WO2021084978A1 - Système d'aide au stationnement automatique - Google Patents

Système d'aide au stationnement automatique Download PDF

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Publication number
WO2021084978A1
WO2021084978A1 PCT/JP2020/035936 JP2020035936W WO2021084978A1 WO 2021084978 A1 WO2021084978 A1 WO 2021084978A1 JP 2020035936 W JP2020035936 W JP 2020035936W WO 2021084978 A1 WO2021084978 A1 WO 2021084978A1
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WO
WIPO (PCT)
Prior art keywords
smartphone
automatic parking
portable device
instruction
unit
Prior art date
Application number
PCT/JP2020/035936
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English (en)
Japanese (ja)
Inventor
山田　幸光
俊彦 齊藤
Original Assignee
アルプスアルパイン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by アルプスアルパイン株式会社 filed Critical アルプスアルパイン株式会社
Publication of WO2021084978A1 publication Critical patent/WO2021084978A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M11/00—Telephonic communication systems specially adapted for combination with other electrical systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices

Definitions

  • the present invention relates to an automatic parking support system.
  • a vehicle automatic driving system that automatically drives an automatic driving vehicle, and acquires traffic direction information which is information indicating whether or not the traffic direction for a passage for one vehicle is determined in one direction in a parking lot. Based on the fact that the traffic direction acquisition unit and the traffic direction acquisition unit can acquire the traffic direction information and can determine from the traffic direction information that the traffic direction in the passage is determined in one direction.
  • traffic direction information is information indicating whether or not the traffic direction for a passage for one vehicle is determined in one direction in a parking lot.
  • the traffic direction acquisition unit and the traffic direction acquisition unit can acquire the traffic direction information and can determine from the traffic direction information that the traffic direction in the passage is determined in one direction.
  • the driving status notification image is displayed on the display of the smartphone, and when it is determined that it is necessary to stop the autonomous driving vehicle by looking at the object position notification image, the autonomous driving vehicle is stopped by operating the stop button.
  • a smartphone portable device
  • the purpose is to provide an automatic parking support system that makes it easy to operate a portable device for allowing a vehicle to perform automatic parking.
  • the posture of the portable device is changed according to the portable device held by the user, the instruction presenting unit for presenting the instruction content to the user, and the instruction content. It includes a determination unit for determining whether or not the vehicle has been used, and an automatic driving permission unit for permitting automatic parking of the vehicle when the determination unit determines that the posture of the portable device has been changed.
  • FIG. 1 is a diagram showing an automatic parking support system 300 of the embodiment.
  • the automatic parking support system 300 includes an ECU (Electronic Control Unit) 100 mounted on the vehicle 10 and a smartphone 200.
  • the smartphone 200 is an example of a portable device capable of moving and operating the vehicle 10 by wireless communication from outside the vehicle 10.
  • the automatic parking support system 300 performs parking processing in an automatic parking system in which the vehicle 10 autonomously parks in a parking position by remotely transmitting a command to the ECU 100 mounted on the vehicle 10 by wireless communication. It is a device to support.
  • the functions required for such an automatic parking system are installed in the ECU 100 and the smartphone 200 as an example, but detailed description thereof will be omitted here.
  • the vehicle 10 includes an ECU 100, an acceleration sensor 11, a speed sensor 12, a communication unit 13, and an automatic parking ECU 20 as components related to the automatic parking support system 300.
  • the automatic parking ECU 20 automatically parks the vehicle 10 in an empty parking space detected by a camera, an ultrasonic sensor, or the like (not shown) based on a command transmitted from the smartphone 200.
  • the acceleration sensor 11 may be any acceleration sensor capable of detecting acceleration in the front-rear direction and the lateral direction of the vehicle 10.
  • a capacitive acceleration sensor or yaw rate sensor by MEMS Micro Electro Mechanical Systems
  • a gyro sensor may be used instead of the acceleration sensor 11.
  • the speed sensor 12 is a sensor that detects the vehicle speed when the vehicle 10 is moving forward or backward.
  • the communication unit 13 is a communication unit for transmitting or receiving data such as a command to and from the smartphone 200, and is, for example, a Bluetooth (registered trademark) standard short-range wireless communication device.
  • a plurality of communication units 13 are provided in the vehicle 10.
  • Each communication unit 13 has a plurality of antennas.
  • the communication unit 13 is not limited to Bluetooth, and may be a communication device of WLAN (Wireless Local Area Network) or other standards.
  • the ECU 100 is an ECU used in the automatic parking support system 300.
  • various ECUs are mounted on the vehicle 10, and are connected to the ECU 100 so as to be able to communicate with each other via an in-vehicle network.
  • the acceleration sensor 11, the speed sensor 12, and the communication unit 13 may be connected to an ECU other than the ECU 100 so as to be communicable with the ECU 100 via the ECU other than the ECU 100 and the vehicle-mounted network, or the vehicle-mounted network may be connected. It may be directly connected to the ECU 100 via.
  • the ECU 100 is realized by a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an internal bus, and the like.
  • the ECU 100 has a main control unit 110, a position measurement unit 120, an automatic operation permission unit 130, and a memory 140.
  • the main control unit 110, the position measurement unit 120, and the automatic driving permission unit 130 show the function of the automatic parking support program executed by the ECU 100 as a functional block.
  • the memory 140 functionally represents the memory of the ECU 100.
  • the main control unit 110 is a processing unit that controls the control processing of the ECU 100, and executes processing other than the processing executed by the position measurement unit 120 and the automatic operation permission unit 130.
  • the position measurement unit 120 positions the smartphone 200 in the AOA (Angle Of Arrival) format as an example, and obtains the position where the smartphone 200 exists around the vehicle 10.
  • the position measuring unit 120 determines two angles indicating the direction in which the smartphone 200 is located with respect to the two communication units 13 from the phase difference of the beacon signals detected by each of the two communication units 13.
  • the position of the smartphone 200 is obtained by using the two angles and the positional relationship between the two communication units 13 (distance between the two communication units 13).
  • the position measuring unit 120 obtains an angle representing the direction in which the smartphone 200 is located with respect to one communication unit 13 from the phase difference of the beacon signals received by the plurality of antennas of one communication unit 13.
  • the approximate position of the vehicle 10 is obtained based on the angle with respect to one communication unit 13 and the RSSI value. This is because the RSSI value indicates the approximate distance from the communication unit 13 to the smartphone 200.
  • the automatic driving permission unit 130 determines that the posture of the smartphone 200 has been changed by the determination unit 213 of the smartphone 200 when the position where the smartphone 200 measured by the position measurement unit 120 exists is within a predetermined distance from the vehicle 10. Then, the automatic parking of the vehicle 10 by the automatic parking ECU 20 is permitted.
  • the memory 140 stores an automatic parking support program, data, and the like necessary for the main control unit 110, the position measurement unit 120, and the automatic driving permission unit 130 to execute the above-mentioned processing.
  • the smartphone 200 includes a control device 210, a display 220, a speaker 230, an acceleration sensor 240, a communication unit 250, and a camera 260 as components related to the automatic parking support system 300.
  • the control device 210 has a main control unit 211, an instruction presentation unit 212, a determination unit 213, and a memory 214.
  • the main control unit 211 is a processing unit that controls the control processing of the control device 210, and executes processing other than the processing executed by the instruction presenting unit 212 and the determination unit 213.
  • the instruction presentation unit 212 presents the instruction content to the display 220. Presenting the instruction content on the display 220 is equivalent to presenting the instruction content to the user of the smartphone 200.
  • the content of the presentation represents an instruction to change the posture of the smartphone 200 so that the smartphone 200 is oriented in a predetermined direction. The details will be described later.
  • the determination unit 213 of the smartphone 200 according to the instruction content presented on the display 220 by the instruction presentation unit 212 based on the instruction content generated by the instruction presentation unit 212 and the posture of the smartphone 200 detected by the acceleration sensor 240. Determine if the posture has changed.
  • the memory 214 stores programs, data, and the like necessary for the instruction presenting unit 212 and the determination unit 213 to execute the above-mentioned processing.
  • the display 220 is, for example, a liquid crystal display panel and is integrated with a touch panel.
  • the display 220 accepts the operation of the smartphone 200 and displays an image or the like according to the operation content.
  • the display 220 also serves as an input unit for the operator to input an operation command in the automatic parking system.
  • the speaker 230 outputs voice or the like according to the operation content of the smartphone 200.
  • the acceleration sensor 240 is an acceleration sensor using MEMS (Micro Electro Mechanical Systems) as an example, and detects acceleration in three axial directions. If the acceleration sensor 240 is used, the posture of the smartphone 200 in the three axial directions can be detected.
  • MEMS Micro Electro Mechanical Systems
  • the communication unit 250 is a communication unit for transmitting or receiving data such as a command with the ECU 100 of the vehicle 10, and is, for example, a Bluetooth (registered trademark) standard short-range wireless communication device.
  • the communication unit 250 is not limited to Bluetooth, and may be a communication device of WLAN or other standards.
  • the camera 260 is a digital imaging unit that acquires a still image or a moving image.
  • 2A to 2F are diagrams for explaining the instruction content displayed on the display 220 of the smartphone 200 and the operation of changing the posture.
  • the linear arrow 221 displayed on the display 220 points in the direction directly below (the direction in which the ground is located) according to the message "Please tilt" displayed on the display 220 by the instruction presenting unit 212. If the user tilts the smartphone 200, the determination unit 213 determines that the posture of the smartphone 200 has been changed according to the message.
  • the control device 210 of the smartphone 200 notifies the vehicle 10 side of the determination result through the communication unit 250, the communication unit 13 receives the determination result on the vehicle 10 side, and the automatic driving permission unit 130 of the ECU 100 automatically parks.
  • the automatic parking by the ECU 20 is permitted, and the automatic parking by the automatic parking ECU 20 can be continued.
  • the message "Please tilt” and the curved arrow 222 indicating the tilting direction are displayed on the display 220.
  • the tilting direction indicated by the arrow 222 in FIG. 2A is a clockwise direction when the smartphone 200 is viewed from the display 220 side.
  • the determination unit 213 determines that the posture of the smartphone 200 has been changed according to the message, and the determination unit 213 displays "OK" on the display 220. Message is displayed.
  • the message “OK” is displayed as shown in FIG. 2B
  • the message "Please tilt” and the curved arrow 222 indicating the tilting direction are displayed on the display 220 as shown in FIG. 2C.
  • the tilting direction indicated by the arrow 222 in FIG. 2C is a counterclockwise direction when the smartphone 200 is viewed from the display 220 side.
  • the determination unit 213 determines that the posture of the smartphone 200 has been changed according to the message, and the determination unit 213 displays "OK" on the display 220. Message is displayed.
  • the message “OK” is displayed as shown in FIG. 2D
  • the message "Please tilt” and the curved arrow 222 indicating the tilting direction are displayed on the display 220 as shown in FIG. 2E.
  • the tilting direction indicated by the arrow 222 in FIG. 2E is a counterclockwise direction when the smartphone 200 is viewed from the display 220 side.
  • the determination unit 213 determines that the posture of the smartphone 200 has been changed according to the message, and the determination unit 213 displays "OK" on the display 220. Message is displayed.
  • the message requesting the user to tilt the smartphone 200 is displayed on the display 220, and when the posture of the smartphone 200 is changed correctly according to the message, the message is repeatedly displayed.
  • the user can be requested to operate the automatic parking of the vehicle 10 via the smartphone 200. If the user does not correctly change the posture of the smartphone 200 according to the message, the automatic parking ECU 20 does not perform automatic parking.
  • FIG. 3 is a flowchart showing a process executed by the control device 210 of the smartphone 200.
  • the main control unit 211 When the main control unit 211 starts processing, it acquires acceleration data from the acceleration sensor 240 (step S1).
  • the instruction presenting unit 212 considers the posture of the smartphone 200 represented by the acceleration data acquired in step S1, and tilts with a message "Please tilt” so that the posture after the change is different from the current posture.
  • An arrow 222 indicating a direction is displayed on the display 220 (step S2).
  • the main control unit 211 acquires acceleration data from the acceleration sensor 240 when the message and the arrow 222 are displayed on the display 220 by the instruction presentation unit 212 (step S3).
  • the determination unit 213 determines whether or not the posture of the smartphone 200 has been changed according to the message based on the acceleration data acquired in step S3 (step S4).
  • the determination unit 213 determines that the posture has been changed (correctly) according to the message (S4: YES)
  • the determination unit 213 displays an "OK" message on the display 220 (step S5).
  • the main control unit 211 notifies the vehicle 10 of the determination result of the determination unit 213 indicating that the posture has been changed according to the message (step S6).
  • the determination result is transmitted from the communication unit 250 to the communication unit 13 of the vehicle 10, the automatic driving permission unit 130 of the ECU 100 permits the automatic parking by the automatic parking ECU 20, and the automatic parking by the automatic parking ECU 20 can be continued. become.
  • step S6 the main control unit 211 determines whether or not to end the process (step S7). The process is terminated when an operation for ending the automatic parking process is performed on the smartphone 200.
  • step S1 the main control unit 211 determines that the processing is not completed (S7: NO)
  • the main control unit 211 returns the flow to step S1.
  • the process is repeatedly executed from step S1. For example, it corresponds to the case of transitioning to the state of FIG. 2C after becoming "OK" in FIG. 2B.
  • the main control unit 211 determines that the processing is terminated (S7: YES)
  • the main control unit 211 terminates a series of processing (end).
  • step S4 when the determination unit 213 determines that the posture has not been (correctly) changed according to the message (S4: NO), the determination unit 213 displays a message of "processing stopped" on the display 220 (step S8). ).
  • the main control unit 211 notifies the vehicle 10 of the determination result of the determination unit 213 indicating that the posture has not been changed according to the message (step S9).
  • the determination result is transmitted from the communication unit 250 to the communication unit 13 of the vehicle 10, the automatic driving permission unit 130 of the ECU 100 is in a state of not permitting the automatic parking by the automatic parking ECU 20, and the automatic parking by the automatic parking ECU 20 continues. It becomes impossible. This completes the series of processing.
  • the smartphone 200 is tilted according to the message displayed on the display 220 and the arrow 222 to change the posture correctly, the automatic parking can be continued. At this time, there is no need to touch the display 220, and the smartphone 200 need only be tilted in a desired direction. Such an operation is very simple and can be performed with one hand.
  • an automatic parking support system 300 that makes it easy to operate the smartphone 200 for causing the vehicle 10 to perform automatic parking.
  • the touch operation to the display 220 is not required, and the smartphone 200 only needs to be tilted in a desired direction, so that the burden on the user is light, for example, when the luggage is held by hand. It is possible to provide an automatic parking support system 300 that can be easily operated even when an umbrella is being held by hand due to rain, or when the hand is squeezed in cold weather.
  • the determination unit 213 presents the instruction presented to the display 220 by the instruction presenting unit 212 based on the instruction content generated by the instruction presenting unit 212 and the posture of the smartphone 200 detected by the acceleration sensor 240. A mode for determining whether or not the posture of the smartphone 200 has been changed according to the content has been described.
  • the posture of the smartphone 200 detected by the acceleration sensor 240 may be used instead of the posture of the smartphone 200 detected by the acceleration sensor 240.
  • the determination unit 213 determines that the posture of the smartphone 200 has been changed according to the message. did.
  • the direction of the arrow 221 is not limited to such a form, and may be in any direction.
  • FIGS. 4A to 4F are diagrams for explaining the instruction content displayed on the display 220 of the smartphone 200 and the operation of changing the posture in the modified example of the embodiment.
  • the arrow 222 is displayed, and the arrow 221 (see FIG. 2) is not displayed. Therefore, the user tilts the smartphone 200 in a desired direction according to the message "Please tilt" and the arrow 222.
  • the display on the display 220 may have such a form. Since the arrow 221 (see FIG. 2) is not displayed, the message and the arrow 222 can be displayed larger.
  • FIG. 5A to 5D are diagrams showing a usage pattern of the smartphone 200 according to a modified example of the embodiment.
  • the direction in which the smartphone 200 is tilted is guided by voice ("tilt to the right") together with the arrow 222 and a message ("tilt to the right").
  • the content of the instruction for changing the posture of the smartphone 200 may be transmitted to the user by the arrow 222, the message, and the voice guidance.
  • the instruction presentation unit 212 may generate the instruction content by the arrow 222 and the message and display it on the display 220, and the instruction presentation unit 212 may generate the instruction content by voice guidance and output it to the speaker 230. Just do it.
  • the arrow 222 and / or the message on the display 220 may be omitted.
  • the message "Please shake” and the vibration caused by vibrating the vibration element 223 of the smartphone 200 are guided. That is, the message and the vibration represent the instruction content to cause the user to shake the smartphone 200.
  • the vibrating element 223 is a piezo element as an example, and is provided on the back side of the display 220.
  • the user may shake the smartphone 200 in order to change the posture of the smartphone 200 when the smartphone 200 vibrates.
  • the message on the display 220 may be omitted.
  • the user is required to shake the smartphone 200 when the headlight 15 of the vehicle 10 blinks.
  • the headlight 15 of the vehicle 10 may be used to transmit the instruction content for changing the posture of the smartphone 200 to the user. That is, the blinking of the headlight 15 of the vehicle 10 indicates the instruction content to cause the user to shake the smartphone 200.
  • a sound such as a horn may be used instead of the headlight 15, or in addition to the headlight 15, a sound such as a horn may be used.
  • Vehicle 13 Communication unit 100 ECU 130 Automatic driving permission unit 200 Smartphone 212 Instruction presentation unit 213 Judgment unit 300 Automatic parking support system

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un système d'aide au stationnement automatique qui facilite le fonctionnement d'un dispositif portable pour amener un véhicule à effectuer un stationnement automatique.　Le système d'aide au stationnement automatique comprend : un dispositif portable tenu par un utilisateur ; une unité de présentation d'instructions qui présente un contenu d'instructions à l'utilisateur ; une unité de détermination qui détermine si oui ou non la posture du dispositif portable a été modifiée en fonction du contenu d'instruction ; et une unité d'autorisation de conduite automatique qui permet un stationnement automatique du véhicule, lorsque l'unité de détermination détermine que la posture du dispositif portable a été modifiée .
PCT/JP2020/035936 2019-10-28 2020-09-24 Système d'aide au stationnement automatique WO2021084978A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019195639A JP2022174351A (ja) 2019-10-28 2019-10-28 自動駐車支援システム
JP2019-195639 2019-10-28

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WO2021084978A1 true WO2021084978A1 (fr) 2021-05-06

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021233612A1 (fr) * 2020-05-18 2021-11-25 Bayerische Motoren Werke Aktiengesellschaft Activation d'une manœuvre de stationnement automatisée au moyen d'un mouvement d'activation réalisé par un dispositif de communication mobile

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021142925A (ja) * 2020-03-13 2021-09-24 フォルシアクラリオン・エレクトロニクス株式会社 遠隔操作判定装置及び遠隔操作判定システム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002168647A (ja) * 2000-11-29 2002-06-14 Ntt Docomo Inc 方向提示方法及び携帯端末
JP2017517903A (ja) * 2014-01-31 2017-06-29 ルノー エス．ア．エス． 自動車両の自動移動操縦を制御するための方法
JP2018127066A (ja) * 2017-02-07 2018-08-16 三菱自動車工業株式会社 駐車支援装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002168647A (ja) * 2000-11-29 2002-06-14 Ntt Docomo Inc 方向提示方法及び携帯端末
JP2017517903A (ja) * 2014-01-31 2017-06-29 ルノー エス．ア．エス． 自動車両の自動移動操縦を制御するための方法
JP2018127066A (ja) * 2017-02-07 2018-08-16 三菱自動車工業株式会社 駐車支援装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021233612A1 (fr) * 2020-05-18 2021-11-25 Bayerische Motoren Werke Aktiengesellschaft Activation d'une manœuvre de stationnement automatisée au moyen d'un mouvement d'activation réalisé par un dispositif de communication mobile

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