JP7070235B2 - Automatic parking device - Google Patents

Description

The present invention relates to the technical field of an automatic parking device.

This type of device includes, for example, an entry point to the automatic driving section, an exit point from the automatic driving section, and a traveling route of the automatic driving section from a management server device of an automatic driving management center that manages the automatic driving section. A device that acquires section setting confirmation information and automatically travels based on the acquired section setting confirmation information has been proposed (see Patent Document 1). In addition, as a related technique, there is a technique described in Patent Document 2.

Patent No. 3980868 Japanese Patent Application Laid-Open No. 2002-362390

By the way, in a vehicle that automatically travels, when the vehicle travels on a curve, a target steering angle for traveling on the curve is calculated based on a predetermined relationship between a steering angle and a turning curvature. However, if the gross vehicle weight including the weight of passengers and luggage changes, the above relationship will change. And the gross vehicle weight at the time of automatic parking is often not constant. Therefore, there is a technical problem that the accuracy of automatic parking may be lowered. The techniques described in Patent Documents 1 and 2 cannot solve this problem.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an automatic parking device capable of suppressing a decrease in the accuracy of automatic parking.

The automatic parking device according to one aspect of the present invention is an automatic parking device mounted on an automatic driving vehicle and performing an automatic parking operation using the automatic driving function of the automatic driving vehicle, and is performed by the automatic parking operation in a parking lot. An acquisition means for acquiring information related to a locus that is a trace of travel of the traveling automatic driving vehicle from a sensor device installed in the parking lot, and steering of the automatic driving vehicle during the automatic parking operation. It is provided with a correction means for correcting the relationship between the angle and the turning curvature based on the acquired information.

It is a block diagram which shows the main part of the automatic parking device which concerns on embodiment. It is a flowchart which shows the correction process which concerns on embodiment.

An embodiment of the automatic parking device will be described with reference to FIGS. 1 and 2.

(Constitution)
The configuration of the automatic parking device according to the embodiment will be described with reference to FIG. In the embodiment described below, a case where the autonomous driving vehicle 1 (see FIG. 1) is parked in the parking lot where the parking lot side device 2 (see FIG. 1) is installed will be described. FIG. 1 is a block diagram showing a main part of an automatic parking device according to an embodiment. Note that FIG. 1 shows only the elements necessary for the description of the embodiment, and omits the other elements.

In FIG. 1, the automatic parking device 100 is mounted on the autonomous driving vehicle 1. The automatic parking device 100 is configured to be able to execute an automatic parking operation using the automatic driving function of the automatic driving vehicle 1. The automatic parking device 100 includes a curvature correction unit 110. The automatic parking device 100 stores characteristic information indicating the relationship between the steering angle and the turning curvature.

A parking lot side device 2 is installed in the parking lot where the autonomous driving vehicle 1 is parked. The parking lot side device 2 includes an infrastructure sensor 21 and a turning curvature estimation unit 22. The infrastructure sensor 21 is configured to include, for example, a plurality of cameras arranged in each parking lot. The turning curvature estimation unit 22 obtains the locus of the autonomous driving vehicle 1 from the output of the infrastructure sensor 21 (for example, an image captured by each of a plurality of cameras), and determines the turning curvature of the autonomous driving vehicle 1 based on the obtained locus. presume. Since various existing modes can be applied to the method of specifying the autonomous driving vehicle 1, the method of obtaining the locus, and the method of estimating the turning curvature, the detailed description thereof will be omitted. The turning curvature estimation unit 22 and the automatic parking device 100 are configured to be capable of mutual communication. The turning curvature estimation unit 22 transmits a signal indicating the estimated turning curvature to the automatic parking device 100.

The curvature correction unit 110 of the automatic parking device 100 corrects the characteristic information based on the turning curvature estimated by the turning curvature estimation unit 22 and the steering angle measured by the steering angle sensor 11 of the autonomous driving vehicle 1. Update. Specifically, for example, the curvature correction unit 110 has characteristics so as to be able to reproduce the relationship between the steering angle measured by the steering angle sensor 11 of the autonomous driving vehicle 1 and the turning curvature estimated by the turning curvature estimation unit 22. Correct and update (ie, overwrite) the information.

The automatic parking device 100 calculates a target steering angle based on the updated characteristic information when turning the automatic driving vehicle 1 as a part of the automatic parking operation. The automatic parking device 100 transmits a signal indicating the calculated target steering angle to the steering control unit 12 of the autonomous driving vehicle 1.

(Correction processing)
Next, the correction process performed by the curvature correction unit 110 will be described with reference to the flowchart of FIG. The correction process is performed when the automatic parking operation by the automatic parking device 100 is performed (that is, when the automatic driving vehicle 1 is parked).

In FIG. 2, the curvature correction unit 110 acquires the estimated turning curvature from the turning curvature estimation unit 22 of the parking lot side device 2 (step S101). In parallel with the process of step S101, the curvature correction unit 110 acquires the steering angle from the steering angle sensor 11 of the autonomous driving vehicle 1.

Next, the curvature correction unit 110 corrects and updates the characteristic information based on the acquired turning curvature and steering angle (step S102).

(Technical effect)
The initial value of the characteristic information indicating the relationship between the steering angle and the turning curvature is based on the steering angle and the turning curvature measured while the driver is in the vehicle (for example, when the driver is driving the vehicle). Is often set. On the other hand, when the automatic parking operation is performed by the automatic parking device 100, the automatic driving vehicle 1 is often unmanned. That is, the conditions under which the steering angle and turning curvature, which are the basis of the initial values of the characteristic information, are measured are often different from the conditions when the automatic parking operation is actually performed. When the gross vehicle weight including the weights of passengers and luggage changes, the relationship between the steering angle and the turning curvature changes. Therefore, if no measures are taken, the accuracy of automatic parking by the automatic parking operation may decrease.

In the automatic parking device 100, the characteristic information is corrected by the curvature correction unit 110 when the automatic parking operation is being performed. Therefore, the characteristic information can reflect the relationship between the steering angle and the turning curvature when the automatic parking operation is actually performed. Therefore, according to the automatic parking device 100, it is possible to suppress a decrease in the accuracy of automatic parking due to the automatic parking operation.

Various aspects of the invention derived from the embodiments described above will be described below.

The automatic parking device according to one aspect of the present invention is an automatic parking device mounted on an automatic driving vehicle and performing an automatic parking operation using the automatic driving function of the automatic driving vehicle, and runs by the automatic parking operation in a parking lot. The acquisition means for acquiring information related to the locus of the self-driving vehicle from the sensor device installed in the parking lot, and the steering angle and turning curvature of the self-driving vehicle during the automatic parking operation. It is provided with a correction means for correcting the relationship based on the acquired information.

In the above-described embodiment, the "infrastructure sensor 21" and the "turning curvature estimation unit 22" correspond to an example of the "sensor device", and the "curvature correction unit 110" corresponds to an example of the "acquisition means" and the "correction means". Equivalent to. The "estimated turning curvature" according to the embodiment corresponds to an example of "information related to the locus".

According to the automatic parking device, the relationship between the steering angle and the turning curvature is corrected based on the information related to the locus of the automatically driving vehicle during the automatic parking operation. If the automatic parking operation is performed based on the relationship between the corrected steering angle and the turning curvature, it is possible to suppress a decrease in accuracy related to automatic parking. Therefore, according to the automatic parking device, it is possible to suppress a decrease in accuracy related to automatic parking.

The present invention is not limited to the above-described embodiment, and can be appropriately modified within the scope of the claims and within the scope not contrary to the gist or idea of the invention that can be read from the entire specification, and the automatic parking device accompanied by such a modification. Is also included in the technical scope of the present invention.

1 ... Autonomous driving vehicle, 2 ... Parking lot side device, 11 ... Steering angle sensor, 12 ... Steering control unit, 21 ... Infrastructure sensor, 22 ... Turning curvature estimation unit, 100 ... Automatic parking device, 110 ... Curvature correction unit

Claims (1)

It is an automatic parking device that is mounted on an autonomous driving vehicle and performs an automatic parking operation using the automatic driving function of the autonomous driving vehicle.
An acquisition means for acquiring information related to a locus, which is a trace of travel of the self-driving vehicle traveling by the automatic parking operation in the parking lot, from a sensor device installed in the parking lot.
A correction means for correcting the relationship between the steering angle and the turning curvature of the self-driving vehicle during the automatic parking operation based on the acquired information.
An automatic parking device characterized by being equipped with.

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