WO2020129516A1

WO2020129516A1 - Vehicle control device

Info

Publication number: WO2020129516A1
Application number: PCT/JP2019/045179
Authority: WO
Inventors: 昌志高橋; 勝美大内
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2018-12-21
Filing date: 2019-11-19
Publication date: 2020-06-25
Also published as: CN113165644A; JPWO2020129516A1

Abstract

Provided is a vehicle control device capable of appropriately maintaining a distance from an adjacent vehicle after parking. A vehicle control device 100 is mounted on a vehicle 1 provided with an outside recognition sensor 10. The vehicle control device 100 is provided with: an outside information recognition unit 111 that activates the outside recognition sensor 10 after parking of the vehicle 1 and acquires parking environment information around the vehicle 1; a parking environment determination unit 112 that determines whether the parking environment information is appropriate; and a traveling control unit 121 that, when the parking environment information is determined as being inappropriate, causes the vehicle 1 to travel and move to a corrected parking position where the parking environment information is appropriate.

Description

Vehicle control device

The present disclosure relates to a vehicle control device.

Inventions related to vehicle control devices have been conventionally known (see Patent Documents 1 and 2 below).

An object of the invention described in Patent Document 1 is to provide a vehicle control device that avoids obstructing traffic even when parked on a narrow road and reduces the burden on a driver of a parked vehicle. (See the same document, paragraph 0006, etc.). As a means for achieving this object, Patent Document 1 discloses a vehicle control device having the following configuration.

The vehicle control device includes an approach determination means, a passability determination means, and a vehicle control means. The approach determining means determines whether another vehicle approaches the parked vehicle. When it is determined that the other vehicle approaches the host vehicle, the passability determination unit determines whether or not the other vehicle can pass the side of the host vehicle. When the other vehicle cannot pass the side of the own vehicle, the vehicle control means moves the own vehicle to a refuge place (see Patent Document 1, Claim 1 and the like).

The invention described in Patent Document 2 aims to provide a vehicle control device that can easily open and close the back door after parking. As a means for achieving this object, Patent Document 2 discloses a vehicle control device having the following configuration.

The vehicle control device includes an open space determination unit and a vehicle control unit. The open space determination unit determines whether or not there is an open space around the vehicle in which the back door of the vehicle can be opened when the vehicle is stopped in the parking space. When the open space determination unit determines that the open space does not exist, the vehicle control unit moves the vehicle to a position where the back door can be opened (see Patent Document 2, Claim 1 and the like).

JP, 2016-173637, A Japanese Patent Laid-Open No. 2018-030468

In the parking lot, after parking in the parking space, another vehicle enters the adjacent parking space, or another vehicle exits from the adjacent parking space and another vehicle enters, so that the next vehicle The space between and may approach abnormally. In this case, the parking environment of the parked vehicle may be unfavorable, such as the difficulty in opening and closing the door of the parked vehicle, the difficulty of boarding the parked vehicle, and the collision of the door of the parked vehicle with the door of the adjacent vehicle. It may be appropriate. However, Patent Documents 1 and 2 do not disclose means for solving such a problem.

The present disclosure provides a vehicle control device that can appropriately maintain a parking environment after parking a vehicle.

One aspect of the present disclosure is a vehicle control device mounted on a vehicle including an external environment recognition sensor, the external environment activating the external world recognition sensor after parking the vehicle to acquire parking environment information around the vehicle. An information recognition unit, a parking environment determination unit that determines whether the parking environment information is appropriate, and when the parking environment information is determined to be incorrect, the vehicle is run and the parking environment information becomes appropriate. And a travel control unit that moves the vehicle to a corrected parking position.

According to the above aspect of the present disclosure, it is possible to provide a vehicle control device that can appropriately maintain the parking environment after parking.

1 is a block diagram of a vehicle equipped with a vehicle control device according to an embodiment of the present disclosure. The top view which shows an example of the external recognition sensor of FIG. 1, and its detection range. The top view which shows an example of acquisition of the parking environment information by the external world information recognition part of FIG. The top view which shows an example of acquisition of the parking environment information by the external world information recognition part of FIG. The top view which shows an example of the determination of the parking environment information by the parking environment determination part of FIG. The top view which shows an example of the determination of the parking environment information by the parking environment determination part of FIG. The top view which shows an example of the determination of the parking environment information by the parking environment determination part of FIG. FIG. 2 is a flow chart showing an example of a control flow by the vehicle control device shown in FIG. 1. The flowchart which shows the detail of an example of the parking environment information acquisition process of FIG. The top view which shows an example of the vehicle control by the vehicle control apparatus of FIG.

Hereinafter, an embodiment of a vehicle control device of the present disclosure will be described with reference to the drawings.

FIG. 1 is a block diagram of a vehicle 1 equipped with a vehicle control device 100 according to an embodiment of the present disclosure. The vehicle 1 is, for example, an automatic driving (AD) vehicle or a vehicle equipped with an advanced driving assistance system (ADAS). The vehicle control device 100 is, for example, a device related to automatic driving of the vehicle 1 and automatic parking processing included in driving assistance. Although details will be described later, the vehicle control device 100 of the present embodiment is characterized by the following configuration.

The vehicle control device 100 is mounted on the vehicle 1 including the external environment recognition sensor 10. The vehicle control device 100 includes an outside world information recognition unit 111, a parking environment determination unit 112, and a travel control unit 121. The outside world information recognition unit 111 activates the outside world recognition sensor 10 after the vehicle 1 is parked and acquires the parking environment information around the vehicle 1. The parking environment determination unit 112 determines whether or not the parking environment information is appropriate. When it is determined that the parking environment information is inappropriate, the traveling control unit 121 causes the vehicle 1 to travel and moves to the corrected parking position where the parking environment information is appropriate.

Hereinafter, an example of the configuration of the vehicle 1 in which the vehicle control device 100 is mounted and an example of the configuration of each part of the vehicle control device 100 will be described in detail. The vehicle 1 includes, for example, an external world recognition sensor 10, a vehicle information acquisition unit 20, a steering wheel 30, an accelerator 40, a brake 50, and a transmission 60. Note that, in FIG. 1, illustration of a general configuration of the vehicle 1, such as a motor, an engine, a transmission, a chassis, and a body, is omitted.

FIG. 2 is a plan view showing an example of the external world recognition sensor 10 of FIG. 1 and its detection range. The outside world recognition sensor 10 includes, for example, a front radar 11, a corner radar 12, a laser radar 13, and an optical sensor 14, and detects or measures outside world information including parking environment information around the vehicle 1. Here, the parking environment information includes, for example, information about pedestrians, vehicles and obstacles around the parked vehicle 1, and road marking information such as white lines displayed on the road surface around the vehicle 1.

The front radar 11 is, for example, a millimeter wave radar, has a radial detection range R11 that can detect a relatively long distance in front of the vehicle 1, and detects pedestrians, vehicles, obstacles, and the like in front of the vehicle 1. It is a sensor that does. The corner radar 12 is, for example, a short-range radar, is provided in each of the left and right corners of the front end and the left and right corners of the rear end of the vehicle, has a radial detection area starting from each corner, and includes pedestrians, vehicles, and obstacles. Is a sensor that detects The corner radar 12 is a sensor used for blind spot detection (BSD), lane change assistance (LCA), front cross traffic alert (FCTA), rear cross traffic alert (RCTA), and the like.

The laser radar 13, which is also called “LIDAR”, is a sensor that obtains three-dimensional information such as pedestrians, vehicles and obstacles around the vehicle 1 by performing distance measurement using a laser. The laser radar 13 has, for example, a spherical detection region R13 centered on the laser radar 13. In the example shown in FIG. 2, the laser radar 13 is mounted on the upper portion of the vehicle 1, but the mounting position of the laser radar 13 is not particularly limited. The laser radar 13 may be attached to the front portion, the rear portion, or the side portion of the vehicle 1, for example.

The optical sensor 14 is, for example, a camera including an image sensor such as a CMOS (Complementary Metal-Oxide-Semiconductor) or a CCD (Charged-Coupled Devices). The optical sensors 14 are attached to, for example, the left and right side portions and the rear portion of the vehicle 1, and each have a radial detection region R14. The vehicle 1 may include an optical sensor 14 such as a stereo camera or a monocular camera having a detection area in front of the vehicle 1.

The vehicle information acquisition unit 20 includes, for example, a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System), a wheel speed sensor, an acceleration sensor, a steering angle sensor, an accelerator position sensor, a brake pressure sensor, a gear position sensor, and the like. The vehicle information acquisition unit 20 acquires vehicle information including, for example, the position, speed, acceleration, steering angle, accelerator opening, brake pressure, shift state, etc. of the vehicle 1.

The steering 30, accelerator 40, brake 50, and transmission 60 are manually operated by an occupant driving the vehicle 1. The steering 30, the accelerator 40, the brake 50, and the transmission 60 are each equipped with an actuator, and are automatically operated by the vehicle control device 100 when the vehicle 1 is assisted by AD or ADAS. ..

The vehicle control device 100 is, for example, an electronic control device (ECU) mounted on the vehicle 1, and includes, for example, a computer system including a central processing unit (CPU), a memory, a timer, an input/output unit, a program, and the like. It is composed of a microcontroller. The vehicle control device 100 includes, for example, an automatic parking ECU 110 and a vehicle control ECU 120.

The automatic parking ECU 110 includes, for example, an outside world information recognition unit 111 and a parking environment determination unit 112, and automatically parks the vehicle 1 via the vehicle control ECU 120. In the example shown in FIG. 1, the automatic parking ECU 110 further includes a corrected parking position calculation unit 113 and a parking route calculation unit 114. In addition, the automatic parking ECU 110 may include, for example, a parking position correction switch that selects ON/OFF of the parking position correction function of the vehicle 1 by the vehicle control device 100.

The vehicle control ECU 120 includes, for example, a travel control unit 121, controls the actuators of the steering wheel 30, the accelerator 40, the brake 50, and the transmission 60 to automatically drive the vehicle 1.

The outside world information recognition unit 111 activates the outside world recognition sensor 10 after the vehicle 1 is parked and acquires parking environment information around the vehicle 1. As described above, the parking environment information includes, for example, information about pedestrians, vehicles and obstacles around the parked vehicle 1, and road marking information such as white lines displayed on the road surface around the vehicle 1. ..

FIG. 3 is a plan view showing an example of acquisition of parking environment information by the outside world information recognition unit 111 of FIG. The parking environment information includes, for example, the distance Dv between the vehicle 1 and the adjacent vehicle V, that is, the distance Dv between the vehicle 1 and the adjacent vehicle. The outside world information recognition unit 111 activates the laser radar 13 and measures and acquires the distance Dv between the vehicle 1 and the adjacent vehicle V based on the information acquired by the laser radar 13. The information used for measuring the distance Dv is not limited to the information acquired by the laser radar 13, and may be information acquired by another sensor of the external environment recognition sensor 10, for example, the corner radar 12.

FIG. 4 is a plan view showing an example of acquisition of parking environment information by the outside world information recognition unit 111 of FIG. The parking environment information includes, for example, the boundary B of the parking space P in which the vehicle 1 is parked. More specifically, the parking environment information includes, for example, the distance Db between the vehicle 1 and the boundary B of the parking space P. The boundary B of the parking space P is, for example, a parking frame or a white line displayed on the road surface. The external information recognition unit 111 activates the optical sensor 14, and measures and acquires the distance Db between the vehicle 1 and the boundary B of the parking space P based on the information acquired by the optical sensor 14, for example.

The outside world information recognition unit 111 is configured to acquire the parking environment information, for example, immediately after the vehicle 1 is parked and after a predetermined time has elapsed. In other words, the outside world information recognition unit 111 is configured not to acquire the parking environment information immediately after the vehicle 1 is parked, for example. The time from immediately after the vehicle 1 is parked until the first time the parking environment information is acquired can be arbitrarily set by the occupant of the vehicle 1, for example. More specifically, the time from immediately after the parking of the vehicle 1 to the first acquisition of the parking environment information depends on the frequency of change of the parking environment information around the vehicle 1 or the planned parking time. For example, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 1 hour, 2 hours, or any other time can be set.

The outside world information recognition unit 111 is configured to intermittently acquire the parking environment information for a plurality of times, for example, after the start switch of the vehicle 1 is turned off until it is turned on. The activation switch is, for example, an ignition switch that switches on and off by inserting a key into a key cylinder and rotating the key cylinder, or a push-button switch. The start switch is normally turned on when the vehicle starts to travel and is turned off immediately after the vehicle is parked.

More specifically, the external information recognition unit 111 is configured to intermittently acquire the parking environment information at regular time intervals, for example. This time interval depends on the frequency at which the parking environment information around the vehicle 1 changes and the planned parking time, similar to the time from immediately after the parking of the vehicle 1 until the first acquisition of the parking environment information. And can be set arbitrarily.

Further, the external information recognition unit 111 may be configured to intermittently acquire the parking environment information at different time intervals, for example. More specifically, when the parking environment information around the vehicle 1 changes frequently, the outside world information recognition unit 111 shortens the time interval for acquiring the parking environment information. On the other hand, when the frequency of changing the parking environment information around the vehicle 1 is low, the outside world information recognition unit 111 lengthens the time interval for acquiring the parking environment information.

Further, the outside world information recognition unit 111 confirms the remaining amount of the battery for operating the outside world recognition sensor 10, and acquires the parking environment information when the remaining amount of the battery is equal to or more than a threshold value. May be configured. The threshold value of the remaining battery level may be fixed or may be rewritable by an instruction from the outside. Further, the outside world information recognition unit 111 may be configured to activate the outside world recognition sensor 10 while the vehicle 1 is traveling during automatic parking to detect an obstacle around the vehicle 1.

5 to 7 are plan views showing an example of determination of parking environment information by the parking environment determination unit 112 of FIG. As described above, the parking environment determination unit 112 determines whether the parking environment information acquired by the outside world information recognition unit 111 is appropriate. The parking environment determination unit 112 is configured to determine that the parking environment information is inappropriate, for example, when the distance Dv between the vehicle 1 and the adjacent vehicle V is equal to or less than the threshold value.

More specifically, as shown in FIG. 5, the threshold value of the distance Dv between the vehicle 1 and the adjacent vehicle V is set to a distance Dt at which the door does not hit the adjacent vehicle V when the door of the vehicle 1 is opened. Can be set. More specifically, for example, the distance Dt obtained by adding a predetermined margin M to the protrusion length L of the door from the side surface of the vehicle 1 when the door of the vehicle 1 is fully opened is calculated as follows. It can be a threshold value of the distance Dv.

Further, as shown in FIG. 6, a threshold value of the distance Dv between the vehicle 1 and the adjacent vehicle V may be set based on the standard width w of the occupant O of the vehicle 1. Specifically, for example, the distance Dt at which the occupant O can walk between the vehicle 1 and the adjacent vehicle V with a margin or the distance Dt at which the occupant O and a pedestrian can pass each other with a margin, The threshold value of the distance Dv between the vehicle 1 and the adjacent vehicle V can be set. Such a distance Dt is, for example, in the range of about 500 [mm] to about 1200 [mm].

Further, as shown in FIG. 7, the parking environment determination unit 112 determines that the parking environment information is inappropriate when the distance Db between the vehicle 1 and the boundary B of the parking space P is equal to or less than a threshold value. You may comprise. The parking environment determination unit 112 sets the threshold value of the distance Db between the vehicle 1 and the front and rear boundaries B to be smaller than the threshold value of the distance Db between the vehicle 1 and the left and right boundaries B thereof. You may.

Further, the parking environment determination unit 112 determines whether or not the parking environment information is appropriate based on both the distance Dv between the vehicle 1 and the adjacent vehicle V and the distance Db between the vehicle 1 and the boundary B of the parking space P, for example. May be determined. In this case, the threshold value of the distance Dv between the driver-side side surface of the vehicle 1 and the adjacent vehicle V is larger than the threshold value of the distance Dv between the passenger-side side surface of the vehicle 1 and the adjacent vehicle V. It may be set to. Similarly, the threshold value of the distance Db between the side surface of the vehicle 1 on the driver's seat side and the boundary B is set to be larger than the threshold value of the distance Db between the side surface of the vehicle 1 on the passenger side and the boundary B. You may.

Further, the parking environment determination unit 112 sets, for example, a distance Dt between the vehicle 1 and the adjacent vehicle V that can avoid contact between the vehicle 1 and the adjacent vehicle V due to an inner wheel difference of the adjacent vehicle V when the adjacent vehicle V leaves the vehicle. The threshold value of the distance Dv can be set. More specifically, the parking environment determination unit 112 predicts the traveling locus of the adjacent vehicle V at the time of leaving the vehicle based on, for example, general vehicle data and the width of the passage, and the vehicle 1 and the adjacent vehicle V do not collide. The distance Dt can be set to a threshold value of the distance Dv between the vehicle 1 and the adjacent vehicle V.

Further, the parking environment determination unit 112 may be configured to determine that the parking environment information is incorrect, for example, when the parking environment information is continuously incorrect over a predetermined time interval. That is, the parking environment determination unit 112 determines whether or not the parking environment information is appropriate based on whether the change in the parking environment information around the vehicle 1 is continuous or temporary. The threshold value of the time interval may be fixed or rewritable by an instruction from the outside.

The corrected parking position calculation unit 113 is configured to calculate the corrected parking position, for example, when the parking environment determination unit 112 determines that the parking environment information is incorrect. Here, the corrected parking position is a position at which the parking environment determination unit 112 determines that the parking environment information is appropriate when the vehicle 1 is parked at that position. The corrected parking position calculation unit 113 calculates the corrected parking position, for example, based on the parking environment information acquired by the outside world information recognition unit 111.

The parking route calculation unit 114 calculates, for example, a parking route that is a traveling route of the vehicle 1 from the current parking position of the vehicle 1 to the corrected parking position calculated by the corrected parking position calculation unit 113. The parking route is calculated, for example, based on the current parking position of the vehicle 1, the calculated corrected parking position, the minimum turning radius of the vehicle 1, the parking environment information around the vehicle 1, and the like.

When the parking environment determination unit 112 determines that the parking environment information is incorrect, the traveling control unit 121 causes the vehicle 1 to travel and moves to the corrected parking position where the parking environment information is appropriate. If the traveling control unit 121 is configured to calculate the corrected parking position and the parking route, the corrected parking position calculation unit 113 and the parking route calculation unit 114 may be omitted.

The traveling control unit 121 is configured not to move the vehicle 1 when the corrected parking position calculation unit 113 cannot calculate the corrected parking position, for example. The case where the corrected parking position cannot be calculated is, for example, the case where the parking environment determination unit 112 determines that the parking environment information is incorrect even if the vehicle 1 is moved to any position in the parking space P. Further, the traveling control unit 121 is configured to stop the vehicle 1 when the external information recognition unit 111 detects an obstacle in the course of the vehicle 1, for example.

An example of the operation of the vehicle control device 100 of this embodiment will be described below.

FIG. 8 is a flowchart showing an example of the flow of parking position control of the vehicle 1 by the vehicle control device 100 shown in FIG. In the parking position control of the vehicle 1, the vehicle control device 100 first determines whether the vehicle 1 is stopped and then the start switch is turned off and the vehicle is parked (step S1). When the start switch of the vehicle 1 is not turned off (NO), that is, when the start switch of the vehicle 1 is turned on, the vehicle control device 100 ends the parking position control of the vehicle 1.

When the start switch of the vehicle 1 is turned off and the vehicle is parked (YES), the vehicle control device 100 determines whether or not the parking position correction switch is turned on (step S2). When the parking position correction switch is not turned on (NO), that is, when the parking position correction switch is turned off, the vehicle control device 100 ends the parking position control of the vehicle 1.

If the parking position correction switch is turned on (YES), the vehicle control device 100 determines whether or not the remaining battery level for operating the external environment recognition sensor 10 is equal to or greater than a threshold value (step S3). When the remaining amount of the battery is not greater than or equal to the threshold value (NO), that is, when the remaining amount of the battery is less than the threshold value, vehicle control device 100 ends the parking position control of vehicle 1.

When the remaining amount of the battery is equal to or more than the threshold value (YES), the vehicle control device 100 activates the outside world recognition sensor 10 after the vehicle 1 is parked by the outside world information recognition unit 111, and the parking environment information around the vehicle 1 is obtained. Is acquired (step S4).

FIG. 9 is a flowchart showing an example of details of step S4 for acquiring the parking environment information of FIG. In step S4, the outside world information recognition unit 111 determines whether or not the elapsed time from immediately after the vehicle 1 is parked is equal to or longer than the preset cycle for acquiring the parking environment information (step S41). When the elapsed time from immediately after parking of the vehicle 1 is shorter than the cycle of acquiring the parking environment information (NO), the determination of step S41 is repeated.

When the elapsed time from immediately after the parking of the vehicle 1 is equal to or longer than the period for acquiring the parking environment information (YES), the outside world information recognition unit 111 activates the outside world recognition sensor 10 to display the parking environment information around the vehicle 1. It is acquired (step S42). Next, the external information recognition unit 111 determines whether or not there is a difference between the parking environment information acquired this time and the parking environment information acquired last time (step S43).

When the parking environment information is acquired for the first time after the vehicle 1 is parked, the outside world information recognition unit 111 determines that there is a difference from the previous time (YES) because there is no previous parking environment information. Moreover, when the external environment information recognition unit 111 acquires the parking environment information after the second parking after the vehicle 1 is parked and the parking environment information acquired last time and the parking environment information acquired this time are different from each other, It is determined that there is a difference (YES). In these cases, the external world information recognition unit 111 initializes, for example, the cycle of acquiring the parking environment information (step S44).

In addition, when the outside environment information recognition unit 111 acquires the parking environment information after the second parking after the vehicle 1 is parked and the previously acquired parking environment information is the same as the currently acquired parking environment information, It is determined that there is no difference with (NO). In this case, the outside world information recognition unit 111 extends, for example, the period for acquiring the parking environment information (step S45). At this time, the external environment information recognition unit 111 extends the cycle so that the cycle for acquiring the parking environment information is equal to or less than a predetermined maximum cycle. This maximum period may be a fixed value or may be rewritable by an external instruction.

In this way, the outside world information recognition unit 111 is configured to acquire the parking environment information at different time intervals depending on whether or not the parking environment information has changed, for example. Further, the outside world information recognition unit 111 may be configured to acquire the parking environment information at constant time intervals by omitting steps S43 to S45.

Next, the vehicle control device 100 determines whether or not the parking environment information acquired by the outside world information recognition unit 111 is appropriate by the parking environment determination unit 112 (step S5). The vehicle control device 100 returns to step S3 when the parking environment information is determined to be appropriate (YES). In addition, when it is determined that the parking environment information is not appropriate (NO), the vehicle control device 100 calculates the corrected parking position (step S6).

More specifically, the vehicle control device 100 calculates a corrected parking position by, for example, the corrected parking position calculation unit 113 when it is determined that the parking environment information is incorrect. As described above, the corrected parking position is a position at which the parking environment determining unit 112 determines that the parking environment information is appropriate when the vehicle control device 100 is parked at that position.

Next, the vehicle control device 100 determines whether or not the corrected parking position has been calculated (step S7). When the corrected parking position cannot be calculated (NO), the vehicle control device 100 returns to step S3. When the corrected parking position can be calculated (YES), the vehicle control device 100 causes, for example, the parking route calculation unit 114 to drive the traveling route from the current parking position of the vehicle 1 to the corrected parking position and the vehicle 1 traveling on the traveling route. The speed and the like are calculated (step S8).

Next, the vehicle control device 100 activates the external world recognition sensor 10 by the external world information recognition unit 111, for example, to detect pedestrians, vehicles, and other obstacles around the vehicle 1 (step S9). Next, the vehicle control device 100 determines, for example, by the parking environment determination unit 112 whether or not there is an obstacle on the travel route of the vehicle 1 (step S10). When it is determined that there is an obstacle on the traveling route of the vehicle 1 (YES), the traveling control unit 121 keeps the vehicle 1 stopped without moving the vehicle 1 (step S11b), and returns to step S9. ..

On the other hand, when it is determined in step S10 that there is no obstacle on the travel route of the vehicle 1 (NO), the vehicle control device 100 causes the travel control unit 121 to drive the vehicle 1 and the parking route calculation unit 114 calculates the travel route. It is moved along the traveled route (step S11a). Further, the vehicle control device 100 determines whether or not the vehicle 1 has reached the corrected parking position by, for example, the travel control unit 121 based on the position information of the vehicle 1 acquired from the external environment recognition sensor 10 and the vehicle information acquisition unit 20. The determination is made (step S12).

If it is determined in step S12 that the vehicle 1 has not reached the corrected parking position (NO), the vehicle control device 100 returns to step S9 and detects an obstacle on the traveling route of the vehicle 1. On the other hand, when it is determined in step S12 that the vehicle 1 has reached the correction parking position (YES), the vehicle control device 100 stops the vehicle 1 by the traveling control unit 121 and parks the vehicle 1 in the correction parking position. (Step S13).

Next, the vehicle control device 100 determines whether the start switch of the vehicle 1 is turned on (step S14). When the start switch of the vehicle 1 is not turned on (NO), the vehicle control device 100 returns to step S3 and determines whether the remaining battery amount is equal to or more than the threshold value. On the other hand, when the start switch of the vehicle 1 is turned on (YES), the parking position control of the vehicle 1 by the vehicle control device 100 is ended.

As described above, the vehicle control device 100 according to the present embodiment is a device mounted on the vehicle 1 including the external world recognition sensor 10. The vehicle control device 100 activates the external environment recognition sensor 10 after the vehicle 1 is parked and acquires the external environment information recognition unit 111 that acquires the parking environment information around the vehicle 1, and the parking environment information determination unit 111 determines whether the parking environment information is appropriate. An environment determination unit 112 and a travel control unit 121 that drives the vehicle 1 to move to a corrected parking position where the parking environment information is appropriate when the parking environment information is determined to be incorrect.

With this configuration, after the vehicle 1 is parked in the parking space P, the outside world information recognition unit 111 can acquire the parking environment information around the vehicle 1. Further, the parking environment determination unit 112 determines the parking environment information of the vehicle 1, and when the parking environment information is incorrect, the traveling control unit 121 moves the vehicle 1 to the corrected parking position where the parking environment information is appropriate. Can be moved. Therefore, according to the present embodiment, it is possible to provide the vehicle control device 100 that can appropriately maintain the parking environment after the vehicle 1 is parked.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to acquire the parking environment information after a lapse of a predetermined time immediately after the vehicle 1 is parked. With this configuration, there is no need to activate the outside world recognition sensor 10 immediately after parking where there is a low possibility that the parking environment information around the vehicle 1 has changed. Therefore, the energy efficiency in the parking position correction control of the vehicle 1 by the vehicle control device 100 can be improved.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to intermittently acquire the parking environment information a plurality of times from when the activation switch of the vehicle 1 is turned off to when it is turned on. ing. With this configuration, the energy efficiency in the parking position correction control of the vehicle 1 by the vehicle control device 100 can be improved as compared with the case where the parking environment information is continuously acquired immediately after parking.

Further, in the vehicle control device 100 of the present embodiment, the parking environment information includes the distance Dv between the vehicle 1 and the adjacent vehicle V. Further, the parking environment determination unit 112 is configured to determine that the parking environment information is inappropriate when the distance Dv between the vehicle 1 and the adjacent vehicle V is equal to or less than the threshold value. With this configuration, after the vehicle 1 is parked, the space between the vehicle 1 and the adjacent vehicle V can be appropriately maintained.

More specifically, for example, after parking the vehicle 1 in the parking space P, another vehicle enters the adjacent parking space P, or another vehicle exits from the adjacent parking space and another vehicle enters. As a result, it is assumed that the distance from the adjacent vehicle V becomes abnormally close. In this case, the distance Dv between the vehicle 1 and the adjacent vehicle V acquired by the outside world information recognition unit 111 becomes equal to or less than the distance Dt that is the threshold value, and the parking environment determination unit 112 determines that the parking environment information is incorrect. ..

As a result, the traveling control unit 121 moves the vehicle 1 to the corrected parking position where the parking environment information is appropriate. This prevents the distance Dv between the vehicle 1 and the adjacent vehicle V from becoming larger than the threshold value Dt, which hinders the opening and closing of the door of the parked vehicle 1. Further, it is possible to easily get on the parked vehicle 1, and it is possible to prevent a collision between the door of the parked vehicle 1 and the door of the adjacent vehicle V. Further, it is possible to prevent the contact between the vehicle 1 and the adjacent vehicle V due to the inner wheel difference when the adjacent vehicle V is leaving.

Further, in the vehicle control device 100 of the present embodiment, the parking environment information includes the boundary B of the parking space P in which the vehicle 1 is parked. The parking environment determination unit 112 is configured to determine that the parking environment information is inappropriate when the distance Db between the vehicle 1 and the boundary B is equal to or less than the threshold value. With this configuration, the vehicle 1 is prevented from being parked at an extremely biased position in the parking space P, and the parking environment can be appropriately maintained after the vehicle 1 is parked.

Further, the vehicle control device 100 of the present embodiment includes the corrected parking position calculation unit 113 that calculates the corrected parking position when it is determined that the parking environment information is incorrect. With this configuration, the corrected parking position calculation unit 113 can calculate the corrected parking position, and the traveling control unit 121 can cause the vehicle 1 to travel and move to the corrected parking position.

Further, in the vehicle control device 100 of the present embodiment, the traveling control unit 121 is configured not to move the vehicle 1 when the corrected parking position calculation unit 113 cannot calculate the corrected parking position. With this configuration, unnecessary movement of the vehicle 1 can be avoided, and energy efficiency can be improved in the parking position correction control of the vehicle 1 by the vehicle control device 100.

Further, in the vehicle control device 100 of the present embodiment, the external world information recognition unit 111 is configured to activate the external world recognition sensor 10 while the vehicle 1 is traveling to detect obstacles around the vehicle 1. Further, the traveling control unit 121 is configured to stop the vehicle 1 when the external information recognition unit 111 detects an obstacle in the course of the vehicle 1. With this configuration, it is possible to prevent the vehicle 1 from colliding with an obstacle while moving, and it is possible to improve the safety of the parking position correction control of the vehicle 1 by the vehicle control device 100.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to acquire the parking environment information at regular time intervals, for example. With this configuration, it is possible to intermittently acquire the vehicle environment information a plurality of times at appropriate time intervals according to the frequency with which the parking environment information changes.

Further, in the vehicle control device 100 of the present embodiment, the outside world information recognition unit 111 is configured to acquire the parking environment information at different time intervals, for example. With this configuration, it is possible to reduce the frequency of acquiring the parking environment information during a time period when the change in the parking environment information is scarce. Thereby, in the parking position correction control of the vehicle 1 by the vehicle control device 100, energy efficiency can be improved.

As described above, according to this embodiment, it is possible to provide the vehicle control device 100 that can appropriately maintain the parking environment after parking. As described above, the vehicle control device 100 of the present embodiment relates to the automatic parking technology related to AD and ADAS. Therefore, according to the vehicle control device 100 of the present embodiment, not only the above-mentioned effects but also contact with the adjacent vehicle V due to an operation error of the occupant driving the vehicle 1 when the vehicle 1 is parked, erroneous start and malfunction, and other It is possible to prevent damage.

As described above, the vehicle control device 100 according to the present embodiment appropriately maintains the distance Dv between the vehicle 1 and the adjacent vehicle V and properly adjusts the distance Db between the vehicle 1 and the boundary B of the parking space P. It is not limited to the embodiment of maintaining. Hereinafter, another example of the parking position correction control of the vehicle 1 by the vehicle control device 100 will be described with reference to FIG. 10.

FIG. 10 is a plan view showing an example of parking position correction control of the vehicle 1 by the vehicle control device 100 of FIG. The example shown in FIG. 10 shows a state in which the vehicle 1 corresponding to the wireless power feeding system and provided with the onboard power receiving unit 70 is parked in the parking space P provided with the ground power transmission unit GPU.

The vehicle-mounted power receiving unit 70 of the vehicle 1 includes a primary coil, and the ground power transmission unit GPU of the parking space P includes a secondary coil. By parking the vehicle 1 in the parking space P such that the vehicle-mounted power receiving unit 70 is located on the ground power transmission unit GPU, the vehicle 1 receives power from the ground power transmission unit GPU to the vehicle power reception unit 70 and can charge the battery. Is configured.

The wireless power feeding system has the highest power feeding efficiency when the power feeding point P1 of the ground power transmitting unit GPU and the power receiving point P2 of the vehicle-mounted power receiving unit 70 coincide with each other. However, the power feeding efficiency is reduced in the region R1 where the power receiving point P2 is deviated from the power feeding point P1, and the power feeding efficiency is further lowered in the region R2 where the power receiving point P2 is distant from the power feeding point P1.

Therefore, in the example shown in FIG. 10, the outside world information recognition unit 111 of the vehicle control device 100 acquires the position of the power feeding point P1 as parking environment information by the outside world recognition sensor 10 such as the optical sensor 14, for example. In addition, the parking environment determination unit 112, for example, when the horizontal distance Dx and the vertical distance Dy between the power feeding point P1 and the power receiving point P2 are each equal to or greater than the threshold value, the parking environment information is It can be configured to determine improperness.

With this configuration, after the vehicle 1 is parked in the parking space P, even if the vehicle-mounted power receiving unit 70 of the vehicle 1 is located in the regions R1 and R2 where the power transmission efficiency of the ground power transmission unit GPU is low, the traveling control unit 121 causes the vehicle to operate. 1 can be run and moved to the corrected parking position. The corrected parking position is a position at which the parking environment determination unit 112 determines that the parking environment information is appropriate, that is, the horizontal distance Dx and the vertical distance Dy between the power feeding point P1 and the power receiving point P2, respectively. , Below the threshold.

Accordingly, the vehicle 1 is moved by the traveling control unit 121 and moved to the corrected parking position, so that the power reception point P2 of the vehicle-mounted power reception unit 70 of the vehicle 1 is close to the power supply point P1 of the ground power transmission unit GPU of the parking space P. Can be placed at. Therefore, the power supply efficiency from the ground power transmission unit GPU to the vehicle-mounted power reception unit 70 can be improved.

Although the embodiment of the vehicle control device according to the present disclosure has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes within the scope not departing from the gist of the present disclosure. Etc. are included in the present disclosure.

1 Vehicle 10 Outside World Recognition Sensor 100 Vehicle Control Device 111 Outside World Information Recognition Unit 112 Parking Environment Determination Unit 113 Corrected Parking Position Calculation Unit 121 Traveling Control Unit B Boundary Db Distance Dv Distance P Parking Space V Adjacent Vehicle

Claims

A vehicle control device mounted on a vehicle equipped with an external recognition sensor,
An outside world information recognition unit that activates the outside world recognition sensor after parking the vehicle to acquire parking environment information around the vehicle,
A parking environment determination unit that determines whether the parking environment information is appropriate,
A vehicle control device comprising: a travel control unit that drives the vehicle to move to a corrected parking position where the parking environment information is appropriate when the parking environment information is determined to be inappropriate.
The vehicle control device according to claim 1, wherein the outside world information recognition unit acquires the parking environment information after a predetermined time has passed immediately after the vehicle is parked.
The vehicle control device according to claim 1, wherein the outside world information recognition unit intermittently acquires the parking environment information a plurality of times from when the activation switch of the vehicle is turned off until when the activation switch of the vehicle is turned on.
The parking environment information includes a distance between the vehicle and an adjacent vehicle,
The vehicle control device according to claim 1, wherein the parking environment determination unit determines that the parking environment information is inappropriate when the distance is equal to or less than a threshold value.
The parking environment information includes a boundary of a parking space in which the vehicle is parked,
The vehicle control device according to claim 1, wherein the parking environment determination unit determines that the parking environment information is inappropriate when a distance between the vehicle and the boundary is equal to or less than a threshold value.
The vehicle control device according to claim 1, further comprising a corrected parking position calculation unit that calculates the corrected parking position when the parking environment information is determined to be inappropriate.
The vehicle control device according to claim 6, wherein the travel control unit does not move the vehicle when the corrected parking position calculation unit cannot calculate the corrected parking position.
The external world information recognition unit detects an obstacle around the vehicle by activating the external world recognition sensor while the vehicle is traveling,
The vehicle control device according to claim 1, wherein the traveling control unit stops the vehicle when the external world information recognition unit detects an obstacle in the course of the vehicle.
The vehicle control device according to claim 3, wherein the outside world information recognition unit acquires the parking environment information at regular time intervals.
The vehicle control device according to claim 3, wherein the outside world information recognition unit acquires the parking environment information at different time intervals.