WO2021124781A1

WO2021124781A1 - Automatic parking support system, automatic parking support program, and automatic parking support method

Info

Publication number: WO2021124781A1
Application number: PCT/JP2020/043093
Authority: WO
Inventors: 慶悟若菜; 高井　大輔; 順平野口
Original assignee: アルプスアルパイン株式会社; 本田技研工業株式会社
Priority date: 2019-12-17
Filing date: 2020-11-18
Publication date: 2021-06-24
Also published as: JP2023011957A

Abstract

Provided are an automatic parking support system, an automatic parking support program, and an automatic parking support method capable of remotely moving and operating a vehicle within a predetermined range of the vehicle.　The automatic parking support system comprises: an operation unit which can move and operate the vehicle by wireless communication from outside the vehicle; an action plan acquisition unit which acquires the action plan of the vehicle; a position measurement unit which measures the position of the operation unit with respect to the vehicle; and a command generation unit which, on the basis of the action plan acquired by the action plan acquisition unit and the position measured by the position measurement unit, generates a command for prompting the operator of the operation unit to move within the predetermined range of the vehicle, wherein the operator of the operation unit is notified of the command via the operation unit.

Description

Automatic parking support system, automatic parking support program, and automatic parking support method

The present invention relates to an automatic parking support system, an automatic parking support program, and an automatic parking support method.

Conventionally, a parking support control unit that assists parking of the vehicle and a guidance display based on an effective detection range by the first sensor are displayed in front of the vehicle by using the first sensor for parking support provided in the vehicle. There is a parking support device including a guidance display control unit that displays on a display device in a state of being superimposed on a landscape (see, for example, Patent Document 1).

International Publication No. 2017/179198

By the way, the conventional parking support device does not remotely control the movement of the vehicle. In an automatic parking system in which a vehicle is autonomously parked in a parking position by remotely operating the vehicle with an operation terminal such as a smartphone, the distance between the operation terminal and the vehicle may be limited.

Therefore, it is an object of the present invention to provide an automatic parking support system, an automatic parking support program, and an automatic parking support method that can remotely move and operate a vehicle within a predetermined range of the vehicle.

The automatic parking support system according to the embodiment of the present invention includes an operation unit capable of moving and operating the vehicle from outside the vehicle by wireless communication, an action plan acquisition unit for acquiring the action plan of the vehicle, and the operation unit for the vehicle. The operator of the operation unit within a predetermined range of the vehicle based on the position measurement unit that measures the position of the vehicle, the action plan acquired by the action plan acquisition unit, and the position measured by the position measurement unit. It includes a command generation unit that generates a command for urging the movement of the vehicle, and notifies the operator of the operation unit of the command via the operation unit.

It is possible to provide an automatic parking support system, an automatic parking support program, and an automatic parking support method that can remotely move and operate the vehicle within a predetermined range of the vehicle.

It is a figure which shows the automatic parking support system 300 of embodiment. It is a figure which shows the communication area 13A around the vehicle 10. It is a sequence diagram which shows the process executed by the ECU 100 and the smartphone 200 in the automatic parking support system 300. It is a sequence diagram which shows the modification of the process executed by the ECU 100 and the smartphone 200 in the automatic parking support system 300. It is a figure explaining the method of guiding an operator by a command data. It is a figure explaining the method of guiding an operator by a command data. It is a figure explaining the method of guiding an operator by a command data. It is a figure explaining the method of guiding an operator by a command data. It is a figure explaining the method of guiding an operator by a command data. It is a figure explaining the method of guiding an operator by a command data. It is a figure explaining the method of guiding an operator by a command data. It is a figure explaining the method of guiding an operator by a command data.

Hereinafter, embodiments to which the automatic parking support system, the automatic parking support program, and the automatic parking support method of the present invention are applied will be described.

<Embodiment>
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 an operation unit 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 11A, a yaw rate sensor 11B, a steering angle sensor 11C, 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 11A may be any acceleration sensor capable of detecting acceleration in the front-rear direction and the lateral direction of the vehicle 10. As the acceleration sensor 11A, for example, a capacitive acceleration sensor by MEMS (Micro Electro Mechanical Systems) can be used.

The yaw rate sensor 11B is a device for measuring the angular velocity (yaw rate) of the vehicle 10 around the vertical axis of the vehicle, and is, for example, a gyroscope device.

The steering angle sensor 11C is a sensor that detects the steering angle of the vehicle 10, and an encoder can be used, for example.

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. Further, in order to detect forward and backward movements in the traveling direction, a gear shift control detection sensor 14 that detects that gear shift control has been performed, and an R position detection sensor 15 that detects that the R (Reverse) position has been reached. May be provided.

The ECU 100 is an ECU used in the automatic parking support system 300. In addition to the ECU 100, 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 11A, yaw rate sensor 11B, steering angle sensor 11C, speed sensor 12, and communication unit 13 are connected to an ECU other than the ECU 100, and are communicably connected to the ECU 100 via an ECU other than the ECU 100 and an in-vehicle network. It may be directly connected to the ECU 100 via an in-vehicle network.

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 includes a main control unit 110, an action plan acquisition unit 120, a position measurement unit 130, a command generation unit 140, and a memory 150. The main control unit 110, the action plan acquisition unit 120, the position measurement unit 130, and the command generation unit 140 show the function of the automatic parking support program executed by the ECU 100 as a functional block. Further, the memory 150 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 action plan acquisition unit 120, the position measurement unit 130, and the command generation unit 140.

The action plan acquisition unit 120 acquires the trajectory of the vehicle 10 by a series of actions of the vehicle 10 in the automatic parking from the automatic parking ECU 20. The track of the vehicle 10 represents the action plan of the vehicle 10, and the action plan represents how much the vehicle moves at what speed and steering angle in the front-rear and left-right directions.

The position measurement unit 130 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. In the case of the AOA format, the position measuring unit 130 indicates 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 angle is obtained, and 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.

Further, the position measuring unit 130 obtains two angles representing 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, and two. The position of the smartphone 200 is obtained by using the angle and the positional relationship between the two communication units 13 (distance between the two communication units 13).

The command generation unit 140 of the operator within a predetermined range of the vehicle 10 based on the trajectory of the vehicle 10 calculated by the action plan acquisition unit 120 and the position where the smartphone 200 measured by the position measurement unit 130 exists. Generates command data that represents a command that encourages movement. The predetermined range is, for example, a range within 4 m from each communication unit 13. Further, the command data is an example of a command representing a message such as "Please approach the side of the vehicle" or "Please approach the rear of the vehicle".

The memory 150 stores automatic parking support programs, data, and the like necessary for the main control unit 110, the action plan acquisition unit 120, the position measurement unit 130, and the command generation unit 140 to execute the above-mentioned processing.

The smartphone 200 includes a control device 210, a display 220, a speaker 230, a communication unit 240, and a vibrator 250 as components related to the automatic parking support system 300.

The control device 210 has a main control unit 211, a command notification unit 212, and a memory 213.

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 command notification unit 212.

When the command notification unit 212 receives the command data from the vehicle 10 via the communication unit 240, the command notification unit 212 displays the message represented by the command data on the display 220 and notifies the operator of the smartphone 200 that the message has been displayed. Is output (notified) from the speaker 230. The notification may be vibration by the vibrator 250 instead of the voice by the speaker 230.

The memory 213 stores programs, data, and the like necessary for the command notification unit 212 to execute the above-mentioned processing. Further, the command data received from the vehicle 10 via the communication unit 240 is temporarily stored.

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. Further, the speaker 230 outputs a notification sound for notifying the operator that the message represented by the command data is displayed on the display 220.

The communication unit 240 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 240 is not limited to Bluetooth, and may be a communication device of WLAN or other standards.

The vibrator 250 is a vibrating element that generates vibration in the housing of the smartphone 200. The vibrator 250 is driven, for example, when notifying the user of an incoming call, receiving an e-mail, displaying the above-mentioned message, or the like by vibration.

FIG. 2 is a diagram showing a communication area 13A around the vehicle 10. The communication area 13A is an area in which the RSSI (Received Signal Strength Indicator) value of the beacon signal output by the communication unit 13 of the vehicle 10 is equal to or higher than a predetermined value, and the vehicle 10 can detect the smartphone 200. Range. The range of such a communication area 13A is defined by, for example, a law, and here, as an example, it is within the range of each communication unit 13 to 6 m. Note that FIG. 2 shows the communication areas 13A on the front side and the right side of the vehicle 10 for convenience of explanation.

A plurality of communication units 13 are provided at the four corners of the body of the vehicle 10. FIG. 2 shows eight communication units 13 as an example. One communication unit 13 is provided at the front left and right ends of the vehicle 10, one communication unit 13 is provided at each rear left and right end of the vehicle 10, and one communication unit 13 is provided at the left front and rear ends of the vehicle 10. Is provided with one communication unit 13 at a time, and one communication unit 13 is provided at each of the front and rear ends on the right side of the vehicle 10.

The communication output of the communication unit 13 and the communication unit 240 of the smartphone 200 is predetermined, and since each communication area 13A extends from the communication unit 13 at a predetermined radiation angle, there is an area where the communication areas 13A overlap each other. To do. In FIG. 2, the number of overlapping communication areas 13A is shown from 0 to 3, and the larger the number, the darker gray. The area where the number of overlapping communication areas 13A is 0 is an area that is not included in any of the communication areas 13A.

Further, FIG. 2 shows an XY coordinate system with the center of the vehicle 10 in a plan view as the origin O. The position of the smartphone 200 is obtained as a value in such an XY coordinate system.

FIG. 3 is a sequence diagram showing a process executed by the ECU 100 and the smartphone 200 in the automatic parking support system 300. The process shown in FIG. 3 is a process executed by the ECU 100 and the smartphone 200 as the automatic parking support system 300 when the vehicle 10 is autonomously parked in the parking position by the automatic parking system. At this time, the ECU 100 executes the automatic parking support program. When the ECU 100 executes the automatic parking support program, the automatic parking support method executed by the ECU 100 is realized.

First, on the ECU 100 side, the action plan acquisition unit 120 acquires the trajectory of the vehicle 10 from the automatic parking ECU 20 (step S1).

Next, the smartphone 200 outputs a beacon signal (step S21).

Further, on the ECU 100 side, the position measurement unit 130 causes each communication unit 13 to receive the beacon signal for measurement in the AOA format of the smartphone 200 (step S2).

The position measurement unit 130 selects the communication unit 13 whose RSSI value is equal to or greater than a predetermined value capable of measuring the angle and position in the AOA format from the reception result of the beacon signal (step S3). The predetermined value in step S3 is a predetermined level RSSI value at which the angle and position can be calculated in the AOA format.

In step S3, if there is no communication unit 13 capable of measuring the angle and position in the AOA format, the communication unit 13 is not selected. In other words, in step S3, if there is no communication unit 13 capable of measuring the angle or position in the AOA format, 0 (zero) communication units 13 are selected.

The position measuring unit 130 determines how many communication units 13 can measure the angle and position in the AOA format (step S4).

When the position measuring unit 130 determines that there are two or more communication units 13 capable of measuring the angle and position in the AOA format, the position measuring unit 130 obtains the position of the smartphone 200 in the AOA format based on the reception results of the two communication units 13 ( Step S5A).

More specifically, the position measuring unit 130 obtains two angles representing 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 determined by using the two angles and the distance between the two communication units 13. The position of the smartphone 200 may be obtained as a value in the XY coordinate system shown in FIG.

The command generation unit 140 determines whether or not the position of the smartphone 200 obtained in step S5A is 4 m or more away from the vehicle 10 (step S6A).

When the command generation unit 140 determines that the distance is 4 m or more (S6A: YES), the command generation unit 140 determines whether or not the vehicle 10 moves away from the smartphone 200 based on the trajectory of the vehicle 10 acquired by the action plan acquisition unit 120. (Step S7A). Whether or not the vehicle 10 moves away from the smartphone 200 may be determined based on the position of the smartphone 200 obtained in step S5A and the trajectory of the vehicle 10 represented by the action plan.

When the command generation unit 140 determines that the vehicle 10 moves away from the smartphone 200 (S7A: YES), the command generation unit 140 sends a message according to the positional relationship between the vehicle 10 and the smartphone 200 when the vehicle 10 moves away from the smartphone 200. The command data to be displayed on the 200 is generated and transmitted to the smartphone 200 via the communication unit 13 (step S8A).

Further, when the command generation unit 140 determines that the vehicle 10 does not leave the smartphone 200 (S7A: NO), the command generation unit 140 generates command data for displaying a message guiding the operator to approach the vehicle 10 on the smartphone 200. , Is transmitted to the smartphone 200 via the communication unit 13 (step S8B).

In the message displayed on the smartphone 200 by the command data generated in steps S8A and S8B, the direction in which the smartphone 200 can exist with respect to the vehicle 10 is divided into three directions, front, rear, and side, and the vehicle 10 moves. The direction other than the direction means the rear or side when the vehicle 10 is moving forward, and the front or side when the vehicle 10 is moving backward. Forward and reverse includes the case where the vehicle 10 moves forward and backward with a steering angle.

For example, when the vehicle 10 is moving forward and the smartphone 200 is behind the vehicle 10, command data for displaying a message for guiding the smartphone 200 to approach the rear or side of the vehicle 10 may be generated. Further, when the vehicle 10 is moving forward and the smartphone 200 is in front of the vehicle 10, command data for displaying a message instructing the smartphone 200 to move to the side of the vehicle 10 may be generated. Further, when the smartphone 200 is on the side of the vehicle 10 and the vehicle 10 is moving forward or backward, command data for displaying a message for guiding the smartphone 200 to approach the side of the vehicle 10 may be generated. .. The specific message will be described later with reference to FIGS. 5 to 12.

As a result, in the smartphone 200, the command notification unit 212 displays a message on the display 220 and outputs a notification sound from the speaker 230 based on the received command data (step S22).

When the processing of steps S8A and S8B is completed, the main control unit 110 determines whether or not parking is completed based on the action plan of the vehicle 10 acquired by the action plan acquisition unit 120 (step S9). When the parking of the vehicle 10 is completed, as an example, the automatic parking ECU 20 sets a flag indicating that parking is completed in the data representing the action plan, so that the main control unit 110 is operated by the action plan acquisition unit 120. It may be determined whether or not parking is completed by determining whether or not a flag indicating that parking is completed is set in the acquired action plan.

When the main control unit 110 determines that parking is completed (S9: YES), the main control unit 110 ends a series of processes (end).

Further, when the main control unit 110 determines that parking is not completed (S9: NO), the main control unit 110 returns the flow to step S1. This is because the parking is not completed, and the process of step S1 is restarted.

Further, when the smartphone 200 finishes the process of step S22, the smartphone 200 ends a series of processes (end). The process from the start to the end is repeatedly executed every control cycle of the ECU 100 and the smartphone 200.

Note that the command data for displaying the message guiding the operator on the smartphone 200 may be data representing the type of the message or data representing the message. In the former case, the data indicating the message type and the data indicating the message and the notification sound are stored in the memory 213 of the smartphone 200, and the smartphone 200 stores the data corresponding to the data indicating the message type. The data representing the above may be output from the display 220 and the speaker 230. Further, the display 220 may simply display a message without outputting the notification sound from the speaker 230.

Further, in step S4, when the position measuring unit 130 determines that there is one communication unit 13 that can be measured in the AOA format, the angle at which one communication unit 13 receives the beacon signal and the RSSI value of the beacon signal. The position of the smartphone 200 is obtained by using and (step S5B). The position measuring unit 130 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, and one unit. The approximate position of the vehicle 10 is obtained based on the angle of the communication unit 13 with respect to the 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 position obtained in step S5B is less accurate than the position obtained in the AOA format in step S5A, but it is possible to roughly determine where the smartphone 200 is located.

The command generation unit 140 determines whether or not the vehicle 10 moves away from the smartphone 200 (step S6B). The process of step S6B is the same as that of step S7A.

When the command generation unit 140 determines that the vehicle 10 is moving away from the smartphone 200 (S6B: YES), the command generation unit 140 determines that the vehicle 10 is moving away from the smartphone 200 (S6B: YES), based on the position of the smartphone 200 obtained in step S5B and the trajectory of the vehicle 10 represented by the action plan. The communication unit 13 that can measure in the AOA format determines whether or not the position of the smartphone 200 is in the two communication areas 13A (step S7B).

When the command generation unit 140 determines that the communication unit 13 enters the two communication areas 13A (S7B: YES), the main control unit 110 advances the flow to step S9. Since the position of the smartphone 200 is placed in the two communication areas 13A by the communication unit 13 that can measure in the AOA format by moving the vehicle 10, it is not necessary to move the operator of the smartphone 200, so that the command data is not generated. It is decided that the flow proceeds to step S9.

When the command generation unit 140 determines that the communication unit 13 does not enter the two communication areas 13A (S7B: NO), it is based on the position of the smartphone 200 obtained in step S5B and the track of the vehicle 10 represented by the action plan. Then, the communication unit 13 that can measure in the AOA format generates command data that causes the smartphone 200 to display a message that guides the operator so that the position of the smartphone 200 is placed in the two communication areas 13A, and the communication unit 13 generates command data via the communication unit 13. Is transmitted to the smartphone 200 (step S8C).

Further, when the command generation unit 140 determines in step S6B that the vehicle 10 does not leave the smartphone 200 (S6B: NO), the position of the smartphone 200 obtained in step S5B and the trajectory of the vehicle 10 represented by the action plan. Based on the above, the communication unit 13 that can measure in the AOA format determines whether or not the position of the smartphone 200 enters the two communication areas 13A due to the movement of the vehicle 10 (step S7C).

When the command generation unit 140 determines that the communication unit 13 enters the two communication areas 13A (S7C: YES), the main control unit 110 advances the flow to step S9. Since the position of the smartphone 200 is placed in the two communication areas 13A by the communication unit 13 that can measure in the AOA format by moving the vehicle 10, it is not necessary to move the operator of the smartphone 200, so that the command data is not generated. It is decided that the flow proceeds to step S9.

When the command generation unit 140 determines that the communication unit 13 does not enter the two communication areas 13A (S7C: NO), it is based on the position of the smartphone 200 obtained in step S5B and the track of the vehicle 10 represented by the action plan. Then, the communication unit 13 that can measure in the AOA format generates command data that causes the smartphone 200 to display a message that guides the operator so that the position of the smartphone 200 is placed in the two communication areas 13A, and the communication unit 13 generates command data via the communication unit 13. Is transmitted to the smartphone 200 (step S8D).

Further, in step S4, when the position measuring unit 130 determines that the number of communication units 13 capable of measuring the angle and position in the AOA format is 0, the main control unit 110 has an RSSI value equal to or higher than a predetermined threshold value. Whether or not it is determined (step S5C). The predetermined threshold values in step S5C are the communication area 13A in which the communication unit 13 that can measure in the AOA format is 0 in the immediate vicinity of the vehicle 10 shown in FIG. 2, and the communication unit 13 that can measure in the AOA format far from the vehicle 10. Is an RSSI value that distinguishes from 0 communication areas 13A.

When the main control unit 110 determines that the RSSI value is equal to or higher than a predetermined threshold value (S5C: YES), the command generation unit 140 has a smartphone 200 in the communication area 13A in which the communication unit 13 that can measure in the AOA format has two communication areas 13A. Command data for displaying a message for guiding the operator to enter the position of is generated on the smartphone 200 and transmitted to the smartphone 200 via the communication unit 13 (step S8E).

Further, when the main control unit 110 determines that the RSSI value is equal to or higher than a predetermined threshold value (S5C: YES), the command generation unit 140 has a communication unit 13 capable of measuring in the AOA format in two communication areas 13A. Command data for displaying a message for guiding the operator to enter the position of the smartphone 200 on the smartphone 200 is generated and transmitted to the smartphone 200 via the communication unit 13 (step S8F). In steps S8E and S8F, the directions for guiding the operator are different, so the steps are separated.

As a result of steps S8A, S8B, S8C, S8D, S8E, S8F, command data is transmitted from the ECU 100 to the smartphone 200 as shown by the broken line.

As described above, the smartphone 200 is located in the area where the RSSI value of the beacon signal output by the communication unit 13 of the vehicle 10 is equal to or higher than the predetermined value, and the distance between the vehicle 10 and the smartphone 200 is a predetermined value (example). When it is 4 m) or more, command data is generated based on the relationship between the position and moving direction of the vehicle 10 and the position of the smartphone 200 and transmitted to the smartphone 200.

As a result, the smartphone 200 displays a message guiding the operator on the display 220 and outputs a notification sound from the speaker 230 based on the received command data.

Therefore, the operator of the smartphone 200 can be guided within a predetermined distance (4 m as an example) from the vehicle 10.

Therefore, it is possible to provide an automatic parking support system 300 capable of remotely moving and operating the vehicle 10 within a predetermined range of the vehicle 10.

When the number of communication units 13 that can be measured in the AOA format is one or zero, command data is sent so that the communication unit 13 that can measure in the AOA format guides the operator to two or more communication areas 13A. Since it is generated, the communication unit 13 that can measure in the AOA format can guide the operator to two or more areas.

In the above, the mode in which the ECU 100 of the vehicle 10 includes the action plan acquisition unit 120, the position measurement unit 130, and the command generation unit 140 to generate the movement direction of the vehicle 10, the position of the smartphone 200, and the command data has been described. However, the acceleration sensor 11A, the yaw rate sensor 11B, and the steering angle sensor 11C detect the acceleration, yaw rate, steering angle, and speed sensor 12 in the front-rear direction and the lateral direction of the vehicle 10 from the ECU 100 of the vehicle 10 to the smartphone 200. By transmitting data indicating the detected vehicle speed at the time of forward movement or reverse movement of the vehicle 10 and providing the smartphone 200 with the functions of the action plan acquisition unit 120, the position measurement unit 130, and the command generation unit 140, the vehicle 10 The movement direction, the position of the smartphone 200, and the command data may be generated.

In the above, the mode in which the smartphone 200 is used as the operation unit for remotely controlling the vehicle 10 has been described, but the present invention is not limited to the smartphone 200. Such an operation unit may be any electronic device capable of wireless communication, and for example, a dedicated terminal may be used.

Further, in the above, the mode of generating the command data after obtaining the position of the smartphone 200 by using the AOA format has been described with reference to FIG. However, instead of AOA, the position of the smartphone 200 may be obtained in the TOA (Time Of Arrival) format and command data may be generated. TOA is also referred to as TOF (Time Of Flight).

FIG. 4 is a sequence diagram showing a modified example of the processing executed by the ECU 100 and the smartphone 200 in the automatic parking support system 300. In the process shown in FIG. 3, the coordinates of the smartphone 200 are obtained in the AOA format, but in FIG. 4, the position is obtained in the TOA format. Hereinafter, the same steps as the processes shown in FIG. 3 will be assigned the same step numbers, and the description thereof will be omitted. The processing of the ECU 100 shown in FIG. 4 is performed by the ECU 100 executing the automatic parking support program, and as a result, the automatic parking support method is realized.

In FIG. 4, when the action plan acquisition unit 120 executes the process of step S1, the position measurement unit 130 of the ECU 100 outputs a beacon signal for measurement in the TOA format to each communication unit 13 (step S1A).

The main control unit 211 of the smartphone 200 receives the beacon signal for measurement in the TOA format (step S20A).

When the main control unit 211 of the smartphone 200 receives the beacon signal for measurement in the TOA format, it outputs the beacon signal for measurement in the TOA format (step S20B).

The position measurement unit 130 of the ECU 100 causes each communication unit 13 to receive a beacon signal for measurement in the TOA format transmitted from the smartphone 200 (step S1B).

When the main control unit 211 of the smartphone 200 outputs the beacon signal for measurement in the TOA format, it transmits the beacon signal for measurement in the AOA format (step S21).

The position measurement unit 130 of the EUC 100 causes each communication unit 13 to receive a beacon signal for measurement in the AOA format transmitted from the smartphone 200 (step S2).

The position measurement unit 130 selects the communication unit 13 whose RSSI value is equal to or greater than a predetermined value capable of measuring the position and angle in the TOA format and the AOA format from the reception result of the beacon signal (step S3M). The predetermined value in step S3M is a predetermined level RSSI value at which the angle and position can be calculated in the AOA format.

In step S3M, if there is no communication unit 13 capable of measuring the position and angle in the TOA format and the AOA format, the communication unit 13 is not selected. In other words, in step S3M, if there is no communication unit 13 capable of measuring the position and angle in the TOA format and the AOA format, 0 (zero) communication units 13 are selected.

The position measuring unit 130 determines how many communication units 13 can measure the position and angle in the TOA format and the AOA format (step S4M).

When the position measuring unit 130 determines that there are two or more communication units 13 capable of measuring the position and angle in the TOA format and the AOA format, the position measuring unit 130 obtains the position of the smartphone 200 in the TOA format (step S5AM).

In the TOA format, if there are two communication units 13 that receive a beacon signal and have an RSSI value of a predetermined value or more, the two communication units 13 and the communication unit 240 of the smartphone 200 transmit and receive signals, which is required for signal transmission and reception. This is because two sets of distances between the communication unit 13 and the communication unit 240 can be calculated from the round-trip time to obtain XY coordinates representing the position of the smartphone 200. The position of the smartphone 200 is obtained as a value in the XY coordinate system shown in FIG.

In step S6A following step S5AM, it is determined whether or not the position of the smartphone 200 obtained in step S5AM is 4 m or more away from the vehicle 10.

After step S6A, the processes of steps S7A, S8A or S8B, and S9 shown in FIG. 3 are performed.

Further, in step S4M, when the position measuring unit 130 of the ECU 100 determines that there is one communication unit 13 capable of measuring the position and angle in the TOA format and the AOA format, the communication unit 13 communicates with the smartphone 200. The distance from the communication unit 13 to the smartphone 200 calculated from the round-trip time required for transmitting and receiving signals with the unit 240, and the phase difference of the beacon signals received by the plurality of antennas of one communication unit 13. The position of the smartphone 200 is obtained by using the angle of the smartphone 200 with respect to one communication unit 13 obtained from (step S5BM).

In step S5BM, the distance to the smartphone 200 is calculated in the TOA format, and the angle of the smartphone 200 is calculated in the AOA format. The position obtained in step S5BM is less accurate than the position obtained in step S5A, but it is possible to roughly determine where the smartphone 200 is located.

When the process of step S5BM is completed, the main control unit 110 advances the flow to step S6A.

Further, in step S4M, when the position measuring unit 130 of the ECU 100 determines that there are no communication units 13 capable of measuring the position and angle in the TOA format and the AOA format, the command generating unit 140 determines the TOA format and the AOA. The communication unit 13 that can measure in the format generates command data that causes the smartphone 200 to display a message that guides the operator so that the position of the smartphone 200 is placed in the two communication areas 13A, and the smartphone 200 is generated via the communication unit 13. (Step S8E). When the process of step S8E is completed, the main control unit 110 advances the flow to step S9.

By the above processing, the operator of the smartphone 200 can be guided within a predetermined distance (4 m as an example) from the vehicle 10.

Therefore, an automatic parking support system 300, an automatic parking support program, and an automatic parking support method capable of remotely moving and operating the vehicle 10 within a predetermined range of the vehicle 10 in a form using position measurement in the TOA format and the AOA format. Can be provided.

In the above, in step S5BM, the distance to the smartphone 200 is obtained in the TOA format, and the angle of the smartphone 200 is obtained in the AOA format. However, in step S5BM, the angle is not obtained in the AOA format, but in the TOA format. The operator may be guided based on the desired distance to the smartphone 200, the position and orientation of the communication unit 13 that has received the beacon signal, and the action plan.

Finally, with reference to FIGS. 5 to 12, how to guide the operator by the command data will be described. 5 to 12 are diagrams for explaining how to guide the operator by the command data. Here, a case where the measurement is performed in the AOA format corresponding to FIG. 3 will be described. The total length of the vehicle 10 is 4 m to 5 m, and the distance that the vehicle 10 moves by the automatic parking ECU 20 is about 0.01 m to 0.1 m as an example in one cycle of the control cycle of the ECU 100.

In FIG. 5, the smartphone 200 is located at a distance of 4 m or more from the front and rear communication units 13 on the right side of the vehicle 10 and in the communication area 13A having two communication units 13 that can be measured in the AOA format. Further, the vehicle 10 is moving forward while steering to the left.

In such a case, since the vehicle 10 moves away from the smartphone 200 located on the right side of the vehicle 10, the position relative to the vehicle 10 in the communication area 13A where there are two communication units 13 that can be measured in the AOA format. A message that induces the relationship to be maintained may be displayed on the smartphone 200. More specifically, for example, a message for inducing the vehicle to move along with the movement of the vehicle 10 may be displayed on the smartphone 200. This is because if the vehicle moves along with the movement of the vehicle 10, the smartphone 200 exists in the communication area 13A having two communication units 13 that can measure in the AOA format. FIG. 5 shows a case where the process proceeds to step S8A in the flow of FIG.

In FIG. 6, the smartphone 200 is located within 4 m from the front and rear communication units 13 on the right side of the vehicle 10, and is located in the communication area 13A having two communication units 13 that can be measured in the AOA format. Further, the vehicle 10 is moving forward while steering to the right.

In such a case, the vehicle 10 is approaching the smartphone 200 located on the right side of the vehicle 10, and even if the vehicle 10 moves, it is within the communication area 13A having two communication units 13 that can measure in the AOA format. No guiding message is needed as it is considered to be located. FIG. 6 shows a case where steps S6A to S9 proceed in the flow of FIG.

In FIG. 7, the smartphone 200 is located behind the vehicle 10 on the right side in the communication area 13A having one communication unit 13 that can measure in the AOA format. Further, the vehicle 10 is moving forward while steering to the right.

In such a case, the vehicle 10 is approaching the smartphone 200 located on the right side of the vehicle 10, and when the vehicle 10 moves, it is located in the communication area 13A having two communication units 13 that can measure in the AOA format. There is no need for a guiding message, as this is likely to happen. FIG. 6 shows a case where steps S7B to S9 proceed in the flow of FIG.

In FIG. 8, the smartphone 200 is located behind the vehicle 10 on the right side in the communication area 13A having one communication unit 13 that can measure in the AOA format. Further, the vehicle 10 is moving forward while steering to the left.

In such a case, if the operator moves toward the front of the vehicle 10 as indicated by the arrow, it is considered that the communication unit 13 that can be measured in the AOA format is located in the communication area 13A having two. The smartphone 200 may display a message inviting the user to move forward of the vehicle 10. FIG. 8 shows a case where the process proceeds to step S8C in the flow of FIG.

In FIG. 9, the smartphone 200 is located within 4 m from the communication unit 13 in front of the vehicle 10 on the right side, and is located in the communication area 13A having one communication unit 13 that can be measured in the AOA format. Further, the vehicle 10 is moving forward while steering to the right.

In such a case, the vehicle 10 is approaching the smartphone 200 located on the right side of the vehicle 10, and when the vehicle 10 moves, the operator can measure it in the AOA format by moving it to the right as indicated by the arrow. Since it is considered that the communication unit 13 is located in the communication area 13A having two communication units 13, a message for guiding the vehicle to the right side of the vehicle 10 may be displayed on the smartphone 200. FIG. 9 shows a case where the process proceeds to step S8D in the flow of FIG.

In FIG. 10, the smartphone 200 is located within 4 m from the communication unit 13 in front of the vehicle 10 on the right side, and is located in the communication area 13A having one communication unit 13 that can be measured in the AOA format. Further, the vehicle 10 is moving forward while steering to the left.

In such a case, the vehicle 10 is away from the smartphone 200 located on the right side of the vehicle 10, and when the vehicle 10 moves, the communication unit 13 capable of measuring in the AOA format even if the operator does not move is provided. Since it is considered that the vehicle falls within the two communication areas 13A, the guiding message is unnecessary. FIG. 10 shows a case where the process proceeds from step S7B to step S9 in the flow of FIG.

In FIG. 11, the smartphone 200 is near the right side of the vehicle 10, and the communication unit 13 that can measure in the AOA format is located in the communication area 13A where there are no. Further, the vehicle 10 is moving forward while steering to the right or left.

In such a case, since the RSSI value of the beacon signal received by the front and rear communication units 13 on the right side of the vehicle 10 is equal to or higher than a predetermined threshold value (S5C: YES), the distance from the vehicle 10 is about 2 m as shown by the arrow. The smartphone 200 may display a message inviting the user to move to the threshold position. FIG. 11 shows a case where the process proceeds from step S5C to step S8E in the flow of FIG.

In FIG. 12, the smartphone 200 is located far away on the right side of the vehicle 10, and the communication unit 13 that can measure in the AOA format is located in the communication area 13A where there are no. Further, the vehicle 10 is moving forward while steering to the right or left.

In such a case, the RSSI value of the beacon signal received by the front and rear communication units 13 on the right side of the vehicle 10 is not equal to or higher than a predetermined threshold value (S5C: NO), so the vehicle moves closer to the vehicle 10 as shown by the arrow. A message prompting the user to do so may be displayed on the smartphone 200. FIG. 12 shows a case where the process proceeds from step S5C to step S8F in the flow of FIG.

Although the automatic parking support system, the automatic parking support program, and the automatic parking support method according to the exemplary embodiment of the present invention have been described above, the present invention is limited to the specifically disclosed embodiments. Instead, various modifications and changes can be made without departing from the scope of claims.

This international application claims priority based on Japanese Patent Application No. 2019-227709 filed on December 17, 2019, the entire contents of which are incorporated in this international application by reference here. Shall be.

10 vehicle 100 ECU
110 Main control unit 120 Action plan acquisition unit 130 Position measurement unit 140 Command generation unit 200 Smartphone 300 Automatic parking support system

Claims

An operation unit that allows the vehicle to be moved and operated by wireless communication from outside the vehicle,
The action plan acquisition unit that acquires the action plan of the vehicle, and
A position measuring unit that measures the position of the operating unit with respect to the vehicle, and a position measuring unit.
A command generation that generates a command for prompting the operator of the operation unit to move within a predetermined range of the vehicle based on the action plan acquired by the action plan acquisition unit and the position measured by the position measurement unit. Including part
An automatic parking support system that notifies an operator of the operation unit of the command via the operation unit.
Further including a communication unit provided in the vehicle and transmitting a command generated by the command generation unit to the operation unit.
The automatic parking support system according to claim 1, wherein the action plan acquisition unit, the position measurement unit, and the command generation unit are provided in the vehicle.
The automatic parking support system according to claim 1, wherein the action plan acquisition unit, the position measurement unit, and the command generation unit are provided in the operation unit.
Further including a plurality of receiving units provided in the vehicle and receiving signals output by the operating unit.
When the position measuring unit receives the signal having a signal strength of a predetermined value or more by the two receiving units, the position measuring unit receives the signal by a plurality of antennas included in one of the two receiving units. Based on the angle obtained from the phase difference, the angle obtained from the phase difference of the signals received by the plurality of antennas included in the other of the two receiving units, and the positional relationship between the two receiving units, the said The automatic parking support system according to any one of claims 1 to 3, which obtains the position of the operation unit.
The command generation unit is received by a plurality of antennas included in the other of the two receiving units and an angle obtained from the phase difference of the signals received by the plurality of antennas included in one of the two receiving units. When it is determined that the vehicle and the operation unit are separated by a predetermined distance or more based on the angle obtained from the phase difference of the signal, the position obtained from the positional relationship between the two receiving units, and the action plan, the said Generates a command to urge the operator of the operation unit to move so as to maintain a relative positional relationship with the vehicle in the area where the signal can be received from two receiving units in the area around the vehicle. , The automatic parking support system according to claim 4.
Further including a plurality of receiving units provided in the vehicle and receiving signals output by the operating unit.
When the position measuring unit receives the signal having a signal strength of a predetermined value or more by the one receiving unit, the phase difference of the signals received by a plurality of antennas included in the one receiving unit. The automatic parking support system according to any one of claims 1 to 3, wherein the position of the vehicle is obtained based on the angle obtained from the above and the reception strength of the signal received by the one receiving unit.
The command generation unit is based on an angle obtained from the phase difference of the signals received by a plurality of antennas included in the one receiving unit and the reception strength of the signal received by the one receiving unit. When it is determined that the operation unit does not enter the area where the signal can be received from two receiving units in the area around the vehicle based on the obtained position and the action plan, the operator of the operation unit is notified. The automatic parking support system according to claim 6, wherein a command for urging the movement to enter an area where the signal can be received is generated from two receiving units in the area around the vehicle.
Further including a plurality of receiving units provided in the vehicle and receiving signals output by the operating unit.
When the receiving unit does not receive the signal having a signal strength equal to or higher than a predetermined value, the command generating unit receives the signal from two receiving units in the area around the vehicle to the operator of the operating unit. The automatic parking support system according to any one of claims 1 to 3, which generates a command for urging the vehicle to move into a possible area.
Further including a plurality of communication units provided in the vehicle and communicating signals with the operation unit.
When the signal having a signal strength of a predetermined value or more is received by the two communication units, the position measuring unit is obtained from the round-trip time of the signal between the two communication units and the operation unit. The automatic parking support system according to any one of claims 1 to 3, which obtains the position of the operation unit with respect to the vehicle based on two distances.
When the signal strength of the signal strength is equal to or higher than a predetermined value is received by one of the communication units, the position measuring unit starts from the round-trip time of the signal between the one communication unit and the operation unit. The position of the vehicle is obtained based on the obtained distance from the one communication unit to the operation unit and the angle obtained from the phase difference of the signals received by the plurality of antennas of the one communication unit. The automatic parking support system according to claim 9.
Obtaining a vehicle action plan and
Measuring the position of the operation unit that can move and operate the vehicle from outside the vehicle by wireless communication with respect to the vehicle, and
Based on the acquired action plan and the measured position, a command for prompting the operator of the operation unit to move within a predetermined range of the vehicle is generated, and the command is transmitted to the operation unit. An automatic parking support program that lets a computer perform processing including things.
Obtaining a vehicle action plan and
Measuring the position of the operation unit that can move and operate the vehicle from outside the vehicle by wireless communication with respect to the vehicle, and
Based on the acquired action plan and the measured position, a command for prompting the operator of the operation unit to move within a predetermined range of the vehicle is generated, and the command is transmitted to the operation unit. An automatic parking assistance method in which a computer performs processing including that.