WO2017168754A1 - Système de stationnement automatique, dispositif de commande de stationnement automatique, et procédé de commande de stationnement automatique - Google Patents

Système de stationnement automatique, dispositif de commande de stationnement automatique, et procédé de commande de stationnement automatique Download PDF

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Publication number
WO2017168754A1
WO2017168754A1 PCT/JP2016/060939 JP2016060939W WO2017168754A1 WO 2017168754 A1 WO2017168754 A1 WO 2017168754A1 JP 2016060939 W JP2016060939 W JP 2016060939W WO 2017168754 A1 WO2017168754 A1 WO 2017168754A1
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WO
WIPO (PCT)
Prior art keywords
automatic parking
parking
automatic
vehicle
control device
Prior art date
Application number
PCT/JP2016/060939
Other languages
English (en)
Japanese (ja)
Inventor
木村　淳一
佐藤　理朗
下谷　光生
Original Assignee
三菱電機株式会社
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 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to DE112016006687.2T priority Critical patent/DE112016006687T5/de
Priority to JP2018508338A priority patent/JP6651001B2/ja
Priority to CN201680083981.8A priority patent/CN108885825B/zh
Priority to PCT/JP2016/060939 priority patent/WO2017168754A1/fr
Publication of WO2017168754A1 publication Critical patent/WO2017168754A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to an automatic parking system.
  • Patent Documents 1 to 3 listed below propose a system in which a vehicle that performs automatic parking and a user's mobile terminal perform a coordinated operation.
  • valet parking by unmanned driving will be possible.
  • Valley parking means that after the driver gets off the vehicle, the vehicle is automatically driven to park in the parking lot, and further, when the driver gets on, the vehicle is automatically driven to the boarding point.
  • the valet parking system currently under development is realized by communication between the infrastructure equipment in the parking lot and the automatic driving device of the vehicle. For example, troubles such as two vehicles trying to park in the same parking area Does not occur. However, such a trouble may occur if valet parking is realized by autonomous automatic traveling using a vehicle-mounted sensor.
  • This invention was made in order to solve the above subjects, and it aims at providing the automatic parking system which can perform the automatic parking smoothly by autonomous automatic driving
  • An automatic parking system includes an automatic parking control device that controls automatic parking of a vehicle having an automatic driving function, and a portable terminal that can communicate with the automatic parking control device. Searching for an empty parking area and transmitting the search result to the mobile terminal. Upon receiving the search result of the empty parking area from the automatic parking control device, the mobile terminal issues an instruction regarding the selection of the parking area based on the user's operation. It transmits to an automatic parking control apparatus, and an automatic parking control apparatus selects a target parking area from the detected empty parking areas based on the instruction
  • the user since the user can confirm the search result of the empty parking area using the portable terminal even after getting off the vehicle, and can give an instruction regarding the selection of the parking area, the automatic parking is smoothly performed. It can be carried out.
  • FIG. 1 is a diagram showing a configuration of an automatic parking system according to an embodiment of the present invention.
  • the system includes an automatic parking control device 10 mounted on a vehicle 100 having an automatic driving function and a mobile terminal 20 capable of communicating with the automatic parking control device 10.
  • the mobile terminal 20 may be a general-purpose communication device such as a mobile phone or a smartphone, or may be a key of the vehicle 100 having a communication function.
  • the portable terminal 20 includes a display unit that displays an image and an operation input unit that receives a user operation.
  • the display unit and the operation input unit of the mobile terminal 20 are realized as one touch panel 21.
  • the vehicle 100 includes a peripheral information acquisition device 15 that acquires information around the vehicle 100 (hereinafter referred to as “peripheral information”), an automatic driving device 16 that performs automatic driving of the vehicle 100, and pedestrians and other vehicles around the vehicle 100. And a notification device 17 for performing various notifications.
  • peripheral information acquisition device 15 that acquires information around the vehicle 100 (hereinafter referred to as “peripheral information”)
  • an automatic driving device 16 that performs automatic driving of the vehicle 100
  • pedestrians and other vehicles around the vehicle 100 pedestrians and other vehicles around the vehicle 100.
  • a notification device 17 for performing various notifications.
  • the peripheral information acquisition device 15 includes, for example, an ultrasonic sensor (also referred to as “sonar”), a camera, a millimeter wave radar, a laser radar, and the like.
  • the peripheral information acquisition device 15 uses, as the peripheral information, positions of obstacles (for example, pedestrians, other vehicles, features, etc.) existing around the vehicle 100, positions such as road center lines and parking lot lane markings. Information can be acquired.
  • the automatic driving device 16 performs autonomous automatic driving of the vehicle 100 by controlling the engine, motor, gear, steering, brake, and the like of the vehicle 100 based on the peripheral information acquired by the peripheral information acquisition device 15.
  • the notification device 17 includes, for example, a sound output device such as a speaker, a horn, and a buzzer, a display device that displays characters and images, and a light emitting device such as a headlight and a blinker.
  • the notification device 17 may use a device mounted on a general vehicle 100 or may be a device dedicated to automatic parking.
  • the automatic parking control device 10 includes an automatic parking control unit 11, a search unit 12, and a communication unit 13.
  • the automatic parking control unit 11 controls the automatic driving device 16 to automatically park the vehicle 100.
  • the peripheral information acquired by the peripheral information acquisition device 15 is also used for automatic parking processing.
  • the search unit 12 searches for an empty parking section existing around the vehicle 100 based on the peripheral information acquired by the peripheral information acquisition device 15 prior to automatic parking of the vehicle 100.
  • the “vacant parking section” refers to a parking section that can be parked from the current position of the vehicle 100 without touching surrounding obstacles.
  • the communication unit 13 performs wireless communication with the mobile terminal 20 owned by the user. Specifically, the communication unit 13 transmits the search result of the empty parking area by the search unit 12 to the mobile terminal 20 and receives a user instruction regarding the selection of the parking area from the mobile terminal 20.
  • a user of the mobile terminal 20 is typically a driver of the vehicle 100.
  • the automatic parking control unit 11 parks the vehicle 100 from among the empty parking spaces detected by the search unit 12 based on the instruction (“ Define the target parking area). Then, the automatic parking control unit 11 controls the automatic driving device 16 so that the vehicle 100 is automatically parked in the target parking section.
  • the user's instruction regarding the selection of the target parking area is not limited to the selection result of the target parking area by the user, but may be an instruction to leave the selection of the target parking area to the automatic parking control device 10. That is, the user can omit the operation of selecting the target parking area.
  • the automatic parking control unit 11 interrupts the automatic parking process when an empty parking area is not found or when the automatic parking cannot be continued due to an obstacle such as another vehicle during the automatic parking. .
  • the automatic parking control unit 11 notifies the mobile terminal 20 of the interruption of the process through the communication unit 13 and asks the user for an instruction for the subsequent response.
  • the user can use the mobile terminal 20 to instruct the automatic parking control device 10 to, for example, re-search for an empty parking section or stop automatic parking.
  • FIG. 2 and 3 are diagrams showing an example of the hardware configuration of the automatic parking control device 10, respectively.
  • Each element (the automatic parking control part 11, the search part 12, and the communication part 13) of the automatic parking control apparatus 10 shown in FIG. 1 is implement
  • the automatic parking control unit 11 Based on the instruction from the communication unit 13 and the portable terminal 20, the automatic parking control unit 11 that selects the target parking area from the detected empty parking areas and automatically parks the vehicle 100 in the target parking area. And comprising.
  • Dedicated hardware may be applied to the processing circuit 50, or a processor (Central processing unit, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, digital, which executes a program stored in the memory Signal Processor) may be applied.
  • a processor Central processing unit, central processing unit, processing unit,
  • the processing circuit 50 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a processor programmed in parallel, an ASIC, an FPGA, or a combination thereof. To do.
  • Each function of each element of the automatic parking control device 10 may be realized by a plurality of processing circuits, or these functions may be realized by a single processing circuit.
  • FIG. 3 shows a hardware configuration of the automatic parking control apparatus 10 when the processing circuit 50 is configured using a processor.
  • the function of each element of the automatic parking control device 10 is realized by a combination of software and the like (software, firmware, or software and firmware).
  • Software or the like is described as a program and stored in the memory 52.
  • the processor 51 as the processing circuit 50 implements the functions of the respective units by reading out and executing the program stored in the memory 52. That is, the automatic parking control device 10, when executed by the processing circuit 50, searches for an empty parking area, transmits a result of searching for an empty parking area to the mobile terminal 20, and parks from the mobile terminal 20.
  • the memory 52 is a non-volatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. Or a volatile semiconductor memory, HDD (Hard Disk
  • RAM Random Access Memory
  • ROM Read Only Memory
  • EPROM Erasable Programmable Read Only Memory
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • HDD Hard Disk
  • a magnetic disk a flexible disk
  • the present invention is not limited to this, and a configuration in which some elements of the automatic parking control device 10 are realized by dedicated hardware and another part of the elements is realized by software or the like.
  • the functions of some elements are realized by the processing circuit 50 as dedicated hardware, and the processing circuit 50 as the processor 51 reads a program stored in the memory 52 for the other some elements.
  • the function can be realized by executing.
  • the automatic parking control device 10 can realize the above functions by hardware, software, or the like, or a combination thereof.
  • FIG. 4 is a flowchart showing the operation of the automatic parking control device 10.
  • the process of FIG. 4 is referred to as “automatic parking process”.
  • 5 to 14 are examples of screens displayed on the touch panel 21 of the mobile terminal 20 in association with the automatic parking process of the automatic parking control device 10.
  • the operation of the automatic parking system according to the present embodiment will be described with reference to these drawings.
  • the automatic parking process of FIG. 4 is disclosed.
  • the search unit 12 searches for an empty parking area around the vehicle 100 based on the peripheral information acquired by the peripheral information acquisition device 15 (step S1). At this time, the vehicle 100 has not moved from the point where the user got off.
  • the communication unit 13 transmits the search result to the mobile terminal 20 (step S2).
  • the mobile terminal 20 When the mobile terminal 20 receives the search result of the empty parking area, the mobile terminal 20 displays a screen as shown in FIG. 5 on the touch panel 21 and the user selects the target parking area or selects the automatic parking process. Confirm with the user if he / she wants to The user can select the automatic parking process by touching the “select” button, and the automatic parking control device 10 automatically selects the parking section by touching the “automatic” button. Can be done.
  • An operation mode in which the automatic parking control device 10 automatically selects a parking section is defined as an “automatic mode”.
  • the screen in FIG. 5 is an example when a plurality of empty parking sections are detected. If only one empty parking area is found or if no parking area is found, there is no room for selecting a parking area, and the “select” button cannot be operated as shown in FIGS. Display).
  • the mobile terminal 20 displays a selection screen for the target parking area as shown in FIG. 8 and presents information on a plurality of empty parking areas to the user. Prompt the user to select a target parking area.
  • priority may be given to each of the empty parking sections, and information on the empty parking sections may be displayed in descending order of priority. For example, the priority may be set higher for an empty parking section with a shorter distance from the vehicle 100. Further, the priority may be made different depending on whether the empty parking section is on the right side or the left side of the vehicle 100.
  • the user can select an arbitrary empty parking area as the target parking area by touching one of the buttons corresponding to each empty parking area.
  • the target parking section selection screen may be configured using an image taken by the camera of the peripheral information acquisition device 15 as shown in FIG. Further, as shown in FIG. 10, it may be configured using a video that is created based on a video shot by the camera of the peripheral information acquisition device 15 and that appears to be shot from the sky.
  • the portable terminal 20 transmits to the automatic parking control device 10 an instruction for selecting a target parking area according to the user's selection or an instruction for executing the “automatic mode”.
  • the instruction transmitted from the portable terminal 20 is received by the communication unit 13 of the automatic parking control device 10.
  • the automatic parking control unit 11 confirms whether the target parking area has been selected by the user or whether the user has selected “automatic mode” (step S ⁇ b> 3).
  • the automatic parking control unit 11 controls the automatic driving device 16 to park the vehicle 100 in the target parking area (step). S6).
  • the automatic parking control unit 11 checks whether or not automatic parking can be continued (hereinafter referred to as “parking impossible state”) while performing automatic parking (step S7). For example, when another vehicle or a pedestrian enters the target parking area and the situation in which the target parking area is no longer an empty parking area continues for a certain time (for example, 30 seconds), the automatic parking control unit 11 does not perform parking. Judged as possible.
  • the notification device 17 is used to notify that the automatic parking is being performed around the vehicle 100. Specifically, an image or a character indicating that the vehicle is automatically parked is displayed on the display device of the notification device 17, or a warning sound or a voice message indicating that the vehicle is automatically parked is transmitted from the voice output device of the notification device 17. It is conceivable to output the light or to cause the light emitting device to emit light in a predetermined pattern. In this way, it is possible to prevent the vehicle from becoming incapable of parking by alerting other vehicles and pedestrians.
  • the automatic parking control unit 11 may use a notification device 17 to issue a warning that prompts movement to a dynamic obstacle (for example, another vehicle or a pedestrian) that hinders automatic parking.
  • a dynamic obstacle for example, another vehicle or a pedestrian
  • an image or character that prompts movement is displayed on the display device of the notification device 17, a warning sound or voice message that prompts movement is output from the voice output device of the notification device 17, or a predetermined pattern. It is conceivable to cause the light emitting device to emit light.
  • the communication unit 13 notifies the portable terminal 20 that the parking of the vehicle 100 is completed (step S9).
  • the mobile terminal 20 displays a screen as shown in FIG. 11, for example, and notifies the user that the vehicle 100 is parked.
  • information indicating the parking position of the vehicle 100 may be included in the parking completion notification screen.
  • Information indicating the parking position includes, for example, latitude / longitude information acquired using a GPS (Global Positioning System) receiver of the vehicle 100, a map indicating the parking position, and a parking image captured by the camera of the peripheral information acquisition device 15. A video around the location can be considered.
  • GPS Global Positioning System
  • step S7 when it becomes a parking impossible state in the middle of automatic parking (it is YES at step S7), the vehicle 100 is stopped and an automatic parking process is interrupted (step S12).
  • an automatic parking process is interrupted (step S12). The process when the automatic parking process is interrupted will be described later.
  • step S3 the automatic parking control unit 11 confirms whether an empty parking section has been detected in step S1 (step S1). S4). If an empty parking area is detected (YES in step S4), the automatic parking control unit 11 automatically selects a target parking area (step S5). And it transfers to step S6 and parks the vehicle 100 to a target parking area.
  • the automatic parking control unit 11 may assign a priority to each of the empty parking sections and select the highest priority as the target parking section. For example, the priority may be set higher for an empty parking section with a shorter distance from the vehicle 100. Further, the priority may be made different depending on whether the empty parking section is on the right side or the left side of the vehicle 100.
  • step S4 when an empty parking area is not detected (NO in step S4), the automatic parking control unit 11 performs empty parking while automatically driving the vehicle 100 in order to find an empty parking area at another place in the parking lot.
  • a partition search is performed (step S10).
  • step S11 when an empty parking area is found (YES in step S11), it is determined as a target parking area, and the process proceeds to step S6 to automatically park the vehicle 100.
  • step S11 If an empty parking area is not found even when searching for an empty parking area while automatically driving the vehicle 100 (NO in step S11), the vehicle 100 is stopped and the automatic parking process is temporarily stopped (step S12). ).
  • the automatic parking control unit 11 uses the notification device 17 to notify that the vehicle 100 is automatically traveling when searching for an empty parking area while the vehicle 100 is automatically traveling. Specifically, an image or a character indicating that the vehicle is automatically traveling is displayed on the display device of the notification device 17, or a warning sound or a voice message indicating that the vehicle is automatically traveling is transmitted from the sound output device of the notification device 17. It is conceivable to output the light or to cause the light emitting device to emit light in a predetermined pattern.
  • step S7 when parking becomes impossible during automatic parking (YES in step S7), or when an empty parking section is not found (NO in step S11), the automatic parking control unit 11 The automatic parking process is interrupted (step S12). In that case, the communication unit 13 notifies the mobile terminal 20 that the automatic parking process has been interrupted (step S13).
  • the mobile terminal 20 displays a screen as shown in FIG.
  • the mobile terminal 20 displays a screen as shown in FIG. 12 and 13 are provided with buttons for instructing the automatic parking control device 10 to perform subsequent processing. Specifically, a “re-search” button for instructing to re-search for an empty parking area while automatically driving the vehicle 100, and re-searching for an empty parking area while waiting for the vehicle 100 on the spot. And a “canceling” button for instructing to cancel the automatic parking process.
  • a corresponding instruction is transmitted from the portable terminal 20 to the automatic parking control device 10 and received by the communication unit 13 of the automatic parking control device 10.
  • step S14 when the user touches “re-search” in FIG. 12 or FIG. 13 (“re-search” in step S14), the automatic parking control unit 11 selects an empty parking area at another location in the parking lot. In order to find out, an empty parking area is searched while the vehicle 100 is running automatically (step S15). Then, similarly to step S2, the communication unit 13 transmits the search result to the portable terminal 20 (step S16), and the process returns to step S3.
  • step S14 When the user touches the “standby” button in FIG. 12 or FIG. 13 (“standby” in step S14), the automatic parking control unit 11 searches for an empty parking section while the vehicle 100 is stopped on the spot. This is performed (step S17). For example, if there is another empty parking area around the vehicle 100, or if another previously parked car has started and a new empty parking area has been created, a pedestrian who has entered the empty parking area When an empty parking area is detected by the search unit 12 (YES in step S18), the automatic parking control unit 11 determines the empty parking area as a target parking area, and proceeds to step S6. The vehicle 100 is automatically parked. In addition, when a fixed time (for example, 1 minute) passes without an empty parking area being found (YES in step S19), the process returns to step S12 to notify the portable terminal 20 that the automatic parking process has been interrupted again. .
  • a fixed time for example, 1 minute
  • the mobile terminal 20 displays a screen as shown in FIG. Specify where to move 100. This is because if the automatic parking process is stopped without moving the vehicle 100, the vehicle 100 may obstruct the passage of other vehicles.
  • an “automatic parking start point” button for instructing the vehicle 100 to move to a starting point of automatic parking, that is, a point where the user got off, and movement of the vehicle 100 to an empty space around the vehicle 100 are displayed.
  • a “peripheral empty space” button for instructing and a “no movement” button for not instructing the vehicle 100 to move are included.
  • the “vacant space” is a place that is not a parking area but does not interfere with other vehicles even if the vehicle is temporarily stopped. The empty space can be detected using the peripheral information acquisition device 15.
  • the automatic parking control unit 11 causes the vehicle 100 to automatically travel to move to the designated location (step S21). Further, the automatic parking control unit 11 confirms whether or not the vehicle is in a state where the movement cannot be continued (hereinafter referred to as “incapable movement state”) while performing automatic traveling (step S22). The automatic parking control unit 11 determines that the vehicle cannot move when, for example, a situation in which the vehicle cannot move due to another vehicle or a pedestrian continues for a certain time (for example, 30 seconds) or longer. If it becomes a movement impossible state (it is YES at Step S22), it will return to Step S12 and automatic parking control part 11 will interrupt automatic parking processing again.
  • the communication unit 13 notifies the mobile terminal 20 that the movement of the vehicle 100 is completed (step S24).
  • the portable terminal 20 displays a screen as shown in FIG. 15, for example, and notifies the user of the completion of movement of the vehicle 100.
  • information indicating the stop position of the vehicle 100 may be included in the movement completion notification screen.
  • information indicating the stop position for example, latitude / longitude information acquired using the GPS receiver of the vehicle 100, a map indicating the stop position, a video around the stop position captured by the camera of the peripheral information acquisition device 15, And so on.
  • the automatic parking control unit 11 stops the automatic parking process without moving the vehicle 100.
  • the user since the vehicle 100 has stopped outside the regular parking area after the automatic parking process is stopped, the user needs to go to the vehicle 100 and move the vehicle 100 by manual driving.
  • the user can check the search result of the empty parking area by the automatic parking control device 10 using the mobile terminal 20 even after getting off the vehicle 100. At the same time, an instruction regarding selection of the target parking area can be given. Moreover, when it becomes a parking impossible state in the middle of automatic parking, or when an empty parking area is not found, the user gives an instruction about the subsequent processing to the automatic parking control device 10 through the mobile terminal 20. Can do. With such a configuration, automatic parking is performed smoothly.
  • 10 automatic parking control device 11 automatic parking control unit, 12 search unit, 13 communication unit, 15 peripheral information acquisition device, 16 automatic driving device, 17 notification device, 20 mobile terminal, 21 touch panel, 100 vehicle.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un système de stationnement automatique qui comporte : un dispositif de commande de stationnement automatique (10) pour commander le stationnement automatique d'un véhicule qui a une fonction de conduite automatique ; et un terminal portable (20) apte à communiquer avec le dispositif de commande de stationnement automatique (10). Le dispositif de commande de stationnement automatique (10) recherche des places de stationnement disponibles et transmet le résultat de recherche au terminal portable (20). Lors de la réception du résultat de recherche de place de stationnement disponible à partir du dispositif de commande de stationnement automatique (10), le terminal portable (20) transmet une instruction concernant la sélection d'une place de stationnement au dispositif de commande de stationnement automatique (10) sur la base d'une opération effectuée par un utilisateur. Sur la base de l'instruction reçue à partir du terminal portable (20), le dispositif de commande de stationnement automatique (10) sélectionne une place de stationnement cible parmi les places de stationnement disponibles détectées et amène le véhicule à se garer automatiquement dans la place de stationnement cible.
PCT/JP2016/060939 2016-04-01 2016-04-01 Système de stationnement automatique, dispositif de commande de stationnement automatique, et procédé de commande de stationnement automatique WO2017168754A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112016006687.2T DE112016006687T5 (de) 2016-04-01 2016-04-01 Automatik-Parksystem, Automatik-Parksteuervorrichtung und Automatik-Parksteuerverfahren
JP2018508338A JP6651001B2 (ja) 2016-04-01 2016-04-01 自動駐車システム、自動駐車制御装置および自動駐車制御方法
CN201680083981.8A CN108885825B (zh) 2016-04-01 2016-04-01 自动泊车系统、自动泊车控制装置及自动泊车控制方法
PCT/JP2016/060939 WO2017168754A1 (fr) 2016-04-01 2016-04-01 Système de stationnement automatique, dispositif de commande de stationnement automatique, et procédé de commande de stationnement automatique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/060939 WO2017168754A1 (fr) 2016-04-01 2016-04-01 Système de stationnement automatique, dispositif de commande de stationnement automatique, et procédé de commande de stationnement automatique

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WO2017168754A1 true WO2017168754A1 (fr) 2017-10-05

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JP (1) JP6651001B2 (fr)
CN (1) CN108885825B (fr)
DE (1) DE112016006687T5 (fr)
WO (1) WO2017168754A1 (fr)

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WO2018207778A1 (fr) * 2017-05-09 2018-11-15 株式会社デンソー Système de stationnement automatisé, véhicule à stationnement automatisé et procédé de stationnement automatisé
JP2019079168A (ja) * 2017-10-23 2019-05-23 株式会社デンソー 自動運転システム、自動運転方法、及び自動運転プログラム
JP2019079462A (ja) * 2017-10-27 2019-05-23 トヨタ自動車株式会社 自動運転車両
JP2019106098A (ja) * 2017-12-14 2019-06-27 三菱自動車工業株式会社 無人駐車システム
WO2019124421A1 (fr) * 2017-12-20 2019-06-27 パイオニア株式会社 Système de commande de véhicule
JP2019114055A (ja) * 2017-12-22 2019-07-11 トヨタ自動車株式会社 車両の制御装置
JP2019119232A (ja) * 2017-12-28 2019-07-22 日産自動車株式会社 駐車制御方法及び駐車制御装置
JP2019192025A (ja) * 2018-04-26 2019-10-31 パナソニック株式会社 駐車監視システム、駐車監視方法および記録媒体
JP2020104665A (ja) * 2018-12-27 2020-07-09 トヨタ自動車株式会社 リモート走行システム
CN111554084A (zh) * 2020-05-19 2020-08-18 新石器慧通（北京）科技有限公司 一种寻找无人车的方法
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