WO2019215788A1 - Dispositif d'aide au stationnement - Google Patents

Dispositif d'aide au stationnement Download PDF

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Publication number
WO2019215788A1
WO2019215788A1 PCT/JP2018/017643 JP2018017643W WO2019215788A1 WO 2019215788 A1 WO2019215788 A1 WO 2019215788A1 JP 2018017643 W JP2018017643 W JP 2018017643W WO 2019215788 A1 WO2019215788 A1 WO 2019215788A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
parking
corner edge
distance
parked
Prior art date
Application number
PCT/JP2018/017643
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English (en)
Japanese (ja)
Inventor
元気 山下
裕 小野寺
亘 辻田
努 朝比奈
聡史 上田
井上　悟
真一 原瀬
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2018/017643 priority Critical patent/WO2019215788A1/fr
Priority to JP2020517637A priority patent/JP7034271B2/ja
Publication of WO2019215788A1 publication Critical patent/WO2019215788A1/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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Definitions

  • the present invention relates to a parking assistance device.
  • the distance measuring sensor is configured by, for example, sonar, millimeter wave radar, or laser radar.
  • the sonar (30a) directed to the front of the vehicle (100) and the sonar (30b) directed to the side of the vehicle (100) are used for parallel parking. It is described that the side surface portion and the front surface portion of each of the two parked vehicles (102, 104) are detected.
  • the side surfaces of the parked vehicles (102, 104) cannot be accurately detected by using the sonar (30a, 30b) oriented in these directions due to the principle of the TOF method. For this reason, each corner edge part of parked vehicles (102,104) cannot be detected correctly, but parking of vehicles (100) to the space between parked vehicles (102,104) is possible. There was a problem that could not be determined accurately.
  • the present invention has been made to solve the above-described problems, and can accurately detect a corner edge portion of a parked vehicle by using a plurality of distance measuring sensors provided in the vehicle. It aims at providing a parking assistance device.
  • a parking assistance device is provided in a vehicle, and among a plurality of distance measuring sensors having a predetermined radiation angle, a first distance measuring sensor directed to the side of the vehicle, the vehicle obliquely A parking assist device using a second distance sensor directed forward and a third distance sensor directed obliquely behind the vehicle, wherein the first distance sensor, the second distance sensor, and the third distance measurement A surface detection unit that detects two surface portions including the side surface portion of the parked vehicle using distance measurement information by the distance sensor, and a corner edge that detects a corner edge portion of the parked vehicle using the detection result of the surface detection unit.
  • a detection part and the parking space determination part which determines the presence or absence of a parking space using the detection result by a corner edge detection part are provided.
  • the corner edge portion of the parked vehicle can be accurately detected using a plurality of distance measuring sensors provided in the vehicle.
  • FIG. 1 It is explanatory drawing which shows the state in which the several ranging sensor for parking assistance apparatuses which concern on Embodiment 1 is provided in the vehicle. It is a block diagram which shows the state in which the parking assistance apparatus which concerns on Embodiment 1 is provided in the electronic control unit in a vehicle. It is a block diagram which shows the principal part of the parking assistance apparatus which concerns on Embodiment 1.
  • FIG. It is explanatory drawing which shows an example of the some reflective point corresponding to two parked vehicles in parallel parking. It is explanatory drawing which shows an example of two reflective point groups corresponding to two parked vehicles in parallel parking one-on-one. It is explanatory drawing which shows an example of three reflection point groups corresponding to three surface parts in each of the two parked vehicles in parallel parking.
  • FIG. 9A is a block diagram illustrating a hardware configuration of the parking assistance device according to the first embodiment.
  • FIG. 9B is a block diagram showing another hardware configuration of the parking assistance apparatus according to Embodiment 1.
  • 3 is a flowchart showing an operation of the parking assistance device according to the first embodiment.
  • FIG. 11A is an explanatory diagram illustrating a state in which the search wave is reflected only by the rear surface portion of one parked vehicle.
  • FIG. 11B is an explanatory diagram illustrating a state in which the search wave is reflected by the rear and right side portions of one parked vehicle.
  • FIG. 11C is an explanatory diagram illustrating a state in which the search wave is reflected only by the right side surface portion of one parked vehicle.
  • FIG. 12A is an explanatory diagram illustrating a state in which the search wave is reflected by the rear and right side portions of one parked vehicle.
  • FIG. 12B is an explanatory diagram illustrating a state in which the search wave is reflected only by the right side surface portion of one parked vehicle.
  • FIG. 12C is an explanatory diagram illustrating a state in which the search wave is reflected only by the right side surface portion of one parked vehicle.
  • FIG. 1 is an explanatory diagram illustrating a state in which a plurality of distance measuring sensors for a parking assistance apparatus according to Embodiment 1 are provided in a vehicle.
  • FIG. 2 is a block diagram illustrating a state in which the parking assist device according to Embodiment 1 is provided in an electronic control unit in the vehicle.
  • FIG. 3 is a block diagram illustrating a main part of the parking assistance apparatus according to the first embodiment. With reference to FIGS. 1 to 3, a parking assistance apparatus 100 according to the first embodiment will be described.
  • the first electronic control unit (hereinafter referred to as “first ECU”) 3 is connected to a computer network (for example, CAN (Controller Area Network)) in the vehicle 1.
  • the first ECU 3 can appropriately acquire various signals from the computer network.
  • the various signals include, for example, a signal indicating the traveling speed of the vehicle 1, a signal indicating the yaw rate of the vehicle 1, and a signal indicating the outside temperature of the vehicle 1.
  • the vehicle 1 has a first distance sensor 2a, a second distance sensor 2b, and a third distance sensor 2c.
  • the first distance measuring sensor 2a is provided on the side surface portion (for example, the left side surface portion) of the vehicle 1 and is directed to the side of the vehicle 1 (for example, the left side).
  • the second distance measuring sensor 2b is provided at a corner edge portion of the vehicle 1 (for example, the corner edge portion of the left front end) and is directed obliquely forward (for example, diagonally left front) of the vehicle 1.
  • the third distance measuring sensor 2c is provided at a corner edge portion (for example, the corner edge portion at the left rear end) of the vehicle 1 and is directed obliquely rearward (for example, diagonally rearward left) of the vehicle 1.
  • Each of the first distance sensor 2a, the second distance sensor 2b, and the third distance sensor 2c has a predetermined radiation angle ⁇ . That is, each of the first distance measuring sensor 2a, the second distance measuring sensor 2b, and the third distance measuring sensor 2c has a beam width with an angle of 2 ⁇ ⁇ .
  • the value of the radiation angle ⁇ may be different for each distance measuring sensor.
  • An angle ⁇ 1 in the main beam direction of the first distance measuring sensor 2a with respect to the longitudinal direction of the vehicle 1 is set to approximately 90 °.
  • the angle ⁇ 2 in the main beam direction of the second distance measuring sensor 2b with respect to the longitudinal direction of the vehicle 1 is set to a value equal to or greater than the radiation angle ⁇ .
  • the angle ⁇ 3 in the main beam direction of the third distance measuring sensor 2c with respect to the front-rear direction of the vehicle 1 is set to a value equal to or greater than the radiation angle ⁇ .
  • these angles ⁇ 1, ⁇ 2, and ⁇ 3 are referred to as “main beam angles”.
  • Each of the first distance sensor 2a, the second distance sensor 2b, and the third distance sensor 2c is configured by, for example, sonar, millimeter wave radar, or laser radar.
  • search waves ultrasonic waves, radio waves, light, and the like that are targets of transmission / reception by the distance measuring sensors 2 are collectively referred to as “search waves”.
  • search waves ultrasonic waves, radio waves, light, and the like that are targets of transmission / reception by the distance measuring sensors 2
  • search waves ultrasonic waves, radio waves, light, and the like that are targets of transmission / reception by the distance measuring sensors 2
  • search waves ultrasonic waves, radio waves, light, and the like that are targets of transmission / reception by the distance measuring sensors 2
  • search waves ultrasonic waves, radio waves, light, and the like that are targets of transmission / reception by the distance measuring sensors 2
  • search waves reflected by an object O outside the vehicle 1 (for example, a parked vehicle V)
  • reflected wave is referred to as a “reflected wave”.
  • the ranging information generation unit 11 measures the distance D between the vehicle 1 and the object O using the ranging sensor 2.
  • the ranging information generating unit 11 outputs information indicating the result of the measurement (hereinafter referred to as “ranging information”) to the parking assistance device 100.
  • the distance measurement information generation unit 11 causes the first distance measurement sensor 2a to transmit a search wave at a predetermined time interval when the vehicle 1 is traveling at a speed equal to or lower than a predetermined speed (for example, every 30 kilometers). .
  • a reflected wave is received by the first distance measuring sensor 2a
  • the distance measurement information generation unit 11 calculates a distance value d by TOF, and a point where the search wave is reflected (hereinafter referred to as “reflection point”) P.
  • the position of is calculated.
  • the distance measurement information generation unit 11 includes information indicating the calculated position in the distance measurement information.
  • the distance measuring information generating unit 11 calculates the propagation speed of the ultrasonic wave according to the vehicle outside temperature of the vehicle 1, and uses the calculated propagation speed. It may be used to calculate the distance value d.
  • the position of the reflection point P is, for example, a first axis (hereinafter referred to as “X-axis”) corresponding to the longitudinal direction of the vehicle 1 and a second axis (hereinafter referred to as “Y-axis”) corresponding to the left-right direction of the vehicle 1. It is represented by the coordinate value in the coordinate system of meter unit (hereinafter referred to as “XY coordinate system”).
  • XY coordinate system coordinate system of meter unit
  • the distance measurement information generation unit 11 has an origin corresponding to the position of the first distance measurement sensor 2a at the measurement timing of the distance D (more specifically, the transmission timing of the search wave or the reception timing of the reflected wave),
  • the position of the reflection point P is calculated by obtaining a vector having an orientation corresponding to the main beam angle ⁇ 1 and a magnitude corresponding to the distance value d.
  • the ranging information generation unit 11 transmits a search wave to the second ranging sensor 2b at a predetermined time interval when the vehicle 1 is traveling at a speed equal to or lower than a predetermined speed (for example, every 30 kilometers).
  • a predetermined speed for example, every 30 kilometers.
  • the ranging information generating unit 11 calculates the distance value d by TOF and calculates the position of the reflection point P.
  • the distance measurement information generation unit 11 includes information indicating the calculated position in the distance measurement information.
  • the ranging information generating unit 11 calculates the ultrasonic propagation velocity according to the vehicle outside temperature of the vehicle 1, and uses the calculated propagation velocity. It may be used to calculate the distance value d.
  • the position of the reflection point P is represented by a coordinate value in the XY coordinate system, for example.
  • Various known methods can be used to calculate the position of the reflection point P, and detailed description thereof is omitted.
  • the distance measurement information generation unit 11 has an origin corresponding to the position of the second distance sensor 2b at the measurement timing of the distance D (more specifically, the transmission timing of the search wave or the reception timing of the reflected wave),
  • the position of the reflection point P is calculated by obtaining a vector having an orientation corresponding to the main beam angle ⁇ 2 and a magnitude corresponding to the distance value d.
  • the ranging information generating unit 11 transmits a search wave to the third ranging sensor 2c at a predetermined time interval when the vehicle 1 is traveling at a speed equal to or lower than a predetermined speed (for example, every 30 kilometers).
  • a predetermined speed for example, every 30 kilometers.
  • the ranging information generating unit 11 calculates the distance value d by TOF and calculates the position of the reflection point P.
  • the distance measurement information generation unit 11 includes information indicating the calculated position in the distance measurement information.
  • the ranging information generating unit 11 calculates the ultrasonic propagation velocity according to the vehicle outside temperature of the vehicle 1, and uses the calculated propagation velocity. It may be used to calculate the distance value d.
  • the position of the reflection point P is represented by a coordinate value in the XY coordinate system, for example.
  • Various known methods can be used to calculate the position of the reflection point P, and detailed description thereof is omitted.
  • the distance measurement information generation unit 11 has an origin corresponding to the position of the third distance sensor 2c at the measurement timing of the distance D (more specifically, the transmission timing of the search wave or the reception timing of the reflected wave),
  • the position of the reflection point P is calculated by obtaining a vector having an orientation corresponding to the main beam angle ⁇ 3 and a magnitude corresponding to the distance value d.
  • information indicating the position of the first distance measuring sensor 2a at the measurement timing of the distance D (more specifically, the transmission timing of the search wave or the reception timing of the reflected wave)
  • Information indicating the position of the second ranging sensor 2b at the timing and information indicating the position of the third ranging sensor 2c at the timing are output by the position information generation unit 12.
  • Other information (for example, information indicating the main beam angles ⁇ 1, ⁇ 2, and ⁇ 3) is stored in the distance measurement information generation unit 11 in advance.
  • the distance measurement information generation unit 11 groups the plurality of reflection points P, whereby a reflection point group corresponding to the object O (hereinafter referred to as a one-to-one correspondence). "Group") G is set. In this grouping, for example, when the distance between two adjacent reflection points P is less than a predetermined distance, the two reflection points P are included in the same group G.
  • the distance measurement information generation unit 11 includes information indicating the group G in which each of the plurality of reflection points P is included in the distance measurement information.
  • the distance measurement information generation unit 11 When the distance measurement sensor receives reflected waves from a plurality of points, the distance measurement information generation unit 11 reflects the reflection point P corresponding to the smallest distance value d among the distance values d of the plurality of points (hereinafter “most recently reflected”). Only the information related to “dot” is included in the distance measurement information. That is, the distance measurement information generation unit 11 excludes information related to the remaining reflection points P among the plurality of reflection points P from the distance measurement information. Thereby, the noise contained in ranging information can be reduced.
  • the position information generation unit 12 is a distance D measurement timing by the distance measurement information generation unit 11 (more specifically, a search wave transmission timing by the first distance sensor 2a or a reflected wave reception timing by the first distance sensor 2a). ) To calculate the position of the vehicle 1 (hereinafter referred to as “own vehicle position”). The position information generation unit 12 calculates the position of the first ranging sensor 2a at the timing (hereinafter referred to as “first sensor position”). These positions are represented by, for example, coordinate values in the XY coordinate system. The position information generation unit 12 outputs information indicating the first sensor position to the distance measurement information generation unit 11. The information indicating the first sensor position is used for calculating the position of the reflection point P in the distance measurement information generation unit 11.
  • the position information generation unit 12 is configured to measure the distance D by the distance measurement information generation unit 11 (more specifically, the transmission timing of the search wave by the second distance sensor 2b or the reflected wave by the second distance sensor 2b). The vehicle position at the reception timing) is calculated.
  • the position information generation unit 12 calculates the position of the second distance measuring sensor 2b at the timing (hereinafter referred to as “second sensor position”). These positions are represented by, for example, coordinate values in the XY coordinate system.
  • the position information generation unit 12 outputs information indicating the second sensor position to the distance measurement information generation unit 11.
  • the information indicating the second sensor position is used for calculation of the position of the reflection point P in the distance measurement information generation unit 11.
  • the position information generation unit 12 determines the distance D measurement timing by the distance measurement information generation unit 11 (more specifically, the search wave transmission timing by the third distance sensor 2c or the reflected wave by the third distance sensor 2c). The vehicle position at the reception timing) is calculated.
  • the position information generation unit 12 calculates the position of the third ranging sensor 2c at the timing (hereinafter referred to as “third sensor position”). These positions are represented by, for example, coordinate values in the XY coordinate system.
  • the position information generation unit 12 outputs information indicating the third sensor position to the distance measurement information generation unit 11.
  • the information indicating the third sensor position is used for calculating the position of the reflection point P in the distance measurement information generation unit 11.
  • Information used for calculating the first sensor position for example, information indicating the installation position of the first distance measuring sensor 2a in the vehicle 1
  • information used for calculating the second sensor position for example, the second distance measuring sensor 2b in the vehicle 1).
  • Information indicating the installation position and information used for calculating the third sensor position are stored in advance in the position information generation unit 12.
  • FIG. 4A shows an example of a plurality of reflection points P1 corresponding to one of the two parked vehicles V1 and V2 adjacent to each other, and FIG. 4B shows a group corresponding to the parked vehicle V1.
  • An example of G1 is shown.
  • 4A shows an example of a plurality of reflection points P2 corresponding to the other parked vehicle V2 of the two parked vehicles V1 and V2 adjacent to each other, and FIG. 4B corresponds to the parked vehicle V2.
  • An example of the group G2 is shown.
  • the parking mode of the parked vehicles V1 and V2 is parallel parking.
  • each white circle ( ⁇ ) corresponds to each reflection point P.
  • FIG. 5A shows another example of a plurality of reflection points P1 corresponding to one of the two parked vehicles V1 and V2 adjacent to each other, and FIG. 5B corresponds to the parked vehicle V1.
  • Another example of the group G1 is shown.
  • 5A shows an example of a plurality of reflection points P2 corresponding to the other parked vehicle V2 of the two parked vehicles V1 and V2 adjacent to each other, and FIG. 5B corresponds to the parked vehicle V2.
  • An example of the group G2 is shown.
  • the parking form of the parked vehicles V1 and V2 is parallel parking.
  • each white circle ( ⁇ ) corresponds to each reflection point P.
  • FIG. 6A shows another example of a plurality of reflection points P1 corresponding to one of the two parked vehicles V1 and V2 adjacent to each other, and FIG. 6B corresponds to the parked vehicle V1.
  • Another example of the group G1 is shown.
  • 6A shows an example of a plurality of reflection points P2 corresponding to the other parked vehicle V2 of the two parked vehicles V1 and V2 adjacent to each other, and FIG. 6B corresponds to the parked vehicle V2.
  • An example of the group G2 is shown.
  • the parking form of the parked vehicles V1 and V2 is diagonal parking.
  • each white circle ( ⁇ ) corresponds to each reflection point P.
  • FIG. 7A shows another example of a plurality of reflection points P1 corresponding to one of the two parked vehicles V1 and V2 adjacent to each other, and FIG. 7B corresponds to the parked vehicle V1.
  • Another example of the group G1 is shown.
  • FIG. 7A shows an example of a plurality of reflection points P2 corresponding to the other parked vehicle V2 of the two parked vehicles V1 and V2 adjacent to each other, and
  • FIG. 7B corresponds to the parked vehicle V2.
  • An example of the group G2 is shown.
  • the parking form of the parked vehicles V1 and V2 is diagonal parking.
  • each white circle ( ⁇ ) corresponds to each reflection point P.
  • each of the parked vehicles V1, V2 has four surface portions S (that is, a front surface portion S1, a rear surface portion S2, a left surface portion S3, and a right surface portion S4).
  • the front surface portion S1 and the rear surface portion S2 (hereinafter collectively referred to as “nose surface portion”) are compared with the left side surface portion S3 and the right side surface portion S4 (hereinafter collectively referred to as “side surface portion”).
  • the length between the nose surface portions S1 and S2 is larger than the width between the side surface portions S3 and S4 (so-called “full width”).
  • the first distance measuring sensor 2 a directed to the side of the vehicle 1
  • the second distance measuring sensor 2 b directed obliquely forward of the vehicle 1
  • a distance measuring sensor 2 c is provided in the vehicle 1.
  • the main beam angles ⁇ 2 and ⁇ 3 are set to values equal to or larger than the radiation angle ⁇ . Accordingly, as shown in FIGS. 4 to 7, regardless of the parking mode of the parked vehicles V1 and V2, each of the groups G1 and G2 is placed on at least one of the left side surface portion S3 or the right side surface portion S4 (that is, the side surface portion).
  • a plurality of corresponding reflection points P and a plurality of reflection points P corresponding to at least one of the front surface portion S1 or the rear surface portion S2 (that is, the nose surface portion) are included. Further, in each of the groups G1 and G2, the arrangement direction of the plurality of reflection points P corresponding to the nose surface portion is substantially orthogonal to the arrangement direction of the plurality of reflection points P corresponding to the side surface portion.
  • the grouping unit 21 further groups the plurality of reflection points P1 in the group G1, thereby causing a group of reflection points (hereinafter referred to as “subgroups”) g corresponding to the surface portion S of the parked vehicle V1. Is set. This grouping is based on the arrangement direction of the plurality of reflection points P1.
  • the grouping part 21 sets the subgroup g corresponding to the surface part S of the parked vehicle V2 on a one-to-one basis by further grouping the plurality of reflection points P2 in the group G2. This grouping is based on the arrangement direction of the plurality of reflection points P2.
  • FIG. 4C shows an example of the subgroups g1 to g3 when the parking mode of the parked vehicles V1 and V2 is parallel parking.
  • the subgroup g1 corresponds to the rear surface portion S2
  • the subgroup g2 corresponds to the right side surface portion S4
  • the subgroup g3 corresponds to the front surface portion S1.
  • FIG. 5C shows an example of the subgroups g1 to g3 when the parking mode of the parked vehicles V1 and V2 is parallel parking.
  • the subgroup g1 corresponds to the right side surface portion S4
  • the subgroup g2 corresponds to the front surface portion S1
  • the subgroup g3 corresponds to the left side surface portion S3.
  • FIG. 6C shows an example of the subgroups g1 and g2 when the parking mode of the parked vehicles V1 and V2 is diagonal parking.
  • the subgroup g1 corresponds to the front surface portion S1
  • the subgroup g2 corresponds to the left side surface portion S3.
  • FIG. 7C shows another example of the subgroups g1 and g2 when the parking mode of the parked vehicles V1 and V2 is diagonal parking.
  • the subgroup g1 corresponds to the right side surface portion S4
  • the subgroup g2 corresponds to the front surface portion S1.
  • the number of reflection points P included in the subgroup g corresponding to the side surface portion is greater than the number of reflection points P included in the subgroup g corresponding to the nose surface portion. Will also increase.
  • the side surface determination unit 22 determines that the sub group g in which the number of reflection points P1 is larger than the other sub group g in the group G1 is the sub group g corresponding to the side surface portion of the parked vehicle V1. Is. Moreover, the side surface determination part 22 determines that the said other subgroup g is the subgroup g corresponding to the nose surface part of the parked vehicle V1.
  • the side surface determination unit 22 determines that the subgroup g having a larger number of reflection points P2 than the other subgroups g in the group G2 is the subgroup g corresponding to the side surface portion of the parked vehicle V2. To do. Moreover, the side surface determination part 22 determines that the said other subgroup g is the subgroup g corresponding to the nose surface part of the parked vehicle V2.
  • the side surface determination unit 22 has one subgroup g2 out of three subgroups g1 to g3 corresponding to the side surface portion, and the remaining two subgroups. It is determined that g1 and g3 correspond to the nose surface portion.
  • the side determination unit 22 includes two subgroups g1 and g3 out of the three subgroups g1 to g3 corresponding to the side surface, and the remaining one subgroup. It is determined that the group g2 corresponds to the nose surface portion.
  • FIG. 5C the side determination unit 22 includes two subgroups g1 and g3 out of the three subgroups g1 to g3 corresponding to the side surface, and the remaining one subgroup. It is determined that the group g2 corresponds to the nose surface portion.
  • the side determination unit 22 has one subgroup g2 of the two subgroups g1 and g2 corresponding to the side surface, and one remaining subgroup g1. Is determined to correspond to the nose surface portion.
  • the side surface determination unit 22 has one subgroup g1 out of two subgroups g1 and g2 corresponding to the side surface portion, and one remaining subgroup g2 Is determined to correspond to the nose surface portion.
  • the grouping unit 21 and the side determination unit 22 constitute a surface detection unit 23. That is, the surface detection unit 23 detects at least two surface portions S including the side surface portion of the parked vehicle V1 using the distance measurement information. Moreover, the surface detection part 23 detects at least 2 surface part S including the side part of the parked vehicle V2 using ranging information.
  • each of the parked vehicles V1 and V2 has four corner edge portions C (that is, a corner edge portion C1 at the left front end, a corner edge portion C2 at the right front end, and a left rear portion).
  • the corner edge detection unit 24 detects at least one corner edge part C of the parked vehicle V1 and also detects at least one corner edge part C of the parked vehicle V2 using the detection result by the surface detection unit 23. Is. More specifically, the corner edge detection unit 24 calculates a position coordinate PC corresponding to the at least one corner edge part C in the XY coordinate system.
  • the position coordinates between the end portions on the side correspond to the position of the corner edge portion C1.
  • the corner edge detection unit 24 calculates the position coordinates PC1 corresponding to the corner edge part C1 by calculating the position coordinates.
  • the position coordinates between the end portions on the side correspond to the position of the corner edge portion C2.
  • the corner edge detection unit 24 calculates the position coordinates PC2 corresponding to the corner edge part C2 by calculating the position coordinates.
  • the position coordinates between the end portions on the side correspond to the position of the corner edge portion C3.
  • the corner edge detection unit 24 calculates the position coordinates PC3 corresponding to the corner edge part C3 by calculating the position coordinates.
  • the position coordinates between the end portions on the side correspond to the position of the corner edge portion C4.
  • the corner edge detection unit 24 calculates the position coordinates PC4 corresponding to the corner edge part C4 by calculating the position coordinates.
  • FIG. 4D shows an example of position coordinates PC2 and PC4 corresponding to the two corner edge portions C2 and C4 of each of the two parked vehicles V1 and V2 that are parked in parallel.
  • FIG. 5D shows an example of position coordinates PC1 and PC2 corresponding to the two corner edge portions C1 and C2 of each of the two parked vehicles V1 and V2 that are parked in parallel.
  • FIG. 6D shows an example of position coordinates PC1 corresponding to one corner edge portion C1 of each of the two parked vehicles V1, V2 that are parked obliquely.
  • FIG. 7D shows an example of position coordinates PC2 corresponding to one corner edge portion C2 of each of the two parked vehicles V1, V2 that are parked obliquely.
  • the corner edge interval calculation unit 25 uses the detection result by the corner edge detection unit 24 to use the interval L between the position coordinates PC2 and PC4 in the example shown in FIG. 4D and the interval between the position coordinates PC1 and PC2 in the example shown in FIG. 5D. L, the distance L between the position coordinates PC1 and PC1 in the example shown in FIG. 6D, or the distance L between the position coordinates PC2 and PC2 in the example shown in FIG. 7D.
  • these intervals L are referred to as “corner edge intervals”. That is, the corner edge interval calculation unit 25 calculates the corner edge interval L between two adjacent vehicles V1, V2.
  • the parking mode determination unit 26 determines the parking mode of the parked vehicles V1 and V2 using the detection result by the corner edge detection unit 24.
  • the parking pattern determination unit 26 is in the direction along the side surface of the parked vehicles V1, V2 (that is, on the side surface of the parked vehicles V1, V2) with respect to the traveling direction of the vehicle 1 (that is, the direction along the X axis).
  • the inclination angle ⁇ of the arrangement direction of the plurality of reflection points P in the corresponding subgroup g is calculated.
  • angle ranges ⁇ 1 to ⁇ 5 to be compared with the inclination angle ⁇ are set in advance.
  • FIG. 8 shows an example of the angle range ⁇ 1 to ⁇ 5.
  • the parking form determination unit 26 determines that the parking form of the parked vehicles V1 and V2 is parallel parking when the inclination angle ⁇ is a value within the angle range ⁇ 1 or a value within the angle range ⁇ 5.
  • the parking form determination unit 26 determines that the parking form of the parked vehicles V1 and V2 is parallel parking.
  • the parking form determination unit 26 determines that the parking form of the parked vehicles V1 and V2 is oblique parking.
  • the parking mode determination unit 26 determines whether the inclination angle ⁇ is a value within the angle range ⁇ 2 or a value within the angle range ⁇ 4. Accordingly, the oblique direction in the oblique parking is determined. That is, the parking pattern determination unit 26 determines whether the diagonal parking is a so-called “right diagonal” diagonal parking or a so-called “left diagonal” diagonal parking.
  • the parking availability determination unit 27 determines whether or not the vehicle 1 can be parked in the space between the parked vehicles V1 and V2 according to the corner edge interval L and the parking mode of the parked vehicles V1 and V2. .
  • the parking availability determination unit 27 sets a threshold value Lth to be compared with the corner edge interval L according to the parking mode of the parked vehicles V1 and V2.
  • the parking availability determination unit 27 compares the corner edge interval L with a threshold value Lth.
  • the parking availability determination unit 27 determines that the vehicle 1 can be parked in the space between the parked vehicles V1, V2.
  • the parking availability determination unit 27 determines that the vehicle 1 cannot be parked in the space between the parked vehicles V1, V2.
  • a parking space determination unit 28 is configured by the corner edge interval calculation unit 25, the parking mode determination unit 26, and the parking availability determination unit 27. That is, the parking space determination part 28 determines the presence or absence of the parking space for the vehicles 1 between the parked vehicles V1 and V2 using the detection result by the corner edge detection part 24.
  • the parking support device 100 is configured by the surface detection unit 23, the corner edge detection unit 24, and the parking space determination unit 28.
  • the distance measurement information generation unit 11, the position information generation unit 12, and the parking assistance device 100 constitute a main part of the first ECU 3.
  • the second electronic control unit (hereinafter referred to as “second ECU”) 4 has a function of controlling the accelerator, brake, steering, and the like of the vehicle 1.
  • the second ECU 4 determines that the parking of the vehicle 1 in the space between the parked vehicles V1 and V2 is possible by the parking permission determination unit 27, the second ECU 4 performs control for realizing so-called “automatic parking”. .
  • the parking assistance device 100 is configured by a computer, and the computer has a processor 31 and a memory 32.
  • the memory 32 stores a program for causing the computer to function as the surface detection unit 23, the corner edge detection unit 24, and the parking space determination unit 28.
  • the processor 31 reads and executes the program stored in the memory 32, the functions of the surface detection unit 23, the corner edge detection unit 24, and the parking space determination unit 28 are realized.
  • the parking assistance device 100 may be configured by a processing circuit 33.
  • the functions of the surface detection unit 23, the corner edge detection unit 24, and the parking space determination unit 28 may be realized by the processing circuit 33.
  • the parking assistance apparatus 100 may be comprised by the processor 31, the memory 32, and the processing circuit 33 (not shown). In this case, some of the functions of the surface detection unit 23, the corner edge detection unit 24, and the parking space determination unit 28 are realized by the processor 31 and the memory 32, and the remaining functions are realized by the processing circuit 33. It may be a thing.
  • the processor 31 uses, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor).
  • a CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • microprocessor a microcontroller
  • DSP Digital Signal Processor
  • the memory 32 uses, for example, a semiconductor memory or a magnetic disk. More specifically, the memory 32 includes a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory EMM, an EEPROM (Electrically Erasable Memory). (State Drive) or HDD (Hard Disk Drive) or the like is used.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory an EPROM (Erasable Programmable Read Only Memory EMM, an EEPROM (Electrically Erasable Memory).
  • State Drive Spin Drive
  • HDD Hard Disk Drive
  • the processing circuit 33 may be, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), an SoC (System-LargeSemi-ChemicalLargeSigureSystem). Is used.
  • ASIC Application Specific Integrated Circuit
  • PLD Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • SoC System-LargeSemi-ChemicalLargeSigureSystem
  • the hardware configuration of the first ECU 3 excluding the parking support device 100 (that is, the site including the distance measurement information generation unit 11 and the position information generation unit 12) is the same as the hardware configuration of the parking support device 100. The illustration and description are omitted. Further, the hardware configuration of the second ECU 4 is the same as the hardware configuration of the parking assist device 100, and therefore illustration and description thereof are omitted.
  • the parking assistance apparatus 100 starts the process of step ST1 when the ranging information generating unit 11 outputs the ranging information.
  • the grouping unit 21 further sets the subgroup g corresponding to the surface portion S of the parked vehicle V1 by further grouping the plurality of reflection points P1 in the group G1. Moreover, the grouping part 21 sets the subgroup g corresponding to the surface part S of the parked vehicle V2 on a one-to-one basis by further grouping the plurality of reflection points P2 in the group G2.
  • step ST2 the side determination unit 22 determines that the subgroup g in which the number of reflection points P1 is larger than the other subgroup g in the group G1 corresponds to the side surface of the parked vehicle V1. It is determined that Moreover, the side surface determination part 22 determines with the subgroup g in which the number of reflection points P2 is large compared with the other subgroup g in the group G2 being the subgroup g corresponding to the side surface part of the parked vehicle V2. .
  • step ST3 the corner edge detector 24 detects at least one corner edge C of the parked vehicle V1 using the detection result by the surface detector 23, and at least one of the parked vehicle V2. A corner edge portion C is detected. More specifically, the corner edge detection unit 24 calculates a position coordinate PC corresponding to the at least one corner edge part C in the XY coordinate system.
  • step ST4 the corner edge interval calculation unit 25 calculates the corner edge interval L between the parked vehicles V1, V2.
  • the parking mode determination unit 26 determines the parking mode of the parked vehicles V1, V2. More specifically, the parking mode determination unit 26 determines whether the parking mode of the parked vehicles V1 and V2 is parallel parking, parallel parking, or diagonal parking. Moreover, when it determines with the parking form of the parked vehicles V1 and V2 being diagonal parking, the parking form determination part 26 determines the diagonal direction in the said diagonal parking.
  • step ST6 the parking permission determination unit 27 determines whether or not the vehicle 1 can be parked in the space between the parked vehicles V1 and V2. At this time, the parking availability determination unit 27 sets a threshold value Lth according to the parking mode of the parked vehicles V1 and V2, and compares the corner edge interval L with the threshold value Lth.
  • the control for realizing automatic parking is executed by the second ECU 4 after step ST6.
  • FIG. 11 shows an example in which the main beam angle ⁇ 2 is set to a value equal to or larger than the radiation angle ⁇ .
  • FIG. 12 shows an example in which the main beam angle ⁇ 2 is set to a value smaller than the radiation angle ⁇ as a comparison object with respect to FIG.
  • the search wave is first reflected by the rear surface portion S2 and the right side surface portion S4 (see FIG. 12A), and then The search wave is reflected only by the right side surface portion S4 (see FIGS. 12B and 12C).
  • the search wave is reflected not only by the rear surface portion S2 and the right surface portion S4 but also by the corner edge portion C4.
  • the corner edge portion C4 Of the rear surface portion S2, the right side surface portion S4, and the corner edge portion C4, the most recent portion with respect to the second distance measuring sensor 2b is the corner edge portion C4. For this reason, in the state shown in FIG.
  • the reflection point P corresponding to the corner edge portion C4 becomes the most recent reflection point, and only information relating to the reflection point P corresponding to the corner edge portion C4 is included in the distance measurement information.
  • the rear surface portion S2 cannot be detected in any of the states shown in FIGS. 12A to 12C.
  • the search wave is first reflected only by the rear surface portion S2 (see FIG. 11A).
  • the search wave is reflected by the rear surface portion S2 and the right side surface portion S4 (see FIG. 11B), and then the search wave is reflected only by the right side surface portion S4 (see FIG. 11C).
  • the rear surface portion S2 can be detected in the state shown in FIG. 11A, and the right side surface portion S4 can be detected in the state shown in FIG. 11C.
  • the main beam angle ⁇ 3 is set to a value equal to or larger than the radiation angle ⁇ , so that the front surface portion S1 can be detected and the right side surface portion S4 can be detected. it can. Therefore, the rear surface portion S2, the right side surface portion S4, and the front surface portion S1 can be detected by using the second distance measuring sensor 2b and the third distance measuring sensor 2c.
  • noise included in the distance measurement information can be reduced by setting the radiation angle ⁇ to a small value. Therefore, it is preferable to set the radiation angle ⁇ to a small value from the viewpoint of reducing the noise.
  • the radiation angle ⁇ is set to a small value
  • the traveling speed of the vehicle 1 is high (for example, when the vehicle is traveling at a maximum speed below a predetermined speed)
  • the number of corresponding reflection points P decreases. For this reason, the accuracy of the determination by the side surface determination unit 22 and the detection by the corner edge detection unit 24 may be reduced.
  • the number of reflection points P corresponding to at least one of the plurality of surface portions S can be increased.
  • the right side S4 in the example shown in FIG. 4 the front side S1 in the example shown in FIG. 5, the front side S1 and the left side S3 in the example shown in FIG. 6, and the right side S4 in the example shown in FIG.
  • the number of reflection points P corresponding to the front surface portion S1 can be increased.
  • the 1st ranging sensor 2a may be provided in each of the left side part and the right side part of the vehicle 1.
  • the 2nd ranging sensor 2b may be provided in each of the corner edge part of the left front end of the vehicle 1, and the corner edge part of the right front end.
  • the third distance measuring sensor 2c may be provided in each of the corner edge portion at the left rear end and the corner edge portion at the right rear end of the vehicle 1.
  • two first distance measuring sensors 2 a may be provided on the left side surface portion of the vehicle 1.
  • two first ranging sensors 2 a may be provided on each of the left side surface portion and the right side surface portion of the vehicle 1.
  • the 2nd ranging sensor 2b may be provided in each of the corner edge part of the left front end of the vehicle 1, and the corner edge part of the right front end.
  • the third distance measuring sensor 2c may be provided in each of the corner edge portion at the left rear end and the corner edge portion at the right rear end of the vehicle 1.
  • the distance measurement information generation unit 11 may calculate the position of the reflection point P by the two-circle intersection method, the two-circle tangent method, or the aperture synthesis method.
  • the position information generation unit 12 may calculate the vehicle position by satellite navigation instead of or in addition to autonomous navigation.
  • the first ECU 3 may acquire a GNSS signal from a GNSS (Global Navigation Satellite System) receiver provided in the vehicle 1.
  • GNSS Global Navigation Satellite System
  • the parking assist device 100 is provided in the vehicle 1 and is directed toward the side of the vehicle 1 among the plurality of distance measuring sensors 2 having the predetermined radiation angle ⁇ .
  • a parking assistance device 100 that uses a first distance sensor 2a that is directed, a second distance sensor 2b that is directed obliquely forward of the vehicle 1, and a third distance sensor 2c that is directed obliquely rearward of the vehicle 1.
  • a surface detection unit that detects two surface portions S including the side surface portion of the parked vehicle V using distance measurement information obtained by the first distance measurement sensor 2a, the second distance measurement sensor 2b, and the third distance measurement sensor 2c.
  • the corner edge detection unit 24 for detecting the corner edge part C of the parked vehicle V, and the detection result by the corner edge detection unit 24 are used to determine whether there is a parking space.
  • Parking space judgment part 2 Provided with a door. Thereby, the corner edge part C of the parked vehicle V can be detected correctly. In addition, it is possible to achieve both reduction in noise by reducing the radiation angle ⁇ and improvement in determination accuracy during high-speed traveling.
  • the parking space determination unit 28 calculates the inclination angle ⁇ in the direction along the side surface of the parked vehicle V with respect to the traveling direction of the vehicle 1 and determines the parking mode of the parked vehicle V based on the inclination angle ⁇ . Thereby, the presence determination of the parking space according to a parking form is realizable.
  • the main beam angle ⁇ 2 of the second distance measuring sensor 2b is set to a value equal to or larger than the radiation angle ⁇
  • the main beam angle ⁇ 3 of the third distance measuring sensor 2c is set to a value equal to or larger than the radiation angle ⁇ .
  • any component of the embodiment can be modified or any component of the embodiment can be omitted within the scope of the invention.
  • the parking assist device of the present invention can be applied to automatic parking, for example.
  • 1 vehicle 2 distance sensor, 2a first distance sensor, 2b second distance sensor, 2c third distance sensor, 3 first electronic control unit (first ECU), 4 second electronic control unit (second ECU) , 11 Ranging information generation unit, 12 Position information generation unit, 21 Grouping unit, 22 Side determination unit, 23 Surface detection unit, 24 Corner edge detection unit, 25 Corner edge interval calculation unit, 26 Parking type determination unit, 27 Parking Availability determination unit, 28 parking space determination unit, 31 processor, 32 memory, 33 processing circuit, 100 parking support device.
  • first ECU first electronic control unit
  • second ECU second electronic control unit
  • 11 Ranging information generation unit 12 Position information generation unit, 21 Grouping unit, 22 Side determination unit, 23 Surface detection unit, 24 Corner edge detection unit, 25 Corner edge interval calculation unit, 26 Parking type determination unit, 27 Parking Availability determination unit, 28 parking space determination unit, 31 processor, 32 memory, 33 processing circuit, 100 parking support device.

Abstract

La présente invention concerne un dispositif d'aide au stationnement (100) qui comprend : une unité de détection de surface (23) qui utilise des informations de distance provenant d'un premier capteur de distance (2a), d'un deuxième capteur de distance (2b) et d'un troisième capteur de distance (2c) pour détecter deux sections de surface (S) comprenant une section de surface latérale d'un véhicule stationné (V) ; une unité de détection de bord de coin (24) qui utilise les résultats de détection provenant de l'unité de détection de surface (23) pour détecter une section de bord de coin (C) du véhicule stationné (V) ; et une unité de détermination d'emplacement de stationnement (28) qui utilise les résultats de détection provenant de l'unité de détection de bord de coin (24) pour déterminer la présence ou l'absence d'un emplacement de stationnement.
PCT/JP2018/017643 2018-05-07 2018-05-07 Dispositif d'aide au stationnement WO2019215788A1 (fr)

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PCT/JP2018/017643 WO2019215788A1 (fr) 2018-05-07 2018-05-07 Dispositif d'aide au stationnement
JP2020517637A JP7034271B2 (ja) 2018-05-07 2018-05-07 駐車支援装置

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