JP6911607B2 - Parking control method and parking control device - Google Patents

Description

The present invention relates to a parking control method and a parking control device.

A technique for executing a notification operation to the outside of a vehicle by using an LED or a speaker at the start of unmanned traveling is known (Patent Document 1).

Japanese Patent No. 4754883

However, in the conventional parking control, since the vehicle transmits after the notification operation to the outside of the vehicle is executed, it is difficult to know the timing when the vehicle starts to move.

The problem to be solved by the present invention is to show a person outside the vehicle the timing when the vehicle starts to move in an easy-to-understand manner.

According to the present invention, when the vehicle shifts from the first state in which the vehicle is stopped to the second state in which the vehicle has started moving, the vehicle is steered, and the steering command is the first steering that steers the tires of the vehicle in the first state. The above problem is solved by including the command and the second steering command that waits for the elapse of a predetermined time after executing the first steering command.

According to the present invention, it is possible to clearly indicate to a person outside the vehicle when the vehicle starts to move.

FIG. 1 is a block configuration diagram showing an example of a parking control system of the present embodiment according to the present invention. FIG. 2 is a flowchart showing an example of a control procedure of the parking control system of the present embodiment. 3A and 3B are diagrams for explaining a first example of the parking route calculation method of the present embodiment. FIG. 4 shows an example of the subroutine in step 106. FIG. 5A is a diagram for explaining a control command according to the first aspect of the present embodiment. FIG. 5B is a flowchart for explaining the execution of the control command according to the first aspect of the present embodiment. FIG. 6A is a diagram for explaining a control command according to a second aspect of the present embodiment. FIG. 6B is a flowchart for explaining the execution of the control command according to the second aspect of the present embodiment. FIG. 7A is a diagram for explaining a control command according to a third aspect of the present embodiment. FIG. 7B is a flowchart for explaining the execution of the control command according to the third aspect of the present embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the present embodiment, a case where the parking control device according to the present invention is applied to a parking control system will be described as an example. The parking control device may be applied to a portable operation terminal (smartphone, PDA: personal digital assistant or other device) capable of exchanging information with the in-vehicle device. Further, the parking control method according to the present invention can be used in the parking control device described later.

FIG. 1 is a block diagram of a parking control system 1000 having a parking control device 100 according to an embodiment of the present invention. The parking control system 1000 of the present embodiment includes cameras 1a to 1d, a distance measuring device 2, an information server 3, an operation terminal 5, a parking control device 100, a vehicle controller 70, a drive system 40, and a steering angle. It includes a sensor 50a and a vehicle speed sensor 60. The parking control device 100 of the present embodiment controls the operation of moving (parking) the vehicle V to be controlled in the parking space based on the operation command input from the operation terminal 5.

The operation terminal 5 is a computer having a portable input function and a communication function that can be taken out of the vehicle V. The operation terminal 5 receives an input of an operation command of the operator M for controlling the operation (operation) of the vehicle V to be parked. Driving includes parking (warehousing and warehousing) operations. The operator M inputs a command including an operation command for executing parking via the operation terminal 5. The operation command includes execution / stop of parking control, selection / change of target parking space, selection / change of parking route, and other information necessary for parking. The operator M can also make the parking control device 100 recognize (input) a command including an operation command by a gesture of the operator M or the like without using the operation terminal 5.

The operation terminal 5 is provided with a communication device, and can exchange information with the parking control device 100 and the information server 3. The operation terminal 5 transmits an operation command input outside the vehicle to the parking control device 100 via a communication network, and causes the parking control device 100 to input the operation command. The operation terminal 5 communicates with the parking control device 100 by using a signal including a unique identification code.
The operation terminal 5 includes a display 53. The display 53 presents an input interface and various information. When the display 53 is a touch panel type display, it has a function of receiving an operation command.
The operation terminal 5 receives an input of an operation command used in the parking control method of the present embodiment, and is a mobile device such as a PDA: Personal Digital Assistant or a smartphone on which an application for sending an operation command to the parking control device 100 is installed. It may be a type of device.

The information server 3 is an information providing device provided on a communicable network. The information server includes a communication device 31 and a storage device 32. The storage device 32 includes readable map information 33, parking lot information 34, and obstacle information 35. The parking control device 100 and the operation terminal 5 can access the storage device 32 of the information server 3 and acquire each information.

The parking control device 100 of the present embodiment includes a control device 10, an input device 20, and an output device 30. Each configuration of the parking control device 100 is connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other. The input device 20 includes a communication device 21. The communication device 21 receives an operation command transmitted from the external operation terminal 5 and inputs it to the input device 20. The subject who inputs the operation command to the external operation terminal 5 may be a human being (user, occupant, driver, worker of parking facility). The input device 20 transmits the received operation command to the control device 10. The output device 30 includes a display 31. The output device 30 transmits the parking control information to the driver. The display 31 of the present embodiment is a touch panel type display having an input function and an output function. When the display 31 has an input function, the display 31 functions as an input device 20. Even when the vehicle V is controlled based on the operation command input from the operation terminal 5, the occupant can input an operation command such as an emergency stop via the input device 20.

The control device 10 of the parking control device 100 of the present embodiment is an operation circuit that functions as the parking control device 100 of the present embodiment by executing the ROM 12 in which the parking control program is stored and the program stored in the ROM 12. It is a computer for parking control, which includes a CPU 11 as a device and a RAM 13 which functions as an accessible storage device.

The parking control program of the present embodiment controls the parking of the vehicle V according to a control command including a steering command for steering the vehicle V when shifting from the first state in which the vehicle V is stopped to the second state in which the vehicle V is started to move. Includes a program to execute. The parking control program is executed by the control device 10 of the parking control device 100 of the present embodiment.

The parking control device 100 of the present embodiment is a remote control type that sends an operation command from the outside, controls the movement of the vehicle V, and parks the vehicle V in a predetermined parking space. The occupant may be outside the passenger compartment or inside the passenger compartment.
The parking control device 100 of the present embodiment may be an automatic control type in which steering operation and accelerator / brake operation are automatically performed. The parking control device 100 may be a semi-automatic type in which the steering operation is automatically performed and the accelerator / brake operation is performed by the driver.
In the parking control program of the present embodiment, the user may arbitrarily select the target parking space, or the parking control device 100 or the parking facility side may automatically set the target parking space.

The control device 10 of the parking control device 100 according to the present embodiment has a function of executing a parking route calculation process, a control command calculation process, and a parking control process. The control device 10 further has a function of executing an obstacle detection process and calculating a parking route in consideration of the position of the obstacle. Each of the above processes is executed by the cooperation of the software for realizing each process and the above-mentioned hardware.

The control device 10 calculates a parking route RT and a control command for moving the vehicle V according to the parking route RT. The control command includes the speed at which the parking path RT is moved, the acceleration / deceleration, the execution position (timing) of the acceleration / deceleration control, the turning point, the steering amount, and the like.

The control command of the present embodiment includes a steering control command for steering the vehicle V when shifting from the first state in which the vehicle V is stopped to the second state in which the vehicle V has started moving. If the steering device 50 of the vehicle V is made to execute a steering command when starting the movement from the state where the vehicle V is stopped, the tires are steered when the vehicle V starts to move, and the tires can be moved. The tires are visible to those located outside the vehicle. A person outside the vehicle in which the vehicle V is in sight can see the movement of the tires and predict that there is a change in the movement of the vehicle V. By including the steering control command for notifying that the vehicle V starts to move in the control command for executing the parking process, it is possible to notify a person outside the vehicle that the vehicle V starts to move. The steering wheel may rotate in accordance with the movement of the tires. A person outside the vehicle can also see the movement of the steering wheel in the vehicle interior, and it becomes easier to predict that there is a change in the movement of the vehicle V.

Hereinafter, the parking control control procedure will be described based on the flowchart shown in FIG.
FIG. 2 is a flowchart showing a control procedure of the parking control process executed by the parking control system 1000 according to the present embodiment. The trigger for starting the parking control process is not particularly limited, and may be triggered by the operation of the start switch of the parking control device 100.

The parking control device 100 of the present embodiment has a function of automatically moving the vehicle V to the parking space based on an operation command acquired from outside the vehicle.

In step 101, the control device 10 of the parking control device 100 according to the present embodiment acquires the distance measurement signal by the distance measurement devices 2 attached to a plurality of locations of the vehicle V. The control device 10 acquires captured images captured by cameras 1a to 1d attached to a plurality of locations of the vehicle V, respectively. Although not particularly limited, the camera 1a is arranged on the front grille portion of the vehicle V, the camera 1d is arranged near the rear bumper, and the cameras 1b and 1c are arranged below the left and right door mirrors. As the cameras 1a to 1d, cameras equipped with a wide-angle lens having a large viewing angle can be used. The cameras 1a to 1d image the boundary line of the parking space around the vehicle V and the objects existing around the parking space. The cameras 1a to 1d are a CCD camera, an infrared camera, and other imaging devices.

In step 102, the control device 10 detects a parking space that can be parked. The control device 10 detects the frame (area) of the parking space based on the captured images of the cameras 1a to 1d. The control device 10 detects an empty parking space by using the detection data of the distance measuring device 2 and the detection data extracted from the captured image. The control device 10 detects a parking space that is an empty vehicle (another vehicle is not parked) and can calculate a route for completing parking as a parkable space.
The fact that the parking route can be calculated in the present embodiment means that the locus of the route from the current position to the target parking space can be drawn in the road surface coordinates without interfering with obstacles (including parked vehicles).

In step 103, the control device 10 transmits the parkable space to the operation terminal 5, displays it on the display 53, and requests the operator M to input the selection information of the target parking space for parking the vehicle V. The target parking space may be automatically selected by the control device 10 and the parking facility side. When an operation command for specifying one parking space is input to the operation terminal 5, the parking space is set as the target parking space.

In this embodiment, the occupant is disembarked in step 104. After that, the vehicle V is moved to the target parking space by remote control. The target parking space may be selected by the occupant after getting off.

In step 106, the control device 10 detects the presence of an obstacle and the position of the obstacle. Obstacles include structures such as parking lot walls and pillars, installations around vehicles, pedestrians, other vehicles, parked vehicles, and the like. The control device 10 detects an obstacle based on the detection results of the plurality of distance measuring devices 2 provided in the vehicle V and the captured image of the camera 1. The ranging device 2 detects the presence / absence of an object, the position of the object, the size of the object, and the distance to the object based on the received signal of the radar device. The presence / absence of an object, the position of the object, the size of the object, and the distance to the object are detected based on the captured images of the cameras 1a to 1d. The obstacle may be detected by using the motion stereo technique of the cameras 1a to 1d. This detection result is used to determine whether or not the parking space is vacant (whether or not the vehicle is parked). Further, the control device 10 can detect obstacles including structures such as walls and pillars of the parking lot based on the parking lot information 34 acquired from the storage device 32 of the information server 3. The parking lot information includes location information such as the arrangement of each parking lot (parking lot), an identification number, a passage, a pillar, a wall, and a storage space in the parking facility. The information server 3 may be managed by the parking lot.

In step 106, the control device 10 calculates a parking route from the stop position of the vehicle V to the target parking space. The parking route includes a turning point required to move to the parking space. At this time, the parking route is defined as a line and is defined as a band-shaped area corresponding to the occupied area of the vehicle V according to the vehicle width. The occupied area of the vehicle V is defined in consideration of the vehicle width and the margin width reserved for movement.
In this step, the control device 10 calculates a control command for the vehicle V to move the vehicle V on the parking path. The control command includes an operation command for any one or more of the steering amount, steering speed, steering acceleration, shift position, speed, acceleration, and deceleration of the vehicle V. Further, the control command includes the execution timing or the execution position of the operation command of the vehicle V.

In particular, the control command of the present embodiment includes a steering command to be executed by the steering device 50 of the vehicle V when the vehicle V shifts from the first state in which the vehicle V is stopped to the second state in which the movement is started. The steering command in this embodiment is executed during the period from the first state to the second state. It is different from the steering command except during the period from the first state to the second state. The steering command in the present embodiment is a steering command executed from the stopped state to the predetermined speed.

An example of a general parking route RT is shown in FIG. 3 (a), and an example of the parking route RT of the present embodiment is shown in FIG. 3 (b). As shown in FIGS. 3A and 3B, the vehicle V at the parking control start point VS follows the parking route RT to move to the turning point VT, and further follows the parking route RT to move to the target parking space VP.

In the general parking route RT shown in FIG. 3A, the direction of the tire STF in the first state in which the vehicle V at which parking control is started is stopped is the direction along the vehicle length direction. When starting the movement and moving to the turning point VT, the vehicle V goes straight. The general parking route RT includes a straight section RTL having a predetermined length from the parking control start point VS. Similarly, the direction of the tire STF in the first state of temporarily stopping at the turning point VT is the direction along the vehicle length direction. The shift position of the vehicle V is changed at the turning point VT, and the direction of the tire STF is the direction of the vehicle length even when the vehicle V starts to retreat. Therefore, when the vehicle V starts moving and moves to the target parking space VP, the vehicle V Go straight. General parking path RT includes a straight section RTL of a predetermined length from the crosscut point V T. The general parking route RT includes a straight line portion corresponding to the straight section RTL, an arc portion corresponding to the steering section, and a cresoid curve portion connecting the straight line portion and the arc portion.

On the other hand, in the parking route RT in the present embodiment shown in FIG. 3B, the direction of the tire STF in the first state in which the vehicle V for which parking control is started is stopped is the direction in which the turning point VT exists (in the same figure). It is steered in the right turn direction). When moving to the turning point VT after starting the movement, the vehicle V turns in the steering direction of the steering wheel or the turning angle direction of the tire STF (on the right side in the figure) immediately after the vehicle starts. The parking route RT of the present embodiment does not include a straight section RTL extending from the parking control start point VS of the general parking route RT shown in FIG. 3A to a predetermined length. Similarly, the direction of the tire STF in the first state temporarily stopped at the turning point VT is steered in the direction in which the rear target parking space VP exists (in the figure, the rear left side with respect to the traveling direction). When the vehicle V starts moving and moves to the target parking space VP, the vehicle V turns in the steering direction of the steering wheel or the turning angle direction of the tire STF (rear left side in the figure) immediately after starting (reverse). The parking route RT of the present embodiment does not include a straight section RTL extending from the turning point VT to a predetermined length as seen in the general parking route RT shown in FIG. 3A.

The parking route RT of the present embodiment shown in FIG. 3B does not include a straight line portion corresponding to the straight section RTL. In the parking route RT of the present embodiment, the length of the straight line portion is short or zero. Further, in the parking route RT of the present embodiment, the length of the cresoid curve portion is short or zero. The parking route RT of the present embodiment may be composed of a straight line portion and an arc portion.

Comparing the general parking route RT shown in FIG. 3 (a) with the parking route RT of the present embodiment shown in FIG. 3 (b), the length of the parking route RT of the present embodiment shown in FIG. 3 (b) is compared. Is relatively short. By executing the steering command when shifting from the first state to the second state in which the movement is started, the straight line portion and the cresoid curve portion of the parking route RT can be shortened, so that the parking route can be shortened. As a result, the time required for parking processing can be shortened.

According to the parking control method of the present embodiment, the movement direction by the steering command performed when shifting from the first state to the second state in which the movement is started is along the direction of the parking route. The steering direction in the steering command is the direction to reach the turning point or the target parking space in the parking route.
Specifically, at the parking control start point VS, the steering direction in the steering command follows the direction of the parking route to the turning point VT. The difference between the steering direction in the steering command and the direction from the parking control start point VS to the turning point VT is less than a predetermined angle.
At the turning point VT, the steering direction in the steering command follows the direction of the parking route from the turning point VT to the target parking space VP. The difference between the steering direction in the steering command and the direction from the turning point VT to the target parking space VP is less than a predetermined angle.
Since the turning angle of the tire after executing the steering command is common to the moving direction of the vehicle V, a person outside the vehicle can infer the traveling direction of the vehicle V by looking at the turning angle of the tire. Since the steering direction is common, even if a steering command is executed to notify a person outside the vehicle that the vehicle V is starting to move, the movement of the vehicle V moving along the parking route is not hindered. In addition, as shown in FIG. 3B, when the steering direction in the steering command follows the turning direction of the curve of the parking path RT, the vehicle V can be turned by executing the steering command. The length of the parking route RT can be shortened. As a result, the time to complete parking can be shortened.

In the steering command executed when the vehicle V in the present embodiment shifts from the first state in which the vehicle is stopped to the second state in which the movement is started, the steering amount is an amount corresponding to 360 degrees or more as the steering angle. Is preferable. When the steering wheel is rotated once (360 degrees at the steering angle), about half (50%) of the tire width comes out of the vehicle body, and the person outside the vehicle confirms the movement (rotation) of the tire. can. It is preferable that the steering amount in the steering command is 540 degrees or more as the steering angle. When the steering wheel is rotated 1.5 times, about 75% of the tire width comes out of the vehicle body as the amount of steering of the tire, and a person outside the vehicle can clearly confirm the movement (rotation) of the tire. It is preferable that the steering amount in the steering command is 720 degrees or more as the steering angle. When the steering wheel is rotated twice, the entire tire width (width of one tire) comes out of the vehicle body as the amount of steering of the tire, and a person outside the vehicle can more clearly confirm the movement (rotation) of the tire. It is easier for people outside the vehicle to check the amount of tires coming out of the vehicle body, but the steering amount in the steering command from the rack movable range of the steering mechanism of a general automobile is 900 degrees (2.5 degrees) as the steering angle. Rotation) is the maximum.

The control device 10 includes a steering command and generates a control command for moving the vehicle V on the calculated parking route. The control device 10 stores in advance the specification information of the vehicle V required for the control command. The control command is the steering amount, steering speed, steering acceleration, shift position, speed (including zero), acceleration, deceleration, etc. of the vehicle V associated with the timing or position when the vehicle V travels on the parking route. Includes operation instructions for. The vehicle V can be moved (parked) to the target parking space by executing the parking route and the operation command associated with the parking route by the vehicle V.

FIG. 4 shows the subroutine in step 106. As shown in FIG. 4, in step 121, the control device 10 calculates a steering command. The steering command includes the steering amount and the steering timing. The steering amount in the steering command is 360 degrees or more. Preferably, it may be 720 degrees or higher. The steering timing is during the transition from the first state in which the vehicle V is stopped to the second state in which the movement is started.

The steering timing may be (1) the vehicle V is in the first state, that is, the timing when the vehicle V is stopped (speed is zero), or (2) the vehicle V is in the second state, that is, the vehicle. The speed of V may be less than a predetermined value, and (3) the vehicle V is between the first state and the second state, that is, the speed of the vehicle V is not zero and is greater than zero. And the timing may be less than a predetermined value.

Further, this state may be limited by the time from the start of parking control.
The steering timing may be (4) the vehicle V is in the first state, that is, within a predetermined time from the start of parking control (the vehicle V is stopped), and (5) the vehicle V is in the second state. That is, the timing may be after a predetermined time has elapsed from the start of parking control, or (6) the vehicle V is between the first state and the second state, that is, the vehicle V is predetermined from the start of parking control (the vehicle V is stopped). It may be the timing of starting after the lapse of time.

The steering timing may be a combination of the above (1) and (4) so that the vehicle V is in the first state, that is, the vehicle V is stopped (speed is zero) and the parking control is started. Combining the steering timings (2) and (5) above, the vehicle V is in the second state, that is, the speed of the vehicle V is less than a predetermined value, and after a predetermined time has elapsed from the start timing after the start of parking control. It may be the timing of. Combining the steering timings (3) and (6) above, the vehicle V is between the first state and the second state, that is, the speed of the vehicle V is greater than zero and less than a predetermined value, and further. The start timing may be set after a predetermined time has elapsed from the start of parking control (vehicle V is stopped).

After the steering command can be calculated, in step 122, the control device 10 determines whether or not the parking route can be calculated in consideration of the movement of the vehicle V according to the steering command in which the steering angle and the steering timing are defined. This is because when the steering command is executed, the vehicle V may not be guided to the target parking space. If the parking route can be calculated, the process proceeds to step 123.

In step 123, the control device 10 determines whether or not the control command including the steering command could be calculated. The control command simulates whether the vehicle V can be moved along the calculated parking path including the steering command. It is determined whether or not it is possible in the mechanism of the vehicle V, and whether or not a control command that satisfies the conditions such as the upper limit speed, the upper limit acceleration, the upper limit steering amount, and the upper limit steering speed can be calculated. When the control command can be calculated, the process returns to step 107 in FIG. 2 and the route is presented to the operator M.

Hereinafter, three modes of the steering command in the present embodiment will be described. The steering commands of these three aspects have different steering control execution timings. The first aspect shown in FIGS. 5A and 5B is a mode in which a steering command is executed while the vehicle V is stopped, and the second aspect shown in FIGS. 6A and 6B is a mode in which a steering command is executed when the vehicle V starts. The third aspect shown in FIGS. 7A and 7B is an aspect of executing a steering command while the vehicle V is moving. The steering command of the present embodiment includes a first steering command, a second steering command, and a third steering command.

First, the steering command of the first aspect will be described with reference to FIGS. 5A and 5B. The steering command of this aspect includes a first steering command and a second steering command. The steering command of this aspect may include only the first steering command.
The first steering command is executed in the first state in which the vehicle V is stopped. FIG. 5A shows a time chart from the start to the completion of parking control. After the parking control is started, the vehicle V transitions from the first state in which it is stopped to the second state in which it is moving through a start operation. The first steering command in the present embodiment causes the steering device 50 of the vehicle V in the first state to perform steering control. The first steering command causes the steering device 50 of the vehicle V to perform steering control before the starting operation. The operation of the steering device 50 is a so-called stationary operation.

As a result, the first steering control for steering the tires before the vehicle V starts is executed, and the tires move, so that it is possible to notify a person outside the vehicle V that the vehicle V starts to move. In parking control by remote control, the operator M may be away from the vehicle V to be controlled, and it is difficult to communicate with pedestrians around the vehicle and drivers of other vehicles during parking control. Since the vehicle V itself performs a characteristic operation before starting, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move. In general parking control, steering control is not executed in a stopped state before starting. In addition to the behavior during normal parking control, the vehicle V performs such a characteristic operation, so that the change in the behavior of the vehicle V can be notified to the surroundings.

After executing the first steering command, the second steering command may be executed to wait for the steering state until a predetermined time elapses. The steering device 50 executes steering control so as to maintain the steering amount during a predetermined time during which the steering state is kept on standby. The steering device 50 maintains the same state after the tires are steered by the steering amount as instructed by the first steering command. The steering condition of the tires does not change. The amount of steering of the tire during a predetermined time is constant. For a predetermined time, the tires facing left and right at a turning angle according to the steering amount are also kept in the same state. Then, after the lapse of a predetermined time, the movement of the vehicle V is started. It is possible to notify a person outside the vehicle V in advance that the first steering control for steering the tires is executed before the vehicle V starts at a predetermined time and the vehicle V starts to move.
In this way, it is possible to notify a person outside the vehicle V in advance that the first steering control for steering the tires is executed before the vehicle V starts and the vehicle V starts to move. Further, since the second steering control that stands by in the steering state is executed until the predetermined time elapses, it is possible to notify the person outside the vehicle V that the vehicle V starts to move. Pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V will start moving because it adds a characteristic operation of stopping for a predetermined time after the steering operation instead of starting as it is after steering. can. In general parking control, steering control is not performed in a stopped state before starting, and steering control for maintaining the steering amount is not executed thereafter. When the vehicle V performs such a characteristic operation, it is possible to notify the surroundings of a change in the behavior of the vehicle V.

The processing procedure of the steering command including the first steering command will be described with reference to FIG. 5B. The processing procedure in the figure is the subroutine in steps 109 and 117 in FIG.
In step 131, the control device 10 determines whether or not the vehicle V is in the first state. Whether or not it is in the first state is determined based on the fact that the shift position of the vehicle V is parking and the speed of the vehicle V is zero. When the vehicle V is in the first state, the process proceeds to step 132 and the first steering command is executed. Next, the second steering command is executed in step 133. After confirming that the predetermined time for waiting set in the second steering command has elapsed, in step 134, the control device 10 starts the vehicle V. In step 135 after starting, the vehicle V is in the second state. In this embodiment, the second steering command is executed after the first steering command, but it is also possible to skip step 133 from step 132 to step 134 without executing the second steering command.

Subsequently, the steering command of the second aspect will be described with reference to FIGS. 6A and 6B. The steering command of this aspect includes a third steering command. The third steering command is executed in the second state after the vehicle V has started or is moving. FIG. 6A shows a time chart from the start to the completion of parking control. After the parking control is started, the vehicle V transitions from the first state in which it is stopped to the second state in which it is moving through a start operation. The third steering command in the present embodiment causes the steering device 50 of the vehicle V in the second state to perform steering control. The third steering command causes the steering device 50 of the vehicle V to steer the vehicle V during starting or moving.

At the time of starting, the third steering control for steering the tires to the vehicle V is executed, and the tires move, so that it is possible to notify a person outside the vehicle V that the vehicle V starts to move. In parking control by remote control, the operator M may be away from the vehicle V to be controlled, and it is difficult to communicate with pedestrians around the vehicle and drivers of other vehicles. Since the vehicle V itself performs a characteristic operation when starting, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move.

The processing procedure of the steering command including the third steering command will be described with reference to FIG. 6B. The processing procedure in the figure is the subroutine in steps 109 and 117 in FIG.
In step 141, the control device 10 determines whether or not the vehicle V is in the second state. Whether or not it is in the second state is determined based on the fact that the shift position of the vehicle V is a drive and that the speed of the vehicle V is not zero and is less than a predetermined speed. When the vehicle V is in the second state, the process proceeds to step 142 and the third steering command is executed.

Finally, the steering command of the third aspect will be described with reference to FIGS. 7A and 7B. The steering command of this aspect includes a first steering command, a second steering command, and a third steering command.
The first steering command is executed in the first state in which the vehicle V is stopped and in the second state in which the vehicle V is moving after starting.

FIG. 7A shows a time chart from the start to the completion of parking control. After the parking control is started, the vehicle V transitions from the first state in which it is stopped to the second state in which it is moving through a start operation. The first steering command in the present embodiment causes the steering device 50 of the vehicle V in the first state to perform steering control. The first steering command causes the steering device 50 of the vehicle V to perform steering control before starting. The operation of the steering device 50 is a so-called stationary operation.

As a result, the first steering control for steering the tires before the vehicle V starts is executed, and the tires move, so that it is possible to notify a person outside the vehicle V that the vehicle V starts to move. Since the vehicle V itself additionally performs a characteristic motion before starting, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move. In general parking control, steering control is not executed in a stopped state before starting. When the vehicle V performs such a characteristic operation, it is possible to notify the surroundings of a change in the behavior of the vehicle V.

In this aspect, after the first steering command is executed, the second steering command that waits until a predetermined time elapses is executed. The steering device 50 does nothing during the predetermined time of waiting. The steering device 50 maintains the same state after the tires are steered by the steering amount as instructed by the first steering command. The steering condition of the steering wheel and tires does not change. The amount of steering of the tire during a predetermined time is constant. For a predetermined time, the tires facing left and right at a turning angle according to the steering amount are also kept in the same state.
In this way, the first steering control that steers the tires before the vehicle V starts is executed, and the second steering control that stands by in that state is executed. Therefore, the vehicle V starts to move outside the vehicle V. Can notify those who are. Pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V will start moving because it adds a characteristic operation of stopping for a predetermined time after the steering operation instead of starting as it is after steering. can. In general parking control, steering control is not executed in a stopped state before starting, and then stop control is not executed. When the vehicle V performs such a characteristic operation, it is possible to notify the surroundings of a change in the behavior of the vehicle V.

In this aspect, the third steering command is executed after the second steering command is executed.
The third steering command is executed in the second state in which the vehicle V is starting or moving. The third steering command in the present embodiment causes the steering device 50 of the vehicle V in the second state, which is starting or moving, to perform steering control. The third steering command causes the steering device 50 of the vehicle V to steer while starting or moving.

Since the third steering control for steering the tires to the vehicle V is executed during starting or moving and the tires move, it is possible to notify a person outside the vehicle V that the vehicle V will start moving. Since the vehicle V itself additionally performs a characteristic motion when starting, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move.

The processing procedure of the steering command including the first steering command will be described with reference to FIG. 7B. The processing procedure in the figure is the subroutine in steps 109 and 117 in FIG.
In step 151, the control device 10 determines whether or not the vehicle V is in the first state. Whether or not it is in the first state is determined based on the fact that the shift position of the vehicle V is parking and the speed of the vehicle V is zero. When the vehicle V is in the first state, the process proceeds to step 152 and the first steering command is executed. Subsequently, in step 153, the second steering command is executed. After confirming that the predetermined time for waiting set in the second steering command has elapsed, in step 154, the control device 10 determines whether or not the vehicle V is in the second state. Whether or not it is in the second state is determined based on the fact that the shift position of the vehicle V is a drive and that the speed of the vehicle V is not zero and is less than a predetermined speed. Whether or not the vehicle V is in the second state can also be determined by determining that it is after the start of parking control and not in the first state. When the vehicle V is in the second state, the process proceeds to step 155 and the third steering command is executed.

Returning to FIG. 2, the processing after step 109 will be described. The parking control device 100 of the present embodiment parks by transmitting a target parking space setting command, a parking control process start command, a parking interruption / stop command, etc. to the vehicle V from the outside without boarding the vehicle V. Execute parking control processing by remote control. In step 107, the control device 10 presents the parking route on the display 53 of the operation terminal 5.

If it is confirmed in step 108 that the parking route is appropriate, the process proceeds to step 109. In step 109, the control device 10 causes the steering device 50 to execute a steering command. The steering device 50 steers the tires and moves the tires in accordance with the steering command. The operator M and passersby outside the vehicle know that the vehicle V starts moving.
In step 110, the control device 10 of the present embodiment receives the execution command of the operator M outside the vehicle after executing the steering command. That is, after the steering command is executed, the parking process of the vehicle V is started based on the operation command acquired from the operator M outside the vehicle V. The operator M outside the vehicle knows that the parking process can be started from the movement of the tires of the vehicle V. The operator M who has confirmed this movement confirms the surroundings of the vehicle V again and inputs an execution command by remote operation. On the other hand, a passerby (other than the operator M) outside the vehicle knows that the vehicle V starts moving from the movement of the tires of the vehicle V. By executing the operation command, the operator M can know the execution timing of the remote control, and other passers-by can know the timing when the vehicle V starts to move. In step 111, the control device 10 executes parking control in accordance with an execution command by the remote operation of the operator M.

In step 112, the control device 10 periodically detects surrounding obstacles. In step 113, the control device 10 determines whether or not there is a change in the environment around the vehicle such as an obstacle approaching. If there is a change, recalculate the parking route. If a new appropriate parking route can be calculated, a new parking route will be adopted. The control device 10 calculates a control command for the new parking route. In step 114, the control device 10 updates the parking route and the control command calculated in step 106 with a new parking route and the control command corresponding to the obstacles appearing with the passage of time. If there is no change in step 113, it is not necessary to calculate a new parking route and control command, so the process proceeds to step 115.

In step 115, the control device 10 monitors obstacles around the vehicle until the vehicle V reaches the turning point. When the vehicle V reaches the turning point, the shift change included in the control command is executed in step 116. After that, the parking control is completed by continuously executing the control command in step 117.

The parking control device 100 of the present embodiment controls the operation of the drive system 40 via the vehicle controller 70 in accordance with a control command so that the vehicle V moves along the parking route. The parking control device 100 feeds back the output value of the steering angle sensor 50a provided in the steering device 50 so that the traveling locus of the vehicle V matches the calculated parking path to the drive system 40 of the vehicle V such as an EPS motor. A command is calculated and a signal of this command is sent to the drive system 40 or the vehicle controller 70 that controls the drive system 40.

The parking control device 100 of the present embodiment includes a parking control control unit. The parking control control unit acquires shift range information from the AT / CVT control unit, wheel speed information from the ABS control unit, steering angle information from the steering angle control unit, engine rotation speed information from the ECM, and the like. Based on these, the parking control control unit calculates and outputs instruction information regarding automatic steering to the EPS control unit, instruction information such as a warning to the meter control unit, and the like. The control device 10 acquires each information acquired by the steering angle sensor 50a, the vehicle speed sensor 60, and other sensors included in the vehicle V via the vehicle controller 70.

The drive system 40 of the present embodiment moves (runs) the vehicle V from the current position to the target parking space by driving based on the command signal acquired from the parking control device 100. The steering device 50 of the present embodiment is a drive mechanism that moves the vehicle V in the left-right direction. The EPS motor included in the drive system 40 drives the power steering mechanism included in the steering mechanism of the steering device 50 based on the control command signal acquired from the parking control device 100 to control the steering amount of the tires and targets the vehicle V. Control the operation when moving to the parking space. The control content and operation method of the vehicle V for parking are not particularly limited, and the method known at the time of filing can be appropriately applied.

In the parking control device 100 of the present embodiment, the accelerator / brake is designated when the vehicle V is moved to the target parking space along the route calculated based on the position of the vehicle V and the position of the target parking space. It is automatically controlled based on the controlled vehicle speed (set vehicle speed), and the operation of the steering device 50 automatically controls the movement of the vehicle V according to the vehicle speed.

Since the parking control method of the embodiment of the present invention is used in the parking control device as described above, the following effects are obtained. Since the parking control device 100 of the present embodiment is configured and operates as described above, it has the following effects.

[1] According to the parking control method of the present embodiment, when the steering device 50 of the vehicle V is made to execute a steering command when the vehicle V starts moving from the stopped state, the tires when the vehicle V starts to move. Can be moved. The tires are visible to those located outside the vehicle. A person outside the vehicle in which the vehicle V is in sight can see the movement of the tires and predict that there is a change in the movement of the vehicle V. By including a steering control command for notifying that the control command for executing the parking process is to start moving, it is possible to notify a person outside the vehicle that the vehicle V is starting to move. When the vehicle V performs a characteristic operation that is not performed in general parking control, it is possible to notify the surroundings of a change in the behavior of the vehicle V.

[2] The first steering command of the steering command in the parking control method of the present embodiment causes the steering device 50 of the vehicle V in the first state to steer. The first steering command causes the steering device 50 of the vehicle V to perform steering control before the starting operation. The operation of the steering device 50 is a so-called stationary operation. As a result, steering control for steering the tires is executed before the vehicle V starts, and the tires move, so that it is possible to notify a person outside the vehicle V that the vehicle V starts to move. In parking control by remote control, the operator M may be away from the vehicle V to be controlled, and it is difficult to communicate with pedestrians around the vehicle and drivers of other vehicles. Since the vehicle V itself additionally performs a characteristic motion before starting, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move. In general parking control, steering control is not executed in a stopped state before starting. In addition to the behavior during normal parking control, the vehicle V performs such a characteristic operation, so that the change in the behavior of the vehicle V can be notified to the surroundings.

[3] After executing the first steering command of the steering command in the parking control method of the present embodiment, the process may shift to the second state after a lapse of a predetermined time. The steering device 50 steers the tires by the steering amount as instructed by the first steering command, and then starts the movement of the vehicle V after a predetermined time has elapsed. In this way, it is possible to notify a person outside the vehicle V in advance that the first steering control for steering the tires is executed before the vehicle V starts and the vehicle V starts to move. Pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V will start moving because it adds a characteristic operation of stopping for a predetermined time after the steering operation instead of starting as it is after steering. can. In general parking control, steering control is not performed in a stopped state before starting. When the vehicle V performs such a characteristic operation, it is possible to notify the surroundings of a change in the behavior of the vehicle V.

[4] After executing the first steering command of the steering command in the parking control method of the present embodiment, the second steering command that keeps the steering state on standby until a predetermined time elapses may be executed. The steering device 50 executes steering control so as to maintain the steering amount during a predetermined time during which the steering state is kept on standby. The steering device 50 maintains the same state after the tires are steered by the steering amount as instructed by the first steering command. The steering condition of the tires does not change. The amount of steering of the tire during a predetermined time is constant. For a predetermined time, the tires facing left and right at a turning angle according to the steering amount are also kept in the same state. In this way, the first steering control that steers the tires before the vehicle V starts is executed, and the second steering control that stands by in that state is executed. Therefore, the vehicle V starts to move outside the vehicle V. Can notify those who are. Pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V will start moving because it adds a characteristic operation of stopping for a predetermined time after the steering operation instead of starting as it is after steering. can. In general parking control, steering control is not executed in a stopped state before starting, and then steering control for maintaining the steering amount is not executed. When the vehicle V performs such a characteristic operation, it is possible to notify the surroundings of a change in the behavior of the vehicle V.

[5] In the parking control method of the present embodiment, the third steering control for steering the tires to the vehicle V is executed at the time of starting, and the tires move. Therefore, the person outside the vehicle V is notified that the vehicle V starts to move. Can be notified. In parking control by remote control, the operator M may be away from the vehicle V to be controlled, and it is difficult to communicate with pedestrians around the vehicle and drivers of other vehicles. Since the vehicle V itself additionally performs a characteristic motion when starting, pedestrians around the vehicle and drivers of other vehicles can recognize that the vehicle V starts to move.

[6] According to the parking control method of the present embodiment, the movement direction by the steering command performed when shifting from the first state to the second state in which the movement is started follows the direction of the parking route. The steering direction in the steering command is the direction to reach the turning point or the target parking space in the parking route.
Specifically, at the parking control start point VS, the steering direction in the steering command follows the direction of the parking route to the turning point VT. The difference between the steering direction in the steering command and the direction from the parking control start point VS to the turning point VT is less than a predetermined angle.
At the turning point VT, the steering direction in the steering command follows the direction of the parking route from the turning point VT to the target parking space VP. The difference between the steering direction in the steering command and the direction from the turning point VT to the target parking space VP is less than a predetermined angle.
Since the turning angle of the tire after executing the steering command is common to the moving direction of the vehicle V, a person outside the vehicle can infer the traveling direction of the vehicle V by looking at the turning angle of the tire. Since the steering direction is common, even if a steering command is executed to notify a person outside the vehicle that the vehicle V is starting to move, the movement of the vehicle V moving along the parking route is not hindered. In addition, as shown in FIG. 3B, when the steering direction in the steering command follows the turning direction of the curve of the parking path RT, the vehicle V can be turned by executing the steering command. The length of the parking route RT can be shortened. As a result, the time to complete parking can be shortened.

[7] According to the parking control method of the present embodiment, the steering amount is executed in the steering command executed when the vehicle V in the present embodiment shifts from the first state in which the vehicle is stopped to the second state in which the movement is started. Is preferably an amount corresponding to 360 degrees or more as the steering angle. When the steering wheel is rotated once (360 degrees at the steering angle), about half (50%) of the tire width comes out of the vehicle body, and the person outside the vehicle confirms the movement (rotation) of the tire. can. It is preferable that the steering amount in the steering command is 540 degrees or more as the steering angle. When the steering wheel is rotated 1.5 times, about 75% of the tire width comes out of the vehicle body as the amount of steering of the tire, and a person outside the vehicle can confirm the movement (rotation) of the tire.

[8] According to the parking control method of the present embodiment, the control device 10 causes the steering device 50 to execute a steering command. The steering device 50 steers the tires and moves the tires in accordance with the steering command. The operator M and passersby outside the vehicle know that the vehicle V can start moving. Although not particularly limited, the control device 10 of the present embodiment receives an execution command of the operator M outside the vehicle after executing this steering command. That is, after the steering command is executed, the parking process of the vehicle V is started based on the operation command acquired from the operator M outside the vehicle V. The operator M outside the vehicle knows that the parking process can be started from the movement of the tires of the vehicle V. The operator M who has confirmed this movement confirms the surroundings of the vehicle V again and inputs an execution command by remote operation. On the other hand, a passerby (other than the operator M) outside the vehicle knows that the vehicle V starts moving from the movement of the tires of the vehicle V. By the operation command, the operator M can know the execution timing of the remote control, and other passers-by can know the timing when the vehicle V starts to move.

[9] The parking control device 100 in which the parking control method of the present embodiment is executed also exhibits the actions and effects described in 1 to 11 above.

It should be noted that the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above-described embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

1000 ... Parking control system 100 ... Parking control device 10 ... Control device 11 ... CPU
12 ... ROM
13 ... RAM
132 ... Storage device 133 ... Map information 134 ... Parking lot information 135 ... Obstacle information 20 ... Input device 21 ... Communication device 30 ... Output device 31 ... Display 1a to 1d ... Camera 2 ... Distance measuring device 3 ... Information server 31 ... Communication Device 32 ... Storage device 33 ... Map information 34 ... Parking information 35 ... Obstacle information 5 ... Operation terminal 51 ... Communication device 52 ... Input device 53 ... Display 200 ... In-vehicle device 40 ... Drive system 50 ... Steering device 50a ... Steering angle Sensor 60 ... Vehicle speed sensor 70 ... Vehicle controller V ... Vehicle

Claims (7)

It is a parking control method that moves the parking route to the vehicle and parks it.
When shifting from the first state in which the vehicle is stopped to the second state in which the movement is started, the steering device of the vehicle is made to execute a steering command .
The steering command includes a first steering command for steering the tires of the vehicle in the first state, and a second steering command for waiting for the elapse of a predetermined time after executing the first steering command. Parking control method. Wherein after the first steering command is executed, after the predetermined time, the parking control method according to claim 1 to move to the second state. The steering instruction includes a third steering instructions to steer the tire to the steering apparatus at the timing rate of the vehicle of the second condition is a rate greater and less than a predetermined value than zero, according to claim 1 or 2 The parking control method described in. The steering direction definitive when the steering instruction Therefore the said tire steered the parking control method according to any one of claims 1 to 3 is a direction leading to crosscut position or the target parking space in the parking path. According to claims 1 to 4 , when the tire is steered by the steering command, the steering amount indicated by the steering command is an amount such that 50% or more of the width of the tire comes out of the vehicle body of the vehicle. The parking control method according to any one of the items. After the first steering command is executed, an operation command for shifting the vehicle from the first state to the second state is received from an operator outside the vehicle.
Parking control method according to any one of claim 1 to 5 for parking the vehicle on the basis of the operation command. A parking control device including a control device for executing a control command for moving a parking route to a vehicle and parking the vehicle.
The control device is
When shifting from the first state in which the vehicle is stopped to the second state in which the movement is started, the steering device of the vehicle is made to execute a steering command.
The steering command includes a first steering command for steering the tires of the vehicle in the first state, and a second steering command for waiting for the elapse of a predetermined time after executing the first steering command. Parking control device.

Images