WO2021200681A1 - Remote parking system and parking assistant control device used for same - Google Patents

Abstract

The present invention comprises: a remote operating machine (2) which instructs remote parking by being operated by an operator, and includes a display screen (2a) that displays the state of the remote parking; a surroundings monitoring camera (41) which is provided in the vehicle (V) and captures images of the surroundings of the vehicle; and control units (5-8) which include an image generation unit (6b) that is provided in the vehicle, receives, from an image capturing device, an input of image-capturing data for the images of the surroundings, and generates images to be displayed on the display screen on the basis of the image-capturing data. In addition, at the time of remote parking, the control units cause the image generation unit to create an image when a prescribed event occurs, and display the state of the remote parking on the display screen by transmitting generated image information to the remote operating machine.

Description

Remote parking system and parking assistance control device used for it Cross-reference to related applications

This application is based on Japanese Patent Application No. 2020-63148 filed on March 31, 2020, the contents of which are incorporated herein by reference.

The present disclosure relates to a remote parking system that automatically parks a vehicle by remote operation and a parking support control device used therein.

Conventionally, as shown in Patent Document 1, in a remote parking system, a method of changing the direction of the top view based on the positional relationship between the vehicle, the operator, and the target control position has been proposed. Specifically, the in-vehicle ECU, which is a part of the parking support control device, acquires the sensing result from the in-vehicle camera and generates a top view image which is an image of the vehicle viewed from directly above from the sensing result. .. Then, when the vehicle is parked at the parking target position, the orientation of the parking target in the top view image with respect to the display screen is determined based on the positional relationship between the operator who remotely controls the vehicle via the remote control device and the parking target position. I have decided.

JP-A-2019-156310

In a remote parking system, since remote parking is performed using a remote control device, information is exchanged between the remote control device and the vehicle, but transmission equipment is expensive to transmit a large amount of data such as moving images. It becomes a cost. Therefore, during remote parking, it is difficult for the remote control device to transmit and display an image showing the state of remote parking that changes sequentially to the remote control device.
An object of the present disclosure is to provide a remote parking system capable of reducing the cost of transmission equipment and a parking support control device used therein.

One aspect of the present disclosure is a remote parking system for performing remote parking in which a vehicle is moved from a current position to a planned parking position and parked by remote parking, which is a device that can be taken out of the vehicle and operated. A remote control device having a display screen for displaying the state of remote parking while instructing remote parking by being operated by a person, an imaging device provided in the vehicle for taking a peripheral image of the vehicle, and the vehicle It is provided with a control unit including an image generation unit that inputs imaging data of a peripheral image from an imaging device and generates an image to be displayed on a display screen based on the imaging data. Then, when a predetermined event occurs during remote parking, the control unit creates an image in the image generation unit and transmits the generated image information to the remote control device to display the state of remote parking on the display screen. Let me.

In this way, the generated image information is not always transmitted from the vehicle side to the remote control device side during remote parking, but is transmitted only when a predetermined event occurs. Therefore, it is possible to reduce the cost of the transmission equipment as compared with the case of transmitting a large amount of data such as a moving image.

Another aspect of the present disclosure is a parking support control device that performs remote parking in which the vehicle is moved from the current position to the planned parking position and parked based on the operation by a remote controller that can be taken out of the vehicle. The control unit includes a control unit that includes an image generation unit that inputs imaging data of the peripheral image from an imaging device that captures a peripheral image of the vehicle and generates an image to be displayed on a display screen based on the imaging data. When a predetermined event occurs during remote parking, the image generation unit creates an image and transmits the generated image information to the remote control device to display the state of remote parking on the display screen.

In this way, the control unit of the parking support control device does not always transmit the generated image information from the vehicle side to the remote control device side during remote parking, but only when a predetermined event occurs. Therefore, it is possible to reduce the cost of the transmission equipment as compared with the case of transmitting a large amount of data such as a moving image.

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 block diagram of the remote parking system which concerns on 1st Embodiment. It is a figure which showed an example of the top view image. It is a figure which showed an example of the top view image which included an obstacle. It is a figure which showed an example of the obstacle enlarged image. It is a figure which showed an example of the case where an obstacle is used as an alternative display. It is a figure which showed an example of remote parking. It is the figure which showed the case where the person who becomes an obstacle approaches the own vehicle during remote parking. It is a flowchart of operation control processing executed by a remote control machine. It is a flowchart of the control process executed by a cockpit ECU. It is a flowchart of image processing executed by an image ECU. It is a flowchart of the automatic parking process executed by the automatic parking ECU.

Hereinafter, embodiments of the present disclosure will be described with reference to the figures. 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, the remote parking system including the parking support control device according to the present embodiment will be described. As shown in FIG. 1, the remote parking system includes an electronic key 1, a remote controller 2, an antenna / tuner 3, a peripheral monitoring sensor 4, various ECUs 5 to 8 constituting a control unit of a parking support control device, and various actuators 9. Have. The various ECUs 5 to 8 include a body ECU 5, an image ECU 6, a cockpit ECU 7, and an automatic parking ECU 8. These various ECUs 5 to 8 and the antenna / tuner 3, the peripheral monitoring sensor 4, and the various actuators 9 are connected to each other so as to be able to communicate directly or via an in-vehicle LAN (Local Area Network). By controlling each of these parts, the remote parking system performs remote parking based on the remote control of the operator as parking assistance. There are various types of parking support, such as support for displaying and pointing a parking route and support for making announcements during parking. Here, support related to various types of parking, including remote parking, is called parking support. I will do it.

The electronic key 1 has authentication data for controlling the on / off of the start switch of the own vehicle such as opening / closing the door and starting / stopping the engine in the own vehicle (hereinafter referred to as the own vehicle), and operates the own vehicle. Possessed by a person. Although it is called an operator here, the operator is typically the same person as the driver who drives the own vehicle. Specifically, the electronic key 1 can wirelessly communicate with the body ECU 5 through the antenna / tuner 3, receives a request for transmitting authentication data from the body ECU 5, and transmits the authentication data when the transmission request is received. It is designed to do. Further, the electronic key 1 can automatically lock / unlock the door by transmitting a Lock / Unlock signal based on the operation of the operator.

The remote control device 2 is a device that is composed of a mobile communication terminal such as a smartphone or a tablet and can be taken out of the own vehicle. The remote control device 2 includes a touch panel type display screen 2a, and the operator can perform remote parking operations and the like through the display screen 2a, and transmits an operation signal corresponding to the operation to the cockpit ECU 7. Further, the remote control device 2 can also transmit its own position information based on GPS (Global Positioning System) to the cockpit ECU 7.

For example, the remote control device 2 can issue a remote parking execution instruction, a remote parking continuation instruction, a remote parking stop instruction, an image switching instruction, and the like. For example, when the remote parking application is executed through the display screen 2a of the remote control device 2, the remote parking execution button is displayed, and when the execution button is pressed, the remote parking execution instruction is given. Further, if the execution button is continuously pressed, the remote parking continuation instruction is given, and if the execution button is stopped pressed, the remote parking stop instruction is given. An image switching button that is pressed when the operator wants to display an image showing an obstacle is also displayed on the display screen 2a, and when the image switching button is pressed, an image switching instruction is given.

The antenna / tuner 3 is for realizing wireless communication between the electronic key 1 and the body ECU 5, and transmits a signal including a transmission request transmitted from the body ECU 5 to the electronic key 1 or is transmitted from the electronic key 1. It receives a signal containing authentication data and extracts authentication data.

The peripheral monitoring sensor 4 is an autonomous sensor that monitors the surrounding environment of the own vehicle. For example, the peripheral monitoring sensor 4 detects a three-dimensional object 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 as a detection target. .. Here, as the peripheral monitoring sensor 4, a peripheral monitoring camera 41 that captures a predetermined range around the own vehicle and a sonar 42 that transmits an exploration wave to a predetermined range around the own vehicle are provided. Each peripheral monitoring sensor 4 detects a three-dimensional object at each control cycle determined for each, for example, when providing parking support.

The peripheral monitoring camera 41 corresponds to an image pickup device, captures a peripheral image of the own vehicle, and outputs the captured image data to the image ECU 6 as sensing information. Here, a case where the peripheral surveillance camera 41 is provided with a front camera, a rear camera, a left side camera, and a right side camera for capturing images of the front, rear, and left and right sides of the vehicle will be described as an example. It is not limited to. It has become possible to detect "three-dimensional objects" by analyzing the image pickup data of the peripheral surveillance camera 41, and to generate an image to be displayed on the display screen 2a of the remote control device 2 at the time of remote parking using the image pickup data. There is.

The "three-dimensional object" is an object having a three-dimensional spatial expanse such as a three-dimensional structure, a person, or a bicycle detected by the peripheral monitoring sensor 4. The "obstacle" means a "three-dimensional object" that can be an obstacle to the movement of the own vehicle when performing parking support control. Even if it is a "three-dimensional object", those that do not interfere with the movement of the own vehicle, such as walls higher than the own vehicle and steps that are high enough to overcome, should not be included in the "obstacles". Is also good.

The sonar 42 corresponds to an exploration wave sensor. The sonar 42 outputs ultrasonic waves as exploration waves and acquires the reflected waves at predetermined sampling periods, such as relative velocity and relative distance to the target, and the azimuth angle in which the target exists. The position measurement result is sequentially output to the automatic parking ECU 8 as sensing information. When the sonar 42 detects an object, the sonar 42 includes the detection coordinates, which are the coordinates of the detected position, in the sensing information and outputs the detection coordinates. The detection coordinates of the object are specified using the moving triangulation method, and since the distance to the object changes as the vehicle moves, it is specified based on the change in the measurement result for each sampling cycle. There is.

Although only one sonar 42 is shown here, it is actually provided at multiple locations for the vehicle. Examples of the sonar 42 include front sonars and rear sonars arranged side by side in the left-right direction of the vehicle on the front and rear bumpers, and side sonars arranged at lateral positions of the vehicle.

Here, the sonar 42 is taken as an example of the exploration wave sensor, but the exploration wave sensor also includes a millimeter wave radar and LIDAR (Light Detection and Ringing). The millimeter wave radar performs measurement using millimeter waves as exploration waves, and LIDAR performs measurements using laser light as exploration waves, both of which output exploration waves within a predetermined range such as in front of a vehicle. , The measurement is performed within the output range.

Further, in the present embodiment, an example in which the peripheral monitoring camera 41 and the sonar 42 are provided as the peripheral monitoring sensor 4 is given, but it is sufficient if at least the peripheral monitoring camera 41 can perform peripheral monitoring, and all of them are provided. It doesn't have to be.

The various ECUs 5 to 8 constitute a control unit of the parking support control device, and are composed of a microcomputer equipped with a CPU, ROM, RAM, I / O, and the like. Although the various ECUs 5 to 8 are described as a plurality of configurations in the present embodiment, at least a part of the various ECUs 5 to 8 may be configured by one ECU, or at least a part thereof may be further divided. It may be a separate configuration. Various ECUs 5 to 8 cooperate with each other, or at least a part of each ECU 5 to 8 constitutes a control unit of the parking support control device.

The body ECU 5 can communicate with the electronic key 1 via the antenna / tuner 3 and with the automatic parking ECU 8 and the cockpit ECU 7. The body ECU 5 performs key authentication for determining whether or not the electronic key 1 is genuine of the own vehicle based on the communication with the electronic key 1. Further, the body ECU 5 controls the lock / unlock of the door based on the key authentication result, and controls the start switch such as the ignition switch that puts the own vehicle in the startable start state. Further, at the start of remote parking, the body ECU 5 receives an operation signal indicating the content of the remote parking operation from the cockpit ECU 7 or the automatic parking ECU 8 and issues a request for transmitting authentication data to the electronic key 1. Then, the body ECU 5 turns on the start switch when the electronic key 1 is genuine of the own vehicle based on the key authentication using the authentication data transmitted from the electronic key 1. In the case of the present embodiment, the body ECU 5 is sent from the automatic parking ECU 8 whether it is an execution mode in which the parking support control is executed or a non-execution mode in which the parking support control is not executed. Turn on the start switch only when. Further, the body ECU 5 transmits the result of the key authentication to the cockpit ECU 7. As a result, in the cockpit ECU 7, the result of key authentication is transmitted to the remote control device 2, the image generation can be instructed to the image ECU 6, and further, the remote parking by sending the operation signal to the automatic parking ECU 8 is possible. Operation instructions become possible. Specifically, the body ECU 5 is configured to include a key authentication unit 5a and a power supply control unit 5b as functional units that execute various controls.

The key authentication unit 5a stores the verification identification information in advance, performs key authentication by collating the verification identification information with the information sent from the electronic key 1, and the electronic key 1 is the authenticity of the own vehicle. Make sure it is. When the electronic key 1 is confirmed to be the genuine one of the own vehicle as a result of the key authentication by the key authentication unit 5a, the body ECU 5 enables the door to be unlocked when the operator touches the door knob. Lock / Unlock control is performed.

The power supply control unit 5b controls the on / off of the start switch. For example, the power supply control unit 5b turns on the start switch when the key authentication unit 5a confirms that the electronic key 1 is genuine of the own vehicle and the push switch provided in the vehicle interior is pressed. Let the vehicle be ready to start. Further, the power supply control unit 5b receives a start command signal instructing to turn on the start switch and a stop command signal instructing to stop as an operation signal for remote parking from the cockpit ECU 7. Further, the power supply control unit 5b receives information from the automatic parking ECU 8 whether the parking support control is executed or not executed. Then, when the power supply control unit 5b receives the start command signal or the stop command signal, it is confirmed by key authentication that the electronic key 1 is the genuine one of the own vehicle, and it is said that the power control unit 5b is in the execution mode. If information is received, it controls the on / off of the start switch.

The image ECU 6 inputs image data from the peripheral surveillance camera 41 to generate a peripheral image of the own vehicle, superimposes the peripheral image, or creates an HMI (Human Machine Interface) display separately from the peripheral image. For example, the image ECU 6 can also communicate with the cockpit ECU 7 and the automatic parking ECU 8, and generates an image according to the situation based on the data sent from the cockpit ECU 7 and the automatic parking ECU 8. .. Specifically, the image ECU 6 is configured to include an image recognition unit 6a, an image generation unit 6b, and an HMI display unit 6c as functional units that execute various controls.

The image recognition unit 6a recognizes an image of the surroundings of the own vehicle from the image pickup data input from the peripheral monitoring camera 41.

The image generation unit 6b generates a peripheral image of the own vehicle based on the image recognition result of the image recognition unit 6a. For example, the image generation unit 6b has an image when the operator parks by his / her own driving (hereinafter referred to as normal parking) and a remote parking when the operator uses the remote control device 2 to perform remote parking. I try to generate various images. Since the image generation unit 6b issues an image request from the cockpit ECU 7 during remote parking, the image generation unit 6b generates an image during remote parking when the image request is received. The timing of the image request from the cockpit ECU 7 is not always set during remote parking, but when a predetermined event occurs, and the frequency of image requests is higher than when it is always set. It's getting low. The timing of this image request will be described in detail later. Further, the image generation unit 6b has issued an image switching request when there is a request based on the operation of the remote control device 2 or when the automatic parking ECU 8 detects an obstacle based on the detection signal of the sonar 42. In some cases, the image is generated according to the request.

As an example, during normal parking, the image generation unit 6b generates a top view image which is an image of the own vehicle V as shown in FIG. 2 as viewed from directly above. Further, during remote parking, the image generation unit 6b also generates a top view image as in normal parking, but when an obstacle is detected, an image showing the obstacle is generated as an obstacle image. There is. As shown in FIG. 3, when the obstacle 100 is present around the own vehicle V, the obstacle 100 is projected in the top view image, but in order to further inform the operator of the existence of the obstacle 100. , Generating obstacle images.

The obstacle image may be an image viewed from a different angle than the top view image, or may be an image (hereinafter referred to as an obstacle top view image) in which a display corresponding to the obstacle 100 is projected in the top view image. May be good. When the obstacle image is different from the top view image, for example, as shown in FIG. 4, the obstacle 100 can be an enlarged image (hereinafter referred to as an obstacle enlarged image) viewed from the peripheral surveillance camera 41. .. When the obstacle image is used as the obstacle top view image, for example, as shown in FIG. 5, a display instead of the obstacle 100, for example, an alternative display 120 such as a dot display or a mark indicating the obstacle 100 can be used. When the alternative display 120 is used, the dot display or mark indicating the obstacle 100 is created as an HMI display by the HMI display unit 6c described below. Then, the top view image and the obstacle image can be switched by the image switching request. The images created by these image generation units 6b will be described in detail later.

The HMI display unit 6c is information sent based on HMI control from the HMI control unit 8e described later provided in the automatic parking ECU 8, and in the case of the present embodiment, obstacle information indicating an obstacle detection result by the sonar 42. It creates an HMI display that reflects. For example, the HMI display is an image in which information indicating an obstacle detection result is superimposed on the image generated by the image generation unit 6b. As an example, as information indicating the detection result of an obstacle, a display instead of the obstacle in the place where the obstacle exists, and a distance display from the shortest distance from the obstacle to the obstacle in the own vehicle are displayed. , It is superimposed on the image generated by the image generation unit 6b. As an alternative display of the obstacle in the place where the obstacle exists, an alternative display 120 such as a dot display or a mark indicating the obstacle as described above can be mentioned. The HMI display unit 6c creates an alternative display 120 for obstacles such as a dot display or a mark indicating these obstacles, a distance display, and the like as an HMI display, and the HMI display superimposed on the top view image is the alternative display 120. It becomes an obstacle top view image using.

The cockpit ECU 7 handles meter information, navigation information, vehicle information, multimedia information, etc., and based on the various information handled, performs meter display by the meter device and navigation display through the display of the navigation device. ..

Further, the cockpit ECU 7 is capable of communicating with the body ECU 5, the image ECU 6, the automatic parking ECU 8, and the remote control device 2. Therefore, the cockpit ECU 7 issues an image request or an image switching request to the image ECU 6, receives the image data sent from the image ECU 6, and transmits the image data to the display of the remote control device 2 or the navigation device. ing. Further, the cockpit ECU 7 receives the position information of the remote control device 2 in addition to the operation signal of the remote parking from the remote control device 2, and transmits the vehicle state and the generated image information to the remote control device 2. ing. Then, in the cockpit ECU 7, the operator who possesses the remote control device 2 refers to the own vehicle based on the position information sent from the remote control device 2 and the position information of the own vehicle detected based on GPS. It detects where it exists. As a result, the cockpit ECU 7 grasps the direction of the own vehicle from the position of the operator. Then, when the cockpit ECU 7 grasps the direction of the own vehicle from the position of the operator, it corresponds to the direction from the position of the operator when requesting an image of a top view image or an obstacle image or an image switching request. Request an image. That is, the cockpit ECU 7 issues an image request and an image switching request including data for specifying the orientation and display range of the image used by the image ECU 6 to generate the top view image and the obstacle image.

Further, the cockpit ECU 7 notifies the automatic parking ECU 8 that it has received an operation signal instructing the start of remote parking, and relates to an execution mode in which remote parking is executed or a non-execution mode in which remote parking is not executed from the automatic parking ECU 8. I am receiving information. Further, when the cockpit ECU 7 receives an operation signal indicating that remote parking is to be executed from the remote control device 2, the cockpit ECU 7 communicates with the body ECU 5 to perform key authentication and receives the result of key authentication. Then, when the electronic key 1 is the genuine one of the own vehicle, the cockpit ECU 7 issues an image request to the image ECU 6 in response to an operation signal to execute remote parking from the remote control device 2. The content of the operation during remote parking is transmitted to the automatic parking ECU 8.

Further, the cockpit ECU 7 issues an image switching request to the image ECU 6 when an operation for requesting image switching is performed by the remote control device 2 during remote parking. In addition, the cockpit ECU 7 acquires obstacle information from the automatic parking ECU 8 and issues an image switching request even when an obstacle is present or approaching the vehicle. .. Further, when an obstacle magnified image is used as the obstacle image, the cockpit ECU 7 identifies which peripheral surveillance camera 41 can project the obstacle, and uses the captured data of the peripheral surveillance camera 41. It is also possible to specify the existing image and issue an image switching request. The automatic parking ECU 8 grasps the position of the obstacle with respect to the own vehicle based on the measurement result of the sonar 42, and this is transmitted to the cockpit ECU 7 as obstacle information. Therefore, the cockpit ECU 7 can identify which peripheral surveillance camera 41 can project an obstacle from the obstacle information.

The automatic parking ECU 8 inputs sensing information that is a detection result by the peripheral monitoring sensor 4 and a measurement result of the sonar 42 at the time of parking support including remote parking, and performs various controls for parking support based on the sensing information. .. Regarding parking assistance, instructions for providing parking assistance, such as when a parking assistance switch (not shown) pressed by the driver when providing parking assistance is pressed, or when a remote parking instruction is issued from the remote control device 2. Is issued and executed. When a parking support instruction is issued, the automatic parking ECU 8 recognizes a free space that can be parked based on the sensing information of the peripheral monitoring sensor 4, and parks the vehicle 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 parking route. Specifically, the automatic parking ECU 8 includes a mode selection unit 8a, a space recognition unit 8b, a route generation unit 8c, a power supply control unit 8d, an HMI control unit 8e, and a route tracking control unit 8f as functional units that execute various controls. It is said to have a configuration.

The mode selection unit 8a selects the mode of the execution mode in which the parking support control is executed or the non-execution mode in which the parking support control is not executed. For example, when the parking support switch is pressed when parking is performed by the driver's driving, a status check such as whether the peripheral monitoring camera 41 or the sonar 42 is functioning is performed. Then, the execution mode is selected if the parking assistance can be executed, and the non-execution mode is selected if the parking assistance cannot be executed. Also, when the operator gets out of the vehicle and performs remote parking of the vehicle through the remote control device 2 instead of driving the operator, the above status check is performed and the parking support is executed as long as it can be executed. If the mode cannot be executed, the non-execution mode is selected. When the mode selection unit 8a performs mode selection, the power supply control unit 8d transmits the selected mode to the body ECU 5. If the execution mode is selected, the power supply control unit 5b turns on the start switch, and various calculations and various controls by the other functional units of the automatic parking ECU 8 are executed.

The space recognition unit 8b inputs sensing information from the peripheral monitoring sensor 4, and based on the sensing information, recognizes the surrounding environment of the own vehicle to be parked, specifically, a three-dimensional object existing around the own vehicle. Recognize. Further, the space recognition unit 8b recognizes the free space for parking the own vehicle based on the recognition result of the three-dimensional object.

Specifically, the space recognition unit 8b inputs the imaging data from the peripheral monitoring camera 41 and the measurement result by the exploration wave by the sonar 42 as sensing information, and is based on the image analysis of the imaging data and the measurement result by the exploration wave. It recognizes three-dimensional objects. In the three-dimensional object recognition, a three-dimensional object existing around the own vehicle, such as a dynamic object or a static object, is recognized as a detection target. Based on the obstacles of the three-dimensional objects to be detected recognized by this three-dimensional object recognition, preferably the shape of the static target, etc., the route generation described later is performed, and the presence or absence of the obstacles is present. Judgment etc. are made.

Since the imaging data input from the peripheral surveillance camera 41 reflects the state of the surroundings, the presence or absence of a three-dimensional object can be recognized by analyzing the image. In addition, based on the recognized shape of the three-dimensional object or the optical flow of the image, it is possible to determine whether the three-dimensional object is a dynamic target or a static target, and the position of the three-dimensional object, that is, with respect to the own vehicle. The position, distance, and height of a three-dimensional object can be detected. Further, from the sensing information of the sonar 42, the presence / absence of a three-dimensional object, the position and distance of the three-dimensional object can be detected, and whether the three-dimensional object is a dynamic target or a static target can be determined. Here, the space recognition unit 8b recognizes a three-dimensional object based on both the analysis of the image data from the peripheral surveillance camera 41 and the measurement result by the exploration wave by the sonar 42, but only one of them is three-dimensional. Object recognition is possible. However, by using both, it is possible to perform more accurate recognition of a three-dimensional object.

Further, the space recognition unit 8b uses the result of the above-mentioned three-dimensional object recognition to recognize the free space from the parking lot projected on the image data from the peripheral surveillance camera 41. I do. 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.

Further, when the space recognition unit 8b recognizes an obstacle based on the measurement result of the sonar 42, the space recognition unit 8b transmits the obstacle information such as the position of the obstacle and the shape of the obstacle to the cockpit ECU 7. inform. As a result, the cockpit ECU 7 recognizes that there is an obstacle, identifies which peripheral surveillance camera 41 can project the obstacle, and causes the obstacle to generate an image of the obstacle image. It is designed to issue an image switching request.

The route generation unit 8c generates a route based on the results of three-dimensional object recognition and free space recognition, and generates a target vehicle speed corresponding to the parking route. Specifically, the route generation unit 8c calculates a movement route from the current position of the own vehicle to the planned parking position recognized by the free space recognition while avoiding obstacles recognized by the three-dimensional object recognition, and calculates the movement route thereof. The route indicated by the calculation result is generated as a parking route. Further, the route generation unit 8c generates a parking route so as to satisfy the constraint condition when there is some constraint condition when the route is generated. For example, the route generation unit 8c generates a parking route that minimizes the number of turns within a predetermined range. In addition, 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 putting it in the constraint condition. 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 own vehicle when parked, if the image data of the peripheral surveillance camera 41 includes a sign with information such as "forward parking" or "backward parking", or when the orientation is instructed when parking. If a mark etc. is included, that information is included in the constraint condition. 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.

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. I have to. 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.

Further, the route generation unit 8c sets the target vehicle speed at each place in the route when the own vehicle is moved along the calculated parking route. Various methods for setting the target vehicle speed can be considered, but for example, the target vehicle speed is determined by setting a constant vehicle speed or providing an upper limit control vehicle speed according to the turning radius.

When the mode selection unit 8a performs the mode selection, the power supply control unit 8d transmits the selected mode to the body ECU 5 in order to cause the power supply control unit 5b of the body ECU 5 to control the on / off of the start switch based on the mode selection. ..

The HMI control unit 8e performs HMI control for causing the HMI display unit 6c in the image ECU 6 to create an image reflecting the sensing information of the sonar 42. For example, the HMI control unit 8e provides information indicating the location of an obstacle, information indicating the distance from the shortest distance from the obstacle to the obstacle, and the like, based on the sensing information of the sonar 42. It is sent to the HMI display unit 6c as obstacle information.

The route tracking control unit 8f 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. The route tracking control unit 8f follows the parking route generated by the route generation unit 8c and the target vehicle speed, and outputs control signals to various actuators 9 so that the own vehicle can move and park at the planned parking position. Here, the automatic parking ECU 8 is composed of one ECU, and the path tracking control unit 8f is provided in the ECU. However, the automatic parking ECU 8 may be composed of a combination of a plurality of ECUs, and the path tracking control unit 8f 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 8f is a detection 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 own vehicle. I'm getting a signal. Then, the route tracking control unit 8f detects the state of each unit from the acquired detection signal, and outputs control signals to various actuators 9 in order to move the own vehicle according to the parking route and the target vehicle speed.

The various actuators 9 are various traveling control devices related to the traveling and stopping of the own vehicle, and include an electronically controlled throttle 91, a transmission 92, an EPS (Electric Power Steering) motor 93, a brake actuator 94, and the like. These various actuators 9 are controlled based on the control signal from the path tracking control unit 8f, and the traveling direction, steering angle, and control drive torque of the own vehicle are controlled. As a result, parking support control including route tracking control in which the own vehicle is moved according to the parking route and the target vehicle speed and parked at the planned parking position Pb is realized.

When moving the vehicle from the current position to the planned parking position, the vehicle may be moved according to the route, but a person or another vehicle approaches while the vehicle is moving. It is possible. In that case, the vehicle stops moving until the dynamic target appears outside the range of the planned movement trajectory of the vehicle estimated from the parking route and the vehicle width, and the vehicle moves. It will prevent it from colliding with dynamic targets. In addition, there may be static targets that were not recognized when the parking route was first calculated. Therefore, the space recognition unit 8b continues to recognize the three-dimensional object even while the own vehicle is moving following the parking route. Then, if the static target exists in a place where the static target can collide when the own vehicle moves following the parking route, the parking route is regenerated.

As described above, the remote parking system according to this embodiment is configured. Subsequently, the operation of the remote parking system configured in this manner will be described with reference to FIGS. 6 to 11. The remote parking system also executes various controls other than remote parking by various ECUs 6 to 8. For example, it also provides parking support when the operator parks based on his / her own driving. The operation of the remote parking system will be explained focusing on remote parking.

FIG. 6 shows an example of remote parking, and shows an example of a situation in which the operator 110 remotely parks the own vehicle V in the free space when a parallel parking space is provided. FIG. 6 shows a situation in which two vehicles V1 and V2 are parked side by side with one free space open, and the vehicle is remotely parked in the free space from the current position Pa to the planned parking position Pb. FIG. 7 shows a state when the obstacle 100 approaches the own vehicle V during remote parking.

FIG. 8 is a flowchart of the operation control process executed by the remote control device 2, and FIG. 9 is a flowchart of the control process executed by the cockpit ECU 7. Further, FIG. 10 is a flowchart of image processing executed by the image ECU 6, and FIG. 11 is a flowchart of automatic parking processing executed by the automatic parking ECU 8. Each process shown in the flowchart of each figure is executed in each ECU at a predetermined control cycle. Here, for each process, the start switch at the time of stopping the vehicle, which is assumed to be used for remote parking, is executed when the start switch is off, but it may be executed when the start switch is on.

First, in the remote control device 2, as shown in FIG. 8, it is determined in step S100 whether or not an operation instructing the execution of remote parking has been performed. For example, when the operator executes the remote parking application through the display screen 2a of the remote control device 2, the remote parking execution button is displayed. When this execution button is pressed, it is determined that an instruction to execute remote parking has been issued.

In the following step S110, the position information is acquired based on GPS. Then, in step S120, a process of transmitting the position information acquired in step S110 to the cockpit ECU 7 together with the operation signal indicating the content of the remote parking operation is performed via wireless communication. When the remote parking is started, the remote parking execution instruction is transmitted from the remote control device 2 to the cockpit ECU 7 as the content of the remote parking operation.

When remote parking is executed based on the remote parking execution instruction, in step S130, the image information generated by the image ECU 6 sent from the cockpit ECU 7 is received, and the image displayed by the generated image information is displayed. Then, the process proceeds to step S140, it is determined whether or not the remote parking is completed, and the processes of steps S110 to S130 are repeated until an affirmative determination is made.

For example, as shown in FIGS. 2 to 5, the execution button 2b and the image switching button 2c are displayed in a place that does not interfere with the image display, such as any of the four corners in the display screen 2a. Then, when the operator keeps pressing the execution button 2b, in step S120, the information indicating that the remote parking is continuing is continuously transmitted as the operation signal, so that the remote parking is continued and the remote parking is in progress. The image display is continued. Further, when the execution button 2b is released, the remote parking is stopped, but when the execution button 2b is pressed again, the information indicating that the remote parking is continuing is continuously transmitted. There is. Further, when the operator presses the image switching button 2c, in step S120, a signal indicating image switching is transmitted as an operation signal, and the display of the top view image and the obstacle image is switched. Then, when a signal indicating that the own vehicle has reached the planned parking position by remote parking is sent from the automatic parking ECU 8 via the cockpit ECU 7, or when the operator issues a remote parking end instruction through the remote control device 2, the remote is remote. Judge that parking is complete. When it is determined that the remote parking is completed in this way, the process proceeds to step S150 to end the screen display during remote parking and end the process.

On the other hand, on the own vehicle side, as shown in FIG. 9, the cockpit ECU 7 determines in step S200 whether or not the remote parking operation signal, that is, the remote parking execution instruction has been received. Therefore, when the remote parking execution instruction is transmitted from the remote control device 2 in step S120 of FIG. 8, an affirmative determination is made in step S200. Then, the process proceeds to step S210, and the activation command signal corresponding to the remote parking execution instruction is transmitted to the body ECU 5, and the remote parking execution instruction is sent to the automatic parking ECU 8 as a remote parking operation signal. As a result, the mode selection unit 8a selects the mode of the execution mode or the non-execution mode, and the selection result is transmitted to the body ECU 5. Then, when the body ECU 5 transmits a request for transmitting authentication data to the electronic key 1 and the authentication data is returned from the electronic key 1 to the body ECU 5, the key authentication unit 5a performs key authentication, and the key authentication is performed. The result is transmitted to the cockpit ECU 7. Further, as a result of the key authentication, when the electronic key 1 is the genuine one of the own vehicle and the mode transmitted from the automatic parking ECU 8 is the execution mode, the power supply control unit 5b turns on the start switch of the own vehicle.

Further, the cockpit ECU 7 receives the key authentication result in step S220, and then determines in step S230 whether or not the electronic key 1 is genuine based on the received key authentication result. If a negative determination is made here, the process is terminated because it is not an instruction to execute remote parking for the own vehicle, and if an affirmative determination is made, the process proceeds to step S240.

In step 240, it is determined whether or not a predetermined event has occurred. The predetermined event referred to here means that the timing has been reached so that the operator can visually recognize the state of remote parking through the display screen 2a of the remote control device 2. In the case of the present embodiment, the predetermined event is the timing when the predetermined time interval or the predetermined distance interval is reached, the timing when the screen request or the screen switching request is made, and the timing when the obstacle is detected.

The predetermined time interval or the predetermined distance interval is the timing set every fixed cycle or every time the vehicle travels a fixed distance after the remote parking start instruction is given and the remote parking is started. The predetermined time interval or the predetermined distance interval is set so that the operator can periodically visually recognize the state of remote parking. For example, the predetermined time interval or the predetermined distance interval is set to a value according to the vehicle speed at the time of remote parking, and the higher the vehicle speed, the shorter the predetermined time interval and the shorter the predetermined distance interval. For example, when the vehicle speed is 1 to 2 km / h, it can be set to about 1 second for a predetermined time interval and about 50 cm for a predetermined distance interval. Either the timing at which the predetermined time interval is reached or the timing at which the predetermined distance interval is reached is set as one of the predetermined events, and an affirmative judgment is made in this process at each predetermined time interval or at each predetermined distance interval. It has become so.

Regarding the timing of the screen request or the screen switching request, as described above, when the operator performs an operation for executing remote parking or an operation for instructing image switching, an operation signal from the remote control device 2 is transmitted. This is the timing issued from the received cockpit ECU 7. The timing at which a screen request or a screen switching request is made is set so as to respond to the request of the operator.

The timing at which an obstacle is detected is the timing at which when the automatic parking ECU 8 detects an obstacle based on the measurement result of the sonar 42, the cockpit ECU 7 notified by the automatic parking ECU 8 issues an image switching request. Is. The timing at which an obstacle is detected is set to alert the operator to the obstacle.

Then, when a predetermined event set in this way occurs, the process proceeds to step S250 to issue an image request or an image switching request to the image ECU 6, and then the process proceeds to step 260 for remote parking in the automatic parking ECU 8. It transmits an operation signal indicating the content of the operation of.

When the processes of steps S250 and S260 are executed, the image ECU 6 and the automatic parking ECU 8 execute various processes. Then, when the process proceeds to step S270 and the generated image information is acquired from the image ECU 6, the generated image information is transmitted from the cockpit ECU 7 to the remote control device 2 together with the vehicle state information. The processing of steps S240 to S270 is continued until it is determined in step S280 that the remote parking end instruction has been received.

It should be noted that the automatic parking ECU 8 informs the cockpit ECU 7 that the vehicle has reached the planned parking position by remote parking, and the remote control device 2 indicates that the operator has operated the remote parking end instruction. Once informed, a positive decision is made in step S280. In that case, the process proceeds to step S290 to end the remote parking. As a result, for example, the cockpit ECU 7 outputs a signal indicating the end instruction of remote parking to the body ECU 5, the image ECU 6, and the automatic parking ECU 8, the body ECU 5 turns off the start switch, and the ECUs 6, 7, and 8 also end the process. ..

When an image request or an image switching request is issued when a predetermined event occurs in step S250 of FIG. 9, the image ECU 6 executes a process for generating an image corresponding to the request. First, in step S300 of FIG. 10, it is determined whether or not an image request has been issued, and when an image request is issued, the processes of step S310 and subsequent steps are performed.

In step S310, it is determined whether or not an image switching request has been issued. When the operator performs an image switching operation through the remote control device 2 or the automatic parking ECU 8 detects an obstacle based on the detection signal of the sonar 42, the cockpit ECU 7 issues an image switching request. ing. Further, when the operator performs an image switching operation through the remote control device 2 and then performs an operation of returning to the original image again, the image switching request is not made. Here, if a negative determination is made, the process proceeds to step S320, and if an affirmative determination is made, the process proceeds to step S330.

In step S320, the imaging data from the peripheral surveillance camera 41 is acquired and a top view image is generated. As described above, the peripheral monitoring cameras 41 include a front camera, a rear camera, a left side camera, and a right side camera that capture images of the front, rear, and left and right sides of the vehicle. Is combined to generate a top view image. After that, the process proceeds to step S340, and the top view image is transmitted to the cockpit ECU 7. As a result, the top view image information is transmitted from the cockpit ECU 7 as the generated image information in step S270 of FIG. 9, and the top view image is displayed through the display screen 2a of the remote control device 2. For example, in the situation shown in FIG. 6, the image shown in FIG. 2 is displayed as the top view image. Since the generated image information is transmitted only at the timing when a predetermined event occurs, the display does not look like a moving image but looks like a slide show, but the operator can see the display screen 2a of the own vehicle. You can grasp the surrounding situation. In this way, when the image switching request is not issued, the state of remote parking can be confirmed by displaying the top view image that is also performed when the operator drives and parks his / her own vehicle. I am trying to do it.

On the other hand, in step S330, the imaging data from the peripheral surveillance camera 41 is acquired and an obstacle image is generated. Obstacle information used to generate an obstacle image is transmitted from the HMI control unit 8e to the HMI display unit 6c. The image ECU 6 generates an obstacle image based on the obstacle information.

For example, when the obstacle image is an obstacle top-view image, the obstacle information indicates the position of the obstacle with respect to the own vehicle, so that the obstacle is shown in the top-view image. The dot display or the alternative display 120 of the mark is superimposed. In addition, when the obstacle image is used as an enlarged obstacle image, it is assumed that the obstacle is projected because the obstacle information indicates the position of the obstacle with respect to the own vehicle. An obstacle magnified image is generated from the captured data of the peripheral surveillance camera 41.

When an obstacle is detected in this way, the obstacle image is displayed assuming that a predetermined event has occurred. At this time, the display may be performed at all times while the obstacle is detected, but it is not always necessary to display the display at all times. In other words, assuming that the display is always performed under the limited condition that an obstacle is being detected, it is considered that the period for sending a large amount of data such as a moving image is short, so that the cost increase of the transmission equipment is suppressed. , High cost. Therefore, even when an obstacle is detected, if the timing at which the obstacle image is displayed is set to a predetermined time interval or a predetermined distance interval, the cost increase of the transmission equipment can be further suppressed. preferable. Further, regarding the display of the obstacle image, it is preferable that the obstacle image is displayed more frequently than in the normal state in which no obstacle is detected. Therefore, the predetermined time interval or the predetermined distance interval set when the obstacle is detected is compared with the predetermined time interval or the predetermined distance interval set when the obstacle is not detected. It is better to make it shorter.

Then, when the obstacle image is generated in step S330, the process proceeds to step S350, the obstacle image is transmitted to the cockpit ECU 7, and the process is completed. As a result, the obstacle image information is transmitted from the cockpit ECU 7 as the generated image information in step S260 of FIG. 9, and the obstacle image is displayed on the display screen 2a of the remote control device 2. For example, in the case where the obstacle 100 is approaching as shown in FIG. 7, the image shown in FIG. 4 is displayed as the obstacle image when the obstacle enlarged image is used. When the obstacle top view image is used, an image in which the obstacle 100 is used as the alternative display 120 as shown in FIG. 5 is displayed as the obstacle image.

In this way, when an image switching request is issued, the obstacle image is displayed instead of the top view image so that the operator can accurately grasp the obstacle. When an obstacle is detected, the image switching request is still issued and the obstacle image is displayed, but when the obstacle is not detected, the image switching request is not issued. In this case, a negative determination is made again in step S310. As a result, the display of the obstacle image is switched to the display of the top view image.

Further, when the automatic parking ECU 8 receives the operation signal indicating the content of the remote parking operation, in step S400 of FIG. 11, it is determined whether or not the operation signal indicates the execution instruction of the remote parking. If an affirmative determination is made here, the process proceeds to step S410 to execute the mode selection process. In the mode selection process, the mode is selected whether the parking support control is executed or not executed. For example, the state of the peripheral surveillance camera 41 and the sonar 42 is checked, and the execution mode is selected if the parking support can be executed, and the non-execution mode is selected if the parking support cannot be executed.

After that, the process proceeds to step S420, and it is determined whether or not the execution mode is selected in the mode selection process. Then, if it is an execution mode, the process proceeds to step S430 to inform the body ECU 5 that the mode is the execution mode, and then the process proceeds to step S440 to perform remote parking processing as parking assistance. In the remote parking process, the space recognition unit 8b executes recognition of a three-dimensional object, detection of obstacles, free space recognition, route generation, and route tracking control. Then, by the route tracking control, control signals are output to the various actuators 9 so that the own vehicle V can move according to the parking route generated by the route generation and the target vehicle speed and park at the planned parking position, and the various actuators. 9 is controlled. Further, at this time, HMI control is performed, and when an obstacle is detected, the obstacle information as the detection result is transmitted to the image ECU 6 one by one. Further, when an obstacle is detected based on the detection signal of the sonar 42, the automatic parking ECU 8 notifies the cockpit ECU 7 of the obstacle, and the cockpit ECU 7 issues an image switching request.

Then, the process proceeds to step S450, it is determined whether or not the remote parking is continuing, and if it is continuing, the process of step S440 is continuously executed. Further, when the remote parking is not continued, for example, when the operator gives an instruction to stop the remote parking through the remote control device 2, or when the own vehicle V reaches the planned parking position Pb by the remote parking, the process ends. do.

On the other hand, if a negative determination is made in step S420, that is, if the non-execution mode is selected in the mode selection, the process proceeds to step S460 to inform the body ECU 5 that it is the non-execution mode. In this case, remote parking cannot be performed, so the process ends as it is.

As described above, in the present embodiment, the generated image information is not always transmitted from the vehicle side to the remote control device 2 side during remote parking, but only when a predetermined event occurs, a still image (in other words, in other words). I try to convey it as a single image). Therefore, compared to the case of transmitting a large amount of data such as a moving image (in other words, a video signal), the remote parking system of the transmission form of the present embodiment can reduce the cost of the transmission equipment. It will be possible.

Further, when an obstacle is detected, the obstacle image can be displayed through the display screen 2a of the remote control device 2, so that the operator can recognize the obstacle more. If the obstacle is an enlarged obstacle image viewed from the peripheral surveillance camera 41 as the obstacle image, the obstacle is displayed more clearly, so that the operator can more reliably recognize the obstacle. Similarly, when an obstacle top-view image in which an obstacle is superimposed on the top-view image as an alternative display such as a dot display or a mark is used as the obstacle image, the obstacle is recognized as compared with a simple top-view image. It can be made easy. Therefore, the operator can more reliably recognize the obstacle.

Further, when an obstacle is detected, the obstacle image can be displayed at all times, but even in this case, the obstacle can be displayed at a predetermined time interval or a predetermined distance interval. It is possible to reduce the cost of the transmission equipment even at the time of detection. Further, a predetermined time interval or a predetermined distance interval set when an obstacle is detected as compared with a predetermined time interval or a predetermined distance interval set when an obstacle is not detected. Can also be shortened. In this way, when an obstacle is detected, it can be displayed more frequently than when the obstacle is not detected, and the operator can grasp the situation of the obstacle in more detail. It will be possible.

(Second Embodiment)
The second embodiment will be described. Since this embodiment is the same as the first embodiment in that the display form of the image is changed from that of the first embodiment, only the part different from the first embodiment will be described.

In the first embodiment, the top view image is displayed when an obstacle is not detected during remote parking, and the obstacle image is displayed when an obstacle is detected. On the other hand, the timing at which a predetermined event occurs may be set only at a predetermined time interval or a predetermined distance interval, and only the top view image may be displayed at those timings.

Even with such a display form, the generated image information is not always transmitted from the vehicle side to the remote control device 2 side during remote parking, but is transmitted only when a predetermined event occurs. Therefore, as in the first embodiment, it is possible to reduce the cost of the transmission equipment.

In this case, unlike the first embodiment, the obstacle image that makes it easier to recognize the obstacle is not displayed, but since the obstacle is also projected in the top view image, the obstacle is displayed. Can be recognized. Further, even in such a display form, when an obstacle is detected, the time interval or the distance interval for displaying the image can be shortened as compared with the case where the obstacle is not detected. In that case, since the image is displayed more frequently when an obstacle is detected, it is possible to draw more attention to the operator.

(Third Embodiment)
A third embodiment will be described. This embodiment is also a modification of the image display form with respect to the first embodiment, and the other aspects are the same as those of the first embodiment. Therefore, only the parts different from the first embodiment will be described.

In the first embodiment, the top view image is displayed when an obstacle is not detected during remote parking, and the obstacle image is displayed when an obstacle is detected. On the other hand, the timing at which a predetermined event occurs may be limited to the case where an obstacle is detected, and the image may be displayed only when the obstacle is detected. In that case, the display form of the image may be a form of displaying a top view image or a form of displaying an obstacle image. Further, the top view image and the obstacle image may be displayed alternately.

Even when the image is displayed only when an obstacle is detected, the cost of the transmission equipment can be further reduced by displaying the image at a predetermined time interval or a predetermined time interval. It becomes possible to plan.

(Fourth Embodiment)
A fourth embodiment will be described. In this embodiment, the display timing of the image is changed with respect to the first and third embodiments, and the other aspects are the same as those in the first and third embodiments. Only the different parts will be described.

In the first and third embodiments, the collision margin time (hereinafter referred to as TTC), which is the time required for the vehicle to collide with the obstacle, depends on the distance between the vehicle and the obstacle. , The interval of the event for displaying the obstacle image can be set. Specifically, the predetermined time interval or the predetermined distance interval is shortened so that the obstacle image is displayed more frequently as the distance between the vehicle and the obstacle becomes shorter or the TTC becomes shorter. In this way, the higher the risk of collision between the own vehicle and the obstacle, the higher the frequency of displaying the obstacle image, and the more the operator can recognize the obstacle.

(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.

In the first embodiment, the top view image and the obstacle image are switched at the time of remote parking, and only one of them is displayed. However, a part of the display screen 2a is a top view image and all the rest. Alternatively, both images may be displayed by displaying an obstacle image in a part thereof.

Further, as the obstacle image, an obstacle top view image using the alternative display 120 described in the first embodiment may be used, or an obstacle enlarged image may be used, but these may be selectively switched by the image switching button 2c. Or it may be possible to switch the display alternately. In addition, there may be a plurality of obstacles. In that case, since the blind spot position can be known from the relationship with the direction of the own vehicle from the position of the operator, it is preferable to display the obstacle image with priority given to the blind spot position side.

In addition, remote parking is assumed to be performed by the driver after getting out of the vehicle, so only when the electronic key 1 is genuine based on the key authentication. The start switch is turned on. However, this is also only an example, and the start switch is automatically turned on when the operator issues a request for a remote parking start instruction through the remote control device 2 without performing key authentication. You may. Further, the operator may get off the vehicle V and perform remote parking without turning off the start switch.

The control unit of the parking assistance control device 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 thereof described in the present disclosure may consist of 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 (13)

1. It is a remote parking system that performs remote parking by moving the vehicle (V) from the current position (Pa) to the planned parking position (Pb) by remote parking.
   A remote control device (2) that is a device that can be taken out of the vehicle and has a display screen (2a) for instructing the remote parking and displaying the state of the remote parking by being operated by an operator. )When,
   An image pickup device (41) provided in the vehicle and taking a peripheral image of the vehicle, and
   A control unit (5 to 8) provided in the vehicle and including an image generation unit (6b) that inputs imaging data of the peripheral image from the imaging device and generates an image to be displayed on the display screen based on the imaging data. ) And,
   When a predetermined event occurs during the remote parking, the control unit creates an image in the image generation unit and transmits the generated image information to the remote control device to display the remote parking on the display screen. A remote parking system that displays the state of.
2. The remote parking system according to claim 1, wherein the control unit generates an image by the image generation unit at each timing of the predetermined time interval with a predetermined time interval as the predetermined event.
3. Claim 1 The remote parking system described in.
4. The control unit has a space recognition unit (8b) that recognizes obstacles existing around the vehicle by recognizing the surrounding environment of the vehicle.
   The claim that the control unit generates an image by the image generation unit at the timing when the space recognition unit recognizes the obstacle as the predetermined event when the space recognition unit recognizes the obstacle. The remote parking system according to any one of 1 to 3.
5. The control unit has a space recognition unit (8b) that recognizes obstacles existing around the vehicle by recognizing the surrounding environment of the vehicle.
   The control unit generates an image by the image generation unit at the timing when the space recognition unit recognizes the obstacle as the predetermined event when the space recognition unit recognizes the obstacle. The remote parking according to claim 1 or 2, wherein during recognition of an obstacle, the image generation unit generates an image at each timing of the predetermined time interval with a predetermined time interval as the predetermined event. system.
6. The remote parking system according to claim 5, wherein the control unit shortens the predetermined time interval, which is regarded as the predetermined event, during recognition of the obstacle as the distance between the vehicle and the obstacle becomes shorter. ..
7. The control unit shortens the predetermined time interval, which is the predetermined event during recognition of the obstacle, as the collision margin time, which is the time required for the vehicle to collide with the obstacle, becomes shorter. , The remote parking system according to claim 5.
8. The control unit is one of claims 5 to 7, wherein the higher the vehicle speed, which is the speed of the vehicle, the shorter the predetermined time interval, which is the predetermined event, during the recognition of the obstacle. Described remote parking system.
9. The control unit has a space recognition unit (8b) that recognizes obstacles existing around the vehicle by recognizing the surrounding environment of the vehicle.
   The control unit generates an image by the image generation unit at the timing when the space recognition unit recognizes the obstacle as the predetermined event when the space recognition unit recognizes the obstacle. During the recognition of obstacles, the image generation unit generates an image at each timing of the predetermined distance interval, with a predetermined distance interval every time the vehicle travels a certain distance as the predetermined event. The remote parking system according to claim 1 or 3.
10. The remote parking system according to claim 9, wherein the control unit shortens the predetermined distance interval, which is regarded as the predetermined event, while recognizing the obstacle, as the distance between the vehicle and the obstacle becomes shorter. ..
11. The control unit shortens the predetermined distance interval, which is the predetermined event during recognition of the obstacle, as the collision margin time, which is the time required for the vehicle to collide with the obstacle, becomes shorter. , The remote parking system according to claim 9.
12. The control unit is one of claims 9 to 11, wherein the higher the vehicle speed, which is the speed of the vehicle, the shorter the predetermined distance interval, which is regarded as the predetermined event, during the recognition of the obstacle. Described remote parking system.
13. Parking support control for remote parking in which the vehicle is moved from the current position (Pa) to the planned parking position (Pb) and parked based on the operation by the remote control device (2) that can be taken out of the vehicle (V). It ’s a device,
    An image generation unit that inputs imaging data of the peripheral image from the imaging device (41) that captures the peripheral image of the vehicle and generates an image to be displayed on the display screen (2a) of the remote control device based on the imaging data. It has a control unit (5 to 8) including (6b), and has a control unit (5 to 8).
    When a predetermined event occurs during the remote parking, the control unit creates an image in the image generation unit and transmits the generated image information to the remote control device to display the remote parking on the display screen. Parking support control device that displays the state of.

Images