JP7429111B2 - Traffic control equipment and vehicle control equipment - Google Patents

Description

Embodiments of the present invention relate to a control device and a vehicle control device.

In recent years, systems (for example, automatic valet parking systems) that control the running of vehicles within a predetermined area (for example, a parking lot) have been studied. In such a system, for example, a control device estimates the position of a vehicle within a predetermined area based on detection data (for example, an image captured by a fixed camera) acquired from a detection unit provided within the predetermined area. Further, the vehicle estimates the position of another vehicle within a predetermined area based on detection data from an on-vehicle sensor (for example, an image taken by an on-vehicle camera).

Japanese Patent Application Publication No. 2011-54116 JP2015-74321A Japanese Patent Application Publication No. 2016-57677

However, in the above-mentioned system, the conventional technology does not assume the case where the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor is different from the position of the other vehicle estimated by the control device. However, there is room for improvement.

Therefore, one of the problems of the embodiment is that in a system that controls the movement of a vehicle within a predetermined area, the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor, and the position of the other vehicle estimated by the control device. An object of the present invention is to provide a control device and a vehicle control device that can appropriately handle cases where the locations of vehicles are different.

A control device as an example of an embodiment is a control device in a system that controls traveling of vehicles within a predetermined area, and the control device detects a first vehicle and a first vehicle within the predetermined area from a detection unit provided within the predetermined area. a first acquisition unit that acquires detection data of the first vehicle of the two vehicles; and a first acquisition unit that estimates a first vehicle position indicating the position of the first vehicle based on the detection data of the first vehicle. an estimation unit; a second acquisition unit that acquires from the second vehicle a second first vehicle position indicating the position of the first vehicle estimated based on detection data of an on-vehicle sensor in the second vehicle; A determination unit that compares the first first vehicle position and the second first vehicle position and determines that there is an abnormality when there is a difference of more than a predetermined value.

According to this configuration, the control device uses the position (second first vehicle position) of the other vehicle (first vehicle) estimated by the vehicle (second vehicle) based on the detection data of the on-board sensor, and the position estimated by itself. By comparing the positions of the other vehicles (first vehicles) (first first vehicle positions) and determining that there is an abnormality if there is a difference greater than a predetermined value, appropriate measures can be taken.

Further, in the control device, the first acquisition unit acquires the detection data of the second vehicle from the detection unit provided within the predetermined area, and the estimation unit acquires the detection data of the second vehicle. A first second vehicle position indicating the position of the second vehicle is estimated based on the first second vehicle position, and if the determining unit determines that there is an abnormality, the first first vehicle position and the second first vehicle position are estimated. The vehicle further includes a vehicle control unit that controls the second vehicle to stop or avoid a collision when the first and second vehicle positions approach within a predetermined distance with respect to a predetermined range including the position. Good too.

According to this configuration, safety can be further improved by stopping or avoiding a collision when the second vehicle approaches a wide predetermined range that includes the first first vehicle position and the second first vehicle position. can.

Further, in the control device, the first acquisition unit acquires the detection data of the second vehicle from the detection unit provided within the predetermined area, and the estimation unit acquires the detection data of the second vehicle. the second acquisition unit estimates a first second vehicle position indicating the position of the second vehicle based on the estimated second vehicle position; A vehicle position is acquired from the second vehicle, and the determining unit determines that the difference between the first first vehicle position and the second first vehicle position is the first second vehicle when determining that there is an abnormality. If the difference is greater than the difference between the position and the second second vehicle position, it may be determined that the on-vehicle sensor provided in the second vehicle is abnormal.

According to this configuration, in the case of an abnormality, it is possible to easily deal with the abnormality by identifying whether the abnormality is on the control device side or the on-vehicle sensor provided in the second vehicle.

The control device is a control device in a system that controls the running of vehicles within a predetermined area, and the detection unit provided in the predetermined area detects the detection of a first vehicle and a second vehicle within the predetermined area. a first acquisition unit that acquires detection data of the first vehicle; and an estimation unit that estimates a first vehicle position indicating the position of the first vehicle based on the detection data of the first vehicle. , a second first vehicle position indicating a position of the first vehicle estimated based on detection data of an on-vehicle sensor in the second vehicle is acquired from the second vehicle, and a second first vehicle position indicating a position of the first vehicle estimated in the second vehicle is a second acquisition unit that acquires a third first vehicle position indicating the position of the first vehicle from the first vehicle; and a determination unit that compares the first vehicle positions and determines that there is an abnormality when there is a difference of more than a predetermined value between the two furthest positions.

According to this configuration, by comparing the three first vehicle positions described above, it is possible to more quickly recognize that there is an abnormality in the system.

Further, the vehicle control device as an example of the embodiment is a vehicle control device mounted on a second vehicle in a system for controlling the running of a vehicle within a predetermined area, and the an acquisition unit that acquires from a control device in the system a first vehicle position indicating a position of the first vehicle estimated based on the acquired detection data of the first vehicle; an estimation unit that estimates a second first vehicle position indicating the position of the first vehicle based on detection data; and a determination unit that determines that there is an abnormality when there is a difference.

According to this configuration, not only on the control device side but also on the vehicle control device side, the first vehicle position estimated by the control device and the second By comparing vehicle positions and determining that there is an abnormality if there is a difference greater than a predetermined value, appropriate measures can be taken.

FIG. 1 is an exemplary and schematic diagram showing an example of automatic parking in the automatic valet parking system according to the first embodiment. FIG. 2 is an exemplary and schematic diagram showing an example of automatic parking in the automatic valet parking system according to the first embodiment. FIG. 3 is an exemplary and schematic block diagram showing the hardware configuration of the control device according to the first embodiment. FIG. 4 is an exemplary and schematic block diagram showing the system configuration of the vehicle control system according to the first embodiment. FIG. 5 is an exemplary and schematic block diagram showing the functions of the control device and the vehicle control device according to the first embodiment. FIG. 6 is an illustrative example for explaining a case where the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor is the same as the position of the other vehicle estimated by the control device in the first embodiment. It is also a schematic diagram. FIG. 7 is for explaining a first example in which the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor is different from the position of the other vehicle estimated by the control device in the first embodiment. FIG. FIG. 8 is for explaining a second example in which the position of the other vehicle estimated by the vehicle based on the detection data of the on-board sensor is different from the position of the other vehicle estimated by the control device in the first embodiment. FIG. FIG. 9 is a flowchart showing processing by the control device according to the first embodiment. FIG. 10 is an exemplary and schematic diagram for explaining an example of a predetermined range that includes the first first vehicle position and the second first vehicle position in the second embodiment. FIG. 11 is a flowchart showing processing by the control device according to the fourth embodiment. FIG. 12 is an exemplary and schematic block diagram showing the functions of the control device and the vehicle control device according to the fifth embodiment. FIG. 13 is a flowchart showing processing by the control device according to the fifth embodiment.

Hereinafter, embodiments (first embodiment to fifth embodiment) will be described based on the drawings. Note that the configuration of the embodiment described below and the actions and results (effects) brought about by the configuration are merely examples, and the present invention is not limited to the following description.

(First embodiment)
First, an outline of an automatic valet parking system according to a first embodiment will be described with reference to FIGS. 1 and 2. Here, the automatic valet parking system refers to an automatic valet parking system that includes automatic parking and automatic exit as described below in a parking lot P that has one or more parking areas R divided by predetermined division lines L such as white lines. This is a system to realize valet parking. Note that the automatic valet parking system is an example of a system that controls the running of a vehicle within a predetermined area.

FIG. 1 is an exemplary and schematic diagram showing an example of automatic parking in the automatic valet parking system according to the first embodiment. Further, FIG. 2 is an exemplary and schematic diagram showing an example of automatic parking in the automatic valet parking system according to the first embodiment.

As shown in FIGS. 1 and 2, in automatic valet parking, after a passenger After the automatic parking is completed, the vehicle V automatically moves from the parking area R to an empty parking area R and parks the vehicle (see arrow C1 in FIG. 1). Automatic exit (see arrow C2 in FIG. 2) in which the vehicle automatically moves to a predetermined boarding area P2 and stops is executed. Note that the predetermined instruction and the predetermined call are realized by the passenger X operating the terminal device T.

Further, as shown in FIGS. 1 and 2, the automatic valet parking system includes a control device 101 provided in the parking lot P and a vehicle control system 102 mounted on the vehicle V. The control device 101 and the vehicle control system 102 are configured to be able to communicate with each other via wireless communication.

Here, the control device 101 outputs image data obtained from one or more surveillance cameras 103 that capture the situation in the parking lot P, various sensors (not shown, detection units) provided in the parking lot P, etc. The parking lot P is configured to monitor the situation in the parking lot P by receiving the data, and to manage the parking area R based on the monitoring results. Below, information received by the control device 101 to monitor the situation in the parking lot P may be collectively referred to as sensor data (detection data).

In addition, in 1st Embodiment, the number, arrangement|positioning, etc. of the alighting area P1, the boarding area P2, and the parking area R in the parking lot P are not limited to the example shown in FIG. 1 and FIG. 2. The technique of the first embodiment is applicable to predetermined areas such as parking lots with various configurations different from the parking lot P shown in FIGS. 1 and 2.

Next, the configurations of the control device 101 and the vehicle control system 102 according to the first embodiment will be described with reference to FIGS. 3 and 4. Note that the configurations shown in FIGS. 3 and 4 are merely examples, and the configurations of the control device 101 and the vehicle control system 102 according to the first embodiment can be set (changed) in various ways.

First, with reference to FIG. 3, the hardware configuration of the control device 101 according to the first embodiment will be described. FIG. 3 is an exemplary and schematic block diagram showing the hardware configuration of the control device 101 according to the first embodiment. As shown in FIG. 3, the control device 101 according to the first embodiment has computer resources similar to those of a general information processing device such as a PC (Personal Computer).

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

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

The ROM 302 is a nonvolatile main storage device that stores parameters and the like necessary for executing the various control programs described above.

The RAM 303 is a volatile main storage device that provides a work area for the CPU 301.

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

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

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

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

Braking system 401 controls braking of vehicle V. The brake system 401 includes a brake section 401a, a brake control section 401b, and a brake section sensor 401c.

The braking unit 401a is a device for decelerating the vehicle V, including, for example, a brake pedal.

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

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

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

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

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

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

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

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

The steering control unit 403b is, for example, an ECU configured by a computer having a hardware processor such as a CPU. The steering control unit 403b controls the traveling direction of the vehicle V by driving an actuator (not shown) based on instructions from the vehicle control device 410 and operating the steering unit 403a.

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

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

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

The speed change control unit 404b is, for example, an ECU configured by a computer having a hardware processor such as a CPU. The speed change control section 404b controls the speed ratio of the vehicle V by driving an actuator (not shown) based on instructions from the vehicle control device 410 and operating the speed change section 404a.

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

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

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

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

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

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

The display unit 409a is a device for displaying images in accordance with instructions from the vehicle control device 410. The display section 409a is configured by, for example, a liquid crystal display (LCD), an organic electroluminescent display (OELD), or the like.

The audio output unit 409b is a device for outputting audio in response to instructions from the vehicle control device 410. The audio output unit 409b includes, for example, a speaker.

The operation input unit 409c is a device for receiving input from the occupant inside the vehicle V. The operation input unit 409c includes, for example, a touch panel provided on the display screen of the display unit 409a, a physical operation switch, and the like. The operation input unit 409c outputs the received input to the in-vehicle network 450.

Vehicle control device 410 is a device for controlling vehicle control system 102 in an integrated manner. The vehicle control device 410 is an ECU having computer resources such as a CPU 410a, a ROM 410b, and a RAM 410c.

More specifically, the vehicle control device 410 includes a CPU 410a, a ROM 410b, a RAM 410c, an SSD 410d, a display control section 410e, and an audio control section 410f.

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

The ROM 410b is a nonvolatile main storage device that stores parameters and the like necessary for executing the various control programs described above.

The RAM 410c is a volatile main storage device that provides a work area for the CPU 410a.

The SSD 410d is a rewritable nonvolatile auxiliary storage device. Note that in the vehicle control device 410 according to the first embodiment, an HDD may be provided as an auxiliary storage device instead of (or in addition to) the SSD 410d.

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

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

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

By the way, in such an automatic valet parking system, the conventional technology assumes that the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor is different from the position of the other vehicle estimated by the control device. However, there is room for improvement.

Therefore, in the following, we will discuss a technology that can appropriately deal with the case where the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor differs from the position of the other vehicle estimated by the control device 101 in the automatic valet parking system. I will explain about it.

FIG. 5 is an exemplary and schematic block diagram showing the functions of the control device 101 and the vehicle control device 410 according to the first embodiment. The functions shown in FIG. 5 are realized by cooperation between software and hardware. That is, in the example shown in FIG. 5, the functions of the control device 101 are realized as a result of the CPU 301 (FIG. 3) reading and executing a predetermined control program stored in the ROM 302 (FIG. 3) or the like. Further, the functions of the vehicle control device 410 are realized as a result of the CPU 410a (FIG. 4) reading and executing a predetermined control program stored in the ROM 410b (FIG. 4) or the like. Note that in the first embodiment, part or all of the control device 101 and the vehicle control device 410 shown in FIG. 5 may be realized only by dedicated hardware (circuits).

As shown in FIG. 5, the control device 101 according to the first embodiment includes a communication control section 511, an acquisition section 512, a parking lot data management section 513, a guidance route generation section 514, as functional configurations. It has an estimation section 515, a determination section 516, a vehicle control section 517, and a notification section 518.

Communication control unit 511 controls wireless communication performed with vehicle control device 410. For example, the communication control unit 511 authenticates the vehicle control device 410 by transmitting and receiving predetermined data to and from the vehicle control device 410, or outputs an output from the vehicle control device 410 when automatic parking and automatic parking are completed. It receives a predetermined completion notification, and transmits map data of the parking lot P, a guidance route, etc., which will be described later, to the vehicle control device 410 as necessary.

The acquisition unit 512 (first acquisition unit; second acquisition unit) acquires detection data of vehicles in the parking lot P from a detection unit provided in the parking lot P. That is, the acquisition unit 512 acquires the above-mentioned sensor data from the surveillance camera 103 and various sensors (not shown) provided in the parking lot P. The sensor data (particularly the image data obtained from the surveillance camera 103) acquired by the acquisition unit 512 can also be used, for example, to understand the availability of the parking area R. Further, the acquisition unit 512 acquires detection data of the first vehicle and the second vehicle in the parking lot P from a detection unit provided in the parking lot P.

Further, the acquisition unit 512 acquires from the second vehicle a second first vehicle position indicating the position of the first vehicle estimated based on the detection data of the on-vehicle sensor in the second vehicle. Specifically, the estimation unit 524t of the second vehicle estimates the second first vehicle position, and the second first vehicle position is transmitted from the estimation unit 524t to the communication control unit 521t and the communication control unit 511. The data is then sent to the acquisition unit 512.

Further, the acquisition unit 512 acquires a second second vehicle position indicating the estimated position of the second vehicle from the second vehicle. Note that details of the first vehicle and the second vehicle will be described later. Further, in the first embodiment, the position of the vehicle may include the direction (orientation) of the vehicle (details will be described later).

The parking lot data management unit 513 manages data (information) regarding the parking lot P. For example, the parking lot data management unit 513 manages the map data of the parking lot P, the availability status of the parking area R, and the like. For example, when automatic parking is performed, the parking lot data management unit 513 selects one parking area R from among the vacant parking areas R, and uses the selected one parking area R for the vehicle V in automatic parking. Specify it as the target parking area that is the goal to reach. Furthermore, when the vehicle V moves again after automatic parking is completed and the parking area R is changed, the parking lot data management unit 513 determines the changed parking area based on the sensor data acquired from the acquisition unit 512. Identify R.

The guide route generation unit 514 generates a guide route to instruct the vehicle control device 410 when automatic parking and automatic exit are performed. More specifically, when automatic parking is performed, the guidance route generation unit 514 generates a general route from the drop-off area P1 to the target parking area as a guidance route, and when automatic parking is performed, A rough route from the target parking area (if the vehicle V is moving after automatic parking, the parking area R where the vehicle V is currently parked) to the boarding area P2 is generated as a guide route.

The estimation unit 515 estimates a first first vehicle position indicating the position of the first vehicle based on the sensor data (detection data) of the first vehicle acquired by the acquisition unit 512. Further, the estimation unit 515 estimates a first second vehicle position indicating the position of the second vehicle based on the detection data of the second vehicle acquired by the acquisition unit 512.

Here, specific methods for estimating the vehicle position include, for example, deep learning using images captured by the surveillance camera 103, a method based on license plate recognition, and a method based on GPS (Global Positioning System). ), a method using image markers, a method using landmark recognition, and a method using magnetic markers, but are not limited to these. Furthermore, two or more of these methods may be combined.

The determining unit 516 compares the first vehicle position estimated by the estimating unit 515 and the second first vehicle position acquired by the acquiring unit 512, and determines if there is a difference of more than a predetermined value. Determined as abnormal. Specifically, for example, if the distance between the two positions is greater than or equal to a predetermined distance threshold, it is determined that there is an abnormality. In addition, for example, if the rate of increase in the distance between the two positions is equal to or greater than a predetermined rate of increase threshold, it may be determined that there is an abnormality. Furthermore, for example, not only the positions of the two, but also the directions of the two may be compared, and it may be determined whether or not there is an abnormality based on the results of the two comparisons.

The vehicle control unit 517 controls the vehicle to stop, decelerate, avoid collision (avoid collision with other vehicles or pedestrians), etc. when the determination unit 516 determines that there is an abnormality.

The notifying unit 518 notifies an alarm (for example, notifies by voice or display) when the determining unit 516 determines that there is an abnormality.

On the other hand, as shown in FIG. 5, the vehicle control device 410s provided in the first vehicle includes a communication control section 521s, an acquisition section 522s, a travel control section 523s, an estimation section 524s, as functional configurations. have. Further, the vehicle control device 410t provided in the second vehicle has a communication control section 521t, an acquisition section 522t, a travel control section 523t, and an estimation section 524t as functional configurations. In the following, unless the vehicle control device 410s and the vehicle control device 410t are particularly distinguished, they will be referred to as "vehicle control device 410," and the same applies to each part 521 to 524.

The communication control unit 521 controls wireless communication performed with the control device 101. For example, the communication control unit 521 authenticates the vehicle control device 410 by transmitting and receiving predetermined data to and from the control device 101, or sends a predetermined completion notification to the control device when automatic parking and automatic exit are completed. 101, and receive map data of the parking lot P, guidance route, etc. from the control device 101 as necessary. Therefore, the communication control unit 521 also functions as a map data acquisition unit that acquires map data of the parking lot P.

Note that in the first embodiment, the map data may include information for specifying the absolute positions of various road markings (not shown) that may be installed on the road surface of the parking lot P, for example.

The acquisition unit 522 acquires sensor data including image data obtained by the vehicle-mounted camera 408 and data output from various sensors provided in the vehicle control system 102. The sensor data acquired by the acquisition unit 522 can be used, for example, to generate an actual driving route (including a parking route and an exit route) based on the guidance route received from the control device 101, or to create an actual driving route along the relevant driving route. It can be used for various travel controls of the vehicle V executed by the next travel control unit 523, such as setting various parameters (vehicle speed, steering angle, traveling direction, etc.) necessary when traveling on the road. .

The travel control unit 523 controls the braking system 401, the acceleration system 402, the steering system 403, the transmission system 404, etc., so as to control starting from the alighting area P1 and driving from the alighting area P1 to the parking area R (parking control). (including control), travel control from parking area R to boarding area P2 (including exit control), stopping control to boarding area P2, etc. to realize automatic parking and automatic parking. The driving state of the vehicle V is controlled as follows.

The estimation unit 524 estimates the current position of the own vehicle using odometry (a method of estimating the current position of the own vehicle using detected values such as wheel speed sensors) while the own vehicle is automatically traveling during automatic parking and automatic parking. do. In addition to odometry, methods for estimating the current position of the vehicle include methods based on detection results from laser sensors, sonar, etc., methods based on image data captured by the onboard camera 408, and methods based on GPS. There may be. Furthermore, two or more of these methods may be combined.

Furthermore, the estimation unit 524 estimates the position of another vehicle based on the detection data of the on-vehicle sensor. Methods for estimating the position of other vehicles include, for example, a method based on image data captured by the vehicle-mounted camera 408, and a method based on detection results from a laser sensor, sonar, or the like. Furthermore, two or more of these methods may be combined.

Next, with reference to FIG. 6, an example will be described in which the position of another vehicle estimated by the vehicle based on the detection data of the on-vehicle sensor is the same as the position of the other vehicle estimated by the control device 101. FIG. 6 is an illustrative example for explaining a case where the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor is the same as the position of the other vehicle estimated by the control device in the first embodiment. It is also a schematic diagram.

In FIG. 6, the first vehicle position V11 is the position of the first vehicle estimated by the estimation unit 515 of the control device 101. Further, the second first vehicle position V12 is the position of the first vehicle estimated by the estimation unit 524t of the vehicle control device 410t of the second vehicle.

Further, the first second vehicle position V21 is the position of the second vehicle estimated by the estimation unit 515 of the control device 101. Further, the second second vehicle position V22 is the position of the second vehicle estimated by the estimation unit 524t of the vehicle control device 410t of the second vehicle.

Here, since the first first vehicle position V11 and the second first vehicle position V12 are approximately the same position, the determination unit 516 of the control device 101 compares them and determines that there is no difference of more than a predetermined value (i.e. , is normal).

Further, since the first second vehicle position V21 and the second second vehicle position V22 are approximately the same position, the determination unit 516 of the control device 101 compares them and determines that there is no difference of more than a predetermined value (that is, It is determined that the condition is normal.

Next, FIG. 7 shows a first example in which the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor is different from the position of the other vehicle estimated by the control device 101 in the first embodiment. FIG. 2 is an exemplary and schematic diagram for explaining.

In FIG. 7, since the first first vehicle position V11 and the second first vehicle position V12 are significantly different, the determination unit 516 of the control device 101 compares them and determines that there is a difference greater than a predetermined value (that is, an abnormality). ).

In this case, if the first vehicle position V11 is incorrect, it means that the vehicle position estimation by the control device 101 is inaccurate. This may be due to, for example, the screws fixing the surveillance camera 103 installed in the parking lot P loosening over time, or something colliding with the surveillance camera 103, causing the image of the surveillance camera 103 to become distorted. It is possible that the angle has changed. In this case, for example, when the coordinates of an image captured by the surveillance camera 103 are transformed into a planar image of the parking lot P, an error occurs in the correspondence between the planar image and the actual parking lot P, and The accuracy of calculating the location and the location of pedestrians decreases.

Furthermore, if the second first vehicle position V12 is incorrect, this means that the estimation of the other vehicle position by the second vehicle is inaccurate. A possible cause is, for example, that a failure has occurred in the on-vehicle sensor used in the second vehicle to estimate the position of another vehicle (here, the first vehicle).

Further, since the first second vehicle position V21 and the second second vehicle position V22 are approximately the same position, the determination unit 516 of the control device 101 compares them and determines that there is no difference of more than a predetermined value (that is, It is determined that the condition is normal.

In this case, both the vehicle position estimation by the control device 101 and the own vehicle position estimation by the second vehicle are considered to be accurate.

Taken together, it is considered that in the case shown in FIG. 7, the vehicle position estimation by the control device 101 and the self-vehicle position estimation by the second vehicle are accurate, and the other vehicle position estimation by the second vehicle is inaccurate. . In other words, it is considered that there is a high possibility that a failure has occurred in the on-vehicle sensor used in the second vehicle to estimate the position of another vehicle (here, the first vehicle).

Next, FIG. 8 shows a second example in which the position of the other vehicle estimated by the vehicle based on the detection data of the on-board sensor is different from the position of the other vehicle estimated by the control device in the first embodiment. It is an exemplary and schematic diagram for explanation.

In FIG. 8, since the first first vehicle position V11 and the second first vehicle position V12 are significantly different, the determination unit 516 of the control device 101 compares them and determines that there is a difference greater than a predetermined value (that is, an abnormality). ).

In this case, if the first vehicle position V11 is incorrect, it means that the vehicle position estimation by the control device 101 is inaccurate. Furthermore, if the second first vehicle position V12 is incorrect, this means that the estimation of the other vehicle position by the second vehicle is inaccurate.

Further, since the first second vehicle position V21 and the second second vehicle position V22 are significantly different, the determination unit 516 of the control device 101 compares them and determines that there is a difference greater than a predetermined value (that is, an abnormality). ).

In this case, if the first second vehicle position V21 is incorrect, it means that the vehicle position estimation by the control device 101 is inaccurate. Furthermore, if the second second vehicle position V22 is incorrect, this means that the estimation of the own vehicle position by the second vehicle is inaccurate.

Also, how the first vehicle position V11 and the second vehicle position V12 differ (distance, positional relationship), and how the first vehicle position V21 and the second vehicle position V22 differ. and are similar.

Taken together, it is considered that in the case shown in FIG. 8, the second vehicle's own vehicle position estimation and the other vehicle position estimation are accurate, and the vehicle position estimation by the control device 101 is inaccurate. In other words, it is considered that there is a high possibility that the angle of view of the surveillance camera 103 has changed.

Note that if the determination unit 516 determines that there is an abnormality, it is preferable that the vehicle control unit 517 performs control to stop, decelerate, avoid a collision, etc., in order to further improve safety. Further, the notification unit 518 may notify a target person (such as a staff member of the control device 101) of a warning (for example, by audio or display).

Next, with reference to FIG. 9, processing by the control device 101 will be described. FIG. 9 is a flowchart showing processing by the control device 101 according to the first embodiment. Note that here, it is assumed that the first vehicle and the second vehicle are traveling in the parking lot P.

First, in step S1, the acquisition unit 512 (FIG. 5) acquires detection data of a first vehicle traveling in the parking lot P from a detection unit provided in the parking lot P.

Next, in step S2, the estimation unit 515 (FIG. 5) estimates a first first vehicle position V11 indicating the position of the first vehicle based on the sensor data (detection data) acquired in step S1. .

Next, in step S3, the acquisition unit 512 (FIG. 5) acquires a second first vehicle position V12 indicating the estimated position of the first vehicle in the second vehicle from the second vehicle.

Next, in step S4, the determination unit 516 (FIG. 5) compares the first vehicle position V11 estimated in step S2 and the second first vehicle position V12 acquired in step S3. , it is determined whether there is a difference greater than a predetermined value, and if Yes, the process proceeds to step S5 and it is determined that there is an abnormality, and if No, the process ends.

Note that after step S5, the vehicle control unit 517 (FIG. 5) may control the first vehicle and the second vehicle to stop, decelerate, avoid collision, etc. Further, the notification unit 518 (FIG. 5) may notify a target person (such as a staff member of the control device 101) of a warning (for example, by audio or display).

As described above, according to the control device 101 of the first embodiment, the position of the other vehicle (first vehicle) estimated by the vehicle (second vehicle) based on the detection data of the on-board sensor (second first vehicle position) ) and the position of the other vehicle (first vehicle) estimated by itself (first first vehicle position), and if there is a difference of more than a predetermined value, it is determined that there is an abnormality, so that appropriate measures can be taken. For example, when it is determined that there is an abnormality, the vehicle can be stopped, decelerated, collision avoided, etc., or a warning can be issued, as necessary.

(Second embodiment)
Next, a second embodiment will be described. Descriptions of items similar to those in the first embodiment will be omitted as appropriate. In the second embodiment, the vehicle control unit 517 (FIG. 5) of the control device 101 includes the first first vehicle position and the second first vehicle position when the determination unit 516 determines that there is an abnormality. When the position of the first second vehicle approaches within a predetermined distance with respect to a predetermined range, control is performed to stop the second vehicle or avoid a collision.

Here, FIG. 10 is an exemplary and schematic diagram for explaining an example of a predetermined range that includes the first first vehicle position and the second first vehicle position in the second embodiment. 10 and 7 have the same first vehicle position V11, second first vehicle position V12, first second vehicle position V21, and second second vehicle position V22. In this case, the first first vehicle position V11 and the second first vehicle position V12 are significantly different.

Therefore, for the second vehicle, the vehicle control unit 517 (FIG. 5) sets a predetermined range A that includes the first first vehicle position V11 and the second first vehicle position V12, and When the first second vehicle position V21 approaches within a predetermined distance, control is performed to stop the second vehicle or avoid a collision.

As described above, according to the control device 101 of the second embodiment, the second vehicle that approaches a wide predetermined range that includes the first first vehicle position and the second first vehicle position can be stopped or avoided from colliding with each other. This can further improve safety.

(Third embodiment)
Next, a third embodiment will be described. Descriptions of items similar to those in the first embodiment will be omitted as appropriate. In the third embodiment, when the determining unit 516 determines that there is an abnormality, the determining unit 516 determines that the difference between the first first vehicle position and the second first vehicle position is equal to the difference between the first second vehicle position and the second second vehicle position. If it is larger than the difference in position, it is determined that the on-vehicle sensor provided in the second vehicle is abnormal.

In other words, as shown in FIG. 7, the difference between the first vehicle position V11 and the second vehicle position V12 is greater than the difference between the first vehicle position V21 and the second vehicle position V22. If it is large, it is considered that there is a high possibility that there is an abnormality in the on-vehicle sensor provided in the second vehicle. Note that the condition may not be that the former difference is even slightly larger than the latter difference, but that the former difference is larger than the latter difference by a predetermined threshold value or more. In this way, erroneous determinations due to various errors can be avoided.

As described above, according to the control device 101 of the third embodiment, in the case of an abnormality, it is possible to prevent the abnormality by identifying whether the abnormality is on the control device 101 side or the on-vehicle sensor in the vehicle (second vehicle). This makes it easier to respond.

(Fourth embodiment)
Next, a fourth embodiment will be described. Descriptions of items similar to those in the first embodiment will be omitted as appropriate. In the fourth embodiment, the acquisition unit 512 (FIG. 5) of the control device 101 acquires a third first vehicle position indicating the estimated position of the first vehicle from the first vehicle. Further, the determination unit 516 compares the first first vehicle position, the second first vehicle position, and the third first vehicle position, and if the two that are farthest apart have a difference of more than a predetermined value, is determined to be abnormal.

Next, processing by the control device 101 will be described with reference to FIG. 11. FIG. 11 is a flowchart showing processing by the control device 101 according to the fourth embodiment. Note that here, it is assumed that the first vehicle and the second vehicle are traveling in the parking lot P.

First, in step S1, the acquisition unit 512 (FIG. 5) acquires detection data of a first vehicle traveling in the parking lot P from a detection unit provided in the parking lot P.

Next, in step S2, the estimation unit 515 (FIG. 5) estimates a first first vehicle position indicating the position of the first vehicle based on the sensor data (detection data) acquired in step S1.

Next, in step S3, the acquisition unit 512 (FIG. 5) acquires a second first vehicle position indicating the estimated position of the first vehicle in the second vehicle from the second vehicle.

Next, in step S11, the acquisition unit 512 (FIG. 5) acquires a third first vehicle position indicating the estimated position of the first vehicle from the first vehicle.

Next, in step S12, the determination unit 516 (FIG. 5) determines the first vehicle position estimated in step S2, the second first vehicle position acquired in step S3, and the second first vehicle position acquired in step S4. It is determined whether or not there is a difference of more than a predetermined value between the two furthest positions by comparing the third first vehicle position, and if YES, the process proceeds to step S13 where it is determined that there is an abnormality. If No, the process ends.

In this way, according to the control device 101 of the fourth embodiment, by comparing the three first vehicle positions described above, it is possible to more quickly recognize that there is an abnormality in the system.

(Fifth embodiment)
Next, a fifth embodiment will be described. Descriptions of items similar to those in the first embodiment will be omitted as appropriate. The fifth embodiment differs from the first embodiment in that the above abnormality determination is performed not only on the control device 101 side but also on the vehicle control device 410 side.

FIG. 12 is an exemplary and schematic block diagram showing the functions of the control device 101 and the vehicle control device 410 according to the fifth embodiment. Although the vehicle control device 410s and the vehicle control device 410t have the same function, the vehicle control device 410t will be explained as a representative.

In the vehicle control device 410t, the acquisition unit 522t acquires a first vehicle position indicating the position of the first vehicle estimated based on detection data of the first vehicle acquired from a detection unit provided in the parking lot P. is acquired from the control device 101.

Furthermore, the estimation unit 524t estimates a second first vehicle position indicating the position of the first vehicle based on the detection data of the on-vehicle sensor of the second vehicle. The vehicle control device 410t also includes a determination unit 525t that compares the first vehicle position and the second first vehicle position and determines that there is an abnormality if there is a difference of more than a predetermined value.

Next, processing by the control device 101 will be described with reference to FIG. 13. FIG. 13 is a flowchart showing processing by the control device 101 according to the fifth embodiment.

First, in step S21, the acquisition unit 522t acquires a first vehicle position indicating the position of the first vehicle estimated based on the detection data of the first vehicle acquired from the detection unit provided in the parking lot P. is acquired from the control device 101.

Next, in step S22, the estimation unit 524t estimates a second first vehicle position indicating the position of the first vehicle based on the detection data of the on-vehicle sensor of the second vehicle.

Next, in step S23, the determination unit 525t compares the first vehicle position acquired in step S21 and the second first vehicle position estimated in step S22, and determines that there is a difference greater than a predetermined value. If yes, the process proceeds to step S24 where it is determined that there is an abnormality, and if no, the process ends.

In this way, according to the control device 101 of the fifth embodiment, not only the control device 101 side but also the vehicle control device 410 side can use the first vehicle position estimated by the control device 101 and its own vehicle-mounted sensor. By comparing the second and first vehicle positions estimated based on the detection data of and determining that there is an abnormality if there is a difference of more than a predetermined value, appropriate measures can be taken.

Although the embodiments of the present invention have been described above, the embodiments described above are merely examples and are not intended to limit the scope of the invention. The novel embodiment described above can be implemented in various forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. The above-described embodiments and their modifications are included within the scope and gist of the invention, as well as within the scope of the invention described in the claims and its equivalents.

For example, in the fourth embodiment, when comparing the first first vehicle position, the second first vehicle position, and the third first vehicle position, there is a difference of more than a predetermined value between the two that are farthest from each other. However, this is not limited to this case. Alternatively, for example, differences between two of the three may be determined, and whether or not there is an abnormality or the cause of the abnormality may be determined based on a combination of the three determination results.

In addition, the control device 101 uses infrastructure equipment including a surveillance camera 103 and an analysis device (a computer device that performs various image processing on images captured by the surveillance camera 103) to receive image processing results (estimated vehicle position, etc.) from the infrastructure equipment. ) may be obtained. In that case, the infrastructure equipment can be interpreted as part of the control system in a broader sense.

DESCRIPTION OF SYMBOLS 101...Control device, 102...Vehicle control system, 103...Surveillance camera, 410...Vehicle control device, 511...Communication control unit, 512...Acquisition unit, 513...Parking lot data management unit, 514...Guidance route generation unit, 515... Estimation section, 516... Judgment section, 517... Vehicle control section, 518... Notification section, 521... Communication control section, 522... Acquisition section, 523... Travel control section, 524... Estimation section, 525... Judgment section, P... Parking lot ,V...Vehicle

Claims (7)

A control device in a system that controls vehicle travel within a predetermined area,
a first acquisition unit that acquires detection data of the first vehicle of the first vehicle and the second vehicle within the predetermined area from a detection unit provided within the predetermined area;
an estimation unit that estimates a first first vehicle position indicating a position of the first vehicle based on detection data of the first vehicle;
a second acquisition unit that acquires from the second vehicle a second first vehicle position indicating a position of the first vehicle estimated based on detection data of an on-vehicle sensor in the second vehicle;
a determination unit that compares the first first vehicle position and the second first vehicle position and determines that there is an abnormality if there is a difference of more than a predetermined value;
Equipped with
The first acquisition unit acquires detection data of the second vehicle from a detection unit provided within the predetermined area,
The estimation unit estimates a first second vehicle position indicating a position of the second vehicle based on detection data of the second vehicle,
When the determination unit determines that the determination unit is abnormal, the first second vehicle position is within a predetermined distance with respect to a predetermined range that includes the first first vehicle position and the second first vehicle position. A control device further comprising a vehicle control unit that controls the second vehicle to stop or avoid a collision when approaching the second vehicle . A control device in a system that controls vehicle travel within a predetermined area,
a first acquisition unit that acquires detection data of the first vehicle of the first vehicle and the second vehicle within the predetermined area from a detection unit provided within the predetermined area;
an estimation unit that estimates a first first vehicle position indicating a position of the first vehicle based on detection data of the first vehicle;
a second acquisition unit that acquires from the second vehicle a second first vehicle position indicating a position of the first vehicle estimated based on detection data of an on-vehicle sensor in the second vehicle;
a determination unit that compares the first first vehicle position and the second first vehicle position and determines that there is an abnormality if there is a difference of more than a predetermined value;
Equipped with
The first acquisition unit acquires detection data of the second vehicle from a detection unit provided within the predetermined area,
The estimation unit estimates a first second vehicle position indicating a position of the second vehicle based on detection data of the second vehicle,
The second acquisition unit acquires, from the second vehicle, a second second vehicle position indicating the estimated position of the second vehicle in the second vehicle;
When determining that the determination unit is abnormal, the determination unit determines that the difference between the first first vehicle position and the second first vehicle position is the difference between the first second vehicle position and the second second vehicle position. If the difference is larger than the difference, the control device determines that the on-vehicle sensor provided in the second vehicle is abnormal . A control device in a system that controls vehicle travel within a predetermined area,
a first acquisition unit that acquires detection data of the first vehicle of the first vehicle and the second vehicle within the predetermined area from a detection unit provided within the predetermined area;
an estimation unit that estimates a first first vehicle position indicating a position of the first vehicle based on detection data of the first vehicle;
A second first vehicle position indicating a position of the first vehicle estimated based on detection data of an on-vehicle sensor in the second vehicle is obtained from the second vehicle, and a second first vehicle position indicating the position of the first vehicle estimated in the second vehicle is a second acquisition unit that acquires a third first vehicle position indicating the position of the first vehicle from the first vehicle;
The first first vehicle position, the second first vehicle position, and the third first vehicle position are compared, and if there is a difference of more than a predetermined value between the two most distant positions, it is determined that there is an abnormality. a determination unit to
A control device equipped with. A control device in a system that controls vehicle travel within a predetermined area,
a first acquisition unit that acquires detection data of the first vehicle of the first vehicle and the second vehicle within the predetermined area from a detection unit provided within the predetermined area;
an estimation unit that estimates a first vehicle position and orientation indicating the position and orientation of the first vehicle based on the detection data of the first vehicle;
a second acquisition unit that acquires from the second vehicle a second first vehicle position and orientation indicating the position and orientation of the first vehicle estimated based on detection data of an on-vehicle sensor in the second vehicle;
a determination unit that compares the first vehicle position and orientation with the second vehicle position and orientation and determines that there is an abnormality if there is a difference of more than a predetermined value;
A control device equipped with. A control device in a system that controls vehicle travel within a predetermined area,
a first acquisition unit that acquires detection data of the first vehicle of the first vehicle and the second vehicle within the predetermined area from a detection unit provided within the predetermined area;
an estimation unit that estimates a first first vehicle position indicating a position of the first vehicle based on detection data of the first vehicle;
a second acquisition unit that acquires from the second vehicle a second first vehicle position indicating a position of the first vehicle estimated based on detection data of an on-vehicle sensor in the second vehicle;
a determination unit that uses the first first vehicle position and the second first vehicle position to determine that there is an abnormality when the rate of increase in the distance between both positions is equal to or greater than a predetermined increase rate threshold ;
A control device equipped with. A vehicle control device mounted on a second vehicle in a system that controls traveling of a vehicle within a predetermined area,
A control device in the system that detects a first vehicle position and orientation indicating a position and orientation of the first vehicle estimated based on detection data of the first vehicle acquired from a detection unit provided in the predetermined area. an acquisition unit that acquires from
an estimation unit that estimates a second first vehicle position and orientation indicating the position and orientation of the first vehicle based on detection data of an on-vehicle sensor of the second vehicle;
a determination unit that compares the first vehicle position and orientation with the second vehicle position and orientation and determines that there is an abnormality if there is a difference of more than a predetermined value;
A vehicle control device comprising: A vehicle control device mounted on a second vehicle in a system that controls traveling of a vehicle within a predetermined area,
acquiring a first vehicle position indicating a position of the first vehicle estimated based on detection data of the first vehicle acquired from a detection unit provided in the predetermined area from a control device in the system; Department and
an estimation unit that estimates a second first vehicle position indicating the position of the first vehicle based on detection data of an on-vehicle sensor of the second vehicle;
a determination unit that uses the first first vehicle position and the second first vehicle position to determine that there is an abnormality when the rate of increase in the distance between both positions is equal to or greater than a predetermined increase rate threshold ;
A vehicle control device comprising:

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