WO2021162000A1

WO2021162000A1 - Parking assistance device

Info

Publication number: WO2021162000A1
Application number: PCT/JP2021/004799
Authority: WO
Inventors: 智久山下
Original assignee: 株式会社デンソー
Priority date: 2020-02-12
Filing date: 2021-02-09
Publication date: 2021-08-19
Also published as: JP2021126950A; DE112021000992T5; CN115087572A

Abstract

This parking assistance device is provided with a recognition processing unit (51) and a route generating unit (52). The recognition processing unit carries out: situation recognition for recognizing a parking situation of a vehicle; three-dimensional object recognition for recognizing three-dimensional objects in a space around the vehicle; and free space recognition for recognizing, in a parking lot, a free space in which the vehicle is to be parked. The route generating unit sets the free space to be a predetermined parking position and generates a parking route along which the vehicle is moved from the current position to the predetermined parking position during parking. Further, the route generating unit determines whether the parking situation recognized by the situation recognition is a dedicated parking situation requiring, as a constraint condition, a route in which the vehicle is in a straight state at the position of entrance and then the vehicle moves to the predetermined parking position while keeping that straight state. When the parking situation has been determined to be the dedicated parking situation, the route generating unit generates a parking route which satisfies the constraint condition.

Description

Parking support device

Cross-reference to related applications

This application is based on Japanese Patent Application No. 2020-021695 filed on February 12, 2020, the contents of which are incorporated herein by reference.

The present disclosure relates to a parking support device that generates a route to a planned parking position at the time of automatic parking or the like.

In the automatic parking system, a movement route from the current position to the parking position (hereinafter referred to as a parking route) is generated based on the positional relationship between the current position of the own vehicle and the planned parking position, and the own vehicle is moved along the parking route. Automatic parking is performed by moving it. At this time, the parking route is generated with the goal of being able to park at the planned parking position with as few turns as possible, and allows the route to enter at an angle to the planned parking position.

For this reason, the automatic parking system may not be available in environments where tires can pass through, such as mechanical multi-storey car parks, or in narrow parking lots surrounded by side walls such as garages. There are quite a few mechanical multi-storey car parks because it is not possible to secure enough space for flat parking lots in central Tokyo, but such parking spaces have limited positions for tires to pass through or the side walls are protruding. Therefore, driving skills are required. Therefore, the problem is that the parking system cannot be used.

As a countermeasure to this problem, in the automatic parking system shown in Patent Document 1, the contact of tires is determined and the parking route is corrected.

Japanese Patent No. 5582074

However, the automatic parking system shown in Patent Document 1 cannot generate a parking route that can deal with a three-dimensional obstacle, for example, the body comes into contact with the side wall before the contact of the tire is determined. In addition, since tire contact is determined based on changes in tire pressure, a tire pressure sensor and a data receiver that shows the detection results sent from the air pressure sensor are required, and parts are required. The system becomes complicated as the number of points increases.
An object of the present disclosure is to provide a parking support device capable of generating a parking route corresponding to a three-dimensional obstacle without causing the system to become complicated.

From one aspect of the present disclosure, it is a parking support device that generates a parking route when the vehicle is moved from the current position to the planned parking position and parked, and is a scene recognition that recognizes the parking scene of the vehicle, around the vehicle. Recognition by free space recognition and a recognition processing unit that recognizes a three-dimensional object in space and recognizes a free space for parking a vehicle from a parking lot based on the result of the three-dimensional object recognition. The free space is set to the planned parking position, and the route generation unit has a route generation unit that generates a parking route when the vehicle is moved from the current position to the planned parking position and parked. It is determined whether or not the recognized parking scene is a dedicated parking scene in which the vehicle is in a straight state at the frontage position and then the vehicle moves to the planned parking position in the straight state as a constraint condition. If it is determined that the parking scene is the same as the above, a parking route is generated by a route satisfying the above-mentioned constraint condition.

In this way, it is determined whether or not the parking scene is dedicated, and in the case of the dedicated parking scene, the vehicle is in a straight line state at the frontage position, and then the vehicle moves to the planned parking position in the straight line state. Is calculated. As a result, a parking route corresponding to a three-dimensional obstacle can be generated. Since it is possible to generate a parking route corresponding to a three-dimensional obstacle without determining the contact of the tire, it is not necessary to provide a dedicated part for determining the contact of the tire, and the number of parts increases. It is possible to suppress the complexity of the system.

Note that the reference symbols in parentheses attached to each component or the like indicate an example of the correspondence between the component or the like and the specific component or the like described in the embodiment described later.

It is a figure which shows the block structure of the automatic parking system which concerns on 1st Embodiment. It is a figure which showed an example of the parking route by a two-circle route. It is a figure which showed an example of the parking route in a normal parking scene. It is a figure which showed an example of the parking route in a dedicated parking scene. It is a figure which showed an example of the parking route in a dedicated parking scene. It is a figure explaining the case where it is assumed that the parking route in which the vehicle contacts the side wall is shown in the parking scene of the multi-story parking lot. It is a figure explaining the case which assumed that the parking route in which a vehicle contacts a tire rail was shown in the parking scene of a multi-story parking lot. It is a flowchart of automatic parking control. It is a figure which shows the block structure of the automatic parking system which concerns on 2nd Embodiment. It is the figure which showed the state at the time of remote parking. It is a figure which shows the block structure of the automatic parking system which concerns on 3rd Embodiment. It is a figure which showed an example of the parking route in the exclusive parking scene described in another embodiment.

The first embodiment will be described. In each of the following embodiments, parts that are the same or equal to each other will be described with the same reference numerals.

(First Embodiment)
Hereinafter, this embodiment will be described with reference to the drawings. As shown in FIG. 1, the automatic parking system 1 includes a peripheral monitoring sensor 3, various actuators 4, and a parking support device 5. The parking support device 5, the peripheral monitoring sensor 3, and various actuators 4 are connected to each other so as to be able to communicate with each other directly or via an in-vehicle LAN (Local Area Network).

The peripheral monitoring sensor 3 is an autonomous sensor that monitors the surrounding environment of its own vehicle (hereinafter referred to as its own vehicle). For example, the peripheral monitoring sensor 3 is an obstacle composed of three-dimensional objects around the vehicle such as a moving dynamic target such as a pedestrian or another vehicle and a stationary static target such as a structure on a road. , A parking support mark indicating parking information, which is information about a parking lot, is detected as a detection target. Here, as the peripheral monitoring sensor 3, the peripheral monitoring camera 31 that captures a predetermined range around the vehicle, the sonar 32 that transmits the exploration wave to the predetermined range around the vehicle, the millimeter wave radar 33, and the LIDAR (Light Detection and Ringing) 34. Etc. are equipped with an exploration wave sensor.

The peripheral surveillance camera 31 corresponds to an image pickup device, captures a peripheral image of the own vehicle, and outputs the captured image data to the parking support device 5 as sensing information. Here, as the peripheral monitoring camera 31, the front camera 31a, the rear camera 31b, the left side camera 31c, and the right side camera 31d that capture images of the front, rear, and left and right sides of the vehicle are given as examples, but the present invention is limited to these. It's not a thing.

The exploration wave sensor is a parking support device that uses measurement results such as the relative velocity and distance to the target and the azimuth where the target exists, which are obtained by outputting the exploration wave and acquiring the reflected wave, as sensing information. Output sequentially to 5. The sonar 32 is used for measurement using ultrasonic waves as an exploration wave, and is provided at a plurality of locations with respect to the vehicle. Measurement is performed by outputting waves. The millimeter wave radar 33 performs measurement using millimeter waves as exploration waves, and LIDAR 34 performs measurements using laser light as exploration waves, both of which output exploration waves within a predetermined range in front of the vehicle, for example. , The measurement is performed within the output range.

In the present embodiment, as the peripheral monitoring sensor 3, the peripheral monitoring camera 31, the sonar 32, the millimeter wave radar 33, and the LIDAR 34 are provided as an example. However, peripheral monitoring can be performed by one or a combination of these. You don't have to have everything if you can.

The parking support device 5 constitutes an ECU (electronic control device) that functions as various control units for realizing the parking support method in the automatic parking system 1, and includes a CPU, ROM, RAM, I / O, and the like. It is composed of a microcomputer. In the present embodiment, the parking support device 5 inputs sensing information that is a detection result of the peripheral monitoring sensor 3 at the time of parking support, and performs various controls for parking support based on the sensing information. Parking assistance is executed when an instruction to provide parking assistance is given, such as when a parking assistance switch (not shown) pressed by the driver is pressed when providing parking assistance. When the parking support instruction is issued, the parking support device 5 recognizes the free space that can be parked based on the sensing information of the peripheral monitoring sensor 3, and from the current position of the own vehicle to the planned parking position during automatic parking. A route is generated, and route tracking control is performed according to the route. Specifically, the parking support device 5 is configured to include a recognition processing unit 51, a route generation unit 52, and a route tracking control unit 53 as functional units that execute various controls.

The recognition processing unit 51 inputs sensing information from the peripheral monitoring sensor 3, and based on the sensing information, recognizes the surrounding environment of the own vehicle to be parked, and recognizes the scene of what kind of parking is to be performed. Furthermore, it recognizes three-dimensional objects existing around the vehicle. Here, the recognition processing unit 51 is composed of an image recognition unit 51a, a space recognition unit 51b, and a free space recognition unit 51c.

The image recognition unit 51a has a scene recognition unit 51aa and a three-dimensional object recognition unit 51ab. The scene recognition unit 51aa and the three-dimensional object recognition unit 51ab input imaging data from the peripheral monitoring camera 31 as sensing information, and perform image recognition of the imaging data to perform scene recognition and three-dimensional object recognition.

In scene recognition, what kind of parking scene is, for example, a dedicated parking scene such as a mechanical parking lot that enables vertical three-dimensional parking with mechanical equipment, or side by side on a flat ground. It recognizes whether it is a normal parking scene in which the vehicle is parked on a flat surface. In the normal parking scene, other vehicles may be parked in the adjacent parking space, but typically the frontage to the planned parking position of the own vehicle is relatively wide. On the other hand, in a mechanical parking lot or the like, the frontage to the planned parking position is narrower than in the normal parking scene, so that the vehicle is in a straight line state at the frontage position during automatic parking, and then in a straight line state. The situation is such that the own vehicle must move and park as it is. For this reason, a situation where the frontage of a mechanical parking lot or the like is narrow is set as a dedicated parking scene, and the scene is recognized separately from the normal parking scene.

Since the imaging data input from the peripheral surveillance camera 31 is a projection of the surroundings, if the image is analyzed, it can be a normal parking scene or a dedicated parking scene such as a mechanical parking lot. It can be determined whether or not there is. For example, the frontage of the planned parking position is calculated from the imaging data, and if the frontage is within a predetermined range set in advance based on the width of the own vehicle, it can be determined as a dedicated parking scene. Further, if it is possible to analyze that the parking lot is a mechanical parking lot from the image, it may be determined that the parking lot is a dedicated parking lot from the analysis result. In addition, a parking support mark indicating parking information such as a parking scene is attached to the wall surface or road surface of the mechanical parking lot, for example, in or in front of the planned parking position, and there is a parking support mark in the imaging data. In that case, the type of parking scene indicated by the parking support mark can be recognized. The parking support mark may be any mark, but for example, a graphic mark indicating a mechanical parking lot, a graphic mark indicating a parking direction, a two-dimensional bar code indicating a parking scene or a parking direction, etc. Can be used.

In the three-dimensional object recognition, an obstacle composed of three-dimensional objects existing around the own vehicle such as a dynamic object or a static object is recognized as a detection target. The above-mentioned scene recognition is performed based on the detection target object recognized by the three-dimensional object recognition, preferably the shape of the static target among them.

The space recognition unit 51b also has a three-dimensional object recognition unit 51ba. The three-dimensional object recognition unit 51ba recognizes a three-dimensional object in the space around the own vehicle based on sensing information from at least one of the sonar 32, the millimeter wave radar 33, and the LIDAR 34. The three-dimensional object recognition here is the same as the three-dimensional object recognition performed by the image recognition unit 51a. Therefore, if either the image recognition unit 51a or the space recognition unit 51b is provided, stereoscopic recognition can be performed. Further, in the case of the present embodiment, the space recognition unit 51b does not perform scene recognition, but the space recognition unit 51b performs scene recognition based on sensing information from at least one of the sonar 32, the millimeter wave radar 33, and the LIDAR 34. You can also do it.

Although either the image recognition unit 51a or the space recognition unit 51b can perform three-dimensional object recognition or scene recognition, it is possible to perform more accurate three-dimensional object recognition or scene recognition by using both. .. For example, by complementing the three-dimensional object recognition and the scene recognition by the image recognition unit 51a with the three-dimensional object recognition and the scene recognition by the space recognition unit 51b, it is possible to perform the three-dimensional object recognition and the scene recognition with higher accuracy.

The free space recognition unit 51c performs free space recognition to recognize a place that is a free space from the parking lot. The free space is a place in the parking lot where no other vehicle is parked, and means a parking space having an area and shape in which the own vehicle can be parked. Not only the case where there are multiple parking spaces in the parking lot, but also the case where there is only one parking space is included. The place recognized as this free space is set as the planned parking position. The free space recognition unit 51c recognizes the free space in the parking lot based on the recognition results of the scene recognition and the three-dimensional object recognition by the image recognition unit 51a and the space recognition unit 51b. For example, since the shape of the parking lot and the presence or absence of parking of other vehicles can be grasped from the results of scene recognition and three-dimensional object recognition, the free space is recognized from the parking lot based on the results.

The route generation unit 52 generates a route based on the results of scene recognition, three-dimensional object recognition, and free space recognition. Specifically, the route generation unit 52 determines whether the parking scene is a normal parking scene or a dedicated parking scene based on the scene recognition result, and is usually based on the determination result and the result of recognizing a three-dimensional object. Generates a parking route in the parking scene of the above and a parking route in the dedicated parking scene.

In both normal parking scenes and dedicated parking scenes, while avoiding obstacles recognized by three-dimensional object recognition, the movement route from the current position of the own vehicle to the planned parking position recognized by free space recognition The calculation is performed, and the route indicated by the calculation result is generated as a parking route.

However, in the normal parking scene, the frontage when parking at the planned parking position is wide. Therefore, when calculating the parking route, as a constraint condition when the vehicle enters the planned parking position, the vehicle is parked at the planned parking position in the front-rear direction (hereinafter referred to as the parking straight line direction). Conditions are set that allow the calculation of routes with angles. For example, when the vehicle moves backward and enters the planned parking position, if the frontage is wide, a route calculation that allows a route that requires steering turning, such as a two-circle route, is performed.

The two-circle route is a route generated so that two circles are connected in a state where the traveling direction of the own vehicle remains either forward or backward. For example, as shown in FIG. 2, the front portion of the own vehicle V is angled so as to face in one direction in the left-right direction with respect to the parking straight line direction L, and is angled so as to face in the opposite direction in the left-right direction from the state. After that, the route in which the steering is turned back and the vehicle is directed in the parking straight line direction L becomes a two-circle route.

On the other hand, for the dedicated parking scene, the frontage when parking at the planned parking position is narrow. Therefore, if the same restrictions as in a normal parking scene are applied, the body may come into contact with the side wall or the like. Therefore, as a constraint condition, a condition is set in which the own vehicle is in a straight line state at the frontage position, and then a route is calculated in which the own vehicle moves to the planned parking position in the straight line state.

Further, in the route generation unit 52, if there is a constraint condition regarding the direction at the time of parking, that is, the approach direction to the planned parking position, the parking route is calculated by taking it into the constraint condition as well. For example, in the case of forward parking in which the vehicle is moved forward to the planned parking position and parked, or in the case of backward parking in which the vehicle is moved backward and parked, the orientation of the vehicle at the time of parking is a constraint condition. Regarding the orientation of the vehicle when parked, if the image data of the peripheral surveillance camera 31 includes a sign with information such as "forward parking" or "backward parking", or if the parking support mark includes the vehicle's own vehicle. If parking information about the orientation of is included, that information is included in the constraint. Further, when the user has a setting switch for setting the orientation of the own vehicle when parking, the orientation of the own vehicle when parking can be included in the constraint condition according to the setting state of the setting switch.

This will be explained with an example. In the case of a normal parking scene, an arbitrary parking space is selected as the planned parking position from a plurality of parking spaces in the flat parking lot based on the relationship with the current position of the own vehicle. FIG. 3A shows a case where the parking space on the left front side with respect to the current position Pa of the own vehicle V is selected as the planned parking position Pb when the parking support instruction is given. At the current position Pa, the vehicle V is positioned diagonally to the right of the planned parking position Pb so that the traveling direction is to the left. In this case, if the constraint condition of the direction of the own vehicle V at the time of parking is "backward parking", the direction of moving to the planned parking position Pb is "backward parking", so that the direction from the current position Pa to the planned parking position Pb Parking route to is generated.

And since it is a normal parking scene, the frontage to the planned parking position Pb is relatively wide. Even if another vehicle is parked in the adjacent parking space, there is no problem in passing through the adjacent parking space as long as it does not come into contact with the other vehicle. Therefore, a condition is set in which the calculation of the route having an angle with respect to the parking straight line direction is permitted, and the parking route shown by the broken line in the figure is generated. Specifically, the route shown by the broken line in the figure, that is, the vehicle is first turned right and forward as shown by arrow A1, then switched from the forward direction to the backward direction, and then turned left and backward as shown by arrow A2. Is generated. As a result, a parking route for parking at the planned parking position Pb in "backward parking" is generated.

On the other hand, in the case of a mechanical parking lot, which is a dedicated parking scene, the mechanical parking lot is selected as the planned parking position Pb based on the relationship with the current position Pa of the own vehicle. FIG. 3B also shows a case where the parking space on the left front side with respect to the current position Pa of the own vehicle V is selected as the planned parking position Pb when the parking support instruction is given, and the same as in FIG. 3A. The vehicle V is located diagonally to the right of the planned parking position Pb so that the traveling direction is to the left. Also in this case, a parking route from the current position Pa to the planned parking position Pb is generated so that the direction of movement to the planned parking position Pb is “backward parking”.

And since it is a case of a dedicated parking scene, the frontage 110 to the planned parking position Pb is narrowed. In addition, there may be adjacent walls and tire rails, so it is necessary to avoid contact with them. For example, as shown in FIG. 4A, if the adjacent side wall 100 is provided so as to protrude from the parking space, it may come into contact with the side wall 100, and as shown in FIG. 4B, the width even if the side wall 100 does not protrude. It may come into contact with the narrowly arranged tire rail 101.

Therefore, the condition that allows the calculation of the route having an angle with respect to the parking straight direction is not set, the own vehicle V becomes a straight state at the frontage position, and then the own vehicle V remains in the straight state at the planned parking position. A constraint condition for calculating the route to move to Pb is set, and a parking route is generated. Specifically, as shown by the broken line in FIG. 3B, a route for moving the own vehicle to the right is first generated as shown by arrow A1. At this time, the path is set so that the curvature of turning is larger than that in the case of FIG. 3A so that the own vehicle V approaches parallel to the parking straight line direction. Then, as shown by arrows A2 to A4, a route is generated in which the own vehicle V is directed in the parking straight line direction at the position of the frontage 110 by turning back a plurality of times. As a result, the own vehicle V becomes a straight line at the position of the frontage 110, and then the own vehicle V can move to the planned parking position Pb in the straight line state, and the parking route is parked at the planned parking position Pb by "backward parking". Will be generated.

Further, as shown in FIG. 3C, when the stop line 120 is temporarily provided in front of the mechanical parking lot, the own vehicle V moves forward and temporarily stops at the stop line 120, and then enters the mechanical parking lot. It may be parked at the planned parking position Pb by "backward parking". In such a case, in the case of "forward parking", a simpler parking route may be generated and the own vehicle V may be parked at the planned parking position Pb. However, when there is a restriction of "backward parking", a parking route that reverses the traveling direction at the current position Pa is generated so as to satisfy the restriction condition. As described above, even when the traveling direction at the current position Pa is different from the parking direction which is the constraint condition, the parking route satisfying the constraint condition can be generated.

In addition, when creating a parking route, we try to avoid obstacles composed of three-dimensional objects recognized by three-dimensional object recognition, but we try to avoid only static targets among them to generate a parking route. You can do it. Since the dynamic target moves, it is sufficient to move the vehicle after the risk of collision with the dynamic target disappears. In that case, a parking route that considers only the static target should be used. It is enough to generate it.

The route tracking control unit 53 is a part that performs route tracking control by performing vehicle motion control such as acceleration / deceleration control and steering control of the own vehicle V. The route tracking control unit 53 outputs control signals to various actuators 4 so that the own vehicle V can move and park at the planned parking position Pb following the parking route generated by the route generation unit 52. Here, the parking support device 5 is configured by one ECU and the path tracking control unit 53 is provided in the ECU. However, the parking support device 5 may be configured by a combination of a plurality of ECUs. The path tracking control unit 53 may be composed of those ECUs. Examples of the plurality of ECUs include a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, a brake ECU, and the like.

Specifically, although not shown, the path tracking control unit 53 is output from each sensor such as an accelerator position sensor, a brake pedal force sensor, a steering angle sensor, a wheel speed sensor, and a shift position sensor mounted on the vehicle V. The detection signal is being acquired. Then, the route tracking control unit 53 detects the state of each unit from the acquired detection signal, and outputs control signals to various actuators 4 in order to move the own vehicle V following the parking route.

The various actuators 4 are various traveling control devices related to the traveling and stopping of the own vehicle V, and include an electronically controlled throttle 41, a brake actuator 42, an EPS (Electric Power Steering) motor 43, a transmission 44, and the like. These various actuators 4 are controlled based on the control signal from the path tracking control unit 53, and the traveling direction, steering angle, and control drive torque of the own vehicle V are controlled. As a result, automatic parking control including route tracking control in which the own vehicle V is moved according to the parking route and parked at the planned parking position Pb is realized.

When moving the own vehicle V from the current position Pa to the planned parking position Pb, the own vehicle V may be moved following the route, but a person or another person or others may move while the own vehicle V is moving. It is possible that a car is approaching. In that case, the movement of the own vehicle V is stopped until the dynamic target appears outside the range of the planned movement trajectory of the own vehicle V estimated from the parking route and the vehicle width. This will prevent the vehicle V from colliding with a dynamic target. In addition, there may be static targets that were not recognized when the parking route was first calculated. Therefore, even while the own vehicle V is moving following the parking route, the three-dimensional object recognition units 51ab and 51ba continue to recognize the three-dimensional object. Further, if the static target exists in a place where the vehicle V can collide when the vehicle V moves following the parking route, the parking route is regenerated.

As described above, the automatic parking system 1 according to the present embodiment is configured. Subsequently, the operation of the automatic parking system 1 configured in this manner will be described with reference to the flowchart of the automatic parking control executed by the parking support device 5 shown in FIG. The process shown in this figure is executed at predetermined control cycles when a parking support instruction is issued, such as when the driver presses a parking support switch (not shown). Each process shown in this flowchart is realized by each functional unit of the parking support device 5. In addition, each step for realizing this process is also grasped as each step for realizing the parking support method.

First, in step S100, the recognition process is started. The recognition process referred to here means that the sensing information of the peripheral monitoring sensor 3 is input, and the above-mentioned scene recognition, three-dimensional object recognition, and free space recognition are performed based on the input sensing information. The recognition processing unit 51 of the parking support device 5 performs the processing shown in step S100.

When the recognition process in step S100 is completed, the process proceeds to step S110, and as a scene determination process, it is determined whether or not the parking scene is dedicated. Here, if the scene recognized by the recognition process is a normal parking scene, a negative determination is made and the process proceeds to step S120, and if the scene is a dedicated parking scene, an affirmative determination is made and the process proceeds to step S130.

Then, in step S120, a parking route in a normal parking scene is generated, and in step S130, a parking route in a dedicated parking scene is generated. The generation of the parking route in the normal parking scene and the generation of the parking route in the dedicated parking scene are performed by the above-mentioned method. The route generation unit 52 of the parking support device 5 performs the processes of steps S110 to S130.

After that, the process proceeds to step S140 to execute the route tracking control process. This process is performed by the route tracking control unit 53 of the parking support device 5. Specifically, following the parking route generated in step S120 or step S130, control signals are output to various actuators 4 so that the own vehicle V can move from the current position Pa and park at the planned parking position Pb. do. As a result, various actuators 4 are driven, and the traveling direction, steering angle, and control drive torque of the own vehicle V are controlled, so that the own vehicle V is moved following the parking path. Then, the own vehicle V is parked at the scheduled parking position Pb.

At this time, in the dedicated parking scene, the route in which the own vehicle is in a straight line state at the position of the frontage 110 and then the own vehicle V moves to the planned parking position in the straight line state is calculated. Therefore, even in a dedicated parking scene such as a mechanical parking lot, it is possible to generate a parking route corresponding to a three-dimensional obstacle such that the body does not come into contact with the side wall 100. Therefore, by moving the own vehicle V following this parking route, it is possible to appropriately move the own vehicle V to the planned parking position without touching an obstacle.

As described above, in the automatic parking system 1 of the present embodiment, it is determined whether the parking scene is a normal parking scene or a dedicated parking scene based on the sensing information of the peripheral monitoring sensor 3. Then, in the case of a dedicated parking scene, the own vehicle V is in a straight line state at the position of the frontage 110, and then the route for the own vehicle V to move to the planned parking position in the straight line state is calculated. As a result, a parking route corresponding to a three-dimensional obstacle can be generated. Since it is possible to generate a parking route corresponding to a three-dimensional obstacle without determining the contact of the tire, it is not necessary to provide a dedicated part for determining the contact of the tire, and the number of parts increases. It is possible to suppress the complexity of the system.

(Second Embodiment)
The second embodiment will be described. This embodiment enables remote parking based on an instruction from the outside with respect to the first embodiment, and is the same as the first embodiment except for the parts different from the first embodiment. Only explain.

As shown in FIG. 6, in the present embodiment, the parking support device 5 is provided with an information acquisition unit 54. The information acquisition unit 54 can acquire various information such as a remote parking instruction signal from the external instruction device 6. The external instruction device 6 is composed of a mobile communication terminal such as a smartphone, a parking guidance communication device when a parking lot provider such as a valet parking type parking lot provides a parking service to a planned parking position, and the like.

As shown in FIG. 7, when the own vehicle V is parked in the parking lot, the own vehicle V may be parked by performing a remote operation after the driver 200 gets off. Therefore, a remote parking instruction signal is input to the parking support device 5 through an external instruction device 6 such as a mobile communication terminal, and when the instruction signal is acquired by the information acquisition unit 54, the parking support device 5 Will perform the same automatic parking control as in the first embodiment.

Further, when the parking lot provider provides a parking service, the parking support device 5 is provided with information regarding an empty parking space, which is one of the parking information, through an external instruction device 6 such as a parking guidance communication device (hereinafter, parking). (Called location information) and remote parking instruction signals should be transmitted. Then, when the parking position information and the remote parking instruction signal are acquired by the information acquisition unit 54, the parking support device 5 automatically operates to move the own vehicle V to the vicinity of the vacant parking space, and then parks. The support device 5 performs the same automatic parking control as in the first embodiment.

In this way, even when a parking instruction is issued through the external instruction device 6, automatic parking control can be performed based on the parking instruction. Even in this way, the same effect as that of the first embodiment can be obtained.

Although the case where the parking position information is provided as the parking information from the external instruction device 6 such as the parking guidance communication device is shown here, this is only an example of the parking information. For example, as parking information, information indicating the direction at the time of parking may be transmitted from the external instruction device 6 to the parking support device 5. In that case, the parking support device 5 can generate a parking route by including the orientation at the time of parking indicated by the transmitted information as a constraint condition.

(Third Embodiment)
The third embodiment will be described. This embodiment makes it possible to notify the first embodiment that automatic parking control is being performed along the parking route to the driver or the like, and the other aspects are the same as those of the first embodiment. , Only the part different from the first embodiment will be described.

As shown in FIG. 8, in the present embodiment, the parking support device 5 is provided with a parking notification unit 55. The parking notification unit 55 controls to notify that automatic parking control is in progress by a display device 71 such as a display in the navigation device or a sound generator 72 such as a buzzer.

When automatic parking control is performed by the automatic parking system 1, even if the generated parking route is the shortest route, there is a possibility that the driver may feel uncomfortable because the route is different from the one imagined by the driver. .. In addition, in a situation where it is preferable to notify the outside that automatic parking control is in progress, for example, in a situation where the driver is not sitting in the driver's seat, such as during remote parking, the vehicle is moving. It is good to inform the outside that this is because the automatic parking control is performed.

Therefore, when the path tracking control unit 53 outputs control signals to the various actuators 4, the control signal is also output to the parking notification unit 55, and the parking notification unit 55 displays the display device 71 and the sound generator 72. By controlling it, it is notified that automatic parking control is in progress. For example, when the display device 71 gives a notification, the driver can be notified that the automatic parking control is in progress by showing the surrounding environment, the own vehicle, and the parking route in a bird's-eye view in the display device 71. Further, when the notification is performed by the voice generator 72, it is possible to notify the driver and surrounding people that the automatic parking control is in progress by giving voice guidance that the automatic parking control is in progress through the voice generator 72.

In this way, by providing the parking notification unit 55, it is possible to notify the driver and the people around him that the automatic parking control is in progress, giving the driver a sense of security and calling attention to the people around him. It will be possible.

(Other embodiments)
Although the present disclosure has been described in accordance with the above-described embodiment, the present disclosure is not limited to the embodiment, and includes various modifications and modifications within an equal range. In addition, various combinations and forms, as well as other combinations and forms that include only one element, more, or less, are also within the scope of the present disclosure.

(1) For example, in each of the above embodiments, a predetermined range surrounding the own vehicle V is set as the planned parking position Pb, and a parking route assuming a situation in which both ends of the planned parking position Pb and the frontage 110 coincide with each other. The generation of was explained. However, the frontages 110 do not have to coincide with the ends on both sides of the planned parking position Pb.

Specifically, as shown in FIG. 9, the planned parking position Pb is located behind the frontage 110, that is, at a position away from the frontage 110, and the ends on both sides of the planned parking position Pb are from the frontage 110. May also be located in front of the vehicle V in the moving direction. Also in that case, as for the parking route, the own vehicle V is in a straight line state at the position of the frontage 110, and then a route is generated in which the own vehicle V moves to the planned parking position Pb in the straight line state. In this way, even if the planned parking position Pb is located behind the frontage 110, the own vehicle V can be appropriately guided to the planned parking position Pb.

(2) Further, in each of the above embodiments, the own vehicle V is in a straight line state at the position of the frontage 110 in the dedicated parking scene, and then the own vehicle V moves to the planned parking position Pb in the straight line state. It is designed to be generated as a parking route. The straight line state referred to here does not have to be a straight line completely parallel to the parking straight line direction, and the parking route may deviate within a predetermined angle range with respect to the parking straight line direction, for example, within an angle range of 1 degree. , It is also included that it is almost a straight line.

(3) Further, in the first embodiment, the parking support mark indicating the parking scene and the direction at the time of parking is indicated, and in the second embodiment, the parking position information transmitted from the external instruction device 6 is transmitted from the outside of the own vehicle. Illustrated as parking information. However, these are just examples. For example, parking information may be transmitted using any communication medium outside the own vehicle. For example, various communication media included in V2X (Vehicle to Everything), which is a general term for V2V (Vehicle to Vehicle), V2P (Vehicle to Pedestrian), V2I (Vehicle to Infrastructure), and V2N (Vehicle to Network), can be used.

Note that such parking information will be acquired by the information acquisition unit 54. When the parking information includes information about the parking scene, the recognition processing unit 51 may perform scene recognition based on the parking information acquired by the information acquisition unit 54.

(4) Further, in each of the above embodiments, the automatic parking control including the parking support control by the automatic parking system 1 has been described, but the parking support control moves the own vehicle regardless of whether or not the parking support control is automatic parking. Any control may be used as long as the control generates a parking route for parking at the planned parking position. For example, when the generated parking route is simply displayed on the display and the driver uses it as an index when parking by his / her own driving, it is also included in the parking support control, and the route tracking control that automatically moves the own vehicle according to the parking route. Is not required to be done.

(5) Further, in the above-mentioned third embodiment, the notification that the automatic parking control is in progress is made, but it is also possible to use a notification method that can specify the parking scene. Specifically, it is also possible to notify the driver in a form in which the driver can recognize whether the parking scene is a normal parking scene or a dedicated parking scene.

(6) The control unit and its method described in the present disclosure are provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. It may be realized by a dedicated computer. Alternatively, the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the controls and methods described herein are by a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

Claims

A parking support device that generates a parking route when the vehicle (V) is moved from the current position (Pa) to the planned parking position (Pb) and parked.
Scene recognition that recognizes the parking scene of the vehicle, three-dimensional object recognition that recognizes a three-dimensional object in the space around the vehicle, and free space for parking the vehicle from the parking lot based on the result of the three-dimensional object recognition. A recognition processing unit (51) that recognizes free space and
A route generation unit (52) that sets the free space recognized by the free space recognition to the planned parking position and generates the parking route when the vehicle is moved from the current position to the planned parking position and parked. ) And,
The route generation unit restricts a route in which the parking scene recognized by the scene recognition causes the vehicle to be in a straight state at the frontage (110) position, and then the vehicle moves to the planned parking position in the straight state. A parking support device that determines whether or not the parking scene is a dedicated parking scene as a condition, and if it is determined that the parking scene is the dedicated parking scene, generates the parking route on a route satisfying the restriction condition.
The front-rear direction of the vehicle when parked at the planned parking position is defined as the parking straight line direction.
The parking support device according to claim 1, wherein the route generation unit generates the parking route by setting the linear state within a range of a predetermined angle with respect to the parking straight direction.
It has an information acquisition unit (54) that acquires parking information, which is information about a parking lot in which the vehicle is parked.
The invention according to claim 1 or 2, wherein the recognition processing unit determines whether or not the parking scene is the dedicated parking scene based on the type of parking scene included in the parking information acquired by the information acquisition unit. Parking support device.
The recognition processing unit inputs the detection result from the peripheral monitoring sensor (3) that monitors the surrounding environment of the vehicle, and recognizes the parking scene of the vehicle based on the detection result of the peripheral monitoring sensor (the scene recognition unit ( 51aa), a three-dimensional object recognition unit (51ab, 51ba) that recognizes a three-dimensional object in the space around the vehicle, and a free space recognition unit (51c) that recognizes a free space for parking the vehicle from a parking lot. The parking support device according to claim 1 or 2.
The peripheral monitoring sensor is a peripheral monitoring camera (31).
The scene recognition unit (51aa) calculates the frontage of the planned parking position from the image data of the peripheral surveillance camera, and if the frontage is within a predetermined range preset based on the width of the vehicle, the dedicated scene recognition unit (51aa) The parking support device according to claim 4, which recognizes the parking scene of the above.
It has a route tracking control unit (53) that performs route tracking control for automatically moving the vehicle from the current position to the planned parking position and parking the vehicle following the parking route generated by the route generation unit. The parking support device according to any one of claims 1 to 5.
A claim that the vehicle has a parking notification unit (55) that notifies that the parking route is generated by the route generation unit and that the automatic parking control that performs the route tracking control is being controlled by the route tracking control unit. 6. The parking support device according to 6.
Claims 1 to 7 that the route generation unit generates the parking route on a route that also satisfies the restriction condition of the parking direction, with the parking direction that is the approach direction of the vehicle to the planned parking position as a constraint condition. The parking support device according to any one of the above.
The parking according to any one of claims 1 to 8, wherein the dedicated parking scene includes a case where the planned parking position is located at a position away from the frontage, which is the back side of the frontage. Support device.
It is a parking support method that generates a parking route when the vehicle (V) is moved from the current position (Pa) to the planned parking position (Pb) and parked.
Scene recognition for recognizing the parking scene of the vehicle, three-dimensional object recognition for recognizing a three-dimensional object in the space around the vehicle, and free space recognition for recognizing the free space for parking the vehicle from the parking lot. ,
The free space recognized by the free space recognition is set to the planned parking position, and the parking route for moving the vehicle from the current position to the planned parking position to park the vehicle is generated. ,
By generating the parking route, the parking scene recognized by the scene recognition causes the vehicle to be in a straight state at the position of the frontage (110), and then the vehicle moves to the planned parking position in the straight state. A parking support method in which it is determined whether or not the parking scene is a dedicated parking scene with a route as a constraint condition, and if the parking scene is determined to be the dedicated parking scene, the parking route is generated on a route satisfying the constraint condition.