WO2021162000A1 - Dispositif d'aide au stationnement - Google Patents

Dispositif d'aide au stationnement Download PDF

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Publication number
WO2021162000A1
WO2021162000A1 PCT/JP2021/004799 JP2021004799W WO2021162000A1 WO 2021162000 A1 WO2021162000 A1 WO 2021162000A1 JP 2021004799 W JP2021004799 W JP 2021004799W WO 2021162000 A1 WO2021162000 A1 WO 2021162000A1
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WIPO (PCT)
Prior art keywords
parking
vehicle
route
scene
recognition
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PCT/JP2021/004799
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English (en)
Japanese (ja)
Inventor
智久 山下
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株式会社デンソー
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Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to CN202180013971.8A priority Critical patent/CN115087572A/zh
Priority to DE112021000992.3T priority patent/DE112021000992T5/de
Publication of WO2021162000A1 publication Critical patent/WO2021162000A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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).
  • 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 is detected as a detection target.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the parking support device 5 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. ..
  • the image recognition unit 51a 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the parking route is calculated by taking it into the constraint condition as well.
  • the orientation of the vehicle at the time of parking is a constraint condition.
  • 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.
  • the orientation of the own vehicle when parking can be included in the constraint condition according to the setting state of the setting switch.
  • 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.
  • the vehicle V is positioned diagonally to the right of the planned parking position Pb so that the traveling direction is to the left.
  • 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.
  • 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”.
  • the frontage 110 to the planned parking position Pb is narrowed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the parking support device 5 is configured by one ECU and the path tracking control unit 53 is provided in the ECU.
  • 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.
  • 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.
  • 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.
  • EPS Electronic Power Steering
  • the own vehicle V 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.
  • the automatic parking system 1 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.
  • each step for realizing this process is also grasped as each step for realizing the parking support method.
  • 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.
  • 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.
  • a scene determination process it is determined whether or not the parking scene is dedicated.
  • 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.
  • 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.
  • step S140 executes 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the parking support device 5 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.
  • parking guidance communication device hereinafter, parking guidance communication device
  • the parking position information is provided as the parking information from the external instruction device 6 such as the parking guidance communication device
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the frontages 110 do not have to coincide with the ends on both sides of the planned parking position Pb.
  • 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.
  • 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.
  • parking information may be transmitted using any communication medium outside the own vehicle.
  • various communication media included in V2X Vehicle to Everything
  • V2X Vehicle to Everything
  • V2P Vehicle to Pedestrian
  • V2I Vehicle to Infrastructure
  • V2N Vehicle to Network
  • the recognition processing unit 51 may perform scene recognition based on the parking information acquired by the information acquisition unit 54.
  • 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.
  • 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.
  • 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.

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Abstract

La présente invention concerne un dispositif d'aide au stationnement pourvu d'une unité de traitement de reconnaissance (51) et d'une unité de génération d'itinéraire (52). L'unité de traitement de reconnaissance réalise : une reconnaissance de situation pour reconnaître une situation de stationnement d'un véhicule ; une reconnaissance d'objet tridimensionnels pour reconnaître des objets tridimensionnels dans un espace autour du véhicule ; et une reconnaissance d'espace libre pour reconnaître, dans un parc de stationnement, un espace libre dans lequel le véhicule doit être stationné. L'unité de génération d'itinéraire définit l'espace libre à une position de stationnement prédéterminée et génère un itinéraire de stationnement le long duquel le véhicule est déplacé de la position actuelle à la position de stationnement prédéterminée pendant le stationnement. En outre, l'unité de génération d'itinéraire détermine si la situation de stationnement reconnue par la reconnaissance de situation est une situation de stationnement dédiée nécessitant, en tant que condition de contrainte, un itinéraire dans lequel le véhicule est dans un état droit au niveau de la position d'entrée, puis le véhicule se déplace vers la position de stationnement prédéterminée tout en maintenant cet état droit. Lorsque la situation de stationnement a été déterminée comme étant la situation de stationnement dédiée, l'unité de génération d'itinéraire génère un itinéraire de stationnement qui satisfait la condition de contrainte.
PCT/JP2021/004799 2020-02-12 2021-02-09 Dispositif d'aide au stationnement WO2021162000A1 (fr)

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CN202180013971.8A CN115087572A (zh) 2020-02-12 2021-02-09 停车辅助装置
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JP2023097732A (ja) * 2021-12-28 2023-07-10 パナソニックＩｐマネジメント株式会社 駐車支援装置および駐車支援方法
CN114495565B (zh) * 2022-01-07 2023-04-07 广州小鹏自动驾驶科技有限公司 泊车路线推荐方法、装置、电子设备及存储介质
CN116513168B (zh) * 2023-07-03 2023-09-26 广汽埃安新能源汽车股份有限公司 一种路径规划方法、装置、电子设备及存储介质

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JPH06187597A (ja) * 1992-12-16 1994-07-08 Toyota Motor Corp 駐車補助装置
JP2009096332A (ja) * 2007-10-17 2009-05-07 Alpine Electronics Inc 駐車支援装置
JP2018158701A (ja) * 2017-03-21 2018-10-11 パナソニックＩｐマネジメント株式会社 自動駐車制御方法およびそれを利用した自動駐車制御装置、プログラム
JP2018163112A (ja) * 2017-03-27 2018-10-18 パナソニックＩｐマネジメント株式会社 自動駐車制御方法およびそれを利用した自動駐車制御装置、プログラム

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JP5582074B2 (ja) 2011-03-11 2014-09-03 トヨタ自動車株式会社 車両、自動駐車支援設備および自動駐車システム
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JPH06187597A (ja) * 1992-12-16 1994-07-08 Toyota Motor Corp 駐車補助装置
JP2009096332A (ja) * 2007-10-17 2009-05-07 Alpine Electronics Inc 駐車支援装置
JP2018158701A (ja) * 2017-03-21 2018-10-11 パナソニックＩｐマネジメント株式会社 自動駐車制御方法およびそれを利用した自動駐車制御装置、プログラム
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DE112021000992T5 (de) 2022-12-22
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