JP7278760B2 - Vehicle travel control method and vehicle travel control device during parking - Google Patents

Description

The present invention provides a vehicle travel control method for automatically parking a vehicle in a predetermined parking space, or autonomously leaving the vehicle from a predetermined parking space (hereinafter referred to as parking, including entering and exiting). The present invention relates to a vehicle travel control device.

A vehicle notification system that predicts the vehicle's travel route based on the vehicle's driving conditions, and draws visible light figures on the road surface of the predicted travel route to urge pedestrians not to enter the travel route. is known (Patent Document 1).

JP 2014-13524 A

However, the conventional technology described above draws a figure indicating the range through which the own vehicle passes on the road surface serving as the travel route, or draws a stop line to prompt pedestrians to stop before the travel route. There is, and it is not the figure which shows the detection range of the obstacle. Therefore, the pedestrian cannot recognize whether the vehicle is actually detecting him or not.

The problem to be solved by the present invention is that when performing/stopping autonomous warehousing or autonomous warehousing while parking is remotely controlled from outside the vehicle, the operator can perform the remote control while grasping the detection state of objects (obstacles) of the vehicle. It is an object of the present invention to provide a vehicle travel control method and a vehicle travel control device capable of

According to the present invention, when a vehicle equipped with an autonomous cruise control function autonomously enters or exits the garage based on an execution command or a stop command from a remote control device outside the vehicle, obstacles and other objects around the vehicle If an object is detected, the position of the remote control is detected, and a predetermined pattern is displayed at a predetermined position on the road surface between the position of the vehicle and the position of the remote control. to solve the above problems.

According to the present invention, the operator of the remote controller can grasp the detection state of obstacles and other objects existing around the vehicle by visually recognizing the display of the predetermined pattern displayed at the predetermined position on the road surface. can. Therefore, the operator can appropriately remotely control the vehicle to be autonomously entered or exited.

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 plan view showing the mounted state of the object detector and the pattern indicator of FIG. 1 on a vehicle and the remote controller; FIG. 2 is a plan view showing an example of a display state at a predetermined position on a road surface by the pattern indicator of FIG. 1; 2 is a diagram showing an example of a position detector of the remote controller of FIG. 1; FIG. FIG. 2 is a flow chart showing a control procedure executed by the remote parking system of FIG. 1; FIG. FIG. 2 is a plan view (part 1) showing an example of reverse remote parking performed by the remote parking system of FIG. 1; FIG. 2 is a plan view (No. 2) showing an example of reverse remote parking performed by the remote parking system of FIG. 1 ; FIG. 3 is a plan view (No. 3) showing an example of reverse remote parking performed by the remote parking system of FIG. 1 ; FIG. 4 is a plan view (part 4) showing an example of reverse remote parking performed by the remote parking system of FIG. 1; FIG. 6D is a plan view (Part 1) showing a first display form example of a pattern displayed at a predetermined position on the road surface in the reverse remote parking example shown in FIGS. 6A to 6D; FIG. 7 is a plan view (part 2) showing a first display form example of a pattern displayed at a predetermined position on the road surface in the reverse remote parking example shown in FIGS. 6A to 6D; FIG. 7 is a plan view (part 1) showing a second display form example of a pattern displayed at a predetermined position on the road surface in the reverse remote parking example shown in FIGS. 6A to 6D; FIG. 8 is a plan view (part 2) showing a second display form example of a pattern displayed at a predetermined position on the road surface in the reverse remote parking example shown in FIGS. 6A to 6D; FIG. 6D is a plan view (part 1) showing a third display form example of a pattern displayed at a predetermined position on the road surface in the reverse remote parking example shown in FIGS. 6A to 6D; FIG. 8 is a plan view (part 2) showing a third display form example of a pattern displayed at a predetermined position on the road surface in the reverse remote parking example shown in FIGS. 6A to 6D; FIG. 2 is a plan view (part 1) showing an example of parallel remote parking performed by the remote parking system of FIG. 1; FIG. 2 is a plan view (No. 2) showing an example of parallel remote parking performed by the remote parking system of FIG. 1; 10B is a plan view (No. 1) showing a fourth example of the pattern displayed at a predetermined position on the road surface in the parallel remote parking example shown in FIGS. 10A and 10B. FIG. FIG. 11 is a plan view (part 2) showing a fourth display form example of a pattern displayed at a predetermined position on the road surface in the parallel remote parking example shown in FIGS. 10A and 10B; FIG. 11 is a plan view showing a fifth display form example of a pattern displayed at a predetermined position on the road surface when parking in a narrow parking space in the reverse remote parking example executed by the remote parking system of FIG. 1 ; be. FIG. 10 is a plan view showing a sixth display form example of a pattern displayed at a predetermined position on the road surface when parking in a narrow parking space in the example of reverse remote parking performed by the remote parking system of FIG. 1 ; be.

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, "parking" refers to continuously parking a vehicle in a parking space, but the term "parking route" includes not only the garage entrance route to the parking space, but also the route from the parking space. A garage exit route is also included. In this sense, the "vehicle travel control method and vehicle travel control device during parking" according to the present invention provide travel control of the vehicle when entering the parking space and vehicle travel control when leaving the garage from the parking space. includes both. Note that entering the garage is also called entering the garage, and exiting the garage is also called leaving the garage. Autonomous driving control and autonomous parking control mean that the vehicle is driven or parked (entered or exited) by automatic control of an in-vehicle driving control device without depending on the driving operation of the driver.

The remote parking system 1 of the present embodiment is a system that performs parking into or out of the parking space by autonomous driving control when entering or exiting the parking space. Autonomous parking control is continued by the driver getting off the vehicle and continuing to send execution commands from the remote controller while confirming safety. 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 garage entry autonomous driving control mode combined with remote control is also referred to as remote parking mode, and the garage exit autonomous driving control mode combined with remote control is also referred to as remote exit 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 entry mode and a remote exit mode are used in combination with remote operation. 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. When exiting the garage from the parking space, the driver turns on the internal combustion engine or drive motor of the vehicle using the remote controller, activates the remote exit mode, and moves to the selected garage exit position. After the autonomous garage exit control is started, the driver completes the garage exit by continuing to send an execution command from the remote controller, and then gets on the vehicle. The remote parking system 1 of the present embodiment is a system that includes a remote parking mode using such remote control and a remote parking mode using remote control.

The remote parking system 1 of this embodiment includes a target parking space setter 11, a vehicle position detector 12, an object detector 13, a remote controller position detector 14, a parking route generator 15, an object deceleration calculator 16, a route A tracking control unit 17 , a target vehicle speed generation unit 18 , a steering angle control unit 19 , a vehicle speed control unit 20 , a road surface display pattern setting unit 21 , a pattern display device 22 and a remote controller 23 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 allows the operator to select a desired parking space from available parking spaces. Positional information of the space (relative positional coordinates from the current position of the host vehicle, latitude/longitude, etc.) is output to the parking route generator 15 . In the remote exit mode, the target parking space setter 11 searches for exit spaces existing around the currently parked vehicle, and selects the exit desired by the operator from the possible exit spaces. A space is selected, and the positional information (relative positional coordinates from the current position of the vehicle, latitude/longitude, etc.) of this leaving space is output to the parking route generator 15 . In addition, the leaving space means a temporary stop position of the own vehicle when boarding after the operator performs the leaving operation in the remote leaving mode.

The target parking space setting device 11 has an input switch for inputting a remote parking mode or a remote parking leaving mode, and a plurality of cameras (not shown, object detection described later) that capture the surroundings of the vehicle. The device 13 may be shared.), a computer installed with a software program for searching available parking spaces from image data captured by a plurality of cameras, and images including available parking spaces are displayed. and a touch panel display. 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. In addition, when an operator such as a driver activates the internal combustion engine or drive motor of the vehicle using the remote controller 23 and selects the remote leaving mode with the input switch of the remote controller 23, the vehicle is detected by a plurality of cameras. image data around is obtained, and an image including an exitable parking space is displayed on the display of the remote controller 23.例文帳に追加When the operator selects a desired exit space from the displayed exit spaces, the target parking space setter 11 obtains the position information of this exit space (relative position coordinates from the current position of the vehicle, latitude/longitude, etc.). ) to the parking route generator 15 .

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. FIG. 2 is a plan view showing an example of the mounting state of the object detectors 13a to 13h on the vehicle V. The center 13a and both sides 13b and 13c of the front bumper, the center 13d and both sides 13e and 13f of the rear bumper, the left and right 8 shows an example in which object detectors 13a to 13h are mounted at eight locations on sill outers 13g and 13h below the center pillar. The object detectors 13a to 13h are collectively referred to as the object detector 13. FIG. Note that the mounting positions and the number of the object detectors 13 shown in FIG. 2 are merely an example, and the object detectors 13 may be mounted at positions other than those shown in FIG. good. 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. (relative position coordinates from the current position, latitude/longitude, etc.) are output to the parking path generation unit 15 , the object deceleration calculation unit 16 , and the road surface marking pattern setting unit 21 .

Returning to FIG. 1, the position detector 14 of the remote controller 23 is a device for identifying the position of the remote controller 23 when it is taken out of the vehicle. , the radio field intensity between at least two antennas 24, 24 provided at different positions on the own vehicle V, the antenna 231 of the remote controller 23, and the antenna 231 of the remote controller and the antennas 24, 24 of the vehicle V It consists of a sensor for detecting, and a computer installed with a software program for calculating the position of the remote controller 23 from the radio wave intensity detected by the sensor using triangulation or the like. The radio waves for specifying the position of the remote controller 23 are continuously transmitted at predetermined time intervals, and the ever-changing position of the remote controller 23 with respect to the own vehicle V is obtained, for example, as relative position information with respect to the own vehicle V. Identify as An execution command signal from the remote controller 23 can be used as the radio wave for specifying the position of the remote controller 23 .

The radio waves for specifying the position of the remote controller 23 may be transmitted from the antenna 231 of the remote controller 23 to the antennas 24, 24 of the vehicle V at predetermined time intervals, or may be transmitted remotely from the antennas 24, 24 of the vehicle V. It may be transmitted to the antenna 231 of the operation device 23 at predetermined time intervals. In the former case, a sensor for detecting the radio wave intensity between the antennas 24, 24 of the vehicle V and the antenna 231 of the remote controller, and a remote controller using a triangulation method or the like from the radio wave intensity detected by the sensor. A computer installed with a software program for calculating the position of 23 is provided on the vehicle V, and in the latter case on the remote controller 23 . The positional information of the remote controller (relative positional information with respect to the own vehicle V) detected by the position detector 14 of the remote controller 23 is output to the road marking pattern setting section 21 . Since the remote controller 23 is taken out of the vehicle by the operator, the position information of the remote controller 23 detected by the position detector 14 of the remote controller 23 is also the operator's position information.

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 the space, and position information of the leaving space in the case of the remote leaving mode; the same shall apply hereinafter); ), and the parking route from the current position of the vehicle to the target parking position (in the case of the remote parking mode, it means the parking route; , to compute a parking path that does not collide or interfere with objects. 6A-6D are plan views showing an example of the remote warehousing mode. At the current position of the own vehicle V shown in FIG. 6A, when the driver operates the input switch to select the remote entry mode, the target parking space setter 11 searches for three possible parking spaces and displays an image containing them. Suppose that the display is displayed and the driver selects the parking space PS1. In this case, the parking route generator 15 calculates entry routes R1 and R2 from the current position shown in FIG. 6A to the parking space PS1 shown in FIGS. 6B, 6C and 6D.

In the parking position shown in FIG. 6D, if other vehicles V3 and V4 are parked on both sides of the own vehicle V as indicated by the dotted lines and the driver opens the door to make it difficult to get in, the remote exit mode is used. The own vehicle V can also be made to leave the garage. That is, in the state shown in FIG. 6D , when the driver uses the remote controller 23 to start the internal combustion engine or drive motor of the own vehicle and operates the input switch of the remote controller 23 to select the remote exit mode, the target For example, the parking space setting unit 11 searches for an exitable exit space S1 shown in FIG. 6B and displays it on the display of the remote controller 23, and the driver selects the exit space S1. In this case, the parking route generation unit 15 calculates the exit route from the current position shown in FIG. 6D to the exit space shown in FIGS. 6C and 6B. As described above, the parking path generator 15 calculates the parking path from the current position to the parking space in the remote parking mode, and calculates the parking exit path from the current position to the parking space in the remote parking mode. do. Then, these entry and exit routes are output to the route follow-up control section 17 and the target vehicle speed generation section 18 .

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 FIGS. 6A to 6D, if the object as an obstacle is the wall W of the parking lot, the distance from the wall W is a predetermined distance or more as shown in FIGS. 6A to 6C. In this case, the vehicle speed is set to an initial set value, and the vehicle speed of the vehicle V is reduced at the timing when the time TTC until the vehicle V collides with the wall W becomes equal to or less than a predetermined value as shown in FIG. 6D. This deceleration start timing is output to the target vehicle speed generator 18 .

The route follow-up control unit 17 follows the vehicle's entry route or exit route at predetermined time intervals based on the entry route or exit route from the parking route generation unit 15 and the current position of the vehicle from the vehicle position detector 12. A target steering angle for following a route along is calculated. 6A to 6D, the target steering angle of the warehousing route R1 that goes straight from the current position shown in FIG. 6A to the turning position shown in FIG. A target steering angle of an entry route R2 that turns left to the parking position shown in FIG.

The target vehicle speed generating unit 18 guides the vehicle V along the entering route or leaving route at predetermined time intervals based on the entering route or leaving route from the parking route generating unit 15 and the deceleration start timing from the object deceleration calculating unit 16. Calculate the target vehicle speed when following the route along. 6A to 6D, the target vehicle speed when starting from the current position shown in FIG. 6A and stopping at the turning position shown in FIG. 6B, and starting (reversing) from the turning position shown in FIG. 6B. The target vehicle speed when turning left halfway to the parking position shown in FIG. 6C and the target vehicle speed when approaching the wall W shown in FIG. Output to the control unit 20 .

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 23 from outside the vehicle whether to continue or stop the execution of the autonomous parking control set by the target parking space setting device 11 . Therefore, a short-distance signal for transmitting 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 (such as the antenna 231 shown in FIG. 4), and communicates with the antennas 24, 24 provided on the vehicle V. FIG. In the remote parking mode, a start/stop switch for the drive system (internal combustion engine or drive motor) of the own vehicle V, an input switch for inputting the remote parking mode, and a display for displaying an image including the parking space. is required, it is preferable to configure it with a portable computer that has these functions.

However, when using only the remote parking mode, it is sufficient to send a command signal to continue or stop the execution of autonomous parking control. may be provided. Further, an execution continuation command signal or an execution stop signal is transmitted from the remote controller 23 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). The means may use a telecommunications network. Note that the remote controller 23 and the in-vehicle device of the vehicle V (the route following control unit 17 and the target vehicle speed generator 18) are paired via a short-range communication function (when the vehicle V authenticates the remote controller 23). and receive a command) is executed, and the execution continuation command signal or the execution stop signal is accepted only when the own vehicle V authenticates the remote controller 23 .

In particular, in the remote parking system 1 of the present embodiment, the pattern display device 22 that displays a visible pattern on the road surface, and when the pattern display device 22 is controlled to detect an object by the object detector 13, the object is detected. A road surface display pattern setting unit 21 for displaying a predetermined pattern corresponding to the detection direction at a predetermined position on the road surface.

The pattern display device 22 is configured by an LED lighting device, a laser light irradiation device, or the like, and irradiates the road surface around the own vehicle V with visible light. For example, as shown in FIG. 2, the mounting position of the pattern display device 22 configured by an LED lighting device, a laser beam irradiation device, etc. is near each of the object detectors 13a to 13h and on each of the object detectors 13a to 13h. They can be arranged side by side in association with each other. FIG. 2 is a plan view showing an example of the mounting state of the pattern indicators 22a to 22h on the own vehicle V. The vicinity of each of the eight object detectors 13a to 13h described above, that is, the center 22a of the front bumper and the An example is shown in which pattern indicators 22a to 22h are attached to eight locations, ie, both sides 22b and 22c, the center 22d and both sides 22e and 22f of the rear bumper, and the sill outers 22g and 22h below the left and right center pillars. It should be noted that the mounting positions and the number of the pattern indicators 22 shown in FIG. 2 are just an example, and they may be mounted at positions other than those shown in the figure, and the mounting positions may be less than eight or nine or more. good. Alternatively, the LED lighting device may be provided on the entire circumference of the own vehicle V, and the surroundings of the own vehicle V may be divided into the same segments for display.

The upper and lower diagrams of FIG. 3 are diagrams showing an example of the pattern P projected onto the road surface by each of the pattern indicators 22 provided at eight locations. The example shown in the upper diagram of FIG. 3 is an example of a pattern indicating the detection range of each of the object detectors 13a to 13h, and the example shown in the lower diagram of FIG. 3 is an example of displaying a pattern of figures. The pattern P shown in the upper and lower diagrams of FIG. The display area of the display device 22 is variable, and which pattern display device 22 is turned ON/OFF is also variable.

The road surface marking pattern setting unit 21 sets the visible light pattern P by the pattern display device 22 . The pattern P of visible light displays a predetermined pattern P corresponding to the detection direction of the object by the object detector 13 at a predetermined position on the road surface. Here, an example of the pattern P set by the road surface indication pattern setting unit 21 will be described. All of the examples are included in "displaying a predetermined pattern P at a predetermined position on the road surface according to the detection direction of the object" of the present invention.

<<Example of first display form>>
FIGS. 7A and 7B show patterns P displayed by the pattern indicators 22a to 22h while the autonomous parking control is being executed in the remote parking mode shown in FIGS. 6A to 6D. is a plan view showing an example of a display form displayed at a predetermined position on the road surface facing toward. In this case, the pattern P when no object is detected by the object detector 13 is a pattern of area correlated to the detection range of the object detector 13, while the distance between the own vehicle V and the detected object (wall W in this case) is The closer the distance is, the smaller the display area of the pattern P is.

In the state shown in FIG. 7A, none of the eight object detectors 13a to 13h mounted around the own vehicle V detects an object, so the eight pattern indicators 22a to 22h illuminate the road surface. Each pattern P to be detected is a pattern of area correlated to the detection range of the object detector 13 . Here, the area correlated with the detection range of the object detector 13 means the same area as the detection range of the object detector 13, or an area similar thereto. On the other hand, in the state shown in FIG. 7B, the rear part of the vehicle V is approaching the wall W, which is the object to be detected. The area of the pattern P by the corresponding pattern indicators 22d, 22e, and 22f is made smaller than the area of the pattern P by the other pattern indicators 22a to 22c, 22g, and 22h.

Specifically, the area of the pattern P by the three pattern indicators 22d, 22e, and 22f attached to the rear bumper is displayed smaller than the area of the pattern P by the other five pattern indicators 22a to 22c, 22g, and 22h. Furthermore, among the patterns P by the three pattern indicators 22d, 22e, and 22f attached to the rear bumper, the area of the pattern P by the pattern indicator 22d attached to the center is calculated by the two patterns attached to both sides of the rear bumper. It is displayed smaller than the area of the pattern P by the pattern indicators 22e and 22f. As a result, the operator U, who has gotten off the vehicle, visually recognizes the pattern P displayed on the road surface and the size of the pattern P, thereby directly recognizing which part of the own vehicle V is approaching the wall W, which is an obstacle. can do.

<<Second display form example>>
8A and 8B show the pattern P displayed by each of the pattern indicators 22a to 22h during the execution of the autonomous parking control in the remote parking mode as shown in FIGS. 6A to 6D. 2 is a plan view showing a display form example displayed at a predetermined position on a road surface that is symmetrical with respect to . In this case, the pattern P may be displayed at line-symmetrical positions by all the pattern indicators 22a to 22h, or the pattern P may be displayed at line-symmetrical positions by specific pattern indicators 22a to 22h. 8A and 8B show the detection states of the three object detectors 13d, 13e, and 13f attached to the rear bumper on the side approaching the obstacle (wall W). The road surface symmetrical to the straight line L1 along the direction, that is, the road surface in front of the host vehicle V is displayed by three pattern indicators 22a, 22b, and 22c attached to the front bumper. In this display form example, as shown in the figure, when the remote controller 23 (that is, the operator U) is positioned on the front side of the vehicle V, the vehicle V and the remote controller 23 (that is, the operator U) It is also an example of a display form displayed on the road surface between the person U).

In the state shown in FIG. 8A, no object (wall W) is detected by the three object detectors 13d, 13e, and 13f attached to the rear bumper of the vehicle V. Each pattern P projected onto the road surface by the three pattern indicators 22a, 22b, and 22c has an area correlated to the detection range of the object detectors 13d, 13e, and 13f. On the other hand, in the state shown in FIG. 8B, the rear part of the vehicle V approaches the wall W, which is the detected object, and the three object detectors 13d, 13e, and 13f attached to the rear bumper of the vehicle V Since the distance to the wall W detected by is shortened, the area of the pattern P is displayed small by the three pattern indicators 22a, 22b, and 22c attached to the corresponding front bumper. Of the patterns P formed by the three pattern displays 22a, 22b, and 22c mounted, the area of the pattern P formed by the pattern display 22a mounted in the center is defined by the two pattern displays 22b mounted on both sides of the front bumper. , 22c is displayed smaller than the area of the pattern P.

When the operator U uses the remote controller 23 to operate the autonomous parking in the remote parking mode or the remote parking leaving mode, the operator U rarely stands in the traveling direction of the own vehicle V, and the own vehicle V and the wall W as an obstacle are relatively rare. It is relatively rare to stand in between, and it is usually operated from a position away from the entry route or the exit route of the own vehicle V. However, since there is a possibility that the vehicle V will collide with an obstacle existing in the traveling direction of the vehicle V, the pattern P displayed by the pattern display 22 is displayed with respect to the straight line L1 along the left-right direction of the vehicle V. By displaying the pattern P at a predetermined position on the road surface, the operator U can recognize whether the own vehicle V is approaching the wall W, which is an obstacle, simply by visually recognizing the pattern P displayed on the road surface. can do.

<<Third display form example>>
9A and 9B show that the pattern P displayed by each of the pattern indicators 22a to 22h is displayed from the host vehicle V toward the remote controller 23 during the execution of autonomous parking control in the remote parking mode shown in FIGS. 6A to 6D. FIG. 4 is a plan view showing a display form example displayed at a predetermined position on a road surface; In this case, the pattern P may be displayed at predetermined positions on the road surface facing the remote controller 23 from the own vehicle V by a plurality of pattern indicators 22a to 22h. , a pattern P corresponding to the detection state of the closest object (wall W) may be displayed on the road surface. 9A and 9B show a display form example in which a pattern P corresponding to the detection state of the closest object (wall W) is displayed on the road surface only by the pattern display 22 facing the remote controller 23 closest. In this display form example, it is necessary to detect the position of the remote controller 23. Therefore, the position of the remote controller 23 is detected in advance by the position detector 14 of the remote controller 23, and is sent to the road surface display pattern setting unit 21. output.

In the state shown in FIG. 9A, since no object (wall W) is detected by the eight object detectors 13 mounted on the vehicle V, the eight patterns mounted on the vehicle V Each pattern P projected onto the road surface by the pattern display 22b directed toward the remote controller 23 among the displays 22a to 22h has an area pattern correlated with the detection range of the object detector 13. FIG. On the other hand, in the state shown in FIG. 9B, the rear part of the vehicle V approaches the wall W, which is the detected object, and the rear bumper of the eight object detectors 13a to 13h mounted on the vehicle V is detected. Since the distance to the wall W detected by the object detector 13d mounted in the center is the shortest, the pattern display directed to the remote controller 23 among the eight pattern displays 22a to 22h mounted on the own vehicle V is the shortest. The area of the pattern P by the container 22b is reduced according to the close distance to the wall W. As a result, the operator U can visually recognize the pattern P displayed on the road surface between him and the vehicle V without changing his position. It is possible to recognize whether a certain wall W is approaching.

<<Fourth display form example>>
The remote parking system 1 of the present embodiment can also be applied when parallel parking (entering or exiting the parking lot) shown in FIGS. 10A and 10B is performed by remote control. That is, as shown in FIG. 10A, when the own vehicle V is parked in parallel in the parking space PS4 between the two other vehicles V5 and V6, the parking path generation unit 15 determines the size of the own vehicle stored in advance. (vehicle width, vehicle length, minimum turning radius, etc.), target parking position PS4 from target parking space setter 11, current position information of own vehicle V from vehicle position detector 12, object detector 13 (Other vehicles V1, V2, walls W, etc., which are obstacles) are input, and a parking route from the current position of the own vehicle V to the target parking position PS4, which does not collide with or interfere with the object. Compute parking routes. For example, when the driver operates the input switch to select the remote parking mode (parallel parking) at the current position of the own vehicle V shown in FIG. is displayed on the display, and the driver selects parking space PS4. In this case, the parking path generator 15 calculates a parking path from the current position shown in FIG. 10A to the parking space PS4 shown in FIG. 10B. In the remote parking mode in which the vehicle starts from the parallel parking state, the same operation as the remote parking mode from the parking position shown in FIG. 6D is performed.

11A and 11B show that the pattern P by each of the pattern indicators 22a to 22h is displayed in a straight line along the longitudinal direction of the own vehicle V during the execution of autonomous parking control in the remote parallel parking mode as shown in FIGS. 10A to 10D. FIG. 11 is a plan view showing a display form example displayed at a predetermined position on a road surface that is line-symmetrical with respect to L2; In this case, the pattern P may be displayed at line-symmetrical positions by all the pattern indicators 22a to 22h, or the pattern P may be displayed at line-symmetrical positions by specific pattern indicators 22a to 22h. In the display form examples shown in FIGS. 11A and 11B, the detection states by three object detectors 13c, 13f, and 13h mounted on the left side of the own vehicle V, which is the side approaching the obstacle (wall W), are automatically displayed. Displayed on the road surface on the right side of the vehicle V by the three pattern indicators 22b, 22e, and 22g mounted on the right side of the vehicle V, that is, the road surface that is symmetrical with respect to the straight line L2 along the longitudinal direction of the vehicle V. do. In this display form example, when the remote controller 23 (that is, the operator U) is positioned on the right side of the vehicle V, the vehicle V and the remote controller 23 (that is, the operator U) are displayed as shown in FIG. ) is also an example of a display form displayed on the road surface between

In the state shown in FIG. 11A, no object (wall W) is detected by the two object detectors 13c and 13h attached to the left and left side sill outers of the front bumper of the vehicle V. Each pattern P projected onto the road surface by two pattern indicators 22b and 22g mounted on the right side and right side sill outers of the front bumper has an area pattern correlated with the detection range of the object detector 13. On the other hand, one object detector 13f mounted on the left side of the rear bumper detects the approach of the object (wall W), so one pattern display 22e mounted on the right side of the rear bumper detects the road surface. Each pattern P to be irradiated has an area smaller than the area correlated to the detection range of the object detector 13 . On the other hand, in the state shown in FIG. 11B, the left side of the vehicle V approaches the wall W, which is the detected object, and the three object detectors 13c and 13f mounted on the left side of the vehicle V , 13h becomes shorter, the area of the corresponding pattern P is displayed smaller by the three pattern indicators 22b, 22e, and 22g mounted on the right side of the vehicle V. .

When the operator U operates the remote controller 23 to perform autonomous parallel parking in the remote entry mode or the remote exit mode, it is relatively rare for the operator U to stand between the own vehicle V and the wall W, which is an obstacle. It is often operated from a position away from the cascade entry route or the cascade exit route of V. However, it is possible for the vehicle V to collide with an obstacle that exists on the side of the vehicle V to parallel park, that is, the wall W or the other vehicles V5 and V6 in front and behind. By displaying the pattern P at a predetermined position on the road surface that is symmetrical with respect to the straight line L2 along the front-rear direction of the vehicle V, the operator U only visually recognizes the pattern P displayed on the road surface. It can be recognized whether the own vehicle V is approaching the wall W which is an obstacle.

<<Fifth display form example>>
FIG. 12 shows pattern displays 22a to 22h corresponding to object detectors 13 during autonomous parking control in remote entry mode in a narrow garage surrounded by obstacles such as walls W. 2 is a plan view showing a display form example in which a pattern P is displayed at a predetermined position on a road surface that is rotationally symmetric about the vehicle V as the rotation center O. FIG. In this case, the pattern P may be displayed at rotationally symmetrical positions by all of the pattern indicators 22a to 22h, or the pattern P may be displayed at rotationally symmetrical positions by specific pattern indicators 22a to 22h. When the pattern P is displayed at rotationally symmetrical positions by all the pattern displays 22a to 22h corresponding to the object detectors 13, the pattern display 22d and the object detector 13b for the object detector 13a shown in FIG. pattern indicator 22f for object detector 13c, pattern indicator 22e for object detector 13d, pattern indicator 22a for object detector 13d, pattern indicator 22c for object detector 13e, object detection A pattern display 22b is used for the device 13f, a pattern display 22h is used for the object detector 13g, and a pattern display 22g is used for the object detector 13h.

In the example of the display form shown in FIG. 12, the detected state by the three object detectors 13d, 13e, and 13f attached to the rear bumper, which is the side approaching the obstacle (wall W), is set with the own vehicle V as the rotation center O. The road surface to be rotated, that is, the road surface in front of the host vehicle V is displayed by three pattern indicators 22a, 22c, and 22b attached to the front bumper. In this display form example, when the remote controller 23 (that is, the operator U) is positioned in front of the vehicle V, the vehicle V and the remote controller 23 (that is, the operator U) are shown in FIG. It is also an example of a display form displayed on the road surface between U).

In the state shown in FIG. 12, the rear part of the vehicle V approaches the wall W, which is the detected object, and the rear bumper of the three object detectors 13d, 13e, and 13f attached to the rear bumper of the vehicle V Since the distance to the wall W detected by the object detector 13e mounted on the right side of the front bumper becomes shorter, the front bumper The area of the pattern P by the pattern display 22c attached to the left side of the pattern display 22c is displayed small, and the area of the pattern P by the other pattern displays 22a and 22b is the area of the area correlated to the detection range of the object detectors 13d and 13f. Make a pattern.

When the operator U uses the remote controller 23 to operate the autonomous parking in the remote parking mode or the remote parking leaving mode, the operator U rarely stands in the traveling direction of the own vehicle V, and the own vehicle V and the wall W as an obstacle are relatively rare. It is relatively rare to stand in between, and it is usually operated from a position away from the entry route or the exit route of the own vehicle V. However, the vehicle V may collide with an obstacle existing in the direction in which the vehicle V is traveling. By displaying it at a predetermined position on the road surface, the operator U can recognize whether the own vehicle V is approaching the wall W, which is an obstacle, simply by visually recognizing the pattern P displayed on the road surface. .

<<Sixth display form example>>
FIG. 13 shows that, in a narrow garage surrounded by obstacles such as walls W, during the execution of autonomous parking control in the remote parking mode, the collision time TTC until it collides with the detected object is calculated, FIG. 10 is a plan view showing a display form example in which only the pattern P for the object with the shortest collision time is displayed at a predetermined position on the road surface facing the remote controller 23 from the host vehicle V; In this case, the shorter the collision time, the smaller the area of the pattern P displayed on the road surface. Let it be a pattern of areas correlated to the range. In the example shown in FIG. 13, any one of the three pattern indicators 22a, 22b, and 22c attached to the front bumper is the pattern indicator 22 that displays the pattern P for the object with the shortest collision time. may be used.

In this display form example, it is necessary to calculate the time TTC until the collision with the object. Based on the current position of the own vehicle detected by the detector 12 , the time TTC until the vehicle collides with the object is calculated and output to the road marking pattern setting section 21 . As in this display form example, by adding the element of time to the pattern P displayed on the road surface by the pattern display 22, the operator U who gets out of the vehicle can visually recognize the pattern P displayed on the road surface. The collision time between the own vehicle V and the wall W, which is an obstacle, can be recognized.

The display form examples of the pattern display 22 executed by the road surface indication pattern setting unit 21 have been described above, but any one of these display form examples may be processed by the road surface indication pattern setting unit 21. . Alternatively, the remote controller 23 may be provided with a switch for selecting the display form by the road surface display pattern setting unit 21 so that the operator U can select during remote operation. By configuring several display form examples to be switchable with the remote controller 23, the operator U can select the pattern that is most easily visually recognizable according to his position. and the wall W, which is an obstacle, can be recognized. Further, when the pattern P is displayed by the pattern display 22, the road surface display pattern setting unit 21 sets the pattern to indicate the detection range of the object detector 13 only for a predetermined time at startup, and then shifts to the display form example described above. You may

Next, with reference to FIG. 5, the control flow of the remote parking system 1 of this embodiment will be described. Here, a scene will be described in which reverse parking shown in FIG. 6A or reverse parallel parking shown in FIG. 10A is executed by autonomous parking control (parking). First, when the own vehicle V arrives near the parking space, in step S1, an operator U such as a driver turns on the remote parking start switch of the target parking space setter 11 mounted on the vehicle to activate the remote parking mode. select. 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 vehicle-mounted display, prompts the operator U to select a desired parking space, and when the operator U selects a specific parking space, The target parking position information is output to the parking route generator 15 . In step S5, the parking route generator 15 generates a parking route shown in FIGS. 6B to 6D or 10B from the current position of the vehicle V and the target parking position. Based on the object information detected by the device 13, the deceleration start timing during autonomous parking control is calculated. The parking route generated by the parking route generation unit 15 is output to the route following control unit 17 , and the deceleration start timing calculated by the object deceleration calculation unit 16 is output to the target vehicle speed generation unit 18 .

As described above, the autonomous parking control enters a standby state, prompting the operator U to approve the start of the autonomous parking control, and when the operator U approves the start, the autonomous parking control is started. In reverse parking shown in FIG. 6A, the vehicle moves forward once from the current position shown in FIG. 6A, and when it reaches the turning position shown in FIG. Back up while steering to the left and go straight to the parking space PS1 shown in FIG. 6D. In reverse parallel parking shown in FIG. 10A, the vehicle once moves forward from the current position shown in FIG. 10A, and when it reaches the turning position shown in FIG. 10B, and parallel parks in the parking space PS4 shown in FIG. 10B.

When the operator U gets off the vehicle with the remote controller 23 in step S6 while such autonomous parking control is being executed, the operator U activates the remote controller 23 in step S7. It should be noted that the host vehicle V is in a stopped state from step S6 to step S9. In step S8, pairing processing between the remote controller 23 and the host vehicle V is performed. As a result of this pairing process, when the host vehicle V authenticates the remote control device 23 and can accept commands, remote control is started in step S9. Execution of parking control continues. On the other hand, when the operator U presses the stop button of the remote controller 23 (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 instead of this, , the steering angle control unit 19 and the vehicle speed control unit 20), and the remote parking control is temporarily stopped. Note that, for example, when safety is confirmed while the remote parking control is temporarily stopped, the execution of the remote parking control is resumed by the operator U continuing to press the execution button of the remote controller 23 again.

When the operator U gets out of the vehicle and continues to press the execution button of the remote controller 23, the route follow-up control unit 17 sequentially outputs the target steering angle along the parking route to the steering angle control unit 19, and the target vehicle speed The generator 18 sequentially outputs the target vehicle speed along the parking route to the vehicle speed controller 20 . As a result, the host vehicle V executes autonomous parking control along the parking route at the target vehicle speed. At this time, in step S10, the object detector 13 detects the presence or absence of an object such as an obstacle existing around the host vehicle V. If an object is detected in step S11, the process proceeds to step S12 to detect the object. If not, the process proceeds to step S15. The processing from step S10 to step S15, which will be described later, is performed at predetermined time intervals until the host vehicle V reaches the target parking space in step S16.

The processing from step S12 to step S15 is executed according to the display form example of the pattern P set by the road surface display pattern setting section 21 described above. That is, in step S12, the road surface display pattern setting unit 21 detects the position of the remote controller 23 held by the operator U. As shown in FIG. Since the instruction to continue the execution of the remote operation from the remote controller 23 to the own vehicle V is performed by short-range communication from the antenna 231 of the remote controller 23 to the antennas 24, 24 of the vehicle V, The radio wave intensity sensor provided in the vehicle detects the radio wave intensity between the antennas 24, 24 of the vehicle V and the antenna 231 of the remote controller, and the position of the remote controller 23 is calculated using a triangulation method or the like. Since the mounting positions and distances of the antennas 24, 24 of the vehicle are known, the relative position of the remote controller 23 with respect to the own vehicle V can be calculated. In the third display form example (FIGS. 9A and 9B) and the sixth display form example (FIG. 13) described above, the pattern P displayed by the pattern display 22 is displayed at a predetermined position on the road surface facing the remote controller 23 from the own vehicle V. For display, the position of remote control 23 is detected in step S12. Note that step S12 may be omitted when the pattern P is displayed regardless of the position of the remote controller 23 as in other display form examples.

In step S<b>13 , the road surface indication pattern setting unit 21 calculates the collision time between the object such as the obstacle detected by the object detector 13 and the own vehicle V. FIG. The distance to the obstacle is detected by the object detector 13, and the target vehicle speed is generated by the target vehicle speed generator 18. Based on this information, the time TTC until the vehicle V collides with the object is calculated. In the sixth display form example (FIG. 13) described above, since the pattern P of the area corresponding to the time TTC until the vehicle collides with the object is displayed on the road surface, the collision time TTC is calculated in step S13. Note that step S13 may be omitted when the pattern P is displayed regardless of the time TTC until collision with the object, as in other display form examples.

In step S14, the road surface display pattern setting unit 21 controls the pattern display device 22 to display the pattern P corresponding to the detection direction of the object at a predetermined position on the road surface. The pattern according to the detection direction of the object here means including any one of the above-described first display form example to sixth display form example. That is, a first display form example (FIGS. 7A and 7B) in which the pattern P by each of the pattern indicators 22a to 22h is displayed at a predetermined position on the road surface facing the detection direction by each of the object detectors 13a to 13h (FIGS. 7A and 7B), each pattern indicator A second display form example (FIGS. 8A and 8B) in which the pattern P by 22a to 22h is displayed at a predetermined position on the road surface symmetrical with respect to the straight line L1 along the left-right direction of the vehicle V, each pattern display 22a. A third display form example (FIGS. 9A and 9B) in which the pattern P by the pattern indicators 22a to 22h is displayed at a predetermined position on the road surface facing the remote controller 23 from the own vehicle V, and the pattern P by the pattern indicators 22a to 22h is A fourth display form example (FIGS. 10A and 10B) in which the pattern P is displayed at a predetermined position on the road surface symmetrical with respect to the straight line L2 along the longitudinal direction of the vehicle V, and the pattern P by the pattern indicators 22a to 22h is displayed on the vehicle. A second display form example (FIG. 12), which displays at a predetermined position on the road surface that is rotationally symmetrical with V as the center of rotation O, only the pattern P for the object with the shortest collision time with the object can be remotely operated from the own vehicle V. At least one of the sixth display form example (FIG. 13) displayed at a predetermined position on the road surface facing the vessel 23 is included. In this case, a display form in which the display area of the pattern P is made smaller as the distance to the object is shorter is also included.

In step S15, when no object is detected by the object detectors 13a to 13h, the road surface display pattern setting section 21 detects patterns by the pattern indicators 22a to 22h corresponding to the object detectors 13a to 13h. Let it be a pattern of areas correlated to the range. The judgment executed in step S11 is made for each of the object detectors 13a to 13h, and the display of the pattern P in steps S14 and S15 is also performed by the pattern display 22a corresponding to each of the object detectors 13a to 13h. Every ~22h.

At step S16, it is determined whether or not the vehicle V has arrived at the target parking space. If not, the process returns to step S10. End control.

As described above, according to the remote parking system 1 of the present embodiment, the own vehicle V equipped with the autonomous travel control function can be autonomously controlled based on the execution command or the stop command from the remote controller 23 outside the own vehicle V. When entering a predetermined space by running control or leaving a predetermined space by autonomous running control, it is searched for whether an object such as an obstacle exists around the own vehicle V, and when an object is detected, A predetermined pattern corresponding to the detection direction is displayed at a predetermined position on the road surface. As a result, the operator U of the remote controller 23 recognizes the detection state of obstacles and other objects existing around the own vehicle V by visually recognizing the display of the predetermined pattern P displayed at a predetermined position on the road surface. can do. Therefore, the operator U can appropriately remotely control the vehicle to be autonomously entered or exited.

Further, according to the remote parking system 1 of the present embodiment, the display area of the predetermined pattern P is reduced as the distance between the own vehicle V and the detected object is reduced. , the distance between the own vehicle V and the object can be intuitively grasped.

Further, according to the remote parking system 1 of the present embodiment, the predetermined pattern P when no object is detected is a pattern of areas correlated with the detection range of the object detector 13. Therefore, the operator U selects the pattern P. The detection range of the object detector 13 can also be grasped only by visually recognizing it.

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, and the position detector 14 of the road surface display pattern setting unit 21 and the remote controller 23 corresponds to the display controller according to the invention.

REFERENCE SIGNS LIST 1 remote parking system 11 target parking space setting device 12 vehicle position detector 13 object detector 14 remote controller position detector 15 parking route generator 16 object deceleration calculator 17 route follow-up controller REFERENCE SIGNS LIST 18 Target vehicle speed generation unit 19 Steering angle control unit 20 Vehicle speed control unit 21 Road surface display pattern setting unit 22 Pattern display device 23 Remote controller 231 Antenna 24 Antenna V Own vehicle V1 to V6 Other vehicle P... Display patterns PS1, PS2, PS3... Parking space S1... Leaving space U... Operator W... Obstacle (object)

Claims (5)

In a vehicle travel control method executed by a travel control device that causes a vehicle to travel by autonomous travel control,
The travel control device is
Based on an execution command or a stop command from a remote control device outside the vehicle, the vehicle equipped with the autonomous driving control function is caused to enter a predetermined space by the autonomous driving control, or leave the predetermined space by the autonomous driving control. If you let
searching for the existence of an object around the vehicle;
when the object is detected, detecting the position of the remote controller;
A vehicle travel control method, wherein a predetermined pattern is displayed at a predetermined position on a road surface between the position of the vehicle and the position of the remote controller. 2. The vehicle travel control method according to claim 1, wherein said travel control device reduces the display area of said predetermined pattern as the distance between said vehicle and said detected object decreases. 2. The travel control device, when the object is not detected, sets the predetermined pattern to a pattern having the same area as a detection range of a detector for detecting the object or a pattern having an area similar to the detection range. 3. The vehicle travel control method according to 2 . The vehicle travel control method according to any one of claims 1 to 3 , wherein a specific predetermined pattern can be selected from a plurality of display forms of the predetermined patterns by the remote controller. A travel controller that causes a vehicle equipped with an autonomous travel control function to enter a predetermined space by autonomous travel control, or to leave a predetermined space by autonomous travel control;
a controller that calculates an entry route to the predetermined space or an exit route from the predetermined space and outputs a travel command to the travel controller;
a remote controller for commanding the execution or stop of the controller from outside the vehicle;
an object detector for searching whether an object exists around the vehicle;
a pattern indicator that displays a visible pattern on the road surface;
a position detector that detects the position of the remote controller when the object is detected;
a display controller that controls the pattern display to display a predetermined pattern on a road surface between the position of the vehicle and the position of the remote controller.

Images