JP7085404B2 - Automatic parking control device and automatic parking control system - Google Patents

Description

The present invention relates to an automatic parking control device and an automatic parking control system.

In the technique of remotely controlling a vehicle from outside the vehicle, the user is in a dangerous state where the user and the surrounding object may collide with each other based on the relative position and the relative speed of the user and the object around the user. It is known to notify the danger.
(See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2008-65381

However, when the user remotely controls the vehicle from outside the vehicle to park the vehicle in a predetermined parking space, the user notification in the conventional technique may not be reliable.
An object of the present invention is to provide an automatic parking control device and an automatic parking control system capable of performing more reliable notification.

The present invention is an automatic parking control device that parks the vehicle in a predetermined parking space by automatic driving control according to a user's operation on an operation terminal that remotely controls the vehicle, and calculates a travel route to the predetermined parking space. The route calculation unit, the recommended position calculation unit that calculates the recommended position of the user outside the vehicle based on the travel route, the presentation unit that presents the recommended position to the user, and the distance between the operation terminal and the vehicle. The vehicle is provided with a stop controller for instructing the vehicle to stop moving when the vehicle exceeds a predetermined distance, and the recommended position calculation unit covers the entire section of the travel route of the vehicle and the operation terminal. A position where the distance is maintained below the predetermined distance and the range excluding the range through which the vehicle passes is calculated as the recommended position, and the distance between the vehicle and the operation terminal is calculated over the entire section of the travel route. When there is no position maintained below the predetermined distance, the recommended position is calculated for each predetermined distance range with different predetermined points in the travel route as the base point, and the presenting unit adjusts to the movement of the vehicle. The recommended position is presented to the user in order .

The present invention is characterized in that, in the automatic parking control device, the presentation unit projects the recommended position from a projector onto a road surface.

The present invention is characterized in that, in the automatic parking control device, the presenting unit displays the recommended position on a display provided on the vehicle and / or the operation terminal.

INDUSTRIAL APPLICABILITY The present invention includes a person detector for detecting a person around the vehicle in the automatic parking control device, and the presenting unit indicates that the person is located at the recommended position by the user by displaying the display. It is characterized by making it recognizable.

The present invention is an automatic parking control system including an operation terminal for remotely operating a vehicle and an automatic parking control device for parking the vehicle in a predetermined parking space by automatic driving control according to a user's operation on the operation terminal. The automatic parking control device includes a route calculation unit that calculates a travel route to the predetermined parking space, a recommended position calculation unit that calculates a user's recommended position outside the vehicle based on the travel route, and the recommended position. The recommended position calculation unit includes a presentation unit that presents the vehicle to the user, and a stop controller that instructs the user to stop the movement of the vehicle when the distance between the operation terminal and the vehicle exceeds a predetermined distance. Calculates as the recommended position a position where the distance between the vehicle and the operation terminal is maintained at the predetermined distance or less and the range excluding the range through which the vehicle passes is excluded over the entire section of the travel route. When there is no position where the distance between the vehicle and the operation terminal is maintained below a predetermined distance over the entire section of the travel route, each predetermined distance range with different predetermined locations in the travel route as a base point. The recommended position is calculated, and the presenting unit presents the recommended position to the user in order in accordance with the movement of the vehicle .

According to the present invention, more reliable notification can be given.

It is a figure which shows the structure of the automatic parking control system which concerns on embodiment of this invention. It is a figure which shows an example of an omnidirectional camera image. It is a figure which shows the schematic structure of the operation terminal. It is a figure which shows the schematic structure of an in-vehicle system. It is a flowchart which shows the operation of an automatic parking control system. It is explanatory drawing of the calculation operation of the remote operation recommended position. It is a flowchart of operation position guidance processing. It is explanatory drawing of the calculation operation of the remote operation recommended position in operation position guidance processing.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram of an automatic parking control system 1 according to the present embodiment.
The automatic parking control system 1 automatically drives the vehicle 2 according to the operation of the operation terminal 8 by the user 6 and automatically parks the vehicle in a predetermined parking space (hereinafter referred to as “planned parking space”) 4A. This is a system that assists the user 6 in parking the vehicle 2. In the present embodiment, a case where a plurality of parking spaces 4 exist around the vehicle 2 and one of them is selected as the planned parking space 4A is illustrated, but the parking space 4 is provided around the vehicle 2. There may be only one case.
As shown in FIG. 1, the automatic parking control system 1 includes an operation terminal 8 for remotely controlling the vehicle 2 and an in-vehicle system 10 provided on the vehicle 2 and having a function of automatically driving the vehicle 2. The operation terminal 8 and the in-vehicle system 10 communicate with each other wirelessly.

The operation terminal 8 is a mobile electronic device having a function of accepting an operation of a user 6 and a function of displaying various information, and is typically a smartphone or a laptop computer. The operation terminal 8 accepts various operations such as a parking support start operation by the user 6 and a selection operation of the parking schedule space 4A, and transmits the operation result to the in-vehicle system 10.
Further, the operation terminal 8 displays the information received from the in-vehicle system 10 and presents it to the user 6. One of the information includes an omnidirectional camera image 9 transmitted by wireless communication from the in-vehicle system 10. As shown in FIG. 2, the omnidirectional camera image 9 is an image of the vehicle 2 viewed in all directions from above (directly above in the present embodiment) of the vehicle 2.
The omnidirectional camera image 9 is displayed in real time while the vehicle 2 is moving by automatic driving, and the user 6 can confirm the omnidirectional direction of the vehicle 2 based on the omnidirectional camera image 9. ..

The in-vehicle system 10 automatically controls the operation of the vehicle 2 when the operation terminal 8 selects the planned parking space 4A, and moves the vehicle 2 so as to fit in the planned parking space 4A. In this case, the in-vehicle system 10 is adapted to immediately stop the vehicle 2 when the distance between the operation terminal 8 and the vehicle 2 exceeds a predetermined distance R (for example, 6 meters).

The wireless communication method between the operation terminal 8 and the vehicle 2 is arbitrary as long as it can secure a communication range of at least a predetermined distance R or more, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark). Can be used.

Next, each of the operation terminal 8 and the in-vehicle system 10 will be described in detail.

FIG. 3 is a diagram showing a schematic configuration of the operation terminal 8.
The operation terminal 8 includes a wireless transmitter / receiver 20, a display 22, a parking schedule space selection operation unit 23, a vehicle operation switch 24, and a drawing controller 26.
In addition to the configuration shown in FIG. 3, the mobile electronic device used as the operation terminal 8 includes a processor such as a CPU and MPU, a memory device such as a ROM and a RAM, a storage device such as an HDD and an SSD, and a user. Each part of the operation terminal 8 is provided with an operation input device that accepts operations and an interface circuit for connecting various peripheral devices, etc., and the processor executes a computer program stored in a memory device or a storage device. Is in control.

The wireless transmitter / receiver 20 wirelessly communicates with the in-vehicle system 10 under the control of the processor, and transmits / receives various data.
The display 22 displays the omnidirectional camera image 9 received from the in-vehicle system 10 by the wireless transmitter / receiver 20 under the control of the processor. Further, the display 22 uses a touch panel display having an operation input function for accepting touch operations.

The planned parking space selection operation unit 23 is an operation unit operated by the user 6 to select a desired parking space 4 as the planned parking space 4A from the parking spaces 4 shown in the omnidirectional camera image 9. The touch panel display of the display 22 is used for the parking schedule space selection operation unit 23.

The vehicle operation switch 24 is an operation switch for the user 6 instructing the automatic driving control of the vehicle 2 after selecting the planned parking space 4A and actually starting the movement of the vehicle 2. The operation switch may be a switch displayed on the touch panel display or a mechanical switch.

When the remote operation recommended position Pr is input from the in-vehicle system 10 under the control of the processor, the drawing controller 26 displays the remote operation recommended position Pr overlaid on the omnidirectional camera image 9 as shown in FIG. Display on the device 22.
In the remote operation recommended position Pr, the separation distance between the operation terminal 8 and the vehicle 2 does not exceed the predetermined distance R while the vehicle 2 is moving for parking by the automatic driving control, and the vehicle 2 passes through. It is a range that does not happen.
Therefore, by remotely controlling the vehicle 2 from the remote control recommended position Pr, the user 6 remotely controls the vehicle 2 at a safe position without causing a stop due to a distance from the vehicle 2. be able to.

In addition to the above, the operation terminal 8 has various functions generally provided for parking the vehicle 2 by remote control of the vehicle 2 (for example, an in-vehicle system 10 for the user 6 to receive automatic parking support). Operation switch etc. to activate) is provided.

FIG. 4 is a diagram showing a schematic configuration of the in-vehicle system 10.
The in-vehicle system 10 includes four cameras 30, a wireless transmitter / receiver 32, a vehicle motion controller 34, a display 36, a projector 38, and an automatic parking control device 40, which are CAN (Controller Area). It is connected to an in-vehicle network such as Network) so that it can communicate.

Each of the four cameras 30 is a photographing means for photographing the surroundings of the vehicle 2 and outputting the camera image to the automatic parking control device 40. In the vehicle 2, in order to obtain the camera image necessary for generating the omnidirectional camera image 9, one camera 30 photographs the front of the front end portion (for example, the front bumper) of the vehicle 2 from the center in the vehicle width direction. The other camera 30 takes a picture of the rear end of the vehicle 2 (for example, the rear bumper) from the center in the vehicle width direction, and the other camera 30 takes a picture from the right side of the vehicle 2 (for example, the right door mirror) to the right. The remaining one camera 30 photographs the left side of the vehicle 2 from the left side portion (for example, the left door mirror).
The wireless transmitter / receiver 32 wirelessly communicates with the operation terminal 8 under the control of the automatic parking control device 40.

The vehicle motion controller 34 includes an ECU (Electronic Control Unit) that realizes a function of automatically driving and controlling the vehicle 2 so that the vehicle 2 moves along a route designated by the automatic parking control device 40. The ECU is an electronic circuit including a processor such as a CPU or MPU, a memory device such as a ROM or RAM, a storage device such as an HDD or SSD, and an interface circuit for connecting various peripheral devices or an in-vehicle network. Is. Then, the vehicle motion controller 34 mounts each part required for automatic driving such as the power source (engine and motor), steering angle, accelerator, and brake of the vehicle 2 on the vehicle based on the detection values of various sensors provided in the vehicle 2. By controlling through the network, the vehicle 2 is moved along the route designated by the automatic parking control device 40.

The display 36 displays various information based on the signal output from the automatic parking control device 40, and like the display 22 of the operation terminal 8, the above-mentioned omnidirectional camera image 9 and remote operation are recommended. Display the position Pr.
The projector 38 is a projection device that projects various projection images onto the ground based on the signal output from the automatic parking control device 40. In the present embodiment, the projector 38 projects the remote operation recommended position Pr onto the road surface. do.

The automatic parking control device 40 automatically controls the vehicle 2 so as to fit in the planned parking space 4A by using the omnidirectional camera image 9 generation function, the remote operation recommended position Pr specific function, and the vehicle motion controller 34. It has a function and is equipped with an ECU. As described above, the ECU is an electronic circuit including a processor, a memory device, and an interface circuit for connecting various peripheral devices, an in-vehicle network, and the like, and the processor is a memory device or a storage device. By executing the stored computer program, the functions of each part shown in FIG. 4 are realized.

That is, the automatic parking control device 40 includes an omnidirectional camera image generator 50, a person detector 52, a parking position / route calculator 54, an operable area calculation / determination device 56, and an operation area definition input device 58. , And an automatic operation indicator 60.

The omnidirectional camera image generator 50 generates the omnidirectional camera image 9 based on the camera images of the four cameras 30 and outputs the omnidirectional camera image 9 to the person detector 52 and the parking position / route calculator 54.
Specifically, the omnidirectional camera image generator 50 converts each of the camera images of the front, rear, right side, and left side of the vehicle 2 into an image of the vehicle 2 viewed from above, and after conversion. Each camera image of the above is combined with reference to the position of the vehicle 2 (for example, center O: FIG. 2) to obtain an omnidirectional camera image 9 as shown in FIG.

The person detector 52 detects a person around the vehicle 2.
Specifically, the person detector 52 detects the person by recognizing the person in the omnidirectional camera image 9. When the user 6 remotely controls the vehicle 2 from outside the vehicle during the parking support operation, the user 6 existing outside the vehicle is detected by the person detector 52, for example, as shown in FIG.

The parking position / route calculator 54 includes a parking space detection unit 54A that detects the parking space 4 around the vehicle 2, a parking schedule space setting unit 54B that sets the parking schedule space 4A, and a parking schedule space 4A. A route calculation unit 54C for calculating a travel route of the vehicle 2 is provided.

The parking space detection unit 54A detects the parking space 4 by recognizing the parking space 4 shown in the omnidirectional camera image 9.
Specifically, the parking space 4 for one vehicle has a rectangular shape in a plan view as shown in FIG. 1 above, and is divided by a pair of parking lot lines K1 in which at least the boundary in the vehicle width direction M extends in the vehicle length direction N. The boundary in the vehicle length direction N is partitioned by a pair of parking lot lines K2. Therefore, the parking space detection unit 54A detects each parking space 4 by detecting these parking lot lines K1 and K2 by image recognition.

The parking schedule space setting unit 54B sets the parking schedule space 4A for any of the parking spaces 4 detected by the parking space detection unit 54A based on the user operation (selection operation of the parking schedule space 4A) for the operation terminal 8. do.

The route calculation unit 54C identifies information such as the relative positional relationship between the vehicle 2 and the planned parking space 4A and the travelable space existing around the vehicle 2 based on the omnidirectional camera image 9, and uses these information. Based on this, the travel route of the vehicle 2 from the current position to the planned parking space 4A is calculated. When the vehicle 2 makes a turn in this traveling route, the point where the turn is made (hereinafter referred to as "turning point Pt": FIG. 6) is also specified. In addition, turning back means to move forward or backward and enter the planned parking space 4A only by moving forward or backward when the vehicle 2 cannot enter the planned parking space 4A just by moving forward or backward. It is an operation to change the current position.

The operable area calculation / determining device 56 specifies the range of the standing position of the user who can be remotely controlled (hereinafter referred to as “operable area Q”: FIG. 6) based on the above-mentioned predetermined distance R. That is, the operable area is a range of a predetermined distance R from the vehicle 2. In this case, the operable area calculation / judgment device 56 uses each of the start position Ps where the vehicle 2 starts to move by automatic driving, one or a plurality of turning points Pt, and the planned parking position Pu as base points, and each of them is used. Specify the operable area Q.
Further, the operable area calculation / determination device 56 uses the recommended position calculation unit 56A for calculating the above-mentioned remote operation recommended position Pr (FIG. 6) based on these operable areas Q, and the projector 38 for the remote operation recommended position Pr. , A display unit 36, and a presentation unit 56B that is presented to the user 6 by outputting to the operation terminal 8.

The operation area definition input device 58 gives the user setting related to the remote operation recommended position Pr to the operable area calculation / determination device 56. In the present embodiment, the operation area definition input device 58 calculates and determines the operable area of the distance (also referred to as “clearance”) between the remote operation recommended position Pr and the passage range Qu (FIG. 6) through which the vehicle 2 passes. It is given to the device 56 as a user setting. The operation area definition input device 58 acquires the user settings from any input device such as an operation input device or a recording media reader.

The automatic driving indicator 60 is a vehicle operation controller that moves the vehicle 2 along the above-mentioned traveling path by automatic driving control when the vehicle operation switch 24 is operated by the user 6 and the automatic driving start is instructed. Instruct 34.
Further, the automatic operation indicator 60 includes a stop controller 60A. The stop controller 60A monitors the separation distance between the vehicle 2 and the operation terminal 8 in real time, and when the separation distance exceeds the predetermined distance R, instructs the vehicle operation controller 34 to stop the vehicle 2 and causes the vehicle 2 to stop. Immediately stop the movement of.
The method of measuring the distance between the vehicle 2 and the operation terminal 8 is arbitrary. Such a method includes, for example, a method of recognizing and measuring the vehicle 2 and the user 6 captured in the omnidirectional camera image 9, a method of measuring based on the received electric field strength in the wireless transmitter / receiver 32, and a position from the operation terminal 8. Examples include a method of acquiring information (for example, GPS information).

Next, the operation of this embodiment will be described.

FIG. 5 is a flowchart showing the operation of the automatic parking control system 1.
When the user 6 parks the vehicle 2 by remote control, he operates the operation terminal 8 and instructs the automatic parking control device 40 of the in-vehicle system 10 to start the operation. In the automatic parking control device 40, when such an instruction is input, the omnidirectional camera image generator 50 generates an omnidirectional camera image 9 based on the camera image of the camera 30 and outputs the omnidirectional camera image 9 to the parking position / route calculator 54. (Step S1).
Next, the parking position / route calculator 54 detects the parking space 4 existing around the vehicle 2 by image recognition (step S2), and the processor of the automatic parking control device 40 detects the detection result of the parking space 4 in all directions. It is transmitted to the operation terminal 8 through the wireless transmitter / receiver 32 together with the camera image 9 (step S3).

As a result, in the operation terminal 8, the drawing controller 26 superimposes the detection result of the parking space 4 on the omnidirectional camera image 9 and displays it on the display 22, and waits for the user 6 to select the parking space 4A. Then, when the user 6 operates the parking schedule space selection operation unit 23 to select the parking schedule space 4A, the operation terminal 8 transmits the selection result of the parking schedule space 4A to the automatic parking control device 40 through the wireless transmitter / receiver 20. do.

When the automatic parking control device 40 receives the selection result of the scheduled parking space 4A (step S4: YES), the parking position / route calculator 54 sets the current position of the vehicle 2 as the start position Ps, and sets the scheduled parking space 4A as the scheduled parking position. The traveling route is calculated as Pu (step S5). Further, when the turning back is necessary in the calculation of the traveling route, the traveling route including the turning back at the turning point Pt is calculated.

Next, the recommended position calculation unit 56A of the operable area calculation / determination device 56 uses each of the start position Ps, the turning point Pt, and the scheduled parking position Pu as a base point, and specifies the operable area Q for each (step S6). ), The remote operation recommended position Pr is calculated based on each operable area Q. Specifically, the recommended position calculation unit 56A determines whether or not there is an overlapping area Qt in which all the operable areas Q overlap (step S7), and the remote operation recommended position Pr is determined according to the determination result. Is calculated.

More specifically, as shown in FIG. 6, when there is an overlapping region Qt in which all the operable areas Q overlap, the overlapping region Qt covers the entire section of the traveling route of the vehicle 2 and the vehicle 2 and the operation terminal. It is a region where the distance from 8 is maintained at a predetermined distance R or less. Therefore, when the user 6 remotely controls the vehicle 2 using the operation terminal 8 in the overlapping region Qt, the vehicle 2 does not stop due to the separation distance in the entire section of the traveling path of the vehicle 2. 2 can be parked in the planned parking space 4A by automatic operation.

Therefore, in the present embodiment, as shown in FIG. 5 above, when the overlapping region Qt exists (step S7: YES), the recommended position calculation unit 56A excludes the passing range Qu of the vehicle 2 from the overlapping region Qt. Is calculated as the recommended remote operation position Pr (step S8). The passing range Qu is specified based on the vehicle width of the vehicle 2 and the above clearance.

On the other hand, when the overlapping area Qt does not exist, when the user 6 stays in one of the operable areas Q and operates remotely, the separation distance between the vehicle 2 and the operation terminal 8 exceeds the predetermined distance R while the vehicle 2 is moving. Will end up. Therefore, the user 6 needs to move each operable area Q in order according to the movement of the vehicle 2. In the present embodiment, as shown in FIG. 5 above, by executing the operation position guidance process (step S9), the user 6 is appropriately guided to move between the operable areas Q. The operation position guidance process will be described later.

When the recommended position calculation unit 56A calculates the remote operation recommended position Pr (step S8), the presentation unit 56B outputs the remote operation recommended position Pr to the projector 38, the display 36, and the operation terminal 8. As a result, in the vehicle 2, the projector 38 projects the remote operation recommended position Pr on the road surface, and the display 36 superimposes the remote operation recommended position Pr on the omnidirectional camera image 9 and displays it. Further, in the operation terminal 8, the remote operation recommended position Pr is superimposed on the omnidirectional camera image 9 and displayed on the display 22 (step S10).
As a result, the user 6 can grasp the remote operation recommended position Pr from the projected image of the road surface, the display of the display 36 of the vehicle 2, and the display of the operation terminal 8, and can move to the remote operation recommended position Pr.

Next, in the automatic parking control device 40, the person detector 52 detects the user 6 who is around the vehicle 2, and when the user 6 is located in the remote operation recommended position Pr, the user 6 informs that fact. The display is changed so that it can be recognized (step S11). Examples of such a display change include highlighting the remote operation recommended position Pr where the user 6 is located, displaying a message that the user 6 is at the remote operation recommended position Pr, and the like. By changing this display, the user 6 can surely know that he / she is at the remote operation recommended position Pr.

When the user 6 moves to the remote operation recommended position Pr and operates the vehicle operation switch 24 of the operation terminal 8, the operation terminal 8 instructs the automatic parking control device 40 to start the automatic operation of the vehicle 2.

In the automatic parking control device 40, when the automatic driving start is instructed (step S12: YES), the automatic driving indicator 60 automatically controls the vehicle 2 by using the vehicle motion controller 34, and the vehicle is along the traveling route. 2 is moved and the vehicle 2 is stored in the planned parking space 4A (step S13).

In this step S13, the automatic driving indicator 60 monitors the separation distance between the operation terminal 8 and the vehicle 2, and the user 6 is located at a place other than the remote operation recommended position Pr, so that the separation distance is a predetermined distance. When the distance exceeds R, the vehicle motion controller 34 immediately stops the vehicle 2.
As described above, the user 6 stands at the recommended remote control position Pr and remotely controls the vehicle, so that the separation distance cannot exceed the predetermined distance R over the entire section of the travel path of the vehicle 2. Therefore, the separation distance The vehicle 2 can be parked smoothly without causing a stop due to the above.

Next, the operation position guidance process will be described.
As described above, the operation position guidance process guides the user 6 to move between the operable areas Q in accordance with the movement of the vehicle 2 when the overlapping area Qt does not exist (FIG. 5: step S5: NO). It is a process. In the present embodiment, in this operation position guidance process, the remote operation recommended position Pr is guided to the user 6 for each operable area Q so that the user 6 can quickly move each operable area Q.

FIG. 7 is a flowchart of the operation position guidance process.
In the operation position guidance process, the recommended position calculation unit 56A of the automatic parking control device 40 executes the following process in order to calculate the remote operation recommended position Pr for each operable area Q. That is, the recommended position calculation unit 56A specifies each proximity region Qv for each of the two operable areas Q to which the user 6 moves in order (step S20).

As shown in FIG. 8, the proximity region Qv is a region (for example, a straight line L connecting the centers of the two operable areas Q) including the points where they are closest to each other within the range of each of the two operable areas Q. Included range). By remotely controlling the vehicle 2 by the user 6 using the operation terminal 8 in the proximity area Qv, the movement distance when the user 6 moves to the next operable area Q can be reduced, and usability can be improved.

If there is an overlapping portion in the two operable areas Q, the overlapping portion is set in the proximity area Qv.
Further, when the separation distance between the two operable areas Q exceeds the predetermined distance R, the recommended position calculation unit 56A inserts one or a plurality of operable areas Q smaller than the predetermined distance R between the two. After adding a new one, the proximity area Qv is obtained.

Next, as shown in FIG. 7, the recommended position calculation unit 56A specifies a range excluding the passage range Qu of the vehicle 2 from this proximity region Qv as a remote operation recommended position Pr in each operable area Q (step S21). ). Then, the presenting unit 56B of the operable area calculation / determining device 56 operates the projector 38, the display 36, and the remote operation recommended position Pr of the first operable area Q (that is, with the start position Ps as the base point). Output to terminal 8. As a result, in the vehicle 2, the projector 38 projects the remote operation recommended position Pr on the road surface, and the display 36 superimposes the remote operation recommended position Pr on the omnidirectional camera image 9 and displays it. Further, in the operation terminal 8, the remote operation recommended position Pr is superimposed on the omnidirectional camera image 9 and displayed on the display 22 (step S22).
As a result, the user 6 can grasp the remote operation recommended position Pr to be moved first from the projected image of the road surface, the display of the display 36 of the vehicle 2, and the display of the operation terminal 8, and can move quickly there. can.

Next, in the automatic parking control device 40, the person detector 52 detects the user 6 around the vehicle 2, and if the user 6 is located in the currently displayed remote operation recommended position Pr, the user 6 is detected. The display is changed so that the user 6 can recognize it (step S23). Then, when the user 6 moves to the remote operation recommended position Pr and operates the vehicle operation switch 24 of the operation terminal 8, the operation terminal 8 instructs the automatic parking control device 40 to automatically drive the vehicle 2.

In the automatic parking control device 40, when automatic driving is instructed (step S24: YES), the automatic driving indicator 60 automatically controls the vehicle 2 by using the vehicle motion controller 34, and the vehicle 2 along the traveling route. (Step S25). In this step S25 as well, similarly to step S13 of FIG. 5, the automatic driving indicator 60 monitors the separation distance between the operation terminal 8 and the vehicle 2, and the user 6 is located at a place other than the remote operation recommended position Pr. Then, when the separation distance exceeds the predetermined distance R, the vehicle motion controller 34 immediately stops the vehicle 2.

During the movement of the vehicle 2 under the automatic driving control, the presentation unit 56B determines whether or not the user 6 should move to the next operable area Q (step S26). In the present embodiment, this determination is made based on whether or not the separation distance from the remote operation recommended position Pr where the user 6 is currently located to the vehicle 2 has reached a certain distance (<predetermined distance R).
Then, when the user 6 should move the operable area Q (step S26: YES), the presenting unit 56B sets the remote operation recommended position Pr of the next operable area Q to the projector 38, the display 36, and the operation terminal. Output to 8. As a result, the remote operation recommended position Pr to be moved next by the user 6 is projected on the road surface, and the remote operation recommended position Pr is superimposed and displayed on the display 36 and the operation terminal 8 on the omnidirectional camera image 9. (Step S27).
The user 6 can grasp that the remote operation recommended position Pr has changed and the remote operation recommended position Pr by the projection image of the road surface, the display 36, and the display of the operation terminal 8, and can move to the remote operation recommended position Pr promptly. can.

Next, in the automatic parking control device 40, as in step S23, the person detector 52 detects the user 6 who is around the vehicle 2, and the user 6 is in the remote operation recommended position Pr currently being displayed. If it is located, the display is changed so that the user 6 can recognize it (step S28). By changing this display, the user 6 can surely confirm that he / she is located at the changed remote operation recommended position Pr.

Then, when the vehicle 2 fits in the planned parking space 4A and the automatic driving control is completed (step S29: YES), this process is terminated, and in the meantime (step S29: NO), steps S25 to S28 The process up to is executed repeatedly. As a result, until the automatic driving control is completed, the remote operation recommended position Pr suitable for the current position of the vehicle 2 and its switching are presented to the user 6 by projection or display.

According to this embodiment, the following effects are obtained.

The automatic parking control device 40 of the present embodiment calculates the remote operation recommended position Pr of the user 6 outside the vehicle based on the traveling route to the planned parking space 4A, and presents the remote operation recommended position Pr to the user 6.
As a result, the user 6 is notified of the position where the vehicle 2 can be appropriately remotely controlled, and the user 6 can be notified more reliably than before.

The automatic parking control device 40 of the present embodiment includes a stop controller 60A for instructing the stop of movement of the vehicle 2 when the separation distance between the operation terminal 8 and the vehicle 2 exceeds a predetermined distance R, and the recommended position is calculated. The remote operation recommended position of the unit 56A is a position where the separation distance between the vehicle 2 and the operation terminal 8 is maintained at a predetermined distance R or less over the entire section of the traveling route and the passing range Qu through which the vehicle 2 passes is excluded. Calculated as Pr.
As a result, during the movement of the vehicle 2, the user 6 is appropriately notified of the position where the remote control is possible (remote control recommended position Pr) without causing the vehicle to stop due to the distance between the operation terminal 8 and the vehicle 2. be able to.

The automatic parking control device 40 of the present embodiment is different from each other in the traveling route when there is no position where the separation distance between the vehicle 2 and the operation terminal 8 is maintained at a predetermined distance R or less over the entire section of the traveling route. The remote operation recommended position Pr is calculated for each range of a predetermined distance (that is, the operable area Q) with the predetermined location as a base point. In addition, the automatic parking control device 40 presents the remote operation recommended position Pr to the user 6 in order according to the movement of the vehicle 2.
As a result, the position where the remote control is possible (remote control recommended position Pr) that does not cause the vehicle stop due to the distance between the operation terminal 8 and the vehicle 2 is appropriate for the user 6 according to the movement of the vehicle 2. Can be notified to.

Since the automatic parking control device 40 of the present embodiment projects the remote operation recommended position Pr onto the road surface from the projector 38, the user 6 can easily grasp the remote operation recommended position Pr from the projected image.

Since the automatic parking control device 40 of the present embodiment displays the remote operation recommended position Pr on the indicators 36 and 22 provided on the vehicle 2 and the operation terminal 8, respectively, the user 6 can see the inside of the vehicle 2. Regardless of where you are outside, you can grasp the recommended remote operation position Pr.

The automatic parking control device 40 of the present embodiment makes it possible for the user 6 to recognize that a person is located at the remote operation recommended position Pr by displaying the indicators 36 and 22.
As a result, the user 6 can surely confirm that he / she is located at the remote control recommended position Pr, and can start the remote control for automatic parking at that position.

The above-described embodiment is merely an example of one embodiment of the present invention, and can be arbitrarily modified and applied without departing from the spirit of the present invention.

For example, in the above-described embodiment, the person detector 52 detects a person around the vehicle 2 by using image recognition, but the present invention is not limited to this, and various sensors may be used to detect the person.

In the vehicle-mounted system 10 described above, the automatic parking control device 40 may include all or part of the camera 30, the wireless transmitter / receiver 32, the display 36, the projector 38, and the vehicle motion controller 34.

Further, the functional block shown in FIG. 4 is a schematic diagram showing the components of the in-vehicle system 10 and the automatic parking control device 40 classified according to the main processing contents in order to facilitate the understanding of the present invention. Yes, these components can be further classified into more components according to the processing content. It can also be categorized so that one component performs more processing.

Further, the processing of each component of the automatic parking control device 40 may be executed by one hardware or may be executed by a plurality of hardware. Further, the processing of each component may be realized by one program or may be realized by a plurality of programs.

1 Automatic parking control system 2 Vehicle 4A Scheduled parking space (prescribed parking space)
6 User 8 Operation terminal 9 Omnidirectional camera image 10 In-vehicle system 30 Camera 38 Projector 40 Automatic parking control device 50 Omnidirectional camera image generator 52 Person detector 54 Parking position / route calculator 54C Route calculation unit 56 Operable area calculation Judgment device 56A Recommended position calculation unit 56B Presentation unit 60 Automatic operation indicator 60A Stop controller K1, K2 Parking lot line Pr Remote operation recommended position Ps Start position Pt Turn-back point Pu Parking schedule position Q Operable area Qt Overlapping area Qu Passing range Qv Proximity area R Predetermined distance

Claims (5)

An automatic parking control device for parking a vehicle in a predetermined parking space by automatic driving control according to a user's operation on an operation terminal for remotely controlling the vehicle.
A route calculation unit that calculates a travel route to the predetermined parking space,
A recommended position calculation unit that calculates the recommended position of the user outside the vehicle based on the traveling route,
A presentation unit that presents the recommended position to the user,
A stop controller for instructing the stop of movement of the vehicle when the distance between the operation terminal and the vehicle exceeds a predetermined distance is provided.
The recommended position calculation unit is
A position where the distance between the vehicle and the operation terminal is maintained at the predetermined distance or less and the range excluding the range through which the vehicle passes is calculated as the recommended position over the entire section of the travel route.
When there is no position where the distance between the vehicle and the operation terminal is maintained at a predetermined distance or less over the entire section of the travel route, a range of predetermined distances based on different predetermined locations in the travel route. Calculate the recommended position for each
The presentation unit is
An automatic parking control device characterized in that the recommended positions are presented to the user in order according to the movement of the vehicle. The presentation unit is
The automatic parking control device according to claim 1 , wherein the recommended position is projected from a projector onto a road surface. The presentation unit is
The automatic parking control device according to claim 1 or 2 , wherein the recommended position is displayed on the vehicle and / or the display provided on the operation terminal. Equipped with a person detector that detects people around the vehicle,
The presentation unit is
The automatic parking control device according to claim 3 , wherein the user can recognize that a person is located at the recommended position by displaying the display. An operation terminal that remotely controls the vehicle and
An automatic parking control device that parks the vehicle in a predetermined parking space by automatic driving control according to a user's operation on the operation terminal.
In an automatic parking control system equipped with
The automatic parking control device is
A route calculation unit that calculates a travel route to the predetermined parking space,
A recommended position calculation unit that calculates the recommended position of the user outside the vehicle based on the traveling route,
A presentation unit that presents the recommended position to the user,
A stop controller for instructing the stop of movement of the vehicle when the distance between the operation terminal and the vehicle exceeds a predetermined distance is provided.
The recommended position calculation unit is
A position where the distance between the vehicle and the operation terminal is maintained at the predetermined distance or less and the range excluding the range through which the vehicle passes is calculated as the recommended position over the entire section of the travel route.
When there is no position where the distance between the vehicle and the operation terminal is maintained at a predetermined distance or less over the entire section of the travel route, a range of predetermined distances based on different predetermined locations in the travel route. Calculate the recommended position for each
The presentation unit is
The recommended positions are presented to the user in order as the vehicle moves.
An automatic parking control system that features that.

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