WO2021214974A1

WO2021214974A1 - Vehicle travel control method and vehicle travel control device

Info

Publication number: WO2021214974A1
Application number: PCT/JP2020/017669
Authority: WO
Inventors: 康啓鈴木
Original assignee: 日産自動車株式会社
Priority date: 2020-04-24
Filing date: 2020-04-24
Publication date: 2021-10-28

Abstract

A vehicle travel control method according to the present invention comprises determining, in a case where autonomous travel control is to be executed according to a remote operation by a user (U) outside a vehicle (V) provided with an autonomous travel control function, whether or not an authentication action detected near the vehicle (V) is a predetermined authentication action, identifying the user (U) present near the position where the authentication action was performed in the case where the detected authentication action is the predetermined authentication action, detecting the relative position of the identified user (U) with respect to the vehicle (V), and executing the autonomous travel control of the vehicle (V) on the basis of the relative position.

Description

Vehicle travel control method and vehicle travel control device

The present invention relates to a vehicle travel control method and a vehicle travel control device that autonomously control the vehicle by operating instructions from the outside of the vehicle.

When moving the vehicle by remote operation, the operator identifies the area that becomes a blind spot, and if there is a blind spot, the person near the door of the vehicle is tracked in order to control the vehicle so that the vehicle speed decreases. A driving support device that detects a relative position between a vehicle and an operator is known (Patent Document 1).

Japanese Unexamined Patent Publication No. 2019-15211

In the above-mentioned conventional technology, a person near the door is presumed to be the operator of the vehicle and its movement is tracked, but the person near the door is not necessarily the user of the vehicle that remotely operates the vehicle. Therefore, in the above-mentioned prior art, a person other than the user of the vehicle near the door of the vehicle may be erroneously estimated to be the user of the vehicle.

An object to be solved by the present invention is to provide a vehicle travel control method and a vehicle travel control device capable of specifying a user's relative position with respect to a vehicle.

The present invention determines whether or not the authentication act detected around the vehicle is a predetermined authentication act by the controller of the vehicle equipped with the autonomous driving control function. Next, when the detected authentication act is a predetermined authentication act, the user who is in the vicinity of the position where the authentication act is performed is specified, and the relative position of the specified user with respect to the vehicle is detected. Then, the above problem is solved by executing the autonomous driving control of the vehicle based on the detected relative position.

According to the present invention, since the relative position of the user with respect to the vehicle can be specified by detecting the position where the predetermined authentication act is performed, the erroneous autonomous driving is performed at the relative position of a person or an object other than the user of the vehicle. Autonomous driving control can be executed based on the correct relative position of the user without executing the control.

It is a block diagram which shows the remote parking system of 1st Embodiment which applied the vehicle running control method and the vehicle running control device of this invention. It is a top view which shows the detection range of the object detector of a vehicle in the remote parking system of FIG. 1, and the two-dimensional code of the remote controller detected by the object detector. FIG. 1 is a plan view (No. 1) showing an example of backward remote parking executed by the remote parking system of FIG. FIG. 2 is a plan view (No. 2) showing an example of backward remote parking executed by the remote parking system of FIG. FIG. 3 is a plan view (No. 3) showing an example of backward remote parking executed by the remote parking system of FIG. It is a top view which shows the state which the movement of a user is tracked by the authenticator of the remote parking system of FIG. It is a flowchart which shows the control procedure executed in the remote parking system of FIG. It is explanatory drawing which shows another example of the authentication pattern used in the remote parking system of FIG. It is a block diagram which shows the remote parking system of the 2nd Embodiment to which the vehicle running control method and the vehicle running control device of this invention are applied. FIG. 1 is a plan view (No. 1) showing an example of backward remote parking executed by the remote parking system of FIG. FIG. 2 is a plan view (No. 2) showing an example of backward remote parking executed by the remote parking system of FIG. FIG. 3 is a plan view (No. 3) showing an example of backward remote parking executed by the remote parking system of FIG. FIG. 4 is a plan view (No. 4) showing an example of backward remote parking executed by the remote parking system of FIG. FIG. 5 is a plan view showing an approachable distance between a vehicle and a user of the vehicle and an approachable distance to an obstacle other than the user when autonomous parking control is performed in the remote parking system of FIG. 2. It is a flowchart which shows the control procedure executed in the remote parking system of FIG. It is a front view of the electronic key used in the remote parking system of the 3rd Embodiment to which the vehicle running control method and the vehicle running control device of this invention are applied. FIG. 11A is a back view of the electronic key shown in FIG. 11A. It is a flowchart which shows the control procedure executed in the remote parking system of 4th Embodiment to which the vehicle travel control method and the vehicle travel control device of this invention are applied. It is explanatory drawing which shows the authentication act used in the remote parking system of the 5th Embodiment to which the vehicle running control method and the vehicle running control device of this invention are applied.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<< First Embodiment >>
FIG. 1 is a block diagram showing a remote parking system 1 to which the vehicle travel control method and the vehicle travel control device of the present invention are applied. In the present specification, "autonomous driving control" refers to a vehicle by automatic control of a vehicle-mounted driving control device without depending on the driving operation of a user (hereinafter, also referred to as a driver) of the vehicle (hereinafter, also referred to as own vehicle). It means to run. Further, "autonomous parking control" is a kind of autonomous driving control, in which the vehicle is parked (entered or taken out of the garage) by the automatic control of the on-board driving control device without depending on the driving operation of the user. It shall mean that. In the present specification, "parking" means to continuously park the vehicle in the parking space, but the term "parking route" means not only the route to enter the parking space but also the route from the parking space. It shall also include the garage exit route. In that sense, the vehicle travel control method and the vehicle travel control device of the present invention include both vehicle travel control when entering the parking space and vehicle travel control when the vehicle is taken out of the parking space. .. In addition, putting in the garage is also called warehousing, and taking out the garage is also called warehousing. In the following first embodiment, a specific example of the present invention will be described with reference to an example in which the travel control method and the travel control device according to the present invention are applied to autonomous parking control by remote control.

The remote parking system 1 of the present embodiment executes autonomous parking control by the user getting off and remotely controlling the vehicle while confirming safety. Then, when the vehicle may collide with an obstacle, the vehicle is stopped by the autonomous parking control even if there is an instruction of traveling control by remote control. Hereinafter, the garage entry autonomous driving control mode using remote control is also referred to as a remote warehousing mode, and the garage exit autonomous driving control mode using remote control is also referred to as a remote warehousing mode.

For example, in a narrow parking space where there is not enough room for the side doors to open, such as a narrow garage or a parking lot where other vehicles are parked on both sides, it is difficult for the user to get on and off. In order to enable parking even in such a case, a remote warehousing mode or a remote warehousing mode combined with remote control is used. When the user stops the vehicle at the entrance of the parking space and puts it in the garage, the remote warehousing mode is activated, and the user carries the remote controller and gets off. The user sends a forward or backward instruction as a travel control instruction by the remote controller to execute the garage entry by the forward or backward travel control. Further, when taking out the garage from the parking space, the user turns on the internal combustion engine or the driving motor of the vehicle by using the remote controller possessed, and further activates the remote leaving mode. Then, the user remotely sends a forward or backward instruction as a travel control instruction to execute the garage out by the forward or backward travel control, and then board the vehicle. The remote control of the user can be such that, for example, the vehicle continues to move forward or backward while the forward or backward instruction switch is pressed, and the vehicle stops while the instruction switch is not pressed. The remote parking system 1 of the present embodiment is a system including a remote warehousing mode in which such a remote operation is used in combination and a remote warehousing mode in which the remote operation is also used in the same manner.

Further, in the second embodiment described later, a parking space can be set, a warehousing route to the parking space can be calculated, and traveling can be controlled along the calculated warehousing route by remote control of the user. When taking out the garage from the parking space, it is possible to set the garage leaving position, calculate the leaving route to the garage leaving position, and control the running along the calculated leaving route by remote control of the user. can. In this case, the remote control of the user is, for example, along the route while the own vehicle V keeps moving forward or backward while automatically steering along the route while pressing and holding the start instruction switch, and while not pressing the start instruction switch. It is possible to interrupt the running and stop both of them. In addition, when the stop instruction switch is pressed, both of them can be stopped. Although the backward autonomous parking control shown in FIGS. 8A to 8D is illustrated as an example of the autonomous parking control, the present invention can also be applied to parallel parking and other autonomous parking.

The remote parking system 1 of the present embodiment is mounted on the vehicle V (see FIG. 2) and is operated by a travel control device 2 for driving the vehicle V by autonomous driving control and a user U (see FIG. 2) of the vehicle V. A remote controller 3 for remotely controlling the travel control device 2 is provided. The remote controller 3 is a portable terminal device having a communication function. For example, a dedicated remote controller corresponding to the remote parking system 1 of the present embodiment is used for a general-purpose mobile terminal such as a smartphone or a tablet terminal. The control application is installed. The mobile terminal functions as the remote controller 3 of the present embodiment by activating the application. The travel control device 2 and the remote controller 3 are connected by a telecommunication line capable of communicating with each other such as a mobile phone communication network or the Internet, a short-distance wireless communication, or the like. The remote controller 3 is associated with the travel control device 2 so as to be able to communicate with each other by the initial authentication process executed when the vehicle is first connected to the travel control device 2.

The travel control device 2 (controller) includes a controller 21, a travel controller 22, and an authenticator 23. The controller 21 outputs a travel command to the travel controller 22. The travel controller 22 causes the own vehicle V to travel by autonomous travel control based on the remote control from the remote controller 3. The authenticator 23 detects the authentication act by the user U of the vehicle V, identifies the user U with respect to the own vehicle V, tracks the specified user U, detects the relative position of the user U with respect to the vehicle V, and refers to the vehicle V. The controller 21 executes or stops the autonomous parking control based on the relative position of the user U. Even if the user U with respect to the own vehicle V is specified, the specified position is set as the initial position, and the movement of the specified user U is tracked, the relative position of the user U with respect to the vehicle V is detected. good.

The controller 21, the travel controller 22, and the authenticator 23 are a computer and software that causes the computer to function as the controller 21, the travel controller 22, and the authenticator 23 of the travel control device 2 in order to exert the above functions. It consists of a program and. The controller 21 includes an object detector 211, an object deceleration calculation unit 212, and a target vehicle speed generation unit 213. The travel controller 22 includes a vehicle speed control unit 221. The authenticator 23 includes an image analysis unit 231, an authentication act determination unit 232, an authentication pattern storage unit 233, an initial position setting unit 234, and a tracking unit 235. Each configuration will be described below.

The object detector 211 detects an object such as an obstacle existing around the own vehicle V, and includes, for example, a camera, a radar (millimeter wave radar, laser radar, ultrasonic radar, etc.), a sonar, and the like. The camera, radar and sonar are mounted on the outer panel of the vehicle V. FIG. 2 is a plan view showing an example of the arrangement state of the camera and sonar mounted on the vehicle V, the shooting range of the camera, and the detection range of the sonar.

In FIG. 2, reference numerals C1, C2, C3 and C4 indicate cameras of the object detector 211, and are installed on the front surface and the rear surface of the vehicle V, near the right door mirror and near the left door mirror, respectively. Further, reference numerals CA1, CA2, CA3 and CA4 indicate the shooting range of the cameras C1 to C4. The camera C1 provided on the front surface of the vehicle V captures a wide range of images in front of the vehicle V at an angle of view close to 180 °, and the camera C2 provided on the rear surface of the vehicle V closes 180 ° behind the vehicle V. Shoot a wide range with an angle of view. The camera C3 provided near the right door mirror captures a wide range of the right side of the vehicle V with an angle of view close to 180 °, and the camera C4 provided near the left door mirror captures the left side of the vehicle V close to 180 °. Shoot a wide range with an angle of view.

Further, in FIG. 2, reference numerals SN1, SN2, SN3, SN4, SN5, SN6, SN7 and SN8 indicate sonar of the object detector 211, and are installed on the front surface, the right side surface, the rear surface and the left side surface of the vehicle V, respectively. There is. Further, reference numerals SA1, SA2, SA3, SA3, SA5, SA6, SA7, and SA8 indicate the detection range of sonar SN1 to SN8. Sonars SN1 and SN2 provided on the front surface of the vehicle V detect an object in front of the vehicle V, and sonar SN3 and SN4 provided on the right side surface of the vehicle V detect an object on the right side of the vehicle V, respectively. .. The sonar SN5 and SN6 provided on the rear surface of the vehicle V detect an object behind the vehicle V, and the sonar SN7 and SN8 provided on the left side surface of the vehicle V detect an object on the left side of the vehicle V, respectively. ..

The object detector 211 includes an object position specifying unit (not shown) that specifies the position of the object based on the detection results of the cameras C1 to C4, sonar SN1 to SN8, and the radar described above. The object position specifying unit is a computer in which a software program for specifying the position of an object is installed from images taken by cameras C1 to C4, radar detection signals, and the like. The object information (target information) of the object specified by the object position specifying unit and the position information (relative position coordinates from the current position of the own vehicle, latitude / longitude, etc.) are output to the object deceleration calculation unit 212. Will be done. The object information and the position information are used in the control of decelerating or stopping the own vehicle V by the object deceleration calculation unit 212 when an object such as an unexpected obstacle is detected during the autonomous parking control.

The object deceleration calculation unit 212 inputs the position information of an obstacle or other object from the object detector 211, and based on the distance to the object and the vehicle speed, the time until the object collides with the object (TTC: Time to Collision). ) Is calculated, and the deceleration start timing of the own vehicle V is calculated. For example, in the remote warehousing mode shown in FIGS. 3A to 3C, when the object as an obstacle is the wall W of the parking lot, the distance to the wall W is equal to or greater than a predetermined distance as shown in FIGS. 3A and 3B. In this case, the vehicle speed is set as the initial setting value, and as shown in FIG. 3C, the vehicle speed of the own vehicle V is decelerated at the timing when the time TTC until the own vehicle V collides with the wall W becomes equal to or less than a predetermined value. Further, when an obstacle is suddenly detected in the parking route during the series of autonomous parking control shown in FIGS. 3A to 3C, the time until the own vehicle V collides with the obstacle TTC. Decelerates or stops the vehicle speed of the own vehicle V at the timing when becomes equal to or less than a predetermined value. This deceleration start timing is output to the target vehicle speed generation unit 213.

The target vehicle speed generation unit 213 calculates the target vehicle speed at predetermined time intervals based on the deceleration start timing from the object deceleration calculation unit 212. Regarding the warehousing route shown in FIGS. 3A to 3C, the target vehicle speed to the middle of the parking position shown in FIG. 3B after the user disembarks at the current position shown in FIG. The target vehicle speed when approaching the wall W shown in FIG. 3C is calculated at predetermined time intervals and output to the vehicle speed control unit 221. For example, when the distance to the wall W is less than or equal to a predetermined distance, the vehicle is decelerated so that the user can easily check the approaching state between the own vehicle V and the wall W. When the own vehicle V and the wall W are too close to each other, the user can immediately stop the own vehicle V by releasing the remote-controlled reverse instruction button. Further, when an unexpected obstacle is detected in the parking route during the series of autonomous parking control shown in FIGS. 3A to 3C, the object deceleration calculation unit 212 outputs the deceleration or stop timing. The target vehicle speed corresponding to this is output to the vehicle speed control unit 221.

The authenticator 23 detects a predetermined authentication act by the user U of the own vehicle V. The authenticator 23 includes an image analysis unit 231, an authentication action determination unit 232, an authentication pattern storage unit 233, an initial position setting unit 234, and a tracking unit 235. The image analysis unit 231 analyzes and processes the images around the own vehicle V taken by the plurality of cameras C1 to C4 of the object detector 211, and detects the authentication act by the user U of the own vehicle V.

Various actions by the user U can be applied to the authentication action of the user U in the present invention, but in the present embodiment, for example, an action of causing the cameras C1 to C4 of the own vehicle V to shoot a predetermined authentication pattern is predetermined. It is an act of authentication. In the present embodiment, a predetermined authentication image is used as the predetermined authentication pattern. More specifically, as shown in FIG. 2, a predetermined two-dimensional display displayed on the touch panel type display 31 of the remote controller 3 is used. Code AP1 is used. The two-dimensional code AP1 is unique and associated with each vehicle, and is stored in advance in, for example, the authentication pattern storage unit 233. The two-dimensional code AP1 stored in the authentication pattern storage unit 233 is an application for remote control of the remote controller 3 by, for example, an initial authentication process executed when the remote controller 3 is connected to the travel control device 2 for the first time. To be registered in.

The remote controller 3 can communicate with the travel control device 2, for example, when the remote warehousing mode or the remote warehousing mode is activated in the travel control device 2 and the remote control application is activated in the remote controller 3. Connected to. When the travel control instruction from the user U is input, the remote controller 3 transmits the travel control instruction to the travel control device 2. Further, the remote controller 3 displays the two-dimensional code AP1 on the display 31 when the remote controller 3 is connected to the travel control device 2 or when a predetermined operation is performed on the remote controller 3 by the user U after the connection. The predetermined operation for displaying the two-dimensional code AP1 on the remote controller 3 is not particularly limited. For example, even if the user U operates the physical operation button or the like provided on the remote controller 3, or the button or the like displayed on the display 31 is operated, the two-dimensional code AP1 may be displayed. good. Further, the two-dimensional code AP1 may be displayed in response to an operation instruction using the voice recognition function of the remote controller 3 by the user U. By limiting the timing at which the two-dimensional code AP1 is displayed on the remote controller 3 in this way, it is possible to prevent the two-dimensional code AP1 from being inadvertently displayed on the remote controller 3.

The user U causes the display 31 of the remote controller 3 to display the two-dimensional code AP1, and holds the remote controller 3 so that the two-dimensional code AP1 is photographed by the cameras C1 to C4 of the own vehicle V while holding the own vehicle. Approach V. The image analysis unit 231 analyzes the images taken by the cameras C1 to C4, and when the two-dimensional code AP1 is detected, cuts out the two-dimensional code part from the image and binarizes the cut-out image. Image processing such as distortion correction is performed to generate an image for authentication. The image analysis unit 231 outputs the generated authentication image to the authentication act determination unit 232.

The authentication act determination unit 232 compares the authentication image output from the image analysis unit 231 with the two-dimensional code AP1 read from the authentication pattern storage unit 233. Specifically, the authentication act determination unit 232 compares the authentication image with the two-dimensional code AP1 read from the authentication pattern storage unit 233 by using, for example, pattern recognition processing, and if they match, the user. It is determined that the authentication act performed by U is a predetermined authentication act. When the authentication act determination unit 232 determines that the authentication act performed by the user U is a predetermined authentication act, the authentication act determination unit 232 outputs a determination signal to the initial position setting unit 234.

When the determination signal is input from the authentication act determination unit 232, the initial position setting unit 234 identifies the camera in which the authentication act was taken and sets the shooting position by the camera as the initial position of the user U. That is, when the authentication act determination unit 232 determines that the predetermined authentication act has been performed, it is estimated that the person who has performed the predetermined authentication act is the user U of the own vehicle V, and the authentication act has been performed. By detecting the position, the initial position of the user U of the own vehicle V is set. As shown in FIG. 2, the cameras C1 to C4 have different shooting directions. Therefore, by specifying the camera that shot the authentication act, the position where the user U exists with respect to the own vehicle V can be specified. Can be done. For example, the initial position setting unit 234 sets the front of the own vehicle V as the initial position of the user U when a predetermined authentication action is taken by the camera C1 among the plurality of cameras C1 to C4. Further, the initial position setting unit 234 sets the right side of the own vehicle V as the initial position of the user U when a predetermined authentication act is photographed by the camera C3.

The tracking unit 235 detects and tracks the user U existing near the initial position. Specifically, the tracking unit 235 acquires detection signals from a plurality of sonar NS1 to NS8, detects the position of the user U existing near the initial position based on the acquired detection signals, and detects the detected user U. Detected and tracked by sonar NS1 to NS8. Further, the tracking unit 235 may analyze the images of the cameras C1 to C4 and detect the position of the user U based on the analysis result. When detecting the position of the user U by analyzing the images of the cameras C1 to C4, when detecting the distance from the vehicle V to the user U, for example, the depth using the motion stereo method or machine learning. Estimates and the like may be used. Further, as shown in FIG. 2, there are sonar blind spot areas on both sides of the vehicle V that cannot be detected by the sonar NS1 to NS8. When the user U of the own vehicle V moves to this sonar blind spot area, the images of the cameras C1 to C4 may be analyzed, and the position of the user U may be detected or estimated based on the analysis result.

For example, as shown in FIG. 4, when the front of the own vehicle V is set as the initial position of the user U by the initial position setting unit 234, the user U is actually operated by the sonar SN1 and SN2 that detect the front of the own vehicle V. The position P1 existing in is detected. After that, when the user U moves to the position P2 on the left side of the own vehicle V, the sonar SN8 detects the user U and tracks the position. When the user U moves to the sonar blind spot area P3 on the left side of the own vehicle V, the image of the camera C4 is analyzed and the position of the user U is tracked based on the analysis result.

The authenticator 23 starts outputting an authentication signal to the controller 21 when the authentication act performed by the user U is a predetermined authentication act and the position of the user U can be detected. The target vehicle speed generation unit 213 of the controller 21 outputs the target vehicle speed to the vehicle speed control unit 221 when an authentication signal is input and a backward instruction is received by remote control from the user. The vehicle speed control unit 221 generates a control signal for operating the accelerator actuator provided in the drive system of the own vehicle V based on the target vehicle speed from the target vehicle speed generation unit 213. As a result, autonomous parking control is executed.

Further, the authenticator 23 stops the output of the authentication signal to the controller 21 when the predetermined authentication act by the user U is detected again during the execution of the autonomous parking control by the own vehicle V. Further, as shown in FIG. 4, the authenticator 23 also causes the user U to move to a position P4 outside the shooting range of the cameras C1 to C4 and the detection range of the sonars SN1 to SN8, and the user U cannot be tracked. The output of the authentication signal to the controller 21 is stopped. When the output of the authentication signal from the authenticator 23 is stopped, the autonomous parking control of the own vehicle V temporarily stops the traveling control after stopping the own vehicle V. As a result, in an emergency, the own vehicle V can be stopped quickly by having the cameras C1 to C4 take a picture of the two-dimensional code AP1 without operating the display 31 or the like of the remote controller 3. When the emergency situation is resolved, the autonomous parking control of the own vehicle V may be restarted by causing the authenticator 23 to detect a predetermined authentication act by the user U again.

Next, the control flow of the remote parking system 1 of the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing a control procedure executed by the remote parking system 1 of the present embodiment. Here, in the scene in which the backward parking shown in FIGS. 3A to 3C is executed by the autonomous parking control (warehousing), the user U performs a predetermined authentication act using the two-dimensional code AP1 of the remote controller 3 to himself / herself. An example of causing the vehicle V to store the vehicle by autonomous parking control will be described. First, when the own vehicle V can stop in front of the parking space, in step S1, the user U operates the in-vehicle mode selection switch to activate the remote warehousing mode.

When the user U is prompted to get off in step S2 and the user U gets off with the remote controller 3, the user U activates the remote controller 3 in step S3. The remote controller 3 is activated by activating the remote control application on the mobile terminal of the user U. The remote controller 3 is communicably connected to the travel control device 2 after activation.

The remote controller 3 displays the two-dimensional code AP1 on the display 31 when the remote controller 3 is connected to the travel control device 2 in step S4, or when a predetermined operation is performed on the remote controller 3 by the user U after the connection. do. The user U approaches the own vehicle V while holding the remote controller 3 so that the two-dimensional code AP1 displayed on the display 31 of the remote controller 3 is photographed by the cameras C1 to C4 of the own vehicle V.

The image analysis unit 231 detects the authentication act in step S5. The image analysis unit 231 analyzes the images taken by the cameras C1 to C4, and when the two-dimensional code AP1 is detected, cuts out the two-dimensional code part from the image and binarizes the cut-out image. Image processing such as distortion correction is performed to generate an image for authentication. The image analysis unit 231 outputs the generated authentication image to the authentication act determination unit 232.

In step S6, the authentication action determination unit 232 compares the authentication image output from the image analysis unit 231 with the two-dimensional code AP1 read from the authentication pattern storage unit 233, and the detected authentication action is determined by the user U. Judge whether or not it is an act of authentication. When the authentication act determination unit 232 determines that the authentication act performed by the user U is a predetermined authentication act, the authentication act determination unit 232 outputs a determination signal to the initial position setting unit 234.

In step S7, the initial position setting unit 234 identifies the camera in which the authentication act was taken, and sets the shooting position by the camera as the initial position of the user U. For example, the initial position setting unit 234 sets the front of the own vehicle V as the initial position of the user U when a predetermined authentication action is taken by the camera C1 among the plurality of cameras C1 to C4.

In step S8, the tracking unit 235 detects the position where the user U actually exists from the vicinity of the initial position by using the sonar NS1 to NS8 and the like. As described above, when the front of the own vehicle V is set as the initial position of the user U in the initial position setting unit 234, the user U actually exists by the sonars SN1 and SN2 that detect the front of the own vehicle V. Detect the position to do.

In step S9, the authenticator 23 starts outputting an authentication signal to the controller 21 when the authentication act performed by the user U is a predetermined authentication act and the position of the user U can be detected. As a result, the autonomous parking control of the own vehicle V is started. The target vehicle speed generation unit 213 of the controller 21 outputs the target vehicle speed to the vehicle speed control unit 221 when an authentication signal is input and a backward instruction is received as travel control by remote control from the user. The vehicle speed control unit 221 generates a control signal for operating the accelerator actuator provided in the drive system of the own vehicle V based on the target vehicle speed from the target vehicle speed generation unit 213.

In step S10, the tracking unit 235 detects and tracks the user U existing near the initial position. Specifically, the tracking unit 235 tracks the position of the user U based on the detection signals acquired from the plurality of sonar NS1 to NS8.

In step S11, the authenticator 23 stops the output of the authentication signal to the controller 21 when the predetermined authentication act by the user U is detected again during the execution of the autonomous parking control by the own vehicle V. When the output of the authentication signal from the authenticator 23 is stopped, the autonomous parking control of the own vehicle V is interrupted in step S12, and the own vehicle V is stopped. As a result, in an emergency, the own vehicle V can be stopped quickly by having the cameras C1 to C4 take a picture of the two-dimensional code AP1 without operating the display 31 or the like of the remote controller 3. When the emergency situation is resolved, the autonomous parking control of the own vehicle V is restarted by causing the authenticator 23 to detect the predetermined authentication act by the user U again in step S5.

Further, in step S13, the authenticator 23 also causes an authentication signal to the controller 21 when the user U moves out of the shooting range of the cameras C1 to C4 and the detection range of the sonars SN1 to SN8 and the user U cannot be tracked. Stops the output of. When the output of the authentication signal from the authenticator 23 is stopped, the autonomous parking control of the own vehicle V is interrupted in step S12, and the own vehicle V is stopped. As a result, it is possible to prevent the own vehicle V from executing the autonomous parking control when the user U is separated from the own vehicle V by a predetermined distance or more. When the user U performs the predetermined authentication action again in step S5, the autonomous parking control of the own vehicle V is restarted.

If the user U does not perform another authentication or move out of the detection range of the user U during the execution of the autonomous driving control, the authenticator 23 continues to output the authentication signal, so that the autonomous parking control is continued. (Step S14).

In step S15, it is determined whether or not the user U has instructed the parking completion, and if the parking is not completed, the process returns to step S10. When the user U gives an instruction to complete parking, the parking completion process in step S16 is executed to end the above autonomous parking control. In the parking completion process of step S16, the gear of the own vehicle V is set to the parking gear or the neutral, and the parking brake is applied.

As described above, according to the remote parking system 1 of the present embodiment, the travel control device 2 determines whether or not the authentication act detected around the vehicle V is a predetermined authentication act, and the detected authentication is performed. When the act is a predetermined authentication act, the user U near the position where the authentication act is performed is specified, the relative position of the specified user U with respect to the vehicle V is detected, and autonomous driving control is performed based on the relative position. Run. Therefore, since the relative position of the user U with respect to the vehicle V can be specified by detecting the position where the predetermined authentication act is performed, the erroneous autonomous driving is performed at the relative position of the person or object other than the user U of the vehicle V. Autonomous driving control can be executed based on the correct relative position of the user U without executing the control.

Further, according to the remote parking system 1 of the present embodiment, when the relative position of the specified user U with respect to the vehicle V is separated by a predetermined distance or more, or when the relative position of the specified user U with respect to the vehicle V cannot be detected. , Stop vehicle V. Therefore, it is possible to prevent the vehicle V from performing autonomous driving control when the user U is at a position away from the vehicle V or when the relative position of the user U is unknown.

Further, according to the remote parking system 1 of the present embodiment, the predetermined authentication act is an act of causing the object detector 211 mounted on the vehicle V to detect the predetermined authentication pattern. Therefore, since the authentication act does not require complicated operations or operations, the relative position of the user U can be detected very easily.

Further, according to the remote parking system 1 of the present embodiment, since a unique authentication pattern associated with each vehicle is used as a predetermined authentication pattern, the authentication pattern corresponding to a different vehicle is erroneously used. It can be prevented in advance.

Further, according to the remote parking system 1 of the present embodiment, a predetermined authentication image is used as the predetermined authentication pattern, and in particular, the predetermined two-dimensional code PA1 is used as the authentication image, so that false detection or forgery of the authentication pattern can be detected. Can be prevented.

Further, according to the remote parking system 1 of the present embodiment, the predetermined authentication pattern is displayed on the display 31 of the remote controller 3. Therefore, if the user U has a mobile terminal used as the remote controller 3, he / she can set his / her initial position in the own vehicle V, which improves convenience.

Further, according to the remote parking system 1 of the present embodiment, the predetermined authentication pattern is displayed by performing a predetermined operation on the remote controller 3, so that the authentication pattern is carelessly displayed on the remote controller 3. Can be prevented.

Further, according to the remote parking system 1 of the present embodiment, the object detector 211 includes a plurality of cameras C1 to C4 for photographing the surroundings of the vehicle V, and photographs the authentication act among the plurality of cameras C1 to C4. Since the user U is specified near the shooting position by the camera, the process of detecting the relative position of the user U is very simple and can be processed quickly.

Further, according to the remote parking system 1 of the present embodiment, when the detected authentication act is a predetermined authentication act, the vehicle V is moved into or out of the predetermined space by autonomous driving control, so that the relative position of the user U is determined. Convenience is improved because it can be performed by a series of authentication actions from identification to warehousing or warehousing by autonomous driving control.

Further, according to the remote parking system 1 of the present embodiment, when a predetermined authentication act is detected again during entering or leaving the predetermined space by the autonomous driving control of the vehicle V, the autonomous driving control of the vehicle V is performed. Since it is possible to suspend the entry or exit of the warehousing from the predetermined space, the own vehicle V can be stopped without performing complicated operations or operations.

In the above first embodiment, it has been described that the remote warehousing mode is activated by the own vehicle V and then the remote controller 3 is activated to perform the authentication act. However, the travel control device 2 is operated by the operation of the remote controller 3. The remote warehousing mode or the remote warehousing mode may be set to perform the authentication act. According to this, when leaving the own vehicle V from a narrow parking space where the side door cannot be sufficiently opened, the remote exit mode is set without getting on the own vehicle V and the predetermined authentication action is performed. It can be carried out. Further, in the above embodiment, it has been described that a predetermined authentication act is detected after the remote controller 3 is activated. However, for example, when the door opening / closing of the vehicle V is detected and the door is opened / closed, the predetermined authentication is performed. The detection of the act may be started.

Further, in the above embodiment, the two-dimensional code PA1 is used as the predetermined authentication pattern, but as shown in FIG. 6, for example, an image AP2 such as a logo, a character string AP3, or the like may be used as the authentication pattern. As described above, as the predetermined authentication pattern, various modes can be used as long as they are photographed by the cameras C1 to C4 and can be determined by image analysis.

<< Second Embodiment >>
Next, a second embodiment of the present invention will be described. As shown in FIG. 7, in the remote parking system 1A according to the present embodiment, the controller 21 is the target parking space setting device 214, the vehicle position detector 215, and the parking route generation unit 216 with respect to the first embodiment described above. It is different in that it is provided with the path tracking control unit 217 and that the travel controller 22 is provided with the steering angle control unit 222. Unlike the first embodiment, the remote parking system 1A according to the present embodiment provides a warehousing route for putting the own vehicle V into the garage or a garage route for taking out the own vehicle V from the predetermined space. A travel command is output to the travel controller 22 so as to calculate and control the steering of the own vehicle V to perform autonomous driving control. Regarding the same configuration as that of the first embodiment, the same reference numerals are used and detailed description thereof will be omitted.

In the remote warehousing mode, the target parking space setting device 214 searches for a parking space existing around the own vehicle V, causes the user U to select a desired parking space from the parking spaces that can be parked, and causes the user U to select a desired parking space. The position information of the parking space (relative position coordinates from the current position of the own vehicle, latitude / longitude, etc.) is output to the parking route generation unit 216. Further, in the remote warehousing mode, the target parking space setting device 214 searches for the warehousing space existing around the own vehicle V that is currently parked, and the user U desires the warehousing space from among the warehousing spaces that can be laid out. The warehousing space is selected, and the position information of the warehousing space (relative position coordinates from the current position of the own vehicle, latitude, longitude, etc.) is output to the parking route generation unit 216. The warehousing space refers to a temporary stop position of the own vehicle when the user U performs a warehousing operation in the remote warehousing mode and then gets on the vehicle.

The target parking space setting device 214 is provided with a mode selection switch, a camera, a parking space detection unit, and a touch panel type display, although not shown in detail, in order to exert the above-mentioned functions. The mode selection switch is a switch for selecting and activating the remote warehousing mode or the remote warehousing mode. The cameras are a plurality of cameras that photograph the surroundings of the own vehicle, and for example, the cameras C1, C2, C3, and C4 (see FIG. 2) of the object detector 211 described above are also used. The parking space detection unit is a computer in which a software program for detecting a parking space is installed, and detects a parking space or a delivery space from images taken by a plurality of cameras C1 to C4. Further, the parking space detection unit generates a bird's-eye view image of the surroundings of the own vehicle V from a predetermined virtual viewpoint based on the images taken by the plurality of cameras C1 to C4. The touch panel type display displays a bird's-eye view image generated by the parking space detection unit, and accepts the setting of the parking space or the leaving space according to the touch operation of the user U.

When the user U selects the remote warehousing mode with the mode selection switch, the target parking space setting device 214 acquires an image of the surroundings of the own vehicle V taken by a plurality of cameras C1 to C4 and detects a parking space that can be parked. do. The target parking space setting device 214 generates a bird's-eye view image including the detected parking space based on a plurality of images around the own vehicle V and displays it on the touch panel type display. When the user U selects a desired parking space from the displayed parking spaces, the target parking space setting device 214 outputs the position information of the parking space to the parking route generation unit 216. When detecting a parking space that can be parked, if the map information of the navigation device includes parking lot information having detailed position information, the parking lot information may be used.

Further, when the user U activates the internal combustion engine or the drive motor of the own vehicle V by using the remote controller 3 and the remote controller 3 operates the target parking space setting device 214, the remote exit mode is selected. , Acquires images around the own vehicle V taken by a plurality of cameras C1 to C4, and detects a delivery space that can be delivered. The target parking space setting device 214 generates a bird's-eye view image including the detected delivery space and displays it on the touch panel type display of the remote controller 3. When the user U selects a desired shipping space from the displayed shipping space, the target parking space setting device 214 outputs the position information of the shipping space to the parking route generation unit 216.

The vehicle position detector 215 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc., detects radio waves transmitted from a plurality of satellite communications by the GPS unit, and periodically acquires the position information of the own vehicle V. , The current position of the own vehicle V is detected based on the acquired position information of the own vehicle V, the angle change information acquired from the gyro sensor, and the vehicle speed acquired from the vehicle speed sensor. The position information of the own vehicle V detected by the vehicle position detector 215 is output to the parking route generation unit 216 and the route tracking control unit 217 at predetermined time intervals.

The parking route generation unit 216 includes the size of the own vehicle V stored in advance, the target parking position output from the target parking space setting device 214, and the current position information of the own vehicle V output from the vehicle position detector 215. And, based on the object information output from the object detector 211 and the position information thereof, the parking route that does not collide with or interfere with the object (obstacle) is calculated. The information regarding the size of the own vehicle V includes the vehicle width, the vehicle length, the minimum turning radius, and the like. Further, the target parking position is the position information of the parking space in the remote warehousing mode, and the position information of the warehousing space in the remote warehousing mode. Further, the parking route is a warehousing route in the remote warehousing mode and a warehousing route in the remote warehousing mode.

8A to 8D are plan views showing an example of the remote warehousing mode. When the user U operates the mode selection switch to select the remote warehousing mode at the current position of the own vehicle V shown in FIG. 8A, the target parking space setting device 214 sets the three parkingable parking spaces PS1, PS2 and PS3. Search and display a bird's-eye view image including these on the display. On the other hand, it is assumed that the user U selects the parking space PS1. In this case, the parking route generation unit 216 calculates the warehousing routes R1 and R2 from the current position shown in FIG. 8A to the parking space PS1 shown in FIGS. 8B, 8C and 8D.

In the parking position shown in FIG. 8D, when other vehicles V3 and V4 are parked on both sides of the own vehicle V as shown by the broken line and it is difficult for the user U to open the door and board the vehicle, the remote exit mode is used. You can also get your vehicle V out of the warehouse at. That is, in the state shown in FIG. 8D, assuming that the user U uses the remote controller 3 to activate the internal combustion engine or the drive motor of the own vehicle V and operates the remote controller 3 to select the remote delivery mode. For example, the target parking space setting device 214 searches for the delivery space DS1 that can be delivered as shown in FIG. 8B, and displays a bird's-eye view image on the display 31 of the remote control device 3. On the other hand, when the user U selects the delivery space DS1, the parking route generation unit 216 calculates the delivery route from the current position shown in FIG. 8D to the delivery space DS1 shown in FIGS. 8C and 8B. As described above, the parking route generation unit 216 calculates the warehousing route from the current position to the parking space in the remote warehousing mode, and calculates the warehousing route from the current position to the warehousing space in the remote warehousing mode. do. Then, these warehousing routes or warehousing routes are output to the route tracking control unit 217 and the target vehicle speed generation unit 213.

The route tracking control unit 217 puts the own vehicle V into the warehousing route or the warehousing route at predetermined time intervals based on the warehousing route or the warehousing route from the parking route generation unit 216 and the current position of the own vehicle V from the vehicle position detector 215. Calculate the target steering angle to follow the route along the delivery route. Regarding the warehousing routes R1 and R2 of FIGS. 8A to 8D, the target steering angle of the warehousing route R1 that goes straight from the current position shown in FIG. 8A to the turning position shown in FIG. The target steering angle of the warehousing path R2 that turns left to the parking position shown in FIG. 8D is calculated for each current position of the own vehicle V at predetermined time intervals and output to the steering angle control unit 222. Further, when the route tracking control unit 217 suddenly detects an obstacle in the parking route while executing the series of autonomous parking controls shown in FIGS. 8A to 8D, the own vehicle V detects the obstacle. The target steering angle is corrected so as to avoid traveling, and the target steering angle is output to the steering angle control unit 222.

Similar to the first embodiment, in the remote parking system 1A of the present embodiment, the authenticator 23 can specify the relative position of the user U with respect to the own vehicle V and track the user U. Therefore, the route tracking control unit 217 corrects the target steering angle by distinguishing the user U from other obstacles when traveling along the parking route. Specifically, as shown in FIG. 9, an obstacle other than the user U, for example, a second approach with a margin to a surrounding person P who does not know that the vehicle V is in remote parking. Correct the target steering angle so that it approaches the possible distance L2. On the other hand, for the user U who is remotely controlling the remote parking, the target steering angle is modified so as to approach the first approachable distance L1 which is shorter than the second approachable distance L2. As a result, it is possible to suppress the approach to obstacles other than the user U with a margin. Further, since the user U can travel on the parking route relatively close to the user U, the controllable range of the autonomous parking control is widened.

The steering angle control unit 222 generates a control signal for operating the steering actuator provided in the steering system of the own vehicle V based on the target steering angle from the path tracking control unit 217. Further, the vehicle speed control unit 221 generates a control signal for operating the accelerator actuator provided in the drive system of the own vehicle V based on the target vehicle speed from the target vehicle speed generation unit 213. By controlling the steering angle control unit 222 and the vehicle speed control unit 221 at the same time, autonomous parking control is executed.

Next, the control flow of the remote parking system 1A of the present embodiment will be described with reference to FIG. FIG. 10 is a flowchart showing a control procedure executed by the remote parking system 1A of the present embodiment. Here, a control step whose control content is different from that of the first embodiment will be described.

In step S20, the target parking space setting device 214 searches for a parking space in which the own vehicle V can park using a plurality of on-board cameras C1 to C4 and the like. If the parking space that can be parked is not detected in step S20, the operator may be notified by a language display such as "There is no parking space" or by voice, and this process may be terminated.

In step S21, the target parking space setting device 214 displays the parking space that can be parked on the in-vehicle display, prompts the user U to select the desired parking space, and when the user U selects a specific parking space, the parking space is displayed. The target parking position information is output to the parking route generation unit 216. In step S22, the parking route generation unit 216 generates the parking routes R1 and R2 shown in FIGS. 8B to 8D from the current position and the target parking position of the own vehicle V, and the object deceleration calculation unit 212 detects the object. Based on the object information detected by the device 211, the deceleration start timing at the time of autonomous parking control is calculated. The parking route generated by the parking route generation unit 216 is output to the route tracking control unit 217, and the deceleration start timing calculated by the object deceleration calculation unit 212 is output to the target vehicle speed generation unit 213.

Since the autonomous parking control is in the standby state as described above, the user U is urged to consent to the start of the autonomous parking control, and when the user U approves the start, the autonomous parking control is started. In the backward parking shown in FIG. 8A, once the vehicle advances from the current position shown in FIG. 8A and reaches the turning position shown in FIG. 8B, the user U is urged to disembark in step S2, and then left as shown in FIG. 8C. Retreat while steering to, and go straight to the parking space PS1 shown in FIG. 8D. The control steps after step S2 are the same as those in the first embodiment except that the path tracking control unit 217 and the steering angle control unit 222 control the steering of the own vehicle V, and thus detailed description thereof will be omitted.

In step S18, it is determined whether or not the own vehicle V has arrived at the target parking space based on the detection result of the vehicle position detector 215, and if not, the process returns to step S13. When the own vehicle V arrives at the target parking space, the parking completion process of step S19 is executed to end the above autonomous parking control.

As described above, according to the remote parking system 1A of the present embodiment, it is possible to support remote parking in which steering control is simultaneously performed in addition to speed control and braking control of the own vehicle V. In particular, according to the remote parking system 1A of the present embodiment, the first approachable distance L1 that the vehicle V can approach the user U while entering or leaving the predetermined space by the autonomous driving control of the vehicle V And the second approachable distance L2 that the vehicle V can approach to the obstacle other than the user U is different, so that the approach to the obstacle other than the user U is suppressed with a margin. be able to. Further, since the user U can travel on the parking route relatively close to the user U, the controllable range of the autonomous parking control is widened.

<< Third Embodiment >>
Next, a third embodiment of the present invention will be described. In this embodiment, the device for displaying the authentication pattern is different from that in the first embodiment. In the present embodiment, for example, as shown in FIGS. 11A and 11B, a two for authentication is provided on the back surface 4R of the remote control key (hereinafter referred to as an electronic key) 4 for remotely controlling the door locking / unlocking device of the own vehicle V. The dimension code AP1 is displayed. When performing an authentication act on the own vehicle V using the electronic key 4, the user U holds the electronic key 4 so that the two-dimensional code AP1 on the back surface 4R is photographed by the cameras C1 to C4. , Approaching own vehicle V. Since the determination of the two-dimensional code AP1 is performed by the same method as in the first embodiment, detailed description thereof will be omitted.

The authentication pattern may be displayed on the electronic key 4 by providing a display on the electronic key 4, printing the authentication pattern directly on the electronic key 4, or attaching a sticker or the like on which the authentication pattern is printed. .. Further, the device for displaying the authentication pattern is not limited to the electronic key 4, and may be displayed on an engine starter or the like that remotely controls the start of the engine. Further, the authentication pattern displayed on the device such as the electronic key 4 is not limited to the two-dimensional code AP1, and an image AP2 such as a logo, a character string AP3, or the like may be used.

Further, as an authentication act using the electronic key 4, the door may be locked or unlocked by the electronic key 4, and when the door is locked or unlocked, it may be determined that the predetermined authentication act has been performed. .. As described above, according to the embodiment in which the electronic key 4 is used for a predetermined authentication act, the electronic key 4 is always carried when the user U gets on the vehicle V, so that the electronic key 4 is not forgotten to be carried.

<< Fourth Embodiment >>
Next, a fourth embodiment of the present invention will be described. In this embodiment, the timing at which the own vehicle V suspends warehousing or warehousing by autonomous driving control is different from that in the first embodiment described above. In the present embodiment, as shown in the flowchart of FIG. 12, a predetermined authentication act is detected in step S5, and while this authentication act is detected, the vehicle V enters or leaves the predetermined space by autonomous driving control. To continue. Then, in step S11a, when the predetermined authentication act is no longer detected (when it is not detected), the warehousing or warehousing of the vehicle V is interrupted. According to this, the own vehicle V can be stopped without performing complicated operations or work.

<< Fifth Embodiment >>
Next, a fifth embodiment of the present invention will be described. In this embodiment, for example, the light emission of the light of the remote controller 3 is used as a predetermined authentication act. FIG. 13 shows an act of swinging the remote controller 3 to the left or right by a predetermined amount of movement while the light 32 of the mobile terminal used as the remote controller 3 is made to emit light as a predetermined authentication act. According to this embodiment, the image analysis unit 231 detects the movement of light from the images taken by the cameras C1 to C4 as an authentication act. The authentication action determination unit 232 compares whether or not the detected light movement amount and the light movement amount stored in the authentication pattern storage unit 233 match, and if they match, a predetermined authentication action. Is determined to have been performed.

Further, the authenticator 23 outputs an authentication signal to the controller 21 when the movement of the light is continued, that is, when the movement of the remote controller 3 is continued, and the movement of the light is stopped. In other words, when the movement of the remote controller 3 stops, the output of the authentication signal is stopped. As a result, the own vehicle V can be made to enter or leave the vehicle by autonomous parking control only while the authentication act of shaking the remote controller 3 is being performed. Further, not only the amount of movement of light but also the speed of movement of light may be used for determining the authentication act.

The movement amount or movement speed of swinging the remote controller 3 is a pattern unique to each vehicle. In order to make the remote controller 3 swing at a movement amount or a movement speed peculiar to each vehicle, for example, using an acceleration sensor or a gyro sensor provided in advance in the remote controller 3, the remote controller 3 is used. The movement amount or movement speed of the remote control device 3 may be measured, and the measured movement amount or movement speed may be displayed on the display 31 of the remote control device 3 as a guide when shaking the remote control device 3.

Further, in the present embodiment, the moving amount or moving speed of the light emission of the remote controller 3 is set as a predetermined authentication act, but the light 32 may be blinked at a predetermined cycle, and the blinking of the light 32 may be set as a predetermined authentication act. good. The blinking cycle of the light 32 is a pattern unique to each vehicle. It is desirable that the blinking cycle of the light 32 is a cycle that does not cause a photosensitive epilepsy in the person who is watching the blinking. When the blinking of the light 32 is used as a predetermined authentication act, the authentication signal is output from the authenticator 23 to the controller 21 when the blinking of the light 32 is photographed by the cameras C1 to C4 of the vehicle V. When the blinking of the light 32 is hidden and the cameras C1 to C4 do not take a picture, the output of the authentication signal is stopped. According to this, the own vehicle V can be stopped without performing complicated operations or work.

1 ... Remote parking system 2 ... Driving control device (controller)
21 ... Controller 211 ... Object detector 212 ... Object deceleration calculation unit 213 ... Target vehicle speed generator 214 ... Target parking space setting device 215 ... Vehicle position detector 216 ... Parking route generator 217 ... Path tracking control unit 22 ... Travel control Device 221 ... Vehicle speed control unit 222 ... Steering angle control unit 23 ... Authenticator 231 ... Image analysis unit 232 ... Authentication action judgment unit 233 ... Authentication pattern storage unit 234 ... Initial position setting unit 235 ... Tracking unit 3 ... Remote controller 4 ... Electronic key 31 ... Display 32 ... Light C1 to C4 ... Camera SN1 to SN8 ... Sonar AP1 ... Two-dimensional code

Claims

In the vehicle driving control method of a controller that executes autonomous driving control by remote control by a user outside the vehicle having an autonomous driving control function.
The controller determines whether or not the authentication act detected around the vehicle is a predetermined authentication act.
When the detected authentication act is the predetermined authentication act, the user who is in the vicinity of the position where the authentication act is performed is identified.
Detecting the relative position of the specified user with respect to the vehicle,
A vehicle driving control method that executes autonomous driving control based on the relative position.
A claim for executing autonomous driving control to stop the vehicle when the relative position of the specified user with respect to the vehicle is separated by a predetermined distance or more, or when the relative position of the specified user with respect to the vehicle cannot be detected. The vehicle running control method according to 1.
During the autonomous driving control of the vehicle, a first approachable distance that the vehicle can approach the user and a second approachable distance that the vehicle can approach an obstacle other than the user. The vehicle traveling control method according to claim 1 or 2, wherein the vehicle travel control method is different.
The vehicle running control method according to any one of claims 1 to 3, wherein the predetermined authentication act is an act of causing a detector mounted on the vehicle to detect a predetermined authentication pattern.
The vehicle running control method according to claim 4, wherein the predetermined authentication pattern is a unique authentication pattern associated with each vehicle.
The vehicle running control method according to claim 4 or 5, wherein the predetermined authentication pattern is a predetermined authentication image.
The vehicle running control method according to claim 6, wherein the predetermined authentication image is a predetermined two-dimensional code.
The vehicle running control method according to any one of claims 4 to 7, wherein the predetermined authentication pattern is displayed on the screen of the remote controller.
The vehicle running control method according to claim 4 or 5, wherein the predetermined authentication pattern is displayed by light emission of a remote controller.
The vehicle travel control method according to claim 9, wherein the predetermined authentication act includes an act of moving the remote controller displaying the predetermined authentication pattern by light emission.
The vehicle traveling control method according to any one of claims 8 to 10, wherein the predetermined authentication pattern is displayed by performing a predetermined operation on the remote controller.
The detector includes a plurality of cameras that capture the surroundings of the vehicle.
The vehicle travel control method according to any one of claims 4 to 11, wherein among the plurality of cameras, the user is specified in the vicinity of a shooting position by the camera that has shot the authentication act.
The vehicle travel control method according to any one of claims 1 to 12, wherein when the detected authentication act is the predetermined authentication act, the vehicle is warehousing or leaving the predetermined space by autonomous driving control.
While the predetermined authentication act is detected, the vehicle continues to enter or leave the predetermined space by the autonomous driving control of the vehicle, and when the predetermined authentication act is no longer detected, the vehicle autonomously travels. The vehicle traveling control method according to claim 13, wherein the warehousing or warehousing in a predetermined space by control is interrupted.
Claim to suspend the warehousing or warehousing in the predetermined space by the autonomous driving control of the vehicle when the predetermined authentication act is detected again during the warehousing or warehousing in the predetermined space by the autonomous driving control of the vehicle. 13. The vehicle traveling control method according to 13.
The vehicle running control method according to claim 1, wherein the predetermined authentication act is an act of operating the door locking / unlocking device of the vehicle with a remote control key.
The vehicle traveling control method according to any one of claims 1 to 16, which detects the opening / closing of the door of the vehicle and starts the detection of the authentication act when the door is opened / closed.
In a vehicle driving control device that executes autonomous driving control by remote control by a user outside the vehicle equipped with an autonomous driving control function.
An object detector mounted on the vehicle and detecting object information around the vehicle,
It is provided with an authenticator that detects an authentication act performed around the vehicle based on the object information and determines whether or not the detected authentication act is a predetermined authentication act.
When the detected authentication act is the predetermined authentication act, a user near the position where the authentication act is performed is specified, the relative position of the specified user with respect to the vehicle is detected, and the relative position is detected. A vehicle driving control device that executes autonomous driving control based on.