JP7206103B2 - VEHICLE DRIVING CONTROL METHOD AND VEHICLE DRIVING CONTROL DEVICE - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle cruise control method and a vehicle cruise control device for remotely controlling an own vehicle capable of autonomous cruise control.

When the driver manually parks the vehicle in a predetermined position and gets off the vehicle, if the vehicle wants to adjust the vehicle position a little more, the remote control device controls the vehicle so that it moves at an extremely low speed while remotely parking the vehicle. (Patent Document 1).

JP 2006-306233 A

However, in the above-described prior art, the driver's exit position is not determined at all and is determined by the driver himself/herself. Therefore, even if the distance from the position where the driver gets off to the target parking position is long, the vehicle speed is set to be extremely low during remote parking. There is the problem of not being able to switch to remote parking.

The problem to be solved by the present invention is to control a self-driving vehicle capable of autonomous running control by an assist mode in which an operator riding in the self-vehicle can intervene, and a remote controller using a remote controller. It is an object of the present invention to provide a vehicle travel control method and a vehicle travel control device capable of setting the switching timing of two modes according to the situation when autonomous travel control is performed by a control mode and an autonomous travel control.

The present invention computes a travel route for autonomous travel control from a current position of a vehicle equipped with an autonomous travel control function to a target stop position, and the travel route is calculated when the self vehicle is at or below a first upper limit vehicle speed and autonomous travel control is performed. A possible first travel route and a second travel route on which autonomous travel control is possible at a vehicle speed equal to or lower than a first upper limit vehicle speed and equal to or higher than a predetermined vehicle speed and equal to or lower than a second upper limit vehicle speed, and the first travel route is set to: Autonomous travel control is performed at the first upper limit vehicle speed by an assist mode in which an intervention operation by an operator riding in the own vehicle is possible, and the second travel route is a route outside the vehicle without intervention operation by the operator. Autonomous travel control is performed at the second upper limit vehicle speed in a remote control mode by a remote controller in . Then, the intermediate stop position is set at a position where the turning radius of the own vehicle is equal to or greater than a predetermined value on the travel route from the current position to the target stop position, or a provisional stop position is set in the middle of the travel route. An intermediate stop position is set, autonomous travel control is performed at the first upper limit vehicle speed in the assist mode from the current position to the temporary intermediate stop position, and at the temporary intermediate stop position, the intermediate stop position is controlled. It starts to determine whether or not the conditions are satisfied, and when the conditions for the intermediate stop position are satisfied, the remote control mode is switched to the autonomous driving control at the second upper limit vehicle speed, and the conditions for the intermediate stop position are satisfied. If not, the above problem is solved by continuing the autonomous travel control at the first upper limit vehicle speed in the assist mode until it is determined that the conditions for the intermediate stop position are satisfied .

According to the present invention, the intermediate stop position, which is the switching timing between the assist mode in which the vehicle can travel at a relatively high speed and the remote control mode in which the vehicle travels at a relatively low speed, is set in the middle of the travel route from the current position to the target stop position. Since the range of the remote control mode in which the vehicle is set and the vehicle travels at a relatively low speed is limited according to the situation, it is possible to switch between the two modes at the timing according to the situation.

1 is a block diagram showing a remote parking system to which a vehicle running control method and a vehicle running control device of the present invention are applied; FIG. FIG. 2 is a flow chart showing an example of a control procedure executed by the remote parking system of FIG. 1; FIG. FIG. 2 is a plan view showing an example of reverse remote parking performed by the remote parking system of FIG. 1; 2 is a flow chart showing another example of a control procedure executed by the remote parking system of FIG. 1; FIG. 3 is a plan view showing another example of reverse remote parking performed by the remote parking system of FIG. 1; FIG. 2 is a flowchart (part 1) showing still another example of a control procedure executed in the remote parking system of FIG. 1; FIG. 2 is a flowchart (part 2) showing still another example of a control procedure executed in the remote parking system of FIG. 1; FIG. 9 is a plan view showing still another example of reverse remote parking performed by the remote parking system of FIG. 1;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a remote parking system 1 to which the vehicle running control method and vehicle running control device of the present invention are applied. In this specification, "autonomous driving control" refers to driving a vehicle by automatic control of a vehicle-mounted driving control device without depending on the driving operation of the driver, and "autonomous parking control" means autonomous driving. It is a type of control, and refers to parking the vehicle (entering the garage or garage) by automatic control of the vehicle-mounted travel control device without depending on the driving operation of the driver. Further, "parking" refers to continuously parking the vehicle in a parking space, but the term "driving route" includes at least the parking route when the vehicle is parked in the parking space. In the following embodiments, the cruise control method and the cruise control device according to the present invention are controlled autonomously in an assist mode in which an operator such as a driver can get on board and the operator can intervene. A specific example of the present invention will be described with reference to an example applied to a remote parking system in which an operator getting off the vehicle and controlling autonomous driving in a remote control mode using a remote controller from the outside of the vehicle.

The remote parking system 1 of the present embodiment is a system that performs garage parking by autonomous driving control when parking in a parking space. Autonomous parking control is continued by continuing to send the execution command from the operating device. Then, when there is a risk of the vehicle colliding with an obstacle, the autonomous parking control is stopped by transmitting a stop command or canceling the transmission of the execution command. Hereinafter, the autonomous driving control mode in which an operator such as a driver gets in and the operator can intervene is called the assist mode, and the autonomous driving control mode in which the operator gets off the vehicle and uses remote control to enter the garage is called the remote control mode. .

For example, it is difficult for a driver to get in and out of a narrow parking space, such as a narrow garage or a parking lot with other vehicles parked on both sides, where the side door cannot be opened sufficiently. In order to enable parking even in such a case, a remote parking mode using remote control is used. When parking in the garage, the remote parking mode is activated, the parking path to the selected parking space is calculated, and autonomous parking control is started. Garage parking is completed by continuing to send the execution command from the device. The remote parking system 1 of the present embodiment is a system having a remote parking mode using such remote operation. As an example of autonomous parking control, the reverse autonomous parking control shown in FIGS. 2 to 7 is exemplified, but the present invention can also be applied to parallel autonomous parking and other autonomous parking.

The remote parking system 1 of this embodiment includes a target parking space setting device 11, a vehicle position detector 12, an object detector 13, an intermediate parking position setting unit 14, a parking route generation unit 15, an object deceleration calculation unit 16, and a route following control. A part 17 , a target vehicle speed generation part 18 , a steering angle control part 19 , a vehicle speed control part 20 , a remote controller 21 and a parking route storage part 22 are provided. Each configuration will be described below.

In the remote parking mode, the target parking space setter 11 searches for parking spaces existing around the own vehicle, and selects a parking space desired by the operator (target parking space according to the present invention) from available parking spaces. ) is selected, and the position information of this parking space (relative position coordinates from the current position of the vehicle, latitude/longitude, etc.) is output to the parking route generator 15 .

The target parking space setter 11 has an input switch for inputting a remote parking mode and a plurality of cameras (not shown, an object detector 13 to be described later) that captures the surroundings of the own vehicle in order to perform the functions described above. ), a computer installed with a software program that searches for available parking spaces from image data captured by multiple cameras, and a touch panel display that displays images including available parking spaces. And prepare. When an operator such as a driver selects a remote parking mode with an input switch, image data around the own vehicle is acquired by a plurality of cameras, and an image including available parking spaces is displayed on the display. When the operator selects a desired parking space from the displayed parking spaces, the target parking space setter 11 acquires the position information of this parking space (positional coordinates relative to the current position of the vehicle, latitude/longitude, etc.). ) to the parking route generator 15 . It should be noted that, when searching for a parking space in which parking is possible, when parking lot information having detailed position information is included in the map information of the navigation device, the parking lot information may be used.

The vehicle position detector 12 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, and the like. The current position of the vehicle is detected based on the acquired position information of the vehicle, the angle change information acquired from the gyro sensor, and the vehicle speed acquired from the vehicle speed sensor. The position information of the own vehicle detected by the vehicle position detector 12 is output to the parking route generator 15 and the route following controller 17 at predetermined time intervals.

The object detector 13 searches for the existence of an object such as an obstacle in the vicinity of the own vehicle. or a combination thereof. These cameras, radar or sonar, or a combination thereof, are mounted on the skin around the vehicle. The mounting position of the object detector 13 is not particularly limited, but for example, the center and both sides of the front bumper, the center and both sides of the rear bumper, all or part of the sill outers below the left and right center pillars. can be worn on The object detector 13 has a computer installed with a software program for identifying the position of an object detected by a camera, radar, or the like. Position coordinates relative to the current position of the vehicle, latitude and longitude, etc.) are output to the parking path generation unit 15 and the object deceleration calculation unit 16. Before the start of autonomous parking control, the parking path generation unit 15 It is used to generate a parking route (corresponding to a driving route according to the present invention), and during autonomous parking control, when an object such as an unexpected obstacle is detected, the object deceleration calculation unit 16 decelerates the own vehicle. Or it is provided for control to stop.

The parking path generation unit 15 uses the size of the own vehicle (vehicle width, vehicle length, minimum turning radius, etc.) stored in advance, and the target parking position from the target parking space setter 11 (parking position in remote parking mode). position information of a space, and corresponds to a target stop position according to the present invention; the same shall apply hereinafter); and the parking route from the current position of the vehicle to the target parking position (referring to the parking route in the case of remote parking mode; the same applies hereinafter), and the parking route that does not collide with or interfere with any object. Calculate. Further, when a predetermined parking route is stored in the parking route storage unit 22, which will be described later, the stored parking route may be read. FIG. 3 is a plan view showing an example of the remote warehousing mode. At the current position P1 of the own vehicle V shown in FIG. 3, when the driver operates the input switch to select the remote entry mode, the target parking space setter 11 searches for and includes one available parking space TPS. Suppose an image is displayed on the display and the driver selects the parking space TPS. In this case, the parking route generator 15 calculates a parking route R1 from the current position P1 to the turnaround position P3 shown in FIG. 3, and a parking route R2 from the turnaround position P3 to the target parking space TPS. Then, the series of parking routes R1 and R2 are output to the route follow-up control unit 17 and the target vehicle speed generation unit 18. FIG.

The object deceleration calculation unit 16 receives the positional information of the obstacle and other objects from the object detector 13, and calculates the time to collision with the object (TTC) based on the distance to the object and the vehicle speed. ) to calculate the deceleration start timing of the host vehicle. For example, in the remote parking mode shown in FIG. 3, the objects as obstacles are the wall W on the right side of the road at the turning point P3, the houses H1 and H2 on both sides of the parking route R2 leading to the target parking space TPS, and the plants H1 and H2. In the case of WD or the like, when the distance to these obstacles is greater than or equal to a predetermined value, the vehicle speed is set to an initial set value, and the time TTC until the own vehicle V collides with an obstacle becomes less than or equal to a predetermined value. , the vehicle speed of the own vehicle V is reduced. Similarly, when an obstacle is unexpectedly detected in the parking paths R1 and R2 during execution of the series of autonomous parking control shown in FIG. becomes equal to or less than a predetermined value, the vehicle speed of the host vehicle V is decelerated or stopped. This deceleration start timing is output to the target vehicle speed generator 18 .

Based on the parking route from the parking route generating unit 15 and the current position of the own vehicle from the vehicle position detector 12, the route following control unit 17 follows the own vehicle along the parking route at predetermined time intervals. Calculate the target steering angle of Regarding the parking routes R1 and R2 in FIG. 3, the target steering angle of the parking route R1 that goes straight from the current position P1 to the turning position P3 and turns to the right, and the left turning and turning from the turning position P3 to the target parking space TPS. The target steering angle of the straight parking route R2 is calculated at predetermined time intervals for each current position of the host vehicle V, and output to the steering angle control unit 19 .

Based on the parking path from the parking path generation unit 15 and the deceleration start timing from the object deceleration calculation unit 16, the target vehicle speed generation unit 18 determines the speed at which the vehicle V follows the parking path at predetermined time intervals. Calculate the target vehicle speed. Regarding the parking routes R1 and R2 in FIG. and the target vehicle speed when approaching the target parking space TPS and stopping are calculated at predetermined time intervals for each current position of the vehicle V. , to the vehicle speed control unit 20 . Further, when an unexpected obstacle is detected in the parking paths R1 and R2 during execution of the series of autonomous parking control shown in FIG. A target vehicle speed corresponding to this is output to the vehicle speed control unit 20 .

The target vehicle speed generator 18 stores the upper limit vehicle speed v1 for the assist mode and the upper limit vehicle speed v2 (≤v1) for the remote control mode. The vehicle speed v1 is set as the target vehicle speed, and the upper limit vehicle speed v2 is set as the target vehicle speed in the remote control mode. These upper limit vehicle speeds are not particularly limited, but the upper limit vehicle speed v1 in the assist mode is, for example, 5 to 10 km/h, and the upper limit vehicle speed v2 in the remote control mode is, for example, 2 to 10 km/h (where v1≧v2). . Hereinafter, the upper limit vehicle speed v1 in the assist mode will be referred to as the first vehicle speed v1, and the upper limit vehicle speed v2 in the remote control mode will be referred to as the second vehicle speed v2. Since the operator's driving judgment including brake operation is reflected, the upper limit vehicle speed v1 is set to be equal to or higher than the upper limit vehicle speed v2 in the remote control mode.

The steering angle control section 19 generates a control signal for operating a steering actuator provided in the steering system of the own vehicle V based on the target steering angle from the route following control section 17 . The vehicle speed control unit 20 also generates a control signal for operating an accelerator actuator provided in the drive system of the host vehicle V based on the target vehicle speed from the target vehicle speed generation unit 18 . By simultaneously controlling the steering angle control section 19 and the vehicle speed control section 20, autonomous parking control is executed.

The operator U instructs the remote controller 21 to continue or stop the execution of the autonomous parking control set by the target parking space setting device 11 from outside the vehicle. Therefore, a short-distance signal is required to transmit an execution continuation command signal or an execution stop signal to the route following control unit 17 and the target vehicle speed generation unit 18 (or alternatively, the steering angle control unit 19 and the vehicle speed control unit 20 may be used). It has a communication function and communicates with a short-range communication function provided in the vehicle V. An execution continuation command signal or an execution stop signal is transmitted from the remote controller 21 to the route following control unit 17 and the target vehicle speed generation unit 18 (or alternatively, the steering angle control unit 19 and the vehicle speed control unit 20 may be used). Means may use a telecommunications network such as the Internet. Further, the function of the remote controller 21 may be provided to a remote control key for automatically locking and unlocking the door locking/unlocking device of the own vehicle V by remote control.

In particular, the remote parking system 1 of this embodiment includes the intermediate stop position setting unit 14 that sets the parking route generated by the parking route generation unit 15 to at least the first travel route and the second travel route. That is, the intermediate stop position setting unit 14 sets the parking route generated by the parking route generation unit 15 to a running route from the current position P1 to the intermediate stop position Pn, and the self-vehicle V is autonomously controlled at the first vehicle speed. and a travel route from the intermediate stop position Pn to the target parking space TPS, where the self-vehicle V can perform autonomous travel control at a second vehicle speed that is equal to or lower than the first vehicle speed and equal to or higher than a predetermined vehicle speed. and a second travel route. Hereinafter, the travel route is also referred to as a parking route.

Here, the intermediate stop position Pn is a position in the middle of the parking routes R1 and R2 generated by the parking route generation unit 15, and is the first travel route and the second travel route set by the intermediate stop position setting unit 14. is the boundary position between The intermediate stop position Pn is also the timing at which an operator such as a driver gets off the vehicle and switches from the assist mode to the remote control mode. In other words, the intermediate stop position Pn is the switching timing from the first vehicle speed v1 in the assist mode to the second vehicle speed v2 in the remote control mode.

The intermediate stop position setting unit 14 divides the parking route generated by the parking route generation unit 15 into at least a first driving route for autonomous driving control in the assist mode and a second driving route for autonomous driving control in the remote control mode. However, the intermediate stop position Pn, which is the boundary position, is set as follows. That is, as a first example, the intermediate stop position Pn is set at a position where the remaining distance to the target parking space TPS is equal to or less than a predetermined distance on the parking routes R1 and R2 from the current position P1 to the target parking space TPS. set. For example, in the parking scene shown in FIG. 3, if the remaining distance from the vehicle V to the target parking space TPS at position P5 reaches a predetermined distance, this position P5 is set as the intermediate stop position Pn. Although the predetermined remaining distance is not particularly limited, it is, for example, 5 m to 15 m (approximately 1 to 3 vehicle lengths), and 2 m to 5 m (approximately 1 vehicle length) depending on the travel route. By setting the intermediate parking position Pn based on the remaining distance to the target parking space TPS, the distance of the autonomous driving control by the assist mode, which enables relatively high-speed parking, becomes longer, and the total time required for parking is reduced. can be shortened.

As a second example, the intermediate stop position Pn is defined by the parking path R1, R2 from the current position P1 to the target parking space TPS, where the turning radius of the vehicle V is a predetermined value or more (in other words, the steering angle is a predetermined value). value). For example, in the parking scene shown in FIG. 3, in the parking path R2 where the own vehicle V reverses from the turning position P3 and enters the parking space TPS, the turning radius is the smallest from the position P4 to the position P5. , the position P5 is set as the intermediate stop position Pn. The turning radius of the own vehicle V is not particularly limited, and varies depending on the wheelbase length and other vehicle specifications. Or about 10m. By setting the intermediate stop position Pn based on the turning radius of the own vehicle V, the vehicle speed for autonomous travel control in the remote control mode can be brought closer to the upper limit vehicle speed, so the total time required for parking can be shortened. .

As a third example, the intermediate stop position Pn is set at a position where the vehicle V does not turn back on the parking routes R1 and R2 from the current position P1 to the target parking space TPS. For example, in the parking scene shown in FIG. 3, the position P3 is the turning position, so the intermediate stop position Pn is set to any one of the positions P3 to P6. If the intermediate stop position Pn is set before the turning point Pn, it becomes necessary to remotely control the traveling route including the turning point P3 in the remote control mode, so that the autonomous driving control must be performed at a low speed. Therefore, by setting the intermediate stop position Pn to a position where the vehicle V does not turn back, the total time required for parking can be shortened.

As a fourth example, the intermediate stop position Pn is set at a position where the surrounding conditions of the target parking space TPS can be detected on the parking routes R1 and R2 from the current position P1 to the target parking space TPS. That is, while the autonomous driving control is being executed in the assist mode, the object detector 13 grasps the surroundings of the vehicle V, and reaches a position where the target parking space TPS can be confirmed and an image of the surroundings can be obtained. Then, that position is set as the intermediate stop position Pn. For example, in the parking scene shown in FIG. 3, it is difficult to check the surroundings of the target parking space TPS from the current position P1 through the turnaround position P3 to the position P4. Since the image of the target parking space TPS and its surroundings can be acquired by the rear camera of the object detector 13, the position P5 is set as the intermediate stop position Pn. By setting the intermediate parking position Pn to a position where the surrounding conditions of the target parking space TPS can be detected, the vehicle speed of the autonomous driving control in the remote control mode can be brought close to the upper limit vehicle speed. can save time.

As a fifth example, the intermediate stop position Pn is autonomously driven at the first vehicle speed (upper limit vehicle speed v1), which is the upper limit vehicle speed in the assist mode, on the parking routes R1 and R2 from the current position P1 to the target parking space TPS. Set to a controllable position. For example, in the parking scene shown in FIG. 3, on the parking route R2 from the turn-around position P3 to the parking space TPS, the driving route from the position P5 to the position P7 is almost straight. , the vehicle speed in the remote control mode can be set to the upper limit vehicle speed v2=v1. By setting the intermediate stop position Pn to a position where the maximum vehicle speed can be set in the control mode in this way, the parking time in the remote control mode can be shortened, thus shortening the total time required for parking. be able to.

Although the first to fifth examples described above are examples of the present invention and are not particularly limited, it is desirable to set at least one of them as the setting condition for the intermediate stop position Pn. In addition, a plurality of conditions can be selected from examples 1 to 5, such as setting a position that satisfies the two conditions of the remaining distance in the first example and the radius of gyration in the second example as the intermediate stop position Pn. may Further, the setting of the intermediate stop position Pn may be set before starting the autonomous driving control in the assist mode when the driving route is generated by the parking route generating unit 15. It may be set during the autonomous driving control after starting the driving control. The control procedure shown in FIGS. 2 and 4 shows an example in which the intermediate stop position Pn is set during the autonomous driving control after starting the autonomous driving control in the assist mode. Among them, the control procedure shown in FIG. 2 is that when the driving route is generated by the parking route generation unit 15, a temporary intermediate stop position is set before the autonomous driving control in the assist mode is started. At the temporary intermediate stop position, the conditions shown in the first to fifth examples described above are determined. On the other hand, the control procedure shown in FIG. Determine the conditions shown in the example. Details of these control procedures will be described later.

The parking route storage unit 22 is a memory that stores in advance the parking routes R1 and R2 when there is a specific parking space TPS, such as a home or place of work, where the parking frequency is relatively high. For this reason, the in-vehicle device of the own vehicle V is provided with a route storage mode switch for storing the parking routes R1 and R2. Autonomous parking control using the parking route storage unit 22 will be described later with reference to FIGS. 6A to 7. FIG.

Next, the control flow of the remote parking system 1 of this embodiment will be described with reference to FIGS. 2 and 3. FIG. FIG. 2 is a flowchart showing a control procedure executed by the remote parking system 1 of this embodiment, and FIG. 3 is a plan view showing an example of reverse remote parking executed by the remote parking system 1. As shown in FIG.

First, when the own vehicle V arrives at the vicinity P0 of the target parking space TPS, in step S1, an operator U such as a driver turns on the remote parking start switch of the target parking space setting device 11 mounted on the vehicle. to select remote receipt mode. In step S2, the target parking space setting unit 11 searches for a parking space in which the vehicle V can be parked using a plurality of cameras mounted on the vehicle, and in step S3, whether or not there is a parking space in which the vehicle can be parked. judge. When there is a parking space available for parking, the process proceeds to step S4, and when there is no parking space available for parking, the process returns to step S1. If a parking space available for parking is not detected in step S2, the operator may be informed of this by verbal display or voice such as "there is no parking space", and this processing may be terminated.

In step S4, the target parking space setting unit 11 displays available parking spaces on the display mounted in the vehicle, prompts the operator to select a desired parking space, and when the operator selects a specific parking space TPS, The target parking position information is output to the parking route generator 15 . In step S5, the parking path generator 15 generates parking paths R1 and R2 shown in FIG. , based on the object information detected by the object detector 13, the deceleration start timing during autonomous parking control is calculated. The parking paths R1 and R2 generated by the parking path generating section 15 are output to the route following control section 17, and the deceleration start timing calculated by the object deceleration calculating section 16 is output to the target vehicle speed generating section 18.

Particularly in this example, in step S6, the intermediate stop position setting section 14 sets a provisional intermediate stop position. As for the parking scene shown in FIG. 3, the position P4 or the position P5, which is highly likely to be the intermediate stop position Pn, is set as a provisional intermediate stop position. For example, assume that the position P4 is set as a temporary intermediate stop position.

Since the autonomous parking control is in the standby state as described above, in step S7, the operator is urged to approve the start of the autonomous parking control, and when the operator approves the start, the autonomous driving control in the assist mode is started. In the reverse parking shown in FIG. 3, the vehicle once moves forward by turning right from the current position P1 shown in FIG. back up to When the host vehicle V reaches this temporary intermediate stop position P4, it is determined in step S8 whether or not the conditions for the intermediate stop position Pn are satisfied while continuing the autonomous driving control in the assist mode.

Here, the conditions for the intermediate stop position Pn are any one of the above-described first to fifth examples or a combination thereof. For example, it is determined whether or not the remaining distance in the first example, the turning radius in the second example, and the absence of the turning position in the third example are all satisfied. If the conditions for the intermediate stop position Pn are satisfied, the process proceeds to step S9, and if not satisfied, the autonomous travel control in the assist mode is continued, and the vehicle moves backward to a position that satisfies the conditions.

In step S9, since the position of the own vehicle V has reached the intermediate stop position Pn, the own vehicle V is stopped and the operator is urged to get off. When the operator is prompted to get off the vehicle in step S9 and gets off the vehicle holding the remote controller 21, the operator activates the remote controller 21 in step S10. As a result, the remote operation is started, and the remote operation start input by the remote controller 21 can be used to start the operation software program installed in the remote controller 21, unlock the door, lock and unlock the door, and so on. Lock operations, activation of these and operating software programs, etc. can be exemplified. It should be noted that the own vehicle V is in a stopped state from step S9 to step S12.

In step S11, pairing processing between the remote controller 21 and the own vehicle V is performed. When the host vehicle V authenticates the remote controller 21 and can accept commands by the pairing process in step S11, remote operation is started in step S12, and the process proceeds to step S13 to perform autonomous parking control in the remote control mode. is executed.

Then, in step S14, by continuing to press the execution button of the remote controller 21, execution of the remote parking control continues ("Y" in step S14). On the other hand, when the operator presses the stop button of the remote controller 21 (or releases the execution button), the remote parking control stop command is sent to the route following control unit 17 and the target vehicle speed generation unit 18 (or alternatively, It is transmitted to the steering angle control unit 19 and the vehicle speed control unit 20), and the remote parking control is temporarily stopped (step S14→S15). In addition, when the safety is confirmed while the remote parking control is temporarily stopped, the operator continues to press the execution button of the remote controller 21 again, and the execution of the remote parking control is resumed (step S15→S14). .

That is, when the operator gets out of the vehicle and continues to press the execution button of the remote controller 21, the route follow-up control unit 17 sequentially outputs the target steering angle along the parking route to the steering angle control unit 19, The vehicle speed generator 18 sequentially outputs the target vehicle speed along the parking route to the vehicle speed controller 20 . As a result, the own vehicle V executes autonomous parking control in the remote control mode along the parking route at the target vehicle speed from the position P5, which is the intermediate stop position Pn, to the target parking space TPS. At this time, the object detector 13 detects the presence or absence of an object such as an obstacle existing around the vehicle V, and when an obstacle is detected on the parking path, the object deceleration calculation unit 16 calculates the deceleration start timing. Then, the host vehicle V decelerates or stops. The processes from step S13 to step S16, which will be described later, are executed at predetermined time intervals until the host vehicle V reaches the target parking space TPS in step S16.

In step S16, it is determined whether or not the vehicle V has arrived at the target parking space TPS. If not, the process returns to step S13. stops the own vehicle V and terminates the process. As described above, the travel route from the current position P1 of the host vehicle V to the intermediate stop position Pn is determined by executing the autonomous travel control in the assist mode in which the vehicle speed of the host vehicle V is set to the first vehicle speed (upper limit vehicle speed v1), and the vehicle is stopped at the intermediate stop. For the travel route from the position Pn to the target parking space TPS, autonomous travel control is executed in a remote control mode in which the vehicle speed of the own vehicle is set to the second vehicle speed (upper limit vehicle speed v2).

Next, a control flow according to another example of the remote parking system 1 of this embodiment will be described with reference to FIGS. 4 and 5. FIG. FIG. 2 is a flowchart showing another example of the control procedure executed by the remote parking system 1 of this embodiment, and FIG. 3 is a plan view showing another example of reverse remote parking executed by the remote parking system 1. be. This example differs from the examples shown in FIGS. 2 and 3 in that step S6 in FIG. 2 (setting of a temporary intermediate stop position) is omitted. Same control as shown. Therefore, only steps S5 to S8 will be described, and the processing contents shown in FIG. 2 will be used for the processing contents of the other steps.

In step S5 of FIG. 4, the parking path generator 15 generates parking paths R1 and R2 shown in FIG. The unit 16 calculates deceleration start timing during autonomous parking control based on the object information detected by the object detector 13 . The parking paths R1 and R2 generated by the parking path generating section 15 are output to the route following control section 17, and the deceleration start timing calculated by the object deceleration calculating section 16 is output to the target vehicle speed generating section 18.

In this example, the process proceeds to step S7 without setting a temporary intermediate stop position, prompts the operator to approve the start of the autonomous parking control in step S7, and when the operator approves the start, the autonomous parking control in the assist mode is performed. Travel control is started. In reverse parking shown in FIG. 5, the vehicle moves forward by turning right from the current position P1 shown in FIG. While the self-vehicle V continues the autonomous driving control in this assist mode, in step S8, it is determined whether or not the condition of the intermediate stop position Pn is satisfied.

Here, the conditions for the intermediate stop position Pn are any one of the above-described first to fifth examples or a combination thereof. For example, it is determined whether or not the remaining distance in the first example, the turning radius in the second example, and the absence of the turning position in the third example are all satisfied. If the conditions for the intermediate stop position Pn are satisfied, the process proceeds to step S9, and if not satisfied, the autonomous travel control in the assist mode is continued, and the vehicle moves backward to a position that satisfies the conditions. In the parking scene shown in FIG. 5, the parking routes R1 and R2 are relatively simple compared to the parking scene shown in FIG. can be set in a short time.

Next, with reference to FIGS. 6A, 6B, and 7, a control flow according to still another example of the remote parking system 1 of this embodiment will be described. 6A and 6B are flowcharts showing still another example of the control procedure executed in the remote parking system 1 of this embodiment, and FIG. 7 shows still another example of reverse remote parking executed in the remote parking system 1. It is a plan view showing the. In this example, when there is a specific parking space TPS where the parking frequency is relatively high, such as at home or at work, the parking routes R1 and R2 are stored in advance in the parking route storage unit 22, and the parking route generation unit 15 This stored travel route is read out and used. Therefore, compared to the examples shown in FIGS. 2 and 3, the difference is that the travel route storage process shown in FIG. The processing is the same as the control shown in FIG. Therefore, only steps S3 to S6 in FIGS. 6A and 6B will be described, and the processing contents shown in FIG. 2 are used for the processing contents of the other steps.

At step S21 in FIG. 6A, the route storage mode switch of the in-vehicle device of the host vehicle V is turned on to activate the route storage mode. For example, in the parking scene shown in FIG. 7, the operator stores the parking routes R1 and R2 from the current position P1 to the target parking space TPS and sets the intermediate stop position Pn to the position P5. If desired, the host vehicle V is first moved to the current position P1, and the route storage mode switch is turned on.

In step S22, similarly to the autonomous parking control, the parking route storage unit 22 searches for a parking space where the vehicle V can park using a plurality of cameras mounted on the vehicle. Determine if there is space. When there is a parking space available for parking, the process proceeds to step S24, and when there is no parking space available for parking, the process returns to step S1. In step S24, the parking route storage unit 22 displays available parking spaces on the on-vehicle display, prompts the operator to select a desired parking space, and the operator selects a specific parking space TPS. By the processing up to this point, the current position P1 and the target parking space TPS are stored in the parking path storage unit 22 . Then, the operator manually drives the own vehicle V along the desired travel route.

In step S25, it is determined whether or not the own vehicle V has arrived at the target parking space TPS by manual operation. is stored in the parking route storage unit 22. As described above, the parking paths R1 and R2 from the current position P1 desired by the operator to the target parking space TPS are stored in the parking path storage unit 22 .

With the parking routes R1 and R2 desired by the operator stored in the parking route storage unit 22 by the parking route storage process shown in FIG. 6A, the own vehicle arrives at the position P0 shown in FIG. When the remote parking start switch of the set target parking space setting device 11 is turned on and the remote parking mode is selected, in step S4 of FIG. Further, in step S5, the initial position of the vehicle V on the stored parking paths R1 and R2 is detected. When the location of the vehicle V on the stored parking routes R1 and R2 is detected in step S5, the process proceeds to step S7 to execute autonomous driving control in the assist mode. The processing of steps S8 to S16 below is the same as the processing shown in FIG.

As described above, according to the remote parking system 1 of the present embodiment, the intermediate stop position Pn, which is the switching timing between the assist mode in which relatively high-speed travel is possible and the remote control mode in which relatively low-speed travel is performed, is set to the current position. Since it is set in the middle of the parking paths R1 and R2 from P1 to the target parking space TPS, the range of the remote control mode in which the vehicle travels at a relatively low speed is limited, and the assist mode is switched to the remote control mode at a timing according to the situation. can be switched. As a result, the total time required for autonomous travel control can be shortened.

Further, according to the remote parking system 1 of the present embodiment, a temporary intermediate stop position P4 is set in the middle of the parking paths R1 and R2, and from the current position P1 to the temporary intermediate stop position P4, the assist mode is used. , the autonomous travel control is performed at the first vehicle speed, and at the temporary intermediate stop position P4, it is determined whether or not the autonomous travel control is possible at the second vehicle speed in the remote control mode, thereby searching for the intermediate stop position Pn. An intermediate stop position Pn suitable for the current situation of the parking paths R1 and R2 from the current position P1 to the target parking space TPS can be set with high accuracy.

Further, according to the remote parking system 1 of the present embodiment, the intermediate parking position Pn is defined as the remaining distance to the target parking space TPS on the parking routes R1 and R2 from the current position P1 to the target parking space TPS. A position where the turning radius of the vehicle V is equal to or greater than a predetermined value, a position where the vehicle V does not turn back, a position where the surrounding conditions of the target parking space TPS can be detected, or the first Since it is set by a position where autonomous travel control is possible depending on the vehicle speed, or a combination thereof, an appropriate position can be selected as the intermediate stop position Pn.

In addition, according to the remote parking system 1 of the present embodiment, since the driving route desired by the operator is stored in advance, not only is the computational load of the parking route generation unit 15 reduced, Autonomous travel control can be executed using parking routes R1 and R2 that do not cause discomfort.

The steering angle control unit 19 and the vehicle speed control unit 20 correspond to the running controller according to the present invention, and the target parking space setting unit 11, the parking route generation unit 15, the route following control unit 17, and the target vehicle speed generation unit 18 correspond to the present invention. It corresponds to the controller according to the invention.

DESCRIPTION OF SYMBOLS 1... Remote parking system 11... Target parking space setting device 12... Vehicle position detector 13... Object detector 14... Intermediate stop position setting part 15... Parking path generation part 16... Object deceleration calculation part 17... Path follow-up control part 18... Target vehicle speed generation unit 19 Steering angle control unit 20 Vehicle speed control unit 21 Remote controller 22 Parking route storage unit V Own vehicle TPS Target parking space Pn Intermediate stop positions R1, R2 Parking route W wall (obstacle)
H1, H2... Houses (obstacles)
WD...Plants (obstacle)

Claims (11)

the computer
Detects the current position of the vehicle equipped with the autonomous driving control function, acquires the target stop position,
calculating a travel route for autonomous travel control from the current position to the target stop position;
The travel route is at least
a first travel route from the current position to an intermediate stop position, the first travel route enabling autonomous travel control of the host vehicle at a first upper limit vehicle speed or less;
a second travel route, which is a travel route from the intermediate stop position to the target stop position, wherein the self-vehicle can perform autonomous travel control at a second upper limit vehicle speed that is equal to or lower than a first upper limit vehicle speed and equal to or higher than a predetermined vehicle speed; Set,
the first travel route is autonomously controlled at the first upper limit vehicle speed in an assist mode in which an operator riding in the own vehicle can perform an intervention operation;
In the vehicle travel control method in which the second travel route is autonomously controlled at the second upper limit vehicle speed in a remote control mode using a remote controller located outside the own vehicle,
The vehicle travel control method, wherein the intermediate stop position is set at a position where the turning radius of the own vehicle is equal to or greater than a predetermined value on a travel route from the current position to the target stop position. the computer
Detects the current position of the vehicle equipped with the autonomous driving control function, acquires the target stop position,
calculating a travel route for autonomous travel control from the current position to the target stop position;
The travel route is at least
a first travel route from the current position to an intermediate stop position, the first travel route enabling autonomous travel control of the host vehicle at a first upper limit vehicle speed or less;
a second travel route, which is a travel route from the intermediate stop position to the target stop position, wherein the self-vehicle can perform autonomous travel control at a speed equal to or lower than a first upper limit vehicle speed and equal to or lower than a predetermined vehicle speed and equal to or lower than a second upper limit vehicle speed; Set,
the first travel route is autonomously controlled at the first upper limit vehicle speed in an assist mode in which an operator riding in the own vehicle can perform an intervention operation;
In the vehicle travel control method in which the second travel route is autonomously controlled at the second upper limit vehicle speed in a remote control mode using a remote controller located outside the own vehicle,
setting a temporary intermediate stop position in the middle of the travel route;
autonomous travel control at the first upper limit vehicle speed in the assist mode from the current position to the temporary intermediate stop position;
At the temporary intermediate stop position, starting to determine whether or not the conditions for the intermediate stop position are satisfied ;
When the conditions for the intermediate stop position are satisfied, the remote control mode is switched to autonomous driving control at the second upper limit vehicle speed,
A vehicle travel control method for continuing autonomous travel control at the first upper limit vehicle speed in the assist mode until it is determined that the conditions for the intermediate stop position are met when the conditions for the intermediate stop position are not satisfied. 3. The vehicle travel control method according to claim 2, wherein the condition for the intermediate stop position is a condition that the remaining distance to the target stop position on the travel route from the current position to the target stop position is equal to or less than a predetermined distance. 4. The vehicle travel control method according to claim 2, wherein the condition for the intermediate stop position is a condition that the turning radius of the host vehicle is equal to or greater than a predetermined value on the travel route from the current position to the target stop position. The vehicle travel control method according to any one of claims 2 to 4, wherein the condition for the intermediate stop position is a condition in which there is no turning operation of the own vehicle on the travel route from the current position to the target stop position. . detecting a situation around the own vehicle including the target stop position;
The vehicle travel control method according to any one of claims 2 to 5, wherein the condition for the intermediate stop position is a condition that allows detection of a situation around the target stop position. 7. The condition of the intermediate stop position, according to any one of claims 2 to 6, wherein autonomous travel control is possible at the first upper limit vehicle speed on the travel route from the current position to the target stop position. A vehicle travel control method. The vehicle travel control method according to any one of claims 1 to 7, wherein the travel route is stored in advance. The vehicle travel control method according to any one of claims 1 to 8, wherein the host vehicle is parked at the target stop position in the assist mode and the remote control mode. a travel controller for autonomous travel control of the own vehicle equipped with an autonomous travel control function;
a controller that calculates a travel route from the current position to the target stop position and outputs a travel command to the travel controller;
a remote controller that commands the execution or stop of the controller from outside the own vehicle;
The travel route is at least
a first travel route from the current position to an intermediate stop position, the first travel route enabling autonomous travel control of the host vehicle at a first upper limit vehicle speed or less;
a second travel route, which is a travel route from the intermediate stop position to the target stop position, wherein the self-vehicle can perform autonomous travel control at a second upper limit vehicle speed that is equal to or lower than a first upper limit vehicle speed and equal to or higher than a predetermined vehicle speed; and an intermediate stop position setting unit to set,
The controller is
On the first travel route, autonomous travel control is performed at the first upper limit vehicle speed in an assist mode in which an operator can intervene,
On the second travel route, autonomous travel control is performed at the second upper limit vehicle speed in a remote control mode by the remote controller without intervention by the operator;
A vehicle travel control device, wherein the intermediate stop position is set at a position where the turning radius of the own vehicle is equal to or greater than a predetermined value on a travel route from the current position to the target stop position. a travel controller for autonomous travel control of the own vehicle equipped with an autonomous travel control function;
a controller that calculates a travel route from the current position to the target stop position and outputs a travel command to the travel controller;
a remote controller that commands the execution or stop of the controller from outside the own vehicle;
The travel route is at least
a first travel route from the current position to an intermediate stop position, the first travel route enabling autonomous travel control of the host vehicle at a first upper limit vehicle speed or less;
a second travel route, which is a travel route from the intermediate stop position to the target stop position, wherein the self-vehicle can perform autonomous travel control at a second upper limit vehicle speed that is equal to or lower than a first upper limit vehicle speed and equal to or higher than a predetermined vehicle speed; and an intermediate stop position setting unit to set,
The controller is
On the first travel route, autonomous travel control is performed at the first upper limit vehicle speed in an assist mode in which an operator can intervene,
A vehicle travel control device that performs autonomous travel control at the second upper limit vehicle speed in a remote control mode by the remote controller without intervention by the operator on the second travel route,
The controller is
setting a temporary intermediate stop position in the middle of the travel route;
autonomous travel control at the first upper limit vehicle speed in the assist mode from the current position to the temporary intermediate stop position;
At the temporary intermediate stop position, starting to determine whether or not the conditions for the intermediate stop position are satisfied ;
When the conditions for the intermediate stop position are satisfied, the remote control mode is switched to autonomous driving control at the second upper limit vehicle speed,
When the conditions for the intermediate stop position are not met, the vehicle travel control device continues autonomous travel control at the first upper limit vehicle speed in the assist mode until it is determined that the conditions for the intermediate stop position are met .

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