JPWO2006064544A1 - Car storage equipment - Google Patents

Abstract

In the conventional parking assistance device for storing a car, if there is an obstacle between the vehicle and the parking space, the parking assistance cannot be received. Therefore, in the present invention, all routes between the own vehicle and the parking target are searched. Then, the shortest route that does not contact the obstacle and the vehicle is derived from the searched routes, and the vehicle is controlled to trace the route. Accordingly, parking assistance can be performed even if an obstacle exists between the vehicle and the parking space.

Description

  The present invention relates to an automobile garage storage device.

  The garage with the back of the car is because of (1) many blind spots, (2) the steered wheels are behind the direction of travel when entering the garage, (3) the car must be put in a narrow place, etc. Driving assistance is difficult, and automated driving support is strongly desired.

  In recent years, with the development of sensor technology that detects the position of obstacles, position detection technology such as GPS (satellite positioning system) that detects the position of the vehicle, vehicle speed control technology and steering control technology that controls vehicles, garage entry support Devices have been proposed.

  For example, in the parking assistance apparatus described in Japanese Patent Application Laid-Open No. 2001-107594, the position of a predetermined parking space is set in advance in a database of the own vehicle, and the position of the own vehicle detected from the GPS or IC nail Then, a line segment connecting the parking space and the vehicle is calculated from the angle, the rotation radius, and the specifications of the vehicle, using a mathematical formula, and the vehicle along the parking route is defined as the ideal parking route. Has proposed a device that automatically enters the garage by controlling the steering device and the drive device so that the vehicle travels.

  Further, the parking assist device described in Japanese Patent Application Laid-Open No. 2000-128008 detects obstacles around the vehicle and a parking area (parking space) based on the image data of the mounted camera and the detection signal from the radar. Obstacles and parking spaces are displayed on the display unit. When the driver selects a desired parking space displayed on the display screen, the parking assist device is recognized from the vehicle position so that a predetermined clearance is secured between the vehicle and the recognized obstacle. The movement trajectory to the parking space is calculated. Further, an electric current is supplied to a steering motor that steers the wheels so that the vehicle moves along the calculation locus.

  Japanese Patent Laid-Open No. 2001-2224013 acquires a rear image, an image of a rear obstacle or a parking space, and a distance between the rear obstacle, the parking space, and the own vehicle by an imaging device, and displays it on a display device in the vehicle. We propose a device that supports parking by displaying. The driver operates while looking at the display device.

  The parking assistance apparatus described in Japanese Patent Application Laid-Open No. 2002-240661 displays a positional relationship between a target parking position of the in-vehicle display and the own vehicle position. An expected movement trajectory of the own vehicle is calculated according to the moving distance and the steering angle of the own vehicle. The predicted movement locus is displayed on the display together with the positional relationship. If the predicted movement locus does not match the target parking position, a steering operation instruction is issued to correct the predicted movement locus, and the driver performs the own vehicle movement and the steering angle operation based on this instruction.

JP 2001-107594 A JP 2000-128008 A JP2001-2224013A JP 2002-240661 A

  In the prior art described above, parking assist devices such as Japanese Patent Application Laid-Open Nos. 2001-107594 and 2000-128008 enable automatic parking operation control (car warehousing control) by back operation. Of these, the former parking assist device automatically enables garage entry when there is no obstacle in the parking space and there is no obstacle between the vehicle and the parking space. If there is an obstacle, the car storage control is stopped. In a general residential parking lot, there is a high possibility that a fixed obstacle such as a flower pot or a moving obstacle whose position changes depending on the day like a bicycle exists in the parking space. There may also be an obstacle between the parking space and the vehicle. In such a case, sufficient parking assistance cannot be performed.

  In the latter parking assist device, the predetermined clearance is calculated in order to calculate the movement trajectory from the vehicle position to the recognized parking space so that the predetermined clearance is secured between the vehicle and the recognized obstacle. There are limitations. Therefore, parking assistance may be difficult under parking conditions such as when there are many obstacles.

  In the parking assistance devices described in Japanese Patent Application Laid-Open Nos. 2001-2224013 and 2002-240661, the in-vehicle display only supports parking driving by a driver, and there is no consideration for putting in a car garage.

  In view of the above points, the present invention provides an apparatus that can search for a moving route for entering a car garage in a flexible manner even when an obstacle is present.

  The car warehousing apparatus of the present invention recognizes the position of the target parking space and the position of the vehicle to be parked, and searches for a movement route for moving the vehicle to the parking space based on these position data. And an automatic driving control device that controls a drive system and a steering system of the vehicle so that the vehicle follows the movement path. Further, an obstacle detection device for detecting obstacles around the vehicle is provided. In addition, the route search device has a determination processing function for determining whether or not an obstacle exists in the searched movement route, and for searching for a movement route that bypasses the obstacle when the obstacle exists. Has a calculation function.

  For example, the route search device, based on the position information of the parking space, the vehicle, and the obstacle, the position of the vehicle to be parked in the microcomputer, the parking space, and the obstacle, if there are obstacles. A field for recognition including the position is assumed, and the movement path including the detour is searched by simulation based on the assumed field. In that case, first, the shortest travel route of the vehicle is simulated, and when it is recognized that the obstacle exists in the shortest travel route, the target travel route is simulated by simulating the travel route that bypasses the obstacle. To decide.

  More specifically, the following method is proposed. For example, the assumed field is set by two-dimensional processing. In this field, the route search device searches for the shortest travel route from the vehicle to the parking space based on the specifications of the vehicle, and if there is an obstacle on the travel route, Set the attached grid points. Using this lattice point, a movement route for detouring the obstacle is searched.

  In the present invention, a parking movement route (also referred to as a parking route) of a vehicle to be parked is simulated and re-simulated even when there is an obstacle. Enables garage storage.

The parking route figure shown to a driver, when performing car storage (parking assistance). The block diagram of the whole car storage system. The figure before calculating a parking route. The figure which shows the state which is calculating the parking shortest path | route. The figure in case a parking path contacts an obstruction. The figure which shows the parking route which avoided the obstacle. The figure which shows the restrictions in the case of searching a parking route. The figure displayed on an image when a parking route cannot be calculated. The figure in case a driver corrects a parking route. The block diagram of a car storage apparatus. The flowchart in the case of outputting the stop signal of car storage. Explanatory drawing which shows the deviation of the horizontal direction / vertical direction of the vehicle in parking lot control, and a parking path.

  An example of a car storage device (parking support device) according to the present invention will be described with reference to the drawings.

  First, the outline | summary of the apparatus required for the car storage is demonstrated with reference to FIG.

  In FIG. 2, 10 is a vehicle for executing garage entry, 20 is a parking space for garage entry, and 21 is a boundary line between the parking space and other locations. The boundary line 21 may be a mark such as a white line, or may be a physical boundary such as a wall or a fence.

  The GPS 11 for detecting the position of the host vehicle is mounted on the vehicle 10. The position of the parking space 20 is registered in the in-vehicle computer 16 in advance. The in-vehicle computer 16 can know the relative positional relationship between the parking space and the own vehicle by coordinate-converting the parking space data and the position data of the own vehicle by the GPS 11 on a two-dimensional plane. In the present embodiment, GPS is used as an example of vehicle position detection means, but a position detection device using satellites or beacons other than GPS may be substituted. The in-vehicle computer can use a microcomputer used for the engine control unit. The image display apparatus can use a car navigation display.

  Sensors 12 to 14 that detect obstacles are arranged at the rear of the vehicle 10. These sensors may be radar using electromagnetic waves, imaging devices (for example, stereo cameras) that detect the presence or absence and position of obstacles by image processing, distance sensors using sound waves, and the like.

  The car warehousing device including the in-vehicle computer 16, the GPS 11, the obstacle detection sensors 12 to 14, and the like includes, for example, a relative position between the obstacle 30 and the own vehicle 10 existing on the garage entry route, the parking space 20. And a boundary 21 between the other locations.

  15-1 to 15-4 are radio wave transmitters for indicating a boundary 21 between the parking space and other places. In this example, these radio wave transmitters are installed at the four corners of the parking space 20. The car warehousing device recognizes the relative positions of the parking space 20, the boundary line 21, and the host vehicle 10 by receiving the radio waves that are started from the radio wave transmission devices 15-1 to 15-4.

  In this example, the radio wave transmitters are installed at the four corners of the parking space 20, but the installation locations may not be the four corners. In this example, the transmission medium to the in-vehicle computer 16 is a radio wave, but the transmission medium may be a sound wave or light.

  In the vicinity of the parking space 20, an imaging device 17 for capturing an image of the vehicle 10, the obstacle 30 around the vehicle 10 and the parking space 20 is installed.

  The imaging device 17 is used in, for example, a stereo camera that can measure the distance of an object to be photographed. The captured image is transmitted to the in-vehicle computer 16. The in-vehicle computer (microcomputer) 16 which is the core of the car warehousing device inputs this transmitted image and performs image processing, whereby the relative position of the own vehicle 10, the obstacle 30 and the parking space 20. Recognize In this example, as described above, the relative positions (two-dimensionally) of the own vehicle 10, the obstacle 30, and the parking space 20 are also obtained from the position data acquired by the GPS 11, the obstacle detection sensors 12 to 14, and the radio wave transmitter 15. Relative position). By displaying the two-dimensional relative position and the relative position photographed by the imaging device 17 on the screen of the display device, it can be confirmed whether or not there is an error in the two-dimensional relative position. (Details will be described later). Although the number of the imaging devices 17 in this example is one, it may be provided in a plurality of locations. Since the imaging device 17 is for informing the parking assist device of the positions of the host vehicle 10, the obstacle 30, and the parking space 20, other devices such as a radar may be used as long as these positions can be detected.

  The car storage device (parking support device) of the present example is configured as described above. However, when the positions of the own vehicle 10, the obstacle 30, and the parking space 20 can be detected by other configurations, the other configurations may be used. It is also possible to use only some combinations of the above configurations.

  Next, the method for car storage in this example will be described.

  The in-vehicle computer 16 performs coordinate conversion on the acquired position information of the own vehicle 10, the obstacle 30, and the parking space 20 in a field on the two-dimensional (planar) 40 assumed in the in-vehicle computer 16, for example, and the relative position. It has a function to recognize as a relationship. The image is shown in FIG. 10 'shows the range in which the own vehicle exists. Reference numeral 30 'denotes an obstacle existing around the vehicle. 20 'indicates a parking space.

  The in-vehicle computer 16 also functions as a route search device that calculates (searches) a route (trajectory) 52 for storing the vehicle range 10 ′ in the parking space 20 ′ using an algorithm described later (described later in FIGS. 4 to 7). ). Furthermore, it functions as an automatic driving control device that controls the steering device and the driving device of the vehicle so that the vehicle 10 moves along the route 52 (details will be described later with reference to FIGS. 10 and 11).

  The in-vehicle computer 16 has a calculation function for realizing a route search device, and in the field of the two-dimensional plane 40, the vehicle specifications (for example, vehicle width, vehicle length, minimum turning radius of own vehicle, etc.) Based on the above, the shortest travel route from the own vehicle range 10 ′ to the parking space 20 ′ is searched. If there is an obstacle on the movement route, a lattice point with coordinates is set in the two-dimensional field 40, and a movement route for detouring the obstacle is searched using the lattice point.

  Hereinafter, these search methods will be described.

  First, the shortest path search method will be described with reference to FIG.

  When using car storage, as shown in FIG. 4, the vehicle 10 is in a parking standby state for performing car storage by moving backward. In this state, the vehicle 10 is at a position where the center line 50 intersects the center line 51 of the space 20 at a substantially right angle.

  In the field of the two-dimensional plane 40 developed by the in-vehicle computer 16, a center line 50 of the own vehicle range 10 'and a center line 51 of the parking space 20' are drawn. These center lines are indicated by plotting the coordinates of the corresponding positions on the two-dimensional plane 40, for example. For example, the position where the center line 50 of the rear width of the host vehicle range 10 ′ passes (X1, Yn), the position where the center line 51 passes at the entrance of the parking space 20 ′ (Xn, Y1), and the center lines intersect. If the position is (Xn, Yn), the center line 50 is shown by plotting the line on (X1, Yn) (X2, Yn)... (Xn, Yn) and Yn. On the other hand, the center line 51 is indicated by plotting (Xn, Y1) (Xn, Y2)... (Xn, Yn) and a line on Xn. By applying a rounding process that is equal to or greater than the minimum turning radius of the vehicle at the corner where the center lines 50 and 51 intersect, a trajectory (moving route center line) that becomes the shortest moving route from the vehicle range 10 ′ to the parking space 20 ′. 52 is required. The locus 52 is obtained by replacing the rounded line with coordinates.

  Next, parallel lines 53 and 54 that are offset from the center line 52 by a half of the width of the host vehicle range 10 ′ are drawn on both sides of the movement path center line 52. This parallel line is also obtained by replacing it with coordinates.

  At this time, if there is an obstacle 30 between the parallel lines 53 and 54, the vehicle cannot be parked on the shortest route, so another route search described later is performed. If there is no obstacle, the route calculated here is set as a garage entry route candidate.

  Next, a route search method when the garage cannot be entered using the route searched by the shortest route search will be described with reference to FIGS.

  When there is an obstacle on the shortest movement route, a lattice point with coordinates is set in the field of the two-dimensional plane 40, and a movement route for detouring the obstacle is searched using this lattice point.

  Specifically, first, as shown in FIG. 5, a grid line 55 is drawn in a region between the own vehicle range 10 ′ and the parking space 20 ′ on the two-dimensional plane 40. The grid lines 55 are set based on the center line 51 (see FIG. 4) of the parking space 20 ′, and each grid point 56 has coordinates. The interval between the lattice lines 55 (interval between lattice points 56) is limited based on the specifications of the own vehicle (for example, the vehicle width).

  Specifically, the grid line 55-1 on the center line 51 of the parking space 20 ′ is the grid closest to the center point 20′-2 of the innermost width of the parking space 20 ′ and the center point 20′-1 of the entrance. It is drawn to connect the dots. Among the grid lines orthogonal to the grid line 55-1, the grid line 55-2 closest to the center line 50 (see FIG. 4) of the vehicle range 10 ′ is searched. Then, a search for a movement path is performed from among the lines 57 that connect these grid lines 55-1 and 55-2 and the grid points on these grid lines diagonally. Here, the line 57 is referred to as an “inclined line”.

  There are a large number of inclination lines 57 connecting the lattice points on the lattice lines 55-1 and 55-2. A line L (L is an inclination line 57 and a grid line) connecting the rear center point 10′-1 of the host vehicle range 10 ′ to the back 20′-2 of the parking space 20 ′ through the grid point 56. A line L satisfying the condition of not contacting the obstacle 30 ′ and the side wall (boundary line) 21 is searched as a shortest movement route for parking.

  In the example of FIG. 5, the shortest movement path when an obstacle or the like is not taken into consideration is a line L1 (indicated by a one-dot chain line in FIG. 5). The line L1 is an inclination line 57 connecting the center point 10'-1 of the host vehicle range 10 'to the lattice point 56b on the lattice line 55-1, and the back center point 20'-2 of the lattice point 56b and the parking space 20'. It is a line connecting the two. When the line L1 comes into contact with the obstacle 30, it cannot be a candidate for the shortest movement path, and when it comes into contact, the line L1 ends extending toward the lattice point 56b. Then, the next shortest route (line L2) is searched for as the shortest movement route candidate.

  The line L2 includes a center point 10′-1 and a lattice point 56a (a lattice point on the lattice line 55-2) of the host vehicle range 10 ′, and a lattice point 56a and a lattice point 56c (a lattice point on the lattice line 55-1). ), And a line connecting the lattice point 56c and the back center point 20′-2 of the parking space 20 ′. After obtaining this line L2, parallel lines (indicated by dotted lines) M shifted by a half of the width of the host vehicle range 10 ′ are obtained on both sides of the line L2, and an obstacle between the parallel lines M and M is obtained. If 30 exists, the line L2 is removed from the shortest path candidate, the next shortest line is selected, and it is confirmed whether an obstacle exists in the parallel line.

  FIG. 6 shows a state in which the shortest path candidate is searched in this way, and a line Ln that can finally satisfy the conditions of the shortest path candidate is searched. This line Ln has no obstacle 30 'between the parallel lines M and M. If there is no obstacle between the parallel lines, the vehicle range 10 'is directed in the direction of the inclination line 57 connecting the refraction points (lattice points) 56d and 56e of the lattice line on the Ln line. The own vehicle range 10 'is overlapped with the inclination line 57 (refractive points 56d, 56e) so that the rear center (near the non-steering wheel) is near the refraction points 56d, 56e. The own vehicle range 10 'overlapped with at least one of the refraction points 56d and 56e is indicated by reference numerals 10'-1 and 10'-2. Next, it is confirmed whether or not the obstacle 30 exists in the own vehicle ranges 10′-1 and 10′-2 superimposed on the refraction point. If there is no obstacle, the line Ln is set as a garage entry route candidate.

  Next, restrictions on the distance between the line connecting the grid points 56 and the grid line 55 will be described with reference to FIG.

  Since the grid line 55 is a line connecting the grid points 56, it can be connected at a right angle, for example, as a line 59 with respect to the line 58, but the line connecting the grid points in the present invention indicates a parking route. The vehicle must be able to trace. Therefore, it is prohibited to connect the grid lines at right angles like the line 59 with respect to the line 58, and the grid points are always connected diagonally (diagonally) as shown by the line 57.

  Further, even if the grid points are connected obliquely as in the case of the inclined line 57, if the distances 71 and 72 of the grid lines 55 are narrow, the vehicle cannot trace the line connecting the grid points. The line connecting the grid points is set to an interval that allows the vehicle to trace.

  The route search device (onboard computer) 16 as described above is based on the position information of the parking space, the vehicle, and the obstacle, and if there is a vehicle to be parked, the position of the parking space, and an obstacle, the obstacle. A field for recognition including the position of an object is assumed, and a moving path including a detour is searched by a simulation based on the assumed field. That is, the route search device first simulates the shortest movement route 52 of the vehicle 10 based on the assumed field 40, and if it recognizes that an obstacle exists on the shortest movement route, the route search device moves around the route. The target movement route is determined by simulating the route Ln.

  According to such a method, there exists an advantage which can search the parking movement path | route of various aspects flexibly and optimally.

  Next, a method for determining the route candidate will be described with reference to FIG.

  The vehicle 10 ′ equipped with the car storage device is provided with a display device 18 at a position where the driver can see, and when the route candidate obtained by the above method is extracted, the display device 18 displays FIG. A screen like Reference numeral 18 a in FIG. 1 denotes a frame of the screen of the display device 18. 10A in the screen 18a is a rear part of the own vehicle, Ln is a route candidate, Cn is a changeable point of the moving route, 30 is an obstacle, and 20 is a parking space. In the case where the display device 18 includes an imaging device in the sensors 12 to 14 described with reference to FIG. 2, the image actually captured by the imaging device or the imaging device 17, the route candidate Ln, the obstacle 30, and the parking space 20. The figures may be superimposed.

  When an image as shown in the figure is displayed on the display device 18, the driver checks whether the parking space 20 is correct and whether there is no problem with the route candidate Ln. If there is no problem as a result of the confirmation, the fact that there is no problem in the car warehousing device is communicated by at least one of button operation, confirmation item click on the display device screen, voice and the like. Thereby, the route is established.

  If the driver determines that the position of the parking space 20 is not correct, the driver clicks the parking space 20 with the pointer 90 and changes the position. Whether or not the position of the parking space 20 is appropriate can be determined based on whether or not the actual image obtained from the imaging device 17 and the figure obtained by the position detection means (such as GPS) wrap. By aligning the figured parking space 20 with the actual parking space (not shown) that has been imaged, the position accuracy of the parking space can be further improved. When position correction of a parking space or the like is performed on the screen, it may be necessary to change (correct) the route Ln for parking. Alternatively, it may be desired to arbitrarily change the route Ln according to the driver's intention.

  In this case, in this embodiment, a part of the route Ln can be changed by clicking and changing the changeable point Cn. FIG. 9 shows how the route is changed.

  Cn-1 is a changeable point changed by the driver. The changeable point Cn can be changed within the restriction range described with reference to FIG. 7 and coincides with the position of the grid point 56.

  If the driver determines that there is no problem as a result of the correction, the fact that there is no problem in the car storage device is notified by operating a button, clicking a confirmation item on the display device screen, or by voice. The in-vehicle computer 16 confirms that there is no obstacle on the parking route again when the intention of the driver because there is no problem described above, and if there is no obstacle, the route candidate is determined, and if there is an obstacle, The buzzer sound, voice, display on the display device screen, etc. inform the driver that the route cannot be determined due to obstacles.

  The route determined in this way can also be stored. By storing the route, for example, when parking at the same location many times like a home parking lot, it is possible to quickly provide parking assistance without performing route search each time.

  In addition, when entering a garage through a complicated route, it is expected that the route will be a complicated route even when leaving. In such a case, it is also possible to perform delivery support by following the stored route and performing delivery.

  Further, when the position of the obstacle is too complicated, or there is an object that is unknown whether it is an obstacle, or the parking space cannot be determined and the parking route candidate cannot be shown, as shown in FIG. A screen with no route candidates is displayed. In such a case, the driver may cancel the parking assistance, or the parking space 20 and the parking route can be manually set by the pointer 90 to perform the parking assistance.

  When the route candidate is determined by the above method, the driver notifies the parking support device of the start of the parking support operation by operating the button, clicking the display device screen, or by voice, and the parking support device starts parking.

  Next, the automatic operation control system of the car storage device will be described with reference to FIG.

  This automatic driving control system controls the steering system and the driving system of the vehicle so as to follow the moving route when the moving route Ln for parking is searched.

  FIG. 10 is a block diagram showing the overall configuration of the car cabinet.

  In FIG. 10, the vehicle position detection unit 100, the vehicle control unit 200, and the control stop determination unit 300 are configured by the in-vehicle computer 16.

  Reference numeral 11 denotes a GPS unit that outputs own vehicle position data 11a from information obtained from the GPS. The vehicle speed sensor unit 101 calculates the host vehicle speed 101a from information obtained from the vehicle speed sensor. The marker receiving unit 102 detects the position of the radio wave transmission position 15 described with reference to FIG. 1 and outputs parking space data 102a. The route calculation unit 103 determines the travel route Ln for parking by the method described above, and outputs the travel route Ln.

  The own vehicle position detection unit 100 detects the position of the own vehicle from the own vehicle position data 11a and 102a and the own vehicle speed data 101a, and determines the vertical direction deviation from the deviation between the detected own vehicle position and the parking route Ln. (Y-axis direction deviation) Yd and lateral direction deviation Xd are output.

  The vehicle control unit 200 outputs the steering angle command value 201 so that the vertical deviation Yd and the horizontal deviation Xd approach “0”.

  Here, the concept of the vertical deviation Yd and the horizontal deviation Xd will be described with reference to FIG.

  If the host vehicle position is 20 and the parking route is Ln, the lateral deviation Xd is the lateral distance between the host vehicle position 20 and the route Ln, and the vertical deviation Yd is between the host vehicle position 20 and the route Ln. Is the vertical distance. Making these deviations approach "0" means outputting the steering angle command value 201 so as to guide the position of the host vehicle 20 in the D direction. The deviation is obtained by coordinate calculation.

  Furthermore, the vehicle control unit 200 outputs the driving force command value 202 so that the vehicle speed 101 is constant during movement and is “0” when stopped. The constant vehicle speed is a predetermined vehicle speed that is considered to be sufficiently safe, but the vehicle speed may be changed in accordance with changes in the surrounding environment such as the weather and the position of surrounding obstacles.

  The rudder angle control unit 203 performs control so that the actual rudder angle of the vehicle matches the rudder angle command value 201. The driving force control unit 204 performs control so that the driving force of the vehicle matches the driving force command value 202.

  The control stop determination unit 300 includes the own vehicle speed 101a, the acceleration 104a output from the G sensor unit (acceleration sensor) 104, the obstacle distance 105a output from the obstacle sensor unit 105, and the handle output from the handle operation detection unit 106. When a signal such as an operation 106a, an accelerator operation 107a output from the accelerator operation detection unit 107, a brake operation 108a output from the brake operation detection unit 108, and the like exceeds a predetermined threshold value, A stop signal 301 is output.

  The vehicle control unit 200, the steering angle control unit 203, and the driving force control unit 204 stop the control when the stop signal 301 is set.

  Next, the operation of the stop control determination unit 300 will be described with reference to FIG.

The stop control determination unit 300 makes the following determination and sets a stop signal 301.
(1) It is determined whether or not the vehicle speed 101a is equal to or higher than a threshold value (S1). If the vehicle speed 101a is equal to or higher than the threshold value, a stop signal is set (S11). This prevents the vehicle from running away at an unexpected vehicle speed.
(2) It is determined whether or not the acceleration 104a is greater than or equal to a threshold (S1). If the acceleration 104a is greater than or equal to the threshold, a stop signal is set (S11), and if less than the threshold, nothing is done (S12). This prevents the vehicle from running away at an unexpected acceleration.
(3) It is determined whether or not the vertical deviation Yn is greater than or equal to a threshold value (S3). If it is greater than or equal to the threshold value, a stop signal is set (S11), and if it is less than the threshold value, nothing is performed (S12). If the deviation is too large, the vehicle cannot be controlled. Accordingly, the stop control prevents further control and prevents the vehicle from moving toward an unexpected place.
(4) It is determined whether or not the lateral deviation Xn is greater than or equal to a threshold value (S4). If it is greater than or equal to the threshold value, a stop signal is set (S11), and if it is less than the threshold value, nothing is done (S12). If the deviation is too large, it means that the vehicle cannot be controlled, and therefore a stop signal is set to prevent the same as in (3) above.
(5) It is determined whether or not the steering angle command value 201 is greater than or equal to a threshold value (S1). If the steering angle command value 201 is greater than or equal to the threshold value, a stop signal is set (S11), and if less than the threshold value, nothing is performed (S12). If a steering angle command value that cannot be controlled safely is output, the control is stopped because it is dangerous.
(6) It is determined whether or not the driving force command value 202 is equal to or greater than the threshold value. If the driving force command value 202 is equal to or greater than the threshold value, a stop signal is set (S11), and if it is less than the threshold value, nothing is performed (S12). If a driving force command value that cannot be controlled safely is output, the control is stopped because it is dangerous.
(7) It is determined whether the obstacle distance 105a is equal to or greater than the threshold (S7). If the obstacle distance 105a is equal to or greater than the threshold, a stop signal is set (S11), and if it is less than the threshold, nothing is performed (S12). If the obstacle is approaching more than allowable, the automatic operation control is not performed properly, and the control is stopped.
(8) It is determined whether there is a handle operation 106a (S8). If there is an operation, a stop signal is set (S11), and if it is less than the threshold value, nothing is done (S12). When driver operation intervenes, control is always stopped to give priority to driver operation.
(9) It is determined whether there is a brake operation 107a (S9). If there is an operation, a stop signal is set (S11), and if it is less than the threshold value, nothing is done (S12). As above, priority is given to driver operations.
(S10) It is determined whether or not the accelerator operation 108a is operated (S10). If there is an operation, a stop signal is set (S11), and if it is less than the threshold value, nothing is done (S12). Give priority to driver operations.

  Further, when the determination conditions (1) to (10) are satisfied, all or one of the buzzer sound and the display on the display device is performed in order to notify the driver of the control stop.

  As shown in the above embodiments, according to the present invention, it is possible to significantly reduce the burden on the driver's garage.

Claims (15)

A route search device for recognizing the position of the target parking space and the position of the vehicle to be parked and searching for a movement route for moving the vehicle to the parking space based on the position data, and the movement of the vehicle In a car warehousing device comprising an automatic driving control device for controlling a vehicle drive system and a steering system so as to follow a route,
An obstacle detection device for detecting obstacles around the vehicle;
The route search device has a determination processing function for determining whether or not an obstacle exists on the searched movement route, and an arithmetic function for searching for a movement route that bypasses the obstacle when the obstacle exists. A car warehousing device characterized by comprising:   The route search device according to claim 1, wherein when there is a vehicle to be parked in the microcomputer, the position of the parking space, and an obstacle based on the position information of the parking space, the vehicle, and the obstacle, An automobile warehousing device characterized by assuming a place for recognition including the position of an obstacle and searching for the moving route including a detour by the assumed place by simulation.   In claim 2, the route search device first simulates the shortest travel route of the vehicle according to the assumed field, and if it recognizes that the obstacle exists on the shortest travel route, A car warehousing device characterized in that a target moving route is determined by simulating a detouring moving route.   2. The automobile garage storage device according to claim 1, wherein the vehicle includes a display device that displays an image of the host vehicle, the parking space, and the moving route including obstacles.   5. The apparatus according to claim 4, further comprising means for changing the movement route on the screen of the display device, wherein the automatic driving control means has a function of controlling movement of the own vehicle along the changed movement route. A car warehousing device.   3. The assumed field is set by two-dimensional processing according to claim 2, wherein the route search device searches for the shortest travel route from the vehicle to the parking space based on the specifications of the vehicle. When there is an obstacle on the moving path, a grid point with coordinates is set in the field, and a moving path for bypassing the obstacle is searched using the grid point. A car warehousing device.   The search for the travel route for detouring the obstacle according to claim 6 is performed by connecting center lines of the vehicle and the parking space using the lattice points. A car warehousing device.   7. The detouring movement path searched using the lattice points according to claim 6, wherein all candidates are searched and a path with the shortest path length is preferentially selected. Car garage storage device.   8. The car warehousing device according to claim 7, wherein the route search device prohibits straight lines generated by connecting the lattice points from being perpendicular to each other.   7. The car warehousing apparatus according to claim 6, wherein an interval between the lattice points is limited based on specifications of the vehicle.   In Claim 6, When searching the said movement path | route which detours an obstacle, the said movement path | route and the positional relationship of the said vehicle, the said parking space, and the said obstacle are displayed together with the said grid point. A car warehousing device comprising a display device.   In Claim 11, when the travel route for detouring cannot be searched, the said display apparatus displays only the position of the said vehicle and the said parking space, and this display apparatus is arbitrary by hand on a display screen. A car warehousing device comprising means capable of changing a moving route for parking of the vehicle via the lattice points.   The automatic steering control according to claim 1, wherein in the automatic driving control that follows the movement route, when the vehicle speed reaches a certain threshold value, when the deviation between the movement route and the vehicle position reaches a certain threshold value, the steering angle target When the steering angle command value that is the value reaches a certain threshold, when the driving force command value that is the target value of the driving force reaches a certain threshold, and when the distance between the obstacle and the vehicle reaches a certain threshold A car warehousing device comprising means for releasing automatic driving control from the vehicle to the parking space when at least one of the conditions is satisfied.   The automatic driving control according to claim 1, wherein in the automatic driving control that follows the movement route, at least one condition is obtained when there is a steering operation by the driver, when there is an accelerator operation by the driver, and when there is a braking operation by the driver. A car warehousing device comprising means for canceling the automatic operation control when the condition is satisfied. A route search device for recognizing the position of the target parking space and the position of the vehicle to be parked and searching for a movement route for moving the vehicle to the parking space based on the position data, and the movement of the vehicle In a car warehousing device comprising an automatic driving control device for controlling a vehicle drive system and a steering system so as to follow a route,
The vehicle includes a display device that displays an image of the vehicle, the parking space, and the moving route including obstacles, and a unit that changes the moving route on a screen of the display device, and the automatic driving The control apparatus has a function of controlling the movement of the own vehicle by following the changed movement route.

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