WO2023119698A1 - 駐車支援装置および駐車支援方法 - Google Patents

駐車支援装置および駐車支援方法 Download PDF

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Publication number
WO2023119698A1
WO2023119698A1 PCT/JP2022/026733 JP2022026733W WO2023119698A1 WO 2023119698 A1 WO2023119698 A1 WO 2023119698A1 JP 2022026733 W JP2022026733 W JP 2022026733W WO 2023119698 A1 WO2023119698 A1 WO 2023119698A1
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WIPO (PCT)
Prior art keywords
vehicle
unit
travel
route
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/026733
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English (en)
French (fr)
Japanese (ja)
Inventor
琢磨 飯田
勝太 赤浦
崇文 徳弘
幸広 谷添
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
Original Assignee
Panasonic Intellectual Property Management Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Priority to CN202280084940.6A priority Critical patent/CN118451017A/zh
Priority to DE112022006164.2T priority patent/DE112022006164T5/de
Publication of WO2023119698A1 publication Critical patent/WO2023119698A1/ja
Priority to US18/734,371 priority patent/US20240317313A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to a parking assistance device and a parking assistance method.
  • a route-storage-type automatic parking technology that records the driving route based on the driver's driving directions and automatically drives the vehicle based on the recorded driving route.
  • the technology is used, for example, when entering or exiting a parking lot.
  • some vehicles that perform such route-memory automatic parking have a function that automatically performs a detour operation to stop or avoid an unknown stationary obstacle.
  • the user may not be able to grasp the route, which may impair the user's convenience.
  • the present disclosure provides a parking assistance device and a parking assistance method that can reduce impairing the user's convenience even when the vehicle travels on a route different from a pre-registered travel route.
  • a parking assistance device includes a travel control unit, a detection unit, a correction unit, and a display control unit.
  • the travel control unit causes the vehicle to enter or leave the parking lot by automatically traveling the vehicle based on the travel route recorded based on the past parking operation.
  • the detection unit detects objects around the vehicle.
  • the correction unit corrects the travel route based on the detection result of the object.
  • the display control unit causes the display unit to display the travel route corrected by the correction unit during execution of automatic travel.
  • the parking assistance device and the parking assistance method according to the present disclosure even when the vehicle travels on a route different from the pre-registered travel route, it is possible to reduce the loss of convenience for the user.
  • FIG. 1 is a diagram showing an example of a vehicle equipped with a parking assistance device according to the first embodiment.
  • FIG. 2 is a diagram showing an example of the configuration near the driver's seat of the vehicle according to the first embodiment.
  • FIG. 3 is a diagram showing an example of the hardware configuration of the parking assistance device according to the first embodiment.
  • FIG. 4 is a block diagram showing an example of functions provided by the parking assistance device according to the first embodiment.
  • FIG. 5 is a diagram showing an example of a travel route recorded by teacher travel according to the first embodiment.
  • FIG. 6 is a diagram showing an example of correction paths according to the first embodiment.
  • FIG. 7 is a diagram illustrating an example of a corrected route image displayed on the display device according to the first embodiment;
  • FIG. 7 is a diagram illustrating an example of a corrected route image displayed on the display device according to the first embodiment;
  • FIG. 8 is a diagram showing an example of a corrected path image different from FIG.
  • FIG. 9 is a flow chart showing an example of the flow of automatic driving and driving route correction processing executed by the parking assistance system according to the first embodiment.
  • 10 is a diagram illustrating an example of a corrected route image displayed on the display of the smartphone according to Modification 1 of the first embodiment;
  • FIG. 11 is a block diagram showing an example of functions provided by a parking assistance device according to the second embodiment.
  • FIG. 12 is a diagram showing an example of a travel route database according to the second embodiment.
  • FIG. 13 is a diagram showing an example of a user information database according to the second embodiment.
  • FIG. 14 is a diagram showing an example of a travel route notification screen displayed on the display of the smartphone according to the second embodiment.
  • FIG. 15 is a diagram showing an example of a travel route selection screen displayed on the display of the smartphone according to the second embodiment.
  • FIG. 16 is a sequence diagram illustrating an example of the flow of processing executed by the parking assistance device and smartphone according to the second embodiment.
  • FIG. 17 is a diagram illustrating an example of the configuration of a vehicle usage schedule management system according to Modification 1 of the second embodiment.
  • 18 is a diagram illustrating an example of a usage schedule database stored in a cloud server according to modification 1 of the second embodiment;
  • FIG. FIG. 19 is a diagram showing an example of a travel route database according to modification 2 of the second embodiment.
  • FIG. 1 is a diagram showing an example of a vehicle 1 equipped with a parking assistance device 100 according to the first embodiment.
  • the vehicle 1 includes a vehicle body 12 and two pairs of wheels 13 arranged on the vehicle body 12 along a predetermined direction.
  • the two pairs of wheels 13 have a pair of front tires 13f and a pair of rear tires 13r.
  • the front tire 13f shown in FIG. 1 is an example of the first wheel in this embodiment.
  • the rear tire 13r is an example of a second wheel in this embodiment.
  • the two front tires 13f and the two rear tires 13r of the vehicle 1 are collectively called wheels 13.
  • the vehicle 1 shown in FIG. 1 has four wheels 13, the number of wheels 13 is not limited to this.
  • vehicle 1 may be a two-wheeled vehicle.
  • the vehicle body 12 is connected to wheels 13 and is movable by the wheels 13 .
  • the predetermined direction in which the two pairs of wheels 13 are arranged is the running direction of the vehicle 1 .
  • the vehicle 1 can move forward or backward by switching gears (not shown) or the like.
  • the vehicle 1 can be turned right or left by steering.
  • the vehicle body 12 has a front end portion F, which is the end portion on the front tire 13f side, and a rear end portion R, which is the end portion on the rear tire 13r side.
  • the vehicle body 12 has a substantially rectangular shape when viewed from above, and the four corners of the substantially rectangular shape may be called end portions.
  • the vehicle 1 includes a display device, a speaker, a microphone, and an operation section.
  • a pair of bumpers 14 are provided near the lower end of the vehicle body 12 at the front and rear ends F and R of the vehicle body 12 .
  • the front bumper 14f covers the entire front surface near the lower end of the vehicle body 12 and part of the side surface.
  • the rear bumper 14r covers the entire rear surface and part of the side surfaces of the vehicle body 12 near the lower end.
  • wave transmitting/receiving units 15f and 15r for transmitting/receiving sound waves such as ultrasonic waves are arranged.
  • one or more wave transmitting/receiving units 15f are arranged on the front bumper 14f
  • one or more wave transmitting/receiving units 15r are arranged on the rear bumper 14r.
  • the wave transmitting/receiving units 15f and 15r are not particularly limited, they are simply referred to as the wave transmitting/receiving unit 15.
  • the number and positions of the wave transmitting/receiving units 15 are not limited to the example shown in FIG.
  • the vehicle 1 may include the wave transmitting/receiving units 15 on the left and right sides.
  • the wave transmitting/receiving unit 15 may be a radar that transmits/receives electromagnetic waves.
  • vehicle 1 may be equipped with both sonar and radar.
  • the wave transmitting/receiving unit 15 may be simply referred to as a sensor.
  • the wave transmitting/receiving unit 15 detects obstacles around the vehicle 1 based on the results of transmitting/receiving sound waves or electromagnetic waves. Further, the wave transmitting/receiving unit 15 measures the distance between the obstacles around the vehicle 1 and the vehicle 1 based on the transmission/reception result of the sound wave or the electromagnetic wave.
  • the vehicle 1 has a first on-board camera 16a that captures the front of the vehicle 1, a second on-board camera 16b that captures the rear of the vehicle 1, a third on-board camera 16c that captures the left side of the vehicle 1, and A fourth in-vehicle camera that captures the right side of the vehicle 1 is provided. Illustration of the fourth in-vehicle camera is omitted.
  • the first vehicle-mounted camera 16a, the second vehicle-mounted camera 16b, the third vehicle-mounted camera 16c, and the fourth vehicle-mounted camera are simply referred to as the vehicle-mounted camera 16 when not specifically distinguished.
  • the positions and number of onboard cameras are not limited to the example shown in FIG.
  • the vehicle 1 may also comprise only two, the first on-board camera 16a and the second on-board camera 16b.
  • the vehicle 1 may have other vehicle-mounted cameras in addition to the above examples.
  • the in-vehicle camera 16 is capable of capturing images around the vehicle 1, and is a camera that captures color images, for example.
  • the captured image captured by the in-vehicle camera 16 may be a moving image or a still image.
  • the vehicle-mounted camera 16 may be a camera built into the vehicle 1, or may be a camera of a drive recorder retrofitted to the vehicle 1, or the like.
  • the vehicle 1 is equipped with a parking assistance device 100 .
  • the parking assistance device 100 is an information processing device that can be mounted on the vehicle 1, and is, for example, an ECU (Electronic Control Unit) provided inside the vehicle 1 or an OBU (On Board Unit).
  • the parking assistance device 100 may be an external device installed near the dashboard of the vehicle 1 .
  • the parking assistance device 100 may also serve as a car navigation device or the like.
  • the parking assistance device 100 of this embodiment learns the driving route based on the driver's supervised driving, and uses the learning result to perform parking assistance.
  • parking assistance is provided when the driver repeatedly parks in a predetermined parking position, such as the driver's home garage, a contracted parking position in an apartment complex, or a prescribed parking position in a parking lot at work. This is effective for reducing the trouble of parking for people.
  • a predetermined parking position such as the driver's home garage, a contracted parking position in an apartment complex, or a prescribed parking position in a parking lot at work. This is effective for reducing the trouble of parking for people.
  • parking assistance is referred to as home zone parking or path-storage automated parking.
  • the vehicle 1 may also include various sensors such as a gyro sensor and a wheel speed sensor (not shown).
  • the gyro sensor measures the rotational behavior of the vehicle 1, such as forward, backward, left, right, and turning.
  • a wheel speed sensor measures the wheel speed of each wheel 13 of the vehicle 1 .
  • FIG. 2 is a diagram showing an example of the configuration near the driver's seat 130a of the vehicle 1 according to the first embodiment.
  • the vehicle 1 has a driver's seat 130a and a passenger's seat 130b.
  • a windshield 180, a dashboard 190, a steering wheel 140, a display device 120, and operation buttons 141 are provided in front of the driver's seat 130a.
  • the display device 120 is a display provided on the dashboard 190 of the vehicle 1.
  • the display device 120 is, for example, located in the center of the dashboard 190 as shown in FIG.
  • the display device 120 is, for example, a liquid crystal display or an organic EL (Electro Luminescence) display.
  • the display device 120 may also serve as a touch panel.
  • the display device 120 is an example of a display section in this embodiment.
  • the steering wheel 140 is provided in front of the driver's seat 130a and can be operated by the driver.
  • the rotation angle of the steering wheel 140 that is, the steering angle, is electrically or mechanically interlocked with changes in the direction of the front tires 13f, which are the steering wheels.
  • the steered wheels may be the rear tires 13r, or both the front tires 13f and the rear tires 13r may be steered wheels.
  • the operation button 141 is a button that can accept a user's operation.
  • the user is, for example, the driver of the vehicle 1 .
  • the position of the operation button 141 is not limited to the example shown in FIG. 2, and may be provided on the steering wheel 140, for example.
  • one operation button 141 is illustrated in FIG. 2, a plurality of operation buttons 141 may be provided.
  • the operation button 141 is an example of an operation unit.
  • the display device 120 when the display device 120 also serves as a touch panel, the display device 120 may be an example of an operation unit.
  • FIG. 3 is a diagram showing an example of the hardware configuration of the parking assistance device 100 according to the first embodiment.
  • the parking assistance device 100 includes a CPU (Central Processing Unit) 11A, ROM 11B, RAM 11C, device I/F (interface) 11D, CAN (Controller Area Network) I/F 11E, NW (Network) I/ F11F, HDD (Hard Disk Drive) 11G, etc. are interconnected by a bus 11H, and the hardware configuration is such that a normal computer is used.
  • a CPU Central Processing Unit
  • ROM 11B read only memory
  • RAM 11C random access memory
  • device I/F interface
  • CAN Controller Area Network
  • NW Network I/ F11F
  • HDD Hard Disk Drive
  • the CPU 11A is an arithmetic device that controls the parking assist system 100 as a whole. Note that the CPU 11A is an example of a processor in the parking assistance device 100 of the present embodiment, and another processor or processing circuit may be provided instead of the CPU 11A.
  • the ROM 11B, RAM 11C, and HDD 11G function as storage units.
  • the ROM 11B stores programs and the like for realizing various processes by the CPU 11A.
  • the RAM 11C is, for example, a main storage device of the parking assistance device 100, and stores data required for various processes by the CPU 11A.
  • the device I/F 11D is an interface that can be connected to various devices.
  • the device I/F 11D connects with the GPS device 11l and acquires GPS position information indicating the current position of the vehicle 1 from the GPS device 11l.
  • the GPS position information is, for example, latitude and longitude values indicating the absolute position of the vehicle 1 .
  • the GPS device 11l is a device that identifies GPS coordinates representing the position of the vehicle 1 based on the GPS signal received by the GPS antenna 11J.
  • the GPS antenna 11J is an antenna capable of receiving GPS signals.
  • the device I/F 11D acquires images, detection results, and the like from the vehicle-mounted camera 16 and the wave transmitting/receiving unit 15. Moreover, the device I/F 11D may acquire measurement results from a gyro sensor and a wheel speed sensor (not shown) mounted on the vehicle 1 .
  • the CAN I/F 11E is an interface for transmitting and receiving information to and from other ECUs mounted on the vehicle 1 via the CAN within the vehicle 1. Note that a communication standard other than CAN may be adopted.
  • the NW I/F 11F is a communication device capable of communicating with an information processing device outside the vehicle 1 via a network.
  • the NW I/F 11F receives information from outside the vehicle 1 by, for example, public lines such as LTE (Long Term Evolution) (registered trademark), Wi-Fi (registered trademark), short-range communication such as Bluetooth (registered trademark), etc. Communication with a processing device is possible. Note that the communication format between the vehicle 1 and the information processing device outside the vehicle 1 is not limited to these.
  • the information processing device outside the vehicle 1 is, for example, a server, a mobile terminal such as a smart phone, or the like.
  • the display device 120 is illustrated as a separate device from the parking assistance device 100, but the display device 120 may be included in the parking assistance device 100.
  • the parking assistance device 100 may have a speaker and a microphone (not shown) in addition to the configuration shown in FIG.
  • the device I/F 11D of the parking assistance device 100 may input/output audio data to/from a speaker and a microphone (not shown) provided in the vehicle 1 as devices separate from the parking assistance device 100 .
  • the parking assistance device 100 of this embodiment learns the driving route based on the driver's supervised driving, and uses the learning result to perform parking assistance.
  • the parking assistance method executed by the parking assistance device 100 is a method of automatically driving the vehicle 1 based on the teacher driving by the driver.
  • Such a parking support method is used when repeatedly parking at a predetermined parking position, such as a garage at the driver's home, a contracted parking position at an apartment building, or a specified parking position in a parking lot at work. This is effective for reducing the trouble of parking for the driver.
  • FIG. 4 is a block diagram showing an example of functions included in the parking assistance device 100 according to the first embodiment.
  • the parking assistance device 100 of this embodiment includes a reception unit 101, an acquisition unit 102, an extraction unit 103, a route recording unit 104, an estimation unit 105, a detection unit 106, a correction unit 107, and an image generation unit 108. , a display control unit 109 , an audio output unit 110 , a travel control unit 111 , and a storage unit 150 .
  • the storage unit 150 is composed of, for example, a ROM 11B, a RAM 11C, or an HDD 11G. Although one storage unit 150 is included in parking assistance device 100 in FIG. 4 , multiple storage media may function as storage unit 150 .
  • the storage unit 150 stores programs and data used in various processes executed by the parking assistance device 100 .
  • the program executed by the parking assistance device 100 of this embodiment includes the above-described functional units (accepting unit 101, acquiring unit 102, extracting unit 103, route recording unit 104, estimating unit 105, detecting unit 106, correcting unit 107, an image generation unit 108, a display control unit 109, an audio output unit 110, and a running control unit 111).
  • each functional unit of parking assistance device 100 is also referred to as a step.
  • the program executed by the parking assistance device 100 of this embodiment is a file in an installable format or an executable format, and can be stored on flash memory, CD-ROM, flexible disk (FD), CD-R, DVD (Digital Versatile Disk). provided by being recorded on a computer-readable recording medium such as
  • the program executed by the parking assistance device 100 of this embodiment may be stored on a computer connected to a network such as the Internet, and may be provided by being downloaded via the network. Also, the program executed by the parking assistance device 100 of the present embodiment may be provided or distributed via a network such as the Internet. Further, the program executed by the parking assistance device 100 of the present embodiment may be configured to be pre-installed in the ROM 11B or the like and provided.
  • the reception unit 101 receives various operations from the user. For example, when the operation button 141 or the image button on the touch panel is pressed, the reception unit 101 receives the user's operation to start and end the recording of the teacher run.
  • the reception unit 101 may receive various operations by the user based on the user's voice input from a microphone provided in the vehicle 1 .
  • the acquisition unit 102 acquires a plurality of images captured in time series around the vehicle 1 as the vehicle 1 moves from the vehicle-mounted cameras 16a to 16c.
  • the said image is an image which image
  • the acquisition unit 102 acquires information about the distance between objects around the vehicle 1 and the vehicle.
  • the information on the distance between the object around the vehicle 1 and the vehicle is, for example, the presence or absence of an obstacle detected by the wave transmitting/receiving unit 15, and the distance between the detected obstacle around the vehicle 1 and the vehicle 1. is.
  • the presence or absence of obstacles detected by the wave transmitting/receiving unit 15, the distance between the obstacles around the vehicle 1 and the vehicle 1 measured by the wave transmitting/receiving unit 15, and the image of the surroundings are used as environmental information about the environment around the vehicle 1. may be called.
  • Environmental information is not limited to these types of information.
  • the acquisition unit 102 acquires GPS position information from the GPS device 11l via the device I/F 11D.
  • the acquisition unit 102 acquires vehicle information of the vehicle 1 from various sensors of the vehicle 1 or other ECUs.
  • Vehicle information includes, for example, information about the speed, steering angle, and braking action of the vehicle 1 .
  • Each piece of information included in the vehicle information of the vehicle 1 is stored in the storage unit 150 in association with the time when each piece of information was detected.
  • the vehicle information of the vehicle 1 may further include the wheel speed or the number of revolutions of the wheels 13, the acceleration of the vehicle 1 measured by a gyro sensor or the like.
  • the extraction unit 103 extracts feature points around the vehicle 1 from the image of the surroundings of the vehicle 1 captured by the vehicle-mounted camera 16 or the result of sensing the surroundings of the vehicle 1 by the wave transmitting/receiving unit 15 .
  • a technique for extracting feature points by the extraction unit 103 is not particularly limited, and a known technique may be applied.
  • the extraction unit 103 extracts feature points by a technique such as FAST (Features from Accelerated Segment Test) or ORB (Oriented FAST and Rotated Brief).
  • FAST Features from Accelerated Segment Test
  • ORB Oriented FAST and Rotated Brief
  • the extracting unit 103 may preferentially record feature points that satisfy a prescribed condition among the extracted feature points. For example, among a plurality of peripheral images that are continuous in time series, the feature points extracted from the one in which the vehicle 1 moved a longer distance during shooting may be preferentially selected as the feature points.
  • the route recording unit 104 records the driving route of the vehicle 1 in the teacher driving by the driver.
  • the route recording unit 104 estimates the position of the vehicle 1 during the teacher run based on the changes in the feature points extracted by the extraction unit 103 and the vehicle information of the vehicle 1, and from the time-series changes in the position , to identify the driving route.
  • the route recording unit 104 identifies changes in the position of the vehicle 1 based on time-series changes in the feature points extracted during the teacher driving. Further, the route recording unit 104 may correct the position of the vehicle 1 specified from the feature points based on the acquired vehicle information. Further, the route recording unit 104 may estimate the position of the vehicle 1 during the teacher running from changes in the absolute position of the vehicle 1 based on the GPS position information of the vehicle 1 .
  • the travel route for automatic travel and the speed, steering angle, braking action, and characteristic points extracted during the teacher travel of the vehicle 1 traveling on the travel route are associated in time series, It is called travel route information. Since the travel route of the vehicle 1 is defined by the travel route information, the process of collecting the travel route information is the process of recording the travel route of the vehicle 1 .
  • the route recording unit 104 saves the travel route information in the storage unit 150 .
  • the traveling route information or the corrected route information obtained by correcting the traveling route information by the correcting unit 107, which will be described later, is used by the traveling control unit 111 during automatic driving, which will be described later. Note that the method of recording the travel route and the definition of the travel route information are not limited to this example.
  • the route recording unit 104 defines the environment around the vehicle 1 as map information based on the feature points extracted from the surrounding images taken during the teacher driving, and stores the map information in the storage unit 150.
  • the processing of recording the travel route based on the teacher travel may be called learning processing.
  • the travel route recorded by the teacher travel is also called a reference route because it is used as a reference for correction by the correction unit 107, which will be described later.
  • FIG. 5 is a diagram showing an example of a travel route 80 recorded by teacher travel according to the first embodiment.
  • the driver of the vehicle 1 manually moves the vehicle 1 from the start position 23 to the parking position 27 during the teacher run.
  • Parking location 27 is, by way of example, within parking space 19 within garage 18 .
  • the garage 18 has side walls 20,21.
  • the parking space 19 is delimited by the side walls 20,21.
  • the parking space 19 is not limited to the garage 18, and may be an area defined by white lines, for example. Further, the position of the parking space 19 may be indicated by a sign or the like. Also, the parking space 19 may be a vacant lot or the like that is not separated by white lines or the like.
  • the route recording unit 104 when the driver switches the parking assistance device 100 to the learning mode, the route recording unit 104 performs teacher driving. Switching to the learning mode is performed, for example, by the driver operating the operation button 141 or the touch panel.
  • the route recording unit 104 learns about the surroundings of the parking space 19.
  • the perimeter of parking space 19 also includes the lateral boundaries of parking space 19, ie side walls 20, 21 in FIG.
  • the route recording unit 104 starts recording the surrounding map information from the start position 23 where the vehicle 1 starts to move, and stores the recorded map information in the storage unit 150 .
  • buildings 24 and trees 25 are located around the parking space 19 .
  • the side walls 20 , 21 , building 24 and tree 25 are depicted in the surrounding image and sensed by the wave transmitting/receiving section 15 . Therefore, the route recording unit 104 records characteristic points of the side walls 20 and 21, the building 24, and the trees 25 as map information.
  • the side walls 20, 21, building 24 and tree 25 are known objects. These known objects are also referred to as reference objects because they serve as references for the travel route 80 .
  • the route recording unit 104 stores information about the trajectory or shape of the travel route 80, the relative position of the starting position 23 with respect to the feature points representing the surrounding objects, and the parking position with respect to the feature points representing the surrounding objects. Record the relative position of position 27 .
  • Information to be recorded is not limited to this.
  • the route recording unit 104 can record the relative position of the parking position 27 with respect to the feature points representing the surrounding objects and the relative position of the parking position 27 with respect to the feature points representing the surrounding objects without recording the locus or shape of the travel route 80 . Only the position may be recorded.
  • map information is not limited to being made up of feature points, and the route recording unit 104 may record information about the relative positions, colors, and contours of multiple objects around the parking space 19 .
  • the estimating unit 105 performs automatic traveling based on the traveling route 80 or the corrected route 81 by the traveling control unit 111 described later, and the estimating unit 105 calculates the vehicle Estimate the position and orientation of 1.
  • the estimating unit 105 estimates the position of the vehicle 1 by comparing the feature points of the surrounding image captured by the vehicle-mounted camera 16 during the teacher run with the feature points of the current surrounding image. Note that the method of estimating the position and orientation of the vehicle 1 by the estimation unit 105 is not limited to this example. In addition, the estimation unit 105 may correct the estimated position of the vehicle 1 based on the absolute position of the vehicle 1 based on the GPS position information of the vehicle 1 .
  • the detection unit 106 detects objects around the vehicle 1 . More specifically, the detection unit 106 detects the presence or absence of an obstacle detected by the wave transmission/reception unit 15 acquired by the acquisition unit 102 before and during automatic driving with parking assistance, and measures the obstacle by the wave transmission/reception unit 15. Objects around the vehicle 1 are detected based on the distance between the obstacles around the vehicle 1 and the vehicle 1 and environment information such as a peripheral image. In this embodiment, the object includes other vehicles, buildings, trees, people, and the like.
  • the objects around the vehicle 1 that are detected during automatic driving with parking assistance include known objects that existed during the supervised driving and unknown objects that did not exist during the supervised driving.
  • objects whose distance from the vehicle 1 is equal to or less than a threshold value when the vehicle 1 travels based on the travel route 80 recorded by the supervised travel become obstacles.
  • the threshold is not particularly limited.
  • the detection unit 106 determines that a known object has been detected. . Further, for example, when the detection unit 106 detects an object not included in the map information corresponding to the travel route 80 recorded by the route recording unit 104 during automatic driving with parking assistance, the detection unit 106 detects an unknown object. I judge.
  • the correction unit 107 corrects the travel route 80 recorded by the teacher travel based on the object detection result. More specifically, when the object detected by the detection unit 106 is not one detected in the teacher run, the correction unit 107 corrects the travel route 80 so that the distance to the object is greater than or equal to the threshold.
  • FIG. 6 is a diagram showing an example of the correction path 81 according to the first embodiment.
  • the trash can 30a is left near the parking space 19 when the parking assistance device 100 executes parking assistance.
  • the trash can 30a is an unknown object for the parking assistance device 100 because it did not exist during the teacher driving.
  • the trash can 30 a is detected by the detection unit 106 .
  • the correction unit 107 corrects the travel route 80 so that the distance between the trash can 30a and the vehicle 1 continues to be equal to or greater than the threshold while the vehicle 1 moves from the start position 23 to the parking position 27 .
  • a travel route that has been corrected by the correction unit 107 is referred to as a corrected route 81 .
  • the correction unit 107 does not generate the entire route avoiding the trash can 30a from the beginning, but replaces, for example, a part of the travel route 80 recorded in the teacher travel with a new route.
  • a correction path 81 is generated.
  • the vicinity of the starting end and the vicinity of the terminal end of the corrected route 81 overlap with the traveling route 80, and only the intermediate portion differs from the traveling route 80.
  • the image generator 108 generates a corrected path image representing the corrected path 81 generated by the corrector 107 .
  • the corrected route image is, for example, an image depicting parking space 19 , corrected route 81 , travel route 80 , start position 23 of travel route 80 , parking position 27 , and objects around parking space 19 . Note that the corrected route image may not include the travel route 80 .
  • the corrected route image may be generated from a peripheral image captured by the vehicle-mounted camera 16, or may be an illustration depicting the outline of an object.
  • the display control unit 109 causes the display device 120 to display the travel route 80 corrected by the correction unit 107, that is, the corrected route 81, at least either before starting automatic travel with parking assistance or during automatic travel.
  • the display control unit 109 causes the display device 120 to display the corrected route 81 at least during automatic driving.
  • the display control unit 109 causes the display device 120 to display the corrected route image generated by the image generation unit 108 .
  • FIG. 7 is a diagram showing an example of the corrected route image 121a displayed on the display device 120 according to the first embodiment.
  • the corrected route image 121a includes the parking space 19, the corrected route 81, the travel route 80, the start position 23 of the travel route 80, the parking position 27, the side walls 20 and 21, the building 24, the trees 25, and the trash can. 30a is shown.
  • both the travel route 80 before correction and the corrected route 81 are drawn in the corrected route image 121a in FIG. 7, only the corrected route 81 may be drawn.
  • the display control unit 109 may emphasize which of the objects depicted in the corrected route image 121a is an obstacle.
  • the display control unit 109 may use XR (Extended Reality) technology such as AR (Augmented Reality) or CG (Computer Graphics) to display a moving image so as to reproduce the parking action.
  • XR Extended Reality
  • AR Augmented Reality
  • CG Computer Graphics
  • the corrected route image 121a may include a message M1 that explains to the driver the reason why the travel route 80 was changed.
  • the display control unit 109 displays a message M1 stating that "There is an obstacle, so the route will be corrected.”
  • the trash can 30a is included in the imaging range of the vehicle-mounted camera 16 of the vehicle 1 and the measurement range of the wave transmitting/receiving unit 15 at the start position 23 of the travel route 80. Therefore, the display control unit 109 can display the corrected route image 121a before the start of automatic driving by parking assistance.
  • the detection unit 106 may detect new unknown objects. If the newly detected unknown object is an obstacle, the correction unit 107 corrects the travel route 80 . Alternatively, when the vehicle 1 is automatically traveling along the corrected route 81 that has already been corrected, the correction unit 107 further corrects the corrected route 81 so as to avoid the newly detected obstacle.
  • the image generating unit 108 generates a corrected route image representing the newly corrected corrected route 81 . Then, the display control unit 109 causes the display device 120 to display the newly generated corrected route image.
  • FIG. 8 is a diagram showing an example of a corrected path image 121b different from FIG.
  • a trash can 30b is left in the garage 18.
  • the trash can 30b is assumed to be an unknown object that was not at the location during the teacher run.
  • the trash can 30 b and other unknown objects 31 are not included in the imaging range of the vehicle-mounted camera 16 and the measurement range of the wave transmitting/receiving section 15 unless the vehicle 1 enters the garage 18 .
  • the detection unit 106 Detect trash cans 30b and other unknown objects 31;
  • the detector 106 also detects the side walls 20 and 21, which are known objects.
  • the correction unit 107 keeps the distances d1, d2, and d4 to the side walls 20 and 21 longer than the threshold, while the distances d3 and d5 to the trash can 30b and other unknown objects 31 are longer than the threshold.
  • the travel route 80 is corrected to generate a corrected route 81 .
  • the correction unit 107 may also change the parking position 27 of the vehicle 1 because there is a trash can 30b and another unknown object 31 in the garage 18 in the case shown in FIG. In FIG. 8, illustration of the travel route 80, the starting position 23, and the parking position 27 is omitted.
  • the image generator 108 generates a corrected path image 121b representing the corrected path 81 generated by the corrector 107.
  • the individual corrected path images 121a and 121b are simply referred to as corrected path images 121 when not particularly distinguished.
  • the display control unit 109 causes the display device 120 to display the corrected route image 121b as shown in FIG. In this manner, the display control unit 109 displays the corrected route 81 generated according to the unknown object newly detected during automatic driving, so that the user can check the latest state of the corrected route 81. .
  • the corrected route image 121 shown in FIGS. 7 and 8 is an example, and the display mode is not limited to this.
  • the display control unit 109 notifies the driver by causing the display device 120 to display that parking assistance is possible.
  • a position where parking assistance is possible is, for example, a position within a specified distance from the start position 23 of the travel route 80 or a point where the travel route 80 can be joined.
  • the audio output unit 110 causes the speaker provided in the vehicle 1 to output sound or voice.
  • FIGS. 7 and 8 illustrate examples in which the display control unit 109 causes the display device 120 to display the message M1, but the method of notifying the message M1 is not limited to display.
  • the voice output unit 110 may output the message M1 as a voice message from a speaker.
  • the audio output unit 110 notifies the driver by outputting a voice message that parking assistance is possible from the speaker. You may
  • the travel control unit 111 causes the vehicle 1 to automatically travel based on the travel route 80 recorded based on the past parking operation, thereby allowing the vehicle to enter or leave the garage.
  • the driving route 80 recorded by the teacher driving is an example of the driving route 80 recorded based on the past parking operation.
  • the travel control unit 111 moves the vehicle 1 to the parking space 19 by automatic driving based on the travel route 80 or the corrected route 81 obtained by correcting the travel route 80 .
  • the travel control unit 111 automatically travels the vehicle 1 along the travel route 80 or the corrected route 81 by controlling the steering, braking, acceleration and deceleration of the vehicle 1 .
  • the driver may be seated in the driver's seat 130a of the vehicle 1 or may be out of the vehicle 1 during automatic travel by the travel control unit 111 . In this embodiment, it is assumed that the driver is seated in the driver's seat 130 a of the vehicle 1 .
  • FIG. 4 illustrates the parking assistance device 100 as including the travel control unit 111
  • the travel control unit 111 may be realized by another ECU different from the parking assistance device 100.
  • FIG. 9 is a flowchart showing an example of the flow of processing for automatic travel and correction of the travel route 80 executed by the parking assistance device 100 according to the first embodiment. It is assumed that the travel route 80 based on the teacher travel has already been registered when the processing of this flowchart is executed.
  • the acquisition unit 102 acquires the absolute position of the vehicle 1, the peripheral image, the speed, the steering angle, the braking operation, and the distance measurement result (S101). Although not shown in this flowchart, acquisition of the absolute position of the vehicle 1, peripheral images, speed, steering angle, braking operation, and distance measurement results by the acquiring unit 102 continues during execution of this flowchart. shall be
  • the extraction unit 103 extracts feature points from the plurality of acquired peripheral images (S102).
  • the estimating unit 105 performs self-position estimation processing for estimating the position of the vehicle 1 by comparing the extracted feature points with the feature points of the peripheral image captured by the in-vehicle camera 16 during the teacher driving. (S103). Also, the estimation unit 105 may perform the self-position estimation process based on the distance measurement result obtained from the wave transmitting/receiving unit 15, the GPS position information obtained from the GPS device 11l, or the like.
  • the estimating unit 105 determines whether there is a starting position 23 of the travel route 80 or a merging point on the travel route 80 within a specified distance from the vehicle 1 (S104). If there is neither the start position 23 of the travel route 80 nor a point where the travel route 80 can be joined within the prescribed distance from the vehicle 1 (S104 "No"), the process returns to S101.
  • the specified distance is a distance that allows the travel control unit 111 to automatically travel the vehicle 1 to join the travel route 80 . For example, if the current position of the vehicle 1 is too far from the start position 23 , it will be difficult for the travel control unit 111 to automatically travel based on the travel route 80 .
  • a specific value of the specified distance is not particularly limited. In addition, there are cases where the vehicle 1 can join the travel route 80 from a position other than the start position 23 of the travel route 80 .
  • the display control unit 109 indicates that parking assistance is possible.
  • the driver is notified by displaying on the display device 120 (S105).
  • the voice output unit 110 may notify the driver that parking assistance is possible by outputting a voice message from a speaker.
  • the reception unit 101 determines whether or not an operation for starting parking assistance by the user has been received (S106). If the user's operation to start parking assistance has not been received (S106 "No"), the reception unit 101 waits for the user's operation.
  • the detection unit 106 determines whether or not an obstacle has been detected around the vehicle 1 (S107). For example, the detection unit 106 detects objects whose distance from the vehicle 1 is equal to or less than a threshold value when the vehicle 1 travels based on the travel route 80 recorded by the teacher travel, among unknown objects that did not exist during the teacher travel. is detected, it is determined that an obstacle is detected.
  • the correction unit 107 corrects the travel route 80 so that the distance to the detected obstacle is equal to or greater than the threshold, thereby correcting the corrected route 81. Generate (S108).
  • the image generator 108 generates a corrected path image 121 representing the corrected path 81 generated by the corrector 107 (S109).
  • the display control unit 109 causes the display device 120 to display the corrected route image 121 generated by the image generation unit 108 (S110).
  • the travel control unit 111 executes automatic travel based on the corrected route 81 (S111).
  • the process returns to S108, and the correction unit 107 adjusts the distance from the newly detected obstacle to a threshold value or more. Then, the correction path 81 is further corrected. Then, the processes of S109 to S111 are executed.
  • the travel control unit 111 continues automatic travel based on the corrected route 81 (S113).
  • the driving control unit 111 parks the vehicle 1 in the parking space 19 (S115).
  • the driving control unit 111 parks the vehicle 1 at the parking position 27 within the parking space 19 .
  • the driving control unit 111 causes the vehicle 1 to park at a position where the distance between the obstacle and the vehicle 1 is equal to or greater than a threshold value. 1 is stopped.
  • the correction unit 107 executes automatic driving based on the driving route 80 recorded by the teacher driving (S116). After S116, the process proceeds to S112, and when the detection unit 106 detects an obstacle during automatic travel, the process proceeds to S108. If the detection unit 106 does not detect an obstacle during automatic travel, the process proceeds to S113, and automatic travel based on the travel route 80 is continued. Then, when the vehicle 1 reaches the parking space 19 in S114, the driving control unit 111 advances to the process of S115, and the vehicle 1 is parked in the parking space 19 concerned. Here, the processing of this flowchart ends.
  • the parking assistance device 100 of the present embodiment corrects the travel route 80 based on the object detection result during automatic travel by parking assistance based on the travel route 80 recorded based on the past parking operation, By displaying the corrected travel route 80 , that is, the corrected route 81 on the display device 120 , the user can grasp the corrected route 81 . Therefore, according to the parking assistance device 100 of the present embodiment, even when the vehicle 1 travels on a route different from the pre-registered travel route 80, the unexpected behavior of the vehicle 1 surprises the user. It is possible to reduce the occurrence of events that impair the user's convenience such as
  • the past parking operation is a parking operation manually operated by the driver of the vehicle 1 .
  • the parking assistance device 100 of the present embodiment when the vehicle 1 under automatic driving travels on a route different from the travel route 80 based on the teacher travel by the driver who is the user, the driver is notified that the route has been changed. By letting the driver know, it is possible to reduce anxiety and upset of the driver.
  • the parking assistance device 100 of the present embodiment adjusts the travel route 80 so that the distance to the object is equal to or greater than the threshold value. to correct. Therefore, according to the parking assist system 100 of the present embodiment, even when an unknown object is detected, contact between the object and the vehicle 1 can be avoided.
  • the parking assistance device 100 of this embodiment can also be applied when the vehicle 1 leaves the garage.
  • the parking assistance device 100 discriminates unknown objects using image recognition technology, and if an object that does not affect driving (for example, a puddle) is identified, the presence or absence of correction is displayed on the display device and by voice. By displaying, the user may be notified to select whether or not to perform the correction.
  • an object that does not affect driving for example, a puddle
  • the parking assistance device 100 causes the display device 120 inside the vehicle 1 to display the corrected route image 121 .
  • the parking assistance device 100 displays the corrected route image 121 on the display of a mobile terminal such as a smart phone.
  • the parking assistance device 100 of this modified example has the same hardware configuration as the first embodiment.
  • the parking assistance device 100 of this modified example includes a reception unit 101, an acquisition unit 102, an extraction unit 103, a route recording unit 104, an estimation unit 105, a detection unit 106, a correction unit 107, An image generation unit 108 , a display control unit 109 , an audio output unit 110 , a travel control unit 111 and a storage unit 150 are provided.
  • the reception unit 101, the acquisition unit 102, the extraction unit 103, the route recording unit 104, the estimation unit 105, the detection unit 106, the correction unit 107, the image generation unit 108, the audio output unit 110, the travel control unit 111, and the storage unit 150 are It has the same functions as the first embodiment.
  • the display control unit 109 of the present modification displays the travel route 80 corrected by the correction unit 107, that is, the corrected route 81, on a smartphone or the like at least one of before starting automatic travel by parking assistance and during automatic travel. Display on the mobile device display.
  • the display control unit 109 displays the corrected route image 121 generated by the image generation unit 108 on the display of a mobile terminal such as a smart phone.
  • the display control unit 109 transmits the corrected route image 121 to a mobile terminal such as a smartphone via the NW I/F 11F, and displays the corrected route image 121 on the display.
  • a display of a mobile terminal such as a smartphone is an example of the display unit in this embodiment. Also, when the display of a mobile terminal such as a smartphone has a function as a touch panel, the touch panel is an example of an operation unit.
  • FIG. 10 is a diagram showing an example of a corrected route image 121a displayed on the display 210 of the smartphone 200 according to Modification 1 of the first embodiment.
  • the display contents of the corrected path image 121a are the same as in the first embodiment described with reference to FIG.
  • the smartphone 200 may be owned by the driver of the vehicle 1 or may be owned by a passenger other than the driver.
  • the driver of the vehicle 1 gets out of the vehicle 1 and executes the parking of the vehicle 1 by automatic driving, the driver sees the corrected route image 121a displayed on the display 210 of the smartphone 200, and the vehicle 1 You can check the route that the Therefore, according to this modification, the driver can grasp the corrected route 81 from the smartphone 200 even when the vehicle 1 travels along the corrected route 81 instead of the pre-registered travel route 80 .
  • the driver and the fellow passengers of the vehicle 1 can see the corrected route image 121a displayed on the display 210 of the smartphone 200. , the position where the vehicle 1 exits the garage 18 and stops, and the route through which the vehicle 1 stops can be grasped.
  • the driver and fellow passengers grasp the corrected stop position from the corrected route image 121a.
  • a vehicle 1 can be waiting at a suitable position.
  • the travel control unit 111 of the parking assistance device 100 automatically travels the vehicle 1 based on the travel route 80 based on the driver's supervised travel, thereby causing the vehicle 1 to enter or leave the garage. bottom.
  • the method of recording the travel route 80 is not limited to the teacher travel.
  • the travel route 80 may be recorded based on the parking operation of the vehicle 1 automatically driven.
  • the parking assistance device 100 may include a parking route generator that generates a parking route for the target parking position.
  • the parking route generator generates the travel route 80 by processing such as calculation.
  • the parking route generation unit stores the generated travel route 80 in the storage unit 150 .
  • the parking route generator may generate a plurality of travel routes 80 and the user may select the travel route 80 to be registered from among the plurality of travel routes 80 .
  • the parking assistance device 100 includes at least one of environmental information about the environment around the vehicle 1 and user information about the user who gets into the vehicle 1 among the plurality of pre-registered travel routes 80. , the travel route 80 along which the vehicle 1 travels is specified.
  • the parking assistance device 100 of this modified example has the same hardware configuration as the first embodiment.
  • FIG. 11 is a block diagram showing an example of the functions of the parking assistance device according to the second embodiment.
  • the parking assistance device 100 of this embodiment includes a reception unit 101, an acquisition unit 1102, an extraction unit 103, a route recording unit 1104, an estimation unit 105, a detection unit 106, a correction unit 107, and an image generation unit 108. , a display control unit 1109 , an audio output unit 110 , a travel control unit 111 , a specifying unit 112 , and a storage unit 1150 .
  • the reception unit 101, the extraction unit 103, the estimation unit 105, the detection unit 106, the correction unit 107, the image generation unit 108, and the audio output unit 110 have the same functions as in the first embodiment.
  • the storage unit 1150 of this embodiment is configured by, for example, the ROM 11B, RAM 11C, or HDD 11G, as in the first embodiment. In addition to the same content as in the first embodiment, the storage unit 1150 of this embodiment also stores a plurality of travel routes 80 in association with at least one of environment information and user information.
  • the presence or absence of an obstacle detected by the wave transmitting/receiving unit 15, the distance between the vehicle 1 and the obstacle around the vehicle 1 measured by the wave transmitting/receiving unit 15, and the peripheral image of the vehicle 1 are
  • the environmental information about the surrounding environment is mentioned as an example, the environmental information is not limited to this.
  • the environmental information may include feature points around the vehicle 1 extracted from the detection result of the wave transmitting/receiving unit 15 or the surrounding image, the positional coordinates of the vehicle 1, the weather around the vehicle 1 or the parking space 19, and the like. .
  • the user information is information about the driver or fellow passenger of the vehicle 1, for example, the age and physical information of the driver or fellow passenger.
  • the physical information includes, for example, whether or not the person uses a wheelchair, whether or not the person has other physical handicaps, and the like. Note that the user information is not limited to these. When collectively referring to the driver and fellow passengers, they are simply referred to as users.
  • the age and physical information of the driver or fellow passenger are also referred to as user attribute information.
  • the user's attribute information is not limited to the above example, but includes at least information on either the user's age or the user's physical handicap.
  • the storage unit 1150 of the present embodiment stores a travel route database in which a plurality of travel routes 80 are associated with at least one of conditions regarding environment information and conditions regarding user information.
  • FIG. 12 is a diagram showing an example of the travel route database 90 according to the second embodiment.
  • the travel route database 90 is a database that associates the travel route numbers of a plurality of travel routes 80, the conditions regarding environment information, and the conditions regarding user information.
  • a travel route number is an example of identification information that can identify each travel route 80 .
  • the condition regarding the environment information is a condition that defines the environment information corresponding to the travel route 80 .
  • the conditions regarding the user information are the conditions that define the user information corresponding to the travel route 80 .
  • the driving route 80 with the driving route number “1” is associated with the environmental information conditions “surrounding feature points: xxx, presence/absence of obstacles: none, weather: clear or cloudy”. ing. That is, when the environment around the vehicle 1 or the parking space 19 matches the conditions, the travel route 80 with the travel route number "1" is recommended.
  • a plurality of conditions registered as conditions related to environment information in FIG. 12 may be AND conditions or OR conditions.
  • the travel route 80 with the travel route number “1” is associated with the user information condition "healthy person, age: 10 to 60". Further, the travel route 80 with the travel route number “2” is associated with the user information condition “wheelchair user, age: 70s or older”. Also, the plurality of conditions registered as conditions related to user information in FIG. 12 may be AND conditions or OR conditions.
  • the travel route 80 that stops near the slope of the building 24 after the vehicle 1 leaves the parking space 19 is highly convenient for the user.
  • the travel route 80 stopping near the doorway of the building 24 is highly convenient for the user.
  • the travel route 80 in which the vehicle 1 is parked at a position where the vehicle 1 can be easily started after the driver gets on the vehicle is highly convenient for the user.
  • either one of the conditions relating to the environment information and the conditions relating to the user information may be registered in the travel route database 90 .
  • the storage unit 1150 of the present embodiment stores a user information database 91 in which user IDs, physical information of users specified by the user IDs, and ages are associated with each other.
  • FIG. 13 is a diagram showing an example of the user information database 91 according to the second embodiment.
  • FIGS. 12 and 13 show the travel route database 90 and the user information database 91 in a table format
  • the data format is not limited as long as the target information is associated with each other. . Further, whether each user is a driver of the vehicle 1 or a fellow passenger may be registered in the user information database 91 .
  • the route recording unit 1104 of the present embodiment records the driving route 80 of the vehicle 1 in the teacher driving by the driver in association with at least one of the environment information and the user information.
  • a driving route database 90 is generated by the recording process.
  • the travel route database 90 may be generated by an information processing device or the like outside the vehicle 1, or may be registered by the user from a touch panel of the display device 120 or a mobile terminal such as the smartphone 200 or the like.
  • the acquisition unit 1102 of this embodiment has the same functions as those of the first embodiment, and at least one of environmental information about the environment around the vehicle 1 and user information about the user who gets on the vehicle 1. to get
  • the acquisition unit 1102 acquires the presence or absence of obstacles detected by the wave transmitting/receiving unit 15, the distance between the obstacles around the vehicle 1 and the vehicle 1 measured by the wave transmitting/receiving unit 15, the surroundings photographed by the vehicle-mounted camera 16, An image and GPS position information of the vehicle 1 measured by the GPS device 11l are acquired.
  • Acquisition unit 1102 may also acquire weather information from an information processing device external to vehicle 1 via a network.
  • the acquisition unit 1102 may acquire the weather around the vehicle 1 from the peripheral image captured by the vehicle-mounted camera 16 .
  • the identifying unit 112 identifies the traveling route 80 corresponding to at least one of the acquired environment information and user information from among the plurality of traveling routes 80 registered in advance in the storage unit 1150 .
  • both environmental information and user information are used as conditions for identifying the travel route 80 .
  • the identifying unit 112 determines that the acquired environment information satisfies the conditions of “surrounding feature points: xxx, presence/absence of obstacles: none, weather: sunny or cloudy” and that the acquired user information is “healthy”. 12 is specified as the travel route 80 to be used for automatic travel of the vehicle 1.
  • the identification unit 112 acquires A plurality of travel routes 80 corresponding to at least one of the environment information and user information obtained are specified as candidates for travel routes 80 used for automatic travel of the vehicle 1 .
  • the specifying unit 112 calculates the recommendation degree of each travel route 80 specified as a candidate according to at least one of the environment information and the user information. good too.
  • the specifying unit 112 may calculate the degree of recommendation of each travel route 80 according to the frequency with which each travel route 80 specified as a candidate was selected by the user in the past.
  • the display control unit 1109 of the present embodiment has the same functions as those of the first embodiment and the modification 1 of the first embodiment, and the travel route 80 specified by the specifying unit 112 or the travel route 80
  • the candidates are displayed on the display 210 of the smart phone 200 .
  • the display 210 of the smart phone 200 is an example of the display section in this embodiment.
  • FIG. 14 is a diagram showing an example of the travel route notification screen 122 displayed on the display 210 of the smartphone 200 according to the second embodiment.
  • the travel route notification screen 122 is, for example, a screen displaying an image representing the travel route 80 specified by the specifying unit 112 .
  • the travel route notification screen 122 represents the travel route 80 from the parking space 19 in the garage 18 until the vehicle 1 stops at the stop position 28 .
  • the travel route notification screen 122 may also illustrate objects such as the parking space 19 and the building 24 around the stop position 28 .
  • a message M2 is displayed on the travel route notification screen 122 saying "Do you want to leave the garage on this travel route?"
  • the display control unit 1109 may display a message M2 prompting the user to approve the travel route 80 without being limited to the content.
  • an OK button 231 and a Cancel button 232 are displayed on the travel route notification screen 122 .
  • the OK button 231 is an image button capable of accepting an operation by the user to allow the vehicle 1 to automatically travel along the travel route 80 displayed on the travel route notification screen 122 .
  • the cancel button 232 is an image button capable of accepting an operation by the user to cancel automatic travel along the travel route 80 displayed on the travel route notification screen 122 .
  • the display control unit 1109 may, for example, display a list of pre-registered travel routes 80 on the display 210 for the user to select.
  • the parking assistance device 100 may cancel automatic driving of the vehicle 1 and wait for manual driving by the driver.
  • the display control unit 1109 causes the display 210 of the smartphone 200 to display the specified travel routes 80 .
  • the display control unit 1109 causes the display 210 of the smart phone 200 to display a travel route selection screen that allows the user to select the plurality of specified travel routes as a plurality of travel route candidates.
  • FIG. 15 is a diagram showing an example of the travel route selection screen 123 displayed on the display 210 of the smartphone 200 according to the second embodiment.
  • the travel route selection screen 123 is an image representing a plurality of travel routes 80a and 80b.
  • travel routes 80a and 80b stop at different stop positions 28a and 28b, respectively.
  • the travel routes 80a and 80b will simply be referred to as the travel route 80 unless otherwise distinguished.
  • the stop positions 28a and 28b are simply referred to as the stop position 28 when they are not distinguished from each other.
  • the travel route selection screen 123 displays a message M3 "Please select a travel route.”
  • the display control unit 1109 may display a message M2 prompting the user to select the travel route 80 without being limited to the content.
  • the messages M2 and M3 may be output as voice messages by the voice output unit 110.
  • the decision button 233 is displayed on the travel route selection screen 123 .
  • the determination button 233 is an image button capable of accepting an operation by the user to select one of the travel routes 80 a and 80 b displayed on the travel route selection screen 123 .
  • the user presses either the image showing the travel route 80a or the image showing the travel route 80b on the display 210 the user presses the decision button 233 to select the travel route 80a or 80b. 80 is selected.
  • the reception unit 101 receives the user's operation.
  • the display control unit 1109 may display the travel route notification screen 122 so that the user can reconfirm the selected travel route 80.
  • automatic travel by the travel control unit 111 may be started.
  • the reception unit 101 causes the storage unit 1150 to store the travel route 80 selected by the user in association with the user ID of the user.
  • Information in which the travel route 80 selected by the user and the user ID of the user are associated is an example of the past usage history of the user of the vehicle 1 .
  • the display control unit 1109 selects the specified travel routes in the order based on the past usage history of the user of the vehicle 1. Displayed on the display 210 of the smartphone 200 . For example, the display control unit 1109 causes the travel route 80, which has been selected by the user in the past, to be displayed at a higher rank. Such a display allows the user to easily find the desired travel route 80 even when there are a plurality of travel route candidates.
  • the display control unit 1109 may display the travel route notification screen 122 and the travel route selection screen 123 only when the user of the smartphone 200 is the driver of the vehicle 1, not the fellow passenger. Alternatively, if the user of smartphone 200 is a fellow passenger of vehicle 1 , display control unit 1109 may cause only driving route notification screen 122 to be displayed. In this case, the OK button 231 and the cancel button 232 are not displayed on the travel route notification screen 122 displayed on the smartphone 200 of the fellow passenger.
  • the travel control unit 111 of the present embodiment has the same functions as those of the first embodiment, and based on the travel route 80 specified by the specifying unit 112, the vehicle 1 is controlled by the travel route. It is driven to the stop position 28 corresponding to 80 .
  • the travel control unit 111 selects one of the specified travel routes 80 by the user. Based on the travel route 80 , the vehicle 1 is caused to travel to the stop position 28 corresponding to the travel route 80 .
  • FIG. 16 is a sequence diagram showing an example of the flow of processing executed by the parking assistance device 100 and smartphone 200 according to the second embodiment.
  • the smartphone 200 transmits the user ID that the user of the smartphone 200 has for using the vehicle 1 to the parking assistance device 100 (S201).
  • the acquisition unit 1102 of the parking assistance device 100 acquires the user ID from the smartphone 200, but user information such as the age and physical information of the user of the smartphone 200 may be acquired.
  • the acquisition unit 1102 may acquire user information about all users including the driver and fellow passengers from the smartphone 200 of the driver of the vehicle 1, or may acquire user information from the smartphone 200 of each user.
  • the user information of the user may be acquired separately.
  • the acquisition unit 1102 acquires the user IDs of all users including the driver and fellow passengers from the smartphone 200 of the driver of the vehicle 1.
  • the user ID of each user may be obtained separately from the smartphone 200 of each user.
  • the acquisition unit 1102 of the parking assistance device 100 acquires environmental information about the environment around the vehicle 1 (S202).
  • the specifying unit 112 of the parking assistance device 100 acquires the physical information and age of the user corresponding to the acquired user ID from the user information database 91, and acquires the acquired physical information and age of the user, Based on the environment information acquired by the acquisition unit 1102, a travel route 80 that satisfies the conditions is specified from among the plurality of travel routes 80 registered in advance in the storage unit 1150 (S203).
  • a travel route 80 that satisfies the conditions is specified from among the plurality of travel routes 80 registered in advance in the storage unit 1150 (S203).
  • the display control unit 1109 of the parking assistance device 100 transmits the plurality of driving routes 80 specified by the specifying unit 112 to the smartphone 200 via the network and displays them on the display 210 (S204).
  • the smartphone 200 causes the display 210 to display the driving route selection screen 123 that selectably represents a plurality of driving routes 80 transmitted from the parking assistance device 100 (S205).
  • the smartphone 200 when the user presses either the image showing the travel route 80a or the image showing the travel route 80b on the display 210 of the smartphone 200 and then presses the decision button 233 (S206), the smartphone 200 , the driving route 80 selected by the user is notified to the parking assistance device 100 (S207).
  • the reception unit 101 of the parking assistance device 100 receives a selection operation of the travel route 80 by the user via the smartphone 200 .
  • the display control unit 1109 of the parking assistance device 100 displays the driving route notification screen 122 by transmitting an instruction to display the driving route notification screen 122 representing the driving route 80 selected by the user to the smartphone 200 (S208). ).
  • the smartphone 200 causes the display 210 to display the driving route notification screen 122 (S209).
  • the smartphone 200 confirms that the user has approved the start of automatic travel based on the travel route 80.
  • the device 100 is notified (S211).
  • the travel control unit 111 of the parking assistance device 100 executes automatic travel based on the travel route 80 selected and approved by the user (S212).
  • the parking assistance device 100 executes correction processing of the travel route 80 according to the obstacle detection result before and during the automatic travel of the vehicle 1, as in the first embodiment.
  • the parking assist device 100 causes the display 210 of the smartphone 200 to display the corrected route 81, as in the first modification of the first embodiment.
  • the processing of this sequence diagram ends.
  • the correcting unit 107 may correct the travel route 80 identified by the identifying unit 112, and then the processing from S204 onwards may be executed.
  • the parking assistance device 100 of the present embodiment displays the driving route 80 corresponding to at least one of the environment information and the user information among the plurality of driving routes 80 registered in advance on the display 210 of the smartphone 200. to display. Therefore, according to the parking assistance device 100 of the present embodiment, in addition to the effects of the first embodiment, convenience for the user is improved by proposing the driving route 80 to the user according to the environmental information or the user information. can be improved.
  • the parking assistance device 100 of the present embodiment selects the user from among a plurality of pre-registered travel routes 80 based on information regarding either the age of the user or the physical handicap of the user.
  • a suitable driving route 80 is identified. Therefore, according to the parking assistance device 100 of the present embodiment, even in a usage pattern in which one vehicle 1 is shared by a plurality of users, the driving route 80 can be proposed according to the state of each user. can be done.
  • the user information is the age of the driver or passenger, physical information, etc., but the user information is not limited to this.
  • the user information may be information about the driver and fellow passengers registered in the usage schedule of the vehicle 1 .
  • the usage schedule of the vehicle 1 is registered in the cloud server 300 or the like provided in the cloud environment.
  • the usage schedule includes user IDs and the like of users who use the vehicle 1 for each hour.
  • FIG. 17 is a diagram showing an example of the configuration of the management system S of the usage schedule of the vehicle 1 according to Modification 1 of the second embodiment.
  • the management system S includes, for example, a cloud server 300 , a terminal device such as a smartphone 200 or a PC (Personal Computer), and a parking assistance device 100 mounted on the vehicle 1 .
  • a cloud server 300 instead of the cloud server 300, a normal server device, a PC, or the like may be used.
  • the user registers a usage schedule in the smartphone 200.
  • the smartphone 200 then transmits the usage schedule registered by the user to the cloud server 300 .
  • the usage schedule is stored in the cloud server 300 .
  • the acquisition unit 1102 of the parking assistance device 100 acquires the information of the driver and fellow passengers registered in the usage schedule of the vehicle 1 from the cloud server 300 .
  • smartphone 200 and parking assistance device 100 of vehicle 1 may not be directly connected, but may transmit and receive data and control signals via cloud server 300 or other server devices.
  • the parking assistance device 100 transmits the identified travel route candidates to the smartphone 200, and displays the travel route selection screen 123 and the travel route notification screen 122.
  • FIG. 18 is a diagram showing an example of the usage schedule database 92 stored in the cloud server 300 according to Modification 1 of the second embodiment.
  • the usage schedule database 92 is a database in which, for example, a vehicle ID that can specify the vehicle 1 to be reserved, a reservation time, and a user ID are registered in association with each other.
  • the vehicle ID is included in the usage schedule database 92 as an example in which reservations for a plurality of vehicles 1 are registered.
  • the items in the schedule database 92 may not include the vehicle ID.
  • the specifying unit 112 of the parking assistance device 100 of this modification acquires the physical information and age of the user corresponding to the user ID registered in the usage schedule database 92 from the user information database 91, and acquires the acquired user A driving route 80 that satisfies the conditions is specified from a plurality of driving routes 80 registered in advance in the storage unit 1150 based on the physical information and age of the individual and the environmental information obtained by the obtaining unit 1102 .
  • the parking assistance device 100 of this modified example it is possible to propose a suitable travel route 80 to the user just by making a reservation for the vehicle 1 by the user. Therefore, according to the parking assistance device 100 of this modified example, it is possible to simplify the user's operation and improve convenience.
  • the user information may be the user ID itself.
  • the travel route database 90 is a database that associates the travel route numbers of a plurality of travel routes 80, conditions regarding environment information, and conditions regarding user information.
  • a database that associates the route 80 with the user ID may be used.
  • FIG. 19 is a diagram showing an example of the travel route database 1090 according to Modification 2 of the second embodiment.
  • the travel route database 1090 of this modification is a database that associates travel route numbers of a plurality of travel routes 80 with user IDs.
  • the identification unit 112 of the parking assistance device 100 of this modification searches the travel route database 1090 for the travel route number corresponding to the user ID of the vehicle 1 acquired by the acquisition unit 1102, and the travel route number corresponding to the travel route number is searched.
  • the route 80 is specified as the travel route 80 corresponding to the user information.
  • the plurality of travel routes 80 are stored in the storage unit 1150 of the parking assistance device 100, but the storage location is not limited to this.
  • the plurality of travel routes 80 may be stored in a storage device such as the cloud server 300 provided outside the vehicle 1 .
  • Acquisition unit 1102 of this modification acquires a plurality of travel routes 80 from a storage device provided outside vehicle 1 together with at least one of environmental information and user information corresponding to each of the plurality of travel routes 80. get.
  • the acquisition unit 1102 acquires information from a storage device such as the cloud server 300 in a state in which travel route numbers of a plurality of travel routes 80, conditions regarding environment information, and conditions regarding user information are associated with each other. .
  • the specifying unit 112 of the present modification selects the travel route 80 corresponding to at least one of the current environment information and the user information among the plurality of travel routes 80 stored in the storage device such as the cloud server 300. Identify.
  • the acquisition unit 1102 acquires both the travel route 80 stored in a storage device such as the cloud server 300 provided outside the vehicle 1 and the travel route 80 stored in the storage unit 1150 of the parking assistance device 100. You may
  • the specifying unit 112 of the present modification determines the travel route corresponding to at least one of the current environment information and the user information among the plurality of travel routes 80 stored in the storage unit 1150 and the external storage device. 80 and the parking position.
  • the plurality of travel routes 80 may be stored in a storage device within the vehicle 1 provided separately from the parking assistance device 100 .
  • the parking assistance device 100 displays the corrected route 81 on the display 210 of the smartphone 200, as in the first embodiment or the first modification of the first embodiment.
  • the parking assistance device 100 of the second embodiment may not have the function of displaying the corrected route 81 . That is, the specific function of the travel route 80 according to the environment information or the user information in the second embodiment may be independently applied to the conventional parking assistance device.
  • the display 210 of the smartphone 200 is used as an example of the display unit, but the display device 120 may be an example of the display unit as in the first embodiment.
  • the display control unit 1109 of the parking assistance device 100 causes the display device 120 to display the travel route notification screen 122 and the travel route selection screen 123.
  • display 210 of smartphone 200 may display driving route notification screen 122 and driving route selection screen 123 .
  • the display device 120 provided in the vehicle 1 or the display 210 of the mobile terminal such as the smartphone 200 is used as an example of the display unit, but the display device 120 is limited to these. isn't it.
  • a head-up display projected onto the windshield 180 of the vehicle 1 or a transparent plate near the windshield 180 may be used as the display unit.
  • an operation terminal capable of transmitting signals to the vehicle 1 from outside the vehicle 1, such as a remote controller or an electronic key, may be used as an example of the operation unit.
  • part of the functions of the parking assistance device 100 in the first and second embodiments described above may be executed by an information processing device provided outside the vehicle 1 .
  • the information processing device provided outside the vehicle 1 is, for example, a mobile terminal such as the smartphone 200, a PC, the cloud server 300, other server devices, or the like.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
PCT/JP2022/026733 2021-12-24 2022-07-05 駐車支援装置および駐車支援方法 Ceased WO2023119698A1 (ja)

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DE112022006164.2T DE112022006164T5 (de) 2021-12-24 2022-07-05 Parkassistenzvorrichtung und Parkassistenzverfahren
US18/734,371 US20240317313A1 (en) 2021-12-24 2024-06-05 Parking assistance device and parking assistance method

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