WO2018047231A1 - 駐車支援方法及び駐車支援装置 - Google Patents
駐車支援方法及び駐車支援装置 Download PDFInfo
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- WO2018047231A1 WO2018047231A1 PCT/JP2016/076169 JP2016076169W WO2018047231A1 WO 2018047231 A1 WO2018047231 A1 WO 2018047231A1 JP 2016076169 W JP2016076169 W JP 2016076169W WO 2018047231 A1 WO2018047231 A1 WO 2018047231A1
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- communication
- vehicle
- surrounding image
- parking position
- communication status
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- 238000004891 communication Methods 0.000 claims abstract description 269
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Classifications
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- 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
- 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
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- 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
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
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- 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
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Definitions
- the present invention relates to a parking support method and a parking support device.
- Patent Document 1 describes a technique for adjusting a parking position using a remote control device outside a passenger compartment.
- the communication speed between the operating device and the vehicle existing outside the vehicle decreases. For this reason, the operability of the controller device may decrease due to a decrease in communication speed. Such a decrease in operability of the controller device occurs, for example, because an instruction signal corresponding to an operation performed on the controller device is delayed due to a decrease in communication speed.
- the present invention operates due to a decrease in operability of the operating device accompanying a deterioration in the communication status between the operating device and the vehicle. The purpose is to reduce the feeling of discomfort to the person.
- the operation of the operator is accepted from outside the vehicle, and the automatic parking at the target parking position is executed.
- a communication state between the communication device mounted on the vehicle and the operation device existing outside the vehicle is determined.
- operation which adjusts a target parking position manually in an operating device is restricted according to a communication situation.
- the target parking position is manually adjusted in the operating device that parks the vehicle by remote control
- the operability of the operating device accompanying the deterioration of the communication status between the operating device and the vehicle.
- the operator can be less discomforted.
- FIG. 1 shows the structural example of a vehicle provided with the parking assistance apparatus which concerns on embodiment.
- a parking assistance device 2 that parks the vehicle 1 at a target parking position by automatic driving includes a vehicle control circuit 3, a surrounding state detection sensor group 4, an actuator group 5, a communication device 6, and an operation device 7.
- the vehicle control circuit 3, the surrounding situation detection sensor group 4, the actuator group 5, and the communication device 6 are mounted on the vehicle 1.
- a driver that is, an operator of the operation device 7) can operate the vehicle control circuit 3 by operating the operation device 7 outside the vehicle 1.
- the surrounding state detection sensor group 4 includes sensors for detecting the surrounding state of the vehicle 1 necessary for automatic driving of the vehicle 1 by the parking assistance device 2.
- the ambient condition detection sensor group 4 includes a camera 10 and a distance measuring sensor 11.
- the camera 10 detects surrounding conditions of the vehicle 1 such as a relative position between the vehicle and another vehicle, a distance between the vehicle and the other vehicle, an obstacle existing around the vehicle, and a white line on a road around the vehicle.
- the distance measuring sensor 11 detects the relative position between the vehicle and the other vehicle, the distance between the vehicle and the other vehicle, and the surrounding situation of the vehicle 1 such as an obstacle around the vehicle.
- the distance measuring sensor 11 may be a laser range finder or a sonar.
- the camera 10 and the distance measuring sensor 11 output information on the detected surrounding situation to the vehicle control circuit 3.
- the vehicle control circuit 3 is an electronic control unit that performs automatic driving control of the vehicle.
- the vehicle control circuit 3 includes a processor 15 and peripheral components such as a storage device 16.
- the processor 15 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit).
- the storage device 16 may include any one of a semiconductor storage device, a magnetic storage device, and an optical storage device.
- the storage device 16 may include a register, a cache memory, and a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory) used as a main storage device.
- the vehicle control circuit 3 may be realized by a functional logic circuit set in a general-purpose semiconductor integrated circuit.
- the vehicle control circuit 3 may include a programmable logic device (PLD) such as a field-programmable gate array (FPGA).
- PLD programmable logic device
- FPGA field-programmable gate array
- the vehicle control circuit 3 determines the target parking position based on the surrounding situation detected by the surrounding situation detection sensor group 4 and the operation of the operating device 7 by the driver.
- the vehicle control circuit 3 drives the actuator group 5 so as to park the vehicle 1 at the determined target parking position.
- the actuator group 5 operates the steering wheel, accelerator opening, and brake device of the vehicle to generate the vehicle behavior of the vehicle.
- the actuator group 5 includes a steering actuator 12, an accelerator opening actuator 13, and a brake control actuator 14.
- the steering actuator 12 controls the steering direction and amount of steering of the vehicle.
- the accelerator opening actuator 13 controls the accelerator opening of the vehicle.
- the brake control actuator 14 controls the braking operation of the vehicle brake device.
- the actuator group 5 may include a shift actuator.
- the shift actuator controls the shift of the vehicle, and switches between forward and reverse and controls switching to parking.
- the communication device 6 communicates with the operation device 7 via a wired or wireless communication line.
- the communication device 6 is connected to the vehicle control circuit 3 to enable communication between the vehicle control circuit 3 and the operation device 7.
- the communication device 6 communicates with the controller device 7 via short-range wireless communication such as Bluetooth (registered trademark), wireless LAN (Local Area Network) such as Wi-Fi (registered trademark), or public wireless communication. It's okay.
- the communication device 6 receives an instruction signal from the operation device 7 according to the operation performed by the driver in the operation device 7.
- the vehicle control circuit 3 includes a surrounding image generation unit 30, a current position estimation unit 31, a start position setting unit 32, a target parking position determination unit 33, a route generation unit 34, a follow-up control unit 35, and a steering control unit. 36, a target speed setting unit 37, a speed control unit 38, and a communication status determination unit 39.
- the processor 15 of the vehicle control circuit 3 executes the computer program stored in the storage device 16, so that the surrounding image generation unit 30, the current position estimation unit 31, the start position setting unit 32, the target parking position determination unit 33, the route The function of the production
- the surrounding image generation unit 30 generates a surrounding image of the vehicle 1 based on an image signal obtained by photographing the surroundings of the vehicle 1 with the camera 10. For example, the surrounding image generation unit 30 may generate an overhead image viewed from a virtual viewpoint located above the vehicle 1 as a surrounding image by combining image signals of a plurality of cameras 10 provided in the vehicle 1. The surrounding image generated by the surrounding image generation unit 30 is transmitted to the operating device 7 and displayed on the operating device 7.
- Reference numeral 50 is a parking frame selection screen displayed on the operating device 7.
- the operating device 7 receives an operation of selecting a parking frame for parking the vehicle 1 from one or a plurality of parking frames existing around the vehicle 1 on the parking frame selection screen 50.
- the surrounding image generation unit 30 generates a first surrounding image 51 displayed on the parking frame selection screen 50.
- Reference numeral 52 indicates an icon indicating the position of the vehicle 1 in the first surrounding image 51, and a broken line 53 indicates a road line dividing line indicating a parking frame existing around the vehicle 1.
- the parking frame 55 is selected as a parking frame for parking the vehicle 1 by an operation for designating any one of the locations 54 within the range of the parking frame 55 shown in the first surrounding image 51.
- the parking frame 55 may be selected by touching the display position of the place 54 on the first surrounding image 51.
- an initial position of the target parking position is set in the selected parking frame.
- a parking position mark 56 indicating a range occupied by the vehicle 1 parked at the target parking position is displayed.
- the initial position may be set at the center in the parking frame. In this case, the width and depth of the parking frame may be detected and set in the center. Further, the initial position is not necessarily the center of the parking frame.
- the initial position may be set so as to be within the parking frame, and depending on the parking environment, it is not always necessary to be within the parking frame. For example, when there is an empty space outside the parking frame, the initial position may be set in consideration of a position where a vehicle occupant can easily get off.
- the initial position of the target parking position is set by the vehicle control circuit 3 based on the surrounding situation detected by the surrounding situation detection sensor group 4.
- the target parking position can be adjusted by moving the parking position mark 56 with the operating device 7.
- By pressing the “position adjustment” button 57 a target parking position adjustment screen for finely adjusting the position of the parking position mark 56 is displayed on the operation device 7.
- Reference numeral 70 indicates a target parking position adjustment screen.
- the surrounding image generation unit 30 generates a second surrounding image 71 displayed on the target parking position adjustment screen 70.
- the pixel resolution of the second surrounding image 71 is set higher than that of the first surrounding image 51.
- the pixel resolution means the visual field width per pixel of the first surrounding image 51 and the second surrounding image 71, that is, the size of the subject corresponding to one pixel.
- the position of the parking position mark 56 in the second surrounding image 71 can be finely adjusted. For example, if the cursor key 72 is operated, the parking position mark 56 is moved without scrolling the second surrounding image 71 up to a certain movement amount, and if the cursor key 72 is further operated, the second surrounding image 71 is scrolled. Also good. Further, the parking position mark 56 can be rotated to the right by operating the right rotation key 73, and the parking position mark 56 can be rotated to the left by operating the left rotation key 74.
- the screen returns to the parking frame selection screen 50.
- the adjustment made on the target parking position adjustment screen 70 is reflected on the target parking position, and the target parking position is determined by pressing the “OK” button 58.
- automatic driving for parking the vehicle 1 at the adjusted target parking position is started.
- the initial position set when the parking frame is selected is determined as the target parking position without adjusting the target parking position, and the vehicle is moved to the target parking position. Automatic driving to park 1 starts.
- the surrounding image generation unit 30 outputs the first surrounding image 51 and the second surrounding image 71 to the communication device 6.
- the communication device 6 transmits the first surrounding image 51 and the second surrounding image 71 to the controller device 7.
- the current position estimation unit 31 assumes the current position of the vehicle 1 based on the surrounding situation detected by the surrounding situation detection sensor group 4.
- the current position estimation unit 31 outputs information on the current position to the tracking control unit 35.
- the start position setting unit 32 sets the start position of the parking operation by automatic driving based on the surrounding situation detected by the surrounding situation detection sensor group 4.
- the start position setting unit 32 outputs information on the start position to the route generation unit 34.
- the target parking position determination unit 33 detects one or more parking frames existing around the vehicle 1 based on the surrounding situation detected by the surrounding situation detection sensor group 4.
- the target parking position determination unit 33 receives an instruction signal corresponding to an operation performed by the driver in the operation device 7 via the communication device 6.
- the target parking position determination unit 33 receives an instruction signal for selecting a parking frame on the parking frame selection screen 50 from the operation device 7.
- the target parking position determination unit 33 sets an initial position of the target parking position in the driving frame selected by the driver among the detected parking frames.
- the target parking position determination unit 33 transmits the initial position of the target parking position to the operation device 7 via the communication device 6.
- the target parking position determination unit 33 may be provided in the vehicle or may be provided in the operation device 7.
- the parking target position may be determined according to the operation performed by the operation device, or may be set by the operation device outside the vehicle after being set by the interface inside the vehicle.
- the target parking position determination unit 33 receives an instruction signal for adjusting the target parking position on the target parking position adjustment screen 70 from the operation device 7.
- the target parking position determination unit 33 adjusts the target parking position according to the instruction signal.
- the target parking position determination unit 33 communicates to inform the operating device 7 that the operation of the operating device 7 has been reflected in the target parking position and to update the position of the parking position mark 56 on the target parking position adjustment screen 70.
- An instruction signal receipt confirmation signal may be transmitted to the controller device 7 via the device 6.
- the target parking position determination unit 33 may transmit the adjusted target parking position to the operation device 7.
- the target parking position determination unit 33 receives an instruction signal for pressing the “OK” button 58 or the “Exit” buttons 59 and 76 from the operation device 7.
- the target parking position determination unit 33 determines the target parking position and outputs information on the target parking position to the route generation unit 34.
- the target parking position determination unit 33 determines the initial position set when the parking frame is selected as the target parking position, and sends it to the route generation unit 34 as information on the target parking position. Output.
- the route generation unit 34 generates a parking route from the parking operation start position set by the start position setting unit 32 to the target parking position determined by the target parking position determination unit 33.
- the route generation unit 34 outputs the generated parking route information to the tracking control unit 35 and the target speed setting unit 37.
- the follow-up control unit 35 calculates the target steering angle of the vehicle 1 so that the current position of the vehicle 1 estimated by the current position estimation unit 31 is located on the parking route generated by the route generation unit 34.
- the follow-up control unit 35 outputs information on the calculated target steering angle to the steering control unit 36.
- the steering control unit 36 calculates the operation amount of the steering actuator 12 so as to reduce the difference between the actual steering angle of the vehicle 1 and the target steering angle calculated by the tracking control unit 35.
- the steering control unit 36 outputs the calculated operation amount to the steering actuator 12.
- the target speed setting unit 37 calculates a target speed at which the vehicle 1 travels on the parking route generated by the route generation unit 34.
- the target speed setting unit 37 outputs the calculated target speed to the speed control unit 38.
- the speed control unit 38 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so as to reduce the difference between the vehicle speed of the vehicle 1 and the target speed calculated by the tracking control unit 35.
- the speed control unit 38 outputs the calculated operation amount to the accelerator opening actuator 13 and the brake control actuator 14.
- the communication status determination unit 39 determines the communication status between the communication device 6 and the operation device 7. For example, the communication status determination unit 39 may determine the data transfer rate (for example, bits / second) as the communication status between the communication device 6 and the controller device 7. Further, for example, the communication status determination unit 39 may determine the presence or absence of a risk that a failure occurs in communication between the communication device 6 and the operation device 7 (hereinafter referred to as “communication failure risk”) as the communication status. .
- the communication status determination unit 39 measures the data transfer rate at each time point, creates a communication status profile that is a time series of the data transfer rate, and stores the profile in the storage device 16.
- the communication status determination unit 39 reads the profile of the communication status and the length per unit time during which the communication between the communication device 6 and the controller device 7 is disconnected (hereinafter referred to as “communication disconnection time length”). Is calculated.
- the communication status determination unit 39 determines that there is a communication failure risk when the communication disconnection time length is longer than the risk determination threshold. Further, it is determined that there is a communication failure risk when the communication disconnection time length is equal to or less than the risk determination threshold. Please refer to FIG.
- the communication status determination unit 39 may change the risk determination threshold according to the data transfer rate.
- a solid line L1 indicates a function of the data transfer rate that determines the risk determination threshold.
- the risk determination threshold value may be 0 when the data transfer rate is less than v1. That is, when the data transfer rate is less than v1, the communication status determination unit 39 determines that there is a communication failure risk regardless of the data transfer rate. When the data transfer rate is v1 or more, the risk determination threshold value may be a non-zero fixed value or an increase function of the data transfer rate.
- the communication status determination unit 39 outputs information on the determined communication status to the communication device 6.
- the communication device 6 transmits information on the communication status to the operation device 7.
- the communication status determination unit 39 outputs information on the determined communication status to the surrounding image generation unit 30.
- the surrounding image generation unit 30 may generate the second surrounding image 71 having different pixel resolutions depending on the communication situation. For example, when the communication state is poor, the surrounding image generation unit 30 may lower the pixel resolution of the second surrounding image 71 transmitted to the controller device 7 than when the communication state is good. For example, the surrounding image generation unit 30 generates the second surrounding image 71 having the pixel resolution R1 when the data transfer rate is equal to or higher than the threshold value v2, and the pixels smaller than the pixel resolution R1 when the data transfer rate is less than the threshold value v2. A second ambient image 71 having a resolution R2 may be generated.
- the amount of communication for transmitting the second surrounding image 71 to the controller device 7 can be reduced. Therefore, the transmission delay of the second surrounding image 71 can be reduced when the communication state is bad. Therefore, for example, when the second surrounding image 71 is transmitted in response to an operation on the target parking position adjustment screen 70 for scrolling the second surrounding image 71 on the target parking position adjustment screen 70 shown in FIG. The stagnation of the scroll due to the transmission delay of the second surrounding image 71 can be alleviated.
- the operating device 7 includes a controller 20, a communication circuit 21, a display device 22, and an interface 23.
- the controller 20 includes a processor 24 and peripheral components such as a storage device 25.
- the processor 24 may be a CPU or an MPU, for example.
- the storage device 25 may include any one of a semiconductor storage device, a magnetic storage device, and an optical storage device.
- the storage device 25 may include a register, a cache memory, and a memory such as a ROM and a RAM used as a main storage device.
- the controller 20 may be realized by a functional logic circuit set in a general-purpose semiconductor integrated circuit.
- the controller 20 may have a PLD such as an FPGA.
- the communication circuit 21 communicates with the communication device 6 via a wired or wireless communication line.
- the communication circuit 21 communicates with the communication device 6 via short-range wireless communication such as Bluetooth (registered trademark), wireless LAN (Local Area Network) such as Wi-Fi (registered trademark), or public wireless communication. It's okay.
- the communication circuit 21 transmits an instruction signal corresponding to an operation performed by the driver in the operation device 7 to the communication device 6.
- the communication circuit 21 receives a receipt confirmation signal transmitted via the communication device 6 in response to the instruction signal.
- the communication circuit 21 receives from the communication device 6 the first surrounding image 51, the second surrounding image 71, information on the initial position of the target parking position, and information on the communication status.
- the display device 22 functions as a display unit and displays various types of information under the control of the controller 20.
- a parking frame selection screen 50 shown in FIG. 3A and a target parking position adjustment screen 70 shown in FIG. 3B may be displayed on the display device 22.
- the interface 23 functions as an information input unit, and may include an input button, a touch panel provided on the display screen of the display device 22, and the like.
- the interface 23 is used for receiving an operation on the operation device 7 by the driver.
- the interface 23 receives operations on the parking frame selection screen 50 and the target parking position adjustment screen 70.
- the controller 20 includes a communication processing unit 80, a display control unit 81, an operation reception unit 82, and a control command setting unit 83.
- the processor 24 of the controller 20 executes the computer program stored in the storage device 25, thereby realizing the functions of the communication processing unit 80, the display control unit 81, the operation reception unit 82, and the control command setting unit 83.
- the communication processing unit 80 performs communication processing with the vehicle control circuit 3 via a communication line between the communication circuit 21 and the communication device 6. For example, the communication processing unit 80 transmits an instruction signal according to an operation performed by the driver, receives a receipt confirmation signal for the instruction signal, and the first surrounding image 51, the second surrounding image 71, and the initial target parking position. Processing for receiving location information and communication status information is executed.
- the display control unit 81 performs processing for displaying various screens on the display device 22. For example, the display control unit 81 displays the parking frame selection screen 50 shown in FIG. 3A on the display device 22. When the driver presses the “position adjustment” button 57, the target parking position adjustment screen 70 shown in FIG. 3B is displayed on the display device 22.
- the display control unit 81 moves the parking position mark 56 according to the adjustment operation.
- the display control unit 81 may update the position of the parking position mark 56 after receiving the receipt confirmation signal transmitted from the vehicle control circuit 3 in response to the instruction signal transmitted in response to the adjustment operation.
- the display control unit 81 may scroll the second surrounding image 71 in accordance with the adjustment operation of the position of the parking position mark 56.
- the display control unit 81 may display the second surrounding image 71 after scrolling sequentially transmitted from the vehicle control circuit 3 according to the adjustment operation on the target parking position adjustment screen 70.
- the operation receiving unit 82 performs a process of receiving an operation performed by the driver through the interface 23.
- the control command setting unit 83 generates an instruction signal corresponding to the operation performed by the driver.
- the instruction signal may include, for example, an instruction signal for adjusting the target parking position, and an instruction signal for pressing the “OK” button 58 or the “Exit” buttons 59 and 76.
- the control command setting unit 83 outputs the generated instruction signal to the communication circuit 21.
- the controller 20 restricts the operation on the target parking position adjustment screen 70 according to the communication status information received from the communication device 6. For example, the controller 20 restricts the operation of manually adjusting the target parking position according to the communication status. As a result, the driver adjusts in a state where the target parking position adjustment operation instruction signal is delayed from reaching the vehicle control circuit 3 due to poor communication conditions and the operability of the target parking position adjustment operation may be reduced. The operation can be prohibited in advance. For this reason, it is possible to prevent the driver from experiencing the decrease in operability and to prevent the driver from feeling uncomfortable due to the decrease in operability.
- the adjustment operation instruction signal or its receipt confirmation signal is delayed
- the update of the parking position mark 56 on the target parking position adjustment screen 70 is delayed.
- the driver may misunderstand that he / she has missed the operation and may repeat the operation.
- the parking position mark 56 moves to an unintended position when the operation is reflected with a delay
- the driver experiences a decrease in operability. Therefore, by disabling the driver from performing the adjustment operation in advance, discomfort caused by the adjustment operation is prevented.
- the adjustment operation of the target parking position may be prohibited by prohibiting the transition to the target parking position adjustment screen 70 when the communication status does not satisfy a predetermined permission condition. For example, when it is determined that there is a communication failure risk, the transition to the target parking position adjustment screen 70 may be prohibited. Moreover, when the data transfer speed is less than the threshold value, the transition to the target parking position adjustment screen 70 may be prohibited.
- the operation receiving unit 82 may prohibit the transition to the target parking position adjustment screen 70 by prohibiting the operation of the “position adjustment” button 57 (that is, disabling the “position adjustment” button 57).
- the display control unit 81 is prohibited from shifting to the target parking position adjustment screen 70 by changing the display of the “position adjustment” button 57 or stopping the display of the “position adjustment” button 57.
- the operation receiving unit 82 may prohibit the operation of the cursor key 72, the right rotation key 73, and the left rotation key 74.
- the display control unit 81 may generate a display that informs the driver that the operation of these keys is prohibited.
- step S1 the communication status determination unit 39 reads the profile of the communication status and determines whether there is a communication failure risk. If there is a communication failure risk (step S2: Y), the process proceeds to step S3. If there is no communication failure risk (step S2: N), the process proceeds to step S4. In step S ⁇ b> 3, the controller 20 prohibits transition to the target parking position adjustment screen 70. Thereafter, the process ends.
- step S4 the controller 20 permits the transition to the target parking position adjustment screen 70.
- step S5 the surrounding image generation unit 30 determines whether or not the data transfer rate is equal to or higher than the threshold value v2. If the data transfer rate is equal to or higher than the threshold value v2 (step S5: Y), the process proceeds to step S6. If the data transfer rate is less than the threshold value v2 (step S5: N), the process proceeds to step S7.
- step S6 the surrounding image generation unit 30 sets the resolution of the second surrounding image 71 transmitted to the controller device 7 to R1 higher than R2. Thereafter, the process ends.
- step S7 the surrounding image generation unit 30 sets the resolution of the second surrounding image 71 transmitted to the controller device 7 to R2 higher than R1. Thereafter, the process ends.
- the ambient situation detection sensor group 4 detects the ambient situation of the vehicle 1.
- the target parking position determination unit 33 sets an initial position of the target parking position of the vehicle 1 based on the detected surrounding situation.
- the communication status determination unit 39 is between the operation device 7 that receives an operator's operation outside the vehicle 1 and transmits an instruction signal corresponding to the operation, and the communication device 6 that is mounted on the vehicle 1 and receives the instruction signal. Determine the communication status.
- the controller 20 restricts the operation of manually adjusting the target parking position in the operation device 7 according to the communication status.
- the control command setting unit 83 transmits an instruction signal for moving the target parking position to the communication device 6 when the target parking position is adjusted.
- the target parking position determination unit 33 moves the target parking position according to the instruction signal received by the communication device.
- the vehicle control circuit 3 parks the vehicle 1 at the target parking position by automatic driving.
- the operability of the adjustment operation of the target parking position is lowered due to a delay in the instruction signal for the adjustment operation of the target parking position reaching the vehicle control circuit 3 due to the poor communication situation
- the operability is lowered.
- the driver can be prohibited in advance from performing the adjustment operation.
- the vehicle 1 can be parked at the initial position of the target parking position set based on the surrounding situation of the vehicle 1. For this reason, it is possible to prevent the driver from experiencing the decrease in operability and to prevent the driver from feeling uncomfortable due to the decrease in operability.
- the target parking position adjustment screen 70 for adjusting the target parking position is displayed on the second surrounding image 71 transmitted from the communication device 6 to the operation device 7. For this reason, the driver
- the surrounding image generation unit 30 lowers the pixel resolution of the second surrounding image 71 transmitted from the communication device 6 to the controller device 7 when the communication state is bad than when the communication state is good.
- the amount of communication for transmitting the second surrounding image 71 to the controller device 7 can be reduced. Therefore, the transmission delay of the second surrounding image 71 can be reduced when the communication state is bad. Therefore, for example, when the second surrounding image 71 is transmitted in response to an operation on the target parking position adjustment screen 70 for scrolling the second surrounding image 71 on the target parking position adjustment screen 70 shown in FIG.
- the stagnation of the scroll due to the transmission delay of the second surrounding image 71 can be alleviated. Therefore, it is possible to prevent the driver from experiencing a decrease in operability due to the stagnation of the scroll and to prevent discomfort due to the decrease in operability.
- the surrounding image generation unit 30 may change the pixel resolution of the second surrounding image 71 in a plurality of stages of three or more according to the data transfer speed.
- the pixel resolution of the second surrounding image 71 may be a step function of the data transfer rate, and this step function may have hysteresis.
- the broken line is a step function that determines the pixel resolution of the second surrounding image 71 when the data transfer rate increases
- the alternate long and short dash line is the step function that determines the pixel resolution of the second surrounding image 71 when the data transfer rate increases. It is.
- Such hysteresis prevents the pixel resolution from oscillating with a slight increase / decrease in the data transfer rate, and makes it easier for the user to view the second surrounding image 71.
- the parking assistance device 2 determines the communication status between the operation device 7 and the communication device 6 at the current location of the vehicle 1 or the operation device 7.
- the communication situation may be poor.For example, if the environment is surrounded by a multi-story parking lot, a building, or a car, or an environment where walls and pillars are close to each other, the communication electromagnetic wave will be interfered and the communication situation will be poor. May not be suitable.
- the current location of the vehicle 1 is detected, and at this time, for example, communication at the detected location such as whether it is a multilevel parking lot or whether the distance from a fixed object such as a wall or a pillar is less than a predetermined distance. Determine the situation. In this way, the operation of the operator may be restricted. As a result, the operation can be surely limited. In the determination of the parking environment, the determination may be made based on the record of the communication status determined at the same place in the past. Moreover, the other vehicle in which the parking assistance device similar to the parking assistance device 2 is used is connected between the operation device 7 and the communication device 6 based on the communication status determined at the current location of the vehicle 1 or the operation device 7. Determine the communication status.
- the structure of the parking assistance apparatus 2 of 2nd Embodiment is the same as that of the function structure shown in FIG.
- the communication status determination unit 39 of the vehicle control circuit 3 determines the communication status at the current location
- the communication status determination unit 39 stores the determined communication status information in the storage device 16 together with the position information estimated by the current position estimation unit 31.
- the communication status determination unit 39 stores information on presence / absence of a communication failure risk together with position information. Further, the communication status determination unit 39 determines whether or not the determination result of the communication status determined in the past at the same location as the current location is stored in the storage device 16.
- the communication status determination unit 39 determines the communication status at the current location based on the past determination result. For example, the communication status determination unit 39 may calculate the ratio of the number of determinations that there is a communication failure risk out of the number of determinations in the past. When the ratio of the number of times that it is determined that there is a communication failure risk is equal to or greater than the threshold A1, it may be determined that there is a communication failure risk because the communication status at the current location is poor. However, when the past number of determinations is equal to or less than the threshold B1, the communication status determination unit 39 does not determine that there is a communication failure risk because the reliability of the determination based on the past determination result is low.
- Reference numeral 92 indicates a driving assistance device similar to the parking assistance device 2.
- the parking assist device 92 includes a vehicle control circuit 93, an ambient condition detection sensor group 94, an actuator group 95, a communication device 96, and an operation device 97.
- the vehicle control circuit 93 includes a communication status determination unit similar to the communication status determination unit 39, and determines the communication status at the location of the other vehicle 91 or the operation device 97.
- the communication device 96 transmits a communication status determination result to the server device 99 via the communication network 98.
- the communication device 96 may directly transmit the determination result to the communication device 6 of the vehicle 1.
- the communication device 6 receives from the server device 99 or the communication device 96 the communication status determination result measured by the other vehicle 91.
- the communication status determination unit 39 determines the communication status at the current location based on the determination result of the communication status measured by the other vehicle 91 located at the same location as the current location. For example, the communication status determination unit 39 may calculate the ratio of the number of determinations made by the other vehicle 91 to the number of determinations that there is a communication failure risk. When the ratio of the number of times that it is determined that there is a communication failure risk is equal to or greater than the threshold value A2, it may be determined that the communication situation at the current location is poor and that there is a communication failure risk. However, when the number of times of determination by the other vehicle 91 is equal to or less than the threshold B2, the communication status determination unit 39 does not determine that there is a communication failure risk because the reliability of the determination based on the past determination result is low.
- step S10 the communication status determination unit 39 reads a profile of the communication status and determines whether there is a communication failure risk.
- step S ⁇ b> 11 the communication status determination unit 39 stores information on the presence / absence of communication failure risk in the storage device 16 together with the position information. If there is a communication failure risk (step S12: Y), the process proceeds to step S13. If there is no communication failure risk (step S12: N), the process proceeds to step S14. In step S ⁇ b> 13, the controller 20 prohibits transition to the target parking position adjustment screen 70. Thereafter, the process ends.
- step S ⁇ b> 14 the current position estimation unit 31 detects the current location of the vehicle 1.
- the communication status determination unit 39 reads from the storage device 16 a history of determination results of communication status determined in the past in the vicinity range of the current location.
- the neighborhood range may be, for example, a range within a radius of 10 m centered on the current location.
- step S16 the communication status determination unit 39 determines whether the ratio of the number of times it has been determined that there is a communication failure risk in the past is greater than or equal to the threshold value A1. If the ratio of the number of times determined that there is a communication failure risk is equal to or greater than the threshold value A1 (step S16: Y), the process proceeds to step S17. If the ratio of the number of times determined that there is a communication failure risk is less than the threshold value A1 (step S16: N), the process proceeds to step S18.
- step S17 the communication status determination unit 39 determines whether or not the past determination count (that is, the number of samples) is equal to or less than the threshold value B1.
- step S17: Y the process proceeds to step S18.
- step S17: N the process proceeds to step S13.
- step S18 the determination result of the communication status determined by the other vehicle 91 in the vicinity range of the current location is received.
- step S19 the communication status determination unit 39 determines whether or not the ratio of the number of times that the other vehicle 91 determines that there is a communication failure risk is equal to or greater than the threshold A2. If the ratio of the number of times determined that there is a communication failure risk is greater than or equal to the threshold A2 (step S19: Y), the process proceeds to step S20. When the ratio of the number of times determined that there is a communication failure risk is less than the threshold value A2 (step S19: N), the process proceeds to step S21. In step S20, the communication status determination unit 39 determines whether or not the number of determinations by the other vehicle 91 (that is, the number of samples) is equal to or less than the threshold B2.
- step S21 When the number of determinations by the other vehicle 91 is equal to or less than the threshold value B2 (step S20: Y), the process proceeds to step S21. When the number of determinations by the other vehicle 91 is larger than the threshold value B2 (step S20: N), the process proceeds to step S13. Steps S21 to S24 are the same as steps S4 to S7 in FIG.
- the current position estimation unit 31 detects the current location of the vehicle 1. At this time, for example, the communication status at the detected location is determined, for example, whether it is a three-dimensional parking lot or whether the distance from a fixed object such as a wall or a pillar is a predetermined distance or less. As a result, the operation of the operator can be surely restricted in an environment where the communication status is poor. Generally, in the case of a multi-story parking lot, when the distance from a fixed object such as a wall or a pillar is equal to or less than a predetermined distance, the communication situation is poor and the operation of the operator is not suitable. In such a case, the operation of the operator can be restricted.
- the current position estimation unit 31 detects the current location of the vehicle 1.
- the communication status determination unit 39 determines whether the determination result of the communication status determined in the past at the same location as the detected location is stored in the storage device 16. When past determination results are stored in the storage device 16, the communication status determination unit 39 determines the communication status at the current location based on the determination results. For this reason, even if the communication status of the current location of the vehicle 1 is easy to change and it is difficult to predict the future communication status from the current determination result, it is possible to expect a deterioration in the communication status.
- the current position estimation unit 31 detects the current location of the vehicle 1.
- the communication device 6 transmits the determination result of the communication status determined between the communication device 96 mounted on the other vehicle 91 and the operation device 7 existing outside the other vehicle 91 at the same location as the detected location. 96 or server device 99.
- the communication status determination unit 39 determines the communication status at the current location based on the determination result. For this reason, even if the communication status of the current location of the vehicle 1 is easy to change and it is difficult to predict the future communication status from the current determination result, it is possible to expect a deterioration in the communication status.
- the operating device 7 of the parking assistance device 2 changes the display magnification of the second surrounding image 71 displayed on the target parking position adjustment screen 70 shown in FIG. 3B according to the operation of the driver. Please refer to FIG. 11A, FIG. 11B, and FIG. 12A.
- a target parking position adjustment screen 70 shown in FIG. 11B is displayed on the operation device 7.
- the display magnification of the second surrounding image 71 immediately after the transition to the target parking position adjustment screen 70 is set to the initial magnification D0.
- the arrow 100 shows the front-back direction of the vehicle 1 in the 1st surrounding image 51 shown to FIG. 11A
- the arrow 100 shows the front-back direction of the vehicle 1 in the 2nd surrounding image 71 shown in FIG. 11B.
- the road marking line 53 indicating the parking frame is inclined from the front-rear direction and the vehicle width direction of the vehicle 1. Yes.
- the dividing line 53 extends from the vertical direction and the horizontal direction of the first surrounding image 51 and the second surrounding image 71. Tilted.
- the display magnification of the second surrounding image 71 is changed when the driver performs an operation for changing the display magnification of the second surrounding image 71 on the target parking position adjustment screen 70.
- the display magnification changing operation may be a pinch-out operation and a pinch-in operation performed on the second surrounding image 71, for example.
- the display magnification may be changed by operating a button, wheel, or jog dial on the GUI provided on the target parking position adjustment screen 70 or physically provided on the operation device 7.
- an operation to increase the display magnification of the second surrounding image 71 increases the display magnification of the second surrounding image 71 as shown in FIG. 12A.
- the display magnification of the second surrounding image 71 is higher, the visual field width represented by one pixel of the display device 22 becomes smaller, so the state of the target parking position can be displayed in detail. For this reason, even if the display magnification is changed, the target parking position can be adjusted more finely if the number of moving pixels of the parking position mark 56 for one operation of the cursor key 72 is not changed.
- the parking position mark 56 corresponds to the second surrounding image 71. It becomes difficult to protrude from the display area. For this reason, as shown in FIG. 12B, even if the angle between the longitudinal direction of the parking position mark 56 and the longitudinal direction of the display range of the second surrounding image 71 is reduced by rotating the second surrounding image 71. Good. For example, when the angle formed by the longitudinal direction of the parking position mark 56 and the longitudinal direction of the display range of the second surrounding image 71 is 45 degrees or more, the second surrounding image 71 may be rotated by 90 degrees.
- the arrow 102 indicates the front-rear direction of the vehicle 1.
- the direction of the second surrounding image 71 can be limited so that the front-rear direction of the vehicle 1 is one of the up-down direction and the left-right direction. For this reason, even if the icon 52 of the vehicle 1 is not displayed in the second surrounding image 71, the driver can easily determine the direction of the vehicle 1.
- the viewing width of one pixel of the second surrounding image 71 becomes larger than the viewing width corresponding to one pixel of the display device 22 due to the increase in display magnification
- the same pixel of the second surrounding image 71 is displayed by a plurality of pixels of the display device 22. It becomes like this. For this reason, even if the display magnification is increased, the display resolution of the second surrounding image 71 displayed on the display device 22 does not increase, so the accuracy of adjusting the target parking position cannot be increased.
- the parking support apparatus 2 sets the display magnification of the second surrounding image 71 displayed on the target parking position adjustment screen 70 to be higher than the initial magnification D0 when the communication status does not satisfy the predetermined allowable condition. The operation to enlarge is prohibited.
- the structure of the parking assistance apparatus 2 of 3rd Embodiment is the same as that of the function structure shown in FIG.
- the communication status determination unit 39 of the vehicle control circuit 3 determines whether or not the communication status between the communication device 6 and the operation device 7 satisfies a predetermined permission condition. For example, the communication status determination unit 39 may determine that a predetermined permission condition is satisfied when the data transfer rate is equal to or higher than the threshold value C.
- the communication status determination unit 39 outputs information on the determination result to the communication device 6.
- the communication device 6 transmits information on the determination result to the operation device 7.
- the communication status determination unit 39 outputs information on the communication status between the communication device 6 and the operation device 7 to the communication device 6, and the communication device 6 transmits the information on the communication status to the operation device 7. May be.
- the operation accepting unit 82 of the controller device 7 may determine whether the communication status satisfies a predetermined permission condition.
- the operation reception unit 82 permits an operation to make the display magnification of the second surrounding image 71 larger than the initial magnification D0 when the communication state satisfies a predetermined permission condition.
- the operation reception part 82 prohibits the operation which makes the display magnification of the 2nd surrounding image 71 larger than the initial magnification D0, when a communication condition does not satisfy
- the surrounding image generation unit 30 of the vehicle control circuit 3 transmits the information from the communication device 6 to the operation device 7 according to the maximum number of display pixels of the display device 22 of the operation device 7.
- the pixel resolution of the two surrounding images 71 may be set. Please refer to FIG.
- the surrounding image generation unit 30 may generate the second surrounding image 71 with higher pixel resolution as the maximum number of display pixels of the display device 22 is larger. That is, as the maximum number of display pixels of the display device 22 increases, the pixel resolution of the second surrounding image transmitted from the communication device 6 to the operation device 7 may be set higher. By setting the pixel resolution of the second surrounding image 71 higher as the maximum display pixel number is larger, the display device 22 has a higher display resolution of the second surrounding image 71 displayed on the display device 22 as the maximum display pixel number is higher. Thus, the target parking position can be adjusted more finely.
- the display control unit 81 of the controller device 7 rotates the second surrounding image 71 as illustrated in FIG.
- the angle formed by the longitudinal direction of the display range of the second surrounding image 71 on the adjustment screen 70 is reduced. Thereby, even if the display magnification of the second surrounding image 71 is increased, it is difficult for the parking position mark 56 to protrude from the display range of the second surrounding image 71.
- step S ⁇ b> 30 the operation reception unit 82 determines whether or not the “position adjustment” button 57 has been pressed. If the “position adjustment” button 57 has been pressed (step S30: Y), the process proceeds to step S31. If the “position adjustment” button 57 is not pressed (step S30: N), the process returns to step S30.
- step S ⁇ b> 31 the operation reception unit 82 determines whether the data transfer rate between the communication device 6 and the operation device 7 is equal to or higher than the threshold value C. If the data transfer rate is less than the threshold C (step S31: N), the process proceeds to step S32. If the data transfer rate is equal to or higher than the threshold value C (step S31: Y), the process proceeds to step S33. In step S32, the operation accepting unit 82 sets the upper limit DU of the display magnification of the second surrounding image 71 to the initial value D0. As a result, an operation of making the display magnification of the second surrounding image 71 larger than the initial magnification D0 is prohibited. Thereafter, the process proceeds to step S36.
- step S33 the operation accepting unit 82 sets the upper limit DU of the display magnification of the second surrounding image 71 to D1 larger than the initial value D0. Thereby, an operation for increasing the display magnification of the second surrounding image 71 to be larger than the initial magnification D0 is permitted.
- step S34 the display control unit 81 determines whether or not the angle formed by the longitudinal direction of the range occupied by the second surrounding image 71 on the target parking position adjustment screen 70 and the longitudinal direction of the parking position mark 56 is 45 degrees or more. To do. If the angle is 45 degrees or more (step S34: Y), the process proceeds to step S35. When the angle is less than 45 degrees (step S34: N), the process proceeds to step S36.
- step S ⁇ b> 35 the display control unit 81 rotates the second surrounding image 71 by 90 degrees, so that the longitudinal direction of the range occupied by the second surrounding image 71 on the target parking position adjustment screen 70 and the longitudinal direction of the parking position mark 56. Reduce the angle formed. Thereafter, the process proceeds to step S35.
- step S ⁇ b> 36 the display control unit 81 changes the screen displayed on the display device 22 to the target parking position adjustment screen 70. Thereafter, the process ends.
- step S ⁇ b> 41 the operation reception unit 82 determines whether a pinch-out operation has been detected on the second surrounding image 71. If a pinch-out operation is detected (step S41: Y), the process proceeds to step S42. If a pinch-out operation is not detected (step S41: N), the process proceeds to step S45. In step S42, the operation reception unit 82 determines whether or not the current display magnification of the second surrounding image 71 is the upper limit DU.
- step S42: Y If the display magnification is the upper limit DU (step S42: Y), the process proceeds to step S44.
- step S43 the display control unit 81 increases the display magnification of the second surrounding image 71 by ⁇ D1. Thereafter, the process proceeds to step S45.
- step S44 the display control unit 81 holds the display magnification of the second surrounding image 71 at the upper limit DU. Thereafter, the process proceeds to step S45.
- step S ⁇ b> 45 the operation reception unit 82 determines whether a pinch-in operation has been detected on the second surrounding image 71. If a pinch-in operation has been detected (step S45: Y), the process proceeds to step S46. If a pinch-in operation is not detected (step S45: N), the process ends. In step S46, the operation reception unit 82 determines whether or not the current display magnification of the second surrounding image 71 is the lower limit DL.
- step S46: Y If the display magnification is the lower limit DL (step S46: Y), the process proceeds to step S48. If the display magnification is larger than the lower limit DL (step S46: N), the process proceeds to step S47. In step S47, the display control unit 81 decreases the display magnification of the second surrounding image 71 by ⁇ D2. Thereafter, the process ends. In step S48, the display control unit 81 holds the display magnification of the second surrounding image 71 at the lower limit DL. Thereafter, the process ends.
- the operation reception unit 82 prohibits an operation of increasing the display magnification of the second surrounding image 71 displayed on the target parking position adjustment screen 70 when the communication status does not satisfy the predetermined allowable condition. This prevents a transmission delay caused by transmitting the second surrounding image 71 having a high pixel resolution when the communication status is poor. As a result, it is possible to reduce the driver's experience of a decrease in operability such as display delay of the second surrounding image 71 and stagnation of scrolling.
- the surrounding image generation unit 30 transmits the second display from the communication device 6 to the operation device 7 as the maximum number of display pixels of the display device 22 of the operation device 7 increases.
- the pixel resolution of the surrounding image 71 is set higher. Thereby, the second surrounding image 71 having a higher display resolution is displayed on the operating device 7 having a larger maximum display pixel number, thereby enabling finer adjustment of the target parking position.
- the display control unit 81 rotates the second surrounding image 71 displayed on the target parking position adjustment screen 70 to thereby change the longitudinal direction of the parking position mark 56, The angle formed by the longitudinal direction of the range occupied by the second surrounding image 71 on the target parking position adjustment screen 70 is reduced. Thereby, even if the display magnification of the second surrounding image 71 is increased, the parking position mark 56 is difficult to protrude from the display range of the second surrounding image 71, so that the display magnification can be easily increased.
- the display control unit 81 of the controller device 7 rotates the second surrounding image 71 at an angle other than 90 degrees, and the longitudinal direction of the parking position mark 56 and the second surrounding image 71. You may reduce the angle which the display range makes with the longitudinal direction. Refer to FIG. For example, the display control unit 81 may rotate the second surrounding image 71 so that the longitudinal direction of the parking position mark 56 and the longitudinal direction of the display range of the second surrounding image 71 are parallel to each other. As a result, the front-rear direction of the vehicle 1 may be tilted from the vertical direction and the horizontal direction of the second surrounding image 71 as indicated by the arrow 102. By making the longitudinal direction of the parking position mark 56 parallel to the longitudinal direction of the display range of the second surrounding image 71, the parking position mark 56 is more difficult to protrude from the display range of the second surrounding image 71. It becomes easier to raise.
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Abstract
Description
このように、操作装置の操作性の低下は、操作者に不快感を与えるおそれがある。
本発明は、遠隔操作により車両を駐車させる操作装置において目標駐車位置を手動で調整する際に、かかる操作装置と車両との間の通信状況の悪化に伴う操作装置の操作性の低下により、操作者に不快感を覚えるのを軽減することを目的とする。
本発明の目的及び利点は、特許請求の範囲に示した要素及びその組合せを用いて具現化され達成される。前述の一般的な記述及び以下の詳細な記述の両方は、単なる例示及び説明であり、特許請求の範囲のように本発明を限定するものでないと解するべきである。
(第1実施形態)
(構成)
図1を参照する。車両1を自動運転により目標駐車位置に駐車させる駐車支援装置2は、車両制御回路3と、周囲状況検出センサ群4と、アクチュエータ群5と、通信装置6と、操作装置7を備える。車両制御回路3、周囲状況検出センサ群4、アクチュエータ群5、及び通信装置6は、車両1に搭載される。
運転者(すなわち操作装置7の操作者)は、車両1の外で操作装置7を操作することにより、車両制御回路3を操作することができる。
プロセッサ15は、例えばCPU(Central Processing Unit)、やMPU(Micro-Processing Unit)であってよい。
記憶装置16は、半導体記憶装置、磁気記憶装置及び光学記憶装置のいずれかを備えてよい。記憶装置16は、レジスタ、キャッシュメモリ、主記憶装置として使用されるROM(Read Only Memory)及びRAM(Random Access Memory)等のメモリを含んでよい。
車両制御回路3は、周囲状況検出センサ群4が検出した周囲状況と、運転者による操作装置7の操作に基づいて目標駐車位置を決定する。車両制御回路3は、決定した目標駐車位置に車両1を駐車するようにアクチュエータ群5を駆動する。
ステアリングアクチュエータ12は、車両のステアリングの操舵方向及び操舵量を制御する。
アクセル開度アクチュエータ13は、車両のアクセル開度を制御する。
ブレーキ制御アクチュエータ14は、車両のブレーキ装置の制動動作を制御する。
尚、アクチュエータ群5の中には、シフトアクチュエータを備えるようにしても良い。シフトアクチュエータは、車両のシフトを制御するもので、前進と後進を切り替え、パーキングへの切り替えを制御する。
車両制御回路3のプロセッサ15は、記憶装置16に記憶されたコンピュータプログラムを実行することにより、周囲画像生成部30、現在位置推定部31、開始位置設定部32、目標駐車位置決定部33、経路生成部34、追従制御部35、操舵制御部36、目標速度設定部37、速度制御部38、及び通信状況判定部39の機能を実現する。
周囲画像生成部30により生成された周囲画像は、操作装置7へ送信されて操作装置7で表示される。
図3Aを参照する。参照符号50は、操作装置7において表示する駐車枠選択画面である。操作装置7は、駐車枠選択画面50において、車両1の周囲に存在する1つ又は複数の駐車枠のうち車両1を駐車させる駐車枠を選択する操作を受け付ける。
周囲画像生成部30は、駐車枠選択画面50に表示される第1周囲画像51を生成する。参照符号52は、第1周囲画像51中の車両1の位置を示すアイコンを示し、破線53は、車両1の周囲に存在する駐車枠を示す路面の区分線を表している。
駐車枠選択画面50において、第1周囲画像51に写っている駐車枠55の範囲内のいずれかの場所54を指定する操作により、駐車枠55が車両1を駐車させる駐車枠として選択される。例えば、第1周囲画像51上の場所54の表示位置をタッチすることにより駐車枠55を選択してよい。
目標駐車位置の初期位置は、周囲状況検出センサ群4が検出した周囲状況に基づき車両制御回路3により設定される。操作装置7で、駐車位置マーク56を移動することにより目標駐車位置を調整できる。
「位置調整」ボタン57を押すことにより、駐車位置マーク56の位置を微調整する目標駐車位置調整画面が操作装置7において表示される。
目標駐車位置の位置を細かく調整するために、第2周囲画像71の画素分解能は第1周囲画像51よりも高く設定されている。ここで画素分解能とは、第1周囲画像51及び第2周囲画像71の1画素あたりの視野幅、すなわち1画素に相当する被写体の大きさをいう。
さらに、右回転キー73を操作することによって駐車位置マーク56を右回転することができ、左回転キー74を操作することによって駐車位置マーク56を左回転することができる。
一方で「Exit」ボタン59及び76のいずれかが押されると、目標駐車位置の調整を行わずに、駐車枠の選択時に設定された初期位置を目標駐車位置として確定し、目標駐車位置へ車両1を駐車させる自動運転が開始する。
現在位置推定部31は、周囲状況検出センサ群4が検出した周囲状況に基づき車両1の現在位置を想定する。現在位置推定部31は、現在位置の情報を追従制御部35へ出力する。
開始位置設定部32は、周囲状況検出センサ群4が検出した周囲状況に基づき自動運転による駐車動作の開始位置を設定する。開始位置設定部32は、開始位置の情報を経路生成部34へ出力する。
目標駐車位置決定部33は、通信装置6を介して、操作装置7において運転者により行われた操作に応じた指示信号を受信する。目標駐車位置決定部33は、駐車枠選択画面50における駐車枠の選択操作の指示信号を操作装置7から受信する。目標駐車位置決定部33は、検出した駐車枠のうち運転者が選択した運転枠の中に目標駐車位置の初期位置を設定する。目標駐車位置決定部33は、通信装置6を介して、目標駐車位置の初期位置を操作装置7へ送信する。尚、目標駐車位置決定部33は、車両に設けても良く、操作装置7に設けても良い。尚、駐車目標位置は、操作装置によって行われた操作に応じて決定するものでも良く、車内のインタフェースで設定した後、車両の外で操作装置により再設定されたものでもよい。
追従制御部35は、現在位置推定部31により推定される車両1の現在位置が、経路生成部34により生成された駐車経路上に位置するように、車両1の目標操舵角を算出する。追従制御部35は、算出した目標操舵角の情報を操舵制御部36へ出力する。
目標速度設定部37は、経路生成部34により生成された駐車経路上を車両1が走行する目標速度を算出する。目標速度設定部37は、算出した目標速度を速度制御部38へ出力する。
速度制御部38は、車両1の車速と追従制御部35が算出した目標速度との差を減少させるように、アクセル開度アクチュエータ13とブレーキ制御アクチュエータ14の操作量を算出する。速度制御部38は、算出した操作量をアクセル開度アクチュエータ13とブレーキ制御アクチュエータ14へ出力する。
通信状況判定部39は、通信状況のプロファイルを読み込んで通信装置6と操作装置7との間の通信が切断される期間の単位時間当たりの長さ(以下「通信切断時間長」と表記する)を算出する。通信状況判定部39は、通信切断時間長がリスク判定閾値より長い場合に通信障害リスクがあると判定する。また、通信切断時間長がリスク判定閾値以下の場合に通信障害リスクがあると判定する。
図4を参照する。通信状況判定部39は、データ転送速度に応じてリスク判定閾値を変化させてもよい。実線L1は、リスク判定閾値を定めるデータ転送速度の関数を示す。
データ転送速度がv1以上の場合、リスク判定閾値は非零の固定値かデータ転送速度の増加関数であってよい。
通信状況判定部39は、判定した通信状況の情報を通信装置6へ出力する。通信装置6は、通信状況の情報を操作装置7へ送信する。
例えば周囲画像生成部30は、通信状況が悪い場合、通信状況が良好な場合よりも操作装置7へ送信する第2周囲画像71の画素分解能を下げてよい。
例えば周囲画像生成部30は、データ転送速度が閾値v2以上の場合には画素分解能R1を有する第2周囲画像71を生成し、データ転送速度が閾値v2未満の場合には画素分解能R1より小さな画素分解能R2を有する第2周囲画像71を生成してよい。
このため、例えば、図3Bに示す目標駐車位置調整画面70における第2周囲画像71のスクロールのために、目標駐車位置調整画面70での操作に応じて第2周囲画像71を送信する場合に、第2周囲画像71の送信遅延によるスクロールの停滞を緩和できる。
コントローラ20は、プロセッサ24と、記憶装置25等の周辺部品とを含む。プロセッサ24は、例えばCPU、やMPUであってよい。記憶装置25は、半導体記憶装置、磁気記憶装置及び光学記憶装置のいずれかを備えてよい。記憶装置25は、レジスタ、キャッシュメモリ、主記憶装置として使用されるROM及びRAM等のメモリを含んでよい。なお、汎用の半導体集積回路中に設定される機能的な論理回路でコントローラ20を実現してもよい。例えば、コントローラ20はFPGA等のPLD等を有していてもよい。
通信回路21は、操作装置7において運転者により行われた操作に応じた指示信号を、通信装置6へ送信する。また、通信回路21は、指示信号に応答して通信装置6を介して送信される受領確認信号を受信する。また、通信回路21は、第1周囲画像51、第2周囲画像71、目標駐車位置の初期位置の情報、及び通信状況の情報を通信装置6から受信する。
インタフェース23は、情報入力手段として機能し、入力ボタンや表示装置22の表示画面に設けられたタッチパネルなどを備えていてよい。インタフェース23は、運転者による操作装置7での操作を受け付けるために使用される。例えば、インタフェース23は、駐車枠選択画面50及び目標駐車位置調整画面70における操作を受け付ける。
表示制御部81は、表示装置22に各種画面を表示する処理を行う。例えば表示制御部81は、図3Aに示す駐車枠選択画面50を表示装置22に表示する。運転者が「位置調整」ボタン57を押下すると、図3Bに示す目標駐車位置調整画面70を表示装置22に表示する。
また、表示制御部81は、駐車位置マーク56の位置の調整操作に応じて第2周囲画像71をスクロールさせてもよい。このとき表示制御部81は、調整操作に応じて車両制御回路3から順次送信されるスクロール後の第2周囲画像71を目標駐車位置調整画面70に表示してよい。
制御指令設定部83は、運転者により行われた操作に応じた指示信号を生成する。指示信号は、例えば目標駐車位置の調整操作の指示信号、「OK」ボタン58、又は「Exit」ボタン59、76の押下操作の指示信号を含んでよい。制御指令設定部83は、生成した指示信号を通信回路21へ出力する。
これにより、通信状況が悪いために目標駐車位置の調整操作の指示信号が車両制御回路3に届くのが遅れ目標駐車位置の調整操作の操作性が低下する虞がある状態において、運転者が調整操作を行うのを予め禁止できる。このため、運転者が操作性の低下を体感するのを防止して、操作性の低下による不快感を与えるのを防止できる。
そこで、調整操作を運転者が行うのを予め禁止することにより、調整操作を行うことにより生じる不快感を防止する。
また、操作受付部82は、カーソルキー72、右回転キー73及び左回転キー74の操作を禁止してもよい。表示制御部81は、これらのキーの操作が禁止されていることを運転者に知らせる表示を生成してもよい。
次に、第1実施形態に係る支援方法の一例について説明する。図7を参照する。
ステップS1において通信状況判定部39は、通信状況のプロファイルを読み込み、通信障害リスクがあるか否かを判定する。通信障害リスクがある場合(ステップS2:Y)、処理はステップS3へ進む。通信障害リスクがない場合(ステップS2:N)、処理はステップS4へ進む。
ステップS3においてコントローラ20は、目標駐車位置調整画面70への移行を禁止する。その後に処理は終了する。
ステップS5において周囲画像生成部30は、データ転送速度が閾値v2以上であるか否かを判定する。データ転送速度が閾値v2以上である場合(ステップS5:Y)に処理はステップS6へ進む。データ転送速度が閾値v2未満である場合(ステップS5:N)に処理はステップS7へ進む。
ステップS6において周囲画像生成部30は、操作装置7へ送信する第2周囲画像71の分解能をR2よりも高いR1に設定する。その後に処理は終了する。
ステップS7において周囲画像生成部30は、操作装置7へ送信する第2周囲画像71の分解能をR1よりも高いR2に設定する。その後に処理は終了する。
(1)周囲状況検出センサ群4は、車両1の周囲状況を検出する。目標駐車位置決定部33は、検出した周囲状況に基づいて車両1の目標駐車位置の初期位置を設定する。通信状況判定部39は、車両1の外で操作者の操作を受け付けて操作に応じた指示信号を送信する操作装置7と、車両1に搭載されて指示信号を受信する通信装置6との間の通信状況を判定する。コントローラ20は、操作装置7において目標駐車位置を手動で調整する操作を通信状況に応じて制限する。制御指令設定部83は、目標駐車位置を調整した場合に目標駐車位置を移動させる指示信号を通信装置6へ送信する。目標駐車位置決定部33は、通信装置で受信した指示信号に応じて前記目標駐車位置を移動させる。車両制御回路3は、自動運転により車両1を目標駐車位置に駐車させる。
第2周囲画像71の画素分解能を下げることにより、第2周囲画像71を操作装置7へ送信する通信量を低減することができる。したがって、通信状況が悪い場合に第2周囲画像71の送信遅延を低減できる。
このため、例えば、図3Bに示す目標駐車位置調整画面70における第2周囲画像71のスクロールのために、目標駐車位置調整画面70での操作に応じて第2周囲画像71を送信する場合に、第2周囲画像71の送信遅延によるスクロールの停滞を緩和できる。
したがって、スクロールの停滞による操作性の低下を運転者が体感するのを防止して、操作性の低下による不快感を与えるのを防止できる。
周囲画像生成部30は、データ転送速度に応じて第2周囲画像71の画素分解能を、3段階以上の複数段階に変化させてもよい。例えば、第2周囲画像71の画素分解能は、データ転送速度のステップ関数であってよく、このステップ関数はヒステリシスを有していてもよい。
図8を参照する。破線は、データ転送速度が増加する際の第2周囲画像71の画素分解能を定めるステップ関数であり、一点鎖線は、データ転送速度が増加する際の第2周囲画像71の画素分解能を定めるステップ関数である。このようなヒステリシスにより、データ転送速度の些少な増減に対して画素分解能が振動するのを防ぎ、利用者が第2周囲画像71を見やすくできる。
続いて、第2実施形態に係る駐車支援装置2を説明する。第2実施形態に係る駐車支援装置2は、車両1又は操作装置7の現在の所在場所における操作装置7と通信装置6との間の通信状況を判定する。駐車環境によっては、通信状況が悪く、例えば、立体駐車場や建物、車に囲まれた環境、壁や柱が近い環境であれば、通信電磁波が干渉され、通信状況が悪く、操作者の操作が適さないことがある。そのため、車両1の現在の所在場所を検出し、このときに、例えば、立体駐車場か否か、壁、柱など固定物からの距離が所定距離以下か否か、など検出した所在場所における通信状況を判定する。このようにして、操作者の操作を制限するようにしてもよい。これにより、確実に操作を制限することができるようになる。また、駐車環境の判定において、過去に同じ場所で判定した通信状況の記録に基づき判定するようにしてもよい。また、駐車支援装置2と同様の駐車支援装置が利用される他車が、車両1又は操作装置7の現在の所在場所で判定した通信状況に基づいて、操作装置7と通信装置6との間の通信状況を判定する。
このため、車両1又は操作装置7の現在の所在場所の通信状況が変わりやすい、もしくは現在の判定結果から将来の通信状況の予想が難しくても、通信状況を予期することができる。以下、第2実施形態においては、車両の所在位置によって通信状況を判定する携帯の中でも、過去に同じ場所で判定した通信状況の記録に基づき判定する形態に基づいて詳述する。
また、通信状況判定部39は、現在の所在場所と同じ場所で過去に判定した通信状況の判定結果が記憶装置16に記憶されているか否かを判定する。
例えば、通信状況判定部39は、過去の判定回数のうち通信障害リスクが有ると判定した回数が占める割合を算出してよい。通信障害リスクが有ると判定した回数の割合が閾値A1以上の場合に、現在の所在場所における通信状況が悪く、通信障害リスクが有ると判定してよい。ただし、過去の判定回数が閾値B1以下の場合には過去の判定結果に基づく判断の信憑性が低いため、通信状況判定部39は通信障害リスクが有ると判定しない。
通信状況判定部39は、現在の所在場所と同じ場所に位置する他車91にて測定した通信状況の判定結果に基づいて、現在の所在場所における通信状況を判定する。例えば、通信状況判定部39は、他車91による判定回数のうち通信障害リスクが有ると判定した回数が占める割合を算出してよい。通信障害リスクが有ると判定した回数の割合が閾値A2以上の場合に、現在の所在場所における通信状況が悪く、通信障害リスクが有ると判定してよい。ただし、他車91による判定回数が閾値B2以下の場合には過去の判定結果に基づく判断の信憑性が低いため、通信状況判定部39は通信障害リスクが有ると判定しない。
通信障害リスクがある場合(ステップS12:Y)、処理はステップS13へ進む。通信障害リスクがない場合(ステップS12:N)、処理はステップS14へ進む。
ステップS13においてコントローラ20は、目標駐車位置調整画面70への移行を禁止する。その後に処理は終了する。
ステップS15において通信状況判定部39は、現在の所在場所の近傍範囲において過去に判定した通信状況の判定結果の履歴を記憶装置16から読み込む。近傍範囲は、例えば現在の所在場所を中心とする半径10m以内の範囲であってよい。
ステップS16において通信状況判定部39は、過去に通信障害リスクが有ると判定した回数の割合が閾値A1以上であるか否かを判定する。通信障害リスクが有ると判定した回数の割合が閾値A1以上である場合(ステップS16:Y)に処理はステップS17へ進む。通信障害リスクが有ると判定した回数の割合が閾値A1未満である場合(ステップS16:N)に処理はステップS18へ進む。
ステップS18において現在の所在場所の近傍範囲において他車91が判定した通信状況の判定結果を受信する。
ステップS20において通信状況判定部39は、他車91による判定回数(すなわちサンプル数)が閾値B2以下の場合であるか否かを判定する。他車91による判定回数が閾値B2以下の場合(ステップS20:Y)にはステップS21へ進む。他車91による判定回数が閾値B2より大きい場合(ステップS20:N)にはステップS13へ進む。
ステップS21~S24の処理は、図7のステップS4~S7と同様である。
(1)現在位置推定部31は、車両1の現在の所在場所を検出する。このときに、例えば、立体駐車場か否か、壁、柱など固定物からの距離が所定距離以下か否か、など検出した所在場所における通信状況を判定する。これにより、通信状況が悪い環境において、操作者の操作を確実に制限することができる。一般的に、立体駐車場の場合、壁、柱など固定物からの距離が所定距離以下の場合は、通信状況が悪く、操作者の操作が適さない。そのような場合において、操作者の操作を制限できるようになる。
(2)現在位置推定部31は、車両1の現在の所在場所を検出する。通信状況判定部39は、検出した所在場所と同じ場所で過去に判定した通信状況の判定結果が記憶装置16に記憶されているか否かを判定する。過去の判定結果が記憶装置16に記憶されている場合、通信状況判定部39はこの判定結果に基づいて現在の所在場所における通信状況を判定する。
このため、車両1の現在の所在場所の通信状況が変わりやすく、現在の判定結果から将来の通信状況の予想が難しくても、通信状況の悪化を予期することができる。
このため、車両1の現在の所在場所の通信状況が変わりやすく、現在の判定結果から将来の通信状況の予想が難しくても、通信状況の悪化を予期することができる。
続いて、第3実施形態に係る駐車支援装置2を説明する。第3実施形態に係る駐車支援装置2の操作装置7は、図3Bに示す目標駐車位置調整画面70に表示される第2周囲画像71の表示倍率を運転者の操作に応じて変更する。
図11A、図11B及び図12Aを参照する。図11Aに示す駐車枠選択画面50において「位置調整」ボタン57を押すと、図11Bに示す目標駐車位置調整画面70が操作装置7に表示される。
目標駐車位置調整画面70に遷移した直後の第2周囲画像71の表示倍率は、初期倍率D0に設定されている。
図示するとおり、図11Aに示す第1周囲画像51及び図11Bに示す第2周囲画像71の例では、駐車枠を示す路面の区分線53が、車両1の前後方向及び車幅方向から傾いている。このため、車両1の前後方向を第1周囲画像51及び第2周囲画像71の縦方向に合わせると、区分線53は、第1周囲画像51及び第2周囲画像71の縦方向及び横方向から傾いている。
第2周囲画像71の表示倍率が高い方が、表示装置22の1画素が表す視野幅が小さくなるので目標駐車位置の状態を詳細に表示できる。このため、表示倍率を変えても1回のカーソルキー72の操作に対する駐車位置マーク56の移動画素数を変えなければ、目標駐車位置をより細かく調整できる。
このため、図12Bに示すように、第2周囲画像71を回転することにより、駐車位置マーク56の長手方向と、第2周囲画像71の表示範囲の長手方向とのなす角度を低減してもよい。例えば、駐車位置マーク56の長手方向と第2周囲画像71の表示範囲の長手方向のなす角度が45度以上の場合、第2周囲画像71を90度回転させてもよい。
ここで、矢印102は車両1の前後方向を示す。第2周囲画像71の回転角度を90度に制限することにより、車両1の前後方向が上下方向及び左右方向の一方になるように第2周囲画像71の向きを制限することができる。このため、第2周囲画像71に車両1のアイコン52が表示されなくても、運転者は車両1の向きを容易に判断することができる。
しかしながら、高い画素分解能の画像を送信すると通信量が増加するため、通信状況が悪い場合には送信遅延が発生する。第2周囲画像71の送信遅延が発生すると、第2周囲画像71の表示遅れやスクロールの停滞が発生し、運転者が操作性の低下を体感することになる。
そこで、第2実施形態に係る駐車支援装置2は、通信状況が所定の許容条件を満たさない場合に、目標駐車位置調整画面70に表示する第2周囲画像71の表示倍率を初期倍率D0よりも大きくする操作を禁止する。
通信状況判定部39は、判定結果の情報を通信装置6へ出力する。通信装置6は判定結果の情報を操作装置7へ送信する。
これに代えて、通信状況判定部39は、通信装置6と操作装置7との間の通信状況の情報を通信装置6へ出力し、通信装置6は、通信状況の情報を操作装置7へ送信してもよい。そして、操作装置7の操作受付部82によって、通信状況が所定の許可条件を満たすか否かを判定してもよい。
通信状況が所定の許容条件を満たす場合、車両制御回路3の周囲画像生成部30は、操作装置7の表示装置22の最大表示画素数に応じて、通信装置6から操作装置7へ送信する第2周囲画像71の画素分解能を設定してもよい。図13を参照する。周囲画像生成部30は、表示装置22の最大表示画素数が大きいほど、より高い画素分解能の第2周囲画像71を生成してよい。すなわち、表示装置22の最大表示画素数が多いほど、通信装置6から操作装置7へ送信する第2周囲画像の画素分解能をより高く設定してよい。
最大表示画素数が大きいほど第2周囲画像71の画素分解能をより高く設定することにより、最大表示画素数が大きな操作装置7ほど表示装置22に表示される第2周囲画像71の表示分解能が高くなり、より細かな目標駐車位置の調整が可能になる。
これにより、第2周囲画像71の表示倍率を上げても駐車位置マーク56が第2周囲画像71の表示範囲からはみ出しにくくなる。
ステップS30において操作受付部82は、「位置調整」ボタン57が押されたか否かを判定する。「位置調整」ボタン57が押された場合(ステップS30:Y)に処理はステップS31へ進む。「位置調整」ボタン57が押されていない場合(ステップS30:N)に処理はステップS30へ戻る。
ステップS32において操作受付部82は、第2周囲画像71の表示倍率の上限DUを初期値D0に設定する。これにより、第2周囲画像71の表示倍率を初期倍率D0よりも大きくする操作が禁止される。その後に処理はステップS36に進む。
ステップS34において表示制御部81は、目標駐車位置調整画面70に第2周囲画像71が占める範囲の長手方向と駐車位置マーク56の長手方向とのなす角度が45度以上であるか否かを判断する。上記角度が45度以上である場合(ステップS34:Y)に処理はステップS35へ進む。上記角度が45度未満である場合(ステップS34:N)に処理はステップS36へ進む。
ステップS36において表示制御部81は、表示装置22へ表示する画面を目標駐車位置調整画面70へ遷移する。その後に処理は終了する。
ステップS41において操作受付部82は、第2周囲画像71上でピンチアウト操作を検出したか否かを判定する。ピンチアウト操作が検出された場合(ステップS41:Y)に処理はステップS42へ進む。ピンチアウト操作が検出されない場合(ステップS41:N)に処理はステップS45へ進む。
ステップS42において操作受付部82は、第2周囲画像71の現在の表示倍率が上限DUであるか否かを判定する。
ステップS43において表示制御部81は、第2周囲画像71の表示倍率をΔD1だけ上げる。その後に処理はステップS45へ進む。
ステップS44において表示制御部81は、第2周囲画像71の表示倍率を上限DUに保持する。その後に処理はステップS45へ進む。
ステップS46において操作受付部82は、第2周囲画像71の現在の表示倍率が下限DLであるか否かを判定する。
ステップS47において表示制御部81は、第2周囲画像71の表示倍率をΔD2だけ下げる。その後に処理は終了する。
ステップS48において表示制御部81は、第2周囲画像71の表示倍率を下限DLに保持する。その後に処理は終了する。
(1)操作受付部82は、通信状況が所定の許容条件を満たさない場合に、目標駐車位置調整画面70に表示する第2周囲画像71の表示倍率を上げる操作を禁止する。これにより、通信状況が悪い場合に高い画素分解能の第2周囲画像71を送信することによる送信遅延を防止する。この結果、第2周囲画像71の表示遅れやスクロールの停滞といった操作性の低下を運転者が体感するのを軽減できる。
通信状況が所定の許容条件を満たす場合、操作装置7の表示制御部81は、第2周囲画像71を90度以外の角度で回転させて、駐車位置マーク56の長手方向と第2周囲画像71の表示範囲の長手方向とのなす角度を低減させてもよい。
図16を参照する。例えば表示制御部81は、駐車位置マーク56の長手方向と第2周囲画像71の表示範囲の長手方向とが平行になるように第2周囲画像71を回転させてもよい。この結果、矢印102が示すように車両1の前後方向が第2周囲画像71の縦方向及び横方向から傾くこともある。
駐車位置マーク56の長手方向と第2周囲画像71の表示範囲の長手方向とを平行にすることにより、駐車位置マーク56が第2周囲画像71の表示範囲からよりはみ出しにくくなるので、表示倍率をより上げ易くなる。
Claims (11)
- 車両の外から操作者の操作を受付けて、目標駐車位置への自動駐車を実行する駐車支援方法において、
前記操作を受け付けて前記操作に応じた指示信号を送信する操作装置と、車両に搭載されて前記指示信号を受信する通信装置と、の間の通信状況を判定し、
前記操作装置において前記目標駐車位置を手動で調整する操作を前記通信状況に応じて制限する、
ことを特徴とする駐車支援方法。 - 前記通信状況が悪いと判定する場合は前記操作を制限し、前記通信状況が良いと判定する場合は前記操作を許可することを特徴とする請求項1に記載の駐車支援方法。
- 前記車両又は前記操作装置のいずれかの現在の所在場所を検出し、
前記所在場所に基づいて、前記通信状況を判定する
ことを特徴とする請求項1又は2に記載の駐車支援方法。 - 検出した前記所在場所と同じ場所で過去に判定した前記通信状況の判定結果が記憶装置に記憶されているか否かを判定し、
前記判定結果が前記記憶装置に記憶されている場合、前記判定結果に基づいて前記所在場所における現在の通信状況を判定する、
ことを特徴とする請求項3に記載の駐車支援方法。 - 前記車両又は前記操作装置のいずれかの現在の所在場所を検出し、
検出した前記所在場所と同じ場所で、他車に搭載された第2の通信装置と前記他車の外に存在する第2の操作装置との間で判定された通信状況の判定結果を前記第2の通信装置又はサーバ装置から受信し、
前記判定結果に基づいて前記所在場所における現在の通信状況を判定する、
ことを特徴とする請求項1~4のいずれか一項に記載の駐車支援方法。 - 前記目標駐車位置を調整する前記操作装置の操作画面において、前記通信装置から前記操作装置へ送信された前記車両の周囲画像上に前記目標駐車位置を表示することを特徴とする請求項1~5のいずれか一項に記載の駐車支援方法。
- 前記通信状況が悪い場合、前記通信状況が良好な場合よりも前記通信装置から前記操作装置へ送信する前記周囲画像の画素分解能を下げることを特徴とする請求項6に記載の駐車支援方法。
- 前記通信状況が所定の許容条件を満たさない場合に、前記操作画面に表示する前記周囲画像の表示倍率を上げる操作を禁止することを特徴とする請求項6又は7に記載の駐車支援方法。
- 前記通信状況が所定の許容条件を満たす場合に、前記操作装置の表示装置の最大表示画素数が多いほど、前記通信装置から前記操作装置へ送信する前記周囲画像の画素分解能をより高く設定することを特徴とする請求項6~8のいずれか一項に記載の駐車支援方法。
- 前記通信状況が所定の許容条件を満たす場合に、前記操作画面に表示する前記周囲画像を回転させることにより、前記目標駐車位置の前記車両が前記周囲画像に占める範囲を示す駐車位置マークの長手方向と、前記周囲画像が前記操作画面に占める範囲の長手方向と、のなす角度を低減することを特徴とする請求項6~9のいずれか一項に記載の駐車支援方法。
- 車両の外から操作者の操作を受付けて、目標駐車位置への自動駐車を実行する駐車支援装置において、
前記操作を受け付けて前記操作に応じた指示信号を送信する操作装置と、
車両に搭載されて前記指示信号を受信する通信装置と、
前記操作装置と前記通信装置との間の通信状況を判定するコントローラと、を備え、
前記コントローラは、前記操作装置において前記目標駐車位置を手動で調整する操作を前記通信状況に応じて制限することを特徴とする駐車支援装置。
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CN109689457B (zh) | 2020-06-23 |
RU2714656C1 (ru) | 2020-02-18 |
US10676082B2 (en) | 2020-06-09 |
KR20190045931A (ko) | 2019-05-03 |
CA3035870A1 (en) | 2018-03-15 |
MX2019002547A (es) | 2019-07-15 |
JPWO2018047231A1 (ja) | 2019-06-27 |
CA3035870C (en) | 2019-12-17 |
EP3511221A4 (en) | 2019-11-27 |
US20190202447A1 (en) | 2019-07-04 |
CN109689457A (zh) | 2019-04-26 |
BR112019004250B1 (pt) | 2023-04-04 |
EP3511221B1 (en) | 2020-12-02 |
MY177382A (en) | 2020-09-14 |
JP6669264B2 (ja) | 2020-03-18 |
EP3511221A1 (en) | 2019-07-17 |
KR102091988B1 (ko) | 2020-03-23 |
BR112019004250A2 (pt) | 2019-06-04 |
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