JPWO2020129516A1 - Vehicle control device - Google Patents

Abstract

Provided is a vehicle control device capable of maintaining an appropriate distance from an adjacent vehicle after parking. It is a vehicle control device 100 mounted on a vehicle 1 provided with an outside world recognition sensor 10. The vehicle control device 100 activates the outside world recognition sensor 10 after parking the vehicle 1, acquires the parking environment information around the vehicle 1, and determines whether the parking environment information is appropriate or not. It includes an environment determination unit 112, and a travel control unit 121 that travels the vehicle 1 and moves the vehicle 1 to a corrected parking position where the parking environment information is appropriate when the parking environment information is determined to be inappropriate.

Description

The present disclosure relates to a vehicle control device.

Inventions relating to vehicle control devices have been conventionally known (see Patent Documents 1 and 2 below).

An object of the invention described in Patent Document 1 is to provide a vehicle control device that avoids obstructing traffic even when parked on a narrow road and reduces the burden on the driver of the parked vehicle. (See the same document, paragraph 0006, etc.). As a means for achieving this object, Patent Document 1 discloses a vehicle control device having the following configuration.

The vehicle control device includes an approach determination means, a passability determination means, and a vehicle control means. The approach determination means determines the approach of another vehicle to the parked own vehicle. When it is determined that the other vehicle approaches the own vehicle, the passability determining means determines whether or not the other vehicle can pass by the side of the own vehicle. When the other vehicle cannot pass by the side of the own vehicle, the vehicle control means moves the own vehicle to a shelter (see Patent Document 1, claim 1, etc.).

An object of the invention described in Patent Document 2 is to provide a vehicle control device capable of easily opening and closing a back door after parking. As a means for achieving this object, Patent Document 2 discloses a vehicle control device having the following configuration.

The vehicle control device includes an open space determination unit and a vehicle control unit. The open space determination unit determines whether or not there is an open space around the vehicle that can open the back door of the vehicle when the vehicle is stopped in the parking space. When the open space determination unit determines that there is no open space, the vehicle control unit moves the vehicle to a position where the back door can be opened (see Patent Document 2, claim 1, etc.).

Japanese Unexamined Patent Publication No. 2016-173637 JP-A-2018-030468

In the parking lot, after parking in the parking space, another vehicle enters the next parking space, or the next vehicle leaves the next parking space and the other vehicle enters the next vehicle. The distance between and may be abnormally close. In this case, the parking environment is unfavorable, for example, the opening and closing of the door of the parked vehicle is hindered, it becomes difficult to board the parked vehicle, and the door of the parked vehicle collides with the door of the adjacent vehicle. It may be appropriate. However, the above-mentioned Patent Documents 1 and 2 do not disclose the means for solving such a problem.

The present disclosure provides a vehicle control device capable of properly maintaining a parking environment after parking a vehicle.

One aspect of the present disclosure is a vehicle control device mounted on a vehicle provided with an outside world recognition sensor, which activates the outside world recognition sensor after parking the vehicle to acquire parking environment information around the vehicle. The information recognition unit, the parking environment determination unit that determines whether the parking environment information is appropriate, and the parking environment information is appropriate by driving the vehicle when the parking environment information is determined to be inappropriate. It is a vehicle control device including a traveling control unit for moving to a corrected parking position.

According to the above aspect of the present disclosure, it is possible to provide a vehicle control device capable of properly maintaining a parking environment after parking.

FIG. 3 is a block diagram of a vehicle equipped with a vehicle control device according to an embodiment of the present disclosure. FIG. 3 is a plan view showing an example of the external world recognition sensor of FIG. 1 and its detection range. FIG. 5 is a plan view showing an example of acquisition of parking environment information by the external world information recognition unit of FIG. FIG. 5 is a plan view showing an example of acquisition of parking environment information by the external world information recognition unit of FIG. FIG. 5 is a plan view showing an example of determination of parking environment information by the parking environment determination unit of FIG. FIG. 5 is a plan view showing an example of determination of parking environment information by the parking environment determination unit of FIG. FIG. 5 is a plan view showing an example of determination of parking environment information by the parking environment determination unit of FIG. The flow chart which shows an example of the control flow by the vehicle control device shown in FIG. FIG. 5 is a flow chart showing details of an example of the parking environment information acquisition process of FIG. FIG. 5 is a plan view showing an example of vehicle control by the vehicle control device of FIG.

Hereinafter, an embodiment of the vehicle control device of the present disclosure will be described with reference to the drawings.

FIG. 1 is a block diagram of a vehicle 1 equipped with a vehicle control device 100 according to an embodiment of the present disclosure. The vehicle 1 is, for example, an automatic driving (AD) vehicle or a vehicle provided with an advanced driver assistance system (ADAS). The vehicle control device 100 is, for example, a device related to the automatic parking process included in the automatic driving of the vehicle 1 and the driving support. Although details will be described later, the vehicle control device 100 of the present embodiment is characterized by the following configuration.

The vehicle control device 100 is mounted on the vehicle 1 provided with the outside world recognition sensor 10. The vehicle control device 100 includes an outside world information recognition unit 111, a parking environment determination unit 112, and a travel control unit 121. The outside world information recognition unit 111 activates the outside world recognition sensor 10 after parking the vehicle 1 to acquire parking environment information around the vehicle 1. The parking environment determination unit 112 determines whether or not the parking environment information is appropriate. When it is determined that the parking environment information is inappropriate, the traveling control unit 121 drives the vehicle 1 and moves the vehicle 1 to a corrected parking position where the parking environment information is appropriate.

Hereinafter, an example of the configuration of the vehicle 1 on which the vehicle control device 100 is mounted and an example of the configuration of each part of the vehicle control device 100 will be described in detail. The vehicle 1 includes, for example, an outside world recognition sensor 10, a vehicle information acquisition unit 20, a steering 30, an accelerator 40, a brake 50, and a transmission 60. In FIG. 1, the general configuration of the vehicle 1, such as the motor, engine, transmission, chassis, and body, is not shown.

FIG. 2 is a plan view showing an example of the outside world recognition sensor 10 of FIG. 1 and its detection range. The outside world recognition sensor 10 includes, for example, a front radar 11, a corner radar 12, a laser radar 13, and an optical sensor 14, and detects or measures outside world information including parking environment information around the vehicle 1. Here, the parking environment information includes, for example, information on pedestrians, vehicles and obstacles around the parked vehicle 1, and information on road markings such as white lines displayed on the road surface around the vehicle 1.

The front radar 11 is, for example, a millimeter-wave radar, has a radial detection range R11 that can detect a relatively long distance in front of the vehicle 1, and detects pedestrians, vehicles, obstacles, etc. in front of the vehicle 1. It is a sensor that does. The corner radar 12 is, for example, a short-range radar, which is provided at each of the left and right corners at the front end and the left and right corners at the rear end of the vehicle, has a radial detection area starting from each corner, and has pedestrians, vehicles, obstacles, and the like. It is a sensor that detects. The corner radar 12 is a sensor used for, for example, blind spot detection (BSD), lane change assistance (LCA), front cross traffic alert (FCTA), rear cross traffic alert (RCTA), and the like.

The laser radar 13, also called "LIDAR", is a sensor that acquires three-dimensional information such as pedestrians, vehicles, and obstacles around the vehicle 1 by performing distance measurement using a laser. The laser radar 13 has, for example, a spherical detection region R13 centered on the laser radar 13. In the example shown in FIG. 2, the laser radar 13 is attached to the upper part of the vehicle 1, but the attachment position of the laser radar 13 is not particularly limited. The laser radar 13 may be attached to, for example, the front, rear, or side of the vehicle 1.

The optical sensor 14 is, for example, a camera provided with an image sensor such as CMOS (Complementary Metal-Oxide-Semiconductor) or CCD (Charged-Coupled Devices). The optical sensor 14 is attached to, for example, the left and right side portions and the rear portion of the vehicle 1, and each has a radial detection region R14. The vehicle 1 may have an optical sensor 14 such as a stereo camera or a monocular camera having a detection region in front of the vehicle 1.

The vehicle information acquisition unit 20 includes, for example, GPS (Global Positioning System) or GNSS (Global Navigation Satellite System), wheel speed sensor, acceleration sensor, steering angle sensor, accelerator position sensor, brake pressure sensor, gear position sensor and the like. The vehicle information acquisition unit 20 acquires vehicle information including, for example, the position, speed, acceleration, steering angle, accelerator opening degree, brake pressure, shift state, and the like of the vehicle 1.

The steering 30, accelerator 40, brake 50 and transmission 60 are manually operated by an occupant driving the vehicle 1. Further, the steering 30, accelerator 40, brake 50, and transmission 60 are each provided with an actuator, and are automatically operated by the vehicle control device 100 when the AD of the vehicle 1 or the driving support of the vehicle 1 by ADAS is performed. ..

The vehicle control device 100 is, for example, an electronic control device (ECU) mounted on the vehicle 1, and includes, for example, a computer system including a central processing unit (CPU), a memory, a timer, an input / output unit, a program, and the like. It consists of a microcontroller. The vehicle control device 100 includes, for example, an automatic parking ECU 110 and a vehicle control ECU 120.

The automatic parking ECU 110 includes, for example, an outside world information recognition unit 111 and a parking environment determination unit 112, and automatically parks the vehicle 1 via the vehicle control ECU 120. In the example shown in FIG. 1, the automatic parking ECU 110 further includes a correction parking position calculation unit 113 and a parking route calculation unit 114. Further, the automatic parking ECU 110 may include, for example, a parking position correction switch for selecting on / off of the parking position correction function of the vehicle 1 by the vehicle control device 100.

The vehicle control ECU 120 includes, for example, a travel control unit 121, and controls the actuators of the steering 30, accelerator 40, brake 50, and transmission 60 to automatically drive the vehicle 1.

The outside world information recognition unit 111 activates the outside world recognition sensor 10 after parking the vehicle 1 to acquire parking environment information around the vehicle 1. As described above, the parking environment information includes, for example, information on pedestrians, vehicles and obstacles around the parked vehicle 1, and information on road markings such as white lines displayed on the road surface around the vehicle 1. ..

FIG. 3 is a plan view showing an example of acquisition of parking environment information by the outside world information recognition unit 111 of FIG. The parking environment information includes, for example, the distance Dv between the vehicle 1 and the adjacent vehicle V, that is, the distance Dv between the vehicle 1 and the vehicle adjacent thereto. For example, the outside world information recognition unit 111 activates the laser radar 13 and measures and acquires the distance Dv between the vehicle 1 and the adjacent vehicle V based on the information acquired by the laser radar 13. The information used for measuring the distance Dv is not limited to the information acquired by the laser radar 13, and may be information acquired by another sensor of the external world recognition sensor 10, for example, the corner radar 12.

FIG. 4 is a plan view showing an example of acquisition of parking environment information by the outside world information recognition unit 111 of FIG. The parking environment information includes, for example, the boundary B of the parking space P in which the vehicle 1 is parked. More specifically, the parking environment information includes, for example, the distance Db between the vehicle 1 and the boundary B of the parking space P. The boundary B of the parking space P is, for example, a parking frame or a white line displayed on the road surface. For example, the external world information recognition unit 111 activates the optical sensor 14 and measures and acquires the distance Db between the vehicle 1 and the boundary B of the parking space P based on the information acquired by the optical sensor 14.

The outside world information recognition unit 111 is configured to acquire parking environment information immediately after the vehicle 1 is parked and after a predetermined time has elapsed, for example. In other words, the outside world information recognition unit 111 is configured not to acquire parking environment information immediately after parking the vehicle 1, for example. The time from immediately after parking of the vehicle 1 to the first acquisition of the parking environment information can be arbitrarily set by, for example, the occupant of the vehicle 1. More specifically, the time from immediately after parking of the vehicle 1 to the first acquisition of the parking environment information depends on the frequency of changes in the parking environment information around the vehicle 1, the planned parking time, and the like. For example, it can be set to any time such as 5 minutes, 10 minutes, 15 minutes, 30 minutes, 1 hour, and 2 hours.

The outside world information recognition unit 111 is configured to intermittently acquire parking environment information a plurality of times, for example, from when the start switch of the vehicle 1 is turned off to when it is turned on. The start switch is, for example, an ignition switch that switches on and off by inserting a key into a key cylinder and rotating it, or a push button type switch. The start switch is usually turned on at the start of driving of the vehicle and turned off immediately after the vehicle is parked.

More specifically, the outside world information recognition unit 111 is configured to, for example, intermittently acquire parking environment information at regular time intervals. This time interval depends on the frequency of changes in the parking environment information around the vehicle 1 and the planned parking time, as in the time from immediately after the parking of the vehicle 1 to the first acquisition of the parking environment information. It can be set arbitrarily.

Further, the outside world information recognition unit 111 may be configured to intermittently acquire parking environment information at different time intervals, for example. More specifically, when the parking environment information around the vehicle 1 changes frequently, the outside world information recognition unit 111 shortens the time interval for acquiring the parking environment information. On the other hand, when the parking environment information around the vehicle 1 changes infrequently, the outside world information recognition unit 111 lengthens the time interval for acquiring the parking environment information.

Further, the outside world information recognition unit 111 checks, for example, the remaining amount of the battery for operating the outside world recognition sensor 10, and acquires the parking environment information when the remaining amount of the battery is equal to or more than the threshold value. It may be configured in. The threshold value of the remaining battery level may be fixed or may be rewritable by an instruction from the outside. Further, the outside world information recognition unit 111 may be configured to activate the outside world recognition sensor 10 while the vehicle 1 is traveling during automatic parking to detect obstacles around the vehicle 1.

5 to 7 are plan views showing an example of determination of parking environment information by the parking environment determination unit 112 of FIG. 1. As described above, the parking environment determination unit 112 determines whether or not the parking environment information acquired by the outside world information recognition unit 111 is appropriate. The parking environment determination unit 112 is configured to determine, for example, that the parking environment information is inappropriate when the distance Dv between the vehicle 1 and the adjacent vehicle V is equal to or less than the threshold value.

More specifically, as shown in FIG. 5, the threshold value of the distance Dv between the vehicle 1 and the adjacent vehicle V is set to the distance Dt at which the door does not collide with the adjacent vehicle V when the door of the vehicle 1 is opened. Can be set. More specifically, for example, the distance Dt obtained by adding a predetermined margin M to the protrusion length L of the door from the side surface of the vehicle 1 when the door of the vehicle 1 is fully opened is set between the vehicle 1 and the adjacent vehicle V. It can be the threshold of the distance Dv.

Further, as shown in FIG. 6, the threshold value of the distance Dv between the vehicle 1 and the adjacent vehicle V may be set with reference to the standard width w of the occupant O of the vehicle 1. Specifically, for example, the distance Dt at which the occupant O can walk between the vehicle 1 and the adjacent vehicle V with a margin, or the distance Dt at which the occupant O and the pedestrian can pass each other with a margin. It can be set as a threshold value of the distance Dv between the vehicle 1 and the adjacent vehicle V. Such a distance Dt is, for example, in the range of about 500 [mm] to about 1200 [mm].

Further, as shown in FIG. 7, the parking environment determination unit 112 determines, for example, that the parking environment information is inappropriate when the distance Db between the vehicle 1 and the boundary B of the parking space P is equal to or less than the threshold value. It may be configured. The parking environment determination unit 112 sets the threshold value of the distance Db between the vehicle 1 and the boundary B before and after the vehicle 1 to a value smaller than the threshold value of the distance Db between the vehicle 1 and the boundary B on the left and right of the vehicle 1. You may.

Further, the parking environment determination unit 112 determines whether or not the parking environment information is appropriate based on, for example, both the distance Dv between the vehicle 1 and the adjacent vehicle V and the distance Db between the vehicle 1 and the boundary B of the parking space P. May be determined. In this case, the threshold value of the distance Dv between the side surface of the vehicle 1 on the driver's seat side and the adjacent vehicle V is larger than the threshold value of the distance Dv between the side surface of the vehicle 1 on the passenger seat side and the adjacent vehicle V. May be set to. Similarly, the threshold value of the distance Db between the side surface on the driver's seat side of the vehicle 1 and the boundary B is set to a value larger than the threshold value of the distance Db between the side surface on the passenger seat side of the vehicle 1 and the boundary B. You may.

Further, the parking environment determination unit 112 sets a distance Dt between the vehicle 1 and the adjacent vehicle V so that the contact between the vehicle 1 and the adjacent vehicle V can be avoided due to the difference in the inner wheels of the adjacent vehicle V, for example, when the adjacent vehicle V leaves the garage. It can be set to the threshold value of the distance Dv. More specifically, the parking environment determination unit 112 predicts the traveling locus of the adjacent vehicle V at the time of leaving the vehicle based on, for example, general vehicle data and the width of the aisle, and the vehicle 1 and the adjacent vehicle V do not collide with each other. The distance Dt can be set to the threshold value of the distance Dv between the vehicle 1 and the adjacent vehicle V.

Further, the parking environment determination unit 112 may be configured to determine that the parking environment information is inappropriate, for example, when the parking environment information is continuously inappropriate over a predetermined time interval. That is, the parking environment determination unit 112 determines whether or not the parking environment information is appropriate based on whether the change in the parking environment information around the vehicle 1 is continuous or temporary. The threshold value of the time interval may be fixed or may be rewritable by an external instruction.

The corrected parking position calculation unit 113 is configured to calculate the corrected parking position when, for example, the parking environment determination unit 112 determines that the parking environment information is inappropriate. Here, the corrected parking position is a position where the parking environment determination unit 112 determines that the parking environment information is appropriate when the vehicle 1 is parked at that position. The corrected parking position calculation unit 113 calculates the corrected parking position based on, for example, the parking environment information acquired by the outside world information recognition unit 111.

The parking route calculation unit 114 calculates, for example, a parking route that is a traveling route of the vehicle 1 from the current parking position of the vehicle 1 to the corrected parking position calculated by the correction parking position calculation unit 113. This parking route is calculated based on, for example, the current parking position of the vehicle 1, the calculated corrected parking position, the minimum turning radius of the vehicle 1, the parking environment information around the vehicle 1, and the like.

When the parking environment determination unit 112 determines that the parking environment information is inappropriate, the travel control unit 121 drives the vehicle 1 and moves the vehicle 1 to a corrected parking position where the parking environment information is appropriate. When the traveling control unit 121 is configured to calculate the corrected parking position and the parking route, the corrected parking position calculation unit 113 and the parking route calculation unit 114 may be omitted.

The travel control unit 121 is configured so as not to move the vehicle 1 when, for example, the correction parking position calculation unit 113 cannot calculate the correction parking position. The case where the corrected parking position cannot be calculated is, for example, a case where the parking environment determination unit 112 determines that the parking environment information is inappropriate even if the vehicle 1 is moved to any position in the parking space P. Further, the traveling control unit 121 is configured to stop the vehicle 1 when, for example, the outside world information recognition unit 111 detects an obstacle in the course of the vehicle 1.

Hereinafter, an example of the operation of the vehicle control device 100 of the present embodiment will be described.

FIG. 8 is a flow chart showing an example of the flow of parking position control of the vehicle 1 by the vehicle control device 100 shown in FIG. In the parking position control of the vehicle 1, the vehicle control device 100 first determines whether or not the vehicle is parked with the start switch turned off after the vehicle 1 is stopped (step S1). When the start switch of the vehicle 1 is not turned off (NO), that is, when the start switch of the vehicle 1 is turned on, the vehicle control device 100 ends the parking position control of the vehicle 1.

When the start switch of the vehicle 1 is turned off and the vehicle is parked (YES), the vehicle control device 100 determines, for example, whether or not the parking position correction switch is turned on (step S2). When the parking position correction switch is not turned on (NO), that is, when the parking position correction switch is turned off, the vehicle control device 100 ends the parking position control of the vehicle 1.

When the parking position correction switch is turned on (YES), the vehicle control device 100 determines, for example, whether or not the remaining amount of the battery for operating the outside world recognition sensor 10 is equal to or greater than the threshold value (step S3). When the remaining battery level is not equal to or higher than the threshold value (NO), that is, when the remaining battery level is lower than the threshold value, the vehicle control device 100 ends the parking position control of the vehicle 1.

When the remaining amount of the battery is equal to or higher than the threshold value (YES), the vehicle control device 100 activates the outside world recognition sensor 10 after the vehicle 1 is parked by the outside world information recognition unit 111 to provide parking environment information around the vehicle 1. (Step S4).

FIG. 9 is a flow chart showing a detailed example of step S4 for acquiring the parking environment information of FIG. In step S4, the outside world information recognition unit 111 determines, for example, whether or not the elapsed time immediately after parking of the vehicle 1 is equal to or longer than the preset parking environment information acquisition cycle (step S41). When the elapsed time immediately after parking of the vehicle 1 is shorter than the cycle for acquiring the parking environment information (NO), the determination in step S41 is repeated.

When the elapsed time immediately after parking of the vehicle 1 is equal to or longer than the cycle for acquiring the parking environment information (YES), the outside world information recognition unit 111 activates the outside world recognition sensor 10 to obtain the parking environment information around the vehicle 1. Acquire (step S42). Next, the outside world information recognition unit 111 determines whether or not there is a difference between the parking environment information acquired this time and the parking environment information acquired last time (step S43).

When the outside world information recognition unit 111 acquires the parking environment information for the first time after parking the vehicle 1, it determines that there is a difference (YES) from the previous time because the previous parking environment information does not exist. Further, when the outside world information recognition unit 111 acquires the parking environment information for the second time or later after the vehicle 1 is parked, and the parking environment information acquired last time is different from the parking environment information acquired this time, the parking environment information is different from the previous one. It is determined that there is a difference (YES). In these cases, the outside world information recognition unit 111 initializes, for example, the cycle of acquiring the parking environment information (step S44).

Further, when the outside world information recognition unit 111 acquires the parking environment information for the second time or later after parking the vehicle 1, and the parking environment information acquired last time and the parking environment information acquired this time are the same, the previous time. It is determined that there is no difference (NO) from. In this case, the outside world information recognition unit 111 extends, for example, the cycle of acquiring parking environment information (step S45). At this time, the outside world information recognition unit 111 extends the cycle for acquiring the parking environment information so that the cycle is equal to or less than a predetermined maximum cycle. This maximum period may be a fixed value or may be rewritable by an external instruction.

As described above, the outside world information recognition unit 111 is configured to acquire the parking environment information at different time intervals, for example, depending on whether or not the parking environment information is changed. Further, the outside world information recognition unit 111 may be configured to acquire parking environment information at regular time intervals by omitting steps S43 to S45.

Next, the vehicle control device 100 determines whether or not the parking environment information acquired by the outside world information recognition unit 111 is appropriate by the parking environment determination unit 112 (step S5). When the vehicle control device 100 determines that the parking environment information is appropriate (YES), the vehicle control device 100 returns to step S3. Further, when the vehicle control device 100 determines that the parking environment information is inappropriate (NO), the vehicle control device 100 calculates the corrected parking position (step S6).

More specifically, when the parking environment information is determined to be inappropriate, the vehicle control device 100 calculates the corrected parking position by, for example, the corrected parking position calculation unit 113. As described above, this corrected parking position is a position where the parking environment determination unit 112 determines that the parking environment information is appropriate when the vehicle control device 100 is parked at that position.

Next, the vehicle control device 100 determines whether or not the corrected parking position can be calculated (step S7). If the corrected parking position cannot be calculated (NO), the vehicle control device 100 returns to step S3. When the corrected parking position can be calculated (YES), the vehicle control device 100 uses, for example, the parking route calculation unit 114 to travel the traveling route from the current parking position of the vehicle 1 to the corrected parking position and the vehicle 1 traveling on the traveling route. (Step S8).

Next, the vehicle control device 100 activates the outside world recognition sensor 10 by, for example, the outside world information recognition unit 111, and detects pedestrians, vehicles, and other obstacles around the vehicle 1 (step S9). Next, the vehicle control device 100 determines whether or not an obstacle exists in the traveling path of the vehicle 1 by, for example, the parking environment determination unit 112 (step S10). When it is determined that an obstacle exists in the traveling path of the vehicle 1 (YES), the traveling control unit 121 does not move the vehicle 1 but stops the vehicle 1 (step S11b) and returns to the step S9. ..

On the other hand, when it is determined in step S10 that there is no obstacle in the traveling path of the vehicle 1 (NO), the vehicle control device 100 causes the vehicle 1 to travel by the traveling control unit 121 and is calculated by the parking route calculation unit 114. It is moved along the travel path (step S11a). Further, the vehicle control device 100 determines whether or not the vehicle 1 has reached the corrected parking position by, for example, the traveling control unit 121, based on the position information of the vehicle 1 acquired from the outside world recognition sensor 10 and the vehicle information acquisition unit 20. Determine (step S12).

If it is determined in step S12 that the vehicle 1 has not reached the corrected parking position (NO), the vehicle control device 100 returns to step S9 and detects an obstacle on the traveling path of the vehicle 1. On the other hand, when it is determined in step S12 that the vehicle 1 has reached the corrected parking position (YES), the vehicle control device 100 stops the vehicle 1 by the traveling control unit 121 and parks the vehicle 1 in the corrected parking position. (Step S13).

Next, the vehicle control device 100 determines whether or not the start switch of the vehicle 1 is turned on (step S14). When the start switch of the vehicle 1 is not turned on (NO), the vehicle control device 100 returns to step S3 and determines whether or not the remaining battery level is equal to or higher than the threshold value. On the other hand, when the start switch of the vehicle 1 is turned on (YES), the parking position control of the vehicle 1 by the vehicle control device 100 is terminated.

As described above, the vehicle control device 100 of the present embodiment is a device mounted on the vehicle 1 provided with the outside world recognition sensor 10. The vehicle control device 100 activates the outside world recognition sensor 10 after parking the vehicle 1, acquires the parking environment information around the vehicle 1, and determines whether the parking environment information is appropriate or not. It is provided with an environment determination unit 112 and a travel control unit 121 that travels the vehicle 1 and moves the vehicle 1 to a corrected parking position where the parking environment information is appropriate when the parking environment information is determined to be inappropriate.

With this configuration, after the vehicle 1 is parked in the parking space P, the parking environment information around the vehicle 1 can be acquired by the outside world information recognition unit 111. Further, the parking environment determination unit 112 determines the parking environment information of the vehicle 1, and when the parking environment information is inappropriate, the traveling control unit 121 sets the vehicle 1 at a corrected parking position where the parking environment information is appropriate. Can be moved. Therefore, according to the present embodiment, it is possible to provide the vehicle control device 100 capable of properly maintaining the parking environment after the vehicle 1 is parked.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to acquire parking environment information immediately after the vehicle 1 is parked and after a predetermined time has elapsed. With this configuration, it is not necessary to activate the outside world recognition sensor 10 immediately after parking, which is unlikely to cause a change in the parking environment information around the vehicle 1. Therefore, it is possible to improve the energy efficiency in the parking position correction control of the vehicle 1 by the vehicle control device 100.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to intermittently acquire parking environment information a plurality of times from the time when the start switch of the vehicle 1 is turned off until it is turned on. ing. With this configuration, it is possible to improve the energy efficiency in the parking position correction control of the vehicle 1 by the vehicle control device 100 as compared with the case where the parking environment information is continuously acquired immediately after parking.

Further, in the vehicle control device 100 of the present embodiment, the parking environment information includes the distance Dv between the vehicle 1 and the adjacent vehicle V. Further, the parking environment determination unit 112 is configured to determine that the parking environment information is inappropriate when the distance Dv between the vehicle 1 and the adjacent vehicle V is equal to or less than the threshold value. With this configuration, after the vehicle 1 is parked, the distance from the adjacent vehicle V can be properly maintained.

More specifically, for example, after parking the vehicle 1 in the parking space P, another vehicle enters the next parking space P, or the next vehicle leaves the next parking space and the other vehicle enters. It is assumed that the distance from the adjacent vehicle V is abnormally close to the vehicle V. In this case, the distance Dv between the vehicle 1 and the adjacent vehicle V acquired by the outside world information recognition unit 111 becomes equal to or less than the threshold distance Dt, and the parking environment determination unit 112 determines that the parking environment information is inappropriate. ..

As a result, the traveling control unit 121 moves the vehicle 1 to the corrected parking position where the parking environment information is appropriate. As a result, the distance Dv between the vehicle 1 and the adjacent vehicle V becomes larger than the threshold distance Dt, which prevents the door of the parked vehicle 1 from being hindered from opening and closing. In addition, it is possible to easily board the parked vehicle 1 and prevent the door of the parked vehicle 1 from colliding with the door of the adjacent vehicle V. Further, it is possible to prevent the vehicle 1 from coming into contact with the adjacent vehicle V due to the difference in the inner wheels when the adjacent vehicle V leaves the garage.

Further, in the vehicle control device 100 of the present embodiment, the parking environment information includes the boundary B of the parking space P in which the vehicle 1 is parked. The parking environment determination unit 112 is configured to determine that the parking environment information is inappropriate when the distance Db between the vehicle 1 and the boundary B is equal to or less than the threshold value. With this configuration, it is possible to prevent the vehicle 1 from being parked at an extremely biased position of the parking space P, and it is possible to properly maintain the parking environment after the vehicle 1 is parked.

Further, the vehicle control device 100 of the present embodiment includes a correction parking position calculation unit 113 that calculates a correction parking position when it is determined that the parking environment information is inappropriate. With this configuration, the corrected parking position calculation unit 113 can calculate the corrected parking position, and the traveling control unit 121 can drive and move the vehicle 1 to the corrected parking position.

Further, in the vehicle control device 100 of the present embodiment, the travel control unit 121 is configured not to move the vehicle 1 when the correction parking position calculation unit 113 cannot calculate the correction parking position. With this configuration, unnecessary movement of the vehicle 1 can be avoided, and energy efficiency can be improved in the parking position correction control of the vehicle 1 by the vehicle control device 100.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to activate the outside world recognition sensor 10 while the vehicle 1 is traveling to detect obstacles around the vehicle 1. Further, the travel control unit 121 is configured to stop the vehicle 1 when the outside world information recognition unit 111 detects an obstacle in the course of the vehicle 1. With this configuration, it is possible to prevent the vehicle 1 from colliding with an obstacle while moving, and it is possible to improve the safety of the parking position correction control of the vehicle 1 by the vehicle control device 100.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to acquire parking environment information at regular time intervals, for example. With this configuration, it is possible to intermittently acquire vehicle environment information a plurality of times at appropriate time intervals according to the frequency with which the parking environment information changes.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to acquire parking environment information at different time intervals, for example. With this configuration, it is possible to reduce the frequency of acquiring the parking environment information during the time when the change of the parking environment information is scarce. As a result, energy efficiency can be improved in the parking position correction control of the vehicle 1 by the vehicle control device 100.

As described above, according to the present embodiment, it is possible to provide the vehicle control device 100 capable of properly maintaining the parking environment after parking. As described above, the vehicle control device 100 of the present embodiment relates to an automatic parking technology related to AD and ADAS. Therefore, according to the vehicle control device 100 of the present embodiment, in addition to the above-mentioned effects, contact with the adjacent vehicle V due to an operation error of the occupant who drives the vehicle 1 when the vehicle 1 is parked, erroneous start or malfunction, and other factors. It is possible to prevent the occurrence of damage.

As described above, the vehicle control device 100 of the present embodiment properly maintains the distance Dv between the vehicle 1 and the adjacent vehicle V, and appropriately maintains the distance Db between the vehicle 1 and the boundary B of the parking space P. It is not limited to the embodiment to be maintained. Hereinafter, another example of parking position correction control of the vehicle 1 by the vehicle control device 100 will be described with reference to FIG.

FIG. 10 is a plan view showing an example of parking position correction control of the vehicle 1 by the vehicle control device 100 of FIG. The example shown in FIG. 10 shows a state in which a vehicle 1 equipped with an in-vehicle power receiving unit 70, which corresponds to a wireless power feeding system, is parked in a parking space P provided with a ground power transmission unit GPU.

The vehicle-mounted power receiving unit 70 of the vehicle 1 is provided with a primary coil, and the ground power transmission unit GPU of the parking space P is provided with a secondary coil. By parking the vehicle 1 in the parking space P so that the vehicle-mounted power receiving unit 70 is located on the ground power transmission unit GPU, the vehicle 1 can receive power from the ground power transmission unit GPU to the vehicle-mounted power receiving unit 70 and charge the battery. It is configured in.

The wireless power feeding system has the highest power feeding efficiency when the power feeding point P1 of the terrestrial power transmission unit GPU and the power receiving point P2 of the vehicle-mounted power receiving unit 70 match. However, the power feeding efficiency is lowered in the region R1 in which the power receiving point P2 is deviated from the power feeding point P1, and the power feeding efficiency is further lowered in the region R2 in which the power receiving point P2 is separated from the power feeding point P1.

Therefore, in the example shown in FIG. 10, the outside world information recognition unit 111 of the vehicle control device 100 acquires the position of the power feeding point P1 as parking environment information by, for example, the outside world recognition sensor 10 such as the optical sensor 14. Further, the parking environment determination unit 112 provides parking environment information when, for example, the horizontal distance Dx and the vertical distance Dy between the power feeding point P1 and the power receiving point P2 are equal to or greater than the threshold value. It can be configured to be judged to be inappropriate.

With this configuration, even if the vehicle-mounted power receiving unit 70 of the vehicle 1 is located in the regions R1 and R2 where the power supply efficiency of the ground power transmission unit GPU is low after the vehicle 1 is parked in the parking space P, the vehicle is controlled by the traveling control unit 121. 1 can be run to move to the corrected parking position. The corrected parking position is a position where the parking environment information is properly determined by the parking environment determination unit 112, that is, the horizontal distance Dx and the vertical distance Dy between the power feeding point P1 and the power receiving point P2, respectively. , Less than the threshold.

As a result, the vehicle 1 is driven by the travel control unit 121 to move to the corrected parking position, so that the power receiving point P2 of the vehicle-mounted power receiving unit 70 of the vehicle 1 is moved to the vicinity of the power feeding point P1 of the ground power transmission unit GPU in the parking space P. Can be placed in. Therefore, it is possible to improve the power supply efficiency from the terrestrial power transmission unit GPU to the vehicle-mounted power receiving unit 70.

Although the embodiment of the vehicle control device according to the present disclosure has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and the design change is not deviated from the gist of the present disclosure. Etc., but they are included in this disclosure.

1 Vehicle 10 External world recognition sensor 100 Vehicle control device 111 External world information recognition unit 112 Parking environment judgment unit 113 Corrected parking position calculation unit 121 Travel control unit B Boundary Db Distance Dv Distance P Parking space V Adjacent vehicle

Claims (10)

A vehicle control device mounted on a vehicle equipped with an outside world recognition sensor.
After the vehicle is parked, the outside world recognition sensor is activated to acquire parking environment information around the vehicle, and an outside world information recognition unit.
A parking environment determination unit that determines whether the parking environment information is appropriate, and
A vehicle control device including a traveling control unit that travels the vehicle and moves the vehicle to a corrected parking position where the parking environment information is appropriate when the parking environment information is determined to be inappropriate. The vehicle control device according to claim 1, wherein the outside world information recognition unit acquires the parking environment information immediately after the vehicle is parked and after a predetermined time has elapsed. The vehicle control device according to claim 1, wherein the outside world information recognition unit intermittently acquires the parking environment information a plurality of times from the time when the vehicle start switch is turned off until the vehicle is turned on. The parking environment information includes a distance between the vehicle and an adjacent vehicle.
The vehicle control device according to claim 1, wherein the parking environment determination unit determines that the parking environment information is inappropriate when the distance is equal to or less than a threshold value. The parking environment information includes the boundary of the parking space in which the vehicle is parked.
The vehicle control device according to claim 1, wherein the parking environment determination unit determines that the parking environment information is inappropriate when the distance between the vehicle and the boundary is equal to or less than a threshold value. The vehicle control device according to claim 1, further comprising a corrected parking position calculation unit that calculates the corrected parking position when the parking environment information is determined to be inappropriate. The vehicle control device according to claim 6, wherein the traveling control unit does not move the vehicle when the corrected parking position calculation unit cannot calculate the corrected parking position. The outside world information recognition unit activates the outside world recognition sensor while the vehicle is traveling to detect obstacles around the vehicle.
The vehicle control device according to claim 1, wherein the travel control unit stops the vehicle when the external world information recognition unit detects an obstacle in the course of the vehicle. The vehicle control device according to claim 3, wherein the outside world information recognition unit acquires the parking environment information at regular time intervals. The vehicle control device according to claim 3, wherein the outside world information recognition unit acquires the parking environment information at different time intervals.

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