JP2022139329A - Parking support system, parking support device, and parking support method - Google Patents

Abstract

To provide a parking support system, a parking support device and a parking support method which enable an electronic control device mounted on a vehicle, especially, an electronic control device related to vehicle parking support to have a single configuration.SOLUTION: A parking support system according to the present disclosure is for supporting parking of a vehicle and includes a periphery recognition device for recognizing a periphery of a vehicle, a vehicle control device for controlling automatic travel of the vehicle, a monitoring device for monitoring operation states of the periphery recognition device and the vehicle control device, and a vehicle braking device for controlling braking of the vehicle, wherein the monitoring device invalidates automatic travel control of the vehicle for the vehicle braking device when the operation state of the periphery recognition device or the vehicle control device is abnormal, and performs deceleration control of the vehicle on the vehicle braking device.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to parking assistance systems, parking assistance devices, and parking assistance methods.

An electronic control unit mounted on a vehicle has a configuration in which electronic control units in which main functions are implemented are multiplexed to achieve fail-safe operation. In addition, to detect the normal operation of the electronic control unit, the operation results for the same input are compared for multiplexed devices, and if it is determined that they do not match, the system is switched to a system that is determined to be operating normally. Techniques are disclosed.

JP 2018-1877 A

However, by multiplexing the electronic control units, in order to determine whether the electronic control units are operating normally, electronic control units corresponding to each of the multiplexed electronic control units and equivalent functions are implemented. A detection device is also required, which increases the cost of the detection device, and the arithmetic processing for detection becomes complicated, resulting in a high processing load.

The present disclosure provides a parking assistance system, a parking assistance device, and a parking assistance method that enable a vehicle-mounted electronic control device, particularly an electronic control device related to vehicle parking assistance, to have a single configuration.

A parking assistance system according to the present disclosure is a parking assistance system that assists parking of a vehicle, and includes a periphery recognition device that recognizes the periphery of the vehicle, a vehicle control device that controls automatic travel of the vehicle, and the A surroundings recognition device, a monitoring device that monitors an operating state of the vehicle control device, and a vehicle braking device that controls braking of the vehicle, wherein the monitoring device is the surroundings recognition device or the vehicle control device. is abnormal, the automatic running control of the vehicle with respect to the vehicle braking device is invalidated, and the deceleration control of the vehicle is performed with respect to the vehicle braking device.

According to the parking assistance system, the parking assistance device, and the parking assistance method according to the present disclosure, the electronic control device relating to the parking assistance of the vehicle can be made into a single configuration.

FIG. 1 is a system configuration diagram showing an example of a parking assistance system according to an embodiment. FIG. 2 is a diagram showing an example of a timing chart of output signals from the vehicle braking device according to the embodiment. FIG. 3 is a diagram showing an example of a timing chart of a stop signal by the vehicle stopping device according to the embodiment. FIG. 4 is a system configuration diagram showing a modification of the parking assistance system according to the embodiment. FIG. 5 is a functional configuration diagram showing an example of a timing chart of output signals from a vehicle braking device according to a modification of the embodiment.

Hereinafter, embodiments of a parking assistance system, a parking assistance device, and a parking assistance method according to the present disclosure will be described with reference to the drawings.

(System configuration of parking assistance system)
FIG. 1 illustrates the system configuration of a parking assistance system 1 according to this embodiment. FIG. 1 is a block diagram showing an example of the system configuration of a parking assistance system 1 according to this embodiment.

As shown in FIG. 1 , the parking assistance system 1 includes at least a peripheral recognition device 11 , a vehicle control device 12 , a vehicle braking device 13 , a vehicle stopping device 14 and a monitoring device 15 . The peripheral recognition device 11, the vehicle control device 12, the vehicle braking device 13, the vehicle stopping device 14, and the monitoring device 15 are electrically connected via an in-vehicle network as an electric communication line.

The in-vehicle network is configured as, for example, a CAN (Controller Area Network).

Although the example of FIG. 1 exemplifies the minimum system configuration that the parking assistance system 1 has, the parking assistance system 1 is not limited to this, and may further include other system components. For example, the parking assistance system 1 may further include a display device that displays various types of information.

A parking assistance system 1 is mounted on a vehicle. The vehicle in which the parking assistance system 1 is installed may be, for example, an automatic driving vehicle that can run automatically without the need for human driving operation for part or all of the driving operation. It may be a normal vehicle that travels only by driving operation by.

Further, the vehicle may be an automobile using an internal combustion engine (engine) as a driving source, an electric automobile using a motor as a driving source, or a hybrid automobile using both an internal inspection engine and a motor as driving sources.

The surroundings recognition device 11 recognizes the surroundings of the vehicle. For example, the surroundings recognition device 11 recognizes the surroundings of the vehicle from sensors for detecting objects (obstacles) existing around the vehicle.

Here, the sensor is a distance sensor for measuring the distance to objects existing around the vehicle. The form of the distance sensor is arbitrary. For example, it may be a radar that emits radio waves and receives radio waves reflected by an object, or a lidar that emits a laser and receives the laser reflected by an object. Alternatively, a sonar that emits ultrasonic waves and receives ultrasonic waves reflected by objects may be used.

In addition, the number of sensors and the mounting position of the sensors on the vehicle can be set arbitrarily. , and the rear surface.

After recognizing the surroundings of the vehicle, the surroundings recognition device 11 detects whether or not there is an empty parking space around the vehicle. The peripheral recognition device 11 transmits the detected empty parking space to the vehicle control device 12 .

The peripheral recognition device 11 described above recognizes an object using a sensor, and detects whether there is an empty parking space around the vehicle based on the recognized information, but is not limited to this. The surroundings of the vehicle may be recognized in another form. For example, a camera or the like mounted on the vehicle may be used to perceive the surroundings of the vehicle from information captured by the camera.

The vehicle control device 12 controls automatic running of the vehicle. For example, the vehicle control device 12 uses the empty parking space detected by the peripheral recognition device 11 as the target position, calculates a route from the current position of the vehicle to the target parking position, and guides the vehicle along the route. to control. Various modes are conceivable as the control for guiding the vehicle.

Further, the vehicle control device 12 may display the calculated route when assisting the driver's driving operation for parking, or may display the calculated route without requiring the driver's driving operation. The control may be such that the vehicle is automatically driven along the route.

The vehicle braking device 13 receives a control signal from the vehicle control device 12 and performs a process of performing a predetermined operation to brake the vehicle. Further, the vehicle braking device 13 receives a control signal from the monitoring device 15 and carries out a process of performing a predetermined operation to brake the vehicle.

Here, the predetermined braking operation means, for example, braking the vehicle along the route calculated by the vehicle control device 12 from the current position of the vehicle to the target parking position. Various forms are conceivable for the braking of this vehicle.

The vehicle stopping device 14 receives a control signal from the monitoring device 15 and performs processing to stop the vehicle. In addition, the vehicle stopping device 14 performs processing for stopping the vehicle in accordance with the user's operation input. The vehicle stopping device 14 here is provided separately from the vehicle braking device 13, and includes, for example, a parking brake. The user can stop the vehicle by operating the parking brake.

The monitoring device 15 monitors the operating states of the peripheral recognition device 11 and the vehicle control device 12 . For example, when the operating state of the peripheral recognition device 11 or the vehicle control device 12 is abnormal, the monitoring device 15 disables the automatic driving control of the vehicle with respect to the vehicle braking device 13, Perform deceleration control.

Further, each of the monitoring device 15, the peripheral recognition device 11, and the vehicle control device 12 receives an answer signal indicating an answer to the question in advance. The monitoring device 15 monitors the operating states of the surroundings recognition device 11 and the vehicle control device 12 in response to response signals from the surroundings recognition device 11 and the vehicle control device 12 .

Here, each of the monitoring device 15, the peripheral recognition device 11, and the vehicle control device 12 has an answer signal indicating an answer to a predetermined question, for example, a homework answer. Specifically, the monitoring device 15 transmits a predetermined common homework signal to each of the surroundings recognition device 11 and the vehicle control device 12, and sends a homework signal from each of the surroundings recognition device 11 and the vehicle control device 12. A calculation result (homework answer signal) that has been subjected to calculation processing for answering the question signal is received.

Then, the monitoring device 15 compares the calculation result (homework answer signal) calculated by the peripheral recognition device 11 and the calculation result (homework answer signal) calculated by the vehicle control device 12, and determines that the two calculation results (homework answer signal) are different. response signal) is output, it is determined that one of the devices is in an abnormal state.

In addition, the monitoring device 15 receives a homework answer signal from each of the surroundings recognition device 11 and the vehicle control device 12 in response to the contents of the questions stored in advance. An abnormal state of the braking device 13 may be determined.

Further, when the vehicle braking device 13 is abnormal, the monitoring device 15 controls the vehicle stopping device 14 for controlling the stopping of the vehicle.

When the vehicle braking device 13 indicates an abnormality, for example, when a control signal is transmitted from the vehicle control device 12 to the vehicle braking device 13 and a predetermined operation is not performed to brake the vehicle, It is judged to be in an abnormal state. Also, the monitoring device 15 may monitor the operating state of the vehicle braking device 13 .

The parking assistance system 1 can realize a fail-safe operation by performing deceleration control from the monitoring device when the operating state of the peripheral recognition device 11 or the vehicle control device 12 is in an abnormal state.

Further, the process of disabling the automatic driving control of the vehicle for the vehicle braking device 13 may be realized by providing a disconnecting mechanism, for example, a switching mechanism, between the vehicle control device 12 and the vehicle braking device 13 . The control signal from the vehicle braking device 13 can be disconnected by operating the disconnecting mechanism.

In the parking assistance system 1 of the present embodiment, the peripheral recognition device 11 and the vehicle control device 12 are shown as separate devices, but the peripheral recognition device 11 and the vehicle control device 12 may be integrated.

(Timing chart of output signal from vehicle braking device)
FIG. 2 is a diagram showing an example of a timing chart of output signals from the vehicle braking device 13 according to the embodiment. FIG. 2 shows how the output signal from the vehicle braking device 13 changes when the operating state of the peripheral recognition device 11 indicates an abnormality.

As shown in FIG. 2, when the operating state of the peripheral recognition device 11 indicates an abnormality, the state is changed from normal to abnormal (timing T21). Then, the peripheral recognition device 11 maintains the abnormal state for a predetermined period.

When the operating state of the peripheral recognition device 11 is abnormal, the monitoring device 15 changes the monitoring state of the monitoring device 15 from normal to abnormal (timing T22). After the timing of T22, the monitoring device 15 disables the automatic driving control of the vehicle with respect to the vehicle braking device 13. FIG. In addition, the monitoring device 15 transmits a control signal for deceleration control of the vehicle to the vehicle braking device 13 . The monitoring device 15 maintains the abnormal state for a predetermined period of time.

When the monitoring state of the monitoring device 15 is abnormal, the vehicle braking device 13 switches the output signal of the vehicle braking device 13 from the vehicle control signal from the vehicle control device 12 to the deceleration control signal from the monitoring device 15 (timing T23). . Further, after the timing of T23, the vehicle braking device 13 performs control corresponding to the deceleration control signal to the vehicle.

Then, the vehicle braking device 13 maintains the state of the deceleration control signal for a predetermined period. By performing deceleration control from the monitoring device 15 when the operating state of the peripheral recognition device 11 is in an abnormal state, a fail-safe operation can be realized without duplicating the electronic control devices.

FIG. 2 shows the operation state of the periphery recognition device 11, the monitoring state of the monitoring device 15, and the output signal timing of the vehicle braking device 13 when the periphery recognition device 11 is in an abnormal state. is shown, the behaviors of the monitoring device 15 and the vehicle braking device 13 are shown at the same timing as the peripheral recognition device 11 described above.

(Timing chart of output signal by vehicle stopping device)
FIG. 3 is a diagram showing an example of a timing chart of output signals from the vehicle stopping device 14 according to the embodiment. FIG. 3 shows how the output signal from the vehicle stopping device 14 changes when the operating state of the vehicle braking device 13 indicates an abnormality.

As shown in FIG. 3, the operating state of the peripheral recognition device 11 maintains a normal state. In addition, the operating state of the vehicle control device 12 also maintains a normal state, like the peripheral recognition device 11 .

When the operating state of the vehicle braking device 13 indicates an abnormality, the state is changed from normal to abnormal (timing T31). Then, the vehicle braking device 13 maintains the abnormal state for a predetermined period.

When the operating state of the vehicle braking device 13 is abnormal, the monitoring device 15 changes the monitoring state of the monitoring device 15 from normal to abnormal (timing T32). The monitoring device 15 transmits a control signal for stopping the vehicle to the vehicle stopping device 14 . The monitoring device 15 maintains the abnormal state for a predetermined period of time. Moreover, the monitoring device 15 may invalidate the automatic driving control of the vehicle with respect to the vehicle braking device 13 after the timing of T32.

When the monitoring state of the monitoring device 15 is abnormal, the vehicle stopping device 14 switches to the stop signal from the monitoring device 15 (timing T33). Specifically, when the stop signal of the vehicle stop device 14 is 1, the stop signal is transmitted, and when the stop signal is 0, the stop signal is not transmitted.

Further, after the timing of T23, the vehicle braking device 14 performs control corresponding to the stop signal to the vehicle. Then, the vehicle stopping device 14 maintains the state of the stop signal for a predetermined period. A fail-safe operation can be realized by performing deceleration control from the monitoring device 15 when the operating state of the vehicle braking device 13 is in an abnormal state.

(Modification)
FIG. 4 illustrates a system configuration showing a modified example of the parking assistance system 1 according to the embodiment.

For example, the monitoring device 15 is composed of a first monitoring device 15A and a second monitoring device 15B. The first monitoring device 15A monitors the operating states of the peripheral recognition device 11, the vehicle control device 12, and the second monitoring device 15B.

The first monitoring device 15A disables the automatic driving control of the vehicle with respect to the vehicle braking device 13 when the operating state of the surroundings recognition device or the vehicle control device 12 is abnormal, Perform deceleration control.

The second monitoring device 15B monitors the operating states of the peripheral recognition device 11, the vehicle control device 12, and the first monitoring device 15A. The second monitoring device 15B, when the operating state of the peripheral recognition device 11 or the vehicle control device 12 is abnormal and the operating state of the first monitoring device 15A is abnormal, the vehicle braking device 13 The automatic running control is disabled, and the vehicle braking device 13 is controlled to decelerate the vehicle.

Further, the second monitoring device 15B controls the vehicle braking device 13 when the operating state of the peripheral recognition device 11 or the vehicle control device 12 is abnormal and the operating state of the first monitoring device 15A is abnormal. The automatic running control of the vehicle may be disabled, and the vehicle stop deceleration control may be performed on the vehicle stopping device 14 .

Further, the second monitoring device 15B may be supplied with power from a power supply system different from that of the first monitoring device 15A, the peripheral recognition device 11 and the vehicle control device 12 .

Since power is supplied from different power supply systems to the first monitoring device 15A and the second monitoring device 15B, the power supply system to which power is supplied to the peripheral recognition device 11 and the vehicle control device 12 is in an abnormal state. Even in this case, fail-safe operation can be realized by performing deceleration control on the vehicle braking device 13 from the second monitoring device 15B.

(Timing chart of output signal by vehicle braking device corresponding to modification)
FIG. 5 is a functional configuration diagram showing an example of a timing chart of output signals from a vehicle braking device according to a modification of the embodiment.

As shown in FIG. 5, when the operating state of the peripheral recognition device 11 indicates an abnormality, the state is changed from normal to abnormal (timing T51). Then, the peripheral recognition device 11 maintains the abnormal state for a predetermined period.

When the operating state of the peripheral recognition device 11 is abnormal, the first monitoring device 15A changes the monitoring state of the first monitoring device 15A from normal to abnormal (timing T52). Then, the first monitoring device 15A maintains the abnormal monitoring state for a predetermined period.

When the operating state of the first monitoring device 15A indicates an abnormality, it is changed from normal to abnormal (timing T53). Then, the first monitoring device 15A maintains the abnormal operating state of the first monitoring device 15A for a predetermined period. In addition, since the operating state of the first monitoring device 15A indicates an abnormality, the first monitoring device 15A detects that even when the monitoring state of the peripheral recognition device 11 indicates an abnormal state at the timing of T52, the vehicle The automatic driving control of the vehicle with respect to the braking device 13 is not invalidated.

When the operating state of the first monitoring device 15A is abnormal, the second monitoring device 15B changes the monitoring state of the second monitoring device 15B from normal to abnormal (timing T54). After the timing of T54, the second monitoring device 15B disables the automatic driving control of the vehicle with respect to the vehicle braking device 13. FIG.

Further, the second monitoring device 15B transmits a control signal for controlling the deceleration of the vehicle to the vehicle braking device 13 . Then, the second monitoring device 15B maintains the abnormal state for a predetermined period.

When the monitoring state of the second monitoring device 15B is abnormal, the vehicle braking device 13 converts the output signal of the vehicle braking device 13 from the vehicle control signal from the vehicle control device 12 to the deceleration control signal from the second monitoring device 15B. (timing T55). Further, the vehicle braking device 13 performs control corresponding to the deceleration control signal to the vehicle after the timing of T55.

Then, the vehicle braking device 13 maintains the state of the deceleration control signal for a predetermined period. When the operating state of the first monitoring device 15A is abnormal, a fail-safe operation can be realized by performing deceleration control from the redundant second monitoring device 15B.

In FIG. 5, when the surroundings recognition device 11 is in an abnormal state, the operating state of the surroundings recognition device 11, the monitoring state and operating state of the first monitoring device 15A, the monitoring state of the second monitoring device 15B, and the vehicle braking device 13, but even if the vehicle control device 12 indicates an abnormal state, the first monitoring device 15A, the second monitoring device 15B, and the vehicle control device 15A, the second monitoring device 15B, and the vehicle are detected at the same timing as the peripheral recognition device 11 described above. The behavior of the braking device 13 is shown.

As described above, the parking assistance system according to the embodiment monitors the operating states of the surroundings recognition device that recognizes the surroundings of the vehicle, the vehicle control device that controls automatic driving of the vehicle, the surroundings recognition device, and the vehicle control device. A monitoring device and a vehicle braking device for controlling braking of the vehicle. The monitoring device disables the automatic driving control of the vehicle with respect to the vehicle braking device when the operating state of the peripheral recognition device or the vehicle control device is abnormal. Also, the vehicle braking device is controlled to decelerate the vehicle.

As a result, when the electronic control unit related to the parking assistance of the vehicle is in an abnormal state, deceleration control is performed from the monitoring device, thereby achieving fail-safe operation without duplicating the electronic control units. The controller can be of a single construction.

A program executed by the parking assistance system of the present embodiment is preinstalled in a ROM or the like and provided.

The program executed by the parking assistance system of the present embodiment is a file in an installable format or an executable format, and can be stored on a computer such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), etc. It may be configured to be recorded on a readable recording medium and provided.

Further, the program executed by the parking assistance system of this embodiment may be stored in a computer connected to a network such as the Internet, and may be provided by being downloaded via the network. Also, the program executed by the parking assistance system of this embodiment may be provided or distributed via a network such as the Internet.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, as well as the scope of the invention described in the claims and equivalents thereof.

Reference Signs List 1 parking assistance system 11 peripheral recognition device 12 vehicle control device 13 vehicle braking device 14 vehicle stopping device 15 monitoring device

Claims (8)

A parking assistance system for assisting parking of a vehicle,
a periphery recognition device for recognizing the periphery of the vehicle;
a vehicle control device that controls automatic running of the vehicle;
the surroundings recognition device; a monitoring device that monitors the operating state of the vehicle control device;
A vehicle braking device that controls braking of the vehicle,
When the operating state of the peripheral recognition device or the vehicle control device is abnormal, the monitoring device
Disabling automatic driving control of the vehicle for the vehicle braking device;
performing deceleration control of the vehicle with respect to the vehicle braking device;
parking assistance system. When the vehicle braking device is abnormal, the monitoring device
2. The parking assistance system according to claim 1, wherein a vehicle stopping device that controls stopping of the vehicle is controlled to stop the vehicle. each of the peripheral recognition device and the vehicle control device transmits a reply signal indicating a reply to a predetermined question to the monitoring device;
3. The parking assist system according to claim 1, wherein said monitoring device monitors operating states of said periphery recognition device and said vehicle control device according to said response signal. The monitoring device comprises a first monitoring device and a second monitoring device,
The first monitoring device monitors operating states of the peripheral recognition device, the vehicle braking device, and the second monitoring device,
When the operating state of the peripheral recognition device or the vehicle control device is abnormal, the first monitoring device
Disabling automatic driving control of the vehicle for the vehicle braking device;
4. The parking assist system according to any one of claims 1 to 3, wherein the vehicle braking device is controlled to decelerate the vehicle. The second monitoring device monitors operating states of the peripheral recognition device, the vehicle braking device, and the first monitoring device,
When the operating state of the peripheral recognition device or the vehicle braking device is abnormal and the operating state of the first monitoring device is abnormal,
Disabling automatic driving control of the vehicle for the vehicle braking device;
5. The parking assist system according to claim 4, wherein the vehicle braking device is controlled to decelerate the vehicle. 6. The parking assist system according to claim 4, wherein the second monitoring device is supplied with power from a power supply system different from that of the first monitoring device, the surroundings recognition device, and the vehicle braking device. . A parking assistance device for assisting parking of a vehicle,
a periphery recognition unit that recognizes the periphery of the vehicle;
a vehicle control unit that controls automatic driving of the vehicle;
the peripheral recognition unit; a monitoring unit that monitors the operating state of the vehicle control unit;
A vehicle braking unit that controls braking of the vehicle,
When the operating state of the peripheral recognition unit or the vehicle control unit is abnormal, the monitoring unit
Disabling automatic driving control of the vehicle for the vehicle braking unit;
performing deceleration control of the vehicle with respect to the vehicle braking unit;
parking aid. A parking assistance method for assisting parking of a vehicle,
a periphery recognition step of recognizing the periphery of the vehicle;
a vehicle control step for controlling automatic running of the vehicle;
a monitoring step of monitoring an operating state of the peripheral recognition step and the vehicle control step;
a vehicle braking step of controlling braking of the vehicle;
In the monitoring step, when the operating state of the peripheral recognition step or the vehicle control step is abnormal,
disabling automatic cruise control of the vehicle for the vehicle braking step;
a step of performing deceleration control of the vehicle in response to the vehicle braking step;
parking assistance methods including;

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