JP2022123581A - Control device - Google Patents

Abstract

To appropriately control a vehicle to be controlled in a predetermined area.SOLUTION: A control device of an embodiment is a control device used for a system that controls the travel of a vehicle to be controlled out of the vehicle to be controlled and a vehicle not to be controlled present in a predetermined area, and comprises: an obstacle information acquisition unit that acquires obstacle information generated based on detection data obtained from a detection unit provided to detect the situation of the predetermined area, the obstacle information on obstacles including the vehicle not to be controlled and a pedestrian present in the predetermined area; a vehicle information acquisition unit that acquires vehicle information including position information on the vehicle to be controlled; an estimation unit that estimates the behavior of the vehicle not to be controlled and outputs a result of the behavior estimation based on the obstacle information, the vehicle information, and information on a map of the predetermined area; a generation unit that generates instruction information to the vehicle to be controlled based on the result of the behavior estimation; and a transmission unit that transmits the instruction information to the vehicle to be controlled.SELECTED DRAWING: Figure 4

Description

An embodiment of the present invention relates to a control system.

In recent years, in a predetermined area such as a parking lot, the development of an automatic valet parking system that automatically drives (including semi-automatic driving) a vehicle to be controlled to a target point such as an empty parking space is underway. When the controlled vehicle is automatically driven, for example, an appropriate inter-vehicle distance is taken from the non-controlled vehicle.

JP 2010-215081 A JP-A-10-181487 Japanese Patent No. 3436202

However, in the conventional technology described above, for example, when determining the inter-vehicle distance between the controlled vehicle and the non-controlled vehicle, the determination is based only on the actual inter-vehicle distance, and the traffic conditions around the non-controlled vehicle ( For example, the presence or absence of pedestrians, the presence or absence of vacant parking spaces, etc.) are not considered. Thus, there is room for improvement in the control of the controlled vehicle.

Therefore, one of the problems of the embodiments is to provide a control device that can more appropriately control a vehicle to be controlled in a predetermined area.

A control device of an embodiment is a control device that is used in a system that controls the traveling of a vehicle to be controlled among vehicles to be controlled and vehicles that are not to be controlled that exist within a predetermined area, and detects the condition of the predetermined area. Obstacle information acquisition unit for acquiring obstacle information related to obstacles including the non-controlled vehicle and pedestrians existing within the predetermined area, generated based on data detected by a detection unit provided for a vehicle information acquisition unit that acquires vehicle information including position information about the controlled vehicle; the obstacle information; the vehicle information; and the map information of the predetermined area. and outputs a behavior estimation result, a generation unit that generates instruction information for the controlled vehicle based on the behavior estimation result, and a transmission unit that transmits the instruction information to the controlled vehicle. And prepare.
As a result, for example, when controlling a vehicle to be controlled in a predetermined area, by estimating the behavior of the vehicle to be controlled based on the obstacle information, the vehicle information, and the map information of the predetermined area, the control target vehicle can be controlled. The target vehicle can be controlled more appropriately.

Further, in the control device of the embodiment, the estimating unit detects the non-controlled object traveling in front of the controlled object vehicle based on the obstacle information, the vehicle information, and the map information of the predetermined area. When the vehicle decelerates and it is recognized that there is no obstacle in front of the non-controlled vehicle, it is estimated that there is a possibility of parking as the behavior of the non-controlled vehicle, and the behavior estimation result is output. and, when generating the instruction information for the controlled vehicle based on the behavior estimation result, the generating unit is configured to determine the relationship between the controlled vehicle and the uncontrolled vehicle corresponding to the parking of the uncontrolled vehicle. A vehicle-to-vehicle distance is determined, and instruction information including the vehicle-to-vehicle distance is generated.
As a result, for example, if there is a possibility that a non-controlled vehicle running in front of the controlled vehicle will park, the controlled vehicle can be controlled to maintain a distance between the vehicles corresponding to the case of parking. You can improve your performance.

Further, in the control device of the embodiment, the estimating unit detects the non-controlled object traveling in front of the controlled object vehicle based on the obstacle information, the vehicle information, and the map information of the predetermined area. When the vehicle decelerates and it is recognized that there is no obstacle in front of the non-controlled vehicle, and furthermore, when it is recognized that there is an empty parking space around the non-controlled vehicle, the non-controlled vehicle Compared to when it is recognized that there is no vacant parking space around the target vehicle, it is estimated that there is a high possibility of parking as the behavior of the non-controlled vehicle, and the behavior estimation result is output.
As a result, for example, when the non-controlled vehicle traveling in front of the controlled vehicle decelerates and there is no obstacle in front, the non-controlled vehicle is parked depending on whether there is an empty parking space in the surrounding area. By estimating the behavior with different possibilities, the vehicle to be controlled can be controlled more appropriately.

Further, in the control device of the embodiment, the generation unit calculates the required time for each of a plurality of routes to a target point for the controlled vehicle based on the behavior estimation result, and calculates the route with the minimum required time. is the driving route.
As a result, for example, by controlling the controlled vehicle so as to travel the route that takes the shortest time to the target point according to the behavior estimation result of the non-controlled vehicle, the controlled vehicle can be moved to the target point more quickly. can be made

FIG. 1 is a diagram schematically showing the configuration of a parking lot control system, etc., according to an embodiment. FIG. 2 is a block diagram illustrating an example of a hardware configuration of a control device according to the embodiment; FIG. 3 is a block diagram showing an example of functional configurations of a control device and infrastructure equipment according to the embodiment. FIG. 4 is a flowchart showing first processing by the control device of the embodiment. FIG. 5 is a diagram schematically showing an example of a parking lot situation corresponding to the first process of FIG. FIG. 6 is a flowchart showing second processing by the control device of the embodiment. FIG. 7 is a diagram schematically showing a first example of a parking lot situation corresponding to the second process of FIG. FIG. 8 is a diagram schematically showing a second example of the parking lot situation corresponding to the second process of FIG. FIG. 9 is a diagram schematically showing a third example of the parking lot situation corresponding to the second process of FIG.

Illustrative embodiments of the invention are disclosed below. The configurations of the embodiments shown below and the actions, results, and effects brought about by the configurations are examples. The present invention can be realized by configurations other than those disclosed in the following embodiments, and at least one of various effects and derivative effects based on the basic configuration can be obtained.

FIG. 1 is a diagram schematically showing the configuration of a parking lot control system S and the like of the embodiment. The parking lot control system S includes a control device 1 , infrastructure equipment 2 , and a vehicle control device 31 mounted on a vehicle 3 to be controlled. The parking control system S is also called an automatic valet parking system, and automatically drives (semi-automatically) the controlled vehicle 3 to a predetermined target point (for example, an empty parking space, a predetermined boarding/alighting place, etc.) in the parking lot P (predetermined area). (including running).

There are two types of vehicles in the parking lot P: controlled vehicles 3 and non-controlled vehicles. The controlled vehicle 3 is a vehicle controlled by instruction information from the control device 1 . The controlled vehicle 3 is a mobile body having an automatic driving function, and its specific configuration is not particularly limited. an electric vehicle, a fuel cell vehicle, etc.), a vehicle using both of them as a driving source (hybrid vehicle), or the like. The non-controlled vehicle is a vehicle that is not under the control of the parking control system S, such as a manually driven vehicle or an automatically driven vehicle unrelated to the parking control system S. Note that the controlled vehicle 3 and the non-controlled vehicle may be collectively referred to as a "vehicle".

Automatic driving realized by controlling the controlled vehicle 3 includes, for example, automatic parking and automatic parking. Automatic parking means that after an occupant has alighted from the controlled vehicle 3 at a drop-off place in the parking lot P, the controlled vehicle 3 stopped at the drop-off place automatically moves from the drop-off place to an empty parking space in accordance with a predetermined instruction. Autonomous driving that moves and parks. In addition, the automatic parking exit refers to automatic operation in which the controlled vehicle 3 that has stopped in the parking space after completing automatic parking exits the parking space in response to a predetermined call, automatically moves from the parking space to the boarding location, and stops. is.

The infrastructure equipment 2 includes a plurality of cameras 21 and an analysis device 22 that analyzes image data acquired by each camera 21 . The analysis device 22 is an information processing device that performs various image processing on image data acquired by each camera 21 . The analysis device 22 is a computer including, for example, a CPU (Central Processing Unit) that performs arithmetic processing according to a program, an FPGA (Field Programmable Gate Array) specialized for image processing, an ASIC (Application Specific Integrated Circuit), and the like. The infrastructure equipment 2 is not limited to the above, and may further include, for example, a sensor that detects the usage status of each parking space, an information processing device that analyzes the detection signal of the sensor, and the like.

The analysis device 22 performs image recognition processing (inference processing) to determine the types of obstacles (vehicles, pedestrians, falling objects, etc.) captured by the camera 21, and converts the positions of obstacles into coordinates in the parking lot P. Coordinate conversion processing, etc. are performed. The analysis device 22 generates obstacle information indicating the type, position, size, moving direction, moving speed, moving acceleration, etc. of the obstacle.

The control device 1 is an information processing device that generates instruction information for automatically driving the controlled vehicle 3 and transmits the instruction information to the vehicle control device 31 mounted on the controlled vehicle 3 . The control device 1 generates instruction information corresponding to each control target vehicle 3 based on vehicle information including position information regarding the control target vehicle 3, obstacle information acquired from the infrastructure equipment 2, map information regarding the parking lot P, and the like. do. The map information is information indicating topographic features of the parking lot P, and includes information indicating, for example, the distance of a straight road, the curvature of a curved road, the width of the road, the gradient, and the like. The instruction information includes, for example, the travel route of the controlled vehicle 3 to be controlled, the upper limit speed when traveling on the travel route, and the like.

The map information includes information for enabling identification of a travel route on which the vehicle 3 to be controlled can move in the parking lot P, and identification of a travel permitted area on the travel route according to the parking situation detected by the camera 21. information is included. As a result, the movement route can be changed within the width of the road, so that control can be realized such that the vehicle 3 to be controlled is moved to the right or left side so as to pass the oncoming vehicle, or is moved to the road shoulder. Moreover, when the marker is installed in the parking lot P, the information regarding a marker is included in map information. Therefore, the vehicle control device 31 mounted on the controlled vehicle 3 detects the current position of the controlled vehicle 3 in the parking lot P from the marker included in the image captured by the on-board camera mounted on the controlled vehicle 3. can identify location information that indicates

The vehicle control device 31 is mounted on the controlled vehicle 3 and is an information processing device that performs various processes for realizing automatic driving of the controlled vehicle 3 based on instruction information received from the control device 1 . The vehicle control device 31 cooperates with the running mechanism (braking system, acceleration system, steering system, transmission system, etc.) of the controlled vehicle 3 to automatically run the controlled vehicle 3 . In addition, the vehicle control device 31 transmits vehicle information regarding the controlled vehicle 3 to the control device 1 . The vehicle information includes, for example, an identification number identifying the vehicle 3 to be controlled, position information identifying the current position of the vehicle 3 to be controlled, and the like. The vehicle control device 31 transmits vehicle information to the control device 1 at predetermined time intervals, so that the control device 1 can recognize the accurate current position of the controlled vehicle 3 .

FIG. 2 is a block diagram showing an example of the hardware configuration of the control device 1 of the embodiment. The control device 1 includes a CPU 11 , a ROM (Read Only Memory) 12 , a RAM (Random Access Memory) 13 , a communication device 14 , an input/output device 15 and a storage 16 . These pieces of hardware are connected to each other via a bus 17 .

The CPU 11 is a hardware processor that centrally controls the control device 1 . The CPU 11 reads various control programs (operating system, application programs, firmware, etc.) stored in the ROM 12 and storage 16, and executes predetermined arithmetic processing. The ROM 12 is a non-volatile main storage device, and stores control programs as well as parameters required for executing various processes. The RAM 13 is a volatile main memory used as a work area for the CPU 11 .

The communication device 14 is an interface that establishes communication between the control device 1 and external devices (the analysis device 22, the vehicle control device 31, etc.). For example, the communication device 14 establishes wireless communication conforming to standards such as Wi-Fi (registered trademark) between the control device 1 and an external device.

The input/output device 15 is a user interface capable of receiving input operations from an operator and outputting information to the operator. The input/output device 15 can be, for example, a keyboard, mouse, touch panel mechanism, microphone, display, speaker, and the like.

The storage 16 is a rewritable non-volatile auxiliary storage device. The storage 16 is, for example, an SSD (Solid State Drive), HDD (Hard Disk Drive), or the like.

It should be noted that the hardware configuration shown in FIG. 2 is merely an example, and the control device 1 can be constructed using appropriate hardware and software according to usage conditions.

FIG. 3 is a block diagram showing an example of functional configurations of the control device 1 and the infrastructure equipment 2 of the embodiment.

The infrastructure equipment 2 includes an imaging unit 201 , an image acquisition unit 202 , an image recognition unit 203 and a coordinate conversion unit 204 .

The imaging unit 201 images the inside of the parking lot P. FIG. The image capturing unit 201 captures images of vehicles traveling on the road, pedestrians walking in the parking lot P, buildings provided in the parking lot P, and the like, for example. The imaging unit 201 is composed of a plurality of cameras 21 and the like. In this embodiment, the imaging unit 201 is used as an example of a detection unit provided to detect the situation (for example, obstacles) of the parking lot P, which is an example of the predetermined area. Note that the detection unit for detecting obstacles is not limited to the imaging unit 201 (camera 21), and may be, for example, an ultrasonic sonar, a millimeter wave radar, or the like.

The image acquisition unit 202 acquires image data captured by the imaging unit 201 . The image acquisition unit 202 is configured by the analysis device 22 and the like.

The image recognition unit 203 uses the image data acquired by the image acquisition unit 202 to perform image recognition processing (inference processing) for determining the type of object (obstacle) in the captured data. The image recognition unit 203 is configured by the analysis device 22 and the like.

The coordinate transformation unit 204 performs coordinate transformation processing for transforming the position of the obstacle in the image data into coordinates relating to the parking lot P (for example, two-dimensional map coordinates, three-dimensional space coordinates, etc.). The coordinate transformation unit 204 is configured by the analysis device 22 and the like.

The control device 1 includes a data acquisition unit 101, a parking lot management unit 111, a travel management unit 121, an obstacle management unit 131, a generation unit 141, and a transmission unit 151 as functional configurations. These functional configurations are realized by the hardware configuration shown in FIG.

The data acquisition unit 101 acquires data from an external device. The data acquisition section 101 includes an obstacle information acquisition section 102 and a vehicle information acquisition section 103 . The obstacle information acquisition unit 102 acquires obstacle information from the infrastructure equipment 2 . The vehicle information acquisition unit 103 acquires vehicle information from the vehicle control device 31 .

The parking lot management unit 111 manages parking lot information such as map information including positions of parking spaces in the parking lot P, positions of intersections, positions of crosswalks, and the like.

The travel management unit 121 performs route generation and the like for the controlled vehicle 3 .

The obstacle management unit 131 includes a vehicle behavior estimation unit 132 (estimation unit). The vehicle behavior estimation unit 132 estimates the behavior of the non-controlled vehicle based on the obstacle information, the vehicle information, and the map information of the parking lot P, and outputs a behavior estimation result.

For example, the vehicle behavior estimation unit 132 decelerates the non-controlled vehicle traveling in front of the controlled vehicle 3 based on the obstacle information, the vehicle information, and the map information of the parking lot P, and When it is recognized that there is no obstacle in front of the non-controlled vehicle, it is estimated that there is a possibility of parking as the behavior of the non-controlled vehicle, and a behavior estimation result is output.

Further, for example, the vehicle behavior estimation unit 132 decelerates the non-controlled vehicle traveling in front of the controlled vehicle 3 based on the obstacle information, the vehicle information, and the map information of the parking lot P, and , when it recognizes that there are no obstacles in front of the non-controlled vehicle, and furthermore, when it recognizes that there is an empty parking space around the non-controlled vehicle (Fig. 8), the non-controlled vehicle Compared to when it is recognized that there is no vacant parking space in the vicinity (FIG. 9), it is estimated that there is a high possibility of parking as the behavior of the non-controlled vehicle, and a behavior estimation result is output.

In other words, instead of detecting the behavior of the non-controlled vehicle after it actually moves, the behavior of the non-controlled vehicle is estimated in advance from the traffic conditions around the non-controlled vehicle. In addition to the above estimation, specifically, for example, it is estimated that an uncontrolled vehicle with a pedestrian in front will decelerate and stop, and that an uncontrolled vehicle following that uncontrolled vehicle will also decelerate and stop. can be

The generation unit 141 generates instruction information for the controlled vehicle 3 based on the behavior estimation result. For example, when the generation unit 141 generates instruction information for the controlled vehicle 3 based on the behavior estimation result, the controlled vehicle 3 corresponding to the case where the non-controlled vehicle ahead is parked and the non-controlled vehicle to determine the following distance and generate instruction information including the following distance.

Further, for example, the generation unit 141 calculates the required time for each of a plurality of routes to the target point for the vehicle to be controlled based on the behavior estimation result, and generates instruction information regarding the route with the shortest required time as the travel route. do.

The transmitter 151 includes an instruction information transmitter 152 . The instruction information transmission unit 152 transmits instruction information to the vehicle control device 31 .

Next, a first process by the control device 1 of the embodiment will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is a flowchart showing the first processing by the control device 1 of the embodiment. FIG. 5 is a diagram schematically showing an example of a parking lot situation corresponding to the first process of FIG. In FIG. 5 , a pedestrian 92 exists in a pedestrian crossing 91 ahead of a non-controlled vehicle 93 ahead of the controlled vehicle 3 .

First, in step S<b>11 , the obstacle management unit 131 acquires parking lot information (map information including parking space positions, intersection positions, crosswalk positions, etc.) from the parking lot management unit 111 .

Next, in step S<b>12 , the vehicle information acquisition unit 103 acquires vehicle information from the vehicle control device 31 .

Next, in step S<b>13 , the obstacle information acquisition unit 102 acquires obstacle information from the infrastructure equipment 2 .

Next, in step S14, the vehicle behavior estimation unit 132 recognizes the state of the non-controlled vehicle based on the parking lot information, vehicle information, and obstacle information. The state of the non-controlled vehicle is information such as vehicle operation such as traveling, stopping, leaving or entering the vehicle, speed, direction, and the like.

Next, in step S15, the vehicle behavior estimation unit 132 determines whether or not there is a pedestrian crossing the pedestrian crossing in front of the non-controlled vehicle that is running. If No, go to step S17.

In step S16, the vehicle behavior estimation unit 132 estimates the behavior that the non-controlled vehicle stops and continues to stop until the pedestrian disappears from the front (Fig. 5).

In step S17, the vehicle behavior estimator 132 estimates the behavior that the non-controlled vehicle continues to run.

After steps S16 and S17, in step S18, the generator 141 generates instruction information for the controlled vehicle 3 based on the behavior estimation result. For example, if step S16 has been passed, information of a deceleration instruction is entered as the instruction information.

Next, in step S<b>19 , the instruction information transmission section 152 transmits instruction information to the vehicle control device 31 .

Next, the second processing by the control device 1 of the embodiment will be described with reference to FIGS. 6 to 9. FIG. FIG. 6 is a flowchart showing second processing by the control device 1 of the embodiment.
7, 8, and 9 are diagrams schematically showing a first example, a second example, and a third example of the parking lot situation corresponding to the second process of FIG. 6, respectively. In FIG. 7 , a pedestrian 92 exists in front of a non-controlled vehicle 93 ahead of the controlled vehicle 3 . In FIG. 8 , an empty parking space 94 exists around a non-controlled vehicle 93 ahead of the controlled vehicle 3 . In FIG. 9 , there is no empty parking space around the non-controlled vehicle 93 ahead of the controlled vehicle 3 . Also, the description of the same items as in FIG. 4 will be omitted or simplified as appropriate.

First, in step S<b>21 , the obstacle management unit 131 acquires parking lot information from the parking lot management unit 111 .

Next, in step S<b>22 , the vehicle information acquisition section 103 acquires vehicle information from the vehicle control device 31 .

Next, in step S<b>23 , the obstacle information acquisition unit 102 acquires obstacle information from the infrastructure equipment 2 .

Next, in step S24, the vehicle behavior estimation unit 132 recognizes the state of the non-controlled vehicle based on the parking lot information, vehicle information, and obstacle information.

Next, in step S25, the vehicle behavior estimation unit 132 determines whether or not the non-controlled vehicle running in front of the controlled vehicle 3 has decelerated. terminates the process.

In step S26, the vehicle behavior estimation unit 132 determines whether or not there is a pedestrian in front of the non-controlled vehicle. If Yes, the process proceeds to step S30, and if No, the process proceeds to step S27.

In step S27, the vehicle behavior estimation unit 132 determines whether or not there is an empty parking space around the non-controlled vehicle.

In step S28, the vehicle behavior estimation unit 132 estimates the behavior that the non-controlled vehicle is highly likely to park (FIG. 8).

In step S29, the vehicle behavior estimation unit 132 estimates the behavior that the non-controlled vehicle may park (FIG. 9). This means that even if there are no vacant parking spaces in the surrounding area, the fact that the non-controlled vehicle decelerates with no pedestrians in front of it means that, for example, there is a vehicle that is likely to leave soon in one of the surrounding parking spaces. , the driver of the non-controlled vehicle may intend to park the vehicle after leaving the garage.

In step S30, the vehicle behavior estimation unit 132 estimates the behavior that the non-controlled vehicle stops and continues to stop until the pedestrian disappears from the front (Fig. 7).

After steps S28, S29, and S30, in step S31, the generator 141 generates instruction information for the controlled vehicle 3 based on the behavior estimation result. For example, when step S29 is passed, the inter-vehicle distance in the instruction information is made longer in preparation for the parking operation of the non-controlled vehicle ahead. Further, for example, when step S28 is passed, the inter-vehicle distance in the instruction information is further increased in preparation for the parking operation of the non-controlled vehicle ahead. Further, when steps S28 and S29 are passed, if it is estimated that changing the route of the controlled vehicle 3 due to the parking operation of the non-controlled vehicle in front will shorten the time required to reach the target point, Change the path in the instruction information.

Next, in step S<b>32 , the instruction information transmission section 152 transmits instruction information to the vehicle control device 31 .

Thus, according to the control device 1 of the present embodiment, when controlling the controlled vehicle 3 in the parking lot P, based on the obstacle information, the vehicle information, and the map information of the parking lot P, By estimating the behavior of the non-controlled vehicle, the controlled vehicle 3 can be controlled more appropriately.

For example, when there is a possibility that a non-controlled vehicle running in front of the controlled vehicle 3 will park, the controlled vehicle 3 is controlled so as to maintain a distance between the vehicles corresponding to the case of parking. can be improved.

In addition, when a non-controlled vehicle traveling in front of the controlled vehicle 3 decelerates and there is no obstacle in front of the non-controlled vehicle, it is possible to park depending on whether there is an empty parking space in the vicinity. By estimating behavior with different characteristics, the controlled vehicle 3 can be controlled more appropriately.

In addition, by controlling the controlled vehicle 3 so as to travel the route with the shortest required time to the target point according to the behavior estimation result of the non-controlled vehicle, the controlled vehicle 3 is moved to the target point more quickly. be able to.

In other words, by estimating the behavior of the non-controlled vehicle, it is possible to quickly control the controlled vehicle 3 and more reliably avoid dangers such as contact and collision. Also, the optimum route can be selected when determining the route of the vehicle 3 to be controlled, and a smooth traffic system can be realized.

Although the embodiments of the present invention have been exemplified above, the above embodiments and modifications are merely examples, and are not intended to limit the scope of the invention. The above embodiments and modifications can be implemented in various other forms, and various omissions, replacements, combinations, and modifications can be made without departing from the scope of the invention. Also, the configuration and shape of each embodiment and each modification can be partially exchanged.

For example, when estimating the behavior of an uncontrolled vehicle that has decelerated, the reasons for deceleration are the presence of pedestrians in front and parking plans, as well as avoidance of contact with other vehicles at intersections and passing other vehicles. Since it is possible to avoid contact at times, the optimal route may be selected or instruction information for the control target vehicle 3 may be generated based on these considerations.

Further, when the controlled vehicle 3 is decelerated or stopped according to the behavior estimation result of the non-controlled vehicle ahead, a hazard lamp may be turned on to inform the rear vehicle of the deceleration or stop.

DESCRIPTION OF SYMBOLS 1... Control apparatus, 2... Infrastructure equipment, 3... Vehicle to be controlled, 11... CPU, 12... ROM, 13... RAM, 14... Communication device, 15... Input/output device, 16... Storage, 17... Bus, 21... Camera , 22... Analysis device, 31... Vehicle control device, 91... Crosswalk, 92... Pedestrian, 93... Uncontrolled vehicle, 94... Empty parking space, 101... Data acquisition unit, 102... Obstacle information acquisition unit, 103 ... vehicle information acquisition unit, 111 ... parking lot management unit, 121 ... travel management unit, 131 ... obstacle management unit, 132 ... vehicle behavior estimation unit, 141 ... generation unit, 151 ... transmission unit, 152 ... instruction information transmission unit, 201... Imaging unit 202... Image acquisition unit 203... Image recognition unit 204... Coordinate conversion unit P... Parking lot S... Parking control system

Claims (4)

A control device used in a system for controlling traveling of a controlled vehicle and a non-controlled vehicle existing within a predetermined area,
Obstacle information about obstacles including the non-controlled vehicle and pedestrians present in the predetermined area, generated based on detection data from a detection unit provided to detect the situation in the predetermined area. an obstacle information acquisition unit to acquire;
a vehicle information acquisition unit that acquires vehicle information including position information about the vehicle to be controlled;
an estimation unit that estimates the behavior of the non-controlled vehicle based on the obstacle information, the vehicle information, and the map information of the predetermined area, and outputs a behavior estimation result;
a generation unit that generates instruction information for the controlled vehicle based on the behavior estimation result;
a transmission unit that transmits the instruction information to the vehicle to be controlled;
A control device with Based on the obstacle information, the vehicle information, and the map information of the predetermined area, the estimation unit decelerates the non-controlled vehicle traveling in front of the controlled vehicle and when recognizing that there is no obstacle in front of the controlled vehicle, estimating that there is a possibility of parking as the behavior of the non-controlled vehicle, and outputting the behavior estimation result;
When generating the instruction information for the controlled vehicle based on the behavior estimation result, the generation unit calculates the distance between the controlled vehicle and the uncontrolled vehicle corresponding to the parking of the uncontrolled vehicle. 2. The control device according to claim 1, which determines a distance and generates instruction information including the inter-vehicle distance. Based on the obstacle information, the vehicle information, and the map information of the predetermined area, the estimation unit decelerates the non-controlled vehicle traveling in front of the controlled vehicle and When it recognizes that there are no obstacles in front of the controlled vehicle and furthermore, when it recognizes that there is an empty parking space around the non-controlled vehicle, there is an empty parking space around the non-controlled vehicle. 2. The control device according to claim 1, which outputs the behavior estimation result by estimating that there is a high possibility of parking as behavior of the non-controlled vehicle compared to when it is recognized that the vehicle is not to be controlled. The generation unit calculates a required time for each of a plurality of routes to a target point for the controlled vehicle based on the behavior estimation result, and generates instruction information regarding the route having the minimum required time as a travel route. The control device according to claim 1, wherein:

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