JP2021081962A - Control apparatus - Google Patents

Abstract

To provide a system for controlling the traveling of a vehicle in a predetermined area that appropriately responds to a case where a vehicle position of a vehicle being traveling estimated by a control apparatus is different from a vehicle position estimated by the vehicle.SOLUTION: A control apparatus is a control apparatus in a system for controlling the traveling of a vehicle in a predetermined area, and comprises: a first acquisition unit for acquiring detection data of a vehicle traveling in the predetermined area, from a detection unit provided in the predetermined area; an estimation unit for estimating a first position indicating a position of the vehicle on the basis of the detection data; a second acquisition unit for acquiring from the vehicle a second position indicating the position of the vehicle that is estimated in the vehicle; and a determination unit for determining that there is an abnormality when a difference equal to or greater than a predetermined value in comparison between the first position and the second position.SELECTED DRAWING: Figure 5

Description

Embodiments of the present invention relate to control devices.

In recent years, a system (for example, an automatic valley parking system) for controlling the running of a vehicle within a predetermined area (for example, a parking lot) has been studied. In such a system, for example, a control device estimates the position of a vehicle traveling in a predetermined area based on detection data (for example, an image taken by a fixed camera) acquired from a detection unit provided in the predetermined area. .. Further, for example, even in the vehicle, the position of the own vehicle is estimated based on the detection result by the wheel speed sensor, the image taken by the in-vehicle camera, and the like.

Japanese Unexamined Patent Publication No. 2011-54116 Japanese Unexamined Patent Publication No. 2015-74321 Japanese Unexamined Patent Publication No. 2016-57677

However, in the above-mentioned system, the prior art does not assume that the running vehicle position estimated by the control device and the vehicle position estimated by the vehicle are different, and there is room for improvement.

Therefore, one of the problems of the embodiment is appropriately when the running vehicle position estimated by the control device and the vehicle position estimated by the vehicle are different in the system for controlling the running of the vehicle within a predetermined area. It is to provide a control device that can handle it.

The control device as an example of the embodiment is a control device in a system that controls the running of the vehicle in the predetermined area, and the detection unit provided in the predetermined area indicates that the vehicle is running in the predetermined area. A first acquisition unit for acquiring detection data, an estimation unit for estimating a first position indicating the position of the vehicle based on the detection data, and a second unit for estimating the position of the vehicle estimated in the vehicle. It includes a second acquisition unit that acquires a position from the vehicle, and a determination unit that compares the first position and the second position and determines that an abnormality occurs when there is a difference of a predetermined value or more.

According to this configuration, the control device appropriately compares the running vehicle position estimated by itself with the vehicle position estimated by the vehicle, and if there is a difference of a predetermined value or more, determines that the vehicle is abnormal. I can handle it.

Further, the control device may further include a vehicle control unit that controls the vehicle to be stopped or decelerated when the determination unit determines that the vehicle is abnormal.

According to this configuration, safety can be further improved by stopping or decelerating the target vehicle when it is determined to be abnormal.

Further, the control device may further include a notification unit that notifies an alarm when the determination unit determines that the abnormality is abnormal.

According to this configuration, it is possible to alert the target person by notifying an alarm when it is determined to be abnormal.

FIG. 1 is an exemplary and schematic diagram showing an example of automatic parking in the automatic valley parking system according to the embodiment. FIG. 2 is an exemplary and schematic diagram showing an example of automatic warehousing in the automatic valet parking system according to the embodiment. FIG. 3 is an exemplary and schematic block diagram showing the hardware configuration of the control device according to the embodiment. FIG. 4 is an exemplary and schematic block diagram showing the system configuration of the vehicle control system according to the embodiment. FIG. 5 is an exemplary and schematic block diagram showing the functions of the control device and the vehicle control device according to the embodiment. FIG. 6 is an exemplary and schematic diagram for explaining an example in which the running vehicle position estimated by the control device and the vehicle position estimated by the vehicle are the same or different in the embodiment. .. FIG. 7 is a flowchart showing the processing by the control device according to the embodiment.

Hereinafter, embodiments will be described with reference to the drawings. It should be noted that the configuration of the embodiments described below and the actions and results (effects) brought about by the configuration are merely examples, and the present invention is not limited to the contents described below.

First, the outline of the automatic valley parking system according to the embodiment will be described with reference to FIGS. 1 and 2. Here, the automatic valet parking system is an automatic parking system including automatic parking and automatic warehousing as described below in a parking lot P having one or more parking areas R partitioned by a predetermined lane marking L such as a white line. It is a system for realizing valet parking. The automatic valley parking system is an example of a system that controls the running of a vehicle within a predetermined area.

FIG. 1 is an exemplary and schematic diagram showing an example of automatic parking in the automatic valley parking system according to the embodiment. Further, FIG. 2 is an exemplary and schematic diagram showing an example of automatic warehousing in the automatic valet parking system according to the embodiment.

As shown in FIGS. 1 and 2, in automatic valley parking, after the occupant X gets off from the vehicle V in the predetermined disembarkation area P1 in the parking lot P, the vehicle V disembarks in response to the predetermined instruction P1. Automatic parking (see arrow C1 in FIG. 1) that automatically moves from the parking area R to an empty parking area R and parks the vehicle, and after the automatic parking is completed, the vehicle V leaves the parking area R in response to a predetermined call. Automatic warehousing (see arrow C2 in FIG. 2), which automatically moves to a predetermined boarding area P2 and stops, is executed. The predetermined instruction and the predetermined call are realized by the operation of the terminal device T by the occupant X.

Further, as shown in FIGS. 1 and 2, the automatic valley parking system includes a control device 101 provided in the parking lot P and a vehicle control system 102 mounted on the vehicle V. The control device 101 and the vehicle control system 102 are configured to be able to communicate with each other by wireless communication.

Here, the control device 101 outputs from image data obtained from one or more surveillance cameras 103 that capture the situation in the parking lot P, various sensors (not shown, detection unit) provided in the parking lot P, and the like. It is configured to monitor the situation in the parking lot P by receiving the data to be generated and manage the parking area R based on the monitoring result. In the following, the information received by the control device 101 to monitor the situation in the parking lot P may be collectively referred to as sensor data (detection data).

In the embodiment, the number and arrangement of the disembarkation area P1, the boarding area P2, and the parking area R in the parking lot P are not limited to the examples shown in FIGS. 1 and 2. The technique of the embodiment can be applied to a predetermined area such as a parking lot having various configurations different from the parking lot P shown in FIGS. 1 and 2.

Next, the configurations of the control device 101 and the vehicle control system 102 according to the embodiment will be described with reference to FIGS. 3 and 4. The configurations shown in FIGS. 3 and 4 are merely examples, and the configurations of the control device 101 and the vehicle control system 102 according to the embodiment can be set (changed) in various ways.

First, the hardware configuration of the control device 101 according to the embodiment will be described with reference to FIG. FIG. 3 is an exemplary and schematic block diagram showing the hardware configuration of the control device 101 according to the embodiment. As shown in FIG. 3, the control device 101 according to the embodiment has the same computer resources as a general information processing device such as a PC (Personal Computer).

In the example shown in FIG. 3, the control device 101 includes a CPU (Central Processing Unit) 301, a ROM (Read Only Memory) 302, a RAM (Random Access Memory) 303, a communication interface (I / F) 304, and the like. It has an input / output interface (I / F) 305 and an SSD (Solid State Drive) 306. These hardware are connected to each other via the data bus 350.

The CPU 301 is a hardware processor that controls the control device 101 in an integrated manner. The CPU 301 reads various control programs (computer programs) stored in the ROM 302 or the like, and realizes various functions according to the instructions specified in the various control programs.

The ROM 302 is a non-volatile main storage device that stores parameters and the like necessary for executing the various control programs described above.

The RAM 303 is a volatile main storage device that provides a working area for the CPU 301.

The communication interface 304 is an interface that realizes communication between the control device 101 and the external device. For example, the communication interface 304 realizes transmission / reception of a signal by wireless communication between the control device 101 and the vehicle V (vehicle control system 102).

The input / output interface 305 is an interface that realizes the connection between the control device 101 and the external device. As the external device, for example, an input / output device used by the operator of the control device 101 can be considered.

SSD 306 is a rewritable non-volatile auxiliary storage device. In the control device 101 according to the embodiment, an HDD (Hard Disk Drive) may be provided as an auxiliary storage device in place of the SSD 306 (or in addition to the SSD 306).

Next, the system configuration of the vehicle control system 102 according to the embodiment will be described with reference to FIG. FIG. 4 is an exemplary and schematic block diagram showing the system configuration of the vehicle control system 102 according to the embodiment. As shown in FIG. 4, the vehicle control system 102 includes a braking system 401, an acceleration system 402, a steering system 403, a speed change system 404, an obstacle sensor 405, a traveling state sensor 406, and a communication interface (I). / F) 407, an in-vehicle camera 408, a monitor device 409, a vehicle control device 410, and an in-vehicle network 450.

The braking system 401 controls the braking of the vehicle V. The braking system 401 includes a braking unit 401a, a braking control unit 401b, and a braking unit sensor 401c.

The braking unit 401a is a device for decelerating the vehicle V, including, for example, a brake pedal.

The braking control unit 401b is an ECU (Electronic Control Unit) composed of a computer having a hardware processor such as a CPU, for example. The braking control unit 401b drives an actuator (not shown) based on an instruction from the vehicle control device 410 to operate the braking unit 401a to control the deceleration of the vehicle V.

The braking unit sensor 401c is a device for detecting the state of the braking unit 401a. For example, when the braking unit 401a includes a brake pedal, the braking unit sensor 401c detects the position of the brake pedal or the pressure acting on the brake pedal as the state of the braking unit 401a. The braking unit sensor 401c outputs the detected state of the braking unit 401a to the vehicle-mounted network 450.

The acceleration system 402 controls the acceleration of the vehicle V. The acceleration system 402 includes an acceleration unit 402a, an acceleration control unit 402b, and an acceleration unit sensor 402c.

The acceleration unit 402a is a device for accelerating the vehicle V, including, for example, an accelerator pedal.

The acceleration control unit 402b is an ECU configured by a computer having a hardware processor such as a CPU, for example. The acceleration control unit 402b controls the acceleration ratio of the vehicle V by driving an actuator (not shown) based on an instruction from the vehicle control device 410 and operating the acceleration unit 402a.

The acceleration unit sensor 402c is a device for detecting the state of the acceleration unit 402a. For example, when the acceleration unit 402a includes an accelerator pedal, the acceleration unit sensor 402c detects the position of the accelerator pedal or the pressure acting on the accelerator pedal. The acceleration unit sensor 402c outputs the detected state of the acceleration unit 402a to the vehicle-mounted network 450.

The steering system 403 controls the traveling direction of the vehicle V. The steering system 403 includes a steering unit 403a, a steering control unit 403b, and a steering unit sensor 403c.

The steering unit 403a is a device for steering the steering wheel of the vehicle V, including, for example, a steering wheel and a steering wheel.

The steering control unit 403b is an ECU configured by a computer having a hardware processor such as a CPU, for example. The steering control unit 403b controls the traveling direction of the vehicle V by driving an actuator (not shown) based on an instruction from the vehicle control device 410 and operating the steering unit 403a.

The steering unit sensor 403c is a device for detecting the state of the steering unit 403a. For example, when the steering unit 403a includes a steering wheel, the steering unit sensor 403c detects the position of the steering wheel or the rotation angle of the steering wheel. When the steering unit 403a includes a steering wheel, the steering unit sensor 403c may detect the position of the steering wheel or the pressure acting on the steering wheel. The steering unit sensor 403c outputs the detected state of the steering unit 403a to the vehicle-mounted network 450.

The shifting system 404 controls the gear ratio of the vehicle V. The shifting system 404 includes a shifting unit 404a, a shifting control unit 404b, and a shifting unit sensor 404c.

The transmission unit 404a is a device for changing the gear ratio of the vehicle V, including, for example, a shift lever.

The shift control unit 404b is an ECU configured by a computer having a hardware processor such as a CPU, for example. The shift control unit 404b controls the gear ratio of the vehicle V by driving an actuator (not shown) based on an instruction from the vehicle control device 410 and operating the shift control unit 404a.

The transmission sensor 404c is a device for detecting the state of the transmission 404a. For example, when the transmission unit 404a includes a shift lever, the transmission unit sensor 404c detects the position of the shift lever or the pressure acting on the shift lever. The speed change sensor 404c outputs the detected state of the speed change 404a to the vehicle-mounted network 450.

The obstacle sensor 405 is a device for detecting information about obstacles that may exist around the vehicle V. The obstacle sensor 405 includes a distance measuring sensor such as a sonar that detects a distance to an obstacle. The obstacle sensor 405 outputs the detected information to the in-vehicle network 450.

The traveling state sensor 406 is a device for detecting the traveling state of the vehicle V. The traveling state sensor 406 is, for example, a wheel speed sensor that detects the wheel speed of the vehicle V, an acceleration sensor that detects the acceleration in the front-rear direction or the left-right direction of the vehicle V, and a gyro that detects the turning speed (angular velocity) of the vehicle V. Includes sensors and the like. The traveling condition sensor 406 outputs the detected traveling condition to the in-vehicle network 450.

The communication interface 407 is an interface that realizes communication between the vehicle control system 102 and the external device. For example, the communication interface 407 realizes transmission / reception of signals by wireless communication between the vehicle control system 102 and the control device 101, transmission / reception of signals by wireless communication between the vehicle control system 102 and the terminal device T, and the like.

The in-vehicle camera 408 is a device for capturing the situation around the vehicle V. For example, a plurality of vehicle-mounted cameras 408 are provided so as to image an area including the front, rear, and side (both left and right) road surfaces of the vehicle V. The image data obtained by the in-vehicle camera 408 is used for monitoring the situation around the vehicle V (including detection of obstacles). The vehicle-mounted camera 408 outputs the obtained image data to the vehicle control device 410. In the following, the image data obtained from the vehicle-mounted camera 408 and the data obtained from the various sensors provided in the vehicle control system 102 may be collectively referred to as sensor data.

The monitoring device 409 is provided on a dashboard or the like in the vehicle interior of the vehicle V. The monitor device 409 includes a display unit 409a, an audio output unit 409b, and an operation input unit 409c.

The display unit 409a is a device for displaying an image in response to an instruction from the vehicle control device 410. The display unit 409a is composed of, for example, a liquid crystal display (LCD), an organic EL display (OELD), or the like.

The voice output unit 409b is a device for outputting voice in response to an instruction from the vehicle control device 410. The audio output unit 409b is composed of, for example, a speaker.

The operation input unit 409c is a device for receiving the input of the occupant in the vehicle V. The operation input unit 409c is composed of, for example, a touch panel provided on the display screen of the display unit 409a, a physical operation switch, or the like. The operation input unit 409c outputs the received input to the vehicle-mounted network 450.

The vehicle control device 410 is a device for comprehensively controlling the vehicle control system 102. The vehicle control device 410 is an ECU having computer resources such as a CPU 410a, a ROM 410b, and a RAM 410c.

More specifically, the vehicle control device 410 includes a CPU 410a, a ROM 410b, a RAM 410c, an SSD 410d, a display control unit 410e, and a voice control unit 410f.

The CPU 410a is a hardware processor that collectively controls the vehicle control device 410. The CPU 410a reads out various control programs (computer programs) stored in the ROM 410b and the like, and realizes various functions according to the instructions specified in the various control programs.

The ROM 410b is a non-volatile main storage device that stores parameters and the like necessary for executing the various control programs described above.

The RAM 410c is a volatile main storage device that provides a working area for the CPU 410a.

The SSD410d is a rewritable non-volatile auxiliary storage device. In the vehicle control device 410 according to the embodiment, an HDD may be provided as an auxiliary storage device in place of the SSD 410d (or in addition to the SSD 410d).

Among the various processes executed by the vehicle control device 410, the display control unit 410e mainly performs image processing on the image data obtained from the in-vehicle camera 408 and generates image data to be output to the display unit 409a of the monitor device 409. And so on.

The voice control unit 410f mainly controls the generation of voice data to be output to the voice output unit 409b of the monitor device 409 among various processes executed by the vehicle control device 410.

The in-vehicle network 450 includes a braking system 401, an acceleration system 402, a steering system 403, a speed change system 404, an obstacle sensor 405, a traveling state sensor 406, a communication interface 407, and an operation input unit 409c of the monitoring device 409. And the vehicle control device 410 are communicably connected.

By the way, in such an automatic valley parking system, in the prior art, it is not assumed that the moving vehicle position estimated by the control device and the vehicle position estimated by the vehicle are different, and there is room for improvement. ..

Therefore, in the following, in the automatic valley parking system system, the control device 101 that can appropriately deal with the case where the running vehicle position estimated by the control device 101 and the vehicle position estimated by the vehicle are different will be described.

FIG. 5 is an exemplary and schematic block diagram showing the functions of the control device 101 and the vehicle control device 410 according to the embodiment. The function shown in FIG. 5 is realized by the collaboration between software and hardware. That is, in the example shown in FIG. 5, the function of the control device 101 is realized as a result of the CPU 301 (FIG. 3) reading and executing a predetermined control program stored in the ROM 302 (FIG. 3) or the like. Further, the function of the vehicle control device 410 is realized as a result of the CPU 410a (FIG. 4) reading and executing a predetermined control program stored in the ROM 410b (FIG. 4) or the like. In the embodiment, a part or all of the control device 101 and the vehicle control device 410 shown in FIG. 5 may be realized only by dedicated hardware (circuit).

As shown in FIG. 5, the control device 101 according to the embodiment has a communication control unit 511, an acquisition unit 512, a parking lot data management unit 513, a guidance route generation unit 514, and an estimation unit as functional configurations. It has a 515, a determination unit 516, a vehicle control unit 517, and a notification unit 518.

The communication control unit 511 controls the wireless communication executed with the vehicle control device 410. For example, the communication control unit 511 authenticates the vehicle control device 410 by transmitting and receiving predetermined data to and from the vehicle control device 410, and outputs from the vehicle control device 410 when automatic parking and automatic warehousing are completed. The predetermined completion notification is received, and the map data of the parking lot P and the guidance route, which will be described later, are transmitted to the vehicle control device 410 as needed.

The acquisition unit 512 (first acquisition unit; second acquisition unit) acquires the detection data of the vehicle in the parking lot P from the detection unit provided in the parking lot P. That is, the acquisition unit 512 acquires the above-mentioned sensor data from the surveillance camera 103 provided in the parking lot P, various sensors (not shown), and the like. The sensor data (particularly the image data obtained from the surveillance camera 103) acquired by the acquisition unit 512 can also be used for grasping the availability of the parking area R, for example.

In addition, the acquisition unit 512 acquires a second position indicating the estimated position of the vehicle in the vehicle from the vehicle. Specifically, the vehicle estimation unit 524 estimates the second position, and the second position is sent from the estimation unit 524 to the acquisition unit 512 via the communication control unit 521 and the communication control unit 511. .. In the present embodiment, the position of the vehicle may include the direction (direction) of the vehicle (details will be described later).

The parking lot data management unit 513 manages data (information) related to the parking lot P. For example, the parking lot data management unit 513 manages the map data of the parking lot P, the availability of the parking area R, and the like. For example, the parking lot data management unit 513 selects one parking area R from the vacant parking areas R when automatic parking is performed, and uses the selected parking area R as the vehicle V in the automatic parking. Designate as the target parking area, which is the goal to be reached. Further, when the vehicle V moves again and the parking area R is changed after the automatic parking is completed, the parking lot data management unit 513 determines the changed parking area based on the sensor data acquired from the acquisition unit 512. Identify R.

The guidance route generation unit 514 generates a guidance route instructed to the vehicle control device 410 when automatic parking and automatic warehousing are performed. More specifically, the guidance route generation unit 514 generates a rough route from the disembarkation area P1 to the target parking area as a guidance route when automatic parking is performed, and when automatic parking is performed, the guidance route generation unit 514 generates a rough route from the disembarkation area P1 to the target parking area. A rough route from the target parking area (when the vehicle V is moving after automatic parking, the parking area R in which the vehicle V is currently parked) to the boarding area P2 is generated as a guidance route.

The estimation unit 515 estimates the first position indicating the position of the vehicle based on the sensor data (detection data) acquired by the acquisition unit 512. Here, as a method for estimating the first position, specifically, for example, a method based on deep learning (deep learning) using an image captured by the surveillance camera 103, a number plate recognition, or GPS (Global). A method based on the Positioning System), a method using an image marker, a method using a landmark recognition method, and a method using a magnetic marker can be considered, but the method is not limited to these. Moreover, you may combine two or more of those plurality of methods.

The determination unit 516 compares the first position estimated by the estimation unit 515 with the second position acquired by the acquisition unit 512, and determines that the abnormality is found when there is a difference of a predetermined value or more. Specifically, for example, when the distance between the two positions is more than a predetermined distance threshold value, it is determined to be abnormal. In addition, for example, when the rate of increase in the distance between the two positions is equal to or greater than a predetermined rate of increase threshold value, it may be determined to be abnormal. Further, for example, not only the positions of the two but also the directions of the two may be compared, and whether or not the abnormality may be determined based on the comparison result of the two.

The vehicle control unit 517 controls to stop or decelerate the vehicle via the braking system 401 when the determination unit 516 determines that the vehicle is abnormal.

When the determination unit 516 determines that the abnormality is abnormal, the notification unit 518 notifies an alarm (for example, notification by voice or display).

On the other hand, as shown in FIG. 5, the vehicle control device 410 according to the embodiment has a communication control unit 521, an acquisition unit 522, a travel control unit 523, and an estimation unit 524 as functional configurations. ing.

The communication control unit 521 controls the wireless communication executed with the control device 101. For example, the communication control unit 521 authenticates the vehicle control device 410 by transmitting and receiving predetermined data to and from the control device 101, and when automatic parking and automatic delivery are completed, the communication control unit 521 sends a predetermined completion notification to the control device. It is transmitted to 101, and map data of the parking lot P, a guidance route, and the like are received from the control device 101 as needed. Therefore, the communication control unit 521 also functions as a map data acquisition unit that acquires the map data of the parking lot P.

In the embodiment, the map data may include, for example, information for specifying the absolute positions of various road markings (not shown) that can be installed on the road surface of the parking lot P.

The acquisition unit 522 acquires sensor data including image data obtained by the vehicle-mounted camera 408 and data output from various sensors provided in the vehicle control system 102. The sensor data acquired by the acquisition unit 522 is, for example, the generation of an actual travel route (including the parking route and the exit route) based on the guidance route received from the control device 101, and the actual travel route along the travel route. It can be used for various driving controls of the vehicle V executed by the next driving control unit 523, such as setting various parameters (vehicle speed, steering angle, traveling direction, etc.) required when traveling in the vehicle. ..

The travel control unit 523 controls the braking system 401, the acceleration system 402, the steering system 403, the speed change system 404, and the like to control the start from the disembarkation area P1 and the travel control from the disembarkation area P1 to the parking area R (parking). (Including control), running control from the parking area R to the boarding area P2 (including leaving control), stopping control to the boarding area P2, etc., to execute various running controls to realize automatic parking and automatic leaving. As described above, the traveling state of the vehicle V is controlled.

The estimation unit 524 uses an odometry (a method of estimating the current position of the vehicle using a detection value such as a wheel speed sensor) or the like during automatic traveling of the vehicle V in automatic parking and automatic warehousing to obtain the current position of the vehicle V (second). Position) is estimated. In addition to odometry, the second position estimation method includes a method based on detection results of a laser sensor, sonar, etc., a method based on image data captured by an in-vehicle camera 408, a method based on GPS, and the like. You may. Moreover, you may combine two or more of those plurality of methods.

Next, with reference to FIG. 6, an example of the positional relationship between the running vehicle position estimated by the control device 101 and the vehicle position estimated by the vehicle will be described. FIG. 6 is an exemplary and schematic diagram for explaining an example in which the running vehicle position estimated by the control device 101 and the vehicle position estimated by the vehicle are the same or different in the embodiment. is there.

In FIG. 6A, the position of the vehicle V1 is the first position estimated by the estimation unit 515 of the control device 101 (the same applies to FIG. 6B). Further, the position of the vehicle V2 is a second position estimated by the estimation unit 524 of the vehicle control device 410 mounted on the vehicle (the same applies to FIG. 6B). Here, since the position of the vehicle V1 (first position) and the position of the vehicle V2 (second position) are substantially the same, the determination unit 516 of the control device 101 compares them and makes a difference of a predetermined value or more. Is not present (that is, it is normal).

On the other hand, in FIG. 6B, since the position of the vehicle V1 (first position) and the position of the vehicle V2 (second position) are significantly different, the determination unit 516 of the control device 101 compares them. It is determined that there is a difference of more than a predetermined value (that is, it is abnormal).

As shown in FIG. 6B, when the position of the vehicle V1 (first position) and the position of the vehicle V2 (second position) are significantly different, the cause is the position of the vehicle V1 (the first position). There are two possible cases: the case where the position (1) is incorrect and the case where the position (second position) of the vehicle V2 is incorrect. The former case can be considered, for example, because the screw fixing the surveillance camera 103 installed in the parking lot P loosens over time, or something collides with the surveillance camera 103. The angle of view of the surveillance camera 103 has changed. As a result, for example, when the coordinate of the image captured by the surveillance camera 103 is converted into the plane image of the parking lot P, an error occurs in the correspondence between the plane image and the actual parking lot P, and the vehicle V1 in the parking lot P1 The estimation accuracy of the position (first position) and the positions of other vehicles and pedestrians is reduced.

Further, the latter case can be considered, for example, when a failure has occurred in the sensor or the like used for estimating the current position in the vehicle V1. In that case, the estimated position of the vehicle V1 and the actual position are different.

In any case, if the determination unit 516 determines that the vehicle is abnormal, the vehicle control unit 517 may control the vehicle to stop or decelerate via the braking system 401 in order to further improve safety. preferable. In addition, the notification unit 518 may notify the alarm (for example, notification by voice or display).

Next, the process by the control device 101 according to the embodiment will be described with reference to FIG. 7. FIG. 7 is a flowchart showing the processing by the control device 101 according to the embodiment. Here, it is assumed that the vehicle controlled by the automatic valley parking system is running in the parking lot P.

First, in step S1, the acquisition unit 512 (FIG. 5) acquires the detection data of the vehicle traveling in the parking lot P from the detection unit provided in the parking lot P.

Next, in step S2, the estimation unit 515 (FIG. 5) estimates the first position indicating the position of the vehicle based on the sensor data (detection data) acquired in step S1.

Next, in step S3, the acquisition unit 512 (FIG. 5) acquires a second position indicating the estimated position of the vehicle in the vehicle from the vehicle.

Next, in step S4, the determination unit 516 (FIG. 5) compares the first position estimated in step S2 with the second position acquired in step S3, and sees if there is a difference of a predetermined value or more. It is determined whether or not, and if Yes (in the case of abnormality), the process proceeds to step S5, and in the case of No (in the case of normal), the process ends.

In step S5, the vehicle control unit 517 (FIG. 5) controls to stop or decelerate the vehicle via the braking system 401 (FIG. 4).

Next, in step S6, the notification unit 518 (FIG. 5) notifies the alarm (for example, notification by voice or display).

As described above, according to the control device 101 of the present embodiment, the vehicle position during running estimated by itself and the vehicle position estimated by the vehicle are compared, and if there is a difference of a predetermined value or more, it is determined to be abnormal. By doing so, we can respond appropriately.

Further, the safety can be further improved by stopping or decelerating the target vehicle when it is determined to be abnormal.

In addition, by notifying an alarm when it is determined to be abnormal, it is possible to alert the target person (for example, a staff member of the control device 101).

Although the embodiments of the present invention have been described above, the above-described embodiments are merely examples and are not intended to limit the scope of the invention. The novel embodiment described above can be implemented in various forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. The above-described embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

For example, among the functions of the control device 101, the function of the determination unit 516 that compares the first position and the second position and determines that there is an abnormality when there is a difference of a predetermined value or more is mounted on the vehicle control system 102. You may.

Further, using the infrastructure equipment including the surveillance camera 103 and the analysis device (computer device that performs various image processing on the images captured by the surveillance camera 103), the control device 101 uses the image processing result (estimated vehicle position, etc.) from the infrastructure equipment. ) May be obtained. In that case, the infrastructure equipment can be interpreted as a part of the control system in a broad sense.

101 ... Control device, 102 ... Vehicle control system, 103 ... Surveillance camera, 511 ... Communication control unit, 512 ... Acquisition unit, 513 ... Parking lot data management unit, 514 ... Guidance route generation unit, 515 ... Estimate unit, 516 ... Judgment Department, 517 ... Vehicle control unit, 518 ... Notification unit, P ... Parking lot, V ... Vehicle

Claims (3)

A control device in a system that controls the running of a vehicle within a predetermined area.
A first acquisition unit that acquires detection data of a vehicle traveling in the predetermined area from a detection unit provided in the predetermined area, and a first acquisition unit.
An estimation unit that estimates a first position indicating the position of the vehicle based on the detection data, and an estimation unit.
A second acquisition unit that acquires a second position indicating the position of the vehicle estimated in the vehicle from the vehicle, and a second acquisition unit.
A determination unit that compares the first position and the second position and determines that an abnormality occurs when there is a difference of a predetermined value or more.
A control device equipped with. The control device according to claim 1, further comprising a vehicle control unit that controls the vehicle to be stopped or decelerated when the determination unit determines that the vehicle is abnormal. The control device according to claim 1 or 2, further comprising a notification unit that notifies an alarm when an abnormality is determined by the determination unit.

Images