JP6998358B2 - Parking support system - Google Patents

Description

The present disclosure relates to a parking support system that moves a vehicle from a current position to a parking position and from a parking position to a position in the vicinity thereof.

Patent Document 1 describes a parking control device that interrupts the automatic parking process when a dynamic obstacle is found around the vehicle during automatic parking.

Japanese Unexamined Patent Publication No. 2007-125981

Dynamic obstacles around the vehicle do not always collide with the vehicle. For example, a pedestrian may stop at a position slightly off the parking track of the vehicle and wait for the vehicle to finish parking, or an animal may notice the approach of the vehicle and leave the vehicle. Even in such a case, if the vehicle is stopped, the parking work takes time, and the driver is required to perform an operation for resuming automatic parking or a manual operation, which reduces the convenience of the driver. On the other hand, even though there are dynamic obstacles in the surroundings, if no measures are taken, the safety to the surroundings will decrease.

In view of such problems, it is an object of the present invention to provide a parking support system that achieves both convenience for the driver and safety to the surroundings and can suppress an increase in the time required for automatic parking.

At least some embodiments of the present invention are parking assistance systems (1) that autonomously move a vehicle, including a propulsion device (4), a braking device (5), and a steering device (6), from a current position to a target position. The control device (15) for controlling the vehicle so as to move the vehicle to the outside world sensor (7) for detecting an obstacle existing in the traveling direction of the vehicle, and the control device is the vehicle to the target position. Within the first range (51) where collision with the vehicle is predicted based on the information detected by the outside world sensor, and at least one of the left and right side edges and / or the said in the first range. Recognizes the obstacle existing in the second range (52) provided in a predetermined range outside the first range so as to be adjacent to the edge on the distal side with respect to the vehicle in the first range. If the obstacle is not recognized within the first range and the second range, the vehicle is moved at the normal speed set for the movement in the traveling direction, and the vehicle is moved within the first range. When the obstacle is recognized, the vehicle is stopped, and when the obstacle is recognized in the second range and the obstacle is an object and / or a living body with movement, the vehicle is referred to the vehicle. It is characterized by moving in a decelerated state decelerated to a predetermined speed lower than the normal speed .

According to this configuration, the control device decelerates the vehicle when it recognizes a predetermined obstacle in the second range, and stops the vehicle when it recognizes an obstacle in the first range, which is convenient for the driver. It is possible to suppress the increase in the time required for automatic parking by achieving both sex and safety to the surroundings.

At least some embodiments of the present invention further include, in the above configuration, a brake sensor (27) for detecting a brake operation by the driver to actuate the brake device, and in the deceleration state, the control device. When the driver performs the brake operation based on the information detected by the brake sensor and then determines that the brake operation is completed, the deceleration state is released and the vehicle is moved at the normal speed. Characterized by moving .

According to this configuration, when a braking operation that is presumed to be determined by the driver that there is no danger or has been avoided due to an obstacle is performed, the deceleration state is released, so that the time required for the vehicle to move is increased. Can be suppressed.

At least some embodiments of the present invention further include, in any of the above configurations, an accelerator sensor (28) that detects an acceleration operation by the driver to operate the propulsion device, and the control in the deceleration state. The device is characterized in that when it is determined that the acceleration operation is performed by the driver based on the information detected by the accelerator sensor, the deceleration state is released and the vehicle is moved at the normal speed .

According to this configuration, when the accelerator operation is performed, which is presumed to be determined by the driver that there is no danger due to an obstacle or has been avoided, the deceleration state is released, so that the time required for moving the vehicle is increased. Can be suppressed.

At least some embodiments of the present invention further include an input device (32) that receives a driver's instruction in any of the above configurations, and in the deceleration state, the control device is such that the input device is by the driver. When the instruction to release the deceleration state is received, the deceleration state is released and the vehicle is moved at the normal speed .

According to this configuration, since the deceleration state can be released by the driver's will, the convenience of the driver can be improved and the increase in the time required for the movement of the vehicle can be suppressed.

In at least some embodiments of the present invention, in any of the above configurations, in the deceleration state when the track calculated by the control device includes a turning position, the control device is in the turning position of the vehicle. When it is determined that the vehicle has stopped, the deceleration state is released and the vehicle is moved in the reverse direction at the reverse normal time speed set for the movement in the reverse direction in the traveling direction .

When the vehicle reaches the turning position, the front-rear traveling direction of the vehicle is reversed, and the obstacles existing in the traveling direction up to that point do not hinder the traveling of the vehicle traveling in the opposite direction. According to this configuration, when the vehicle reaches the turning position, the deceleration state is released, so that it is possible to suppress an increase in the time required for the vehicle to move.

In at least some embodiments of the present invention, in any of the above configurations, the second range is set only when the vehicle is moving forward, and the speed when the vehicle is moving backward while controlling the vehicle to the target position. Is set to the predetermined speed.

According to this configuration, since the vehicle in reverse moves at the decelerated predetermined speed in forward movement, safety is ensured without setting the second range.

In at least some embodiments of the present invention, in any of the above configurations, when the control device recognizes the obstacle within the first range and stops the vehicle, the external sensor is the first. When the external sensor does not detect the obstacle in the first range from the state where the obstacle is detected in the lateral region of the vehicle within one range, the control device moves the target position. The external sensor does not allow the vehicle to resume moving toward the vehicle, and the external sensor detects the obstacle in a region other than the lateral region of the vehicle within the first range, and the external sensor detects the obstacle in the first range. When the obstacle is not detected within the control device, the control device allows the vehicle to resume moving toward the target position.

According to this configuration, an obstacle moves to the blind spot of an external sensor that may exist on the side of the vehicle, and the obstacle may exist in the first range but may not be detected automatically. Safety is ensured because parking cannot be resumed. In addition, since there is no blind spot outside the side area, if an obstacle is no longer detected from the first range outside the side area, the movement of the vehicle in the automatic parking process can be resumed for the convenience of the driver. Will increase.

According to the present invention, it is possible to provide a parking support system that achieves both convenience for the driver and safety to the surroundings and can suppress an increase in the time required for automatic parking.

Functional configuration diagram of a vehicle equipped with a parking support system according to an embodiment Flow chart of automatic warehousing process of parking support system according to embodiment The figure which shows the screen display of the touch panel at the time of (A) acquisition process, (B) drive process, and (C) movement of a vehicle to a parking position of the parking support system which concerns on embodiment. Flow chart of movement processing and parking processing of the parking support system according to the embodiment The plan view which shows the range which recognizes the obstacle of the parking support system which concerns on embodiment. Schematic diagram showing a vehicle equipped with a parking support system according to an embodiment (A: a schematic diagram showing a sonar provided in the vehicle and its detection area, B: a schematic diagram showing an outside camera and its imaging area). A flowchart showing the suspension or resumption of vehicle control in the parking support system according to the embodiment. Figure showing the screen display of the touch panel (A: Display immediately after stopping due to obstacle detection, B: Display when the obstacle surely moves out of the first range, C: Lateral part of the vehicle in the first range Display when obstacles are no longer detected in)

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

The parking support system 1 is mounted on a vehicle such as an automobile equipped with a vehicle control system 2 for autonomously traveling the vehicle.

As shown in FIG. 1, the vehicle control system 2 includes a propulsion device 4, a brake device 5, a steering device 6, an outside world sensor 7, a vehicle sensor 8, a navigation device 10, a driving operator 11, a driving operation sensor 12, and a state detection sensor. It has 13, an HMI 14, and a control device 15. Each configuration of the vehicle control system 2 is connected to each other so that signals can be transmitted by a communication means such as CAN (Control Area Area Network).

The propulsion device 4 is a device that applies a driving force to a vehicle, and includes, for example, a power source and a transmission. The power source has at least one of an internal combustion engine such as a gasoline engine and a diesel engine and an electric motor. In the present embodiment, the propulsion device 4 includes an automatic transmission 16 and a shift actuator 17 that changes the shift position (shift position) of the automatic transmission 16. The brake device 5 is a device that applies braking force to a vehicle, and includes, for example, a brake caliper that presses a pad against a brake rotor and an electric cylinder that supplies hydraulic pressure to the brake caliper. The brake device 5 may include an electric parking brake device that regulates the rotation of the wheels by a wire cable. The steering device 6 is a device for changing the steering angle of the wheels, and has, for example, a rack and pinion mechanism for steering the wheels and an electric motor for driving the rack and pinion mechanism. The propulsion device 4, the brake device 5, and the steering device 6 are controlled by the control device 15.

The outside world sensor 7 is a device (outside world acquisition device) that captures electromagnetic waves, sound waves, and the like from the periphery of the vehicle, detects an object outside the vehicle, and acquires peripheral information of the vehicle. The outside world sensor 7 includes a sonar 18 and an outside camera 19. The external sensor 7 may include a millimeter wave radar or a laser rider. The external sensor 7 outputs the detection result to the control device 15.

A sonar 18 is a so-called ultrasonic sensor, which emits ultrasonic waves around a vehicle and captures the reflected waves to detect the position (distance and direction) of the object. A plurality of sonar 18s are provided at the rear and front of the vehicle, respectively. In the present embodiment, the sonar 18 is provided with two pairs of left and right rear bumpers, two pairs of left and right front bumpers, and one pair each at the front and rear ends of the left and right sides of the vehicle, for a total of six pairs. The sonar 18 provided on the rear bumper mainly detects the position of an object behind the vehicle, and the sonar 18 provided on the front bumper mainly detects the position of an object located in front of the vehicle. The sonars 18 provided at the front ends of the left and right sides of the vehicle detect the positions of objects on the left and right outside of the front end of the vehicle, and the sonars 18 provided at the rear ends of the left and right sides of the vehicle are located outside the rear ends of the vehicle. Detects the position of an object.

The vehicle exterior camera 19 is a device that images the surroundings of the vehicle, and is, for example, a digital camera that uses a solid-state image sensor such as a CCD or CMOS. The out-of-vehicle camera 19 includes a front camera that captures the front of the vehicle and a rear camera that captures the rear of the vehicle. The outside camera 19 is provided in the vicinity of the vehicle door mirror installation location, and may include a pair of left and right side cameras that capture images on the left and right sides.

The vehicle sensor 8 includes a vehicle speed sensor that detects the speed of the vehicle, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the vehicle, and the like. The yaw rate sensor is, for example, a gyro sensor.

The navigation device 10 is a device that acquires the current position of the vehicle and guides the route to the destination, and has a GPS receiving unit 20 and a map storage unit 21. The GPS receiving unit 20 identifies the position (latitude and longitude) of the vehicle based on the signal received from the artificial satellite (positioning satellite). The map storage unit 21 is configured by a known storage device such as a flash memory or a hard disk, and stores map information.

The driving controller 11 is provided in the vehicle interior and receives an input operation performed by the user to control the vehicle. The driving controller 11 includes a steering wheel 22, an accelerator pedal 23, a brake pedal 24 (braking controller), and a shift lever 25.

The driving operation sensor 12 detects the operating amount of the corresponding driving operator 11. The driving operation sensor 12 includes a steering angle sensor 26 for the steering wheel 22, a brake sensor 27 for detecting the depression amount of the brake pedal 24, and an accelerator sensor 28 for detecting the depression amount of the accelerator pedal 23. The operation operation sensor 12 outputs the detected operation amount to the control device 15, respectively.

The state detection sensor 13 is a sensor for detecting a change in the state of the vehicle due to the operation of the occupant. The operation of the occupant detected by the state detection sensor 13 includes the operation of the occupant corresponding to the intention to disembark and the operation of the occupant corresponding to abandoning the monitoring around the vehicle during the parking operation. The state detection sensor 13 includes a door open / close sensor 29 for detecting the opening / closing of the vehicle door and a seatbelt sensor 30 for detecting the seatbelt wearing state as sensors for detecting the operation of the occupant corresponding to the intention to get off. include. The state detection sensor 13 includes a door mirror position sensor 31 that detects the position of the door mirror as a sensor for detecting the operation of the occupant corresponding to abandoning the monitoring around the vehicle during the parking operation. The state detection sensor 13 outputs signals indicating the detected state change of the vehicle to the control device 15, respectively.

The HMI 14 is an input / output device that notifies the occupant of various information by display or voice and accepts input operations from the occupant. The HMI 14 has, for example, a touch panel 32 having a display screen such as a liquid crystal display or an organic EL and accepting an input operation on the screen from an occupant, a sound generator 33 such as a buzzer or a speaker, a parking main switch 34, and a selection operation. Includes child 35. The parking main switch 34 receives input operations related to automatic parking such as automatic warehousing and automatic warehousing from the occupants. The parking main switch 34 is a so-called momentary switch that is turned on only when a push operation is performed by the occupant. The selection controller 35 accepts selection operations related to automatic parking such as automatic warehousing and automatic warehousing from the occupants. The selection operator 35 is a rotary type, and more preferably, it is a select switch that can be selected by pushing it in.

The control device 15 is an electronic control device (ECU) including a CPU, a non-volatile memory (ROM), a volatile memory (RAM), and the like. The control device 15 executes various vehicle controls by executing arithmetic processing according to the program by the CPU. The control device 15 may be configured as one hardware, or may be configured as a unit composed of a plurality of hardware. Further, at least a part of each functional unit of the control device 15 may be realized by hardware such as LSI, ASIC, FPGA, or may be realized by a combination of software and hardware.

Further, the control device 15 performs a conversion process of an image (video) taken by the external camera 19 by executing arithmetic processing according to the program, and a bird's-eye view image corresponding to a plan view of the vehicle and its surroundings and a vehicle. And a bird's-eye view image corresponding to a three-dimensional image viewed from above around the traveling direction is generated. The control device 15 generates a bird's-eye view image by combining the images of the front camera, the rear camera, and the left and right side cameras, and combines the images of the front camera or the rear camera facing the traveling direction with the images of the left and right side cameras. It is good to generate a bird's-eye view image.

The parking support system 1 is a system for performing so-called automatic parking, in which a vehicle is autonomously moved to a predetermined target position (target parking position or target exit position) selected by an occupant to enter and leave the vehicle.

The parking support system 1 includes a control device 15, a brake pedal 24 as a braking operator, a driving operation sensor 12, and a state detection sensor 13.

The control device 15 controls the propulsion device 4, the brake device 5, and the steering device 6 to autonomously move the vehicle to the target parking position and warehousing the vehicle, and to autonomously move the vehicle to the target warehousing position. It is possible to execute autonomous shipping operations for moving and shipping. In order to perform such control, the control device 15 includes an outside world recognition unit 41, a vehicle position identification unit 42, an action planning unit 43, a travel control unit 44, a vehicle abnormality detection unit 45, and a vehicle condition determination unit 46.

The outside world recognition unit 41 recognizes obstacles such as parked vehicles and walls existing around the vehicle based on the detection result of the outside world sensor 7, and acquires information such as the position and size of the obstacle. Further, the outside world recognition unit 41 analyzes the image acquired by the vehicle outside camera 19 based on a known image analysis method such as pattern matching, and acquires the presence / absence of a wheel chock or an obstacle and its size. Further, the outside world recognition unit 41 may calculate the distance to the obstacle using the signal from the sonar 18 and acquire the position of the obstacle.

The outside world recognition unit 41 also analyzes the detection result of the outside world sensor 7, more specifically, the image captured by the vehicle outside camera 19 based on a known image analysis method such as pattern matching, and is partitioned by, for example, a road marking. It is possible to obtain a parking frame divided by a lane on a road or a white line drawn on a road surface such as a road or a parking lot.

The own vehicle position specifying unit 42 detects the position of the own vehicle based on the signal from the GPS receiving unit 20 of the navigation device 10. Further, the own vehicle position specifying unit 42 may acquire the vehicle speed and yaw rate from the vehicle sensor 8 in addition to the signal from the GPS receiving unit 20, and specify the position and attitude of the own vehicle by using so-called inertial navigation.

The travel control unit 44 controls the propulsion device 4, the brake device 5, and the steering device 6 based on the instruction of the travel control from the action planning unit 43 to drive the vehicle.

The vehicle abnormality detection unit 45 detects an abnormality in the vehicle based on signals from various devices and sensors. Vehicle abnormalities include failures of devices required to drive the vehicle, including the propulsion device 4, brake device 5, and steering device 6, and autonomous driving of the vehicle such as the outside world sensor 7, the vehicle sensor 8, and the GPS receiver 20. This includes failures of various sensors required. Further, the abnormality of the vehicle includes the failure of the HMI 14.

In the present embodiment, the vehicle abnormality detection unit 45 can detect an abnormality in the screen display of the touch panel 32 at least based on the signal from the touch panel 32.

The vehicle state determination unit 46 acquires the state of the vehicle based on signals from various sensors provided in the vehicle, and determines whether the vehicle is in a prohibited state in which traveling should be prohibited. The vehicle state determination unit 46 is a prohibited state in which the state of the vehicle should prohibit traveling when the occupant has a driving operation (override operation) on the driving operator 11 that tries to overturn the autonomous movement of the vehicle. Judged to be in.

More specifically, when the vehicle state determination unit 46 determines that the override operation has been performed when the depression amount of the brake pedal 24 acquired by the brake sensor 27 becomes equal to or more than a predetermined threshold value (hereinafter, depression threshold value). good. The vehicle state determination unit 46 may determine that the override operation has been performed when the depression amount of the accelerator pedal 23 acquired by the accelerator sensor 28 becomes equal to or more than a predetermined threshold value. When the steering angle acquired by the steering angle sensor 26 changes, the vehicle state determination unit 46 may determine that the override operation has been performed.

Further, the vehicle state determination unit 46 determines that the vehicle is in the prohibited state when the vehicle is in a state reflecting the occupant's intention to disembark based on the detection result of the state detection sensor 13. More specifically, when the vehicle state determination unit 46 detects that the door is open by the door open / close sensor 29, the vehicle state determination unit 46 determines that the vehicle is in the prohibited state. When the vehicle state determination unit 46 detects that the seatbelt is released by the seatbelt sensor 30, it determines that the vehicle is in the prohibited state.

Further, the vehicle state determination unit 46 determines that the vehicle is in the prohibited state when it is in a state reflecting that the vehicle has no intention of monitoring the surroundings of the occupant based on the signal from the state detection sensor 13. More specifically, the vehicle state determination unit 46 determines that the vehicle is in the prohibited state when the door mirror is in the closed state in the door mirror position sensor 31.

Further, when the vehicle condition determination unit 46 determines that the door is open and the seatbelt is released based on the signal from the condition detection sensor 13, the occupant's intention to disembark is more certain. Therefore, it is determined that the vehicle is in a stopped state, which is a state in which the vehicle should be stopped. Further, when the vehicle state determination unit 46 receives an input to the stop button displayed on the touch panel 32 while the vehicle is moving, it may determine that the vehicle is in a stopped state, which is a state in which the vehicle should stop traveling.

In the present embodiment, the vehicle seat provided in the vehicle interior is provided with a seating sensor for detecting the seating of the occupant. The vehicle condition determination unit 46 determines the seating position of the occupant based on the signal from the seating sensor, and when the seatbelt at the seating position is released and the door near the seating position is open, the vehicle is in a state of being open. Judge that it is in the stopped state.

In this way, the driving operation sensor 12 and the state detection sensor 13 correspond to the vehicle state detection device that detects the state of the vehicle for which the autonomous parking operation of the vehicle should be prohibited, respectively, and the vehicle state determination unit 46 is the driving operation sensor. The state of the vehicle is determined based on the detection results of the state detection sensor 13 and the state detection sensor 13. By using the driving operation sensor 12, it is possible to easily detect the override operation of the occupant trying to overturn the autonomous movement of the vehicle, and the state change of the vehicle due to the occupant's disembarkation operation and the opening / closing operation of the door mirror is performed. It can be easily detected by the detection sensor 13.

The action planning unit 43 performs automatic parking processing when the vehicle is in a predetermined state and the HMI 14 or the parking main switch 34 receives a predetermined input corresponding to the user's request for automatic parking. Specifically, the action planning unit 43 receives a corresponding predetermined input when the vehicle is stopped or the vehicle is traveling at a low speed equal to or lower than a predetermined parking position candidate searchable vehicle speed. Performs automatic warehousing processing. In addition, the action planning unit 43 performs automatic warehousing processing (parallel parking warehousing processing) when the corresponding predetermined input is received while the vehicle is stopped. Of the automatic parking process and the automatic warehousing process, the action planning unit 43 may determine the process to be performed based on the state of the vehicle, and is selected by the occupant via the touch panel 32 or the selection controller 35. May be good. When performing the automatic warehousing process, the action planning unit 43 first displays the parking search screen for setting the target parking position on the touch panel 32, and after setting the target parking position, displays the warehousing screen on the touch panel 32. .. When performing the automatic delivery process, the action planning unit 43 displays a delivery search screen for setting the target delivery position, and after setting the target delivery position, displays the delivery screen on the touch panel 32.

The automatic warehousing process will be described with reference to FIG. The action planning unit 43 first performs an acquisition process (step ST1) for acquiring a parkingable position. More specifically, when the vehicle is stopped, the action planning unit 43 first displays a notification instructing the occupant to go straight on the touch panel 32 of the HMI 14. While the occupant seated in the driver's seat (hereinafter referred to as the driver) is moving the vehicle straight, the outside world recognition unit 41 is drawn on the road surface with the position and size of the obstacle based on the signal from the outside world sensor 7. Get the position of the white line. Based on the acquired position and size of obstacles and the white line, the outside world recognition unit 41 has an available parking space (space without obstacles) of a size that allows the vehicle to be parked, and other vehicles partitioned by white lines and the like. The available vacant parking space that is not parked (hereinafter, the vacant parking space and the vacant parking frame are collectively referred to as a parking possible position) is extracted.

Next, the action planning unit 43 performs a track calculation process (ST2) for calculating the track of the vehicle from the current location of the vehicle to the parkable position extracted. When the track of the vehicle can be calculated, the action planning unit 43 sets the parkingable position as a parking position candidate that can be stored, and displays the parking position candidate on the screen (parking search screen) of the touch panel 32. When the track of the vehicle cannot be calculated due to the presence of an obstacle, the action planning unit 43 does not set the parkable position as a parking position candidate and does not display the parkable position on the screen of the touch panel 32. When a plurality of parking position candidates that can calculate the trajectory of the vehicle are set, the action planning unit 43 displays these parking position candidates on the touch panel 32.

Next, the action planning unit 43 performs the target parking position reception process (ST3) in which the occupant accepts the operation of selecting the target parking position that the occupant wants to park from the parking position candidates displayed on the touch panel 32. More specifically, the action planning unit 43 displays a bird's-eye view image and a bird's-eye view image in the traveling direction on the parking search screen shown in FIG. 3A. When the action planning unit 43 acquires at least one parking position candidate, the action planning unit 43 has a frame indicating the parking position candidate in at least one of these peripheral images and an icon corresponding to the frame (a symbol indicating that the parking position candidate is a symbol (FIG.)). 3 (Refer to "P" in (A)))) is superimposed and displayed. Further, the action planning unit 43 displays a notification on the parking search screen of the touch panel 32 instructing the driver to stop the vehicle and set the parking position (target parking position) in order to accept the operation of selecting the target parking position. Let me. The operation of selecting the target parking position may be performed via the touch panel 32 or may be performed via the selection controller 35.

After the vehicle has stopped and the target parking position has been selected by the driver, the action planning unit 43 switches the screen of the touch panel 32 from the parking search screen to the warehousing screen. As shown in FIG. 3B, the warehousing screen is a screen in which a front image in the vehicle traveling direction is displayed on the left half of the touch panel 32, and a bird's-eye view image including the vehicle and its surroundings is displayed on the right half. At this time, the action planning unit 43 has a thick line frame indicating the target parking position selected from the parking position candidates and an icon corresponding to the frame (in a color different from the icon of the parking position candidate indicating the target parking position). It is advisable to superimpose the displayed symbol) on the bird's-eye view image.

After the target parking position is set and the screen of the touch panel 32 is switched to the warehousing screen, the action planning unit 43 performs a drive process (ST4) for driving the vehicle along the calculated track. At this time, the action planning unit 43 controls the vehicle to travel along the calculated track based on the position of the vehicle acquired by the GPS receiving unit 20 and the signals of the external camera 19, the vehicle sensor 8, and the like. At this time, the action planning unit 43 controls the propulsion device 4, the brake device 5, and the steering device 6 to perform turning back to make the vehicle repeatedly move forward and backward.

During the drive process, the action planning unit 43 may acquire an image of the traveling direction of the vehicle from the outside camera 19 and display it on the left half of the touch panel 32. More specifically, for example, as shown in FIG. 3B, the action planning unit 43 displays an image of the rear of the vehicle captured by the outside camera 19 on the left half of the touch panel 32 when the vehicle is moving backward. It is good to let it. While the action planning unit 43 is executing the drive process, the peripheral image around the own vehicle on the bird's-eye view image of the right half of the touch panel 32 changes according to the movement of the vehicle. When the vehicle reaches the parking position, the action planning unit 43 stops the vehicle and ends the drive process.

When the drive process is completed, the action planning unit 43 executes the parking process (ST5). In the parking process, the action planning unit 43 first drives the shift actuator 17 to set the shift position (shift position, shift range) to the parking position (parking range, parking (P) range). After that, the action planning unit 43 drives the parking brake device, and the action planning unit 43 displays a pop-up (see FIG. 3C) on the screen of the touch panel 32 indicating that parking is completed for a predetermined time. After that, the action planning unit 43 may switch the screen display of the touch panel 32 to the operation screen or the map screen of the navigation device 10.

Further, in the parking process, when the shift actuator 17 has an abnormality and the shift position cannot be changed to the parking position, or when the parking brake device has an abnormality and the parking brake device cannot be driven. , It is preferable to display the cause of the abnormality on the screen of the touch panel 32.

Next, with reference to FIGS. 1, 4 and 5, control when an obstacle is detected during execution of the automatic parking process (details of the process corresponding to ST4 and ST5 in FIG. 2) will be described. Although the automatic parking process (automatic warehousing process) for moving the vehicle from the current position to the parking position will be described as an example, the process for moving the vehicle from the parking position to a position in the vicinity thereof (automatic warehousing process) can also be processed in the same manner. ..

The trajectory (movement route) of moving forward from the current position, stopping at the turning position, retreating from there, and stopping at the target position is calculated by the action planning unit 43 (see ST2 in FIG. 2). First, the travel control unit 44 of the control device 15 advances the vehicle along the track (ST10). The normal forward speed, which is the forward speed when no obstacle is detected, is, for example, about 4 km / h.

Based on the information from the outside world sensor 7, the outside world recognition unit 41 determines whether or not an obstacle exists in the first range 51 predicted to collide with the vehicle (ST11), and determines whether or not there is an obstacle outside the first range 51. It is determined whether or not a predetermined obstacle exists in the second range 52 provided in the range (ST12). This determination is made until the vehicle reaches the turning position (ST13). When the vehicle reaches the turning position, the control device 15 stops the vehicle.

The first range 51 when moving forward includes a predetermined range in front of the vehicle extending generally along the track, and preferably includes a predetermined range on the side of the vehicle, particularly on the side in the turning direction of the vehicle. The length of the first range 51 in front of the vehicle is the shorter of the predetermined distance in front of the vehicle from the front end of the vehicle at the present time and the front end of the vehicle at the turning position from the front end of the vehicle at the present time. The width is preferably wider than the width of the vehicle, and may be widened as the distance from the vehicle increases. The second range 52 is a range for detecting an obstacle that may enter the first range 51, and is provided so as to be adjacent to the left and right and front edges of the first range 51, and is preferably a side surface of the vehicle. If the first range 51 is not provided adjacent to, it is provided adjacent to the side surface thereof. Therefore, the objects regarded as obstacles in the second range 52 are moving objects and living organisms. The outside world recognition unit 41 determines whether or not the photographed object is a moving object by differentiating the image captured by the vehicle exterior camera 19 and the image captured by the vehicle exterior camera 19 immediately before the image. .. In addition, the outside world recognition unit 41 determines whether or not the photographed object is a living body by collating it with a pattern of a living body such as a person, a dog, or a cat that is stored in advance.

When the outside world recognition unit 41 determines that an obstacle exists in the first range 51 (Yes in ST11), the control device 15 stops the vehicle (ST21). When the vehicle is stopped, the control device 15 displays that the vehicle has been stopped because the touch panel 32 has an obstacle, and the sound generator 33 has a warning sound and / or an obstacle, so that the vehicle is stopped. A voice indicating that the device has been stopped may be output. When the condition for restarting the automatic parking is satisfied (Yes of ST22), the system returns to ST10, and when not (No of ST22), the control device 15 stops the control of the automatic parking (ST23). After the control is stopped, the driver may perform the parking process by his own driving, or may cause the control device 15 to restart the automatic parking process from the acquisition process (ST1 in FIG. 2).

It was determined by the outside world recognition unit 41 that no obstacle exists in the first range 51 (No of ST11), and that there is an object with movement and / or an obstacle that is a living body in the second range 52 (ST12). Yes), the control device 15 decelerates the vehicle (ST14). The decelerated speed is, for example, 2 km / h.

While the vehicle was traveling at a decelerated speed, an obstacle existing in the second range 52 moved into the first range 51 (the obstacle was moved into the first range 51 due to the displacement of the first range 51 due to the movement of the vehicle). When the outside world recognition unit 41 determines (including the case where the vehicle is located at) (Yes in ST15), the control device 15 stops the vehicle (ST24). Since the vehicle is decelerating and traveling, the time and distance from when the obstacle moves within the first range 51 until the vehicle stops are shortened, and the safety is improved. When the vehicle is stopped, the control device 15 displays that the automatic parking is stopped because the touch panel 32 has an obstacle, and the sound generator 33 has a warning sound and / or an obstacle, so that the automatic parking is stopped. You may output a sound to the effect that the operation is canceled. The control device 15 advances the vehicle at the speed at the time of deceleration (ST26) and returns to ST15 when the condition for resuming automatic parking is satisfied (Yes of ST25), and stops the control otherwise (No of ST25). (ST23).

Further, when the obstacle moves out of the second range 52 (including the case where the obstacle is located outside the second range 52 due to the displacement of the second range 52 due to the movement of the vehicle) (Yes of ST16). ), Or when the driver recognizes the obstacle and performs a predetermined operation presumed to have determined that there is no danger or has been avoided due to the obstacle (Yes in ST17), the control device 15 decelerates. Is released and the speed of the vehicle is returned to the normal forward speed (ST18). In such a case, it can be determined that there is no danger due to an obstacle or it has been avoided, and the speed is restored, so that the time until the automatic parking is completed is shortened.

As an example of a predetermined operation of the driver in ST17, the following three operations can be mentioned. The first is an operation in which the driver depresses the brake pedal 24 and then stops the depressing (returning the brake pedal 24 to the original position). Whether or not this operation has been performed is determined by the control device 15 based on the information detected by the brake sensor 27. This operation is performed when the driver recognizes an obstacle and depresses the brake pedal 24, and then determines that the obstacle is not dangerous or the danger of the obstacle is avoided, and depresses the brake pedal 24. It can be presumed that this is the case when For example, it is assumed that a person approaches the vehicle, but the person sends a signal to the driver to continue the parking process. The second is an operation in which the driver depresses the accelerator pedal 23. It can be presumed that this operation is performed when the driver determines that there is no danger to the obstacle after the vehicle has decelerated. The third is an operation in which the control device 15 displays a button for releasing the deceleration state on the touch panel 32 on a hop-up screen or the like, and the driver presses the button. In this case, it is presumed that the driver has determined that there is no danger in recovering the speed. A threshold value may be set for the amount of depression of the brake pedal 24 and the accelerator pedal 23 that are determined to have been operated.

When the deceleration is released (ST18), ST11 to 13 are repeated, but the obstacles considered to be non-hazardous or avoided in ST17 are not considered to be obstacles in ST12. Even with such processing, if the obstacle moves within the first range 51 (Yes in ST10), the control device 15 stops the movement of the vehicle (ST21), so that safety is ensured. ST15 to 17 are performed until the vehicle reaches the turning position (ST19). When the vehicle reaches the turning position (Yes in ST19), the control device 15 stops the vehicle and releases the deceleration state (ST20).

When the vehicle reaches the turning position (ST13, ST19) and the vehicle stops, the control device 15 retracts the vehicle along the track (ST27). If the outside world recognition unit 41 recognizes an obstacle in the first range 51 (Yes of ST28) while the vehicle is moving backward, the control device 15 stops the vehicle (ST31). When the condition for restarting the automatic parking is satisfied (Yes of ST32), the system returns to ST27, and when not (No of ST32), the control device 15 cancels the automatic parking process (ST23).

The first range 51 when reversing includes a predetermined range behind the vehicle that generally extends along the track, preferably a predetermined range lateral to the vehicle, particularly lateral to the turning direction of the vehicle. The length of the first range 51 at the rear of the vehicle is the shorter of the predetermined distance from the rear end of the current vehicle to the rear of the vehicle and the rear end of the vehicle at the target position from the rear end of the current vehicle. The width thereof is preferably slightly wider than the width of the vehicle, and may be widened as the distance from the vehicle increases.

In this embodiment, the driver is required to monitor the surroundings. It is more difficult for the driver to monitor the surroundings when the vehicle is moving backward than when moving forward. Therefore, the retreat speed is set to about 2 km / h, which is substantially equal to the decelerated speed at the time of advancing. When an obstacle exists in the first range 51 (Yes of ST28), the vehicle is stopped (ST31) as in the case of forward movement, but the control device 15 is traveling the vehicle at a sufficiently low speed. Even if there is a moving object and / or an obstacle that is a living body on the outside, deceleration is not performed. In this way, when reversing, safety is ensured by traveling at a low speed from the beginning, and the increase in parking time is suppressed by not decelerating any further, which is convenient for occupants and people around the vehicle. Is suppressed. The width and maximum length of the first range 51 at the time of retreat may be the same as or different from the width and maximum length of the first range 51 at the time of forward movement.

If the parking support system 1 does not require driver monitoring, the second range 52 may be set even when the vehicle is moving backward, and deceleration processing and deceleration release processing similar to those when moving forward may be performed. In this case, the second range 52 is provided so as to be adjacent to the left-right and rear edges of the first range 51, and preferably the side surface thereof if the first range is not provided adjacent to the side surface of the vehicle. It is provided adjacent to. The width and maximum length of the second range 52 when retracting may be the same as or different from the width and maximum length of the second range 52 when moving forward.

When the outside world recognition unit 41 reaches the target position (Yes of ST29) without recognizing the obstacle in the first range 51 (No of ST28), the control device 15 stops the vehicle and performs parking processing (No). Execute ST5) in FIG. 2 to end the automatic parking process (ST30).

Next, with reference to FIGS. 1 and 5 to 8, the vehicle in the automatic parking process when the control device 15 stops the vehicle (interrupts the movement of the vehicle in the automatic parking process) due to the detection of an obstacle. The conditions for resuming the movement will be described.

The sonar 18 is provided with two pairs of left and right rear bumpers, two pairs of left and right front bumpers, and one pair each at the front and rear ends of the left and right sides of the vehicle. A rear camera installed on the vehicle interior side of the windshield, a pair of left and right door mirror cameras installed on the door mirror to image the rear of the left and right sides, and a center pillar (B pillar) installed on the left and right outside of the vehicle. Includes a pair of left and right pillar cameras for imaging. In FIG. 6, the detection area of each sonar 18 and the image pickup area of the external camera 19 are shown by diagonal lines. The side area 53 of the vehicle includes a blind spot that is not detected by either the sonar 18 or the outside camera 19. Here, the lateral region 53 is a lateral region of the vehicle between the sonars 18 provided at the front and rear ends of the left and right sides of the vehicle. The lateral region 53 may be a lateral region of the vehicle between the front end and the rear end of the vehicle, and is diagonally outward front (greater than 0 ° with respect to the left-right direction) from the left and right corners on the front end side of the vehicle. It may be between a line extending at an angle of 45 ° or less) and a line extending diagonally outward and rearward (an angle greater than 0 ° and 45 ° or less with respect to the left-right direction) from the left and right corners on the front end side of the vehicle. When an obstacle moves from the detection area and / or the imaging area of the sonar 18 to the blind spot in the first range 51, the external sensor 7 picks up the obstacle even though the obstacle is in the first range 51. Cannot be detected. In such a case, the control device 15 controls the vehicle so that the movement of the vehicle in the automatic parking process cannot be resumed.

When the outside world sensor 7 detects an obstacle within the first range 51, the traveling control unit 44 of the control device 15 stops the vehicle (ST41, which corresponds to any of ST21, ST24, and ST31 in FIG. 4) and the obstacle. A message to the effect that the vehicle has been stopped due to the detection of the above and a button for the driver to stop the automatic parking process are popped up on the touch panel 32 (ST42, FIG. 8A). Control when the driver presses the stop button (Yes in ST44) or a predetermined time elapses (Yes in ST45) before the obstacle disappears from the detectable range in the first range 51 (No in ST43). The device 15 cancels the automatic parking process (ST46, which corresponds to ST23 in FIG. 4).

When the obstacle disappears from the detectable range in the first range 51 (Yes in ST43) without the driver pressing the stop button (No in ST44) and before the predetermined time elapses (No in ST45). The processing changes depending on whether or not the disappeared position is the lateral region 53 (ST47). When the position where the obstacle disappears is the side area 53 (Yes in ST47), the action planning unit 43 of the control device 15 prompts the driver to press the stop button for stopping the automatic parking process and the stop button. A stop screen (FIG. 8 (C)) including a urging message is popped up on the touch panel 32 (ST48). When the position where the obstacle disappears is not the side area 53 (Yes in ST47), the action planning unit 43 has a stop button for stopping the automatic parking process and a stop button for restarting the movement of the vehicle in the automatic parking process. A selection screen (FIG. 8 (B)) including a restart button, a message indicating that an obstacle has moved, and a message prompting the driver to press the stop button or the restart button is displayed on the touch panel 32 in a pop-up manner (ST49). ..

It is preferable to display a resume button that cannot be selected on the stop screen (FIG. 8 (C)). For example, the resume button that cannot be selected is displayed lighter or shaded than the resume button on the selection screen (FIG. 8B). Instead of or in addition to displaying the restart button that cannot be selected, a message indicating that the automatic parking process cannot be restarted may be displayed on the touch panel 32 or output by the sound generator 33.

After the stop screen is displayed, when the driver presses the stop button or a predetermined time elapses, the control device 15 stops the automatic parking process (ST46, which corresponds to ST23 in FIG. 4). Further, when the driver presses the restart button (Yes of ST50) within a predetermined time (No of ST53) after the selection screen is displayed, the driving control unit 44 restarts the movement of the vehicle in the automatic parking process (ST51). . Corresponds to Yes of ST22, Yes of ST25, Yes of ST32 in FIG. 4). The action planning unit 43 requests the driver to depress the brake pedal 24 before resuming the movement of the vehicle, and the driving control unit 44 releases or loosens the depressing after the brake pedal 24 is depressed. It is preferable to restart the movement of the vehicle. After the selection screen is displayed, when the driver presses the stop button (Yes in ST52) or a predetermined time elapses (Yes in ST53), the control device 15 cancels the automatic parking process (ST46. FIG. Equivalent to ST23 of 4).

When an obstacle existing on the side of the vehicle in the first range 51 is no longer detected by the outside world sensor 7 in the first range 51, the obstacle exists in the blind spot of the outside world sensor 7 in the first range 51. there is a possibility. Therefore, if an obstacle existing in the lateral portion of the vehicle in the first range 51 is no longer detected in the first range 51, the travel control unit 44 does not allow the vehicle to resume moving in the automatic parking process. Ensures safety. In addition, it is necessary to make the driver aware that the resumption of the automatic parking process may be hindered by the inability to resume the movement of the vehicle in the automatic parking process, and to encourage the driver to confirm the safety around the vehicle. This increases safety when the driver manually parks the vehicle following the suspension of the automatic driving process. On the other hand, when an obstacle existing in the first range 51 other than the side area is no longer detected in the first range 51, the driver's convenience is provided by allowing the vehicle to resume moving in the automatic parking process. Sex increases.

Although the description of the specific embodiment is completed above, the present invention can be widely modified without being limited to the above embodiment. When parking is performed on a track that makes multiple turns, the "target position" should be read as "turning position" when reversing except when reversing after the last turning, and the vehicle should reach ST10 after reaching the turning position. By returning, the above embodiment can be applied. Further, when the traveling direction when reaching the target position is forward, the "turning position" is read as "target position" at the time of moving forward after the last turning, and after reaching the turning position of the vehicle in ST13. Alternatively, the above embodiment can be applied by performing a parking process for terminating the control after the deceleration of ST20 is released.

1: Parking support system 15: Control device 32: Touch panel (input device)
51: 1st range 52: 2nd range 53: Lateral area

Claims (6)

It ’s a parking support system.
A control device that controls the vehicle to autonomously move the vehicle from the current position to the target position, including a propulsion device, a brake device, and a steering device.
It is equipped with an external sensor that detects obstacles existing in the traveling direction of the vehicle.
The control device is controlling the vehicle to the target position while the control device is in control.
Based on the information detected by the outside world sensor, with respect to the vehicle in the first range where a collision with the vehicle is predicted, at least one of the left and right side edges in the first range, and / or the vehicle in the first range. Recognizes the obstacle existing in the second range provided in a predetermined range outside the first range so as to be adjacent to the distal edge, and recognizes the obstacle in the first range and the second range. If the obstacle is not recognized within the range, the vehicle is moved at the normal speed set to move in the traveling direction, and if the obstacle is recognized within the first range, the vehicle is moved. When the obstacle is recognized in the second range and the obstacle is a moving object and / or a living body, the vehicle is decelerated to a predetermined speed lower than the normal speed. Move in the decelerated state ,
The second range is set only when the vehicle is moving forward.
A parking support system characterized in that the speed of the vehicle when the vehicle is reversing while being controlled to the target position is set to the predetermined speed . It ’s a parking support system.
A control device that controls the vehicle to autonomously move the vehicle from the current position to the target position, including a propulsion device, a brake device, and a steering device.
It is equipped with an external sensor that detects obstacles existing in the traveling direction of the vehicle.
The control device is controlling the vehicle to the target position while the control device is in control.
Based on the information detected by the outside world sensor, with respect to the vehicle in the first range where a collision with the vehicle is predicted, at least one of the left and right side edges in the first range, and / or the vehicle in the first range. Recognizes the obstacle existing in the second range provided in a predetermined range outside the first range so as to be adjacent to the distal edge, and recognizes the obstacle in the first range and the second range. If the obstacle is not recognized within the range, the vehicle is moved at the normal speed set to move in the traveling direction, and if the obstacle is recognized within the first range, the vehicle is moved. When the obstacle is recognized in the second range and the obstacle is a moving object and / or a living body, the vehicle is decelerated to a predetermined speed lower than the normal speed. Move in the decelerated state,
When the control device recognizes the obstacle within the first range and stops the vehicle, the external sensor detects the obstacle in the lateral region of the vehicle within the first range. Therefore, when the external sensor does not detect the obstacle within the first range, the control device does not allow the vehicle to resume moving toward the target position, and the external sensor does not allow the external sensor to resume movement. When the external sensor does not detect the obstacle in the first range from the state where the obstacle is detected in a state other than the side area of the vehicle in the first range, the control device changes. , A parking support system characterized by allowing the vehicle to move toward the target position. Further equipped with a brake sensor for detecting a brake operation by the driver for operating the brake device, the brake sensor is further provided.
In the deceleration state, the control device releases the deceleration state when the driver performs the brake operation based on the information detected by the brake sensor and then determines that the brake operation is completed. The parking support system according to claim 1 or 2 , wherein the vehicle is moved at the normal speed . Further equipped with an accelerator sensor for detecting an acceleration operation by the driver for operating the propulsion device,
In the deceleration state, when the control device determines that the acceleration operation by the driver has been performed based on the information detected by the accelerator sensor, the deceleration state is released and the vehicle is at the normal speed. The parking support system according to any one of claims 1 to 3, wherein the parking support system is characterized by moving the vehicle. Further equipped with an input device that accepts driver's instructions,
In the deceleration state, when the input device receives an instruction from the driver to release the deceleration state, the control device releases the deceleration state and moves the vehicle at the normal speed. The parking support system according to any one of claims 1 to 4 , wherein the parking support system is characterized. In the deceleration state when the track calculated by the control device includes the turn-back position, when the control device determines that the vehicle has stopped at the turn-back position, the control device releases the deceleration state and the traveling direction. The parking support system according to any one of claims 1 to 5 , wherein the vehicle is moved in the reverse direction at a reverse normal speed set for the reverse movement of the vehicle .

Images