JP7192309B2 - Vehicle control device and vehicle control method - Google Patents

Description

The present disclosure relates to a vehicle control device and a vehicle control method.

Conventionally, techniques for realizing automatic driving of a vehicle within a predetermined area are known. In such technology, a control device is provided that controls automatic driving of the vehicle by notifying the vehicle of a target position to be reached by the automatic driving by wireless communication.

JP 2017-182263 A

In the techniques described above, the target position is identified based on area data preset for a predetermined area, such as map data. However, there may be an error between the nominal structure of a given region represented by the region data and the actual structure of the given region in the real world. In this case, if automatic driving is executed based only on the target position specified by the control device based on the area data, the vehicle will not reach the target position that it should have reached in the real world, and the accuracy of automatic driving will decrease. Sometimes.

Therefore, one of the problems of the present disclosure is to provide a vehicle control device and a vehicle control method that can improve the accuracy of automatic driving.

A vehicle control device as an example of the present disclosure is a vehicle control device mounted on a vehicle, and includes an automatic driving execution unit that executes automatic driving so that the vehicle reaches a target position set within a predetermined area. a first target position acquiring unit for acquiring a first target position as a target position candidate specified based on region data set in advance for a predetermined region; and detecting a situation around the vehicle. a second target position acquisition unit that acquires a second target position as another candidate for the target position specified based on sensor data obtained by the sensor; a target position setting unit that sets one of the first target position and the second target position as the target position based on the relationship.

According to the above-described vehicle control device, either one of the first target position and the second target position can be selectively set as the target position. Unlike the case where only the position exists, it is possible to improve the accuracy of automatic driving.

In the vehicle control device described above, the target position setting unit sets the first target position as the target position when there is a relationship that the first target position is acquired but the second target position is not acquired. However, if there is a relationship that both the first target position and the second target position are acquired, the first or the second target position is set as the target position. According to such a configuration, it is possible to appropriately set the target position according to the situation.

In this case, if the deviation between the first target position and the second target position is equal to or greater than the threshold, the target position setting unit sets the first target position as the target position, and sets the first target position to the second target position. If the deviation from the second target position is less than the threshold, the second target position is set as the target position. According to such a configuration, which of the first target position and the second target position is set as the target position is determined according to the magnitude of the deviation between the first target position and the second target position. can be appropriately selected.

Further, in this case, even if the deviation between the first target position and the second target position is less than the threshold, the target position setting unit sets the target position in the predetermined area as a guideline for obtaining the second target position. If the sign data relating to the predetermined sign to be installed is detected as sensor data only at a level lower than the predetermined level, the first target position is set as the target position, and the first target position and the second target position are detected. is less than the threshold value and the level of the indication data is equal to or higher than the predetermined level, the second target position is set as the target position. According to such a configuration, it is possible to appropriately select which of the first target position and the second target position to set as the target position according to the detection level of the marking line data.

Further, in this case, the target position setting unit determines that the deviation between the first target position and the second target position is less than the threshold value and the indication data is detected at a level equal to or higher than a predetermined level. However, if obstacle data related to an obstacle existing around the predetermined sign is not detected as sensor data, the first target position is set as the target position, and the first target position and the second target The second target position is set as the target position when the deviation from the position is less than the threshold value, the sign data is detected at a level equal to or higher than a predetermined level, and the obstacle data is detected. According to such a configuration, it is possible to appropriately select which of the first target position and the second target position to set as the target position, depending on whether or not the obstacle data is detected.

In the vehicle control device described above, the automatic driving execution unit automatically parks at a target position set inside a parking area provided in a parking lot as a predetermined area, or a target position set outside the parking area. Automatic exit to the parking lot is executed as automatic driving, and the target position setting unit uses lane marking data relating to lane markings as predetermined markings that divide the parking area as marking data. According to such a configuration, the lane marking data can be used to improve the accuracy of automatic driving or automatic leaving.

Further, in the above-described vehicle control device, the first target position acquisition unit controls automatic driving of the vehicle within a predetermined area and communicates with a control device that specifies the first target position based on the area data. Get 1 target position. According to such a configuration, the first target position can be easily obtained through communication.

A vehicle control method as another example of the present disclosure includes an automatic driving execution step of executing automatic driving so as to cause the vehicle to reach a target position set within a predetermined area; a first target position acquiring step of acquiring a first target position as a candidate for the target position specified based on the region data obtained; a second target position acquisition step of acquiring a second target position as another candidate for the target position to be set, and based on the relationship between the first target position and the second target position, the first target position and a target position setting step of setting one of the target position and the second target position as the target position.

According to the vehicle control method described above, either one of the first target position and the second target position can be selectively set as the target position. Unlike the case where only the position exists, it is possible to improve the accuracy of automatic driving.

FIG. 1 is an exemplary and schematic diagram for explaining the concept of automatic parking in the automatic valet parking system according to the embodiment. FIG. 2 is an exemplary and schematic diagram for explaining the concept of automatic parking in the automatic valet parking system according to the embodiment. FIG. 3 is an exemplary schematic block diagram showing the hardware configuration of the control device according to the embodiment; FIG. 4 is an exemplary and schematic block diagram showing the system configuration of the vehicle control system according to the embodiment. FIG. 5 is an exemplary schematic block diagram showing functions of a control device and a vehicle control device according to the embodiment. FIG. 6 is an exemplary schematic diagram showing an example of a situation in which priority is given to the first target position in the embodiment. FIG. 7 is an exemplary schematic diagram showing another example of a situation in which priority is given to the first target position in the embodiment. FIG. 8 is an exemplary schematic diagram showing still another example of a situation in which the first target position is given priority in the embodiment. FIG. 9 is an exemplary schematic diagram showing an example of a situation in which the second target position is given priority in the embodiment. FIG. 10 is an exemplary schematic diagram showing another example of a situation in which the second target position is given priority in the embodiment. FIG. 11 is an exemplary and schematic sequence diagram showing the flow of processing executed by the control device and the vehicle control device according to the embodiment during automatic parking. FIG. 12 is an exemplary and schematic sequence diagram showing the flow of processing executed by the control device and the vehicle control device according to the embodiment when the vehicle automatically leaves the garage. FIG. 13 is an exemplary and schematic flow chart showing processing executed by the vehicle control device according to the embodiment to set a target position in automatic driving.

<Embodiment>
Hereinafter, embodiments of the present disclosure will be described based on the drawings. The configurations of the embodiments described below and the actions and results (effects) brought about by the configurations are merely examples, and are not limited to the following descriptions.

First, an outline of an automatic valet parking system according to an embodiment will be described with reference to FIGS. 1 and 2. FIG. Here, the automatic valet parking system is an example of automatic driving including automatic parking and automatic exit as described below in a parking lot P having one or more parking areas R partitioned by lane markings L such as white lines. It is an automatic driving control system for realizing automatic valet parking as.

FIG. 1 is an exemplary and schematic diagram for explaining the concept of automatic parking in the automatic valet parking system according to the embodiment, and FIG. 2 shows the concept of automatic parking in the automatic valet parking system according to the embodiment. 1 is an illustrative and schematic diagram; FIG.

As shown in FIG. 1, automatic parking means that after an occupant X has gotten off a vehicle V in a get-off area P1 in a parking lot P, the vehicle V parked in the get-off area P1 is parked in the get-off area P1 in response to a predetermined instruction. This is automatic driving in which the vehicle automatically moves from P1 to an empty parking area R and parks (see arrow C1).

Further, as shown in FIG. 2, the automatic leaving means that after the automatic parking is completed, the vehicle V parked in the parking area R leaves the parking area R in response to a predetermined call and moves from the parking area R to a predetermined second area. This is automatic driving in which the vehicle automatically moves to the boarding area P2 and stops (see arrow C2).

In the embodiment, both the predetermined instruction executed during automatic parking and the predetermined call executed during automatic parking exit are realized by the passenger X operating the terminal device T, for example. In the embodiment, the alighting area P1 can also be used as a boarding area, and the boarding area P2 can also be used as an alighting area.

Here, as shown in FIGS. 1 and 2, the automatic valet parking system according to the embodiment has a control device 101 provided in a parking lot P and a vehicle control system 102 mounted on a vehicle V. doing. The control device 101 and the vehicle control system 102 are configured to communicate with each other by wireless communication.

The control device 101 has a function of controlling automatic driving of the vehicle V in the parking lot P. As shown in FIG. More specifically, the control device 101 has a function of managing map data as area data preset for the parking lot P and providing the map data to the vehicle V (vehicle control system 102). there is The map data is data including regular marking data related to road markings fixedly installed on the road surface of the parking lot P, such as marking lines L and markers (not shown). The position of the tip of the marking line L, the direction in which the marking line L extends, and the like can be specified from the normal marking data about the marking line L. Patterns can be specified.

In addition, the control device 101 includes image data obtained from one or more monitoring cameras 103 that capture the situation in the parking lot P, and data output from various on-site sensors (not shown) provided in the parking lot P. , monitor the situation in the parking lot P based on the obtained data, and manage the parking lot P, including managing the vacant parking area R based on the monitoring results. . Below, the information received by the control device 101 for monitoring the situation in the parking lot P may be generically referred to as sensor data.

Further, the control device 101 identifies a first target position as a target position candidate to be reached by the vehicle V in automatic driving based on the above map data and sensor data, It has a function to provide to V (vehicle control system 102). The target position is, for example, a parking target position set within the parking area R in automatic parking as automatic driving, a parking target position set outside the parking area R in automatic parking as automatic driving, or the like.

In the embodiment, the drop-off area P1, the boarding area P2, the parking area R, and the number and arrangement of the monitor cameras 103 in the parking lot P are not limited to the examples shown in FIGS. The technology of the embodiment can be applied to parking lots with various configurations different from the parking lot P shown in FIGS. 1 and 2 .

Next, a hardware configuration of the control device 101 according to the embodiment will be described with reference to FIG. Note that the hardware configuration shown in FIG. 3 is merely an example, and the hardware configuration of the control device 101 according to the embodiment can be set (changed) in various ways.

FIG. 3 is an exemplary and schematic block diagram showing the hardware configuration of the control device 101 according to the embodiment. As shown in FIG. 3, the control device 101 according to the embodiment has the same hardware configuration as a general information processing device such as a PC (Personal Computer).

In the example shown in FIG. 3, the control device 101 includes a CPU (Central Processing Unit) 301, a ROM (Read Only Memory) 302, a RAM (Random Access Memory) 303, a communication interface (I/F) 304, It has an input/output interface (I/F) 305 and an SSD (Solid State Drive) 306 . These pieces of hardware are connected to each other via bus 350 .

The CPU 301 is a hardware processor that centrally controls the control device 101 . The CPU 301 reads various control programs (computer programs) stored in the ROM 302 or the like, and implements various functions according to instructions defined in the various control programs.

A ROM 302 is a non-volatile main memory that stores parameters and the like necessary for executing the various control programs described above.

A RAM 303 is a volatile main memory that provides a work area for the CPU 301 .

A communication interface 304 is an interface that realizes communication between the control device 101 and an external device. For example, the communication interface 304 realizes transmission and reception of signals by wireless communication between the control device 101 and the vehicle V (vehicle control system 102).

The input/output interface 305 is an interface that realizes connection between the control device 101 and an external device. As an external device, for example, an input/output device used by an operator of the control device 101 can be considered.

The SSD 306 is a rewritable non-volatile auxiliary storage device. Note that in the control device 101 according to the embodiment, an HDD (Hard Disk Drive) may be provided as an auxiliary storage device instead of (or in addition to) the SSD 306 .

Next, the system configuration of the vehicle control system 102 according to the embodiment will be described with reference to FIG. Note that the system configuration shown in FIG. 4 is merely an example, and the system configuration of the vehicle control system 102 according to the embodiment can be set (changed) in various ways.

FIG. 4 is an exemplary and schematic block diagram showing the system configuration of the vehicle control system 102 according to the embodiment. As shown in FIG. 4, the vehicle control system 102 includes a braking system 401, an acceleration system 402, a steering system 403, a transmission system 404, an obstacle sensor 405, a driving condition sensor 406, and a communication interface (I /F) 407 , an in-vehicle camera 408 , a monitor device 409 , a vehicle control device 410 and an in-vehicle network 450 .

Braking system 401 controls the deceleration of vehicle V. FIG. The braking system 401 has a braking section 401a, a braking control section 401b, and a braking section sensor 401c.

Braking portion 401a is a device for decelerating vehicle V, including, for example, a brake pedal.

The braking control unit 401b is, for example, an ECU (Electronic Control Unit) configured by a computer having a hardware processor such as a CPU. The braking control unit 401b controls deceleration of the vehicle V by driving an actuator (not shown) based on an instruction from the vehicle control device 410 and operating the braking unit 401a.

The braking portion sensor 401c is a device for detecting the state of the braking portion 401a. For example, if the braking portion 401a includes a brake pedal, the braking portion sensor 401c detects the position of the brake pedal or the pressure acting on the brake pedal as the state of the braking portion 401a. The braking unit sensor 401 c outputs the detected state of the braking unit 401 a to the in-vehicle network 450 .

Acceleration system 402 controls the acceleration of vehicle V. FIG. The acceleration system 402 has an acceleration section 402a, an acceleration control section 402b, and an acceleration section sensor 402c.

The acceleration unit 402a is a device for accelerating the vehicle V including, for example, an accelerator pedal.

The acceleration control unit 402b is, for example, an ECU configured by a computer having a hardware processor such as a CPU. The acceleration control unit 402b controls the acceleration of the vehicle V by driving an actuator (not shown) based on an instruction from the vehicle control device 410 and operating the acceleration unit 402a.

The acceleration section sensor 402c is a device for detecting the state of the acceleration section 402a. For example, if the accelerator 402a includes an accelerator pedal, the accelerator sensor 402c detects the position of the accelerator pedal or the pressure acting on the accelerator pedal. The acceleration unit sensor 402 c outputs the detected state of the acceleration unit 402 a to the in-vehicle network 450 .

The steering system 403 controls the traveling direction of the vehicle V. FIG. The steering system 403 has a steering section 403a, a steering control section 403b, and a steering section sensor 403c.

The steering unit 403a is a device that steers the steered wheels of the vehicle V including, for example, a steering wheel and a steering wheel.

The steering control unit 403b is, for example, an ECU configured by a computer having a hardware processor such as a CPU. The steering control unit 403b drives an actuator (not shown) based on an instruction from the vehicle control device 410 to operate the steering unit 403a, thereby controlling the traveling direction of the vehicle V. FIG.

The steering section sensor 403c is a device for detecting the state of the steering section 403a. For example, if the steering unit 403a includes a steering wheel, the steering unit sensor 403c detects the position of the steering wheel or the rotation angle of the steering wheel. If the steering unit 403a includes a steering wheel, the steering unit sensor 403c may detect the position of the steering wheel or the pressure acting on the steering wheel. The steering unit sensor 403 c outputs the detected state of the steering unit 403 a to the in-vehicle network 450 .

Transmission system 404 controls the transmission ratio of vehicle V. FIG. The transmission system 404 has a transmission section 404a, a transmission control section 404b, and a transmission section sensor 404c.

The transmission unit 404a is a device for changing the gear ratio of the vehicle V including, for example, a shift lever.

The shift control unit 404b is, for example, an ECU configured by a computer having a hardware processor such as a CPU. The shift control unit 404b controls the gear ratio of the vehicle V by driving an actuator (not shown) based on an instruction from the vehicle control device 410 to operate the shift unit 404a.

The transmission section sensor 404c is a device for detecting the state of the transmission section 404a. For example, if transmission section 404a includes a shift lever, transmission section sensor 404c detects the position of the shift lever or the pressure acting on the shift lever. Transmission unit sensor 404 c outputs the detected state of transmission unit 404 a to in-vehicle network 450 .

The obstacle sensor 405 is a device for detecting information about obstacles that may exist around the vehicle V. FIG. Obstacle sensor 405 includes, for example, a ranging sensor such as a sonar that detects the distance to an obstacle. Obstacle sensor 405 outputs detected information to in-vehicle network 450 .

Running state sensor 406 is a device for detecting the running state of vehicle V. FIG. The running state sensor 406 is, for example, a wheel speed sensor that detects the wheel speed of the vehicle V, an acceleration sensor that detects acceleration in the longitudinal direction or the lateral direction of the vehicle V, or a gyro that detects the turning speed (angular velocity) of the vehicle V. Including sensors, etc. Driving state sensor 406 outputs the detected driving state to in-vehicle network 450 .

Communication interface 407 is an interface that realizes communication between vehicle control system 102 and an external device. For example, the communication interface 407 realizes transmission/reception of signals by wireless communication between the vehicle control system 102 and the control device 101, transmission/reception of signals by wireless communication between the vehicle control system 102 and the terminal device T, and the like.

The vehicle-mounted camera 408 is a sensor that detects the situation around the vehicle V by capturing an image of the situation around the vehicle V. FIG. For example, a plurality of in-vehicle cameras 408 are provided so as to image areas including road surfaces in front of, behind, and to the sides of the vehicle V (both left and right). The image data obtained by the vehicle-mounted camera 408 is used for monitoring the situation around the vehicle V (including detecting obstacles). Vehicle-mounted camera 408 outputs the obtained image data to vehicle control device 410 . Note that hereinafter, data obtained from various vehicle-mounted sensors including the vehicle-mounted camera 408 provided in the vehicle control system 102 may be collectively referred to as sensor data.

The monitor device 409 is provided on a dashboard in the interior of the vehicle V or the like. The monitor device 409 has a display section 409a, an audio output section 409b, and an operation input section 409c.

The display unit 409 a is a device for displaying an image according to an instruction from the vehicle control device 410 . The display unit 409a is configured by, for example, a liquid crystal display (LCD: Liquid Crystal Display), an organic EL display (OELD: Organic Electroluminescent Display), or the like.

The audio output unit 409b is a device for outputting audio according to an instruction from the vehicle control device 410. FIG. Audio output unit 409b is configured by, for example, a speaker.

The operation input unit 409c is a device for receiving an input from a passenger in the vehicle. The operation input unit 409c is configured by, for example, a touch panel provided on the display screen of the display unit 409a, physical operation switches, and the like. Operation input unit 409 c outputs the received input to in-vehicle network 450 .

Vehicle control device 410 is a device for centrally controlling vehicle control system 102 . Although the details will be described later, the vehicle control device 410 has a function of estimating the current position of the vehicle V and a function of executing travel control of the vehicle V in consideration of the estimated current position. Automatic driving in the parking lot P is realized by the function.

The vehicle control device 410 is configured as an ECU including a CPU 410a, a ROM 410b, a RAM 410c, an SSD 410d, a display control section 410e, and an audio control section 410f.

The CPU 410a is a hardware processor that controls the vehicle control device 410 in an integrated manner. The CPU 410a reads various control programs (computer programs) stored in the ROM 410b or the like, and implements various functions according to instructions defined in the various control programs.

The ROM 410b is a non-volatile main memory that stores parameters and the like necessary for executing the various control programs described above.

The RAM 410c is a volatile main memory that provides a working area for the CPU 410a.

The SSD 410d is a rewritable non-volatile auxiliary storage device. In addition, in the vehicle control device 410 according to the embodiment, an HDD may be provided as an auxiliary storage device instead of the SSD 410d (or in addition to the SSD 410d).

Among various kinds of processing executed by the vehicle control device 410, the display control unit 410e mainly performs image processing on image data obtained from the vehicle-mounted camera 408, and generates image data to be output to the display unit 409a of the monitor device 409. etc.

The audio control unit 410f mainly controls generation of audio data to be output to the audio output unit 409b of the monitor device 409 among various processes executed by the vehicle control device 410. FIG.

In-vehicle network 450 includes braking system 401, acceleration system 402, steering system 403, transmission system 404, obstacle sensor 405, running state sensor 406, communication interface 407, and operation input unit 409c of monitor device 409. and the vehicle control device 410 are communicably connected.

By the way, in the automatic valet parking system according to the embodiment, as described above, the first target position as a candidate for the target position that the vehicle V should reach by automatic driving is an area preset for the parking lot P. It is specified based on map data as data. However, there may be an error between the set structure of the parking lot P represented by the map data and the actual structure of the parking lot P in the real world. In this case, if automatic driving based only on the first target position specified by the control device 101 based on the map data is executed, the vehicle V will not reach the target position that it should originally reach in the real world, and automatic driving will occur. accuracy may be degraded.

Therefore, according to the embodiment, by providing the control device 101 and the vehicle control device 410 with functions as shown in FIG. 5, the accuracy of automatic driving is improved.

FIG. 5 is an exemplary and schematic block diagram showing functions of the control device 101 and the vehicle control device 410 according to the embodiment. The functions shown in FIG. 5 are realized by cooperation between software and hardware. That is, in the example shown in FIG. 5, the functions of the control device 101 are realized as a result of reading and executing a predetermined control program stored in the ROM 302 or the like by the CPU 301, and the functions of the vehicle control device 410 are realized by the CPU 410a and the ROM 410b. It is implemented as a result of reading out and executing a predetermined control program stored in the . Note that in the embodiment, at least part of the functions shown in FIG. 5 may be implemented by dedicated hardware (circuits).

As shown in FIG. 5, the control device 101 according to the embodiment includes a communication control unit 511, a sensor data acquisition unit 512, a parking lot data management unit 513, a guide route generation unit 514, and a target position calculation unit 515. and have

Communication control unit 511 controls wireless communication performed with vehicle control device 410 . For example, the communication control unit 511 authenticates the vehicle control device 410 by transmitting and receiving predetermined data to and from the vehicle control device 410, and outputs data from the vehicle control device 410 when automatic parking and automatic parking are completed. It receives a predetermined completion notice to be sent, and transmits map data of the parking lot P, a guidance route to be described later, a first target position, and the like to the vehicle control device 410 as necessary.

The sensor data acquisition unit 512 acquires sensor data from various on-site sensors including the surveillance camera 103 provided in the parking lot P. FIG. Sensor data acquired by the sensor data acquisition unit 512 (especially image data acquired from the monitoring camera 103) can be used, for example, to grasp the availability of the parking area R, and the like.

The parking lot data management unit 513 manages data (information) about the parking lot P. FIG. For example, the parking lot data management unit 513 manages map data of the parking lot P, grasps the availability of the parking area R, and grasps information about the vehicle V that is automatically driving in the parking lot P. .

The guidance route generation unit 514 generates a guidance route to be instructed to the vehicle control device 410 when automatic parking and automatic parking are performed. More specifically, when automatic parking is performed, the guidance route generation unit 514 generates a rough route from the exit area P1 to one vacant parking area R as a guidance route, and automatically exits the garage. When this is done, a rough route from the parking area R where the vehicle V is currently parked to the boarding area P2 is generated as a guidance route.

The target position calculation unit 515 selects candidates for the target position to be reached by the vehicle V in automatic driving based on the map data managed by the parking lot data management unit 513 and the sensor data acquired by the sensor data acquisition unit 512. Calculate the first target position as . As described above, the target position is a parking target position set within the parking area R in automatic parking, a parking target position set outside the parking area R in automatic parking, or the like.

On the other hand, as shown in FIG. 5, the vehicle control device 410 according to the embodiment includes a communication control unit 521, a sensor data acquisition unit 522, a sign data acquisition unit 523, and a map data acquisition unit 524 as functional configurations. , a position estimation unit 525, a route acquisition unit 526, an automatic driving execution unit 527, a first target position acquisition unit 528, a second target position acquisition unit 529, and a target position setting unit 530. doing. In the example shown in FIG. 5, all of these functions are realized within the vehicle control device 410 as a single ECU, but in the embodiment, these functions are distributed within a plurality of ECUs. may be implemented.

The communication control unit 521 controls wireless communication performed with the control device 101 . For example, the communication control unit 521 authenticates the vehicle control device 410 by transmitting and receiving predetermined data to and from the control device 101, and notifies the control device 101 when automatic parking and automatic parking are completed. 101, and receives the map data of the parking lot P, the guidance route, the first target position, etc. from the control device 101 as necessary.

The sensor data acquisition unit 522 acquires sensor data obtained by various in-vehicle sensors provided in the vehicle control system 102 . A case where image data obtained by the vehicle-mounted camera 408 is used as sensor data will be mainly described below. It is assumed that the image data includes information representing the condition of the road surface around the vehicle V. FIG.

The marking data acquisition unit 523 performs image recognition processing based on the image data acquired by the sensor data acquisition unit 522 to detect road markings installed on the road surface of the parking lot P, such as the above-described lane markings L and markers. Get the (computational) indication data for

The map data acquisition unit 524 acquires map data of the parking lot P from the control device 101 via the communication control unit 521 . As described above, this map data includes official marking data regarding road markings. The regular sign data included in the map data is immutable data determined according to the design of the parking lot P, unlike the sign data obtained as a result of image recognition processing by the sign data acquisition unit 523 .

The position estimation unit 525 compares the calculated sign data acquired by the sign data acquisition unit 523 with the normal sign data included in the map data acquired by the map data acquisition unit 524, thereby locating the vehicle V Estimate the real position of

More specifically, the position estimation unit 525 first estimates the calculated actual position of the vehicle V by a method called odometry using sensor data acquired by the sensor data acquisition unit 522 . Then, the position estimator 525 calculates the relative position of the road marking with respect to the vehicle V based on the calculated marking data obtained by the marking data obtaining unit 523, and estimates the relative position based on the relative position and the odometry. Based on the calculated actual position of the vehicle V and the calculated absolute position of the road marking. Then, the position estimating unit 525 collates the calculated absolute position of the road marking with the normal absolute position of the road marking specified based on the normal marking data, and determines the vehicle V position estimated based on the odometry. The (regular) actual position of the vehicle V is estimated by correcting the calculated actual position of V as necessary.

The route acquisition unit 526 acquires from the control device 101 via the communication control unit 521 a guidance route as a travel route that the vehicle V should follow in automatic driving.

The automatic driving execution unit 527 executes automatic driving in the parking lot P by controlling the running state of the vehicle V via the braking system 401, the acceleration system 402, the steering system 403, the transmission system 404, and the like. For example, the automatic driving execution unit 527 performs, as automatic driving, starting control from the exit area P1, travel control (including parking control) from the exit area P1 to the parking area R, and travel from the parking area R to the boarding area P2. control (including exit control), stop control to the boarding area P2, and the like.

More specifically, the automatic driving execution unit 527 controls the running state of the vehicle V based on the guidance route acquired by the route acquisition unit 526 and the actual position of the vehicle V estimated by the position estimation unit 525. This enables automatic driving based on the guidance route. The automatic driving execution unit 527 can use data output from various onboard sensors provided in the vehicle control system 102, including image data obtained by the onboard camera 408, for control. As a result, the automatic driving execution unit 527 can execute automatic driving while adjusting the guidance route according to changes in the situation during automatic driving.

The first target position acquisition unit 528 acquires the first target position calculated by the target position calculation unit 515 of the control device 101 via the communication control unit 521 .

Here, in addition to the first target position specified by the control device 101 based on the map data, the vehicle control device 410 according to the embodiment also obtains the target position based on the sensor data acquired by the sensor data acquisition unit 522. Identify the second target position as another candidate for the second target position by itself, and selectively use either the first target position or the second target position as the target position in actual automatic driving according to the situation. is configured as

That is, in the vehicle control device 410 according to the embodiment, the second target position acquisition unit 529 acquires the second target position based on the sensor data acquired by the sensor data acquisition unit 522, and the target position setting unit 530 selectively sets either one of the first target position and the second target position as the target position based on the relationship between the first target position and the second target position.

Hereinafter, a situation in which the first target position is prioritized and a situation in which the second target position is prioritized will be specifically described with some examples.

FIG. 6 is an exemplary schematic diagram showing an example of a situation in which priority is given to the first target position in the embodiment.

In the example shown in FIG. 6, a point P601 represents a first target position set within a parking area R601, and an arrow D601 represents a first target position as the direction in which the vehicle V should turn when reaching the point P601. represents the target direction of The first target direction is specified by the control device 101 together with the first target position.

As in the example shown in FIG. 6, when there is no display such as the division line L that serves as a guideline for specifying the second target position, the parking area R601 is specified based on the sensor data from the vehicle-mounted sensor. It is difficult to obtain the second target position because it is difficult to Therefore, in this case, the vehicle control device 410 sets the first target position represented by the point P601 as the target position for automatic driving.

FIG. 7 is an exemplary schematic diagram showing another example of a situation in which priority is given to the first target position in the embodiment.

In the example shown in FIG. 7, a point P701 located in a parking area R701 between a partition line L701 and a wall W701 represents a first target position, and an arrow D701 indicates a first target position corresponding to the point P701. It represents the target direction.

In the example shown in FIG. 7 as well, there is only one marking line L701, which serves as a guideline for specifying the second target position. is difficult to identify. Therefore, in this case as well, it is difficult to acquire the second target position, so the vehicle control device 410 sets the first target position represented by point P701 as the target position in automatic driving.

FIG. 8 is an exemplary schematic diagram showing still another example of a situation in which the first target position is given priority in the embodiment.

In the example shown in FIG. 8, a point P801 located within a parking area R801 between lane markings L801 and L802 represents a first target position, and an arrow D801 indicates a first target corresponding to point P801. indicates direction. A point P802 located in a parking area R802 between lane markings L802 and L803 represents a second target position, and an arrow D802 indicates a direction in which the vehicle V should turn when reaching point P802. 2 target directions. The second target direction is specified by vehicle control device 410 together with the second target position.

In the example shown in FIG. 8, unlike the examples shown in FIGS. 6 and 7, there are two target position candidates, the first target position and the second target position. There is room for selection whether to set it as the target position.

Therefore, when both the first target position and the second target position are acquired, the embodiment focuses on the magnitude of the deviation between the two. Since the error that the first target position may contain is considered to be relatively small, the reliability of the first target position is basically high. Therefore, if the deviation between the first target position and the second target position is relatively large, it is reasonable to trust the first target position more than the second target position.

Based on this, in the example shown in FIG. 8, the point P801 representing the first target position and the point P802 representing the second target position are located in different parking areas R801 and R802. Therefore, it can be said that this situation corresponds to a situation in which the deviation between the first target position and the second target position is relatively large. Therefore, in this case, the vehicle control device 410 sets the first target position represented by the point P801 as the target position for automatic driving.

FIG. 9 is an exemplary schematic diagram showing an example of a situation in which the second target position is given priority in the embodiment.

In the example shown in FIG. 9, points P901 and P902 located within parking area R901 between lane markings L901 and L902 represent the first target position and second target position, respectively. Arrows D901 and D902 respectively represent a first target direction corresponding to point P901 and a second target direction corresponding to point P902.

In the example shown in FIG. 9, a point P901 representing the first target position and a point P902 representing the second target position are located within the same parking area R901. In this situation, it can be said that the deviation between the first target position and the second target position is relatively small, so it can be said that the second target position can be obtained with a certain degree of accuracy. Since the second target position is obtained based on the detection result of the vehicle-mounted sensor capable of detecting the situation around the vehicle V from a closer position, the second target position can be obtained with a certain degree of accuracy. If it is possible, basically, it can be said that the reliability of the second target position is high.

Therefore, in the example shown in FIG. 9, the vehicle control device 410 basically sets the second target position represented by the point P902 as the target position for automatic driving.

However, as an exception, even if the deviation between the first target position and the second target position is relatively small, the marking data for the marking line L that serves as a guideline for specifying the second target position is When the reliability of the lane marking data is low, it is appropriate to give priority to the first target position.

For example, in the example shown in FIG. 9, if only one of the two marking lines L901 and L902 is detected, or if both the two marking lines L901 and L902 are detected, less than a predetermined A case where only lane marking data related to a portion having only a length is detected corresponds to a case where the reliability of the lane marking data is low. Therefore, in these cases, the vehicle control device 410 sets the first target position represented by the point P901 as the target position for automatic driving.

On the other hand, in the example shown in FIG. 9, the reliability of the lane marking data is high when the lane marking data related to the portion having a predetermined length or more is detected for both of the two lane markings L901 and L902. applicable to the case. Therefore, in this case, vehicle control device 410 sets the second target position represented by point P902 according to the above-described basic method when the difference between the first target position and the second target position is relatively small. is set as the target position in automatic operation.

FIG. 10 is an exemplary schematic diagram showing another example of a situation in which the second target position is given priority in the embodiment.

In the example shown in FIG. 10, points P1001 and P1002 located within parking area R1001 between lane markings L1001 and L1002 represent the first target position and second target position, respectively. Arrows D1001 and D1002 respectively represent a first target direction corresponding to point P1001 and a second target direction corresponding to point P1002.

In the example shown in FIG. 10, an obstacle O1001 exists in an area R1002 adjacent to the lane marking L1001 on the opposite side of the parking area R1001. An obstacle O1001 is also present in a region R1003 adjacent on the opposite side. In such a situation, in order to reliably avoid contact with the obstacle O1001 or O1002, the first value obtained based on the detection result of the vehicle-mounted sensor capable of detecting the situation of the obstacle O1001 or O1002 from a closer position. It can be said that it is appropriate to select the target position of 2 as the target position.

Therefore, in the example shown in FIG. 10, the vehicle control device 410 sets the second target position represented by point P1002 as the target position for automatic driving.

Thus, in the embodiment, the target position setting unit 530 sets the first target position to the target position when there is a relationship that the first target position is acquired but the second target position is not acquired. , and there is a relationship that both the first target position and the second target position are acquired, depending on the magnitude of the deviation between the first target position and the second target position, Either one of the first target position and the second target position is set as the target position. According to such a configuration, it is possible to appropriately set the target position according to the situation.

More specifically, in the embodiment, when the deviation between the first target position and the second target position is equal to or greater than a threshold, the target position setting section 530 sets the first target position as the target position, If the deviation between the first target position and the second target position is less than the threshold, the second target position is set as the target position. According to such a configuration, which of the first target position and the second target position is set as the target position is determined according to the magnitude of the deviation between the first target position and the second target position. can be appropriately selected.

Further, in the embodiment, the target position setting unit 530 detects lane marking data only at a level less than a predetermined level even if the deviation between the first target position and the second target position is less than the threshold. , the first target position is set as the target position, the deviation between the first target position and the second target position is less than the threshold, and the lane marking data is detected at a level equal to or higher than a predetermined level. If so, the second target position is set as the target position. According to such a configuration, it is possible to appropriately select which of the first target position and the second target position to set as the target position according to the detection level of the marking line data.

In addition, in the embodiment, the target position setting unit 530 sets the position when the deviation between the first target position and the second target position is less than the threshold and the marking line data is detected at a level equal to or higher than a predetermined level. However, if the obstacle data is not detected, the first target position is set as the target position, the deviation between the first target position and the second target position is less than the threshold, and the lane marking data is detected at a predetermined level or higher and the obstacle data is detected, the second target position is set as the target position. According to such a configuration, it is possible to appropriately select which of the first target position and the second target position to set as the target position, depending on whether or not the obstacle data is detected.

In addition, in the embodiment, the first target position and the second target position can be set to positions in consideration of the control to be executed next. For example, when a first target position and a second target position are acquired as parking target position candidates in automatic parking, the first target position and the second target position are assumed to be executed next. It can be set at a position that facilitates automatic retrieval. The position at which automatic exit is likely to be realized includes, for example, a position at which lane marking data is easily detected by an in-vehicle sensor, and a position at which identification information such as a license plate of the vehicle V is easily detected by an in-vehicle sensor.

Further, in the embodiment, it is determined whether the vehicle V is to enter the parking area R from the front side or the rear side so that the vehicle V can be appropriately parked in the above-described positions where automatic exit is easily realized. , a technique of selectively switching depending on the situation may be applied.

Further, in the embodiment, not only the selection of the first target position and the second target position, but also the first target direction to which the vehicle V should turn when reaching the first target position and the second target position The selection of the second target direction to which the vehicle should turn upon reaching the , may also be performed according to selection criteria similar to those described above.

Next, processing executed by the automatic valet parking system according to the embodiment will be described with reference to FIGS. 11 to 13. FIG.

FIG. 11 is an exemplary and schematic sequence diagram showing the flow of processing executed by the control device 101 and the vehicle control device 410 during automatic parking according to the embodiment. The processing sequence shown in FIG. 11 starts when the occupant X operates the terminal device T in the exit area P1 to issue a predetermined instruction that triggers automatic parking.

In the processing sequence shown in FIG. 11, first, in S1101, the communication control unit 511 of the control device 101 and the communication control unit 521 of the vehicle control device 410 establish communication. When communication is established in S1101, authentication by transmission and reception of identification information (ID), transfer of operation authority for realizing automatic operation under the supervision of the control device 101, and the like are executed.

Further, when communication is established in S1101, the control device 101 transmits map data of the parking lot P to the vehicle control device 410 via the communication control unit 511 in S1102.

Then, in S1103, the parking lot data management unit 513 of the control device 101 checks the vacant parking areas R based on the information acquired by the sensor data acquiring unit 512, and identifies one vacant parking area R. , is designated as the target parking area to be given to the vehicle V.

Then, in S1104, the guidance route generation unit 514 of the control device 101 generates a guidance route that the vehicle V should follow during automatic parking from the drop-off area P1 to the target parking area designated in S1103.

Then, in S1105, the control device 101 transmits the guidance route generated in S1104 to the vehicle control device 410 via the communication control unit 511. FIG.

On the other hand, in S1106 after the map data transmitted from the control device 101 in S1102 is received via the communication control unit 521, the position estimating unit 525 of the vehicle control device 410 estimates the initial position within the exit area P1. . The initial position is the current position (actual position) of the vehicle V within the drop-off area P1, which is the starting point for starting from the drop-off area P1. For estimating the initial position, the result of image recognition processing based on the image data obtained by the vehicle-mounted camera 408 can be used in the same manner as the above-described estimation of the actual position during automatic driving. In the example shown in FIG. 11, the process of S1106 is performed before the process of S1105, but the process of S1106 may be performed after the process of S1105.

When the initial position is estimated in S1106 and the guidance route transmitted from the control device 101 in S1105 is received via the communication control unit 521, the automatic driving execution unit 527 of the vehicle control device 410 performs S1106 in S1107. Based on the estimated initial position, etc., an actual driving route based on the guidance route to be followed during actual automatic parking is generated.

Then, in S1108, the automatic driving execution unit 527 of the vehicle control device 410 executes start control from the get-off area P1.

Then, in S1109, the automatic driving execution unit 527 of the vehicle control device 410 executes travel control along the travel route generated in S1107. The process of S1109 is executed along with the above-described estimation of the actual position using the indication data acquired by the indication data acquisition unit 523. FIG.

Then, the automatic driving execution unit 527 of the vehicle control device 410 executes parking control to the target parking area in S1110.

Then, when the parking control in S1110 is completed, the vehicle control device 410 transmits a parking completion notification to the control device 101 via the communication control unit 521 in S1111.

As described above, automatic parking in automatic valet parking is realized.

Note that the processing of S1108 to S1110 can be executed with the setting of the target position based on the first target position and the second target position. Since the details of the flow will be described later, further description is omitted here.

FIG. 12 is an exemplary and schematic sequence diagram showing the flow of processing executed by the control device 101 and the vehicle control device 410 when automatically leaving the garage according to the embodiment. The processing sequence shown in FIG. 12 starts when the passenger X operates the terminal device T in the boarding area P2 to make a predetermined call that triggers automatic parking.

In the processing sequence shown in FIG. 12, first, in S1201, the communication control unit 511 of the control device 101 and the communication control unit 521 of the vehicle control device 410 establish communication. When communication is established in S1201, similar to S1101 shown in FIG. 11, authentication by transmission and reception of identification information (ID), transfer of operation authority for realizing automatic operation under the supervision of the control device 101, etc. executed.

Further, when communication is established in S1201, the control device 101 transmits map data of the parking lot P to the vehicle control device 410 via the communication control unit 511 in S1202.

Then, in S1203, the parking lot data management unit 513 of the control device 101 determines the current position of the vehicle V equipped with the vehicle control device 410 of the communication partner based on the information acquired by the sensor data acquisition unit 512. Check the parking area R.

Then, in S1204, the guidance route generation unit 514 of the control device 101 generates a guidance route from the parking area R confirmed in S1203 to the boarding area P2, which the vehicle V should follow when automatically leaving the garage.

Then, the control device 101 transmits the guidance route generated in S1204 to the vehicle control device 410 via the communication control unit 511 in S1205.

On the other hand, in S1206 after the map data transmitted from the control device 101 in S1202 is received via the communication control unit 521, the position estimation unit 525 of the vehicle control device 410 determines the parking area R where the vehicle V is currently parked. Estimate the exit position in The exit position is the current position (actual position) of the vehicle V within the parking area R, which is the starting point for exiting from the parking area R. Similar to the above-described estimation of the actual position during automatic driving, the result of image recognition processing based on the image data obtained by the in-vehicle camera 408 can be used for estimating the leaving position. In the example shown in FIG. 12, the process of S1206 is executed before the process of S1205, but the process of S1206 may be executed after the process of S1205.

When the exit position is estimated in S1206 and the guidance route transmitted from the control device 101 in S1205 is received via the communication control unit 521, the automatic driving execution unit 527 of the vehicle control device 410 performs S1206 in S1207. Based on the estimated exit position, etc., an actual travel route based on the guidance route to be followed during actual automatic exit is generated.

Then, the automatic driving execution unit 527 of the vehicle control device 410 executes control for leaving the parking area R in S1208.

Then, in S1209, the automatic driving execution unit 527 of the vehicle control device 410 executes travel control along the travel route generated in S1207. This travel control is also executed with the above-described estimation of the actual position using the indication data acquired by the indication data acquisition unit 523, like the travel control in S1109 shown in FIG.

Then, in S1210, the automatic driving execution unit 527 of the vehicle control device 410 executes stop control to the boarding area P2.

Then, when the stop control in S1210 is completed, the vehicle control device 410 transmits a notification of completion of leaving the garage to the control device 101 via the communication control unit 521 in S1211.

As described above, automatic exit in automatic valet parking is realized.

Note that the processing of S1208 to S1210 can be executed with setting of the target position based on the first target position and the second target position, like the processing of S1108 to S1110 shown in FIG. The flow of processing executed when setting the target position will be described in more detail below.

FIG. 13 is an exemplary and schematic flow chart showing processing executed by the vehicle control device 410 according to the embodiment to set a target position in automatic driving.

In the processing flow shown in FIG. 13, first, in S1301, the first target position acquisition unit 528 of the vehicle control device 410 communicates the first target position as a target position candidate calculated by the control device 101. Acquired from the control device 101 via the control unit 521 .

Then, in S<b>1302 , the sensor data acquisition unit 522 of the vehicle control device 410 acquires sensor data as the detection result of the vehicle-mounted sensors including the vehicle-mounted camera 408 . The sensor data acquired here may include the aforementioned lane marking data and obstacle data.

Then, in S1303, the second target position acquisition unit 529 of the vehicle control device 410 acquires the sensor data acquired in S1302 and the second target position as another candidate for the target position. If the sensor data acquired in S1302 includes lane marking data, it is possible to easily identify the second target position based on the lane marking data.

Then, in S1304, the target position setting unit 530 of the vehicle control device 410 determines whether or not the second target position has been acquired in S1303.

If it is determined in S1304 that the second target position has not been obtained, there is no choice but to set the first target position as the target position. Therefore, in this case, the process proceeds to S1305, and in S1305, the target position setting unit 530 of the vehicle control device 410 sets the first target position obtained in S1301 as the target position in automatic driving. Then the process ends.

On the other hand, if it is determined in S1304 that the second target position has been acquired, not only the first target position but also the second target position can be set as the target position. Therefore, in this case, the process proceeds to S1306 in order to select which of the first target position and the second target position to set as the target position. Then, in S1306, the target position setting unit 530 of the vehicle control device 410 determines whether the deviation between the first target position acquired in S1301 and the second target position acquired in S1303 is less than a threshold. to decide.

If it is determined in S1306 that the deviation between the first target position and the second target position is equal to or greater than the threshold, it is appropriate to set the first target position as the target position, as described above. Therefore, in this case, the process proceeds to S1305, in which the first target position is set as the target position, and the process ends.

On the other hand, if it is determined in S1306 that the deviation between the first target position and the second target position is less than the threshold, it is appropriate to set the second target position as the target position as described above. There is a possibility. Therefore, in this case, the process proceeds to S1307 in order to select in more detail which of the first target position and the second target position is to be set as the target position. Then, in S1307, the target position setting unit 530 of the vehicle control device 410 determines whether or not the lane marking data serving as the basis for the second target position acquired in S1303 is detected at a level equal to or higher than a predetermined level. .

If it is determined in S1307 that the lane marking data is detected at a level lower than the predetermined level, it is appropriate to set the first target position as the target position, as described above. Therefore, in this case, the process proceeds to S1305, in which the first target position is set as the target position, and the process ends.

On the other hand, if it is determined in S1307 that the lane marking data is detected at a level equal to or higher than the predetermined level, it may be appropriate to set the second target position as the target position. Therefore, in this case, the process proceeds to S1308 in order to select in more detail which of the first target position and the second target position is to be set as the target position. Then, in S1308, the target position setting unit 530 of the vehicle control device 410 determines whether or not obstacle data is detected as the sensor data acquired in S1303.

If it is determined in S1308 that no obstacle data has been detected, it is appropriate to set the first target position as the target position, as described above. Therefore, in this case, the process proceeds to S1305, in which the first target position is set as the target position, and the process ends.

On the other hand, if it is determined in S1308 that the obstacle data has been detected, it is appropriate to set the second target position as the target position, as described above. Therefore, in this case, the process proceeds to S1309, in which the target position setting unit 530 of the vehicle control device 410 sets the second target position obtained in S1303 as the target position in automatic driving. Then the process ends.

As described above, the vehicle control device 410 according to the embodiment includes the automatic driving execution unit 527, the first target position acquisition unit 528, the second target position acquisition unit 529, the target position setting unit 530, It has The automatic driving execution unit 527 executes automatic driving so that the vehicle V reaches a target position set in the parking lot P as a predetermined area. The first target position acquisition unit 528 acquires a first target position as a target position candidate specified based on map data as area data set in advance for the parking lot P. FIG. A second target position acquisition unit 529 obtains a second target position as another candidate for the target position specified based on sensor data obtained by onboard sensors including the onboard camera 408 that detects the surrounding conditions of the vehicle V. to get Target position setting section 530 sets either one of the first target position and the second target position as the target position based on the relationship between the first target position and the second target position.

According to the vehicle control device 410 according to the embodiment, either one of the first target position and the second target position can be selectively set as the target position. Unlike the case where there is only one target position, it is possible to improve the accuracy of automatic driving.

<Modification>
Note that, in the above-described embodiment, the case where the technology of the present disclosure is applied to an automatic valet parking system is exemplified. However, the technology of the present disclosure is also applicable to an automatic driving control system other than the automatic valet parking system, as long as it is an automatic driving control system that realizes automatic driving of a vehicle within a predetermined area.

Moreover, in the embodiment described above, a configuration is exemplified in which map data is acquired from the control device 101 through communication. However, as a modified example, a configuration in which map data is stored in vehicle control device 410 in advance is also conceivable.

Similarly, in the above-described embodiment, a configuration is illustrated in which the vehicle control device 410 side generates a travel route based on a guidance route acquired by communication from the control device 101 . However, as a modification, a configuration is also conceivable in which the travel route is appropriately generated only on the vehicle control device 410 side based on sensor data obtained from various on-vehicle sensors provided in the vehicle control system 102, including the on-vehicle camera 408. .

Although the embodiments and modifications of the present invention have been described above, the embodiments and modifications described above are merely examples, and are not intended to limit the scope of the invention. The novel embodiments and modifications described above can be implemented in various forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. The embodiments and modifications described above are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

101 control device 408 vehicle-mounted camera (sensor)
410 vehicle control device 527 automatic driving execution unit 528 first target position acquisition unit 529 second target position acquisition unit 530 target position setting unit L lane marking (marking)
P parking lot (predetermined area)
R parking area V vehicle

Claims (7)

A vehicle control device mounted on a vehicle,
An automatic driving execution unit that executes automatic driving so that the vehicle reaches a target position set within a predetermined area;
a first target position acquisition unit that acquires a first target position as a candidate for the target position specified based on region data preset for the predetermined region;
a second target position acquisition unit that acquires a second target position as another candidate for the target position specified based on sensor data obtained by a sensor that detects a situation around the vehicle;
A target position setting unit that sets one of the first target position and the second target position as the target position based on the relationship between the first target position and the second target position. and
The target position setting unit
setting the first target position as the target position if the relationship exists that the first target position was obtained but the second target position was not obtained;
When there is the relationship that both the first target position and the second target position are acquired, depending on the magnitude of the deviation between the first target position and the second target position , setting one of the first target position and the second target position as the target position;
Vehicle controller. The target position setting unit
setting the first target position as the target position when the deviation between the first target position and the second target position is equal to or greater than a threshold;
setting the second target position as the target position when the deviation between the first target position and the second target position is less than the threshold;
The vehicle control device according to claim 1 . The target position setting unit
Regarding a predetermined sign installed in the predetermined area as a guideline for obtaining the second target position even if the deviation between the first target position and the second target position is less than the threshold value setting the first target position as the target position when the indication data is detected as the sensor data only at a level less than a predetermined level;
When the deviation between the first target position and the second target position is less than the threshold value and the indication data is detected at a level equal to or higher than the predetermined level, the second target position is determined. setting as the target position;
The vehicle control device according to claim 2 . The target position setting unit
Even if the deviation between the first target position and the second target position is less than the threshold value and the indication data is detected at a level equal to or higher than the predetermined level, the predetermined indication when obstacle data relating to an obstacle existing around is not detected as the sensor data, the first target position is set as the target position;
when the deviation between the first target position and the second target position is less than the threshold value, the marking data is detected at a level equal to or higher than the predetermined level, and the obstacle data is detected; , setting the second target position as the target position;
The vehicle control device according to claim 3 . The automatic driving execution unit automatically parks at the target position set inside a parking area provided in the parking lot as the predetermined area, or automatically parks at the target position set outside the parking area. Execute automatic warehousing as the automatic operation,
The target position setting unit uses, as the indication data, lane marking data relating to the lane marking as the predetermined mark that divides the parking area.
The vehicle control device according to claim 3 or 4 . The first target position acquisition unit controls the automatic driving of the vehicle in the predetermined area and obtains the first target position by communication from a control device that specifies the first target position based on the area data. get the target position,
The vehicle control device according to any one of claims 1 to 5 . an automatic driving execution step for executing automatic driving so as to cause the vehicle to reach a target position set within a predetermined area;
a first target position acquiring step of acquiring a first target position as a target position candidate identified based on region data preset for the predetermined region;
a second target position acquisition step of acquiring a second target position as another candidate for the target position identified based on sensor data obtained by a sensor that detects a situation around the vehicle;
A target position setting step of setting one of the first target position and the second target position as the target position based on the relationship between the first target position and the second target position. and
The target position setting step includes:
setting the first target position as the target position if the relationship exists that the first target position was obtained but the second target position was not obtained;
When there is the relationship that both the first target position and the second target position are acquired, depending on the magnitude of the deviation between the first target position and the second target position , setting one of the first target position and the second target position as the target position;
Vehicle control method.

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