JPWO2019065125A1 - 車両制御装置および自動駐車システム - Google Patents
車両制御装置および自動駐車システム Download PDFInfo
- Publication number
- JPWO2019065125A1 JPWO2019065125A1 JP2019544489A JP2019544489A JPWO2019065125A1 JP WO2019065125 A1 JPWO2019065125 A1 JP WO2019065125A1 JP 2019544489 A JP2019544489 A JP 2019544489A JP 2019544489 A JP2019544489 A JP 2019544489A JP WO2019065125 A1 JPWO2019065125 A1 JP WO2019065125A1
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- null point
- wireless communication
- control center
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004891 communication Methods 0.000 claims abstract description 44
- 238000001514 detection method Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 238000012508 change request Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
本発明による自動駐車システムは、車両制御装置と、前記車両制御装置との間で無線通信を行う管制センターとを含む。
図1は、車両100の構成図である。車両100は、各種外界センサ101、各種アクチュエータ102、自動運転制御部103、自車位置推定部104、無線通信部105、アンテナ106、ヌルポイント判定部107を備えている。
図3は駐車場301における車両の位置を示す図であり、オートバレーパーキングによって車両を駐車する概要を示す。
そして、駐車位置307付近の位置308で管制センター200から停止指示を受けたとする。仮に、位置308が管制センター200から提供されたヌルポイントに該当した場合は、車両100-aは位置308では停止せず、車両100-aは最徐行で移動する。そして、車両100-aのRSSI検出部115で検出された受信信号強度が閾値以上であれば、車両100-aがヌルポイントを脱したと判定して位置309で停止する。その後、駐車の為の発進指示を受けて指定の駐車位置307に駐車する。
なお、ステップ405で、車両100が各種外界センサ101によって障害物を検知した場合は後述の図5に示す処理動作を行う。
(1)車両制御装置は、駐車場301内の無線通信が不良な位置を示すヌルポイントおよび駐車場301内で車両100を制御する指示情報を管制センター200から無線通信により取得する無線通信部105と、無線通信部105で取得した指示情報が車両100を停止させる指示であり、その指示された停止位置がヌルポイントであった場合に、ヌルポイントを脱するまで車両100を移動した後に車両100を停止する自動運転制御部103とを備える。これにより、駐車場301が狭い場合であってもヌルポイントで車両100が停止することを回避できる。
これにより、車両100はヌルポイントを脱したことを検知して、ヌルポイントで車両100が停止することを回避できる。
Claims (6)
- 駐車場内の無線通信が不良な位置を示すヌルポイントおよび前記駐車場内で車両を制御する指示情報を管制センターから無線通信により取得する無線通信部と、
前記無線通信部で取得した前記指示情報が前記車両を停止させる指示であり、その指示された停止位置が前記ヌルポイントであった場合に、前記ヌルポイントを脱するまで前記車両を移動した後に前記車両を停止する制御部とを備える車両制御装置。 - 請求項1に記載の車両制御装置において、
前記ヌルポイントを脱したことを、前記管制センターから受信した受信信号強度が閾値以上であることにより判定するヌルポイント判定部を備える車両制御装置。 - 請求項2に記載の車両制御装置において、
前記制御部は、前記無線通信部で取得した前記指示情報が前記車両を駐車させる指示であり、その駐車位置が前記受信信号強度未満の位置であった場合に、前記駐車位置を新たな駐車位置に変更する車両制御装置。 - 請求項2に記載の車両制御装置において、
前記車両の障害物を検知する検知部をさらに備え、
前記制御部は、前記検知部が前記障害物を検知して前記車両が前記ヌルポイントで停車した場合に、その後、前記障害物が移動しない場合は、前記障害物を避けて前記ヌルポイントを脱するまで前記車両を移動した後に前記車両を停止する車両制御装置。 - 請求項1から請求項4までのいずれか一項に記載の車両制御装置と、
前記車両制御装置との間で無線通信を行う管制センターとを含む自動駐車システム。 - 請求項5に記載の自動駐車システムにおいて、
前記車両制御装置は、前記管制センターから受信した受信信号強度を検出し、この受信信号強度を前記管制センターへ送信し、
前記管制センターは、前記受信信号強度および駐車場内の駐車車両の配置情報を蓄積し、前記受信信号強度および前記駐車車両の配置情報に基づいて決定された前記ヌルポイントを記憶する自動駐車システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017188286 | 2017-09-28 | ||
JP2017188286 | 2017-09-28 | ||
PCT/JP2018/032807 WO2019065125A1 (ja) | 2017-09-28 | 2018-09-05 | 車両制御装置および自動駐車システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2019065125A1 true JPWO2019065125A1 (ja) | 2020-10-15 |
JP6964141B2 JP6964141B2 (ja) | 2021-11-10 |
Family
ID=65902860
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019544489A Active JP6964141B2 (ja) | 2017-09-28 | 2018-09-05 | 車両制御装置および自動駐車システム |
Country Status (3)
Country | Link |
---|---|
US (1) | US20200298834A1 (ja) |
JP (1) | JP6964141B2 (ja) |
WO (1) | WO2019065125A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7140071B2 (ja) * | 2019-07-24 | 2022-09-21 | トヨタ自動車株式会社 | 車両監視システム及び車両監視方法 |
KR20210087579A (ko) * | 2019-12-31 | 2021-07-13 | 현대자동차주식회사 | 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량 |
WO2022004352A1 (ja) * | 2020-06-29 | 2022-01-06 | ソニーセミコンダクタソリューションズ株式会社 | 制御装置、制御方法、記憶媒体、及び制御システム |
CN113022552B (zh) * | 2021-03-30 | 2022-09-20 | 华南理工大学 | 基于激光雷达和v2i技术的自动泊车系统及控制方法 |
JP7501445B2 (ja) | 2021-05-25 | 2024-06-18 | トヨタ自動車株式会社 | Otaセンタ、更新管理方法、更新管理プログラム、otaマスタ、更新制御方法および更新制御プログラム |
CN114979221B (zh) * | 2022-06-29 | 2024-02-06 | 阿波罗智能技术(北京)有限公司 | 车辆的信号处理方法、装置、电子设备及存储介质 |
JP2024055296A (ja) * | 2022-10-07 | 2024-04-18 | 株式会社オートネットワーク技術研究所 | 車載装置、通信制御方法および通信システム |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003152631A (ja) * | 2001-11-16 | 2003-05-23 | Denso Corp | 無線通信システム及びプログラム |
JP2013000218A (ja) * | 2011-06-14 | 2013-01-07 | Aisin Engineering Kk | 車椅子格納支援装置 |
JP2015072651A (ja) * | 2013-10-04 | 2015-04-16 | 株式会社デンソーアイティーラボラトリ | 交通制御システム、交通制御方法、およびプログラム |
-
2018
- 2018-09-05 WO PCT/JP2018/032807 patent/WO2019065125A1/ja active Application Filing
- 2018-09-05 US US16/646,900 patent/US20200298834A1/en not_active Abandoned
- 2018-09-05 JP JP2019544489A patent/JP6964141B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003152631A (ja) * | 2001-11-16 | 2003-05-23 | Denso Corp | 無線通信システム及びプログラム |
JP2013000218A (ja) * | 2011-06-14 | 2013-01-07 | Aisin Engineering Kk | 車椅子格納支援装置 |
JP2015072651A (ja) * | 2013-10-04 | 2015-04-16 | 株式会社デンソーアイティーラボラトリ | 交通制御システム、交通制御方法、およびプログラム |
Also Published As
Publication number | Publication date |
---|---|
US20200298834A1 (en) | 2020-09-24 |
JP6964141B2 (ja) | 2021-11-10 |
WO2019065125A1 (ja) | 2019-04-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6964141B2 (ja) | 車両制御装置および自動駐車システム | |
KR102288799B1 (ko) | 군집주행 제어 장치 및 방법 | |
CN106064626B (zh) | 车辆行驶控制装置 | |
CN107074282B (zh) | 用于运行车辆的方法和装置 | |
US20200307648A1 (en) | Parking lot management device, parking lot management method, and storage medium | |
JP4375488B2 (ja) | 運転支援装置 | |
JP6603253B2 (ja) | 移動体制御システム、および移動体制御方法 | |
JP6537631B2 (ja) | 予測装置、予測システム、予測方法および予測プログラム | |
KR100946525B1 (ko) | 차량 자동운전 시스템 | |
EP3862996A1 (en) | Automatic parking assistance system, in-vehicle device and method | |
US11325587B2 (en) | Automated control of a motor vehicle during parking maneuvers | |
US20200062243A1 (en) | Autonomous parking in an indoor parking facility | |
US11543833B2 (en) | Vehicle control device, vehicle control method, and vehicle control system | |
KR20220020804A (ko) | 정보 처리 장치 및 정보 처리 방법, 그리고 프로그램 | |
KR102666463B1 (ko) | 자동 주차 시스템, 자동 주차 시스템의 제어 방법, 및 자동 운전 차량 | |
JPWO2020090306A1 (ja) | 情報処理装置、情報処理方法及び情報処理プログラム | |
US20230087852A1 (en) | Automated valet parking system, control method for automated valet parking system, and autonomous driving vehicle | |
US20160299217A1 (en) | Installation angle distinction apparatus and distinction method thereof | |
KR20180012128A (ko) | 차량의 3차원 위치 추정 장치 및 그 방법 | |
CN115465262A (zh) | 至少部分自动化地转移机动车的方法、装置和存储介质 | |
US20230111327A1 (en) | Techniques for finding and accessing vehicles | |
JP2021006448A (ja) | 単一車両走行用に設計された自動運転システムでの車両隊列実施 | |
CN111667719B (zh) | 用于控制自动驾驶车辆的速度的设备和方法及存储介质 | |
KR20160050441A (ko) | 차량의 지능형 순항제어 장치 및 방법 | |
JP2019008587A (ja) | 自動連携システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200302 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210202 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210325 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210329 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210608 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210712 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20211005 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20211018 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6964141 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |