WO2006064544A1

WO2006064544A1 - Automatic garage system

Info

Publication number: WO2006064544A1
Application number: PCT/JP2004/018635
Authority: WO
Inventors: Taisetsu Tanimichi; Yukihiro Osawa; Satoru Kuragaki; Atsushi Yokoyama; Jun Kubo; Yukihiko Inoue; Katsuya Iwasaki; Mitsuo Sasaki; Tsutomu Hibi
Original assignee: Hitachi, Ltd.
Priority date: 2004-12-14
Filing date: 2004-12-14
Publication date: 2006-06-22
Also published as: JPWO2006064544A1

Abstract

In a conventional parking assist system for automatic garage, parking assist cannot be obtained if an obstacle exists between the vehicle and the parking space. In the inventive system, all courses between the vehicle and the parking space are searched. A shortest course causing no contact of the vehicle with an obstacle is then derived and the vehicle is controlled to trace that course. Consequently, parking can be assisted even if an obstacle exists between the vehicle and the parking space.

Description

Specification

Car storage equipment

Technical field

TECHNICAL FIELD [0001] The present invention relates to an automobile garage storage device.

Background art

[0002] The garage in the back of a car has (1) many blind spots, (2) when entering the garage, the steering wheel is behind the direction of travel, (3) it must be placed in a narrow space, etc. For this reason, driving support through automation, which makes driving a car difficult, 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 control the vehicle A garage support device has been proposed.

[0004] For example, in the parking assist device described in Japanese Patent Application Laid-Open No. 2001-107594, the position of a predetermined parking space is set in advance in the database of the host vehicle and detected from the GPS or IC nail. A line segment connecting the parking space and the vehicle is calculated from the position and angle of the vehicle, and the specifications of the vehicle such as the turning radius and the wheel base, and the line segment is set as the ideal parking path to the parking path. We have proposed a device that automatically enters the garage by controlling the steering device and drive device so that the vehicle travels along.

[0005] In addition, the parking assist device described in Japanese Patent Application Laid-Open No. 2000-128008 is based on the detection signal from the image data of the on-board camera and the obstacles around the vehicle and the parking area (parking space). These obstacles and parking spaces are displayed on the display unit. When the driver selects the desired parking space displayed on the display screen, the parking assistance device is recognized from its own 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. In addition, current is supplied to a steering motor that steers the wheels so that the vehicle moves along the calculation trajectory.

[0006] Further, in Japanese Patent Application Laid-Open No. 2001-224013, an imaging device acquires a rear image, an image of a rear obstacle or a parking space, and a distance between the rear obstacle or the parking space and the own vehicle, A device that supports parking by displaying on a display device has been proposed. dry The driver operates while looking at the display device.

[0007] The parking assist device described in Japanese Patent Application Laid-Open No. 2002-240662 displays the positional relationship between the target parking position of the in-vehicle display and the vehicle position. The expected movement trajectory of the vehicle is calculated according to the movement distance of the vehicle and the steering angle. The predicted movement locus is displayed on the display together with the positional relationship. If the predicted movement path does not match the target parking position, a steering operation instruction is issued to correct the predicted movement path, and the driver performs the own vehicle movement and steering angle operation based on this instruction.

[0008] Patent Document 1: JP 2001-107594 A

Patent Document 2: JP 2000-128008

Patent Document 3: JP 2001-224013

Patent Document 4: JP 2002-240662 A

Disclosure of the invention

Problems to be solved by the invention

[0009] In the prior art described above, JP 2001-107594 A, JP 2000-1280 A.

Parking assistance devices such as the 08 publication enable automatic parking operation control (car warehousing control) by back operation. Of these, the former parking assistance 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 general residential parking lots, there is a high possibility that fixed obstacles such as flower pots or moving obstacles whose positions change depending on the day, such as bicycles, exist in the parking space. There may also be obstacles between the parking space and the vehicle. In such a case, I cannot provide sufficient parking assistance.

[0010] In the latter parking assist device, a predetermined trajectory from the vehicle position to the recognized parking space is calculated so that a predetermined clearance is secured between the vehicle and the recognized obstacle. There are clearance restrictions. Therefore, parking assistance may be difficult under parking conditions such as when there are many obstacles.

[0011] In the parking assist device described in Japanese Patent Application Laid-Open No. 2001-224013 and Japanese Patent Application Laid-Open No. 2002-240662, the in-vehicle display is only for assisting parking driving by a driver, There is no consideration for car storage.

[0012] In view of the above points, the present invention provides an apparatus capable of searching for a moving route for entering a car garage in a flexible manner even in the presence of an obstacle.

Means for solving the problem

[0013] The car storage device according to the present invention recognizes the position of the target parking space and the position of the vehicle to be parked, and sets a movement path for moving the vehicle to the parking space based on these position data. A route search device for searching, and an automatic driving control device for controlling the drive system and the steering system of the vehicle so that the vehicle travels along the moving route. Furthermore, an obstacle detection device for detecting obstacles around the vehicle is provided. In addition, the route search device searches for a moving route that bypasses the obstacle when there is an obstacle and a determination processing function that determines whether or not an obstacle exists on the searched movement route. Has an arithmetic 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 and the parking space, and the obstacle in the microcomputer A field for recognition including the position of an obstacle is assumed, and the moving 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 if it is recognized that the obstacle exists on the shortest travel route, the target travel is simulated by simulating the travel route that bypasses the obstacle. Determine the route.

[0015] Furthermore, specifically, the following method is proposed. For example, the assumed field is set by two-dimensional processing. In this case, 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, the route search device Set grid points with coordinates. Using this lattice point, a travel route for bypassing the obstacle is searched.

The invention's effect

[0016] 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-simulation is performed even when an obstacle is present. Enables garage storage corresponding to

Brief Description of Drawings [0017] [FIG. 1] A parking route diagram shown to a driver when performing car parking (parking support).

[Figure 2] Configuration diagram of the entire car storage system.

[Figure 3] Figure before calculating the parking route.

[Fig. 4] A diagram showing a state where the shortest parking route is calculated and recorded.

[Fig.5] Diagram when the parking route touches an obstacle.

[Figure 6] A diagram showing the parking route to avoid obstacles.

FIG. 7 is a diagram showing restrictions when searching for a parking route.

[Figure 8] Figure displayed on the image when the parking route cannot be calculated.

[Figure 9] Figure when the driver corrects the parking route.

FIG. 10 is a block diagram of the car storage device.

FIG. 11 is a flowchart in the case of outputting a car storage stop signal.

[FIG. 12] An explanatory diagram showing the horizontal / vertical deviation between the vehicle under parking control and the parking route.

BEST MODE FOR CARRYING OUT THE INVENTION

[0018] An example of a car storage device (parking support device) of the present invention will be described with reference to the drawings.

[0019] First, an outline of an apparatus necessary for the car storage will be described with reference to FIG.

[0020] In FIG. 2, 10 indicates a vehicle for executing garage storage, 20 indicates a parking space for garage storage, and 21 indicates a boundary line between the parking space and other locations. The boundary line 21 may be a white line mark or a physical boundary such as a wall or a fence.

The GPS 11 for detecting the position of the own vehicle is mounted on the vehicle 10. The position of the parking space 20 is registered in advance in the in-vehicle converter 16. The in-vehicle computer 16 can know the relative positional relationship between the parking space and the own vehicle by converting coordinates of the parking space data and the position data of the own vehicle by the GPS 11 on a two-dimensional plane. In this embodiment, a position detection device using force S, which uses GPS as an example of vehicle position detection means, and a satellite or beacon other than GPS, may be substituted. The in-vehicle computer can use the microcomputer used for the engine control unit. The image display device can use a car navigation display. [0022] At the rear of the vehicle 10, sensors 12-14 for detecting an obstacle are arranged. These sensors may be radar using electromagnetic waves, imaging devices (such as stereo cameras) that detect the presence or location of obstacles by image processing, distance sensors that use sound waves, and so on.

[0023] An automatic garage storage device composed of an in-vehicle computer 16, a GPS 11, an obstacle detection sensor 12-14, and the like is, for example, a relative position between an obstacle 30 and a vehicle 10 existing on a garage route. Detect a boundary 21 between the parking space 20 and other locations.

[0024] 15-1 15-4 is a radio wave transmitter for indicating a boundary 21 between a parking space and other locations. 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 respective radio waves transmitted from the radio transmission devices 15-1 to 15-4. .

[0025] 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.

[0026] In the vicinity of the parking space 20, an image pickup device 17 for picking up an image of the vehicle 10, the obstacle 30 around the vehicle 10, and the parking space 20 is installed.

[0027] 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 the transmitted image and performs image processing, and accordingly, the relative of the own vehicle 10, the obstacle 30 and the parking space 20. Recognize position. In this example, as described above, from the position data acquired by the GPS 11, the obstacle detection sensor 12 14, and the radio wave transmitter 15, the relative position of the vehicle 10, the obstacle 30 and the parking space 20 (two-dimensional Recognize the upper relative position). By displaying the two-dimensional relative position and the relative position captured by the imaging device 17 on the screen of the display device, it is possible to confirm whether 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. In addition, the image capture device 17 determines the positions of the host vehicle 10, the obstacle 30, and the parking space 20. Since it is intended to inform the parking assistance device, other devices such as radar may be used as long as their position can be detected.

[0028] 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, Other configurations may be used, or only some combinations of the above configurations may be used.

[0029] Next, a technique for putting in a car garage in this example will be described.

[0030] The in-vehicle computer 16 converts the acquired position information of the vehicle 10, the obstacle 30, and the parking space 20 into a coordinate on a field on the two-dimensional (planar) 40 assumed in the in-vehicle computer 16, for example. And has a function of recognizing it as a relative positional relationship. Figure 3 shows the image. 10 'indicates the range where the vehicle exists. 30 'indicates obstacles around the vehicle. 20 'indicates a parking space.

[0031] The in-vehicle computer 16 also functions as a route search device that calculates (searches) a route (trajectory) 52 in which the vehicle range 10 'is stored in the parking space 20' by an algorithm described later (Fig. 4 Fig. 4). 7). Further, 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).

[0032] The in-vehicle computer 16 has a calculation function for realizing a route search device. In the field of the two-dimensional plane 40, the vehicle specifications (for example, vehicle width, vehicle length, minimum rotation of own vehicle) Based on the radius, etc., the shortest travel route from the vehicle range 10 'to the parking space 20' is searched. If there is an obstacle on the moving route, a grid point with coordinates is set in the two-dimensional field 40, and a moving route for bypassing the obstacle is searched using the lattice point.

[0033] Hereinafter, these search methods will be described.

First, a method for searching for the shortest path will be described with reference to FIG.

[0035] When using car storage, as shown in Fig. 4, 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 its center line 50 intersects the center line 51 of the space 20 substantially at a right angle. [0036] 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 (XI, Yn), the position where the center line 51 passes at the entrance of the parking space 20 ′ (Χη, Yl), If the intersecting position is (Χη, Υη), the center line 50 is shown by plotting the line on (XI, Υη) (Χ2, Υη) · · · (Χη, Υη) and Υη. On the other hand, the center line 51 is shown by plotting the line on (Xn, Y1) (Υη, Υ2)… (Χη, Υη) and Χη. By applying a rounding process that exceeds the minimum turning radius of the vehicle at the intersection of the center lines 50 and 51, the trajectory that is the shortest travel route from the vehicle range 10 'to the parking space 20' (travel route center line) 52 is required. This locus 52 can be obtained by replacing the R-line with coordinates.

[0037] Next, parallel lines 53 and 54, which are offset from the center line 52 by one-half of the width of the 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.

[0038] At this time, if there is an obstacle 30 between the parallel lines 53 and 54, parking is not possible on the shortest route, so another route search described later is performed. If there are no obstacles, the route calculated here is the garage entry candidate.

Next, a route search method in the case where the garage cannot be entered on the route searched by the shortest route search will be described with reference to FIGS.

[0040] When there is an obstacle on the shortest moving path, a grid point with coordinates is set in the field of the two-dimensional plane 40, and a moving path for detouring the obstacle using this grid point is set. Explore.

Specifically, as shown in FIG. 5, first, 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 with reference to the center line 51 (see FIG. 4) of the parking space 20 ′, and each grid point 56 has coordinates. The interval between the grid lines 55 (the interval between the grid points 56) is limited based on the specifications of the vehicle (for example, the vehicle width).

[0042] Specifically, the grid line 55—1 on the center line 51 of the parking space 20 ′ is 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. Like connecting lattice points Be drawn. Of 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 the movement path is performed from among these grid lines 55-1 and 55-2, and a line 57 that connects the grid points on these grid lines diagonally. Here, the line 57 is referred to as an “inclined line”.

[0043] There are a large number of inclination lines 57 connecting the lattice points on the lattice lines 55-1 55-2. Line L (L is the inclination line 57 and grid line 55) connecting the shortest path between the rear center point 10_1 of the vehicle range 10 'and the back 20_2 of the parking space 20' via the grid point 56. —1 55— (part of 2), the line L that does not touch the obstacle 30 'and the side wall (boundary line) 21 and satisfies the condition L is searched for as the shortest travel path for parking. .

[0044] 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). Line L1 is the slope line 57 that connects the grid point 56b on the grid line 55_1 from the center point 101 of the vehicle range 10, and between the grid point 56b and the back center point 2 0'-2 of the parking space 20 '. It is a connecting line. 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 is finished extending toward the lattice point 56b. Then, the next shortest route (line L2) is searched for as the shortest moving route candidate.

[0045] Line L2 includes center point 10'-1 and grid point 56a (lattice point on grid line 55-2) of host vehicle range 10 ', and grid point 56a and grid point 56c (lattice line 55-1 , And a line connecting the grid point 56c and the back center point 20'-2 of the parking space 20 '. After obtaining this line L2, a parallel line (indicated by a dotted line) M shifted by one half of the width of the vehicle range 10 'is obtained on both sides of the line L2, and the obstacle between the parallel lines M and M is obtained. If the object 30 exists, remove the line L2 from the shortest path candidate, select the next shortest line, and check whether the 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 MM. If there are no obstacles between the parallel lines, then turn the vehicle range 10 'in the direction of the inclination line 57 connecting the refraction points (lattice points) 56d 56e on the Ln line. In addition, the vehicle range 10 'is overlapped with the fountain spring 57 (refractive point, 56d, 56e) so that the rear center (near the non-steering wheel) is near the refraction point 56d, 56e. The vehicle range 10, which is overlapped with at least one of the refraction points 56d 56e, is indicated by reference numerals 10_1 and 10_2. Next, overlap the refraction point The vehicle range 10'-1 and 10'-2 is checked to see if there is an obstacle 30. If it does not exist, line Ln is selected as a garage entry 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.

[0048] Since the grid line 55 is a line connecting the grid points 56, the grid line 55 can be connected at a right angle, for example, as a line 59 with respect to the line 58, and the line connecting the grid points in the present invention is This indicates the parking route, and the vehicle must be able to trace it. Therefore, connecting grid lines at right angles as shown by line 59 to line 58 is prohibited, and grid points must be connected diagonally (diagonally) as shown by line 57.

[0049] Even if the grid points are obliquely connected as shown by the inclination line 57, if the intervals 71 and 72 of the grid line 55 are narrow, the vehicle cannot trace the line connecting the grid points. The interval is set so that the vehicle can trace the line connecting the lattice points.

[0050] The route search device (on-vehicle computer) 16 as described above is based on the location information of the parking space, the vehicle, and the obstacle, and the location of the vehicle to be parked, the parking space, and the obstacle are present. In this case, a field for recognition including the position of the obstacle is assumed, and a moving route including a detour is searched by simulation based on the assumed field. That is, the route search device first simulates the shortest travel route 52 of the vehicle 10 based on the assumed field 40, and if it recognizes that there is an obstacle on the shortest travel route, it bypasses it. The target travel path is determined by simulating the travel path Ln.

[0051] According to such a method, there is an advantage that a parking movement route of various modes can be searched flexibly and optimally.

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

[0053] In the vehicle 10 'equipped with the car storage device, the display device 18 is installed at a position where the driver can see. When the route candidate obtained by the above method is extracted, the display device 18 is displayed. The screen shown in Fig. 1 is displayed. In FIG. 1, reference numeral 18a denotes a screen frame of the display device 18. In the screen 18a, 10A indicates the rear part of the vehicle, Ln indicates a route candidate, Cn indicates a point where the moving route can be changed, 30 indicates an obstacle, and 20 indicates a parking space. Display device 1 In FIG. 8, when the sensor 12-14 described in FIG. 2 includes an imaging device, the actually captured image of the imaging device or the imaging device 17, the route candidate Ln, the obstacle 30, the parking space, and the like. 20 figures may be superimposed.

[0054] When the 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 a problem with the route candidate Ln. If there is no problem as a result of the confirmation, the fact that there is no problem with the garage storage device is communicated by at least one of button operation, confirmation item click on the display device screen and voice. Thereby, the route is established.

[0055] 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 by checking whether or not the actual image obtained from the imaging device 17 and the figure obtained by the position detection means (such as GPS) are overlapped. By aligning the figured parking space 20 with the actual parking space (not shown) that has been imaged, the positional accuracy of the parking space can be further improved. When the location of a parking space is corrected on the screen, it may be necessary to change (correct) the parking route Ln. Alternatively, it may be desired to arbitrarily change the route Ln at the driver's will.

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

[0057] 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.

[0058] In this way, if the driver determines that there is no problem as a result of correction, it means that there is no problem in the garage entry device. Etc. 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 there is an obstacle. Informs the driver that the route cannot be determined due to obstacles, such as a buzzer, voice, or display on the display screen.

[0059] The route determined in this way can also be stored. By storing the route, for example, when parking at the same location many times, such as a home parking lot, it is possible to provide parking assistance quickly without searching for the route each time. [0060] Further, when entering a garage through a complicated route, it is expected that the route will be a complicated route even when leaving the vehicle. In such a case, it is possible to provide a delivery support by following the stored route.

[0061] Further, when the position of an 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, FIG. A screen with no route candidates is displayed as shown in FIG. In such a case, the driver can cancel the parking assistance, or the parking space 20 and the parking route can be manually set by the pointer 90 and the parking assistance can be performed.

[0062] When the route candidate is confirmed by the above method, the driver notifies the parking support device of the start of the parking support operation by operating a button, clicking the display device screen, or by voice, and the parking support device starts parking.

Next, an automatic operation control system of the car warehousing apparatus will be described with reference to FIG.

[0064] This automatic driving control system controls the steering system and drive system of the vehicle so as to hit the moving path when the moving path Ln for parking is searched.

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

In FIG. 10, the own 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.

[0067] Reference numeral 11 denotes a GPS unit, which outputs own vehicle position data 11a from information obtained from 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 in FIG.

Outputs 02a. The route calculation unit 103 determines the travel route Ln for parking by the method described above, and outputs the travel route Ln.

[0068] 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 from the deviation between the detected own vehicle position and the parking route Ln, Outputs vertical deviation (Y-axis deviation) Yd and horizontal deviation Xd.

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. [0071] 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 This is the vertical distance between paths Ln. To make these deviations approach "0" is to output the steering angle command value 201 so as to guide the position of the host vehicle 20 in the D direction. Deviation is obtained by coordinate calculation.

Furthermore, the vehicle control unit 200 outputs the driving force command value 202 so that the host 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, S, and the vehicle speed may be changed according to changes in the surrounding environment such as the weather and the position of surrounding obstacles.

The steering angle control unit 203 performs control so that the actual steering angle of the vehicle matches the steering 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.

[0074] 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 output from the hand movement operation detection unit 106. The steering wheel operation 106a, the accelerator operation detection unit 107, the accelerator operation 107a output from the brake operation detection unit 108, and the brake operation 108a output from the brake operation detection unit 108 are input. In the event of a failure, 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 greater than or equal to a threshold value (S1). If the vehicle speed 101a is greater than or equal to the threshold value, a stop signal is set (Sl l), and if it is less than the threshold value, nothing is done (S2). This prevents the vehicle from running out of control at unexpected speeds.

(2) It is determined whether or not the acceleration 104a is greater than or equal to a threshold value (S1). If the acceleration is greater than or equal to the threshold value, a stop signal is set (Sl l), and if it is less than the threshold value, nothing is done (S12). This prevents the vehicle from running away at unexpected acceleration. (3) It is determined whether 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 (Sl l), and if it is less than the threshold value, nothing is done (S12). If the deviation is too large, the vehicle cannot be controlled. Therefore, stop control prevents further control and prevents the vehicle from moving toward an unexpected location.

(4) It is determined whether or not the lateral deviation Xn is greater than or equal to a threshold value (S4). If the lateral deviation Xn is greater than or equal to the threshold value, a stop signal is set (Sl l), 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, so a stop signal is set to prevent the same as in (3) above.

(5) Determine whether the steering angle command value 201 is greater than or equal to the threshold (S1). If it is greater than or equal to the threshold, a stop signal is set (Sl l), and if it is less than the threshold (S12) . If a rudder angle command value that cannot be controlled safely is output, control stops 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 (Sl l). If a driving force command value that cannot be controlled safely is output, control is stopped because it is dangerous.

(7) It is determined whether or not the obstacle distance 105a is greater than or equal to the threshold (S7). If the obstacle distance is greater than or equal to the threshold, a stop signal is set (Sl l), and if it is less than the threshold, nothing is done (S12). If the obstacle is approaching more than the allowable limit, appropriate automatic operation control is not performed, 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 (Sl l), and if it is less than the threshold value, nothing is done (S12). As above, give priority 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 (Sl l), and if it is less than the threshold value, nothing is done (S12). Give priority to driver operations.

Also, if the judgment conditions (1) to (10) above are satisfied, the control stop is notified to the driver. In order to achieve this, all or one of the buzzer sound and the display on the display device is performed. Industrial applicability

As shown in the above embodiments, according to the present invention, the burden on the driver's garage can be greatly reduced safely.

Claims

The scope of the claims

[1] A route search device for recognizing a position of a target parking space and a position of a vehicle to be parked and searching for a moving route for moving the vehicle to the parking space based on the position data, and the vehicle The car storage device is equipped with an automatic driving control device that controls the drive system and the steering system of the vehicle so as to travel the moving path, and

An obstacle detection device for detecting obstacles around the vehicle;

The route search device has a determination processing function for determining whether an obstacle exists in the searched movement route, and, when an obstacle exists, for searching for a movement route that bypasses the obstacle. A car warehousing device characterized by having an arithmetic function.

[2] In claim 1, the route search device is based on the position information of the parking space, the vehicle, and the obstacle, and the position of the vehicle and the parking space to be parked in the microcomputer and the obstacle. A car garage characterized by assuming a place for recognizing the obstacle including the position of the obstacle, and searching for the moving path including the detour by the assumed place. Putting device.

[3] In claim 2, the route search device first simulates the shortest travel route of the vehicle based on the assumed field and 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 moving route that bypasses it.

[4] The car garage 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. Equipment.

[5] According to claim 4, there is provided means for changing the movement route on the screen of the display device, and the automatic operation control means moves the host vehicle along the changed movement route. A car warehousing device characterized by having a function to control.

[6] In Claim 2, the assumed field is set by a two-dimensional process, and in this field, the route search device starts from the vehicle to the parking space based on the specifications of the vehicle. If there is an obstacle in the movement route, a lattice point with coordinates is set in the field, and the obstacle is detoured using this lattice point. A car warehousing device characterized by searching for a moving route for the vehicle.

[7] In Claim 6, the search for the movement route for detouring the obstacle is performed by connecting center lines of the vehicle and the parking space using the lattice points. A car warehousing device characterized by that.

[8] In claim 6, as a detour movement route searched using the lattice points, all candidates are searched and a route with the shortest route length is preferentially selected. A car garage storage device characterized by the above.

9. 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.

[10] The car warehousing apparatus according to claim 6, wherein an interval between the lattice points is limited based on specifications of the vehicle.

[11] In Claim 6, when the movement route that bypasses the obstacle is searched, the movement route and the positional relationship between the vehicle, the parking space, and the obstacle are defined as the lattice point. A car warehousing device comprising a display device for displaying images together

[12] In claim 11, if the travel route for detouring cannot be searched, the display device displays only the position of the vehicle and the parking space, and the display device of parentheses is: A car warehousing apparatus characterized by comprising means for manually changing a moving path for parking on the display screen via the lattice points.

[13] In the automatic operation control over the movement route according to claim 1, when the vehicle speed force S reaches a certain threshold value, the deviation between the movement route and the vehicle position reaches a certain threshold value. When the steering angle command value that is the target value of the steering angle reaches a certain threshold value, when the driving force command value that is the target value of driving force reaches a certain threshold value, and there is a distance between the obstacle and the vehicle A car warehousing device comprising means for canceling automatic driving control from the vehicle to the parking space when at least one condition when a threshold is reached is satisfied.

[14] In claim 1, in the automatic operation control along the movement route, when there is a handle operation by the driver, when there is an accelerator operation by the driver, and A car warehousing device comprising means for canceling the automatic driving control when at least one condition when a braking operation is performed is satisfied.

Recognizing the position of the target parking space and the position of the vehicle to be parked, and searching for a moving route for moving the vehicle to the parking space based on the position data, the route search device, and the vehicle moving A car storage device equipped with an automatic driving control device that controls the drive system and steering system of the vehicle so as to turn the route,

The vehicle includes a display device that displays an image of the host 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. The driving control device has a function of controlling the movement of the own vehicle along the changed travel route.