signal received from the GNSS satellite. The position of the own vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partially or wholly shared with the above-mentioned HMI 30. The route determination unit 53, for example, has a route from the position of the own vehicle M (or an arbitrary position input) specified by the GNSS receiver 51 to the destination input by the occupant using the navigation HMI 52 (hereinafter,). The route on the map) is determined with reference to the first map information 54. The first map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The route on the map is output to MPU60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be realized, for example, by the function of a terminal device (hereinafter, terminal device TM) such as a smartphone or tablet terminal owned by an occupant. The navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and acquire a route equivalent to the route on the map from the navigation server.

The MPU 60 includes, for example, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the route on the map provided by the navigation device 50 into a plurality of blocks (for example, divides the route every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62. Determine the recommended lane for each block. The recommended lane determination unit 61 determines which lane to drive from the left. When a branch point exists on the route on the map, the recommended lane determination unit 61 determines the recommended lane so that the own vehicle M can travel on a reasonable route to proceed to the branch destination.

The second map information 62 is more accurate map information than the first map information 54. The second map information 62 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. Further, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. The second map information 62 may be updated at any time by the communication device 20 communicating with another device.

The driving controller 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steering wheel, a joystick, and other controls. A sensor for detecting the amount of operation or the presence or absence of operation is attached to the operation operator 80, and the detection result is the automatic operation control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device. It is output to a part or all of 220.

The automatic operation control device 100 includes, for example, a first control unit 120, a second control unit 160, and a storage unit 180. Each of the first control unit 120 and the second control unit 160 is realized by executing a program (software) by a hardware processor such as a CPU (Central Processing Unit). In addition, some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the part (including circuitry), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD or a flash memory of the automatic operation control device 100, or is removable such as a DVD or a CD-ROM. It is stored in a storage medium, and may be installed in the HDD or flash memory of the automatic operation control device 100 by mounting the storage medium (non-transient storage medium) in the drive device. Correspondence information 182 is stored in the storage unit 180. The details of the correspondence information 182 will be described later.

FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The first control unit 120, for example, realizes a function by AI (Artificial Intelligence) and a function by a model given in advance in parallel. For example, the function of "recognizing an intersection" is executed in parallel with recognition of an intersection by deep learning or the like and recognition based on predetermined conditions (pattern matching signals, road markings, etc.). It may be realized by scoring against and comprehensively evaluating. This ensures the reliability of autonomous driving.

The recognition unit 130 determines the position, speed, acceleration, and other states of objects around the own vehicle M based on the information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. recognize. The position of the object is recognized as, for example, a position on absolute coordinates with the representative point (center of gravity, center of drive axis, etc.) of the own vehicle M as the origin, and is used for control. The position of the object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by a represented area. The "state" of an object may include acceleration or jerk of the object, or "behavioral state" (eg, whether or not the vehicle is changing lanes or is about to change lanes).

Further, the recognition unit 130 recognizes, for example, the lane (traveling lane) in which the own vehicle M is traveling. For example, the recognition unit 130 has a road marking line pattern (for example, an arrangement of a solid line and a broken line) obtained from the second map information 62 and a road marking line around the own vehicle M recognized from the image captured by the camera 10. By comparing with the pattern of, the driving lane is recognized. The recognition unit 130 may recognize the traveling lane by recognizing not only the road marking line but also the running road boundary (road boundary) including the road marking line, the shoulder, the curb, the median strip, the guardrail, and the like. .. In this recognition, the position of the own vehicle M acquired from the navigation device 50 and the processing result by the INS may be added. The recognition unit 130 also recognizes stop lines, obstacles, red lights, toll gates, and other road events.

When recognizing the traveling lane, the recognition unit 130 recognizes the position and posture of the own vehicle M with respect to the traveling lane. The recognition unit 130 determines, for example, the deviation of the reference point of the own vehicle M from the center of the lane and the angle formed by the center of the lane in the traveling direction of the own vehicle M with respect to the relative position of the own vehicle M with respect to the traveling lane. And may be recognized as a posture. Instead, the recognition unit 130 recognizes the position of the reference point of the own vehicle M with respect to any side end portion (road marking line or road boundary) of the traveling lane as the relative position of the own vehicle M with respect to the traveling lane. You may.

The recognition unit 130 includes a snow recognition unit 131 and a parking space recognition unit 132 that is activated at a self-propelled parking event described later. The details of the function of the parking space recognition unit 132 will be described later.

The snow recognition unit 131 recognizes, for example, the degree of snow accumulated on the own vehicle M (hereinafter referred to as the degree of snow accumulation) based on the image captured by the snow cover camera 18. For example, the snow recognition unit 131 analyzes the image and refers to the brightness value corresponding to the snow and the brightness value of the bonnet of the own vehicle M stored in the storage device in advance to determine the degree of snow accumulation on the bonnet. recognize. Further, for example, the snow recognition unit 131 analyzes the image and stores the image in advance, the brightness value corresponding to the amount (thickness) of the accumulated snow, and the brightness value and the periphery of the own vehicle M. The degree of snow accumulated on the vehicle may be recognized based on the illuminance. In this case, the illuminance is acquired by an illuminance sensor provided in the vehicle. The snow camera 18 may be omitted, and the image captured by the camera 10 may be used for the processing of the snow recognition unit 131. Further, the degree of snow accumulated on the vehicle may be obtained from another device. For example, the degree of snow accumulated on the vehicle may be provided by a monitoring device that monitors the snow accumulation in the parking lot or an information providing device that provides information on the amount of snowfall around the parking lot. In addition, the image of the snow accumulated on the vehicle may be acquired from another device.

In principle, the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and the own vehicle M automatically (driver) so as to be able to respond to the surrounding conditions of the own vehicle M. Generate a target track to run in the future (regardless of the operation of). The target trajectory includes, for example, a velocity element. For example, the target track is expressed as a sequence of points (track points) to be reached by the own vehicle M. The track point is a point to be reached by the own vehicle M for each predetermined mileage (for example, about several [m]) along the road, and separately, a predetermined sampling time (for example, about 0 comma [sec]). ) Target velocity and target acceleration are generated as part of the target trajectory. Further, the track point may be a position to be reached by the own vehicle M at the sampling time for each predetermined sampling time. In this case, the information of the target velocity and the target acceleration is expressed by the interval of the orbital points.

The action plan generation unit 140 may set an event for automatic driving when generating a target trajectory. The automatic driving event includes a constant speed driving event, a low speed following driving event, a lane change event, a branching event, a merging event, a takeover event, a self-propelled parking event in which unmanned parking is performed in valet parking, and the like. The action plan generation unit 140 generates a target trajectory according to the activated event. The action plan generation unit 140 includes a self-propelled parking control unit 142 that is activated when the self-propelled parking event is executed. The details of the function of the self-propelled parking control unit 142 will be described later.

The second control unit 160 sets the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the own vehicle M passes the target trajectory generated by the action plan generation unit 140 at the scheduled time. Control.

Returning to FIG. 2, the second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires the information of the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the traveling driving force output device 200 or the braking device 210 based on the speed element associated with the target trajectory stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feedforward control according to the curvature of the road in front of the own vehicle M and feedback control based on the deviation from the target trajectory. An example of the "operation control unit" is a combination of the action plan generation unit 140 and the second control unit 160.

The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling the vehicle to the drive wheels. The traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU (Electronic Control Unit) that controls them. The ECU controls the above configuration according to the information input from the second control unit 160 or the information input from the operation operator 80.

The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the second control unit 160 or the information input from the operation operator 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the operation operator 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to the information input from the second control unit 160 to transmit the hydraulic pressure of the master cylinder to the cylinder. May be good.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the operation controller 80, and changes the direction of the steering wheel.

[Self-propelled parking event-at the time of warehousing]
The self-propelled parking control unit 142 parks the own vehicle M in the parking space, for example, based on the information acquired from the parking lot management device 400 by the communication device 20. FIG. 3 is a diagram schematically showing a scene in which a self-propelled parking event is executed. Gates 300-in and 300-out are provided on the route from the road Rd to the visited facility. The own vehicle M passes through the gate 300-in and proceeds to the stop area 310 by manual operation or automatic operation. The stop area 310 faces the boarding / alighting area 320 connected to the visited facility. The boarding / alighting area 320 is provided with eaves to avoid rain and snow.

After the occupant is dropped off in the stop area 310, the own vehicle M automatically operates unmanned and starts a self-propelled parking event to move to the parking space PS in the parking lot PA. Details of the start trigger of the self-propelled parking event related to warehousing will be described later. When starting a self-propelled parking event, the self-propelled parking control unit 142 controls the communication device 20 to send a parking request to the parking lot management device 400. Then, the own vehicle M moves from the stop area 310 to the parking lot PA according to the guidance of the parking lot management device 400 or while sensing by itself.

FIG. 4 is a diagram showing an example of the configuration of the parking lot management device 400. The parking lot management device 400 includes, for example, a communication unit 410, a control unit 420, and a storage unit 430. Information such as parking lot map information 432 and parking space status table 434 is stored in the storage unit 430.

The communication unit 410 wirelessly communicates with the own vehicle M and other vehicles. The control unit 420 guides the vehicle to the parking space PS based on the information acquired by the communication unit 410 and the information stored in the storage unit 430. The parking lot map information 432 is information that geometrically represents the structure of the parking lot PA. Further, the parking lot map information 432 includes the coordinates for each parking space PS. The parking space status table 434 indicates, for example, whether the parking space ID, which is the identification information of the parking space PS, is vacant or full (parked), and when the parking space status table 434 is full. It is associated with the vehicle ID, which is the identification information of the parked vehicle.

When the communication unit 410 receives the parking request from the vehicle, the control unit 420 extracts the parking space PS whose status is vacant by referring to the parking space status table 434, and maps the position of the extracted parking space PS to the parking lot map. Acquired from the information 432, a suitable route to the position of the acquired parking space PS is transmitted to the vehicle using the communication unit 410. Further, the control unit 420 instructs a specific vehicle to stop / slow down as necessary so that the vehicles do not move to the same position at the same time based on the positional relationship of the plurality of vehicles.

In the vehicle that has received the route (hereinafter referred to as the own vehicle M), the self-propelled parking control unit 142 generates a target trajectory based on the route. Further, when the target parking space PS approaches, the parking space recognition unit 132 recognizes the parking frame line that divides the parking space PS, recognizes the detailed position of the parking space PS, and recognizes the self-propelled parking control unit 142. To provide. In response to this, the self-propelled parking control unit 142 corrects the target trajectory and parks the own vehicle M in the parking space PS.

Not limited to the above description, the self-propelled parking control unit 142 creates an empty parking space by itself based on the detection result by the camera 10, the radar device 12, the finder 14, or the object recognition device 16, regardless of communication. You may find and park your vehicle M in the found parking space.

[Self-propelled parking event-at the time of departure]
The self-propelled parking control unit 142 and the communication device 20 maintain the operating state even when the own vehicle M is parked. The self-propelled parking control unit 142 activates the system of the own vehicle M and activates the own vehicle when, for example, the communication device 20 receives a pick-up request from the occupant's terminal device TM, or when a predetermined departure time is reached. Move M to the stop area 310. At this time, the self-propelled parking control unit 142 controls the communication device 20 and transmits a start request to the parking lot management device 400. The control unit 420 of the parking lot management device 400 stops or slows down to a specific vehicle as necessary so that the vehicle does not move to the same position at the same time based on the positional relationship of a plurality of vehicles as in the case of warehousing. To instruct. When the own vehicle M is moved to the stop area 310 and a occupant is put on the vehicle, the self-propelled parking control unit 142 stops operating, and thereafter, manual operation or automatic operation by another functional unit is started.

[Determination of stop position in self-propelled parking event]
In the self-propelled parking event related to leaving the garage, the self-propelled parking control unit 142 stops the self-propelled parking control unit 142 in the vicinity of the candidate for the occupant (hereinafter referred to as the occupant candidate P) who is about to board the own vehicle M in the stop area 310. To control. FIG. 5 is a diagram showing an example of a scene in which the own vehicle M stops in the vicinity of the occupant candidate P. Hereinafter, the own vehicle M (t) indicates the own vehicle M at the timing of moving to the stop area 310 under the control of the self-propelled parking control unit 142, and the own vehicle M (t + 1) is the stop area by the self-propelled parking control unit 142. The own vehicle M at the timing when the vehicle is stopped at 310 is shown.

First, the self-propelled parking control unit 142 moves the own vehicle M to the stop area 310 by, for example, a self-propelled parking event related to leaving the garage. When the own vehicle M is moved to the stop area 310, the recognition unit 130 recognizes a person existing in the boarding / alighting area 320, and if there is only one recognized person, recognizes the person as the occupant candidate P. The self-propelled parking control unit 142 controls the own vehicle M so as to stop at a position in the vicinity of the occupant candidate P recognized by the recognition unit 130. The position near the occupant candidate P is, for example, a position where the door of the seat previously determined by the occupant candidate P is close to the occupant candidate P. As a result, the self-propelled parking control unit 142 can stop the vehicle according to the predicted behavior of the occupant (in this case, boarding).

When recognizing the occupant candidate P, the recognition unit 130 may authenticate the occupant candidate P and recognize the occupant candidate P based on the result of the authentication. For example, when the storage unit 180 stores occupant information such as face data and body feature data of the occupant candidate P, and the recognition unit 130 matches the person captured by the camera 10 with the occupant information. In addition, it may be recognized as a occupant candidate P. Further, the recognition unit 130 receives the image captured by the occupant candidate P by the surveillance camera installed around the boarding / alighting area 320 by the communication device 20, and the occupant candidate P shown in the received image and the occupant information If they match, it may be recognized as a occupant candidate P. Further, the recognition unit 130 transmits / receives information used for authentication of the occupant candidate P by communication between the device owned by the occupant candidate P (for example, a smart key, a communication terminal device, etc.) and the communication device 20. Therefore, the occupant candidate P may be recognized.

[Determination of stop position based on stop rules]
Here, depending on the state of the occupant candidate P, the self-propelled parking control unit 142 stops the own vehicle M at a place other than the vicinity of the occupant candidate P, so that the occupant candidate P performs the next action more smoothly. May be possible. The self-propelled parking control unit 142 basically stops the own vehicle M at a position near the occupant candidate P, but the recognition result of the recognition unit 130 is based on the recognition result of the recognition unit 130 and the corresponding information 182. When the stopping rule is satisfied, a position other than the vicinity of the occupant candidate P is determined as the stopping rule of the own vehicle M, and the own vehicle M is stopped. FIG. 6 is a diagram showing an example of the contents of the correspondence information 182. In the correspondence information 182, the recognition result of the recognition unit 130 is that the possession of the occupant candidate P is a specific possession, the state of the own vehicle M is a specific state, or the state of the occupant candidate P is specific. When indicating the state, the stop rule generated based on the prediction of what kind of action the occupant candidate P will take next is described. Details of the contents of the correspondence information 182 will be described sequentially. The correspondence information 182 may be stored in the storage unit 180 in a table-like format, or may be stored in the storage unit 180 in a form embedded in the program code.

[(1): Stopping rules when the belongings of crew candidate P are cart CT]
FIG. 7 is a diagram showing an example of a stop position based on the stop rule when the possession of the occupant candidate P is the cart CT. In the correspondence information 182, the recognition result of the recognition unit 130 indicating that the occupant candidate P possesses the cart CT and the stop rule for stopping the own vehicle M at a position close to the cart storage CY are associated with each other. Contains information. This is because, when possessing the cart CT, the occupant candidate P is expected to return the cart CT to the cart storage CY.

As shown in FIG. 7, the self-propelled parking control unit 142 causes the own vehicle M to travel to the position of the own vehicle M (t) by the self-propelled parking event related to the exit. The recognition unit 130 recognizes that the occupant candidate P possesses the cart CT at the position of the own vehicle M (t) based on the image captured by the camera 10. When it is recognized that the occupant candidate P possesses the cart CT based on the correspondence information 182 and the recognition result of the recognition unit 130, the self-propelled parking control unit 142 puts the own vehicle M in the cart storage CY. The vehicle is stopped at a close position (the position of the own vehicle M (t + 1) shown in the figure). At this time, the recognition unit 130 identifies the position of the cart storage CY based on the image showing the surrounding environment of the own vehicle M captured by the camera 10, and the self-propelled parking control unit 142 is specified by the recognition unit 130. The own vehicle M is moved to a position close to the cart storage CY and stopped. As a result, the self-propelled parking control unit 142 can easily get on the own vehicle M after the occupant candidate P returns the cart CT to the cart storage CY.

FIG. 8 is a diagram showing an example of a scene in which the moving direction of the occupant candidate P and the traveling direction of the own vehicle M match. Here, in the self-propelled parking control unit 142, from the position of the occupant candidate P who possesses the cart CT recognized by the recognition unit 130, the direction dr1 of the position of the cart storage CY is changed to the traveling direction dr2 of the own vehicle M. If they match, the vehicle M may be driven to follow the occupant candidate P to the cart yard CY as the occupant candidate P moves to return the cart CT to the cart yard CY. Following the occupant candidate P means, for example, traveling at the same speed as the occupant candidate P while traveling right beside the occupant candidate P or diagonally behind the occupant candidate P. As a result, the self-propelled parking control unit 142 can make the occupant candidate P recognize that he / she is conscious of the cart storage CY. The control in which the self-propelled parking control unit 142 travels the own vehicle M to the cart storage CY so as to follow the occupant candidate P as the occupant candidate P moves to return the cart CT to the cart storage CY is "No. This is an example of "2 stop control".

In addition, when the self-propelled parking control unit 142 already has an occupant other than the occupant candidate P on the own vehicle M, the state of the occupant is a safe state even if the own vehicle M is started to travel. In addition, the own vehicle M may be driven so as to follow the occupant candidate P. For example, the self-propelled parking control unit 142 states that the occupant is in a safe state by the recognition unit 130 based on the image captured by the vehicle interior camera (not shown) that the occupant is properly seated in the seat. If it is recognized, the own vehicle M may be driven so as to follow the occupant candidate P. Further, when the recognition unit 130 recognizes that the occupant is wearing a seatbelt, the self-propelled parking control unit 142 may drive the own vehicle M so as to follow the occupant candidate P. As a result, the self-propelled parking control unit 142 can safely make the own vehicle M follow the occupant candidate P even when an occupant other than the occupant candidate P is on the own vehicle M.

Further, the self-propelled parking control unit 142 controls a mechanism for locking the own vehicle M when the own vehicle M is driven so as to follow the occupant candidate P when the occupant is not on the own vehicle M. The own vehicle M may be driven so as to follow the occupant candidate P after locking the door of the own vehicle M, and an instruction to lock the door of the own vehicle M is given by the terminal device or the smart key possessed by the occupant candidate P. Depending on the reception (that is, using the instruction as a trigger), the own vehicle M may be driven so as to follow the occupant candidate P. As a result, the self-propelled parking control unit 142 can prevent (prohibit) a person other than the occupant candidate P from boarding the occupant candidate P while the own vehicle M follows the occupant candidate P. it can.

In the above description, the recognition unit 130 identifies the position of the cart storage CY based on the image showing the surrounding environment of the own vehicle M captured by the camera 10, and the self-propelled parking control unit 142 is determined by the recognition unit 130. The case where the own vehicle M is moved to a position close to the specified cart storage CY and stopped has been described, but the present invention is not limited to this. The self-propelled parking control unit 142 may acquire information related to the boarding / alighting area 320 from, for example, a management device of the visited facility via the communication device 20, and may drive the own vehicle M based on the information. .. In this case, the information related to the boarding / alighting area 320 is, for example, cart position information indicating the position of the cart storage CY. As a result, the self-propelled parking control unit 142 may not be able to properly recognize the cart storage CY in the recognition unit 130 due to the presence of another vehicle in front of the own vehicle M or bad weather such as heavy fog. However, the own vehicle M can be stopped near the cart storage CY, or the own vehicle M can be driven so as to follow the occupant candidate P heading for the cart storage CY.

Further, the self-propelled parking control unit 142 has a cart storage CY recognized by the recognition unit 130 when the boarding / alighting area 320 is previously visited instead of the process of acquiring the cart position information from the management device or the like of the visited facility. The cart position information indicating the position of the vehicle M may be generated, and the own vehicle M may be driven based on the generated cart position information. In this case, the storage unit 180 stores information in which the cart position information and the information that can identify the boarding / alighting area 320 (for example, the name of the visited facility) are associated with each other, and the recognition unit 130 stores the boarding / alighting area. Cart position information is generated (updated) every time 320 is visited.

[(2): Stopping rules when the own vehicle M has snow]
FIG. 9 is a diagram showing an example of a stop position based on the stop rule when the own vehicle M has snow. In the correspondence information 182, the recognition result that the degree of snow accumulation recognized by the snow recognition unit 131 is equal to or higher than a predetermined threshold value and the take-out position of the snow unloader RR loaded on the own vehicle M are occupants. Information that is associated with a stop rule for stopping the own vehicle M at a position close to the candidate P is included. This is because it is predicted that the occupant candidate P will remove the snow from the own vehicle M when the own vehicle M has more than a predetermined threshold value, and in that case, the occupant candidate P is mounted on the own vehicle M. This is because it is predicted that the existing snow unloader RR will be taken out from the own vehicle M. The snow recognition unit 131 recognizes the degree of snow accumulation at the timing when the self-propelled parking event related to the delivery is started. Further, the recognition unit 130 recognizes the presence / absence of the snow unloader RR in the own vehicle M based on the image showing the passenger interior of the own vehicle M captured by a camera (not shown) that images the interior of the own vehicle M. To do. In the example shown in FIG. 9, it is assumed that the snow unloader RR is mounted in the trunk room of the own vehicle M (that is, the rear part of the own vehicle M).

As shown in FIG. 10, the self-propelled parking control unit 142 causes the own vehicle M to travel to the position of the own vehicle M (t) by the self-propelled parking event related to the exit. In the self-propelled parking control unit 142, the degree of snow accumulation recognized by the snow recognition unit 131 is equal to or higher than a predetermined threshold based on the correspondence information 182 and the recognition result of the recognition unit 130 (and the snow recognition unit 131). When the recognition unit 130 recognizes that the snow unloader RR is mounted on the own vehicle M, the removal position of the snow unloader RR loaded on the own vehicle M (that is, the rear part of the own vehicle M) is a candidate for an occupant. The own vehicle M is stopped at a position close to P (the position of the own vehicle M (t + 1) shown in the figure). At this time, the recognition unit 130 identifies the position of the occupant candidate P based on the image showing the surrounding environment of the own vehicle M captured by the camera 10, and the self-propelled parking control unit 142 is specified by the recognition unit 130. The own vehicle M is moved to a position where the back door of the own vehicle M is close to the occupant candidate P and stopped. As a result, the self-propelled parking control unit 142 can make it easier for the occupant candidate P to take out the snow unloading tool RR after the own vehicle M has stopped in the vicinity of the occupant candidate P, and to facilitate the snow unloading.

FIG. 10 is a diagram showing an example of a stop position based on a stop rule when the own vehicle M has snow and the own vehicle M is not equipped with the snow unloader RR. Here, even when the snow recognition unit 131 recognizes that the degree of snow accumulation is equal to or higher than a predetermined threshold value, the own vehicle M is not equipped with the snow unloading tool RR, but the boarding / alighting area 320 has A snow unloader RR may be installed. Correspondence information 182 includes the recognition result of the snow recognition unit 131 that recognizes that the degree of snow accumulation is equal to or higher than a predetermined threshold value, and a stop rule for stopping the own vehicle M at a position close to the installation position PI of the snow unloader RR. Contains information associated with each other. This is because it is predicted that the occupant candidate P will remove the snow from the own vehicle M when the own vehicle M has more than a predetermined threshold value, and in that case, the occupant candidate P is installed at the installation position PI. This is because it is predicted that the snow unloading tool RR will be used to unload the snow.

As shown in FIG. 10, the self-propelled parking control unit 142 causes the own vehicle M to travel to the position of the own vehicle M (t) by the self-propelled parking event related to the exit. In the self-propelled parking control unit 142, the degree of snow accumulation recognized by the snow recognition unit 131 is equal to or higher than a predetermined threshold value based on the correspondence information 182 and the recognition result of the recognition unit 130 (and the snow recognition unit 131). When the recognition unit 130 recognizes that the snow unloading tool RR is not mounted on the own vehicle M, the own vehicle M is stopped at a position close to the installation position PI (the position of the own vehicle M (t + 1) shown in the figure). At this time, the recognition unit 130 specifies the installation position PI based on the image showing the surrounding environment of the own vehicle M captured by the camera 10, and the self-propelled parking control unit 142 is the installation specified by the recognition unit 130. The own vehicle M is moved to a position close to the position PI and stopped. As a result, the self-propelled parking control unit 142 can reduce the time and effort for the occupant candidate P to move to the position of the own vehicle M by holding the snow unloading tool RR at the installation position PI, and can facilitate the snow unloading.

The automatic driving control device 100 includes a notification unit that controls an external notification device (for example, a speaker, a headlight, etc.), and the notification unit has a degree of snow accumulation recognized by the snow recognition unit 131 that is equal to or higher than a predetermined threshold value. In this case, when the self-propelled parking control unit 142 drives the own vehicle M to the boarding / alighting area 320, the occupant candidate P may be notified to urge the snow to be removed. For example, the notification unit plays a voice prompting the occupant candidate P to remove the snow (for example, a voice such as "There is a lot of snow, so please remove the snow."), Passing the headlights, and predetermining the headlights. The occupant candidate P is notified that it is necessary to remove the snow by turning on the lights according to the lighting mode of.

In addition, the notification unit has a snow recognition unit that the occupant candidate P has removed the snow from the own vehicle M, so that the snowfall of the own vehicle M is less than the predetermined threshold value and the own vehicle M can travel. When it is recognized by 131, the occupant candidate P may be notified that the own vehicle M can travel. For example, the notification unit reproduces a voice prompting the occupant candidate P to board the own vehicle M (for example, a voice such as "The vehicle is ready to drive. Please board.") Or passes the headlights. Alternatively, by turning on the headlights in a predetermined lighting mode, the occupant candidate P is notified that the own vehicle M can travel.

[(3): Stopping rules when crew candidate P has luggage in one hand]
FIG. 11 is a diagram showing an example of a stop position based on the stop rule when the occupant candidate P is in possession of luggage. Here, the stop area 310 may not have a shape in which vehicles are parallel parked as described above, but may have a shape in which vehicles are parked in parallel as shown in FIG. Hereinafter, the stop area 310 includes one or more parking areas 315, and the parking areas 315 are arranged side by side in the boarding / alighting area 320. In the correspondence information 182, the hand of the occupant candidate P who does not have the luggage with respect to the recognition result that the occupant candidate P has the possession (luggage) in one hand by the recognition unit 130. Includes information associated with a stopping rule that stops the own vehicle M at a position close to the door of the own vehicle M. This is because it is predicted that the occupant candidate P will open the door of the own vehicle M with the hand that does not have the luggage (that is, is free) when the luggage is carried with one hand. .. The door of the own vehicle M that is close to the hand of the occupant candidate P is, for example, the door of the seat on which the occupant candidate P loads the luggage.

As shown in FIG. 11, the self-propelled parking control unit 142 causes the own vehicle M to travel to the position of the own vehicle M (t) by the self-propelled parking event related to the exit. The recognition unit 130 recognizes that the occupant candidate P is holding the luggage bg1 with one hand based on the image captured by the camera 10 at the position of the own vehicle M (t). When the self-propelled parking control unit 142 recognizes that the occupant candidate P has the luggage bg1 with one hand based on the correspondence information 182 and the recognition result of the recognition unit 130, the occupant candidate P has the luggage bg1. The vehicle M is stopped at a position where the door of the vehicle M is close to the hand of the person who does not have the vehicle M (the position of the vehicle M (t + 1) shown in the figure). At this time, the recognition unit 130 identifies the position of the free hand of the occupant candidate P based on the image showing the surrounding environment of the own vehicle M captured by the camera 10, and the self-propelled parking control unit 142 The vehicle M is moved to a position where the door of the vehicle M is close to the position of the hand specified by the recognition unit 130, and the vehicle M is stopped. Further, the self-propelled parking control unit 142 does not simply bring the door of the own vehicle M close to the hand of the occupant candidate P, but the traveling direction (direction dr3 in the figure) in which the own vehicle M travels after the vehicle M stops, and the occupant candidate. The own vehicle M is stopped so that the width direction of P's body (direction dr4 in the figure) is parallel or substantially parallel to the width direction of P's body and is closer to that of the occupant candidate P than when there is no baggage. As a result, the self-propelled parking control unit 142 can easily open the door to the occupant candidate P after the own vehicle M stops in the vicinity of the occupant candidate P, and can easily load the luggage. Further, the self-propelled parking control unit 142 can smoothly start traveling after the occupant candidate P gets on the own vehicle M without changing the direction or the like. The control in which the self-propelled parking control unit 142 stops the own vehicle M at a position where the door of the own vehicle M is close to the hand of the occupant candidate P who does not have the luggage is an example of "first stop control". is there.

Here, when the occupant candidate P carries the luggage with both hands, the occupant candidate P may not be able to open the door of the own vehicle M with one hand. In this case, the baggage possessed by the occupant candidate P is, for example, a baggage heavier than the standard or larger than the standard. In this case, the self-propelled parking control unit 142 recognizes that the recognition unit 130 recognizes that the occupant candidate P has the luggage bg2 with both hands, and the recognition result of the recognition unit 130 described in the corresponding information 182. Do not adopt the stop rule because it does not match.

[Operation flow]
FIG. 12 is a flowchart showing an example of a series of operations of the automatic operation control device 100 according to the present embodiment. This flowchart is executed, for example, at the start of a self-propelled parking event related to delivery. First, the snow recognition unit 131 recognizes the degree of snow accumulation of the own vehicle M (step S100). The self-propelled parking control unit 142 determines whether or not the degree of snow accumulation recognized by the snow recognition unit 131 is equal to or greater than a predetermined threshold value (step S102). When the self-propelled parking control unit 142 determines that the degree of snow cover is equal to or higher than a predetermined threshold value, whether or not the recognition unit 130 recognizes the snow unloading tool RR in the own vehicle M (that is, the own vehicle M unloads the snow). (Whether or not the tool RR is mounted) is determined (step S104). When the self-propelled parking control unit 142 determines that the snow unloading tool RR is mounted on the own vehicle M, the self-propelled parking control unit 142 places the own vehicle M at a position in the stop area 310 where the occupant candidate P is close to the removal position of the snow unloading tool RR. The vehicle is stopped (step S106).

In the self-propelled parking control unit 142, if the degree of snow cover is equal to or higher than a predetermined threshold value and the own vehicle M is not equipped with the snow unloading tool RR, whether or not the installation position PI is recognized in the boarding / alighting area 320 by the recognition unit 130. (Step S108). When the self-propelled parking control unit 142 recognizes the installation position PI in the boarding / alighting area 320 by the recognition unit 130, the self-propelled parking control unit 142 stops the own vehicle M at a position close to the installation position PI (step S110). The control of the self-propelled parking control unit 142 in step S110 is an example of the "second stop control".

The self-propelled parking control unit 142 determines whether or not the recognition unit 130 recognizes that the occupant candidate P possesses the cart CT (step S112). When the recognition unit 130 recognizes that the occupant candidate P possesses the cart CT, the self-propelled parking control unit 142 determines whether or not the recognized occupant candidate P exists at the position of the cart storage CY. (Step S113). In the self-propelled parking control unit 142, when the recognized occupant candidate P does not exist at the position of the cart storage CY, the position of the occupant candidate P who possesses the cart CT recognized by the recognition unit 130 is higher than the position of the cart storage CY. It is determined whether or not the traveling direction of the own vehicle M matches the direction of the cart storage CY from the own vehicle M (step S114).

In the self-propelled parking control unit 142, when the occupant candidate P exists at the position of the cart storage CY, the position of the occupant candidate P is deeper than the cart storage CY, or the self-propelled parking control unit 142 of the own vehicle M If the traveling direction does not match the direction of the cart storage CY from the own vehicle M, the process proceeds to step S118. When the position of the occupant candidate P is in front of the cart storage CY and the traveling direction of the own vehicle M and the direction of the cart storage CY from the own vehicle M match, the self-propelled parking control unit 142 once has the occupant candidate P. The vehicle stops next to the vehicle, then starts, and the vehicle M is driven so as to follow the occupant candidate P up to the cart storage CY (step S116). The self-propelled parking control unit 142 stops the own vehicle M near the cart storage CY (step S118). The control of the self-propelled parking control unit 142 in step S116 and step S118 is an example of "second stop control".

The self-propelled parking control unit 142 determines whether or not the recognition unit 130 recognizes that the occupant candidate P has a luggage in one hand (step S120). When the self-propelled parking control unit 142 recognizes that the occupant candidate P has a luggage in one hand by the recognition unit 130, the position of the hand on which the occupant candidate P recognized by the recognition unit 130 does not have the luggage. (Step S122). The self-propelled parking control unit 142 stops the own vehicle M at a position where the door of the own vehicle M is close to the hand of the occupant candidate P who does not have the luggage (step S124).

If the self-propelled parking control unit 142 does not satisfy the above-mentioned conditions, the self-propelled parking control unit 142 stops the own vehicle M in the vicinity of the occupant candidate P without adopting the stop rule (step S126). The control of the self-propelled parking control unit 142 in step S126 is an example of the "first stop control".

In the above description, in the flowchart shown in FIG. 12, (2): processing related to the stopping rule when the own vehicle M has snow, and (1): stopping rule when the possession of the occupant candidate P is the cart CT. Such processing and (3): The case where the processing is executed in the order of the processing related to the stop rule when the occupant candidate P is in possession of luggage has been described, but the present invention is not limited to this. Any of these processes may be executed with priority, and any of the processes may be executed in parallel.

[Hardware configuration]
FIG. 13 is a diagram showing an example of the hardware configuration of the automatic operation control device 100 of the embodiment. As shown in the figure, the automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM (Random Access Memory) 100-3 used as a working memory, a ROM (Read Only Memory) for storing a boot program, and the like. 100-4, storage devices 100-5 such as flash memory and HDD (Hard Disk Drive), drive devices 100-6, and the like are connected to each other by an internal bus or a dedicated communication line. The communication controller 100-1 communicates with a component other than the automatic operation control device 100. The storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded to RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like, and is executed by CPU 100-2. As a result, a part or all of the recognition unit 130, the action plan generation unit 140, and the self-propelled parking control unit 142 are realized.

The embodiment described above can be expressed as follows.
A storage device that stores programs and
With a hardware processor,
When the hardware processor executes a program stored in the storage device,
Recognize the surrounding environment of the vehicle
Based on the recognition result, the speed control and steering control of the vehicle are performed.
When the vehicle is moved to the boarding position where the occupant is boarding and stopped, the state of the equipment installed at the recognized boarding position, the recognition result and the corresponding information associated with the stop rule are referred to. The stop position of the vehicle is determined based on the stop rules.
An automatic driving control device that is configured to.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

1 ... Vehicle system, 10 ... Camera, 12 ... Radar device, 14 ... Finder, 16 ... Object recognition device, 18 ... Snow camera, 20 ... Communication device, 40 ... Vehicle sensor, 50 ... Navigation device, 51 ... GNSS receiver, 52 ... Navi HMI, 53 ... Route determination unit, 54 ... First map information, 61 ... Recommended lane determination unit, 62 ... Second map information, 80 ... Driving operator, 100 ... Automatic driving control device, 120 ... First control Unit, 130 ... recognition unit, 131 ... snow recognition unit, 132 ... parking space recognition unit, 140 ... action plan generation unit, 142 ... self-propelled parking control unit, 160 ... second control unit, 162 ... acquisition unit, 164 ... speed Control unit, 166 ... Steering control unit, 180 ... Storage unit, 182 ... Corresponding information, 200 ... Driving drive force output device, 210 ... Brake device, 220 ... Steering device, 310 ... Stop area, 315 ... Parking area, 320 ... Boarding / alighting Area, 400 ... Parking lot management device, 410 ... Communication unit, 420 ... Control unit, 430 ... Storage unit, 432 ... Parking lot map information, 434 ... Parking space status table, CT ... Cart, CY ... Cart storage CY, dr1, dr2, dr3, dr4 ... direction, M ... own vehicle, P ... occupant, PA ... parking lot, PI ... installation position, PS ... parking space, RR ... snow unloader RR

Claims (13)

A recognition unit that recognizes the surrounding environment of the vehicle and
A driving control unit that controls the speed and steering of the vehicle based on the recognition result of the recognition unit is provided.
When the driving control unit moves the vehicle to a riding position on which the occupant candidate rides and stops the vehicle, the position of the occupant candidate recognized by the recognition unit and the state of the equipment installed at the riding position. The vehicle is controlled based on the above, and when the occupant candidate exists at the occupant position and the equipment is not installed, the first stop control for stopping the vehicle at the occupant candidate position is performed. When a occupant candidate exists at the boarding position and the equipment is installed, the second stop control for stopping the vehicle is performed based on the position of the equipment.
Vehicle control system. When the recognition unit recognizes that the occupant candidate has a cart, the operation control unit installs the equipment recognized by the recognition unit rather than the position of the occupant candidate in the second stop control. Stop the vehicle at a position close to
The vehicle control system according to claim 1. When the installation of the equipment exists in the traveling direction of the vehicle, the operation control unit causes the vehicle to follow the movement of the occupant candidate to the installation of the equipment in the second stop control.
The vehicle control system according to claim 2. In the operation control unit, when some occupants have already boarded the vehicle and some other occupants are present at the occupant position as the occupant candidates, the operation control unit of the occupants already occupying the vehicle. When the state is a safe state even if the vehicle starts traveling, the vehicle is made to follow the movement of the occupant candidate in the second stop control.
The vehicle control system according to claim 3. When no occupant is in the vehicle, the driving control unit locks the door of the vehicle and then causes the vehicle to follow the movement of the occupant candidate.
The vehicle control system according to claim 3 or 4. When no occupant is in the vehicle, the driving control unit causes the vehicle to follow the movement of the occupant candidate in response to an instruction to lock the door of the vehicle.
The vehicle control system according to any one of claims 3 to 5. The operation control unit acquires equipment position information indicating the installation position of the equipment at the boarding position from the management device of the facility at the boarding position, and based on the acquired equipment position information, determines the stop position of the vehicle. decide,
The vehicle control system according to any one of claims 2 to 6. The operation control unit determines the stop position of the vehicle based on the equipment position information indicating the installation position of the equipment recognized by the recognition unit when the vehicle has previously visited the boarding position.
The vehicle control system according to any one of claims 2 to 6. It also has a snow recognition unit that recognizes the degree of snow accumulated on the vehicle.
In the second stop control, the operation control unit recognizes that the degree is equal to or higher than a threshold value at which traveling cannot be continued by the snow recognition unit, and the recognition unit installs a snow unloader. When is recognized, the vehicle is stopped at a position close to the installation position.
The vehicle control system according to any one of claims 1 to 8. When the snow recognition unit recognizes that the degree is equal to or higher than the threshold value at which the vehicle cannot continue traveling, the snow recognition unit further includes a notification unit that notifies the occupant candidate to remove the snow.
The vehicle control system according to claim 9. When the snow recognition unit recognizes that the degree is less than the threshold value at which the vehicle can continue traveling, the snow recognition unit further includes a notification unit for notifying the outside of the vehicle that the vehicle can continue traveling.
The vehicle control system according to claim 9 or 10. The computer
Recognize the surrounding environment of the vehicle
Based on the recognition result, the speed control and steering control of the vehicle are performed.
When the vehicle is moved to the boarding position where the occupant candidate is to be boarded and stopped, the vehicle is controlled based on the recognized position of the occupant candidate and the state of the equipment installed at the boarding position.
When the occupant candidate exists at the occupant candidate position and the equipment is not installed, the first stop control for stopping the vehicle at the occupant candidate position is performed.
When a occupant candidate exists at the boarding position and the equipment is installed, the second stop control for stopping the vehicle is performed based on the position of the equipment.
Vehicle control method. On the computer
Recognize the surrounding environment of the vehicle
Based on the recognition result, the speed control and steering control of the vehicle are performed.
When the vehicle is moved to the boarding position where the occupant candidate is to be boarded and stopped, the vehicle is controlled based on the recognized position of the occupant candidate and the state of the equipment installed at the boarding position.
When the occupant candidate exists at the occupant candidate position and the equipment is not installed, the first stop control for stopping the vehicle at the occupant candidate position is performed.
When a occupant candidate exists at the boarding position and the equipment is installed, the second stop control for stopping the vehicle is performed based on the position of the equipment.
program.

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