WO2006064544A1 - Systeme de garage automatique - Google Patents

Systeme de garage automatique Download PDF

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Publication number
WO2006064544A1
WO2006064544A1 PCT/JP2004/018635 JP2004018635W WO2006064544A1 WO 2006064544 A1 WO2006064544 A1 WO 2006064544A1 JP 2004018635 W JP2004018635 W JP 2004018635W WO 2006064544 A1 WO2006064544 A1 WO 2006064544A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
route
obstacle
parking space
car
Prior art date
Application number
PCT/JP2004/018635
Other languages
English (en)
Japanese (ja)
Inventor
Taisetsu Tanimichi
Yukihiro Osawa
Satoru Kuragaki
Atsushi Yokoyama
Jun Kubo
Yukihiko Inoue
Katsuya Iwasaki
Mitsuo Sasaki
Tsutomu Hibi
Original Assignee
Hitachi, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi, Ltd. filed Critical Hitachi, Ltd.
Priority to JP2006548599A priority Critical patent/JPWO2006064544A1/ja
Priority to PCT/JP2004/018635 priority patent/WO2006064544A1/fr
Publication of WO2006064544A1 publication Critical patent/WO2006064544A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically

Definitions

  • the present invention relates to an automobile garage storage device.
  • 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.
  • 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.
  • 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.
  • 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.
  • current is supplied to a steering motor that steers the wheels so that the vehicle moves along the calculation trajectory.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • fixed obstacles such as flower pots or moving obstacles whose positions change depending on the day, such as bicycles, exist in the parking space.
  • 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.
  • a predetermined clearance is secured between the vehicle and the recognized obstacle.
  • the in-vehicle display is only for assisting parking driving by a driver, There is no consideration for car storage.
  • 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.
  • the car storage device 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.
  • an obstacle detection device for detecting obstacles around the vehicle is provided.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 A parking route diagram shown to a driver when performing car parking (parking support).
  • FIG. 4 A diagram showing a state where the shortest parking route is calculated and recorded.
  • FIG. 7 is a diagram showing restrictions when searching for a 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.
  • 10 indicates a vehicle for executing garage storage
  • 20 indicates a parking space for garage storage
  • 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.
  • 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.
  • 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.
  • 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.
  • 15-1 15-4 is a radio wave transmitter for indicating a boundary 21 between a parking space and other locations.
  • 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. .
  • 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.
  • the transmission medium to the in-vehicle computer 16 is a radio wave, but the transmission medium may be a sound wave or light.
  • 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.
  • 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).
  • the imaging device 17 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).
  • the number of the imaging devices 17 in this example is one, it may be provided in a plurality of locations.
  • 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.
  • 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.
  • 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.
  • 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).
  • the in-vehicle computer 16 has a calculation function for realizing a route search device.
  • the vehicle specifications for example, vehicle width, vehicle length, minimum rotation of own vehicle
  • 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.
  • vehicle 10 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.
  • 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.
  • 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 ′ ( ⁇ , Yl), If the intersecting position is ( ⁇ , ⁇ ), the center line 50 is shown by plotting the line on (XI, ⁇ ) ( ⁇ 2, ⁇ ) ⁇ ⁇ ⁇ ( ⁇ , ⁇ ) and ⁇ . On the other hand, the center line 51 is shown by plotting the line on (Xn, Y1) ( ⁇ , ⁇ 2)... ( ⁇ , ⁇ ) and ⁇ .
  • 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.
  • 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 is limited based on the specifications of the vehicle (for example, the vehicle width).
  • 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.
  • 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.
  • the line 57 is referred to as an “inclined line”.
  • 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.
  • 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.
  • 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 '.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the display device 18 is installed at a position where the driver can see.
  • the display device 18 is displayed.
  • the screen shown in Fig. 1 is displayed.
  • reference numeral 18a denotes a screen frame of the display device 18.
  • 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
  • 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.
  • 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.
  • 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.
  • the position detection means such as GPS
  • a part of the route Ln can be changed by clicking and changing the changeable point Cn.
  • Figure 9 shows the route being changed.
  • Cn-1 is a changeable point changed by the driver.
  • the changeable point Cn can be changed within the restriction range described with reference to FIG. 7 and coincides with the position of the grid point 56.
  • 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.
  • the route determined in this way can also be stored.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the route calculation unit 103 determines the travel route Ln for parking by the method described above, and outputs the travel route Ln.
  • the own vehicle position detection unit 100 detects the position of the own vehicle from the own vehicle position data 11a and 102a and the own vehicle speed data 101a, and 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”.
  • 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.
  • 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.
  • 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.
  • 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.
  • the stop control determination unit 300 makes the following determination and sets a stop signal 301.
  • 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.
  • (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.
  • the burden on the driver's garage can be greatly reduced safely.

Abstract

Dans un système d’assistance au stationnement classique pour garage automatique, l’assistance au stationnement ne peut pas être obtenue s’il existe un obstacle entre le véhicule et l’espace de stationnement. Dans le système de l’invention, tous les trajets entre le véhicule et l’espace de stationnement sont étudiés. Le trajet le plus court n’entraînant aucun contact du véhicule avec un obstacle est ensuite déduit et le véhicule est commandé de manière à ce qu’il suive ce trajet. Par conséquent, le stationnement peut être assisté même si un obstacle existe entre le véhicule et l’espace de stationnement.
PCT/JP2004/018635 2004-12-14 2004-12-14 Systeme de garage automatique WO2006064544A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2006548599A JPWO2006064544A1 (ja) 2004-12-14 2004-12-14 自動車庫入れ装置
PCT/JP2004/018635 WO2006064544A1 (fr) 2004-12-14 2004-12-14 Systeme de garage automatique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2004/018635 WO2006064544A1 (fr) 2004-12-14 2004-12-14 Systeme de garage automatique

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WO2006064544A1 true WO2006064544A1 (fr) 2006-06-22

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JP7316697B2 (ja) 2021-12-17 2023-07-28 パナソニックＩｐマネジメント株式会社 駐車支援装置および駐車支援方法
WO2023119698A1 (fr) * 2021-12-24 2023-06-29 パナソニックＩｐマネジメント株式会社 Dispositif d'aide au stationnement et procédé d'aide au stationnement
WO2023181524A1 (fr) * 2022-03-25 2023-09-28 パナソニックＩｐマネジメント株式会社 Procédé d'aide au stationnement et dispositif d'aide au stationnement

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