JP2022161437A - Parking-space-exiting route generation device - Google Patents

Abstract

To provide a parking-space-exiting route generation device for generating a parking-space-exiting route which expands opportunity to exit a parking space, without depending on information at the time of entering the parking space.SOLUTION: An own vehicle position acquisition section 10 acquires information on the position of an own vehicle during traveling, and a peripheral environment acquisition section 20 acquires information on an environment including an obstacle around the own vehicle. On the basis of the information, a traveling-prohibited area generation section 40 generates a traveling-prohibited area where traveling is prohibited. On the other hand, a target state setting section 30 determines the end point state of a parking-space-exiting route on the basis of the state of the own vehicle including the attitude of the own vehicle and sets it as a target state. A parking-space-exiting route generation section 50 generates the parking-space-exiting route from the position of the own vehicle to the target state in such a manner as to avoid the traveling-prohibited area generated by the traveling-prohibited area generation section 40.SELECTED DRAWING: Figure 1

Description

The present application relates to an exit route generation device.

In the conventional parking assist system, when the vehicle leaves the parking space, the information at the time of entering the parking space is used to complement blind spot information at the time of leaving the parking space to generate a leaving route. In this parking assist system, the sensor information processing unit receives point cloud information from the space recognition sensor that is acquired when the vehicle moves toward the parking frame, and based on the input information, determines whether parking is possible. Spatial and track boundaries are estimated. (See Patent Document 1)

JP 2018-83481 A (pages 6-7, FIG. 2)

With conventional parking assistance systems, the available parking space estimated when generating a parking exit route is based on the information at the time of parking. There was a problem that it might not be possible to leave the car after creating the leaving route.

The present application discloses a technique for solving the above-described problems, and aims to provide a delivery route generation device that generates a delivery route that expands delivery opportunities without relying on information at the time of warehousing. and

A parking exit route generation device disclosed in the present application is a parking exit route generation device that generates a parking exit route, and includes a vehicle position information acquisition unit that acquires position information of the vehicle, and environmental information including obstacles around the vehicle. an environment information acquisition unit to acquire, a no-travel area generation unit that creates a no-travel area based on the vehicle position information acquired by the vehicle position information acquisition unit and the environment information acquired by the environment information acquisition unit; Depending on the state of the vehicle, including the attitude of the vehicle, the end point of the exit route is determined, and the target state setting unit that sets the target state is set. It is provided with a delivery route generation unit that generates a delivery route to the target state.

According to the delivery route generation device disclosed in the present application, it is possible to generate a delivery route that expands the delivery opportunities without relying on information at the time of warehousing.

1 is a block diagram showing a schematic configuration of an exit route generation device according to Embodiment 1; FIG. 4 is a flow chart showing the operation of the leaving route generation device according to Embodiment 1; FIG. 4 is a diagram showing setting of a travel-prohibited area of the exit route generation device according to Embodiment 1; FIG. 7 is a diagram showing the updating of the delivery route of the delivery route generation device according to Embodiment 1; FIG. 10 is a block diagram showing a schematic configuration of a leaving route generating device according to Embodiment 2; FIG. FIG. 10 is a diagram showing updating of the travel-prohibited area/target position and updating of the leaving route by the leaving route generating device according to Embodiment 2; FIG. 11 is a block diagram showing a schematic configuration of a parking exit route generating device according to Embodiment 3; FIG. 12 is a diagram showing the updating of the leaving route using the environment information at the time of entering the leaving route of the leaving route generating device according to Embodiment 3; FIG. 12 is a block diagram showing a schematic configuration of a parking exit route generating device according to Embodiment 4; FIG. 14 is a diagram showing updating of a travel-prohibited area and updating of a leaving route according to a user's instruction of the leaving route generating device according to Embodiment 4; FIG. 2 is a diagram showing the hardware configuration of the exit route generation device according to Embodiments 1 to 4; FIG.

Embodiment 1.
FIG. 1 is a block diagram showing a schematic configuration of an exit route generation device according to Embodiment 1. As shown in FIG.
In FIG. 1, the leaving route generation device 100 is mounted on a vehicle and configured as follows.
The vehicle position acquisition unit 10 (vehicle position information acquisition unit) acquires vehicle position information. Details of the vehicle position information will be described later.
The surrounding environment acquisition unit 20 (environment information acquisition unit) acquires surrounding environment information including obstacle information around the vehicle.
The target state setting unit 30 sets and outputs a target state. Here, the target state is the exit direction determined by the user's instruction and the vehicle state (including the angle and position of the vehicle) in which the user can get in.

The travel-restricted area generator 40 detects and creates a travel-restricted area based on the vehicle position information and the surrounding environment information. The travel-prohibited area represents an area where the own vehicle cannot travel due to an obstacle.
The travel-restricted area generation unit 40 includes a travel-restricted area determination unit 41 (run-restricted area determination unit) and a travel-restricted area update unit 42 . The travel-restricted area determination unit 41 determines whether or not the travel-restricted area should be updated based on the vehicle position information and the surrounding environment information. The travel-restricted area update unit 42 updates the travel-restricted area as needed based on the determination result of the travel-restricted area determination unit 41 .

The leaving route generation unit 50 generates a leaving route from the vehicle position to the target state output by the target state setting unit 30 so as to avoid the travel prohibited area.
The leaving route generation unit 50 has a route update request unit 51 (route update determination unit) and a route update unit 52 . When the travel prohibited area is updated by the travel prohibited area updating unit 42, the route update request unit 51 determines whether or not the exit route overlaps the updated travel prohibited area. , request to update the delivery route.
Based on the request from the route update requesting unit 51, the route updating unit 52 updates the leaving route so as to avoid the travel prohibited area.

FIG. 3 is a diagram showing setting of the travel-prohibited area of the exit route generation device according to the first embodiment.
FIG. 3 shows transitions of the actual environment, measured values, and travel-prohibited areas over time. The host vehicle 301 is sandwiched between obstacle vehicles 302 . A wall 303 is formed behind the vehicle 301 . An obstacle vehicle 302 exists within a measurement area 304 by the sensor. The travel-prohibited area 305 is updated by estimating the position of the own vehicle 301 at each sensor measurement cycle.
FIG. 3(a) shows the own vehicle 301, the obstacle vehicle 302, the wall 303, the measurement area 304, and the travel prohibited area 305 at time t=T1, and FIG. 3(b) shows the own vehicle at time t=T2. 301, an obstacle vehicle 302, a wall 303, a measurement area 304, and a travel-prohibited area 305, and FIG. 3 is a diagram showing a travel prohibited area 305. FIG.

FIG. 4 is a diagram showing the updating of the delivery route by the delivery route generation device according to the first embodiment.
4, reference numerals 301 and 302 are the same as those in FIG. A provisional travel prohibition area 306 is a travel prohibition area provisionally set in the initial state of exiting from the parking position.
FIG. 4(a) is a diagram showing the initial state of leaving the garage, FIG. 4(b) is a diagram showing that a provisional travel prohibited area 306 is set and a leaving route is generated therefrom, and FIG. 4(c). is a diagram showing that the travel-restricted area has been updated during movement on the route generated in the stage of FIG. 4(b), and FIG. FIG. 10 is a diagram showing updating the exit route so as not to involve the .

In the initial state of leaving the garage in FIG. 4A, the positional relationship between the own vehicle 301 and the obstacle vehicles 302 on the left and right is unknown. In particular, it is unclear where the corner position of the obstacle vehicle 302 is in the vehicle length direction.
In FIG. 4(b), an exit route is generated from the initial state based on the provisional travel prohibited area 306. In FIG.
In FIG. 4(c), an exit route update request is generated when the left and right obstacle vehicles 302 are detected while the own vehicle 301 is moving and the travel prohibited area is updated.
As shown in FIG. 4D, by updating the exit route so as to avoid the updated travel-prohibited area, the exit route that does not involve the obstacle vehicle 302 can be updated.

Next, operation will be described.
Embodiment 1 estimates the ever-changing positions of the own vehicle 301 and the obstacle vehicle 302 at the sensor measurement cycle, and updates the surrounding travel-prohibited area 305 . Then, using this updated travel-prohibited area 305, the leaving route is generated.

Prior to generating the delivery route, a target state, which is the target of the delivery route, is set.
The target state is the leaving direction determined by the user's instruction and the vehicle state (including the angle and position of the vehicle) in which the user can get in. For example, it is a position that is parallel to the aisle at the center of the aisle after exiting from the parking position to the right.
The set target state is output from the target state setting unit 30 .

A description will be given below with reference to the flow chart of FIG.
First, in step S<b>001 , the vehicle position acquisition unit 10 acquires vehicle position information and outputs the vehicle position information to the travel prohibited area determination unit 41 .
The own vehicle position acquisition unit 10 detects the state of the own vehicle's speed and traveling direction as own vehicle data, and detects the position and attitude angle of the own vehicle from the detected own vehicle data.
Specifically, the own vehicle position acquisition unit 10 detects, as own vehicle data, conditions related to the speed and traveling direction of the own vehicle, such as the speed of the own vehicle, the wheel speed, the steering angle, and the yaw rate.
In addition, the own vehicle position acquisition unit 10 detects the own vehicle data at a preset cycle.
Also, the vehicle position acquisition unit 10 may be configured to detect the latitude, longitude and traveling direction of the vehicle as vehicle data using GPS (Global Positioning System).

Various methods are conceivable for calculating the position and attitude angle of the own vehicle. As an example, a method using yaw rate and wheel speed will be described.
Using the vehicle position and the vehicle attitude angle at the start of vehicle data acquisition as reference axes, the relative vehicle position coordinates and the vehicle attitude angle are calculated each time the vehicle data is detected by the vehicle position acquisition unit 10. Calculate.
The vehicle position coordinates are obtained based on the movement distance for each hour obtained from the wheel speed output from the vehicle position acquisition unit 10 and the yaw angle for each time obtained from the yaw rate output from the vehicle position acquisition unit 10. , the movement position for each time is calculated, and the movement position is added to the own vehicle position on the reference axis.
Also, the attitude angle of the own vehicle is obtained by adding together the yaw angles obtained from the yaw rate output from the own vehicle position acquisition unit 10 for each time from the point of time of the reference axis.
The vehicle position detected by the vehicle position acquisition unit 10 is stored in association with the time when the vehicle data is detected.

Next, in step S<b>002 , the surrounding environment acquisition unit 20 detects the obstacle vehicle 302 using a sensor, and outputs the detected obstacle vehicle 302 to the travel prohibited area determination unit 41 . As shown in FIG. 3, the own vehicle is equipped with sensors capable of measuring distances in the front, rear, and left and right directions.

Next, in step S003, based on the position of the vehicle and the obstacle vehicle 302, the prohibited-travel area determination unit 41 of the prohibited-travel area generation unit 40 determines whether or not it is necessary to update the prohibited-travel area. to decide.
In step S003, if the travel prohibited area needs to be changed, the process proceeds to step S004. If it is not necessary to change the travel-prohibited area, the process ends.

In step S004, the travel prohibited area is updated.
Here, the setting (including updating) of the travel prohibited area will be described in detail with reference to FIG.
After the obstacle vehicle 302 is detected by the surrounding environment acquisition unit 20 using a sensor in step S002, the travel prohibited area is determined based on the position of the own vehicle 301 and the obstacle vehicle 302 in steps S003 and S004. It is set by the travel-prohibited area generation unit 40 .

The own vehicle 301 is equipped with sensors capable of measuring distances in the front, rear, and left and right directions.
Using FIG. 3, consider a case where the host vehicle 301, sandwiched between obstacle vehicles 302, moves forward from time t=T1 to T3.
Here, the origin of the travel-prohibited area is the position of the vehicle 301 at time t=T1.
A travel-prohibited area is an area in which the own vehicle cannot travel due to an obstacle, and the existence range of the obstacle can be estimated based on the measurement value of the sensor.
That is, the travel-prohibited area at time t=T1 can be estimated from the sensor measurement value at time t=T1.

Next, when the measured value of the sensor is updated at time t=T2, it is possible to update the travel-prohibited area by matching it with the position of the vehicle at time t=T2.
That is, at time t=T1, even a place that was not generated as a travel-restricted area can be updated at time t=T2.
In this way, by estimating the position of the vehicle at each sensor measurement cycle (time t=T1, T2, T3), it is possible to update the surrounding travel-prohibited areas.

If the travel-prohibited area is updated in step S004, then in steps S005 to S007, the exit route generation unit 50 generates the exit route from the current position to the target state.
In step S005, the route update request unit 51 of the leaving route generation unit 50 determines whether or not the travel prohibited area updated in step S004 overlaps the leaving route.
In step S005, when the travel-prohibited area overlaps with the exit route, the route update unit 52 is requested to update the route, and the process proceeds to step S006. If the travel-prohibited area and the leaving route do not overlap, the process ends.

In step S<b>006 , the leaving route generation unit 50 acquires the target state from the target state setting unit 30 . Then, the process proceeds to step S007.
In step S007, the route updating unit 52 of the leaving route generation unit 50 updates the leaving route from the current position to the target state so as to avoid the updated travel-prohibited area.
Details of step S007 will be described later with reference to FIG.

Next, with reference to FIG. 4, the update of the exit route accompanying the update of the travel-prohibited area will be described.
Here, it is assumed that there are obstacle vehicles 302 on the left and right sides of the own vehicle 301 .
In the initial state as shown in FIG. 4A, there is a possibility that the host vehicle 301 cannot detect the front positions of the left and right obstacle vehicles 302 . Therefore, as shown in FIG. 4B, a provisional travel prohibited area 306 is created on the assumption that the front positions of the left and right obstacle vehicles 302 are the same as the own vehicle 301 .

Then, as shown in FIG. 4(b), an exit route is generated based on the temporary travel-prohibited area 306. FIG.
As shown in FIG. 4C, when the travel-prohibited area created by the obstacle vehicle 302 expands as the own vehicle 301 advances, there is a possibility that the obstacle vehicle 302 will be involved if the vehicle travels along the leaving route. exist. Therefore, the steering restriction is set on the generated leaving route until the travel-prohibited area in the left and right direction is updated.

Next, the travel-prohibited area in the left-right direction is updated, and as shown in FIG. Alleviate steering restrictions on the left and right exit routes.

According to Embodiment 1, at the time of leaving the car, even if the surrounding environment information at the time of entering the car is not stored in advance, the leaving route can be generated based on the no-travel area generated by acquiring the surrounding environment.
In addition, by acquiring the surrounding environment at any time, it is possible to set a travel-prohibited area at any time with respect to obstacles newly detected while the vehicle is traveling.
In addition, it is possible to generate an exit route in consideration of collision avoidance with obstacles for the updated travel-prohibited area.

Embodiment 2.
FIG. 5 is a block diagram showing a schematic configuration of an exit route generation device according to Embodiment 2. As shown in FIG.
5, reference numerals 10, 20, 30, 40-42, 50-52 and 100 are the same as in FIG. In FIG. 5, the route updating unit 52 is provided with a target position setting unit 53 and a target position reaching route updating unit 54 (target position route updating unit).
The target position setting unit 53 sets the target position based on the target state output from the target state setting unit 30 and the travel prohibited area generated by the travel prohibited area generation unit 40 .
The target position arrival route update unit 54 updates the target position set by the target position setting unit 53, the travel prohibited area, the vehicle position acquired by the vehicle position acquisition unit 10, and the route from the route update request unit 51. Based on the update request, the exit route from the current vehicle position to the target position is updated.

Here, the target state indicates the leaving direction determined by the user's instruction and the vehicle state (vehicle position, angle) in which the user can board.
The target position is contained in the target state. It is a position within a predetermined area that is not included in the travel-prohibited area and that satisfies the target state, and defines the target parking position and the attitude of the vehicle at that position.

FIG. 6 is a diagram showing updating of the travel-prohibited area/target position and updating of the leaving route by the leaving route generating device according to the second embodiment.
6, reference numerals 301, 302 and 306 are the same as those in FIG. In FIG. 6, an obstacle vehicle 308 is an obstacle vehicle on the opposite side of a path 307 having a path width L across the path.
FIG. 6(a) is a diagram showing the initial state, FIG. 6(b) is a diagram showing generation and updating of a route from the initial position of the vehicle to the target position, and FIG. It is a figure which shows resetting a target position based on the updated driving|running-prohibited area|region, and recalculating the route|route to a target position.

Next, operation will be described.
The update of the route accompanying the update of the travel-prohibited area/target position will be described with reference to FIG.
Here, as shown in FIG. 6A, it is assumed that the target state is the center of the passage and the vehicle is tilted 90 degrees from the initial state.
In the initial state of leaving the garage, the vehicle 301 does not know the positional relationship between the left and right obstacle vehicles 302 and the positional relationship of the obstacle vehicle 308 on the opposite side of the passage 307 .

From this, as shown in FIG. 6(b), the position of the obstacle and the position of the passage are assumed from the initial position of the vehicle using the temporary travel-prohibited area 306. FIG. Then, a target position 401, which is a target parking position, is set, and a route 402 leading to the target position 401 is generated. A path 402 represents the locus of the center of the rear axle of the vehicle 301 .
Next, the route is updated as a route 403 by updating the travel-prohibited area generated from the obstacle position.
Further, by detecting the position of the obstacle vehicle 308 on the opposite side of the passage 307 , the travel prohibition area is updated, and the turn-back is performed at the turn-back request position 404 .

Then, as shown in FIG. 6C, the target position 405 is reset based on the updated travel-prohibited area, and the route 406 leading to the target position 405 is recalculated.

That is, in the second embodiment, when the route to the target position is generated based on the obstacle position and passage position assumed using the provisional travel prohibited area at the initial position of the vehicle, the route 402 is: The route 403 is updated due to the steering restriction described in the first embodiment due to the travel prohibition area regarding the obstacle position.
Furthermore, by updating the no-travel area for the obstacle vehicle on the opposite side of the passage, the vehicle is turned at the turn-around request position 404 .
Then, after updating the travel-prohibited area related to the passage position, the target position is updated from the target position 401 to the target position 405 so as to be the center of the passage, thereby recalculating the route 406 to the target position 405 .
That is, it is possible to generate a route in consideration of the unknown positional relationship between the left and right obstacle vehicles and the positional relationship of the obstacle vehicle on the opposite side of the passage in the initial state of leaving the garage.

According to Embodiment 2, a route to reach a desired target position can be generated based on the updated travel-prohibited area.

Embodiment 3.
FIG. 7 is a block diagram showing a schematic configuration of an exit route generation device according to Embodiment 3. As shown in FIG.
7, reference numerals 10, 20, 30, 40-42, 50-52 and 100 are the same as in FIG. In FIG. 7 , the exit route generation device 100 is provided with a surrounding environment storage unit 60 (environment information storage unit) and an elapsed time calculation unit 70 .
The surrounding environment storage unit 60 stores surrounding environment information at the time of warehousing. The elapsed time calculation unit 70 calculates the elapsed time from the completion of warehousing.

FIG. 8 is a diagram showing the updating of the leaving route using the environment information at the time of warehousing by the leaving route generating device according to the third embodiment.
8, reference numerals 301, 302, 306, 307 and 308 are the same as in FIG. 6, and 305 is the same as in FIG. FIG. 8 shows a path 408 leading to a target position 407. FIG. Further, in FIG. 8, the travel prohibited area 305 and the temporary travel prohibited area 306 are the same.
FIG. 8(a) is a diagram showing the initial state, and FIG. 8(b) is a diagram showing that a route 408 is generated using the environment information at the time of warehousing and the target position 407 is reached.

The exit route generation device 100 of Embodiment 3 has a surrounding environment storage unit 60 and an elapsed time calculation unit 70 .
The travel-prohibited area generation unit 40 according to the third embodiment uses the surrounding environment at the time of parking output from the surrounding environment storage unit 60 and the elapsed time from the completion of parking calculated by the elapsed time calculation unit 70, Generate keep out areas.
That is, when the elapsed time calculation result from the completion of parking is less than a predetermined time, the travel-prohibited area generation unit 40 determines the surrounding environment acquired by the surrounding environment acquisition unit 20 Based on the position of the vehicle acquired by , the driving prohibited area is generated based on the surrounding environment at the time of parking.

Next, using FIG. 8, the update of the route by utilizing the environment at the time of completion of warehousing will be described.
Here, as shown in FIG. 8A, it is assumed that the target state is the center of the passage and the vehicle is tilted 90 degrees from the initial state.

In the initial state of leaving the garage shown in FIG. 8A, the positional relationship between the left and right obstacle vehicles 302 and the positional relationship of the obstacle vehicle 308 on the opposite side of the passage 307 are unknown to the own vehicle 301 .
If the elapsed time from the completion of parking is less than a predetermined time, it is considered that the surrounding environment has changed little since the completion of parking. , a provisional no-travel area 306 is set as shown in FIG.

Then, based on the initial position of the vehicle, assuming the position of the obstacle and the position of the passage, a target position 407 shown in FIG. A path 408 represents the rear axle center trajectory of the vehicle.

Even when the environmental information at the time of completion of parking is used, by measuring the position of the obstacle with the sensor mounted on the own vehicle 301, the temporary travel prohibited area 306 is updated as needed to become the travel prohibited area 305. be able to.
However, if the surrounding environment has not changed from when the parking was completed, or if the change in the travel-prohibited area 305 does not affect the route 408 , the target position 407 can be reached along the route 408 . FIG. 8B shows a case where the travel prohibited area 305 has not changed from the temporary travel prohibited area 306 .
According to this, it is not necessary to recalculate the route to the target position, so it is possible to reduce the processing time required for the retrieval assistance.

According to the third embodiment, when the time elapsed from the completion of warehousing is short, it is considered that there is little change in the surrounding environment. can be done.

Embodiment 4.
FIG. 9 is a block diagram showing a schematic configuration of an exit route generation device according to Embodiment 4. As shown in FIG.
9, reference numerals 10, 20, 30, 40-42, 50-52 and 100 are the same as in FIG. In FIG. 9, the leaving route generating device 100 is provided with a user instruction information acquisition unit 80 that acquires user instruction information.

Embodiment 4 is provided with a user instruction information acquisition unit 80 that acquires user instruction information, and uses the acquired user instruction information to generate an exit route.
The travel-prohibited area determination unit 41 of the fourth embodiment includes the user instruction information acquired by the user instruction information acquisition unit 80, the surrounding environment acquired by the surrounding environment acquisition unit 20, and the vehicle position acquisition unit 10. Based on the obtained vehicle position, it is determined whether or not the travel-prohibited area can be updated.
The travel-restricted area updating unit 42 updates the travel-restricted area as needed based on the determination result of the travel-restricted area determination unit 41 and user instruction information.
Then, the exit route generation unit 50 uses the prohibited travel area updated by the prohibited travel area update unit 42 to determine the target state output from the target state setting unit 30 and the vehicle position acquired by the vehicle position acquisition unit 10. Based on the car position, the exit route is generated at any time.

FIG. 10 is a diagram showing updating of the travel-prohibited area and the leaving route according to the user instruction of the leaving route generating device according to the fourth embodiment.
10, reference numerals 301, 302, 306-308 are the same as those in FIG. Goal state 501 is the initial goal state. Path 502 is the path to goal state 501 . A route 503 is a route updated by updating the travel prohibited area 305 .
A position 504 is a position where a remote control button is pressed as a user instruction. Goal state 505 shows the updated goal state and path 506 is the recomputed path to goal state 505 .
FIG. 10(a) shows the initial state, FIG. 10(b) shows setting the target state and generating the route, and FIG. 10(c) shows the updated travel prohibited area. , the update of the path to the goal state;

Next, with reference to FIG. 10, updating of the travel-restricted area and updating of the leaving route according to the user's instruction of the leaving route generating device according to the fourth embodiment will be described.
As shown in FIG. 10(a), it is assumed that the target state is the center of the passage and the vehicle is tilted 90 degrees from the initial state.
In the initial state of leaving the parking lot shown in FIG. 10A, the positional relationship between the left and right obstacle vehicles 302 and the positional relationship of the obstacle vehicle 308 on the opposite side of the passage 307 are unknown to the own vehicle 301 .
A target state 501 is set by assuming the position of the obstacle and the path 307 from the initial position of the vehicle, and a path 502 leading to the target state 501 is generated. A path 502 represents the locus of the center of the rear axle of the vehicle 301 .

Next, as shown in FIG. 10(b), the route 502 is updated by updating the travel prohibition region 305 from the provisional travel prohibition region 306 based on the position of the obstacle, and the route 503 is formed.
As shown in FIG. 10(c), when there is an instruction from the user such as pressing a button on a remote controller while the vehicle 301 is running, the travel prohibition area 305 is set so that the travel prohibition area is set ahead of the position 504. to update.
Then, based on the updated travel-prohibited area 305, the route 506 leading to the target state 505 is recalculated.

According to the fourth embodiment, when the travel-restricted area is updated as needed, the travel-restricted area reflects the user's instruction, thereby generating a parking exit route that reflects the user's instruction.

The leaving route generating device 100 is composed of a processor 101 and a storage device 102, as shown in FIG. 11 as an example of hardware. Although not shown, the storage device includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. Also, an auxiliary storage device such as a hard disk may be provided instead of the flash memory. Processor 101 executes a program input from storage device 102 . In this case, the program is input from the auxiliary storage device to the processor 101 via the volatile storage device. Further, the processor 101 may output data such as calculation results to the volatile storage device of the storage device 102, or may store the data in an auxiliary storage device via the volatile storage device.

While this disclosure describes various exemplary embodiments and examples, various features, aspects, and functions described in one or more of the embodiments may vary from particular embodiment to embodiment. The embodiments are applicable singly or in various combinations without being limited to the application.
Accordingly, numerous variations not illustrated are envisioned within the scope of the technology disclosed herein. For example, modification, addition or omission of at least one component, extraction of at least one component, and combination with components of other embodiments shall be included.

10 Vehicle Position Acquisition Unit 20 Surrounding Environment Acquisition Unit 30 Target State Setting Unit
40 no-travel area generator, 41 no-travel area determination unit, 42 no-travel area update unit,
50 delivery route generation unit, 51 route update request unit, 52 route update unit,
53 target position setting unit, 54 target position arrival route update unit, 60 surrounding environment storage unit,
70 Elapsed time calculation unit 80 User instruction information acquisition unit 100 Departure route generation device
101 processor, 102 storage device, 301 host vehicle, 302 obstacle vehicle,
303 wall, 304 measurement area, 305 travel prohibited area, 306 provisional travel prohibited area,
307 Passage, 308 Obstacle vehicle

A parking exit route generation device disclosed in the present application is a parking exit route generation device that generates a parking exit route, and includes a vehicle position information acquisition unit that acquires position information of the vehicle, and environmental information including obstacles around the vehicle. an environment information acquisition unit that acquires, a no-travel area generation unit that creates a no-travel area based on the vehicle position information acquired by the vehicle position information acquisition unit and the environment information acquired by the environment information acquisition unit, the position is The target state setting unit that determines the state of the vehicle that can be boarded by the attitude and exit direction of the vehicle without specifying one point, and sets it as the target state, and avoids the prohibited travel area generated by the prohibited travel area generation unit. As described above, the vehicle is provided with an exit route generation unit that generates an exit route from the vehicle position to the target state.

Claims (6)

A shipping route generation device for generating a shipping route,
an own vehicle position information acquisition unit that acquires the position information of the own vehicle;
an environment information acquisition unit that acquires environment information including obstacles around the vehicle;
A no-travel area generation unit that generates a no-travel area based on the position information of the vehicle acquired by the vehicle position information acquisition unit and the environment information acquired by the environment information acquisition unit;
A target state setting unit that determines the end point of the exit route according to the state of the vehicle including the attitude of the vehicle and sets it as a target state;
An exit route generation device, comprising: an exit route generation unit that generates an exit route from the position of the vehicle to the target state so as to avoid the prohibited travel area generated by the prohibited travel area generation unit. The no-travel area generation unit
Whether or not the travel-prohibited area can be updated based on the vehicle position information acquired by the vehicle position information acquiring unit and the environment information acquired by the environment information acquiring unit while the vehicle is traveling on the exit route. A no-travel area determination unit that determines
2. The exit route generation device according to claim 1, further comprising a travel-restricted area updating unit that updates the travel-restricted area according to the determination of the travel-restricted area by the travel-restricted area determination unit. an instruction information acquisition unit that acquires instruction information from a user while the vehicle is traveling on the exit route;
The travel-restricted area determination unit uses the instruction information acquired by the instruction information acquisition unit to determine whether or not the travel-restricted area can be updated,
3. The exit route generation device according to claim 2, wherein the travel-restricted area update unit updates the travel-restricted area according to the determination result of the travel-restricted area determination unit and the instruction information. . The delivery route generation unit
a route update determination unit that determines whether or not the exit route overlaps with the travel-prohibited region each time the travel-prohibited region is updated;
4. The route updating unit for updating the leaving route when the route update determining unit determines that the leaving route overlaps the travel prohibited area. outbound route generator. The above route update unit
a target position setting unit that determines a position within a predetermined region where the target state is obtained based on the updated travel prohibited region and sets it as a target position;
5. The delivery route generating apparatus according to claim 4, further comprising a target position route update unit for updating the delivery route to a delivery route ending at the target position. an environment information storage unit that stores the environment information acquired by the environment information acquisition unit when the vehicle is parked;
Equipped with an elapsed time calculation unit that calculates the elapsed time from the completion of parking of the own vehicle,
When the elapsed time calculated by the elapsed time calculation unit is less than a threshold value, the no-travel area generation unit generates the no-travel area using the environment information stored in the environment information storage unit. 6. The leaving route generating device according to any one of claims 1 to 5, characterized in that:

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