JP2021066279A - Parking control device and parking control method - Google Patents

Abstract

To provide a technique capable of preventing a driver from entering a vehicle cabin after entering a garage.SOLUTION: A parking control device comprises a first processing section, a second processing section and a determination section. When the determination section determines, on the basis of an output from the second processing section, that a width of a parking area that allows garaging is equal to or less than a predetermined threshold value that prevents a driver from getting in a vehicle while garaging, it determines the propriety of entering/leaving the parking area in compliance with a parking instruction included in output from the first processing section on the basis of an electric state of a remote controller included in the output from the first processing section.SELECTED DRAWING: Figure 1

Description

The present invention relates to a parking control device that controls parking of a vehicle by a parking instruction from a remote controller (remote controller) separated from the vehicle, and a parking control method.

In recent years, a vehicle control device has been proposed that controls parking (entrance / exit) of the vehicle by a parking instruction (entrance / exit instruction) from a remote controller separated from the vehicle. For example, in Patent Document 1, when the width of the parking area is the width at which the driver cannot get on the vehicle and the remaining battery level of the vehicle is equal to or less than the threshold value, the parking is performed by the parking instruction (warehousing instruction) from the remote controller. Parking control has been proposed to ban.

According to such a technique, even if there is a warehousing instruction from the remote controller, if the remaining battery level of the vehicle is not sufficient, warehousing in a narrow parking area where the driver cannot board is prohibited. Therefore, it is possible to prevent the driver from being unable to enter the vehicle interior due to the battery running out of the vehicle after entering the narrow parking area.

Japanese Patent No. 5573312

If a sufficient drive source such as vehicle battery power or gasoline remains, it is preferable that the vehicle is stored in a narrow parking area according to a storage instruction from the remote controller from the viewpoint of reducing the consumption of the drive source. However, after entering the narrow parking area, the parking instruction (delivery instruction) may not be properly transmitted from the remote controller due to insufficient battery level of the remote controller or the like. For this reason, there is still a problem that the driver cannot enter the vehicle interior after warehousing even when a sufficient drive source of the vehicle remains.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a technique capable of suppressing the driver from being unable to enter the vehicle interior after warehousing.

The parking control device according to the present invention includes a first processing unit that acquires communication information including a parking instruction from a remote controller separated from the vehicle and an electric state of the remote controller, surrounding information of the vehicle, and the vehicle. A second processing unit that acquires vehicle information, a determination unit that determines whether or not the vehicle can be loaded and unloaded based on the output of the first processing unit and the output of the second processing unit, and the first The second processing unit includes a control unit that controls the entry and exit of the vehicle based on the output of the processing unit, the output of the second processing unit, and the determination result of the determination unit. When it is determined that the width of the parking area that can be stored is equal to or less than a predetermined threshold value that prevents the driver from boarding at the time of storage, the electricity included in the output of the first processing unit is included in the output of the first processing unit. Based on the state, it is determined whether or not to enter or leave the parking area according to the parking instruction included in the output of the first processing unit.

According to the present invention, when it is determined based on the output of the second processing unit that the width of the parking area that can be stored is equal to or less than a predetermined threshold value that prevents the driver from boarding at the time of storage, the first Based on the electric state of the remote controller included in the output of the processing unit, it is determined whether or not to enter or leave the parking area according to the parking instruction included in the output of the first processing unit. According to such a configuration, it is possible to prevent the driver from being unable to enter the vehicle interior after warehousing.

It is a block diagram which shows the structure of the parking control device which concerns on Embodiment 1. FIG. It is a flowchart which shows the operation of the parking control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the structure of the parking control device which concerns on Embodiment 2. FIG. It is a flowchart which shows the operation of the parking control device which concerns on Embodiment 2. It is a block diagram which shows the hardware composition of the parking control device which concerns on other modification. It is a block diagram which shows the hardware composition of the parking control device which concerns on other modification.

The parking control device according to the embodiment of the present invention is a device that controls parking (entrance / exit) of the vehicle by a parking instruction (entrance / exit instruction) from a remote controller (remote controller) separated from the vehicle. As described below, according to the parking control device according to the present embodiment, parking instructions such as leaving instructions can be appropriately transmitted from the remote controller due to insufficient battery level of the remote controller after entering the narrow parking area. It is possible to suppress the disappearance. As a result, it is possible to prevent the driver from being unable to enter the vehicle interior after warehousing. Hereinafter, the vehicle subject to parking control will be described as "own vehicle", and the parking instruction (entrance / exit instruction) from the remote controller will be described as "remote parking instruction".

<Embodiment 1>
FIG. 1 is a block diagram showing a configuration of a parking control device 1 according to a first embodiment of the present invention. As shown in FIG. 1, the parking control device 1 includes a remote control 2 that transmits communication information including a remote parking instruction, a surrounding information sensor 4 that detects surrounding information of the own vehicle such as a millimeter-wave radar and a camera, and a vehicle speed and yaw rate. The vehicle information sensor 5 that detects the vehicle information of the own vehicle such as the above is communicably connected to the brake, the engine of the own vehicle, and the actuator 9 such as the steering unit (electric power steering). In the example of FIG. 1, the surrounding information sensor 4, the vehicle information sensor 5, and the actuator 9 are not provided in the parking control device 1, but at least one of them is provided in the parking control device 1. You may.

Further, as shown in FIG. 1, the parking control device 1 receives (acquires) communication information from the remote controller 2, a remote controller reception processing unit (first processing unit) 3, and ambient information detected by the ambient information sensor 4. , The sensor information reception processing unit (second processing unit) 6 that receives (acquires) the vehicle information detected by the vehicle information sensor 5, the output of the remote control reception processing unit 3, and the output of the sensor information reception processing unit 6. The warehousing / delivery determination unit (judgment unit) 7 that determines whether or not the vehicle can be loaded / unloaded based on the above, the output of the remote control reception processing unit 3, the output of the sensor information reception processing unit 6, and the determination of the warehousing / delivery determination unit 7. Based on the result, the actuator 9 and the remote parking control unit (control unit) 8 for controlling the entry / exit of the own vehicle are provided. Hereinafter, each component will be described in detail.

<Remote control 2>
The remote controller 2 is a mobile terminal such as a smartphone or a smart key. The remote controller 2 may be a communication terminal capable of transmitting communication information including the remote parking instruction and the electric state of the remote controller 2, as described below, such as a tablet terminal, a future phone, and a remote parking dedicated terminal. It may be a remote control. Next, the remote parking instruction included in the communication information and the electric state of the remote controller 2 will be described.

The remote parking instruction includes a warehousing start instruction (warehousing instruction), a warehousing start instruction (delivery instruction), and a warehousing / delivery stop instruction. The remote parking instruction may be an instruction to continue controlling either warehousing or warehousing only while the remote controller 2 is pressed, or an instruction to continue controlling either warehousing or warehousing only while the remote controller 2 is repeatedly hit. But it may be. In addition, the remote parking instruction may include an instruction to switch the own vehicle to the low speed mode when parking so that the entry / exit can be finely adjusted near the parking area, or an instruction to advance the own vehicle by how many centimeters. It may be included. Further, the remote parking instruction may include a selection of either a parallel parking instruction or a parallel parking instruction, a selection of which parking frame the own vehicle is parked in, and the like.

The electric state of the remote controller 2 is an electric state for determining whether or not a warehousing instruction can be transmitted from the remote controller 2 to the own vehicle after warehousing, and includes, for example, the remaining battery level of the remote controller 2, the battery voltage of the remote controller 2, and the like. .. Here, the remaining battery level may be estimated from the battery voltage, the number of operations or the operation time after the battery is replaced or charged, or obtained by measuring and integrating the voltage and current. It may be estimated from the amount of power consumed. Further, when the decrease in the battery voltage of the remote controller 2 while the remote controller 2 is pressed is equal to or greater than a predetermined threshold value, the decrease in the battery voltage may be used as the electric state of the remote controller 2.

<Remote control reception processing unit 3>
The remote control reception processing unit 3 receives the remote parking instruction included in the communication information from the remote control 2. Communication between the remote controller 2 and the remote controller reception processing unit 3 is performed by wireless communication. The communication method of wireless communication is, for example, a communication method such as Bluetooth (registered trademark), Wi-Fi (registered trademark), LF (Low Frequency) band to microwave band, UWB (Ultra Wide Band), optical communication, etc. is there.

The remote control reception processing unit 3 also receives the electric state of the remote control 2 included in the communication information from the remote control 2. In the above description, the electric state of the remote controller 2 is the remaining battery level and the battery voltage detected by the remote controller 2 itself, but is not limited thereto. For example, the electric state of the remote controller 2 may be the radio field intensity of the remote controller 2 detected (acquired) by the remote controller reception processing unit 3. The radio field strength is, for example, an S / N ratio.

<Around information sensor 4>
The surrounding information sensor 4 is a sensor that detects surrounding information of the own vehicle, such as a sonar sensor, a peripheral surveillance camera, a millimeter wave radar, and LiDAR (Light Detection and Ranging). The surrounding information sensor 4 detects surrounding information such as the target position from the own vehicle, the relative speed, the type of the target (vehicle, bicycle, pedestrian, etc.), the presence / absence of the target, the reliability, and the white line information. , Transmit to the parking control device 1.

The communication methods between the ambient information sensor 4 and the sensor information reception processing unit 6 are, for example, CAN (Controller Area Network) communication, CAN-FD (CAN with Flexible Data rate) communication, Ethernet (registered trademark), and LIN (Local). Interconnect Network) A communication method such as communication. When using a communication method such as CAN in which the amount of data per ID is as small as 8 bytes, the surrounding information sensor 4 divides the data per target into a plurality of IDs and transmits the data. Also, a plurality of data may be configured to be time-divided and transmitted by one ID as in the CAN TP protocol. When the surrounding information sensor 4 is configured to transmit a plurality of target information from one sensor, the transmitted ID and the transmission cycle are defined in advance design.

<Vehicle information sensor 5>
The vehicle information sensor 5 is a sensor that detects the vehicle information of the own vehicle and transmits it to the parking control device 1, and includes, for example, a wheel speed sensor, a yaw rate sensor, a steering angle sensor, and the like. The vehicle information sensor 5 may be any sensor as long as it can detect the vehicle state of the own vehicle, such as shift information, engine speed, and relative angle of electric power steering, in addition to the above sensors. .. As the communication method between the vehicle information sensor 5 and the sensor information reception processing unit 6, for example, a communication method similar to the communication method of the surrounding information sensor 4 is used.

<Sensor information reception processing unit 6>
The sensor information reception processing unit 6 receives the surrounding information from the surrounding information sensor 4 and the vehicle information from the vehicle information sensor 5, and outputs the information to the warehousing / delivery determination unit 7 and the remote parking control unit 8. Here, the sensor information reception processing unit 6 outputs not only the surrounding information and the vehicle information but also the information obtained by processing the surrounding information and the vehicle information to the warehousing / delivery determination unit 7 and the remote parking control unit 8. You may. For example, the sensor information reception processing unit 6 integrates the information of a plurality of sensors to determine what kind of target and white line are around the own vehicle based on the surrounding information and the vehicle information, and determines the determination result. It may be output to the warehousing / delivery determination unit 7 and the remote parking control unit 8.

Even if the target in front of the own vehicle is only one preceding vehicle, the detection and transmission of each sensor of the surrounding information sensor 4 are repeated. Therefore, the sensor information reception processing unit 6 receives various information such as the distance measurement timing, the transmission timing, and the distance measurement error of one preceding vehicle as the target information from the surrounding information sensor 4. Will be done. In such a case, the sensor information reception processing unit 6 may measure the vehicle information of the vehicle information sensor 5 (for example, the movement of the own vehicle such as the vehicle speed), the distance measurement timing, the transmission timing, and the distance measurement of the surrounding information of the surrounding information sensor 4. In consideration of errors and the like, surrounding information is organized and output to the warehousing / delivery determination unit 7 and the remote parking control unit 8.

When a plurality of targets are locally dense in the coordinate system, various configurations can be considered for organizing and outputting the target information. For example, the sensor information receiving processing unit 6 may select a target having a high reliability from the plurality of targets and output the target, and the product obtained by weighted averaging the plurality of targets according to the reliability. The target may be output, or the target obtained by simply averaging the plurality of targets may be output. Further, the sensor information reception processing unit 6 may output the estimated target position at the present time in consideration of the distance measurement timing and the transmission timing.

Similar to the target information, the sensor information reception processing unit 6 integrates the information of a plurality of sensors for the white line information and organizes the information such as the curvature of the white line, the number of white lines, and the horizontal position of the white line and the own vehicle. Then, it may be output to the warehousing / delivery determination unit 7 and the remote parking control unit 8. When a plurality of cameras for detecting white lines are mounted on the own vehicle, the white line detection information by the plurality of sensors is input from the sensor information reception processing unit 6 to the warehousing / delivery determination unit 7 and the remote parking control unit 8. Especially, it is important to organize the white line information.

<Warehousing / delivery judgment unit 7>
The warehousing / delivery determination unit 7 determines whether or not the warehousing / delivery of the own vehicle is possible based on the output of the remote control reception processing unit 3 and the output of the sensor information reception processing unit 6.

First, the warehousing / delivery determination unit 7 determines whether or not there is a parking area that can be warehousing based on the surrounding information from the sensor information reception processing unit 6. For example, the warehousing / delivery determination unit 7 may determine whether or not there is a parking area that can be warehousing depending on whether or not an empty space of a certain size can be detected from the image information. Further, for example, when the surrounding information includes the image information of the peripheral surveillance camera, whether or not there is a parking area that can be stored depending on whether or not the warehousing / delivery determination unit 7 can detect the white line of the parking frame from the image information. May be determined. Further, for example, when the surrounding information includes a surrounding object detected by a sonar sensor, a millimeter wave radar, LiDAR, or the like, the warehousing / delivery determination unit 7 receives the warehousing depending on whether or not a space without the surrounding object can be detected. It may be determined if there is a possible parking area. Further, the warehousing / delivery determination unit 7 may determine whether or not there is a parking area that can be warehousing based on not only the surrounding information from the sensor information reception processing unit 6 but also the vehicle information.

When it is determined that there is no parking area, the warehousing / delivery determination unit 7 determines that the warehousing of the own vehicle is not carried out regardless of the remote parking instruction included in the output of the remote control reception processing unit 3.

When it is determined that there is a parking area, the warehousing / delivery determination unit 7 obtains the width and depth of the parking area based on the surrounding information from the sensor information reception processing unit 6. Then, the warehousing / delivery determination unit 7 determines whether or not the width of the parking area is equal to or less than a predetermined threshold value at which the driver cannot board the vehicle at the time of warehousing. In the following description, a predetermined threshold value for making this determination may be referred to as a "non-ride threshold", and a parking area having a width equal to or less than the non-ride threshold may be referred to as a "non-ride parking area". .. When the vehicle information from the sensor information reception processing unit 6 includes the information on the width of the own vehicle, the warehousing / delivery determination unit 7 may reduce the impassability threshold as the width of the own vehicle increases.

When it is determined that the width of the parking area is larger than the non-boarding threshold value, the warehousing / delivery determination unit 7 determines that the warehousing / delivery of the own vehicle is carried out according to the remote parking instruction included in the output of the remote control reception processing unit 3.

When it is determined that the width of the parking area is equal to or less than the impossibility threshold value, the warehousing / delivery determination unit 7 follows the remote parking instruction based on the electric state of the remote controller 2 included in the output of the remote controller reception processing unit 3 and gets on the vehicle. Judge whether entry / exit is possible for the impossible parking area. For example, when the electric state of the remote controller 2 is good, the warehousing / delivery determination unit 7 follows the remote parking instruction (warehousing instruction) included in the output of the remote controller reception processing unit 3 to move the own vehicle to the non-rideable parking area. Judge that warehousing will be carried out. On the other hand, when the electric state of the remote controller 2 is not good, the warehousing / delivery determination unit 7 determines that the warehousing of the own vehicle in the non-rideable parking area is not carried out regardless of the remote parking instruction. When the electric state of the remote controller 2 is good, for example, the remaining battery level, the battery voltage, and the radio wave intensity of the remote controller 2 may be larger than a predetermined threshold value.

When the electric condition of the remote controller 2 is not good, the parking control device 1 configured as described above determines that the parking in the non-rideable parking area is not carried out regardless of the remote parking instruction. According to such a configuration, it is possible to prevent the remote controller from being unable to properly transmit a remote parking instruction such as a exit instruction due to insufficient battery level of the remote controller or the like after entering the non-rideable parking area. Therefore, it is possible to prevent the driver from being unable to enter the vehicle interior after warehousing.

The warehousing / delivery determination unit 7 sets priorities for the electric state of the remote controller 2 such as the remaining battery level, battery voltage, and radio wave strength, and determines whether or not to carry out warehousing based on the priorities. May be good. Further, when the total value obtained by weighting the remaining battery level, the battery voltage, and the radio wave strength is equal to or less than a predetermined threshold value, the warehousing / delivery determination unit 7 must carry out warehousing in the non-rideable parking area. You may judge. By combining the plurality of electric states of the remote controller 2, the electric state of the remote controller 2 can be accurately grasped, so that it is possible to further suppress the inability to transmit the remote parking instruction from the remote controller 2 after warehousing. As described above, the electric state of the remote controller 2 may be an electric state for determining whether or not the remote controller 2 can send a warehousing instruction to the own vehicle after warehousing, and the remaining battery level of the remote controller 2 and the battery It is not limited to voltage and radio field strength.

The warehousing / delivery determination unit 7 outputs the determination result to the remote parking control unit 8. When the warehousing / delivery determination unit 7 determines that warehousing is to be carried out in the parking area, the width and depth of the parking area and parking from the own vehicle are based on the surrounding information and the vehicle information from the sensor information reception processing unit 6. Information necessary for parking control of the own vehicle, such as the relative coordinates of the area and the orientation of the own vehicle, is generated and output to the remote parking control unit 8.

The sensor information reception processing unit 6 performs a part of the processing of the warehousing / delivery determination unit 7 described above, so that the warehousing / delivery determination unit 7 and the remote parking control unit 8 obtain the processing result of the sensor information reception processing unit 6. It may be configured to be used. For example, the sensor information reception processing unit 6 may determine whether or not there is a parking area that can be stored, and output the determination result to the entry / exit determination unit 7 and the remote parking control unit 8. For example, the sensor information reception processing unit 6 may determine whether or not the width of the parking area that can be stored is equal to or less than the occupancy threshold value, and output the determination result to the warehousing / exit determination unit 7 and the remote parking control unit 8. For example, the sensor information reception processing unit 6 may generate information necessary for parking control of the own vehicle and output it to the warehousing / delivery determination unit 7 and the remote parking control unit 8.

<Remote parking control unit 8>
The remote parking control unit 8 sets the parking area and itself based on the communication information (remote parking instruction) of the remote control reception processing unit 3, the information from the sensor information reception processing unit 6, and the determination result of the warehousing / delivery determination unit 7. A parking route between the own vehicle and the parking area is generated from the position, orientation, and relative position of the vehicle. Then, the remote parking control unit 8 controls the entry / exit of the own vehicle by giving a parking control instruction to the actuator 9 based on the generated parking route or the like.

For example, the remote parking control unit 8 comprehensively calculates a plurality of routes between the own vehicle and the parking area, and among the plurality of routes, the shortest route, a route with a small steering amount, and an obstacle. One route that matches the evaluation index, such as a route with a large distance, is obtained as a parking route. Further, for example, the remote parking control unit 8 calculates a parking control instruction to the actuator 9 so that the route on which the own vehicle travels corresponds to the generated parking route.

The parking control instruction of the remote parking control unit 8 is not only an instruction to the actuator 9 such as the brake, the engine, and the steering unit, but also an HMI (Human Machine) such as a shift, a side brake, a hazard, a door mirror, and a speaker. It may include an instruction to Interface). Further, in the example of FIG. 1, the remote parking control unit 8 is configured to directly input the remote parking instruction from the remote control reception processing unit 3, but the present invention is not limited to this. For example, the remote parking control unit 8 may be input with a remote parking instruction in consideration of the warehousing determination from the warehousing / delivery determination unit 7.

By the way, when the own vehicle is relatively far from the parking area, the above detection and determination are performed, and when it is determined that the width of the parking area is larger than the non-ride threshold value, the warehousing is carried out. Carrying out of warehousing may be inappropriate. Inappropriate warehousing is, for example, when the detection accuracy is not sufficient when the own vehicle is relatively far from the parking area, and the width of the parking area is actually equal to or less than the impassable threshold. There is. In another case, for example, when the situation changes such that another vehicle enters the parking area while the own vehicle is heading for the parking area, or the electric state of the remote controller 2 becomes poor. There are cases such as.

Therefore, during the warehousing under the control of the remote parking control unit 8, the remote control reception processing unit 3 and the sensor information reception processing unit 6 perform the above information acquisition, and the warehousing / delivery determination unit 7 performs the above determination. May be good. According to such a configuration, if the warehousing / delivery determination unit 7 determines that the warehousing is not performed during the warehousing, the remote parking control unit 8 can control to stop the warehousing. For this reason, it is possible to further prevent the remote controller from being unable to properly transmit parking instructions such as the exit instruction due to insufficient battery level of the remote controller after entering the non-rideable parking area.

In the above description, determining that the warehousing / delivery determination unit 7 does not carry out warehousing in the non-boarding parking area is the same as determining warehousing suspension in the non-boarding parking area. However, in such a configuration, even if it is determined that the warehousing is not carried out in the non-rideable parking area and the warehousing is stopped in the middle, the driver cannot get on the vehicle due to the calculation time lag and the reaction delay of the actuator 9. Your vehicle may stop at the position.

Therefore, determining that the warehousing / delivery determination unit 7 does not carry out the warehousing in the non-boarding parking area may be the same as determining the warehousing from the non-boarding parking area. That is, when the warehousing / delivery determination unit 7 determines that the width of the parking area is equal to or less than the non-boarding threshold value, the warehousing / delivery determination unit 7 may determine that the own vehicle is warehousing from the parking area regardless of the remote parking instruction. According to such a configuration, it is possible to further prevent the driver from being unable to enter the vehicle interior after warehousing.

If the remote controller 2 has a display function and the remote parking instruction from the remote controller 2 is a warehousing instruction, but the warehousing / delivery determination unit 7 determines that the warehousing is not performed, parking control is performed. The device 1 may notify the remote controller 2 to indicate that it cannot be stored. Further, the remote controller 2 displays so that it can accept a selection operation of stopping warehousing or warehousing when the notification is received, and remotely sends either a warehousing stop instruction or a warehousing instruction based on the selection operation. It may be configured to be transmitted as a parking instruction.

<Operation>
FIG. 2 is a flowchart showing the operation of the parking control device 1 according to the first embodiment.

First, in step S1, the remote control reception processing unit 3 receives the communication information from the remote control 2 (remote control reception processing).

In step S2, the sensor information reception processing unit 6 receives the surrounding information from the surrounding information sensor 4 and the vehicle information from the vehicle information sensor 5 (sensor information reception processing).

In step S3, the warehousing / delivery determination unit 7 determines whether or not the remote parking instruction included in the output of the remote control reception processing unit 3 is a warehousing instruction. If it is determined that the warehousing instruction is not received, the process proceeds to step S4, and if it is determined that the warehousing instruction is not received, the process proceeds to step S7.

In step S4, the warehousing / delivery determination unit 7 determines whether or not there is a parking area that can be warehousing based on the output of the sensor information reception processing unit 6. If it is determined that there is a parking area that can be stored, the process proceeds to step S5, and if it is determined that there is no parking area that can be stored, the process proceeds to step S7.

In step S5, the warehousing / delivery determination unit 7 determines whether or not the width of the parking area is larger than the non-ride threshold value based on the output of the sensor information reception processing unit 6. If it is determined that the width of the parking area is larger than the non-ride threshold, the process proceeds to step S8, and if it is determined that the width of the parking area is equal to or less than the non-ride threshold, the process proceeds to step S6.

In step S6, the warehousing / delivery determination unit 7 determines whether or not the electric state of the remote controller 2 included in the output received by the remote controller reception processing unit 3 is good. If it is determined that the electric state is good, the process proceeds to step S8, and if it is determined that the electric state is not good, the process proceeds to step S7.

In step S7, the warehousing / delivery determination unit 7 determines that the warehousing of the own vehicle is not carried out. After that, the process proceeds to step S9.

In step S8, the warehousing / delivery determination unit 7 determines that the warehousing of the own vehicle will be carried out. After that, the process proceeds to step S9.

In step S9, the remote parking control unit 8 determines the entry / exit of the own vehicle based on the output of the remote control reception processing unit 3, the output of the sensor information reception processing unit 6, and the determination result of the warehousing / delivery determination unit 7. Control. After that, the process returns to step S1.

<Summary of Embodiment 1>
According to the parking control device 1 according to the first embodiment as described above, based on the output of the sensor information reception processing unit 6, the width of the parking area that can be stored is set in advance so that the driver cannot board the vehicle at the time of storage. When it is determined that the parking area is equal to or less than the predetermined threshold value, it is determined whether or not the parking area can be entered or exited according to the remote parking instruction based on the electric state of the remote controller 2 included in the output of the remote controller reception processing unit 3. .. According to such a configuration, it is possible to prevent the remote controller from being unable to properly transmit a parking instruction such as a exit instruction due to insufficient battery level of the remote controller or the like after entering the non-rideable parking area. As a result, it is possible to prevent the driver from being unable to enter the vehicle interior after warehousing.

<Embodiment 2>
FIG. 3 is a block diagram showing the configuration of the parking control device 1 according to the second embodiment of the present invention. The block configuration of FIG. 3 is the same as the configuration in which the schedule input terminal 10, the delivery schedule management unit 11, and the temperature prediction unit 12 are added to the block configuration of FIG. Among the components of the parking control device 1 according to the second embodiment, except for the warehousing / delivery determination unit 7, the warehousing schedule management unit 11, and the temperature prediction unit 12, the components of the parking control device 1 of the first embodiment. Since it is almost the same as the above, the description of the components other than these will be omitted as appropriate. Here, the ambient information detected by the ambient information sensor 4 and the output from the sensor information reception processing unit 6 to the warehousing / delivery determination unit 7 are all of the own vehicle before warehousing (for example, at the time of instructing warehousing). It shall include the outside air temperature.

<Delivery Schedule Management Department 11>
The warehousing schedule management unit 11 acquires the warehousing schedule of the own vehicle from the schedule input terminal 10, and outputs the warehousing schedule to the warehousing / delivery determination unit 7 and the temperature prediction unit 12. The delivery schedule management unit 11 acquires information related to the time of delivery, such as the scheduled delivery date and time, the period until delivery, and the vehicle usage schedule, as the delivery schedule.

In the example of FIG. 3, the delivery schedule management unit 11 acquires the delivery schedule from the schedule input terminal 10, but the delivery schedule is not limited to this. For example, the warehousing schedule management unit 11 may record the past warehousing / delivery schedule based on the control history of the remote parking control unit 8 and estimate the warehousing schedule such as the next warehousing time. According to the configuration in which the delivery schedule management unit 11 estimates the delivery schedule, the delivery schedule can be used even if the schedule input terminal 10 is not provided or the driver forgets to input the schedule to the schedule input terminal 10. it can.

<Temperature prediction unit 12>
The temperature prediction unit 12 predicts the outside air temperature of the own vehicle at the time of delivery based on the outside air temperature included in the output of the sensor information reception processing unit 6 and the delivery schedule included in the output of the delivery schedule management unit 11. In the following description, the outside air temperature predicted by the temperature prediction unit 12 may be referred to as "unpredicted air temperature".

<Warehousing / delivery judgment unit 7>
When the warehousing / delivery determination unit 7 according to the second embodiment determines that the width of the parking area that can be warehousing is equal to or less than the boarding threshold, the electric state included in the output of the remote control reception processing unit 3 and the warehousing schedule. Based on the delivery schedule included in the output of the management unit 11 and the unexpected temperature of the temperature prediction unit 12, it is determined whether or not to enter or leave the parking area according to the remote parking instruction.

For example, when the warehousing schedule is known at the time of warehousing and the period until warehousing is larger than a predetermined threshold value, the warehousing / delivery determination unit 7 determines the remaining battery level in the remote control reception processing unit 3 in advance. Even if it is larger than the threshold value, it may be determined not to carry out the warehousing in the non-rideable parking area. According to such a configuration, it is possible to prevent the remote controller 2 from being unable to properly transmit a parking instruction such as a warehousing instruction at the time of warehousing due to natural discharge of the battery of the remote controller 2 before warehousing.

Further, for example, depending on the remaining battery level of the remote controller 2, the battery of the remote controller 2 may not operate normally as the outside air temperature of the remote controller 2 decreases, and the remote controller 2 may not be able to transmit a warehousing instruction. Then, it is considered that the outside air temperature of the remote controller 2 has a certain correlation with the unexpected unexpected air temperature. Therefore, when the unexpected temperature is larger than the predetermined threshold value, even if the remaining battery level in the remote control reception processing unit 3 is larger than the predetermined threshold value, the warehousing / delivery determination unit 7 cannot board. It may be determined not to carry out the warehousing in the parking area. According to such a configuration, when the outside air temperature of the remote controller 2 at the time of leaving the garage is low, it is possible to prevent the remote controller from being unable to properly transmit a parking instruction such as a warehousing instruction.

Further, for example, depending on the remaining battery level of the remote controller 2, the internal resistance of the battery of the remote controller 2 increases as the outside temperature of the remote controller 2 rises, the remote controller 2 does not operate normally, and the remote controller 2 may not be able to send a warehousing instruction. There is sex. Therefore, when the unexpected temperature is smaller than the predetermined threshold value, even if the remaining battery level in the remote control reception processing unit 3 is larger than the predetermined threshold value, the warehousing / delivery determination unit 7 cannot board. It may be determined not to carry out the warehousing in the parking area. According to such a configuration, it is possible to prevent the remote controller 2 from being unable to properly transmit a parking instruction such as a warehousing instruction when the outside temperature of the remote controller 2 at the time of warehousing is high.

As in the first embodiment, the warehousing / delivery determination unit 7 gives priority to the electric state with the remote controller such as the remaining battery level, the battery voltage, and the radio wave strength, the period until warehousing, and the unexpected temperature. May be provided and it may be determined whether or not to carry out the warehousing based on the priority. When the total value of the remaining battery level, battery voltage, radio wave strength, reciprocal of the period until delivery, and unexpected temperature is equal to or less than a predetermined threshold value, the entry / exit determination unit 7 gets on board. It may be determined not to carry out warehousing in the impossible parking area. By combining a plurality of electric states of the remote controller 2, a delivery schedule, and an unexpected temperature, it is possible to improve the accuracy of grasping the electric state of the remote controller 2 accurately, so that the remote controller 2 cannot send a remote parking instruction after the warehousing. That can be further suppressed.

<Operation>
FIG. 4 is a flowchart showing the operation of the parking control device 1 according to the second embodiment.

First, in step S11, the remote control reception processing unit 3 receives the communication information from the remote control 2 (remote control reception processing).

In step S12, the sensor information reception processing unit 6 receives the surrounding information from the surrounding information sensor 4 and the vehicle information from the vehicle information sensor 5 (sensor information reception processing).

In step S13, the delivery schedule management unit 11 acquires the delivery schedule (delivery schedule management process).

In step S14, the temperature prediction unit 12 outside the own vehicle at the time of delivery based on the outside air temperature included in the output of the sensor information reception processing unit 6 and the delivery schedule included in the output of the delivery schedule management unit 11. Predict the temperature (temperature prediction processing).

In step S15, the warehousing / delivery determination unit 7 determines whether or not the remote parking instruction included in the output of the remote control reception processing unit 3 is a warehousing instruction. If it is determined that the warehousing instruction is not received, the process proceeds to step S16, and if it is determined that the warehousing instruction is not received, the process proceeds to step S19.

In step S16, the warehousing / delivery determination unit 7 determines whether or not there is a parking area that can be warehousing based on the output of the sensor information reception processing unit 6. If it is determined that there is a parking area that can be stored, the process proceeds to step S17, and if it is determined that there is no parking area that can be stored, the process proceeds to step S19.

In step S17, the warehousing / delivery determination unit 7 determines whether or not the width of the parking area is larger than the non-ride threshold value based on the output of the sensor information reception processing unit 6. If it is determined that the width of the parking area is larger than the non-ride threshold, the process proceeds to step S20, and if it is determined that the width of the parking area is equal to or less than the non-ride threshold, the process proceeds to step S18.

In step S18, the warehousing / delivery determination unit 7 has a good electrical condition of the remote controller 2 included in the output received by the remote controller reception processing unit 3, the period until warehousing is equal to or less than a predetermined threshold value, and , Determine if the unexpected temperature is within a predetermined range. If it is determined that the electrical condition is good, the period until delivery is below a predetermined threshold value, and the unexpected temperature is within a predetermined range, the process proceeds to step S20, otherwise the process proceeds to step S20. If it is determined, the process proceeds to step S19.

In step S19, the warehousing / delivery determination unit 7 determines that the warehousing of the own vehicle is not carried out. After that, the process proceeds to step S21.

In step S20, the warehousing / delivery determination unit 7 determines that the warehousing of the own vehicle will be carried out. After that, the process proceeds to step S21.

In step S21, the remote parking control unit 8 determines the entry / exit of the own vehicle based on the output of the remote control reception processing unit 3, the output of the sensor information reception processing unit 6, and the determination result of the warehousing / delivery determination unit 7. Control. After that, the process returns to step S11.

<Summary of Embodiment 2>
According to the parking control device 1 according to the second embodiment as described above, when it is determined that the width of the parking area that can be stored is equal to or less than the non-ride threshold value, the electricity included in the output of the remote control reception processing unit 3 Based on the state, the delivery schedule included in the output of the delivery schedule management unit 11, and the unexpected temperature of the temperature prediction unit 12, it is determined whether or not to enter or leave the non-rideable parking area according to the remote parking instruction. According to such a configuration, it is possible to further prevent the remote controller from being unable to properly transmit parking instructions such as the exit instruction due to insufficient battery level of the remote controller or the like after entering the non-rideable parking area. As a result, it is possible to further prevent the driver from being unable to enter the vehicle interior after warehousing.

<Modification example>
In the second embodiment, the temperature prediction unit 12 predicts the outside air temperature of the own vehicle at the time of delivery based on the output of the delivery schedule management unit 11, but the present invention is not limited to this. For example, the temperature prediction unit 12 may acquire weather data from an external server (not shown) and predict the outside temperature of the own vehicle at the time of delivery based on the weather data.

Further, in the second embodiment, the warehousing / delivery determination unit 7 includes the electric state included in the output of the remote control reception processing unit 3, the warehousing schedule included in the output of the warehousing schedule management unit 11, and the unexpected temperature of the temperature prediction unit 12. Based on the above, it was determined whether or not to enter or leave the non-rideable parking area according to the remote parking instruction. However, the parking control device 1 does not include the temperature prediction unit 12, and the warehousing / delivery determination unit 7 determines the electrical state included in the output of the remote control reception processing unit 3 and the warehousing schedule included in the output of the warehousing schedule management unit 11. Based on the unexpected temperature of the temperature prediction unit 12, it may be determined whether or not to enter or leave the non-rideable parking area according to the remote parking instruction.

Further, the parking control device 1 does not include the warehousing schedule management unit 11 and the temperature prediction unit 12, and the warehousing / delivery determination unit 7 includes the electrical state included in the output of the remote control reception processing unit 3 and the sensor information reception processing unit 6. Based on the outside air temperature of the own vehicle before leaving the garage included in the output, it may be determined whether or not the garage can be entered or exited from the non-rideable parking area according to the remote parking instruction.

<Other variants>
The remote control reception processing unit 3, the sensor information reception processing unit 6, the warehousing / delivery determination unit 7, and the remote parking control unit 8 in FIG. 1 are hereinafter referred to as “remote control reception processing unit 3 and the like”. The remote control reception processing unit 3 and the like are realized by the processing circuit 90 shown in FIG. That is, the processing circuit 90 has a remote control reception processing unit 3 that acquires communication information including a parking instruction from the remote controller 2 and an electric state of the remote controller 2, and a sensor that acquires surrounding information of the own vehicle and vehicle information of the own vehicle. When it is determined based on the outputs of the information reception processing unit 6 and the sensor information reception processing unit 6 that the width of the parking area that can be stored is equal to or less than a predetermined threshold value that prevents the driver from boarding at the time of storage. Based on the electric state included in the output of the remote control reception processing unit 3, the warehousing / delivery determination unit 7 determines whether or not the parking area can be entered / exited according to the parking instruction included in the output of the remote control reception processing unit 3. A remote parking control unit 8 that controls the entry / exit of the own vehicle based on the output of the remote control reception processing unit 3, the output of the sensor information reception processing unit 6, and the determination result of the warehousing / delivery determination unit 7 is provided. .. Dedicated hardware may be applied to the processing circuit 90, or a processor that executes a program stored in the memory may be applied to the processing circuit 90. Examples of the processor include a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), and the like.

When the processing circuit 90 is dedicated hardware, the processing circuit 90 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field Programmable Gate). Array), or a combination of these. Each of the functions of each part such as the remote control reception processing unit 3 may be realized by a circuit in which the processing circuits are dispersed, or the functions of each part may be collectively realized by one processing circuit.

When the processing circuit 90 is a processor, the functions of the remote control reception processing unit 3 and the like are realized by combining with software and the like. The software and the like correspond to, for example, software, firmware, or software and firmware. Software and the like are described as programs and stored in memory. As shown in FIG. 6, the processor 91 applied to the processing circuit 90 realizes the functions of each part by reading and executing the program stored in the memory 92.

That is, when the parking control device 1 is executed by the processing circuit 90, the remote control reception processing unit 3 acquires communication information including a parking instruction from the remote control 2 and an electric state of the remote control 2, and sensor information. The width of the parking area where the reception processing unit 6 can acquire the surrounding information of the own vehicle and the vehicle information of the own vehicle, and the warehousing / delivery determination unit 7 can store the parking area based on the output of the sensor information reception processing unit 6. Is included in the output of the remote control reception processing unit 3 based on the electric state included in the output of the remote control reception processing unit 3 when it is determined that the value is equal to or less than a predetermined threshold value that prevents the driver from boarding the vehicle at the time of warehousing. The step of determining whether or not to enter or leave the parking area according to the parking instruction, and the remote parking control unit 8 determines the output of the remote control reception processing unit 3, the output of the sensor information reception processing unit 6, and the entry / exit determination. A step of controlling the entry / exit of the own vehicle based on the determination result of the unit 7 and a memory 92 for storing a program to be executed as a result are provided. In other words, it can be said that this program causes the computer to execute the procedure or method of the remote control reception processing unit 3 or the like. Here, the memory 92 is a non-volatile or non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EEPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), its drive device, etc., or any storage medium used in the future. You may.

The configuration in which each function of the remote control reception processing unit 3 and the like is realized by either hardware or software has been described above. However, the present invention is not limited to this, and a configuration may be configured in which a part of the remote controller reception processing unit 3 or the like is realized by dedicated hardware and another part is realized by software or the like. For example, the remote control reception processing unit 3 realizes its function by a processing circuit 90 as dedicated hardware, and other than that, the processing circuit 90 as a processor 91 reads and executes a program stored in the memory 92. By doing so, it is possible to realize the function.

As described above, the processing circuit 90 can realize each of the above-mentioned functions by hardware, software, or a combination thereof.

Further, the parking control device 1 described above includes a vehicle device, a communication terminal including a mobile terminal such as a mobile phone, a smartphone and a tablet, an application function installed in at least one of the vehicle device and the communication terminal, and a function of an application. It can also be applied to a parking control system constructed as a system by appropriately combining a server. In this case, each function or each component of the parking control device 1 described above may be dispersedly arranged in each device for constructing the system, or may be centrally arranged in any of the devices. Good.

In the present invention, each embodiment and each modification can be freely combined, and each embodiment and each modification can be appropriately modified or omitted within the scope of the invention.

1 Parking control device, 2 remote control, 3 remote control reception processing unit, 6 sensor information reception processing unit, 7 entry / exit judgment unit, 8 remote parking control unit, 11 delivery schedule management unit, 12 temperature prediction unit.

Claims (14)

A first processing unit that acquires communication information including a parking instruction from a remote controller separated from the vehicle and an electric state of the remote controller.
A second processing unit that acquires the surrounding information of the vehicle and the vehicle information of the vehicle,
A determination unit that determines whether or not the vehicle can be loaded or unloaded based on the output of the first processing unit and the output of the second processing unit.
A control unit that controls the entry / exit of the vehicle based on the output of the first processing unit, the output of the second processing unit, and the determination result of the determination unit is provided.
The determination unit
Based on the output of the second processing unit, when it is determined that the width of the parking area that can be stored is equal to or less than a predetermined threshold value that prevents the driver from boarding at the time of warehousing, the output of the first processing unit. A parking control device that determines whether or not to enter or leave the parking area according to the parking instruction included in the output of the first processing unit based on the electric state included in the parking area. The parking control device according to claim 1.
The electric state of the remote controller is a parking control device including the remaining battery level of the remote controller. The parking control device according to claim 2.
The determination unit
A parking control device that determines whether the vehicle is to be released from the parking area regardless of the parking instruction when the remaining battery level is equal to or less than a predetermined threshold value. The parking control device according to claim 2.
A parking control device that determines whether the vehicle is stopped in the parking area regardless of the parking instruction when the remaining battery level is equal to or less than a predetermined threshold value. The parking control device according to claim 1 or 2.
The electric state of the remote controller is a parking control device including the battery voltage of the remote controller. The parking control device according to claim 5.
The determination unit
A parking control device that determines whether the vehicle is to be released from the parking area regardless of the parking instruction when the battery voltage is equal to or lower than a predetermined threshold value. The parking control device according to claim 5.
A parking control device that determines whether the vehicle is stopped in the parking area regardless of the parking instruction when the battery voltage is equal to or lower than a predetermined threshold value. The parking control device according to claim 1, 2 or 5.
The electric state of the remote controller is a parking control device including the radio wave intensity of the remote controller. The parking control device according to claim 8.
The determination unit
A parking control device that determines whether the vehicle is to be released from the parking area regardless of the parking instruction when the radio wave intensity is equal to or less than a predetermined threshold value. The parking control device according to claim 8.
A parking control device that determines whether the vehicle is stopped in the parking area regardless of the parking instruction when the radio wave intensity is equal to or less than a predetermined threshold value. The parking control device according to any one of claims 1 to 10.
The surrounding information of the vehicle includes the outside air temperature of the vehicle before leaving the garage.
The determination unit
When it is determined that the width of the parking area is equal to or less than the predetermined threshold value, the electric state included in the output of the first processing unit and the outside air temperature included in the output of the second processing unit. A parking control device that determines whether or not to enter or leave the parking area in accordance with the parking instruction included in the output of the first processing unit. The parking control device according to any one of claims 1 to 10.
Further equipped with a delivery schedule management unit for acquiring the delivery schedule of the vehicle,
The determination unit
When it is determined that the width of the parking area is equal to or less than the predetermined threshold value, the first processing unit is based on the electrical state included in the output of the first processing unit and the output of the delivery schedule management unit. 1 A parking control device that determines whether or not to enter or leave the parking area in accordance with the parking instruction included in the output of the processing unit. The parking control device according to claim 12.
The surrounding information of the vehicle includes the outside air temperature of the vehicle before leaving the garage.
A temperature prediction unit that predicts the outside air temperature of the vehicle at the time of delivery based on the outside air temperature included in the output of the second processing unit and the output of the delivery schedule management unit is further provided.
The determination unit
When it is determined that the width of the parking area is equal to or less than the predetermined threshold value, the electric state included in the output of the first processing unit, the output of the delivery schedule management unit, and the temperature prediction unit A parking control device that determines whether or not to enter or leave the parking area according to the parking instruction included in the output of the first processing unit based on the predicted outside air temperature. The first processing unit acquires communication information including a parking instruction from the remote controller separated from the vehicle and the electric state of the remote controller.
The second processing unit acquires the surrounding information of the vehicle and the vehicle information of the vehicle.
The determination unit determines whether or not the vehicle can be loaded or unloaded based on the output of the first processing unit and the output of the second processing unit.
The control unit controls the entry / exit of the vehicle based on the output of the first processing unit, the output of the second processing unit, and the determination result of the determination unit.
The determination unit
Based on the output of the second processing unit, when it is determined that the width of the parking area that can be stored is equal to or less than a predetermined threshold value that prevents the driver from boarding at the time of warehousing, the output of the first processing unit. A parking control method for determining whether or not to enter or leave a parking area according to the parking instruction included in the output of the first processing unit based on the electric state included in the parking area.

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