WO2019181264A1 - Dispositif d'aide au stationnement - Google Patents

Dispositif d'aide au stationnement Download PDF

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Publication number
WO2019181264A1
WO2019181264A1 PCT/JP2019/004571 JP2019004571W WO2019181264A1 WO 2019181264 A1 WO2019181264 A1 WO 2019181264A1 JP 2019004571 W JP2019004571 W JP 2019004571W WO 2019181264 A1 WO2019181264 A1 WO 2019181264A1
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WIPO (PCT)
Prior art keywords
parking
vehicle
target
unit
route
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PCT/JP2019/004571
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English (en)
Japanese (ja)
Inventor
広治 高橋
敬一朗 平川
今井　正人
健人 緒方
Original Assignee
日立オートモティブシステムズ株式会社
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Publication of WO2019181264A1 publication Critical patent/WO2019181264A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R99/00—Subject matter not provided for in other groups of this subclass
    • 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
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • 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 a parking assistance device.
  • a driving support system has been developed to reduce the driver's driving load such as preventing traffic accidents and traffic jams.
  • a parking assistance device as one of the driving assistance systems.
  • the parking assist device automatically performs part or all of an accelerator, a brake, and a steering operation, and guides and controls the vehicle in a target parking space.
  • Patent Document 1 specifies a target parking position from the movement history of a vehicle, captures a parking frame line only from the imaging data to the target parking position, and improves position accuracy during automatic parking.
  • Patent Document 1 In the parking assistance device disclosed in Patent Document 1, the parking accuracy is improved by using the movement history of the vehicle. However, since the movement history of the vehicle is used, improvement in parking accuracy for a parking space with no movement history cannot be desired. Patent Document 1 does not mention the following problem. That is, even when the resolution of the imaging device is low or when the vehicle is away from the parking space, the position of the parking space can be accurately recognized, and a deviation occurs between the recognized parking space and the actual parking position. It is a challenge to prevent this from happening.
  • the parking assist device includes a recognition unit that detects an external environment of a vehicle and recognizes a parking space position, and a route setting unit that sets a parking route from the vehicle position to the parking space position recognized by the recognition unit. And an approach detection unit that detects that the vehicle has approached the parking space position when the vehicle passes the vicinity of the parking space position along the parking path, and the recognition unit includes: The parking space position recognized at the parking start position is recognized as a first target parking position, and the parking space position recognized when the vehicle approaches the parking space position by the approach detection unit is set as a second target parking position.
  • the route setting unit sets the first parking route from the parking start position to the first target parking position, and then when the recognition unit recognizes the second target parking position, the parking Sutra As, reset the second parking path from the position of the vehicle to the second target parking position at that time.
  • the position of the parking space can be accurately recognized, and the deviation between the recognized parking space and the actual parking position can be minimized.
  • FIG. 1 is a top view of the vehicle 400.
  • Cameras (imaging devices) 101, 102, 103, and 104 are provided on the front, rear, right side, and left side of the vehicle 400, respectively.
  • the range imaged by these cameras 101, 102, 103, 104 is an imaging area 105 around the vehicle 400.
  • four sonars 106 and 107 are provided in front and rear of the vehicle 400, respectively.
  • An obstacle or the like in the area 108 is detected by the front sonar 106, and an obstacle or the like in the area 109 is detected by the rear sonar 107.
  • FIG. 2 is a block diagram showing a configuration of the parking assist device 220 mounted on the vehicle 400.
  • the parking assist device 220 includes a parking control device 200, an HMI device 201, an external environment recognition input device 202, a wheel rotation detector 203, a driving force control device 210, a braking force control device 211, a steering control device 212, and a shift control device 213. .
  • the HMI (Human Machine Interface) device 201 is a device that displays a parking route or the like to the user or inputs an instruction from the user.
  • the external recognition input device 202 is a camera 101, 102, 103, 104, sonar 106, 107, etc., and images a parking space or detects an obstacle or the like.
  • the wheel rotation detector 203 detects the number of rotations of the wheel of the vehicle 400 and outputs this as information indicating the vehicle speed.
  • the driving force control device 210 controls the driving force of the engine, the motor, etc. of the vehicle 400 according to the command from the parking control device 200.
  • the braking force control device 211 applies a braking force to the brake of the vehicle 400 in response to a command from the parking control device 200.
  • the steering control device 212 controls the steering device in response to a command from the parking control device 200.
  • the shift control device 213 performs shift control according to a command from the parking control device 200.
  • the parking control device 200 includes a recognition data processing unit 204, a spatial data creation unit 205, a vehicle position estimation unit 206, a parking position setting unit 207, a parking route setting unit 208, a control amount determination unit 209, and an approach detection unit 214.
  • the recognition data processing unit 204 captures image data captured by the cameras 101, 102, 103, and 104, which are the external environment recognition input device 202, and recognizes white lines, objects, and the like based on the image data.
  • the spatial data creation unit 205 arranges white lines and objects recognized by the recognition data processing unit on the spatial data.
  • the own vehicle position estimation unit 206 obtains the vehicle speed based on the rotation speed of the wheel from the wheel rotation detector 203 and estimates the own vehicle position on the parking route.
  • the parking position setting unit 207 detects a parking frame line from a white line or an object on the spatial data and sets the parking position.
  • the parking route setting unit 208 calculates a parking route that reaches the target parking space position (target parking position) based on the set parking position and the own vehicle position by the own vehicle position estimating unit 206.
  • the control amount determination unit 209 becomes a command value to the driving force control device 210, the braking force control device 211, the steering control device 212, and the shift control device 213 in order to move the vehicle 400 based on the calculated parking route.
  • a control amount is calculated.
  • the approach detection unit 214 detects that the vehicle 400 is closest to the parking space position when the vehicle 400 passes the vicinity of the parking space position along the parking path.
  • the approach detection unit 214 cooperates with the parking position setting unit 207 and the parking route setting unit 208 so that the vehicle 400 has come closest to the parking space position by the processing shown in the flowcharts of FIGS. Is detected.
  • FIG. 3 is a diagram showing the relationship between the recognition position of the parking space and the parking accuracy.
  • the case where the vehicle 400 is parked in parallel with the parking frame line 301 or the parking frame line 306 will be described as an example.
  • the parking route 302 is calculated up to the position of the parking space 304 based on the recognized parking frame line 301.
  • Perform automatic parking The vehicle 400 is parked in the parking space 304 through the turn-back position 303 of the vehicle 400 without shifting.
  • the parking route 307 is calculated to the position of the parking space 309 based on the recognized parking frame line 306. And perform automatic parking.
  • the vehicle is parked in the parking space 309 via the turn-back position 308 of the vehicle 400, there is a problem that the parking position is shifted.
  • the parking position (parking frame line 306) cannot be accurately recognized, and the recognized parking space 309 and the actual parking position (parking frame line 306). ).
  • a similar phenomenon occurs when the resolution of the cameras 101, 102, 103, 104 is low, or when the surrounding environment is deteriorated such as at night or in the rain. Therefore, in the conventional parking assistance device, in order to improve the recognition accuracy of the position of the initial parking space, many examples of starting parking assistance after moving the vehicle to a specific position directly beside the parking space are known, The convenience of parking assistance was sometimes impaired.
  • FIG. 4 is a diagram showing the relationship between the position of the camera 405 (corresponding to the camera 104 in FIG. 1) and the target parking position 406.
  • the vehicle 400 is located beside the parking frame line 401, more specifically, a position 404 (hereinafter referred to as the center of the frontage) of the distance Wd between the parking frame end points 402 and 403 of the parking frame line 401.
  • the camera 405 of the vehicle 400 is located at a position opposite to the point). At the position of the frontage center point 404, the camera 405 of the vehicle 400 is closest to the target parking position 406 of the parking frame line 401.
  • the parking space is recognized at the position where the distance between the center point 404 of the parking frame 401 and the camera 405 is the shortest and the distance between the camera 405 and the parking frame end points 402 and 403 is equal, the parking is most performed. Position accuracy is improved. In the embodiment of the present invention, such a positional relationship is detected to recognize the parking position at the best position.
  • FIG. 5 is a diagram showing a change in the distance between the camera 405 of the vehicle traveling next to the target parking position 406 and the frontage center point 404.
  • the horizontal axis in FIG. 5 represents time, and the vertical axis represents the distance between the camera 405 and the frontage center point 404.
  • the distance between the camera 405 and the frontage center point 404 decreases as the vehicle 400 approaches the frontage center point 404. Increases as the distance from the frontage center point 404 increases.
  • the recognition accuracy is improved when the vehicle 400 recognizes at the point 501 closest to the frontage center point 404.
  • the parking space is recognized using data captured in the vicinity of the point 501 where the distance between the camera 405 and the frontage center point 404 is minimum.
  • the point 503 shows an example when an error occurs in the calculation of the distance, and such an error is corrected as will be described later.
  • FIG. 6 to 8 are diagrams showing a series of operation examples when parking in parallel at the target parking position.
  • FIG. 6 is a diagram illustrating a case where the vehicle 400 is located at the parking start position 601
  • FIG. 7 is a diagram illustrating a case where the vehicle 400 approaches the frontage center point 404
  • FIG. It is a figure which shows the case where it is retracted later.
  • the vehicle 400 recognizes a parking space including the target parking position 602 in the parking frame line 605 at the parking start position 601 using the external field recognition input device 202, and determines this position as the provisional target parking position (first parking position). 1 target parking position).
  • a parking route (first parking route) 603 that reaches from the parking start position 601 to the temporary target parking position is calculated.
  • the parking route 603 includes a turning point 604.
  • the parking control of the vehicle 400 can be started, and the parking control device 200 starts the parking control by the driver's start operation.
  • the parking control device 200 outputs control amounts to the driving force control device 210, the braking force control device 211, the steering control device 212, and the shift control device 213,
  • the vehicle 400 is moved along the calculated parking route 603.
  • the vehicle 400 passes in front of the frontage center point 404 where the provisional target parking position is set.
  • the distance between the camera and the frontage center point is calculated, and a point 501 where the distance starts to decrease and increases is determined to be the shortest distance between the camera and the frontage center point.
  • the parking position re-recognized from the data captured in the vicinity of the point 501 and calculated again is stored as the primary target parking position (second target parking position).
  • the primary target parking position may adversely affect accuracy. In this case, the calculated primary target parking position is excluded. .
  • the parking path 703 toward the parking frame line 605 is retreated and headed toward the target parking position 602, so that the parking space can be gradually recognized by the rear camera 102.
  • the final parking accuracy is further improved. It becomes possible to improve. Therefore, when the yaw angle vc ⁇ of the vehicle 400 with respect to the target parking position 602 is equal to or smaller than a predetermined value and the distance 801 to the target parking position 602 is equal to or smaller than the predetermined value, the parking position is recognized again and recalculated. Is stored as the secondary target parking position (third target parking position).
  • the distance between the target parking position set as the temporary target parking position or the primary target parking position and the secondary target parking position is calculated. If the distance is larger than a predetermined value, the target parking position is set as the secondary target parking position. replace. When the distance is smaller than the predetermined value, the target parking position is not rewritten. When the target parking position is replaced with the secondary target parking position, after stopping and recalculating the parking route, the parking control may be continued, or the parking control is performed by increasing / decreasing the correction amount while continuing traveling. May be continued. As in the case of the primary target parking position, the distance may be erroneously calculated due to an error in the recognition result. Therefore, an allowable change amount is set, and the over / under value is ignored.
  • the parking completion position of the vehicle 400 that has reached the target parking position may deviate from the parking frame line 605 depending on the road surface condition, weather, illuminance, or the like.
  • the amount of deviation is determined and the deviation is greater than or equal to a predetermined value, a parking route that advances and turns back to retry from that position is calculated, and operation is performed to reenter the parking position.
  • the calculation of the parking route for retrying does not necessarily have to be made when the parking is completed, and the amount of deviation may be calculated and judged during traveling before the parking is completed.
  • the temporary target parking position is adopted. If the secondary target parking position cannot be calculated correctly due to failure, etc., from the target parking position calculation to the secondary target parking position calculation, the primary target parking position is adopted, and parking is completed without interruption even in the event of a failure. can do.
  • the calculation of the primary target parking position is performed after the parking control is started.
  • the vehicle in the parking lot where the parking frame line is arranged as shown in FIG. When traveling on the road and passing in front of the front of the parking frame, the primary target parking position can be calculated in advance by recognizing the parking space position. Thereby, the parking assistance process can be started in a state where the primary target parking position has already been calculated at the parking start position for the passing and passing parking frames.
  • FIG. 9 is a flowchart showing the processing operation of the parking assistance device 220.
  • the program shown in this flowchart can be executed by a computer including a CPU, a memory, and the like. All or some of the processing may be realized by a hard logic circuit.
  • this program can be provided by being stored in advance in a storage medium of the parking assistance device 220.
  • the program can be provided by being stored in an independent storage medium, or the program can be recorded and stored in the storage medium of the parking assistance device 220 through a network line.
  • Various forms of computer readable computer program products such as data signals (carrier waves) may be provided.
  • a parking space including the target parking position 602 in the parking frame line 605 in the parking lot is recognized by the external environment recognition input device 202 such as the cameras 101, 102, 103, and 104. Not only the parking frame line 605 but also other vehicles parked on both sides of the parking frame line 605 may recognize the parking space by recognizing them.
  • step S902 the recognized target parking position 602 is set as the provisional target parking position.
  • the parking support device 220 uses the parking route setting unit 208 or the like to set the parking route to the temporary target parking position, or the parking route to the target parking position if the target parking position has been set (first parking position). Route).
  • the control amount is output from the control amount determination unit 209 so that the vehicle 400 travels along the parking route.
  • step S905 as shown in FIG. 7, the position of the side camera 705 (corresponding to the camera 104 in FIG. 2) provided on the side surface of the vehicle 400 is in front of the entrance of the parking frame line 605, and the parking frame line Whether it is between the extended lines 605 is determined based on the image data captured by the side camera 705. If the position of the side camera 705 is between the extended lines of the parking frame line 605, the process proceeds to step S911. If it is not between the extended lines of the parking frame line 605, the process proceeds to step S906.
  • step S906 the parking assistance apparatus 220 determines whether automatic parking is being executed and the parking route is being moved backward to the target position. At the beginning of parking, it is determined that the vehicle is not moving backward, and the process proceeds to step S907. If the vehicle is moving backward, the process proceeds to step S916.
  • step S907 the provisional target parking position (first target parking position) set in step S902 is set as the target parking position.
  • step S908 it is determined whether the target parking position has been changed. If the target parking position has been changed, the process proceeds to step S903.
  • step S908 it is assumed that the target parking position has been changed, and the process proceeds to step S903. If it is determined in step S908 that the target parking position has not been changed, the process proceeds to step S909.
  • step S909 it is determined whether the vehicle 400 is completely within the parking frame line 605 and parking is completed. If the parking is completed, the process is terminated, but the parking is not completed at first, and the process returns to step S903. *
  • the vehicle 400 gradually proceeds along the parking path 603 from the parking start position shown in FIG. 6, and as shown in FIG. 7, the position of the side camera 705 is in front of the entrance of the parking frame line 605, and the parking frame line 605. If it is sandwiched between the extension lines, the process proceeds from step S905 to step S911.
  • step S911 Details of the processing in step S911 will be described later with reference to FIG. 10, but the parking space is imaged by the side camera 705 in the vicinity of the point where the distance between the position of the side camera 705 and the central point of the parking frame line 605 is the shortest. To do. Then, the parking position re-recognized from the captured data and calculated again is stored as the primary target parking position (second target parking position). Next, the process proceeds to step S912.
  • step S912 a target position change amount between the temporary target parking position and the primary target parking position is obtained.
  • step S913 it is determined whether the target position change amount is equal to or greater than a predetermined value. If the target position change amount is equal to or greater than the predetermined value, the process proceeds to step S914, and the primary target parking position is set as the target parking position.
  • step S913 If it is determined in step S913 that the target position change amount is not greater than or equal to the predetermined value, the process proceeds to step S915.
  • step S915 the provisional target parking position is set as the target parking position. This is because the case where the target value change amount is small corresponds to a case where unnecessary correction is included when a recognition error is included.
  • Step S903 is denied and the process proceeds to Step S904.
  • the vehicle 400 starts moving backward when it reaches the turning position.
  • the parking assist device 220 determines that automatic parking is being executed and the parking route is moving backward to the target position, and proceeds to step S916.
  • the parking path 703 toward the parking frame line 605 is moving backward. In this case, the parking space can be gradually recognized by the rear camera 102.
  • step S916 although details will be described later with reference to FIG. 12, the parking space is set at a point where the position of the camera 102 is located near the center of the parking frame line 605 (a position where the vehicle center and the parking frame line are close in parallel). reacknowledge. The re-recognized parking position is stored as the secondary target parking position.
  • step S917 a target position change amount between the temporary target parking position and the secondary target parking position, or a target position change amount between the primary target parking position and the secondary target parking position is obtained.
  • step S918 it is determined whether the target position change amount is greater than or equal to a predetermined value. If the target position change amount is equal to or greater than the predetermined value, the process proceeds to step S919, and the secondary target parking position (third target parking position) is set as the target parking position.
  • step S918 If it is determined in step S918 that the target position change amount is not equal to or greater than the predetermined value, the process proceeds to step S920.
  • step S920 the primary target parking position is set as the target parking position. This is because the case where the target value change amount is small corresponds to a case where unnecessary correction is included when a recognition error is included.
  • step S914 When the target parking position is changed in steps S914, S915, S919, and S920, the process proceeds from step S908 to step S903, and the parking path to the target parking position is calculated by the parking path setting unit 208 and the like.
  • FIG. 10 is a flowchart showing the setting of the primary target parking position, and is a flowchart showing details of the processing in step S911 in FIG.
  • the process of step S911 is executed when the side camera 705 of the vehicle 400 is in front of the frontage and on the extension line of the parking frame line 605 as shown in FIG.
  • step S1001 of FIG. 10 the position (pspos) of the front edge center point 404 of the parking frame line 605 is calculated as a coordinate point based on the image data captured by the side camera 705.
  • step S1002 the distance (dp1st) between the position (scpos) of the side camera 705 and the position (pspos) of the frontage center point 404 is calculated, and the process proceeds to step S1003.
  • step S1003 it is determined whether the distance (dp1st) is less than or equal to a predetermined value. If it is not less than the predetermined value, the processing shown in this flowchart is terminated. If it is determined that the distance (dp1st) is equal to or smaller than the predetermined value, the process proceeds to step S1004.
  • step S1004 it is determined whether it is the first primary recognition for the target parking frame which is the parking frame line 605. If it is not the first primary recognition, the process proceeds to step S1005. If it is the first time primary recognition, it will progress to below-mentioned step S1008.
  • step S1005 based on the current vehicle speed of the vehicle 400, the distance from the side camera 705 to the position of the frontage center point 404 is calculated. This calculation will be described with reference to FIG. FIG. 11 is a diagram illustrating a state in which the vehicle 400 is traveling near the frontage center point 404 at the vehicle speed V along the parking route. It is assumed that the distance from the side camera 705 that captures an image at the current time point z of the vehicle 400 to the position of the frontage center point 404 is a distance dp1st.
  • step S1007 the vehicle 400 moves forward to the position indicated by reference numeral 400 ′, and a distance middp1st between the side camera 705 ′ and the position of the frontage center point 404 obtained at this time point is obtained based on the vehicle speed V. Then, taking into account the acceleration / deceleration of the vehicle, the maximum value maxdp1st and the minimum value mindp1st up to the position of the side camera 705 'and the frontage center point 404 are obtained. Next, it progresses to step S1007.
  • step S1007 the distance dp1st (z) between the position of the side camera 705 calculated in step S1002 and the position of the frontage center point 404 is the tolerance of the position of the side camera 705 and the position of the frontage center point 404 obtained in the previous imaging cycle. It is checked whether it is within the range, that is, within the range of the maximum value maxdp1st (z-1) in the previous imaging cycle and the minimum value mindp1st (z-1) in the previous imaging cycle. If it is within the allowable range, the process proceeds to step S1008.
  • step S1008 the distance dp1st (z) between the position of the side camera 705 and the position of the front edge center point 404 is compared with the previous value dp1st (z-1), and if less than the previous value dp1st (z-1), the process proceeds to step S1009. move on.
  • step S1009 the primary target parking position (TP1st) is calculated based on the imaging data at the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404, and the parking space including this position is recognized.
  • step S1010 if the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404 is less than the previous value dp1st (z-1), the process proceeds to step S1010.
  • step S1010 the current distance dp1st (z) is updated as the previous distance dp1st (z-1).
  • step S1007 the distance dp1st (z) between the position of the side camera 705 and the position of the frontage center point 404 is not within the allowable range of the position of the side camera 705 and the position of the frontage center point 404 obtained in the previous imaging cycle. In the case, the process proceeds to step S1011.
  • step S1011 it is regarded as an error, and an intermediate value middpst1 (z) between the maximum value maxdp1st and the minimum value mindp1st is set as the previous distance dp1st (z-1).
  • the parking space is recognized by the side camera 705 in the vicinity of the point where the distance between the position of the side camera 705 and the center point of the front edge of the parking frame line 605 is the shortest.
  • FIG. 12 is a flowchart showing the setting of the secondary target parking position, and is a flowchart showing details of the process in step S916 of FIG.
  • step S1201 of FIG. 12 as shown in FIG. 8, an angle vc ⁇ formed by the center line a of the vehicle 400 and the center line b of the parking frame line 605 is calculated based on the image data captured by the rear camera 102. .
  • step S1202 a distance dTPdist from the camera 102 to the target parking position 602 is calculated. Then, the process proceeds to step S1203.
  • step S1203 it is determined whether the inclination vc ⁇ of the vehicle with respect to the parking frame line is equal to or smaller than a predetermined value and the distance dTPdist to the target parking position is equal to or smaller than the predetermined value. If these conditions are satisfied, the process proceeds to step S1204. If the condition is not satisfied, the secondary target parking position setting process is terminated.
  • step S1204 the parking frame line 605 is re-recognized based on the imaging data captured by the rear camera 102, and the target parking position calculated based on the recognized result is set as the temporary secondary target parking position tempTP2nd. Set as. Then, the process proceeds to step S1205.
  • step S1205 it is determined whether it is the first calculation for the target parking frame 605, that is, the first secondary recognition. If it is the first time, the process of step S1208 described later is executed, and if it is the second time or later, the process of step S1206 is executed.
  • step S1206 a difference value dTP2nd between the temporary secondary target parking position tempTP2nd and the previous value TP2nd (z-1) of the secondary target parking position is calculated.
  • step S1207 it is checked whether the change amount of the difference value dTP2nd is within a predetermined value range. If the difference value dTP2nd is within the range between the minimum change value MINdTP2nd and the maximum change value MAXdTP2nd, the process of step S1208 is executed. Otherwise, the secondary target parking position setting process ends.
  • step S1208 the temporary secondary target parking position tempTP2nd calculated in step S1205 is set as the secondary target position TP2nd (z).
  • step S1209 the previous value TP2nd (z-1) of the secondary target parking position is updated.
  • the angle vc ⁇ formed by the vehicle center line a and the center line b of the parking frame line 605 is equal to or less than a predetermined value, and the camera 102 and the target The parking space is re-recognized at a point where the distance dTPdist from the parking position 602 is below a predetermined value.
  • FIG. 13 is a diagram illustrating an interval for imaging a parking space when passing through a parking lot and an interval for recognition processing. It is assumed that the vehicle 400 is traveling in front of the parking lot 1200 from the right side to the left side in FIG.
  • the vehicle 400 is a side camera 705 and is parked at an imaging interval ⁇ t1 (a black square time interval indicated on a straight line 1201 in the figure) when passing near the central point 1206 of each parking frame of the parking lot 1200.
  • the captured image is subjected to recognition processing by the parking control device 200.
  • the recognition processing interval ⁇ t2 black square time interval indicated on the straight line 1202 in the figure
  • the recognition processing interval ⁇ t2 black square time interval indicated on the straight line 1202 in the figure
  • the imaging interval ⁇ t1 is the imaging interval ⁇ t1 as shown in FIG. Longer than. This is because the data processing for calculating the primary target parking position including the recognition processing takes time.
  • the calculation of the primary target parking position uses the immediately preceding imaging data at the calculation timing, and therefore data that is away from the frontage center point 1206 may be used as indicated by ⁇ in the straight line 1201 of the imaging interval ⁇ t1 in the figure. is there. For this reason, when the passing speed of the vehicle 400 in front of the frontage increases, the image data near the frontage center point 1206 often cannot be used, and the accuracy of the primary target position tends to deteriorate.
  • each imaging data including the shortest imaging data from the frontage center point 1206 with respect to the parking frame through which the vehicle 400 has passed is stored in a storage unit (not shown) in the parking control device 200 so that the vehicle 400 Even at the position 1205 after passing through the parking frame, based on the positional relationship between the own vehicle position and the parking frame calculated from the own vehicle movement amount by the own vehicle position estimation unit 206, the stored image data is stored. It is possible to search for the imaging data 1204 (circle mark in the figure) closest to the frontage center point 1206 and calculate the primary target parking position using the imaging data 1204 closest to the frontage center point 1206.
  • FIG. 14 is a diagram illustrating an example of parallel parking.
  • the parking frame line 1401 is arranged horizontally and the center thereof is the target parking position 1402.
  • the vehicle 400 passes in front of a front center point 1403 of the parking frame line 1401 where the provisional target parking position is set (a position half the distance between the parking frame end points of the parking frame line 1401).
  • a distance between the side camera 705 (corresponding to the camera 104 in FIG. 1) and the frontage center point 1403 is calculated, and a point where the distance starts to decrease and increases is determined to be the shortest distance between the side camera 705 and the frontage center point 1403.
  • the parking position calculated again after recognizing the parking space from the data captured in the vicinity of this point is stored as the primary target parking position.
  • the vehicle 400 moves on the parking route 1404 and reaches the turning point 1405. After turning back at the turning point 1405, the vehicle moves backward along the parking route 1406 and parks within the parking frame line 1401.
  • the parking assistance device 220 detects the outside of the vehicle 400 and recognizes the parking space position (the outside world recognition input device 202, the recognition data processing unit 204, the parking position setting unit 207), and the position of the vehicle 400.
  • a parking route setting unit 208 that sets a parking route to a parking space position recognized by the recognition unit (external world recognition input device 202, recognition data processing unit 204, parking position setting unit 207), and the vehicle 400 along the parking route
  • an approach detection unit 214 that detects that the vehicle has approached the parking space position when passing near the parking space position.
  • the recognizing unit (the external environment recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) recognizes the parking space position recognized at the parking start position as the first target parking position, and the approach detection unit 214 causes the vehicle 400 to The parking space position recognized when approaching the parking space position is re-recognized as the second target parking position.
  • the recognition unit (the external environment recognition input device 202, the recognition data processing unit 204, the parking position setting unit 207)
  • the second target parking position is recognized, the second parking path from the current position of the vehicle 400 to the second target parking position is reset as the parking path. Thereby, the position of the parking space can be accurately recognized, and the deviation between the recognized parking space and the actual parking position can be minimized.
  • the parking path setting unit 208 determines the parking path to the second target parking position.
  • the setting of the parking route to the temporary target parking position is maintained without performing the setting. Thereby, when the setting of the parking route to the first target parking position is unnecessary, the setting can be omitted.
  • an external recognition input device 202 for example, a camera 104 that is an imaging device is provided.
  • the approach detection unit 214 detects a position where the distance between the center position of the width of the parking space position and the position of the camera 104 is the smallest as the closest approach position in parallel parking. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching.
  • the recognition unit (the outside world recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) captures an image at a position closest to the closest approach position.
  • the second target parking position is recognized based on the captured image data. Thereby, a parking position can be recognized using the imaging data imaged at the closest position.
  • a storage unit inside the parking control device 200 that stores the distance between the second target parking position detected by the approach detection unit 214 and the vehicle every predetermined time, and a recognition unit (external recognition input device 202, recognition data).
  • the processing unit 204 and the parking position setting unit 207) re-recognize the parking space position recognized at the minimum distance among the plurality of distances stored in the storage unit (in the parking control device 200) as the second target parking position. Thereby, a parking position can be recognized using the imaging data imaged at the closest position.
  • the parking route setting unit 208 uses the second target parking to determine the parking space position that is the remaining distance obtained by removing the predetermined undervalue and overvalue among the plurality of distances and recognized at the minimum distance. Re-recognize as a position. Thereby, it is possible to detect that an error has occurred in the calculation of the distance and correct this error.
  • the recognition unit (the external environment recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) is operated by the camera 104 (external environment recognition input device 202), which is an imaging device provided on the side of the vehicle 400. Recognize the side of Thereby, parking space can be recognized with the camera etc. of the side of the vehicle 400 in parallel parking etc.
  • the parking assist device includes a drive control unit (a driving force control device 210, a braking force control device 211, a steering control device 212, and a shift control device 213) that drives and controls the vehicle 400 to the target parking position along the parking route. Also have.
  • the drive control unit stops the vehicle 400 at the turn-back position of the first parking route, performs a turn-back operation at the turn-back position, and then moves the vehicle 400 back along the retreat route on the first parking route.
  • the recognizing unit (the external environment recognition input device 202, the recognition data processing unit 204, and the parking position setting unit 207) re-recognizes the parking space position recognized while the vehicle 400 is retreating along the retreat path as the third target parking position.
  • the parking path setting unit 208 sets the third path from the current position of the vehicle 400 to the third target parking position as the parking path. Reset the parking route. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
  • the parking path setting unit 208 When there is no predetermined difference between the third target parking position and the first target parking position, the parking path setting unit 208 does not set the parking path to the third parking space position, Maintain the setting of the parking route to the target parking position. Thereby, when the setting of the parking route to the third target parking position is unnecessary, the setting can be omitted.
  • An external recognition input device 202 that constitutes a recognition unit is an imaging device provided behind the vehicle, that is, a camera 104.
  • the recognition unit recognizes the rear of the vehicle by the camera 104 provided at the rear of the vehicle 400. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in the backward path.
  • the approach detection unit 214 detects a position where the distance between the center position of the width of the parking space position and the position of the recognition unit is the shortest approach position in parallel parking. Thereby, the parking position accuracy with respect to the target parking position can be improved by recognizing the parking space when approaching in parallel parking.
  • the present invention can be implemented by modifying the embodiment described above as follows. (1) Four sonars 106 and 107 are provided at the front and rear of the vehicle, respectively. If an obstacle is detected by these sonars 106 and 107, a search is made for another parking route. If there is another parking route, it may be selected. Alternatively, when an obstacle is detected by the sonars 106 and 107, the vehicle may be stopped and proceed after the obstacle is removed.
  • the present invention is not limited to the above-described embodiment, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention as long as the characteristics of the present invention are not impaired. . Moreover, it is good also as a structure which combined the above-mentioned embodiment and a some modification.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Lorsque la résolution d'un dispositif d'imagerie est faible ou qu'un véhicule est éloigné d'une place de stationnement, la position de la place de stationnement ne peut pas être reconnue avec précision et une différence se produit entre la place reconnue de stationnement et la position réelle de stationnement. Comme le montre la figure 7, un véhicule (400) franchit une zone se trouvant globalement devant un point central d'ouverture (404), défini comme une position cible provisoire de stationnement. Une image de la place de stationnement est prise par une caméra latérale (705) à proximité d'un point où la distance entre la position de la caméra latérale (705) et le point central d'ouverture est la plus courte, suivant une ligne de cadre de stationnement (605). Puis la place de stationnement est reconnue une nouvelle fois à partir des données d'image capturée et la position recalculée de stationnement est mémorisée en tant que position cible primaire de stationnement.
PCT/JP2019/004571 2018-03-23 2019-02-08 Dispositif d'aide au stationnement WO2019181264A1 (fr)

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JP2018-057047 2018-03-23
JP2018057047A JP2021088199A (ja) 2018-03-23 2018-03-23 駐車支援装置

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JP2021062739A (ja) * 2019-10-11 2021-04-22 アイシン精機株式会社 駐車支援装置、駐車支援方法、および、駐車支援プログラム
CN112849140A (zh) * 2019-11-28 2021-05-28 松下知识产权经营株式会社 停车辅助装置、车辆、停车辅助方法以及非暂态记录介质
WO2022089663A1 (fr) * 2020-11-02 2022-05-05 天津天瞳威势电子科技有限公司 Procédé et système de stationnement automatique de voiture
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JP2021062739A (ja) * 2019-10-11 2021-04-22 アイシン精機株式会社 駐車支援装置、駐車支援方法、および、駐車支援プログラム
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CN112849140A (zh) * 2019-11-28 2021-05-28 松下知识产权经营株式会社 停车辅助装置、车辆、停车辅助方法以及非暂态记录介质
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JP7312966B2 (ja) 2019-11-28 2023-07-24 パナソニックＩｐマネジメント株式会社 駐車支援装置、車両、駐車支援方法、プログラム、および非一時的記録媒体
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CN112193241A (zh) * 2020-09-29 2021-01-08 湖北亿咖通科技有限公司 一种自动泊车方法
WO2022089663A1 (fr) * 2020-11-02 2022-05-05 天津天瞳威势电子科技有限公司 Procédé et système de stationnement automatique de voiture
US12084089B2 (en) 2021-06-21 2024-09-10 Toyota Jidosha Kabushiki Kaisha Driving control device, storage medium storing driving control program, and driving control system
JP7608979B2 (ja) 2021-06-21 2025-01-07 トヨタ自動車株式会社 運転制御装置、運転制御プログラム、及び運転制御システム
WO2024001215A1 (fr) * 2022-06-30 2024-01-04 重庆长安汽车股份有限公司 Procédé et dispositif de planification de trajectoire à des fins de stationnement autonome d'emplacements de stationnement verticaux et diagonaux

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