WO2015060354A1 - 自動駐車制御装置および駐車支援装置 - Google Patents

自動駐車制御装置および駐車支援装置 Download PDF

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Publication number
WO2015060354A1
WO2015060354A1 PCT/JP2014/078122 JP2014078122W WO2015060354A1 WO 2015060354 A1 WO2015060354 A1 WO 2015060354A1 JP 2014078122 W JP2014078122 W JP 2014078122W WO 2015060354 A1 WO2015060354 A1 WO 2015060354A1
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WO
WIPO (PCT)
Prior art keywords
host vehicle
parking
vehicle
control device
obstacle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2014/078122
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English (en)
French (fr)
Japanese (ja)
Inventor
今井　正人
岡田　隆
雅男 坂田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Faurecia Clarion Electronics Co Ltd
Original Assignee
Clarion Co 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 Clarion Co Ltd filed Critical Clarion Co Ltd
Priority to US15/031,579 priority Critical patent/US9862416B2/en
Priority to EP14856148.3A priority patent/EP3061655B1/en
Priority to CN201480057302.0A priority patent/CN105683000B/zh
Publication of WO2015060354A1 publication Critical patent/WO2015060354A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • the present invention relates to an automatic parking control device that guides a vehicle to a target parking position, and a parking assistance device that supports driving to a target parking position.
  • the present invention has been made in view of the above circumstances, and an object thereof is to prevent a driver from feeling uncomfortable when a collision with an obstacle is predicted during automatic parking control and the own vehicle is stopped.
  • the automatic parking control device performs the steering control and the speed control so that the own vehicle moves along the target route toward the recognized parking space, and the obstacle that approaches the own vehicle.
  • the collision position where the host vehicle collides with the obstacle is calculated, and the margin distance is set in front of the collision position based on the margin distance and the collision position set according to the driving behavior of the host vehicle.
  • a stop position on the set target route is calculated, and speed control is performed so that the host vehicle stops at the calculated stop position.
  • the parking assist device performs steering control so that the host vehicle moves along the target route toward the recognized parking space, and detects an obstacle approaching the host vehicle.
  • the collision position where the host vehicle collides with an obstacle is calculated, it is a position before the collision position on the target route, and the alarm position is in front of the margin distance set according to the driving behavior of the host vehicle. An alarm is output when reaching.
  • the host vehicle when a collision with an obstacle is predicted during parking driving, the host vehicle is stopped at a position in front of the margin distance set according to the driving situation of the host vehicle, or a collision warning is issued. As a result, the driver does not feel uncomfortable.
  • FIG. 1 is a schematic configuration diagram of an automatic parking control device according to a first embodiment of the present invention.
  • FIG. 2 is a diagram for explaining the recognition of the surrounding environment.
  • FIG. 3 is a diagram for explaining parking path generation.
  • FIG. 4 is a diagram for explaining the collision prediction.
  • FIG. 5 is a diagram for explaining the target speed calculation.
  • FIG. 6 is a diagram for explaining the control during forward movement.
  • FIG. 7 is a diagram for explaining control during reverse travel.
  • FIG. 8 is a diagram for explaining control during turning.
  • FIG. 9 is a flowchart for explaining the operation of the automatic parking control apparatus according to the first embodiment of the present invention.
  • FIG. 10 is a flowchart for explaining the vehicle control signal generation process.
  • FIG. 11 is a schematic configuration diagram of a parking assistance apparatus according to the second embodiment of the present invention.
  • FIG. 12 is a flowchart for explaining the operation of the parking assistance apparatus according to the second embodiment of the present invention.
  • FIG. 1 is a schematic configuration diagram of an automatic parking control device according to a first embodiment of the present invention.
  • a control device 100a illustrated in FIG. 1 is a computer that controls the host vehicle, and by executing a program stored in a storage medium (not shown), a surrounding environment recognition unit 1, a parking route generation unit 2, a collision It functions as the prediction unit 3, the own vehicle moving direction determination unit 4, the vehicle control unit 5, and the alarm control unit 6.
  • the control device 100a includes a steering device 102, a driving device 103, and a braking device 104 for the own vehicle, an external environment recognition device 101, a sound generation device 105, a display device 106, and an automatic parking button 107 provided in the own vehicle. It is connected.
  • the control device 100a is connected to a CAN (not shown) of the host vehicle, and receives vehicle information such as the vehicle speed, steering angle, yaw rate, and gear position of the host vehicle.
  • the external environment recognition apparatus 101 acquires information related to the surrounding environment of the host vehicle, and is, for example, four in-vehicle cameras that capture the surrounding environment of the front, rear, right side, and left side of the host vehicle. .
  • the image obtained by the in-vehicle camera is output as analog data or A / D converted to the control device 100a using a dedicated line or the like.
  • the steering device 102 includes an electric power steering, a hydraulic power steering, and the like that can control the steering angle by an electric or hydraulic actuator or the like according to an external drive command.
  • the drive device 103 is an engine system capable of controlling engine torque with an electric throttle or the like according to an external drive command, or an electric power train capable of controlling drive force with an external drive command using a motor or the like. It consists of a system.
  • the braking device 104 is configured by an electric brake, a hydraulic brake, or the like that can control a braking force by an electric or hydraulic actuator or the like by an external drive command.
  • the sound generator 105 is composed of a speaker or the like, and is used for outputting an alarm to the driver.
  • the display device 106 includes a display such as a navigation device, a meter panel, a warning light, and the like. In addition to the operation screen of the control device 100a, the display device 106 displays a warning screen that visually informs the driver that the vehicle is in danger of colliding with an obstacle.
  • the automatic parking button 107 is an operation member provided at a position where the driver can operate, and outputs a start signal for starting the operation of the control device 100a to the control device 100a according to the operation of the driver.
  • the surrounding environment recognizing unit 1 uses the image data obtained by capturing the surroundings of the host vehicle input from the outside environment recognition device 101, a stationary solid object around the host vehicle, a moving object, road surface paint such as a parking frame line, a sign, etc.
  • the shape and position of the object is detected.
  • the stationary three-dimensional object is, for example, a parked vehicle, a wall, a pole, a pylon, a curb, or a car stop.
  • the moving body is, for example, a pedestrian, a bicycle, a motorcycle, or a vehicle.
  • the stationary solid object and the moving object are collectively referred to as an obstacle.
  • the shape and position of the object are detected using a pattern matching technique or other known techniques.
  • the position of the object is expressed, for example, using a coordinate system having an origin at the position of the in-vehicle camera that captures the front of the host vehicle.
  • the surrounding environment recognition unit 1 detects a space where the host vehicle can be parked and a space where parking is possible based on information on the shape and position of the detected object. For example, a space between parallel parking frame lines is detected as a parking available space.
  • the parking route generation unit 2 sets a target parking position for parking the host vehicle in the parking space from the positional relationship between the host vehicle and the obstacle, and a target route for parking from the current host vehicle position to the target parking position. Is generated.
  • the collision prediction unit 3 determines whether or not the vehicle collides with an obstacle when the host vehicle travels along the route generated by the parking route generation unit 2.
  • the collision prediction unit 3 estimates the moving path of the moving body based on the recognition result of the surrounding environment recognition unit 1, and determines whether the own vehicle collides with the moving body at the intersection of the path of the own vehicle and the predicted path of the moving body. Determine whether or not.
  • the own vehicle moving direction determination unit 4 determines the moving direction of the own vehicle when colliding with an obstacle based on the parking route generated by the parking route generation unit 2.
  • the movement direction of the host vehicle determined by the host vehicle movement direction determination unit 4 includes a result of determination whether the host vehicle is moving forward or backward and a result of determination whether the host vehicle is traveling straight or turning. That is, the own vehicle movement direction determination unit 4 determines at least whether the traveling direction of the own vehicle is any combination of (forward, straight), (reverse, straight), (forward, turn), and (reverse, turn). To do.
  • the vehicle control unit 5 controls the own vehicle along the parking route generated by the parking route generation unit 2.
  • the vehicle control unit 5 calculates a target rudder angle and a target speed based on the parking route.
  • the vehicle control unit 5 then outputs a target steering torque for realizing the target steering angle to the steering device 102.
  • the vehicle control unit 5 outputs a target engine torque and a target brake pressure for realizing the target speed to the driving device 103 and the braking device 104.
  • the vehicle control unit 5 calculates a target rudder angle and a target speed so that the host vehicle does not collide with the obstacle, Control parameters based on the steering angle and target speed are output to the steering device 102, the drive device 103, and the braking device 104.
  • the alarm control unit 6 issues an alarm generation command for alerting the driver at a later-described timing, such as a sound generation device 105 or a display device 106. Output to etc.
  • the sound generator 105 outputs a predetermined alarm as a voice based on the alarm generation command.
  • the display device 106 displays a predetermined warning screen based on the alarm generation command.
  • control device 100a when the host vehicle is parked backward in the parking frame of the parking lot will be described.
  • the driver of the own vehicle that has entered the parking lot operates the automatic parking button 107, the surrounding environment recognition unit 1 starts operating and starts detecting a parking space.
  • the surrounding environment recognition unit 1 receives image data obtained by capturing the surroundings of the vehicle from the outside environment recognition device 101 every frame.
  • the surrounding environment recognizing unit 1 uses the image data input from the external environment recognition device 101, for example, four in-vehicle cameras that respectively photograph the surrounding environment of the host vehicle, by a known method, and the surroundings of the host vehicle. Generate a bird's-eye view of the environment.
  • the surrounding environment recognition unit 1 detects a parking space from the overhead image.
  • FIG. 2A is an example of an overhead image related to the surrounding environment of the host vehicle generated by the surrounding environment recognition unit 1.
  • the bird's-eye view image 300 illustrated in FIG. 2A there are three parking spaces for parallel parking that are partitioned by a parking frame line 303 and provided with car stops 304 on the right side of the host vehicle 301.
  • the three parking spaces there are parked vehicles 302 in the left and right parking spaces, respectively.
  • Five pylons 305 exist on the left side of the host vehicle 301, and a pedestrian 306 approaching the host vehicle 301 exists on the front left side of the host vehicle 301.
  • the surrounding environment recognition unit 1 detects a parked vehicle 302, a parking frame line 303, a car stop 304, a pylon 305, and a pedestrian 306 using a known pattern matching method with respect to the overhead image 300. Get information about their position. For example, the surrounding environment recognition unit 1 recognizes the parked vehicle 302 and the pylon 305 as a rectangle 312 and a rectangle 315, respectively, and acquires the coordinates of those corners. The surrounding environment recognition unit 1 recognizes the parking frame line 303 and the car stop 304 as a line segment 313 and a line segment 314, respectively, and acquires the coordinates of both ends thereof. Furthermore, the surrounding environment recognition unit 1 recognizes the pedestrian 306 as a point 316 and acquires its coordinates.
  • the surrounding environment recognition unit 1 detects the moving direction of the pedestrian 306 from a plurality of frames of overhead images, and acquires a vector 318 representing the moving direction.
  • Information related to the shape of the host vehicle 301 is set in advance in the surrounding environment recognition unit 1.
  • the coordinates of the corners of a rectangle 310 representing the host vehicle 301 are set in advance.
  • the rectangle 310 representing the host vehicle 301 may be abbreviated as the host vehicle 310
  • the rectangle 312 representing the parked vehicle 302 may be abbreviated as the parked vehicle 312.
  • the surrounding environment recognition unit 1 detects, for example, a parking space 317 that is sandwiched between the parking frame lines 303, the car stop 304 is detected, and is larger than the host vehicle 301 based on the overhead image. .
  • the parking space where the parked vehicle 312 exists is not detected as a parking space because the park stop 314 is hidden by the parked vehicle 312.
  • the parking possible space 317 is detected as a rectangular area.
  • the surrounding environment recognition unit 1 calculates the position information of the corners of the area.
  • the control device 100a When the parking space 317 is detected, the control device 100a notifies the driver that switching to automatic parking control is possible. For example, the control device 100 a outputs a message “automatic parking is possible. Please stop” from the sound generator 105 and the display device 106.
  • the control device 100a starts the process of the parking route generation unit 2.
  • the parking route generation unit 2 sets a target parking position in the parking available space 317 detected by the surrounding environment recognition unit 1, and calculates a target route from the position where the host vehicle 301 stops to the target parking position.
  • the position where the host vehicle 301 stops when the parking operation starts is referred to as a guidance start position.
  • FIG. 3 is a diagram illustrating a target parking position 411 set by the parking path generation unit 2 when the host vehicle 301 stops at the position illustrated in FIG. 2A and a target path to the target parking position 411.
  • the parking route generation unit 2 sets the target parking position 411 inside the parking space 317 illustrated in FIG.
  • the parking route generation unit 2 sets the turn-back position 410 in order to park the host vehicle 310 backward at the target parking position 411.
  • the parking path generation unit 2 includes a forward path 400 that moves the host vehicle 310 forward from the guidance start position of the host vehicle 310 to the turn-back position 410, and a reverse path 401 that moves the host vehicle 310 backward from the turn-back position 410 to the target parking position 411. Set as the target route.
  • the forward path 400 shown in FIG. 3 has a turning section for moving the host vehicle 310 to the left side, and a straight traveling section for going straight from the guidance start position to the turning start position 421 for starting the turn.
  • the parking route generation unit 2 represents the route of the straight section as a straight line, and approximates the route of the turning section by combining a clothoid curve and an arc.
  • the clothoid curve represents a trajectory drawn by the host vehicle when the speed of the host vehicle 310 is constant and the steering angle of the host vehicle 310 is changed at a constant angular velocity.
  • the arc represents a trajectory drawn by the host vehicle when the host vehicle 310 is operated with the speed of the host vehicle 310 being constant and the steering angle of the host vehicle 310 being fixed to a predetermined value (excluding the steering angle at which the host vehicle goes straight).
  • the reverse path 401 shown in FIG. 3 is represented by a curve combining a clothoid curve and an arc from the turn-back position 410 to the target parking position 411.
  • the end point of the reverse path 401 is set at a position where the rear wheel of the host vehicle 310 contacts the vehicle stop 314.
  • the control device 100a calculates the forward route 400 and the reverse route 401
  • the sound generator 105 and the display device 106 output a message “Please press the automatic parking start button” after a predetermined time.
  • the control device 100a starts the process of the collision prediction unit 3.
  • the collision prediction unit 3 determines whether or not the own vehicle collides with an obstacle when moving along the forward path 400 and the reverse path 401.
  • the collision prediction unit 3 calculates an estimated route on which the pedestrian 306 is estimated to pass based on the moving direction of the moving body detected by the surrounding environment recognition unit 1, for example, the moving direction of the pedestrian 306.
  • FIG. 4 shows an example of the estimated route 431 of the pedestrian 306 generated by the collision prediction unit 3.
  • the estimated route 431 is an estimated route when it is assumed that the pedestrian 306 goes straight in the direction indicated by the vector 318.
  • the collision prediction unit 3 calculates an intersection 432 between the forward path 400 and the estimated path 431 as a position where the host vehicle 301 may collide with an obstacle.
  • the collision prediction unit 3 calculates the time until the host vehicle and the pedestrian arrive at the intersection 432 of the target route of the host vehicle 301 and the estimated route of the pedestrian 306, respectively, and the position when both reach the intersection 432, respectively. It is determined from the relationship whether the host vehicle 301 and the pedestrian 306 collide.
  • the collision prediction unit 3 similarly calculates the intersection point with the estimated route 431 for the reverse route 401, calculates the time until the host vehicle 301 and the pedestrian 306 reach the intersection point, and walks with the host vehicle 301. It is determined whether or not the person 306 collides.
  • the collision prediction unit 3 outputs the position of the intersection determined that the host vehicle 301 collides with an obstacle to the vehicle control unit 5 as the predicted collision position.
  • the collision prediction unit 3 determines that the host vehicle 301 does not collide with an obstacle, that is, when the predicted collision position is not output, the vehicle control unit 5 and the forward path 400 generated by the parking path generation unit 2 and the reverse drive
  • the host vehicle 301 is guided along the route 401.
  • the vehicle control unit 5 determines a target speed and a target rudder angle so that the host vehicle 301 moves along the forward path 400 and the reverse path 401, and outputs the target rudder angle to the steering device 102. Is output to the driving device 103 and the braking device 104.
  • FIG. 5A is a diagram illustrating an example of target speed control by the vehicle control unit 5 that is performed when the collision prediction unit 3 determines that the host vehicle 301 does not collide with an obstacle on the forward path.
  • the horizontal axis in FIG. 5A represents the position along the forward path 400, and the vertical axis represents the target speed at that position.
  • the left end of the horizontal axis is the guidance start position.
  • the vehicle control unit 5 gradually decreases the target speed from the deceleration start position before the turn-back position 410 and stops the host vehicle 301 at the turn-back position 410.
  • the vehicle control unit 5 stops the host vehicle 301 just before the margin distance DIST from the collision position on the forward path 400. Avoid collisions with obstacles.
  • FIG. 5B is a diagram illustrating an example of target speed control by the vehicle control unit 5 that is performed when the collision prediction unit 3 determines that the host vehicle 301 collides with an obstacle.
  • the horizontal axis of FIG.5 (b) represents the position along the advance path
  • the left end of the horizontal axis in FIG. 5B is the guidance start position.
  • the target speed of the host vehicle 301 is decreased so that the host vehicle 301 stops at the target stop position that is a margin distance DIST before the predicted collision position with the obstacle.
  • the margin distance DIST is set to be larger as the driver carefully drives by changing the traveling distance DIST based on the traveling direction of the host vehicle 301 at the predicted collision position. That is, the situation where the driver is driving more carefully stops before the expected collision position.
  • the driver may have a pedestrian 802 walking behind the host vehicle 301 in the blind spot. Tend to drive carefully.
  • the margin distance DIST is set to a larger value than when the host vehicle 301 is moving forward, and the host vehicle 301 and the obstacle are The host vehicle 301 can be stopped without making the driver feel uncomfortable.
  • the own vehicle 301 stops at a position away from the pedestrian 802, the safety of the pedestrian 802 is also improved.
  • the margin distance DIST is set to a larger value than when the host vehicle 301 is traveling straight, and By increasing the distance from the obstacle, the host vehicle 301 can be stopped without making the driver feel uncomfortable. Moreover, since the own vehicle 301 stops at a position away from the pedestrian 902, the safety of the pedestrian 902 is also improved.
  • the margin distance DIST is calculated using, for example, the following formula (1).
  • STDDIST is a predetermined value, for example, 3 m.
  • BACKGAIN is a gain for adjusting the margin distance DIST to a large value when the host vehicle is moving backward.
  • TURNGAIN is a gain for adjusting the margin distance DIST to a large value when the host vehicle is turning.
  • DIST STDDIST ⁇ BACKGAIN ⁇ TURNGAIN (1)
  • BACKGAIN for example, is set to 1 when the host vehicle is moving forward at the predicted collision position, and is set to 1.2 when the host vehicle is moving backward at the predicted collision position.
  • TURNGAIN is set, for example, to 1 when the host vehicle is traveling straight at the predicted collision position, and is set to 1.2 when the host vehicle is turning at the predicted collision position.
  • the margin distance DIST is the smallest value when the traveling direction of the host vehicle at the predicted collision position is (forward, straight), and is set to 3 m, for example.
  • the margin distance DIST is set to 4 m by rounding up the decimal point when the traveling direction of the host vehicle at the predicted collision position is (forward, turn) or (reverse, straight).
  • the margin distance DIST is set to 5 m by rounding up the decimal point when the traveling direction of the host vehicle at the predicted collision position is (reverse, turning).
  • the vehicle control unit 5 determines that the collision prediction unit 3 is not likely to collide with an obstacle after stopping the host vehicle 301 at the target stop position, the vehicle control unit 5 follows the target route generated by the parking route generation unit 2. Control your vehicle.
  • 9 and 10 are flowcharts showing an example of the processing procedure of the control device 100a.
  • step S200 the control device 100a determines whether or not the automatic parking button 107 has been operated.
  • the control device 100a repeats the process of step S200 until the automatic parking button 107 is operated.
  • the process proceeds to the process of step S201.
  • step 201 the control device 100a starts capturing image data from the external environment recognition device 101. Thereafter, image data is captured from the external environment recognition apparatus 101 for each frame.
  • step 202 the control device 100a inputs the image data captured in step 201 to the surrounding environment recognition unit 1, and detects a parking space. Thereafter, the control device 100a inputs the image data from the external environment recognition device 101 to the surrounding environment recognition unit 1 every time it captures image data, such as stationary solid objects around the vehicle, moving objects, road surface paint such as parking frame lines, signs, etc. Detect the shape and position of an object.
  • step S203 the control device 100a determines whether or not a parking space is detected in step S202. When the parking space is detected, the control device 100a proceeds to the process of step S204, and when the parking space is not detected, the control device 100a returns to the process of step S202.
  • step S204 the control device 100a outputs a message prompting the vehicle to stop, for example, a message “Automatic parking is possible. Please stop” from the sound generator 105 or the display device 106.
  • step S205 the control device 100a determines whether or not the host vehicle has stopped. That is, the control device 100a determines whether or not the host vehicle has stopped at the guidance start position. The control device 100a proceeds to the process of step S206 when the host vehicle stops, and proceeds to the process of step S202 when the host vehicle does not stop.
  • step S206 the control device 100a inputs the parking available space detected in step S202 to the parking route generation unit 2, and recognizes the position where the host vehicle is stopped as the guidance start position. Then, the target parking position is set in the parking available space, and the target path from the position where the host vehicle is stopped, that is, from the guidance start position to the target parking position, that is, the above-described forward path and reverse path are generated. .
  • step S207 the control device 100a outputs a message prompting the operation of the automatic parking start button, for example, a message “please press the automatic parking start button” from the sound generator 105 or the display device 106.
  • step S208 the control device 100a determines whether or not the automatic parking button 107 has been operated.
  • the control device 100a repeats the process of step S208 until the automatic parking button 107 is operated.
  • the process proceeds to the process of step S209.
  • the automatic parking button 107 when the automatic parking button 107 is operated, a message such as “Automatic driving will start. If the steering wheel, accelerator, or brake is operated after starting driving, the automatic parking assistance process will end” is displayed. It is preferable to guide by voice.
  • step S209 the control device 100a determines whether or not the host vehicle collides with an obstacle when the host vehicle moves along the forward path and the reverse path generated in step S206. After determining whether or not the host vehicle collides with an obstacle, the control device 100a proceeds to the process of step S210 shown in FIG.
  • the control device 100a calculates the target rudder angle and the target speed based on the target route generated in Step S205, that is, the forward route and the reverse route.
  • the forward path and the reverse path are configured by combining a straight line, a clothoid curve, and an arc.
  • the control device 100a sets the target rudder angle and the target speed so that the host vehicle travels at the target speed in the straight traveling direction with respect to the straight locus.
  • the control device 100a changes the target rudder angle at a predetermined angular speed and sets the target speed to a predetermined speed so that the traveling locus of the host vehicle becomes a clothoid curve.
  • the control device 100a sets the target rudder angle to a predetermined rudder angle and sets the target speed to a predetermined speed so that the traveling trajectory of the host vehicle is an arc.
  • control device 100a calculates the speed and the steering angle for each predetermined time and stores them as automatic operation control data so that the vehicle moves from the parking start position to the parking end position along the target route. After the automatic driving is started, the control device 100a automatically drives the vehicle by feedforward control using the automatic driving control data. In addition, after driving
  • step S211 the control device 100a determines whether or not it is predicted to collide with an obstacle in step S209 of FIG. When it is predicted that the control device 100a collides with the obstacle in step S209, the control device 100a proceeds to the process of step S212. When the control device 100a is not predicted to collide with the obstacle in step S209, the control device 100a proceeds to the process of step S215.
  • step S212 the control device 100a determines the moving direction of the host vehicle at the predicted collision position.
  • the control device 100a determines that the moving direction of the host vehicle at the predicted collision position is forward, and when the predicted collision position is on the reverse path, The moving direction of the host vehicle is determined to be backward.
  • the control device 100a determines that the moving direction of the host vehicle at the predicted collision position is straight ahead, and the predicted collision position is represented by a clothoid curve or an arc. If the vehicle is located on the route, the moving direction of the host vehicle at the predicted collision position is determined as turning.
  • step S213 the control device 100a calculates a margin distance DIST based on the moving direction of the host vehicle determined in step S212.
  • the control device 100a sets the target stop position at a position before the expected collision position by a margin distance DIST.
  • step S214 the control device 100a calculates a target speed between the deceleration start position and the target stop position shown in FIG. For example, the control device 100a decelerates at a constant deceleration between the deceleration start position and the target stop position, and between the deceleration start position and the target stop position so that the target speed becomes zero at the target stop position. Calculate the target speed.
  • step S215 the control device 100a starts traveling of the host vehicle based on the target rudder angle and the target speed. That is, the control device 100a sends a steering command according to the target rudder angle to the steering device 102, and sends a braking / driving command according to the target speed to the drive device 103 and the braking device 104.
  • step S216 the control device 100a determines whether or not it is predicted to collide with an obstacle in step S209 of FIG. If the control device 100a is predicted to collide with the obstacle in step S209, the control device 100a proceeds to the process of step S217, and if not predicted to collide with the obstacle in step S209, the control device 100a proceeds to the processing of step S219.
  • step S217 the control device 100a determines whether or not the position of the host vehicle is the deceleration start position. When the position of the host vehicle is the deceleration start position, the control device 100a proceeds to the process of step S218. When the position of the host vehicle is not the deceleration start position, the control apparatus 100a proceeds to the process of step S219.
  • step S2128 when it is determined in step S209 that the vehicle collides with the obstacle, the control device 100a causes the alarm control unit 6 to generate an alarm generation command to alert the driver about deceleration to avoid the collision. .
  • the alarm control unit 6 outputs the alarm generation command to the sound generator 105 and the display device 106.
  • step S219 the control device 100a determines whether or not the host vehicle has reached the target stop position. When the host vehicle has not reached the target stop position, the control device 100a proceeds to the process of step S216. When the host vehicle has reached the target stop position, that is, when the host vehicle has stopped at the target stop position, the control device 100a ends the process.
  • the automatic parking control device performs steering control and speed control so that the own vehicle moves along the target route toward the recognized parking space, and when an obstacle approaching the own vehicle is detected, Calculate the collision position where the host vehicle collides with the obstacle, and on the target route set before the collision position by the margin distance based on the margin distance and the collision position set according to the driving behavior of the host vehicle.
  • the stop position is calculated, and speed control is performed so that the host vehicle stops at the calculated stop position. Therefore, a collision with an obstacle is predicted during the automatic parking control, and the driver does not feel uncomfortable when stopping the own vehicle.
  • the collision position is a position where the predicted travel path of the obstacle intersects with the target path, and is a position when the host vehicle and the obstacle reach the collision position almost simultaneously. Therefore, since an obstacle that may collide before the parking operation starts can be detected in advance, it is not necessary to detect an obstacle approaching the host vehicle during the automatic parking operation.
  • the apparatus can be configured at a lower cost than an obstacle detection device such as a radar. it can.
  • the target route includes a forward route in which the host vehicle moves forward from the current position to the return position, and a reverse route in which the vehicle moves backward from the return position to the parking space, and the driving behavior is whether the vehicle is moving forward or reverse.
  • the margin distance on the reverse path was set larger than the margin distance on the forward path. Therefore, the vehicle can be stopped at the stop position before stopping at the obstacle without a sense of incompatibility when driving and parking by the driver himself.
  • the target route includes a forward route in which the host vehicle moves forward from the current position to the return position, and a reverse route in which the vehicle travels straight from the return position to the parking space and turns straight, and the driving behavior is straight or turning. It is.
  • the margin distance on the turning path was set larger than the margin distance on the straight path. Therefore, the vehicle can be stopped at the stop position before stopping at the obstacle without a sense of incompatibility when driving and parking by the driver himself.
  • FIG. 11 is a schematic configuration diagram of a parking assistance apparatus according to the second embodiment of the present invention.
  • the control device 100b shown in FIG. 11 is not connected to the driving device 103 and the braking device 104, and does not control the speed of the host vehicle, but only the steering angle. That is, in the second embodiment, the speed of the host vehicle 301 is controlled by the driver operating the accelerator and the brake. Further, the control device 100b includes a host vehicle movement direction determination unit 1001, a vehicle control unit 1002, and an alarm control unit 1003 instead of the host vehicle movement direction determination unit 4, the vehicle control unit 5, and the alarm control unit 6. Prepare. In the configuration of FIG. 11, parts having the same functions as those shown in FIG.
  • the vehicle movement direction determination unit 1001 moves the vehicle in the collision direction with the obstacle (whether the vehicle is moving forward, reverse, or straight). Whether the vehicle is turning) and outputs a determination result to the alarm control unit 1003. Since the control device 100b according to the second embodiment does not control the speed of the host vehicle, the vehicle control unit 1002 does not calculate the margin distance. Therefore, the own vehicle movement direction determination unit 1001 is different from the own vehicle movement direction determination unit 4 according to the first embodiment in that the determination result is not transmitted to the vehicle control unit 1002.
  • the vehicle control unit 1002 calculates a target steering angle along the route generated by the parking route generation unit 2, and outputs a target steering torque for realizing the target steering angle to the steering device 102.
  • the alarm control unit 1003 calculates the margin distance DIST using the equation (1) based on the moving direction of the host vehicle, similarly to the vehicle control unit 5 in the first embodiment.
  • the alarm control unit 1003 sets the alarm position before the margin distance DIST from the predicted collision position calculated by the collision prediction unit 3.
  • the alarm control unit 1003 issues an alarm generation command to the sound generator 105 and the display device 106 when the host vehicle reaches the alarm position. Output.
  • control device 100b The processing performed by the control device 100b is the same as the processing performed by the control device 100a of the first embodiment up to step S209 in FIG.
  • step S208 of FIG. 9 “automatic driving is started. After the driving is started, the steering wheel, the accelerator, and the brake are operated. It is preferable to give a voice message such as “Automatic parking assistance processing will end”.
  • a message “automatic steering is started when the accelerator pedal is depressed” is notified by voice. As this message, it is preferable to further notify a message such as “Automatic parking assistance processing ends when the steering wheel is operated after the start of traveling”.
  • FIG. 12 is a flowchart illustrating an example of processing performed after the control device 100b executes the processing in step S209 in FIG. Steps shown in FIG. 12, that is, processes similar to those shown in FIG. 10 are denoted by the same reference numerals and description thereof is omitted.
  • step S1215 if the accelerator pedal is depressed, the control device 100b starts the semi-automatic parking operation, that is, the parking assist operation, and causes the vehicle to travel. That is, the control device 100b of the vehicle that the driver travels by operating the accelerator and the brake controls the steering device 102 according to the target steering angle.
  • step S210 of the first embodiment the control device 100a calculates the target rudder angle and the target speed based on the target path generated in step S205, that is, the forward path and the reverse path, but the second embodiment.
  • the control apparatus 100b calculates the position of the host vehicle every predetermined time, calculates a deviation from the target route, and based on the deviation, the target The steering angle is calculated so that the vehicle travels on the route. Then, the control device 100 b sends the calculated steering angle command to the steering device 102. By such control, the vehicle moves from the parking start position to the parking end position along the target route.
  • step S1217 the control device 100b determines whether or not the position of the host vehicle is the deceleration start position. As described above, in the second embodiment, since the vehicle position is detected in real time and the deviation from the target route is calculated, it is determined whether or not the calculated vehicle position has reached the deceleration start position. judge. Control device 100b advances the process to step S218 in FIG. 12 when the position of the host vehicle is the deceleration start position, and advances the process to step S1219 when the position of the host vehicle is not the deceleration start position.
  • the own vehicle position can be detected based on the amount of movement by the vehicle speed and the steering amount.
  • step S1219 the control device 100b determines whether or not the calculated vehicle position has reached the target stop position.
  • voice guidance such as “A target stop position has been reached” is given by voice.
  • the detection of the deceleration start position and the target stop position is performed by generating an overhead image based on the captured image acquired from the external environment recognition device 101 and reaching the target stop position based on the current position of the host vehicle in the overhead image. It may be determined whether or not it has been done.
  • the automatic parking control device performs steering control so that the host vehicle moves along the target route toward the recognized parking space, and when the host vehicle detects an obstacle approaching the host vehicle, Calculates the collision position that collides with an obstacle, and alerts you when it reaches a warning position that is ahead of the collision position on the target route by a margin distance set according to the driving behavior of your vehicle Was output. Therefore, a collision with an obstacle is predicted during automatic parking control, and an alarm can be output so as not to make the driver feel uncomfortable when stopping the host vehicle.
  • the collision position is a position where the predicted travel path of the obstacle intersects with the target path, and is a position when the host vehicle and the obstacle reach the collision position almost simultaneously. Therefore, since an obstacle that may collide before the parking operation starts can be detected in advance, it is not necessary to detect an obstacle approaching the host vehicle during the automatic parking operation.
  • the apparatus can be configured at a lower cost than an obstacle detection device such as a radar. it can.
  • the target route includes a forward route in which the host vehicle moves forward from the current position to the return position, and a reverse route in which the vehicle moves backward from the return position to the parking space, and the driving behavior is whether the vehicle is moving forward or reverse.
  • the margin distance on the reverse path was set larger than the margin distance on the forward path. Therefore, the vehicle can be stopped at the stop position before stopping at the obstacle without a sense of incompatibility when driving and parking by the driver himself.
  • the target route includes a forward route in which the host vehicle moves forward from the current position to the return position, and a reverse route in which the vehicle travels straight from the return position to the parking space and turns straight, and the driving behavior is straight or turning. It is.
  • the margin distance on the turning path was set larger than the margin distance on the straight path. Therefore, the vehicle can be stopped at the stop position before stopping at the obstacle without a sense of incompatibility when driving and parking by the driver himself.
  • the external environment recognition apparatus 101 is four in-vehicle cameras, but may be configured by using other things.
  • a radar that measures a distance to an object using a millimeter wave or a laser
  • a sonar that measures a distance to an object existing around the host vehicle using an ultrasonic wave, and the like may be used.
  • information regarding the distance to the measured object and its direction may be output to the control device 100a using a dedicated line or the like.
  • the number is not limited only to four. Any number of one or more may be used as long as the entire periphery of the host vehicle can be imaged.
  • the own vehicle moving direction determination unit 4 detects information related to the forward, backward, straight, and turning of the own vehicle as the moving direction of the own vehicle. However, when the own vehicle moving direction determination unit 4 detects a turn as the moving direction of the own vehicle, the right turn and the left turn may be detected separately.
  • the vehicle control unit 5 may change the value of TURNGAIN based on whether the host vehicle is turning right or left at the predicted collision position. For example, when the host vehicle is turning right when the host vehicle is a right steering wheel, it is difficult for the driver to visually recognize the vicinity of the left side surface of the host vehicle. Therefore, the vehicle control unit 5 may set the value of TURNGAIN when turning left to be larger than the value of TURNGAIN when turning right. On the other hand, when the host vehicle is turning left when the host vehicle is a left steering wheel, the vehicle control unit 5 sets the value of TURNGAIN when turning right to be larger than the value of TURNGAIN when turning left. That's fine.
  • the automatic parking control device can stop the host vehicle so that the driver does not feel uncomfortable using the same process even when the host vehicle is parked under other conditions.
  • the vehicle is guided in an environment where a parking route can be set. can do.
  • the host vehicle can be stopped so as not to make the driver feel uncomfortable by changing the margin distance according to the traveling direction of the host vehicle. .
  • the surrounding environment recognition unit 1 recognizes the parked vehicle 302 and the pylon 305 as a rectangle, recognizes the parking frame line 303 and the car stop 304 as line segments, and points the pedestrian 306. It was recognized as 316.
  • the recognition method of each object by the surrounding environment recognition part 1 is not limited to these methods.
  • a parked vehicle may be recognized by an arbitrary shape such as a polygon or an ellipse other than a rectangle, and a pedestrian may be recognized by a circle instead of a point.
  • the vehicle control unit 5 outputs the target steering torque for realizing the target steering angle to the steering device 102, and the target engine torque and the target for realizing the target speed.
  • the brake pressure is output to the driving device 103 and the braking device 104.
  • the vehicle control unit 5 may output the target rudder angle as it is to the steering device 102 and output the target speed as it is to the driving device 103 or the braking device 104.
  • the target rudder angle may be output to the steering device 102 as it is.
  • the vehicle control unit 5 sets TURNGAIN to 1 when the host vehicle is traveling straight, and sets TURNGAIN to 1.2 when the host vehicle is turning. Decided to set.
  • the method for setting TURNGAIN is not limited to this method. For example, when the steering angle of the host vehicle is less than 5 degrees, TURNGAIN is set to 1, and when the steering angle of the host vehicle is not less than 5 degrees and less than 20 degrees, TURNGAIN is linearly increased from 1 to 1.2. When the steering angle of the host vehicle is 20 degrees or more, TURNGAIN may be set to 1.2.
  • the alarm control unit 1003 of the second embodiment also sets TURNGAIN to 1 when the steering angle of the host vehicle is less than 5 degrees, and TURNGAIN when the steering angle of the host vehicle is not less than 5 degrees and less than 20 degrees. May be linearly increased from 1 to 1.2, and TURNGAIN may be set to 1.2 when the steering angle of the host vehicle is 20 degrees or more.
  • the margin distance DIST is calculated as the product of STDDIST, BACKGAIN, and TURNGAIN, but may be calculated as the sum of STDDIST, BACKGAIN, and TURNGAIN.
  • the alarm control unit 1003 sets an alarm position before the marginal distance DIST from the predicted collision position calculated by the collision prediction unit 3, and the host vehicle reaches the alarm position. It was decided to output an alarm generation command when However, the timing at which the alarm control unit 1003 outputs the alarm generation command may be designated by a method other than the margin distance DIST. For example, the predicted collision time when the host vehicle reaches the predicted collision position may be calculated, and an alarm generation command may be output a predetermined time before the predicted collision time.
  • the collision prediction unit 3 calculates the predicted collision position
  • the estimated route is calculated on the assumption that the obstacle travels straight in a certain direction.
  • the obstacle does not always go straight in a certain direction.
  • a pedestrian may change the direction of travel to avoid the host vehicle, and is not likely to continue moving in the same direction at a constant speed. Therefore, a range in which the pedestrian moves may be predicted to predict a collision with the own vehicle.
  • the collision prediction unit 3 may determine whether or not the own vehicle collides with an obstacle in real time even after the process of step S209. When the collision prediction unit 3 predicts that the host vehicle collides with an obstacle, the control device 100a may return to the process of step S210 by an interruption process.
  • the margin distance DIST is changed based on the current moving direction of the host vehicle. May be. What is necessary is just to determine the moving direction of the present own vehicle using information, such as a gear position acquired from the own vehicle, a steering angle, and a yaw rate. For example, when the gear position of the host vehicle is “R (Reverse)”, it may be determined that the host vehicle is moving backward. Further, for example, if the gear position of the host vehicle is not “P (Parking)”, “N (Neutral)”, or “R (Reverse)”, it is determined that the host vehicle is moving forward. Also good.
  • the control device 100b does not control the speed of the host vehicle and controls only the steering angle. However, the control device 100b does not control the steering angle. May be. For example, so that the host vehicle travels along the target route.
  • the present invention can also be applied to a parking assistance device that provides voice guidance of the traveling direction, the vehicle speed, the steering direction, and the steering amount. In this case, when it is determined that an obstacle approaching the host vehicle traveling on the target route may collide with the host vehicle after a predetermined time, it is set according to whether the vehicle is moving forward, moving backward, traveling straight, or turning. An alarm is issued at a position before the predicted collision position by the extra margin. Or you may make it apply a brake automatically and avoid a collision.

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  • General Physics & Mathematics (AREA)
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  • Transportation (AREA)
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PCT/JP2014/078122 2013-10-23 2014-10-22 自動駐車制御装置および駐車支援装置 Ceased WO2015060354A1 (ja)

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US15/031,579 US9862416B2 (en) 2013-10-23 2014-10-22 Automatic parking control device, and parking assistance device
EP14856148.3A EP3061655B1 (en) 2013-10-23 2014-10-22 Automatic parking control device, and parking assist device
CN201480057302.0A CN105683000B (zh) 2013-10-23 2014-10-22 自动停车控制装置和停车辅助装置

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JP2013220248A JP6120371B2 (ja) 2013-10-23 2013-10-23 自動駐車制御装置および駐車支援装置

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