Parking control method and parking control device

Abstract

The parking control device (100) comprises: an input device (20) for acquiring operation instructions acquired from inside and outside of a vehicle, and a control device (10) for controlling the vehicle in accordance with the operation instructions. The control device (10) determines whether there are passengers in the interior of the vehicle, and controls the vehicle to park in accordance with the determination result.

Description

[0001] This application is a divisional application of the invention patent application with application date of October 4, 2016, application number 201680089843.0, and invention name “Parking control method and parking control device”. Technical Field

[0002] The invention relates to a parking control method and a parking control device. Background Art

[0003] Regarding this technology, there is known a parking control device for parking (stopping) a vehicle by an operation from outside the vehicle (Patent Document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2014 / 162753

[0007] However, Patent Document 1 does not discuss any parking method when there are passengers in the vehicle or when there are no passengers in the vehicle. Summary of the invention

[0008] The problem to be solved by the present invention is to park (stop) a vehicle with control contents corresponding to the cases where there are passengers in the vehicle cabin and the cases where there are no passengers in the vehicle cabin.

[0009] To achieve the above object, the present invention controls the vehicle according to the result of determining whether there is a passenger in the vehicle cabin, thereby solving the above problem.

[0010] According to the present invention, the vehicle can be parked with control contents corresponding to the cases where a passenger is present in the vehicle and the case where a passenger is not present in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 1 is a block diagram showing an example of a parking control system according to the present embodiment of the present invention;

[0012] Figure 2 is a flowchart showing an example of a control procedure of the parking control system of the present embodiment;

[0013] Figure 3 is a diagram showing an example of parameters when calculating a target path according to the present embodiment;

[0014] Figure 4A is a graph showing the curvature of the parking path calculated using the first and second parameters;

[0015] Figure 4B is a diagram showing an example of a parking path calculated using the first and second parameters;

[0016] Figure 5 is a diagram showing an example of parameters when calculating the target speed according to the present embodiment;

[0017] Figure 6 is a diagram showing changes in target speed during deceleration;

[0018] Figure 7 is a diagram for explaining an example of setting a distance margin to a parking target point;

[0019] Figure 8 is a diagram for explaining the first simulation condition of the present embodiment;

[0020] Fig.9A (a) to (e) are diagrams showing the relationship between the first parameter and the parking time in this embodiment;

[0021] Fig. 9B (a) to (e) are diagrams showing the relationship between the second parameter and the parking time in this embodiment;

[0022] Fig.10 is a diagram for explaining the second simulation condition of the present embodiment;

[0023] Fig.11A (a) to (e) are diagrams showing the relationship between the first parameter and the parking time in this embodiment;

[0024] Fig. 11B (a) to (e) are diagrams showing the relationship between the second parameter and the parking time according to the present embodiment. DETAILED DESCRIPTION

[0025] Hereinafter, the embodiments of the present invention will be described based on the accompanying drawings. In this embodiment, the parking control device of the present invention is applied to a parking control system mounted on a vehicle as an example for description. The parking control device can also be applied to a mobile terminal device (such as a smart phone, PDA: Personal Digital Assistant) that can exchange information with a vehicle-mounted device. In addition, the parking control method of the present invention can be used in the parking control device described later.

[0026] Figure 11 is a block diagram of a parking control system 1000 having a parking control device 100 according to an embodiment of the present invention. The parking control system 1000 according to the present embodiment includes cameras 1a to 1d, an image processing device 2, a distance measuring device 3, an input terminal device 5, the parking control device 100, a vehicle controller 70, a drive system 40, a steering angle sensor 50, and a vehicle speed sensor 60. The parking control device 100 according to the present embodiment controls the operation of moving (parking) the vehicle to a parking space (parking space) based on an operation command input from the input terminal device 5.

[0027] The input terminal device 5 is a portable terminal device that can be taken outside the vehicle. The input terminal device 5 receives input of an operation command for controlling the vehicle. The input terminal device 5 is equipped with a communication device and can exchange information with the parking control device 100. The input terminal device 5 sends the operation command input outside the vehicle to the parking control device 100 via the communication network, thereby inputting the operation command into the parking control device 100. The input terminal device 5 communicates with the parking control device 100 using a signal containing a unique identification mark.

[0028] The input terminal device 5 includes a display 51. The display 51 presents an input interface and various information. When the display 51 is a touch panel type display, it has a function of accepting operation instructions.

[0029] The input terminal device 5 may be a portable device such as a smartphone or PDA (Personal Digital Assistant) installed with an application program that receives input of operation commands used in the parking control method of the present embodiment and transmits the operation commands to the parking control device 100 .

[0030] The parking control device 100 of the present embodiment includes a control device 10, an input device 20, and an output device 30. The components of the parking control device 100 are connected via another vehicle-mounted local area network such as CAN (Controller Area Network) to exchange information with each other.

[0031] The input device 20 includes a communication device 21. The communication device 21 receives an operation instruction transmitted from the external input terminal device 5 and inputs it to the input device 20. The input device 20 receives the received operation instruction. The subject who inputs the operation instruction to the external input terminal device 5 may be a person (user, passenger, driver, parking facility operator) or a machine (management device) on the parking facility side. The input device 20 receives the operation instruction input by the passenger in the room. The input device 20 sends the received operation instruction to the control device 10.

[0032] The output device 30 includes a display 31. The output device 30 transmits parking control information to the driver. The display 31 of this embodiment is a touch display having an input function and an output function. When the display 31 has an input function, the display 31 functions as the input device 20.

[0033] The control device 10 of the parking control device 100 of the present embodiment is a special computer including: a ROM 12 storing a parking control program, a CPU 11 serving as an action circuit of the parking control device 100 of the present embodiment by executing the program stored in the ROM 12, and a RAM 13 serving as an accessible storage device.

[0034] The parking control program of this embodiment is a program for executing a control process of determining whether there is a passenger in the vehicle cabin and controlling the vehicle to park according to the determination result. The program is executed by the control device 10 of the parking control device 100 of this embodiment.

[0035] The parking control device 100 of this embodiment has a remote control function of sending an operation command from the outside and controlling the movement of the vehicle so as to park the vehicle in a specified parking space. At this time, the passenger may or may not be present in the room. As described above, the operation command may also be inputted in the room via the input device 20.

[0036] The parking control device 100 of this embodiment may be an automatic control type that automatically performs steering, acceleration, and braking operations, or a semi-automatic type that automatically performs steering operations while the driver performs acceleration and braking operations.

[0037] In the parking control procedure of the present embodiment, the user may arbitrarily select the target parking space, or the parking control device 100 or the parking facility may automatically set the target parking space.

[0038] The control device 10 of the parking control device 100 of this embodiment has the function of executing operation command acquisition processing, passenger presence confirmation processing, and parking control processing. The above-mentioned processing is executed by the cooperation of the software for realizing each processing and the above-mentioned hardware.

[0039] The control device 10 of this embodiment controls the vehicle to park by using a control method that determines whether there is a passenger in the vehicle interior and controls the vehicle to park according to the determination result when executing a parking control method that controls the vehicle to park based on an operation command obtained from inside and outside the vehicle. The control device 10 determines whether there is a passenger in the vehicle interior, generates a parking path corresponding to whether there is a passenger, calculates control information corresponding to whether there is a passenger, and parks the vehicle in a specified parking space based on the above.

[0040] Since the vehicle is controlled to park according to the judgment result of whether there are passengers in the interior of the vehicle, the vehicle can be parked by methods that are respectively applicable to the requirements of the situation where there are passengers in the interior and the requirements of the situation where there are no passengers in the interior. For example, when there are passengers in the interior, the change amount of the vehicle's action is required to be small so as not to make the passengers in the interior feel uncomfortable. On the other hand, when there are no passengers in the interior, there is no need to consider the discomfort of the passengers. In this case, the parking time is required to be short and the parking is completed smoothly. Since the parking control device 100 performs the parking process with the control content corresponding to whether there are passengers in the interior, it can correspond to their respective requirements regardless of the situation of the presence / absence of passengers. The passengers who get off the vehicle are in a state of performing the parking operation of the vehicle or waiting for the parking to be completed. In either state, the passengers are restricted in their actions due to parking, so it is preferred that such time is short. In particular, in the case of hot / cold weather, and in the case of rain / snow / strong wind, the parking process is preferably completed smoothly without delay.

[0041] Figure 2 1 is a flowchart showing a control procedure of a parking control process executed by the parking control system 1000 of the present embodiment. The trigger for starting the parking control process is not particularly limited, and the operation of a start switch of the parking control device 100 may be used as a trigger.

[0042] The parking control device 100 of the present embodiment has a function of automatically moving the vehicle V to a parking space based on an operation command acquired from outside the vehicle.

[0043] In step 101, the control device 10 of the parking control device 100 of the present embodiment respectively obtains photographic images taken by cameras 1a to 1d installed at multiple positions of the vehicle V. There is no particular limitation, but usually the camera 1a is arranged at the front grille of the vehicle V, the camera 1d is arranged near the rear bumper, and the cameras 1b and 1c are arranged at the lower part of the rearview mirrors of the left and right doors. As the cameras 1a to 1d, a camera with a wide-angle lens with a large field of view can be used. The cameras 1a to 1d capture the boundary lines of the parking spaces around the vehicle V and the objects existing around the parking spaces. The cameras 1a to 1d are CCD cameras, infrared cameras, and other camera devices.

[0044] In step 101 , the control device 10 obtains distance measurement signals from the distance measurement devices 3 installed at multiple locations of the vehicle V, respectively.

[0045] The distance measuring device 3 can be set at the same position as the cameras 1a~1d, or at a different position. The distance measuring device 3 can use a radar device or a sonar device such as a millimeter wave radar, a laser radar, an ultrasonic radar, etc. The distance measuring device 3 detects whether an object exists, the position of the object, the size of the object, and the distance to the object based on the received signal of the radar device. The object includes facilities around the vehicle, pedestrians, other vehicles, parked vehicles, etc. The received signal is used to determine whether the parking space is vacant (whether it is parked). In addition, the detection of obstacles can also use stereoscopic motion technology using cameras 1a~1d.

[0046] In step 102, the control device 10 of the parking control device 100 generates a bird's-eye view image in the image processing device 2. The image processing device 2 generates a bird's-eye view image of the state of the surroundings of the parking space including the vehicle V and the vehicle V parked, viewed from a virtual viewpoint above the vehicle V, based on the acquired plurality of photographic images. It is also possible to directly proceed to step 103 from step 101 without generating a bird's-eye view image.

[0047] In step 103, the control device 10 detects a parking space where the vehicle can be parked. The control device 10 detects a white line based on the photographic images of the cameras 1a to 1d. The white line is the boundary line of the frame (area) that specifies the parking space. The control device 10 performs edge detection on the photographic image and detects the parking space based on the brightness difference (contrast). After detecting the parking space, the control device 10 uses the detection data of the distance measuring device 3 / image processing device 2 and detects an empty parking space according to the following parking conditions. The control device 10 detects a parking space where there is an empty vehicle (no other vehicles are parked) and a path for completing parking can be derived as a parking space where the vehicle can be parked. The derivable path refers to a trajectory that does not interfere with obstacles (including parked vehicles) and depicts a path in road surface coordinates. The correct parking path for controlling the vehicle is performed after the target parking space is set.

[0048] In step 104, the control device 10 sends the available parking spaces to the display 31 and the input terminal device 5 of the parking control device 100, and displays them on the display 51. The available parking spaces may be displayed overlapping with the overhead image based on the photographic image.

[0049] Next, the control device 10 communicates with the input terminal device 5 and executes the operation instruction acquisition process. In step 105, the control device 10 determines whether the target parking space is input. The control device 10 determines whether the target parking space is input based on the operation instruction directly input to the input device 20.

[0050] The target parking space is a parking space where the vehicle is parked by automatic driving, and is the target position in automatic driving. The target parking space is input via the input terminal device 5. For example, when the display 51 is a touch display, the user can select a target parking space by touching a portion of the desired parking space. The identification information of the selected target parking space is sent to the parking control device 100 and input to the control device 10. In step 105, when an operation instruction to determine a parking space is input to the input terminal device 5, the parking space is set as the target parking space. Until the target parking space is input, the control flow returns to step 104 to wait for the input of the operation instruction. The operation instruction includes any one of the start-up of the parking control device 100, the selection of the target parking space, and the execution instruction of the parking control.

[0051] In step 106, a presence confirmation process is performed to determine whether there is a passenger in the room. The control device 10 determines whether a passenger is in the room. The control device 10 determines the presence / absence of a passenger based on a detection signal of a seat sensor provided on the seat surface of the seat. The control device 10 may also determine the presence / absence of a passenger based on any one of information inputted from the user indicating the intention of getting off the vehicle, information on the start of the remote control mode, and startup information of the parking control device 100. The presence / absence of a passenger may also be determined based on detection signals of a camera, a body sensor, etc. provided in the room.

[0052] The control device 10 can also determine that there are no passengers in the vehicle's interior when the operation instruction is obtained from outside the vehicle. In the case where the operation instruction is input from the outside of the vehicle, there is a high possibility that there are no passengers in the interior. Therefore, the control device 10 can infer that there are no passengers in the interior based on the situation where the operation instruction is input from the outside of the vehicle. Depending on the operation mode of the parking lot, there is also a situation where the passenger and the operator are not the same person, so this inference processing can determine the application of each parking process. By determining that there are no passengers in the vehicle's interior when the operation instruction is obtained from outside the vehicle, the presence or absence of a passenger can be determined without using detection information on the vehicle side (output signal of the seat sensor, etc.).

[0053] The parking path is calculated according to the determination result of step 106. The present embodiment provides the following method for calculating a parking path suitable for a case where a passenger is not present in the vehicle.

[0054] (1) When it is determined that there are no passengers in the vehicle interior, the control device 10 calculates a parking path with a larger curvature and a greater curvature change rate than when it is determined that there are passengers in the vehicle interior. When traveling on a parking path with a larger curvature, it is predicted that the movement of the vehicle becomes larger. When it is determined that there are no passengers in the vehicle interior, the movement of the vehicle is allowed to become larger, and a short-distance parking path is calculated. Since the parking path can be shortened, the parking process can be performed quickly.

[0055] (2) When it is determined that there are no passengers in the vehicle interior, the control device 10 calculates a parking path with a shorter parking time from the start to the completion of parking than when it is determined that there are passengers in the vehicle interior. When it is determined that there are no passengers in the vehicle interior, priority is given to performing the parking process quickly. In order to shorten the parking time, the shortening of the path length, the increase of the curvature and the curvature change rate (the movement of the vehicle and its change amount become larger) are allowed. It is possible to perform a parking process that shortens the parking time and is quick.

[0056] (3) When it is determined that there are no passengers in the vehicle interior, the control device 10 calculates a shorter parking path than when it is determined that there are passengers in the vehicle interior. When it is determined that there are no passengers in the vehicle interior, priority is given to performing the parking process quickly. In order to shorten the parking time, an increase in the curvature and the curvature change rate is allowed (the movement of the vehicle and its change amount become larger). It is possible to perform a parking process that shortens the parking time and is quick.

[0057] (4) The control device 10 calculates the parking path using an evaluation function that uses the length of time required for parking and the smoothness of the vehicle's movement as weighted parameters. The smoothness of the vehicle's movement can be evaluated based on the fact that the change in the vehicle's movement is small (the amount of change is small). When it is determined that there are no passengers in the vehicle's interior, the control device 10 sets a higher weighted parameter for the length of time required for parking than when it is determined that there are passengers in the vehicle's interior, and sets a lower weighted parameter for the smoothness of the vehicle's movement than when it is determined that there are passengers in the vehicle's interior. That is, when it is determined that there are no passengers in the vehicle's interior, the smoothness of the vehicle's movement is sacrificed in order to prioritize shortening the parking time.

[0058] The control device 10 evaluates the obtained parking path using the above evaluation function. When there are passengers in the room, the control device 10 allows the maximum curvature to be larger and calculates a shorter path. There is no particular limitation on the evaluation method (evaluation function) of the parking path, and a method known at the time of application can be appropriately applied.

[0059] In this embodiment, the smoothness of the vehicle movement can be obtained by using any one or more of the longitudinal velocity jerks, the lateral velocity jerks, and the yaw jerks. Jerks refer to acceleration and are factors that affect the riding feeling of passengers. In addition, the length of the parking time required as an evaluation item can also be used as the length of the parking path distance. This is because the length of the parking path distance affects the length of the parking time required.

[0060] When it is determined that there are no passengers in the vehicle interior, a parking route that prioritizes shortening the parking time can be calculated by setting the weighting parameter of the parking time relatively high and the weighting parameter of the vehicle movement smoothness relatively low.

[0061] return Figure 2 In step 106, if it is determined that there is a passenger, the process proceeds to step 107, and if it is determined that there is no passenger, the process proceeds to step 121.

[0062] In step 107, a first parameter for calculating a parking path when a passenger is present is read. The first parameter is used for calculating a first parking path in the subsequent step 108. In step 121, a second parameter for calculating a parking path when a passenger is not present is read. The second parameter is used for calculating a second parking path in the subsequent step 122.

[0063] Figure 3 An example of parameters used for parking path calculation is shown in FIG. Figure 3 As shown, each parameter includes a first parameter for a situation where there are passengers in the room and a second parameter for a situation where there are no passengers in the room. After the determination in step 106, the second parameter is read in step 121.

[0064] The parameters include at least one of the length of the parking path, the maximum curvature of the parking path, the maximum curvature change rate of the parking path, and the upper limit steering speed.

[0065] Regarding the length of the path, the second parameter LR2 is set to a shorter value compared to the first parameter LR1. When a passenger is not present in the room, a relatively short parking path is calculated using the second parameter LR2. Regarding the maximum curvature, the second parameter MR2 is set to a larger value compared to the first parameter MR1. When a passenger is not present in the room, a parking path with a relatively large curve is calculated using the second parameter MR2. Regarding the maximum curvature change rate, the second parameter CR2 is set to a larger value compared to the first parameter CR1. When a passenger is not present in the room, a parking path with a discontinuous relative curvature (large change) is calculated using the second parameter CR2.

[0066] In this embodiment, any one or more parameters including the maximum curvature, the maximum curvature change rate, and the upper limit steering speed used for calculating the target path of the vehicle are set as follows. The control device 10 sets the second parameter for judging the case where there is no passenger in the room higher than the first parameter for judging the case where there is a passenger in the room, and calculates the parking path.

[0067] The control device 10 calculates a shorter parking path by increasing the parameters including the maximum curvature, the maximum curvature change rate, and the upper limit steering speed. By shortening the parking path, the time required for parking can be shortened.

[0068] Figure 4A The curvature change over time when the vehicle moves in the parking path is shown. The dotted line graph MR1 is the curvature of the parking path R1 calculated using the first parameter, and the solid line graph MR2 is the curvature of the parking path R2 calculated using the second parameter. As shown in the figure, the maximum curvature MX2 shown in the solid line graph MR2 using the second parameter is a value greater than the maximum curvature MX1 shown in the dotted line graph MR1 using the first parameter. In addition, regarding the maximum curvature change rate shown by the inclination from the origin to the maximum value, the maximum curvature change rate CR2 of the solid line graph MR2 using the second parameter is a value greater than the maximum curvature change rate CR1 shown in the dotted line graph MR1 using the first parameter.

[0069] Figure 4B The figure shows the parking path R1 calculated using the first parameter and the parking path R2 calculated using the second parameter. As shown in the figure, the parking path R2 has a greater curvature than the parking path R1, so the distance of the entire process can be shortened. Since the distance of the parking path is shortened, the time required for parking can also be shortened.

[0070] The parameters include the length of the parking time required as the first weight, and the smoothness of the vehicle's movement as the second weight. Regarding the length of the parking time as the first weight, the second parameter TVR2 is set to a larger value than the first parameter TVR1. In the case where there is no passenger in the room, the second parameter TVR2 can be used to calculate a parking path with a shorter parking time. Regarding the smoothness of the vehicle's movement as the second weight, the second parameter SR2 is set to a smaller value than the first parameter SR1. In the case where there is no passenger in the room, the second parameter SR2 can be used to calculate a parking path with a loss of smoothness of the vehicle's movement (larger maximum curvature and maximum curvature change rate).

[0071] The control device 10 calculates control information according to the determination result of step 106 .

[0072] In the present embodiment, the following method is provided as a method of calculating control information suitable for a case where a passenger is not present in the room.

[0073] (1) When it is determined that there are no passengers in the room, the control device 10 calculates control information that the movement of the vehicle is larger than when it is determined that there are passengers in the room. The control device 10 moves the vehicle along the parking path according to the control information. When it is determined that there are no passengers in the room, the movement of the vehicle is allowed to be larger, and the parking process is performed quickly with priority. The movement of the vehicle is larger (acceleration, deceleration, yaw rate, steering amount, steering speed, lateral acceleration, and jump are larger), and it can move faster, thereby shortening the parking time.

[0074] (2) When it is determined that there is no passenger in the vehicle, the control device 10 calculates control information for shortening the parking time required from the start to the completion of parking compared to when it is determined that there is a passenger in the vehicle. When it is determined that there is no passenger in the vehicle, priority is given to performing the parking process quickly. The values ​​corresponding to the movement of the vehicle, such as the speed, acceleration, deceleration, yaw rate, steering amount, steering speed, lateral acceleration, and jerk, are increased to shorten the parking time.

[0075] (3) When it is determined that there is no passenger in the room, the control device 10 increases the speed of the vehicle compared to when it is determined that there is a passenger in the room. When it is determined that there is no passenger in the room, the parking process is performed quickly with priority. By setting the vehicle speed higher, the parking time can be shortened.

[0076] (4) The control device 10 uses the length of the parking time and the smoothness of the vehicle's movement, as well as an evaluation function as a weighted parameter, for calculation and processing of control information. When it is determined that there are no passengers in the vehicle's interior, the control device 10 sets a higher weighted parameter for the length of the parking time than when it is determined that there are passengers in the vehicle's interior, and sets a lower weighted parameter for the smoothness of the vehicle's movement than when it is determined that there are passengers in the vehicle's interior. Thus, when it is determined that there are no passengers in the vehicle's interior, the parking time can be shortened. Furthermore, when it is determined that there are passengers in the vehicle's interior, the vehicle's movement during parking can be made smoother, thereby suppressing the discomfort imparted to the passengers.

[0077] (5) When it is determined that there are no passengers in the room, the control device 10 sets the parking completion point where the vehicle is stopped to the position where the vehicle contacts the curb. When the tires of the vehicle contact the curb, the contact force acts to cause the vehicle to move forward and backward. This movement is related to the speed and represents a prescribed pattern. The control device 10 monitors the movement of the vehicle and determines the moment when the pattern is detected as the moment when the tires of the vehicle contact the curb. This moment is detected as the moment when the vehicle arrives at the parking completion point. By detecting whether the tires of the vehicle are in contact with the curb based on changes in the vehicle's movement, it is possible to more accurately determine whether the vehicle has arrived at the parking completion point.

[0078] Since the vehicle shakes when the tires collide with the curb, the passengers may feel uncomfortable. When there are passengers in the room, the control device 10 sets a specified margin from the curb and stops the vehicle in front of the curb (upstream). This is to prevent the passengers from feeling uncomfortable. On the other hand, when there are no passengers in the room, shortening the parking time is given priority over the passengers' riding feeling. By using the position where the vehicle contacts the curb as the parking completion point for stopping the vehicle, the parking time can be shortened.

[0079] The control device 10 evaluates the calculated control information using an evaluation function. The evaluation function uses the length of time required for parking and the smoothness of vehicle movement as evaluation items. The control information is evaluated based on the sum of these evaluation items. Weights are assigned to each evaluation item to achieve accurate evaluation. There is no particular limitation on the evaluation method (evaluation function) for control information such as the target vehicle speed, and methods known at the time of application can be appropriately applied.

[0080] In this embodiment, the control device 10 calculates the smoothness of the vehicle's movement using any one or more of the longitudinal velocity jump, the lateral velocity jump, and the yaw jump. The jump is an acceleration, which is a factor that affects the passenger's riding feeling. The smoothness of the vehicle's movement can be corresponded as a value related to the passenger's riding feeling. In the case where there are no passengers in the room, the allowable level of the passenger's riding feeling is set lower, so that the parking time can be shortened. In addition, the length of the parking time required as an evaluation item can also be replaced by the speed of the vehicle during parking. This is because the speed of the vehicle during parking affects the length of the parking time required.

[0081] The control information is a control command such as vehicle speed obtained using parameters such as acceleration, yaw rate, steering amount, steering speed, and lateral acceleration for controlling vehicle behavior.

[0082] When it is determined that there is no passenger in the vehicle, control information that prioritizes shortening the parking time can be calculated by setting a relatively high weighting parameter for the length of the parking time required and a relatively low weighting parameter for the smoothness of vehicle movement.

[0083] For calculation of the target speed of the vehicle and including any one or more of the parameters regarding the vehicle's motion, including the upper limit acceleration, the upper limit yaw rate, the upper limit lateral acceleration, the upper limit steering speed, the upper limit acceleration jerk, the upper limit deceleration, and the upper limit deceleration jerk, the control device 10 sets a second parameter for determining that there are no passengers in the room at a higher value than the first parameter for determining that there are passengers in the room, and calculates the target speed during parking.

[0084] The smoothness of the vehicle's motion is calculated using at least one of the longitudinal velocity jump, the lateral velocity jump, and the yaw jump.

[0085] Regarding the parameters related to the vehicle behavior, by setting the second parameter when there is no passenger higher than the first parameter when there is a passenger, the vehicle behavior is allowed to be larger, thereby shortening the time required for parking.

[0086] Back to Figure 2 , the processing sequence is described. When it is determined that there is a passenger in the room, the control device 10 reads the first parameter for calculating the control information in step 109. In step 110, the control device 10 calculates the first control information using the first parameter. The first control information is information for controlling the vehicle action when moving the vehicle to the target parking space.

[0087] If it is determined that there is no passenger in the room, the control device 10 reads the second parameter for calculating the control information in step 123. In step 124, the control device 10 calculates the second control information using the second parameter. The second control information is information for controlling the vehicle behavior when moving the vehicle to the target parking space.

[0088] In addition, in the parking control method of the present embodiment, the above-mentioned calculation processing of the parking path using the first parameter and the calculation processing of the control information using the first parameter can be performed simultaneously, or only one of the calculation processing can be performed. It is also possible that when it is determined in step 106 that there are passengers in the room, the first parameter for calculating the parking path is read in step 107, and after the first parking path is calculated, the process proceeds to step 110, and the control information is calculated using the default parameters, so that the vehicle moves along the first parking path. It is also possible that when it is determined in step 106 that there are no passengers in the room, the second parameter for calculating the parking path is read in step 121, and after the second parking path is calculated, the process proceeds to step 124, and the control information is calculated using the default parameters, so that the vehicle moves along the second parking path. Even if only the second parking path is shortened, the effect of the invention of the present application can be obtained.

[0089] In addition, if it is determined in step 106 that there are passengers in the room, the first parameter for calculating the parking path may not be read in step 107, and the first parking path may be calculated using the default parameters, and then the first parameter for calculating the control information may be read in step 109. In step 110, the control information may be calculated using the first parameter, and the vehicle may be moved along the first parking path. In step 106, if it is determined in step 106 that there are no passengers in the room, the second parameter for calculating the parking path may not be read in step 121, and the second parking path may be calculated using the default parameters, and then the control information may be calculated using the second parameter, and the vehicle may be moved along the second parking path. The effect of the present invention can be obtained even if the movement of the vehicle is only enlarged.

[0090] Figure 5 An example of parameters used for calculating control information during parking is shown. Figure 5 As shown, each parameter includes a first parameter for a situation where there are passengers in the room, and a second parameter for a situation where there are no passengers in the room. After the determination in step 106, the second parameter is read in step 123.

[0091] The parameter includes any one or more of speed, acceleration, deceleration, yaw rate, lateral acceleration, steering amount, steering speed, lateral acceleration, and jerk, and includes an index value governing the behavior of the vehicle.

[0092] Regarding the upper limit acceleration, the second parameter AR2 is set to a value greater than the first parameter AR1. When there is no passenger in the room, the second parameter AR2 is used to calculate control information that is larger relative to the movement of the vehicle. Regarding the upper limit deceleration, the second parameter DR2 is set to a value greater than the first parameter DR1. When there is no passenger in the room, the second parameter DR2 is used to calculate control information that is larger relative to the movement of the vehicle. As shown in the figure, the same is true for the upper limit yaw rate (YR1, YR2), the upper limit lateral acceleration (HAR1, HAR2), the upper limit steering speed (SRR1, SRR2), and the upper limit jump (STJR1, STJR2). When there is no passenger in the room, the second parameter (YR2, HAR2, SRR2, STJR2) is used to calculate control information that is larger relative to the movement of the vehicle. Since the movement of the vehicle is allowed to become larger, parking can be completed in a short time.

[0093] The parameters include the deceleration time from the start of vehicle deceleration to the stop. The deceleration time is used to calculate the target speed when the vehicle is stopped. Regarding the parameters related to the deceleration time from the start of vehicle deceleration to the stop, the control device 10 sets the second deceleration time STRR2 for the case where it is determined that there are no passengers in the room to be shorter than the first deceleration time STRR1 for the case where it is determined that there are passengers in the room to calculate the target speed when parking. The control device 10 controls the vehicle based on the target speed. In the case where there are no passengers in the room, since the deceleration time from the start of vehicle deceleration to the stop is set shorter and the target speed is calculated, the parking time can be shortened. The deceleration time can also be expressed as a deceleration distance.

[0094] Figure 6 Indicates the time variation of the target speed of the vehicle. The dotted line graph SDR1 is the time variation of the target speed (control information) calculated using the first parameter, and the solid line graph SDR2 is the time variation of the target speed (control information) calculated using the second parameter. Compare the time from the start of deceleration to the completion of parking (the time until the target speed becomes zero). As shown in the figure, the time until the completion of parking shown in the solid line graph SDR2 using the second parameter is STRR2, and the time until the completion of parking shown in the dotted line graph SDR1 using the first parameter is STRR1.

[0095] In addition, regarding the maximum deceleration indicated by the inclination at the start of deceleration, the maximum deceleration STJR2 using the solid line graph SDR2 of the second parameter is a greater value than the maximum deceleration STJR1 shown by the dotted line graph SDR1 using the first parameter. Regarding the movement of the vehicle, by using the second parameter that is greater than the first parameter, the movement (deceleration) of the vehicle can be allowed to become larger. As a result, the time from the start of deceleration to the completion of parking can be shortened.

[0096] The parameters include the stop position margin to the parking completion point of the vehicle. When it is determined that there are passengers in the room, the control device 10 stops the vehicle on the upstream side of the first stop position margin MR1 from the parking completion point. When it is determined that there are no passengers in the room, the control device 10 stops the vehicle on the upstream side of the second stop position margin MR2 from the parking completion point or on the downstream side of the parking completion point. The second stop position margin MR2 is a smaller value than the first stop position margin MR1. The parking completion point is, for example, the position of a curb. When the stop position margin is set to be more upstream and smaller than the parking completion point, the possibility of the vehicle contacting the curb becomes higher. When the stop position margin is set to zero, the vehicle stops at the parking completion point, that is, the position in contact with the curb. When the stop position margin is set to the downstream side of the parking completion point, the vehicle contacts the curb. That is, the possibility of giving passengers discomfort becomes higher. If it is determined that there are no passengers in the vehicle, the possibility of the vehicle contacting the curb is allowed, and the deceleration time to reach the parking completion point is set short or the vehicle is stopped when contacting the curb.

[0097] Figure 7 The relationship between the distance to the parking completion point and the target vehicle speed is shown. The position where the distance is zero is the parking completion point, that is, the position of the curb CR. The first stop position margin MR1 is set on the upstream side (+x) relative to the vehicle's driving direction DR. In this case, the second stop position margin MR2 is shorter than the first stop position margin MR1. The second stop position margin MR2 can also be set on the downstream side (-x) relative to the vehicle's driving direction DR.

[0098] In this way, by stopping the vehicle at a location near the upstream side or the downstream side of the parking completion location such as a curb, the vehicle is allowed to come into contact with the curb, thereby reducing the parking time in return.

[0099] The parameters include the length of the parking time required as the first weighting, and the smoothness of the vehicle movement as the second weighting. Regarding the length of the parking time as the first weighting, the second parameter TVR2 is set to a larger value than the first parameter TVR1. When a passenger is not present in the room, the second parameter TVR2 can be used to calculate control information for a shorter parking time. Regarding the smoothness of the vehicle movement as the second weighting, the second parameter SR2 is set to a smaller value than the first parameter SR1. When a passenger is not present in the room, the second parameter SR2 can be used to calculate control information for a loss of smoothness of the vehicle movement.

[0100] Return to Figure 2In the case where there are passengers in the room, the control device 10 uses the acquired first parameters to calculate the first control information for moving the vehicle to the target parking space in step 110. On the other hand, in the case where there are no passengers in the room, the control device 10 uses the acquired second parameters to calculate the second control information for moving the vehicle to the target parking space in step 124.

[0101] In step 111 , when the parking control device 100 of the present embodiment receives an instruction to execute the parking control process, the process proceeds to step 112 to execute the parking control process.

[0102] The parking control device 100 of the present embodiment controls the drive system 40 via the vehicle controller 70 in accordance with the control information so that the vehicle V1 moves along the parking path.

[0103] The parking control device 100 feeds back the output value of the steering angle sensor 50 of the steering device in a manner that the driving trajectory of the vehicle V1 is consistent with the calculated parking path, and at the same time calculates the command signal sent to the drive system 40 of the vehicle V1 such as the EPS motor, and sends the command signal to the drive system 40 or the vehicle controller 70 that controls the drive system 40.

[0104] The parking control device 100 of the present embodiment is provided with a parking control control unit. The parking control control unit obtains shift information from the AT / CVT control unit, wheel speed information from the ABS control unit, steering angle information from the steering angle control unit, engine speed information from the ECM, etc. Based on the above information, the parking control control unit calculates and outputs instruction information related to automatic steering sent to the EPS control unit, and instruction information such as warnings sent to the instrument control unit. The control device 10 obtains various information obtained by other sensors provided by the vehicle, such as the steering angle sensor 50 and the vehicle speed sensor 60 provided by the steering device of the vehicle V1, through the vehicle controller 70.

[0105] The drive system 40 of the present embodiment moves (drives) the vehicle V1 from the current position to the target parking space by driving based on the control command signal obtained from the parking control device 100. The steering device of the present embodiment is a drive mechanism for moving the vehicle V1 to the left and right directions. The EPS motor contained in the drive system 40 drives the power steering mechanism of the steering gear of the steering device based on the control command signal obtained from the parking control device 100 to control the steering amount, thereby controlling the operation of moving the vehicle V1 to the target parking space. In addition, the control content and action process of the vehicle V1 used for parking are not particularly limited, and methods known at the time of application can be appropriately applied.

[0106] The parking control device 100 of this embodiment, when the vehicle V1 is moved to the target parking space along the path calculated based on the position P4 of the vehicle V1 and the position of the target parking space, the accelerator and the brake are automatically controlled based on the specified control vehicle speed (set vehicle speed), and the operation of the steering device is automatically controlled corresponding to the vehicle speed. That is, in the parking control of this embodiment, the operation of the steering device and the operation of the accelerator and the brake are automatically performed. In addition, the parking control device 100 of this embodiment can also be applied to manual parking in which the driver operates the accelerator and the brake.

[0107] The parking control device 100 of this embodiment does not need to be mounted on the vehicle V1, and can perform remote parking control by externally transmitting a target parking space setting command, a parking process start command, a parking process interruption command, a parking process stop command, etc. to the vehicle V1.

[0108] A simulation was performed to confirm the effect of the present embodiment. In the simulation, different parameters were used according to the result of the determination of whether there was a passenger in the vehicle, and a profile of the behavior (speed, etc.) of the vehicle V1 was obtained. Figure 8 , Fig.9A as well as Fig. 9B The curve in FIG. 1 shows the behavior (speed, etc.) of the vehicle V1 in the parking path without turning back. Fig.10 , Fig.11A as well as Fig. 11B The graph shows the behavior (speed, etc.) of the vehicle V1 in the parking path with a turnaround.

[0109] Figure 8 This is a diagram for explaining the first simulation condition. The vehicle as a model starts from the first position VP1, moves along the first path T1 and reaches the second position VP2. Move along the second path T2 via the second position VP2 and move to the third position VP3. The third position VP3 is the target position PK, where the vehicle V1 is parked. The simulation was performed under the same conditions when there are passengers indoors and when there are no passengers indoors. In the simulation, lane width: lane width [m], parking space width: spot width [m], vehicle width: lat. [m], parking start angle: init. [deg.], and parking end angle: fin [deg.] are set as conditions. The allowed paths and actions are determined based on the above conditions. The optimal path (the path that can park in the shortest time, the path where the action is controlled) is generated from the allowed paths and actions, and the simulation is performed.

[0110] Fig.9AThe graphs show changes in (a) target speed, (b) path curvature, (c) remaining distance, (d) acceleration, and (e) yaw jump with respect to time when there are passengers in the room. Fig. 9B The graph shows changes in (a) target speed, (b) path curvature, (c) remaining distance, (d) acceleration, and (e) yaw jump with respect to time when there are no passengers in the room. Fig.9A as well as Fig. 9B Traj1 is a curve about the first path T1, and Traj2 is a curve about the second path T2.

[0111] right Fig.9A and Fig. 9B The curves are compared.

[0112] (1) Fig. 9B The maximum value of the target speed in the curve shown in (a) when there is no passenger is 9B1. Fig.9A The maximum value 9A1 of the target speed in the curve in the case where a passenger is present shown in (a) is controlled to be higher. When there is no passenger, priority is given to rapid parking rather than smooth movement of the vehicle, so the parking time can be shortened.

[0113] (2) Fig. 9B The curvature change rate 9B2 of the curve in the case where there is no passenger shown in (b) becomes Fig.9A The curvature change rate 9A2 of the curve in the case where a passenger is present as shown in (b) is controlled to have a higher value. When there is no passenger, priority is given to rapid parking rather than smooth movement of the vehicle, so the parking time can be shortened.

[0114] (3) Fig. 9B The time 9B3 until the remaining distance reaches zero (parking completed) for the curve in the case where there is no passenger shown in (c) is Fig.9A The time 9A3 until the remaining distance reaches zero (parking completed) in the curve shown in (c) when there is a passenger is controlled to be shorter. When there is no passenger, quick parking is prioritized over smooth vehicle movement, so the parking time can be shortened.

[0115] (4) Fig. 9B The change range of acceleration 9B4 in the curve shown in (d) when there is no passenger is greater than Fig.9A The acceleration 9A4 of the curve shown in (d) when there is a passenger is controlled to have a larger change range. When there is no passenger, priority is given to rapid parking rather than smooth movement of the vehicle, so the parking time can be shortened.

[0116] (5) Fig. 9BThe maximum value / variation range of the yaw jump of the curve in the case where there is no passenger shown in (e) is 9B5. Fig.9A The maximum value / variation range 9A5 of the yaw jump of the curve in the case of the presence of a passenger shown in (e) is controlled to be larger. When there is no passenger, quick parking is prioritized over smooth movement of the vehicle, so the parking time can be shortened.

[0117] Fig.10 2 is a diagram for explaining the second simulation condition. The second simulation is different from the first simulation in that the parking path model includes a switchback path.

[0118] like Fig.10 As shown, the vehicle as a model starts from the first position VP1 and moves along the first path T1 to the second position VP2. Then, the vehicle moves backward along the second path T2 from the second position VP2 to the third position VP3. Then, the vehicle moves forward along the third path T3 from the third position VP3 to the fourth position VP4. Then, the vehicle moves backward along the fourth path T4 from the fourth position VP4 to the fourth position VP4.

[0119] The fourth position VP4 is the target position PK, where the vehicle is parked. The simulation was performed under the same conditions when there were passengers in the room and when there were no passengers in the room. In the simulation, lane width: lane width [m], parking space width: spot width [m], vehicle width: lat. [m], parking start angle: init. [deg.], parking end angle: fin [deg.] were set as conditions. The allowed paths and actions are determined based on the above conditions. The optimal path (the path that can park in the shortest time, the path where the action is controlled) is generated from the allowed paths and actions, and the simulation is performed.

[0120] Fig.11A The graphs show changes in (a) target speed, (b) path curvature, (c) remaining distance, (d) acceleration, and (e) yaw jump with respect to time when there are passengers in the room. Fig. 11B The graph shows changes in (a) target speed, (b) path curvature, (c) remaining distance, (d) acceleration, and (e) yaw jump with respect to time when there are no passengers in the room. Fig.11A as well as Fig. 11B Traj1 is a curve about the first path T1, Traj2 is a curve about the second path T2, Traj3 is a curve about the third path T3, and Traj4 is a curve about the fourth path T4.

[0121] right Fig.11A and Fig. 11B The curves are compared.

[0122] (1) Fig. 11B The maximum value 11B1 of the target speed of the curve in the case where there is no passenger shown in (a) is Fig.11A The maximum value 11A1 of the target speed in the curve in the case where a passenger is present shown in (a) is controlled to be higher. When there is no passenger, priority is given to rapid parking rather than smooth movement of the vehicle, so the parking time can be shortened.

[0123] (2) Fig. 11B The curvature change rate 11B2 of the curve in the case where there is no passenger shown in (b) becomes Fig.11A The curvature change rate 11A2 of the curve in the case where a passenger is present as shown in (b) is controlled to have a higher value. When there is no passenger, priority is given to rapid parking rather than smooth movement of the vehicle, and thus the parking time can be shortened.

[0124] (3) Fig. 11B The time 11B3 until the remaining distance reaches zero (parking completed) for the curve in the case where there is no passenger shown in (c) is Fig.11A The time 11A3 until the remaining distance reaches zero (parking completed) in the curve shown in (c) when there is a passenger is controlled to be shorter. When there is no passenger, quick parking is prioritized over smooth vehicle movement, so the parking time can be shortened.

[0125] (4) Fig. 11B The change range of acceleration 11B4 in the curve shown in (d) when there is no passenger is greater than Fig.11A The acceleration 11A4 of the curve shown in (d) when there is a passenger is controlled to have a larger change range. When there is no passenger, priority is given to rapid parking rather than smooth movement of the vehicle, so the parking time can be shortened.

[0126] (5) Fig. 11B The maximum value / variation range of the yaw jump of the curve in the case where there is no passenger shown in (e) is 11B5. Fig.11A The maximum value / variation range 11A5 of the yaw jump of the curve in the case where a passenger is present shown in (e) is controlled to be larger. When there is no passenger, quick parking is prioritized over smooth movement of the vehicle, so the parking time can be shortened.

[0127] The parking control method according to the embodiment of the present invention can be used in the parking control device described above, and thus can produce the following effects. The parking control device 100 according to the present embodiment is configured and operates as described above, and thus can produce the following effects.

[0128] According to the parking control method of the present embodiment, the vehicle can be controlled according to the content of the judgment result of whether there is a passenger in the vehicle interior. Thus, the vehicle can be parked by a method that adapts to both the requirements of the parking control when there are passengers in the vehicle interior and the requirements of the parking control when there are no passengers in the vehicle interior. According to the parking control method of the present embodiment, when there are passengers in the vehicle interior, a parking control is performed with a small change in the movement of the vehicle and does not make the passengers feel uncomfortable, and when there are no passengers in the vehicle interior, a parking control with a short parking time and smoothness is performed. According to the parking control method of the present embodiment, by calculating the parking path corresponding to the judgment of whether there are passengers, or by calculating the control information corresponding to the judgment of whether there are passengers, it is possible to perform parking processing that fully meets both the requirements when there are passengers in the vehicle interior and the requirements when there are no passengers in the vehicle interior.

[0129] According to the method of this embodiment, the control device 10 controls the vehicle in a manner that the parking time becomes shorter when it is determined that there are no passengers in the vehicle interior, compared with when it is determined that there are passengers in the vehicle interior. Thus, when there are no passengers in the vehicle interior, it is possible to perform smooth parking control with a shorter parking time.

[0130] The parking time in the method of this embodiment is different depending on whether there are passengers in the vehicle's interior when driving the same route. In addition, the parking time here can also be replaced by the driving distance when parking. In the same case, it is different depending on whether there are passengers in the vehicle's interior. In addition, the vehicle is controlled to park according to the judgment result of whether there are passengers in the vehicle's interior, so the method applicable to the requirements of the situation where there are passengers in the interior and the requirements of the situation where there are no passengers in the interior can be used for parking. On the other hand, when there are no passengers in the interior, there is no need to consider the discomfort of the passengers. In this case, the parking time is shortened and smooth parking is pursued. The parking control device 100 performs the parking process according to the control content corresponding to whether there are passengers in the interior, so it can correspond to each requirement regardless of the presence / absence of passengers. The passengers who get off the vehicle are in a state of performing the parking operation of the vehicle or waiting for the parking to be completed. In any state, it is preferred that the time (passenger waiting time) when the passenger's movement is restricted due to parking is shorter. In particular, in the case of hot / cold weather, and in the case of rain / snow / strong wind, the parking process is preferably completed smoothly without delay.

[0131] According to the method of this embodiment, the control device 10 predicts that the movement of the vehicle will become larger when it is determined that there are no passengers in the vehicle interior, and calculates a parking path with a larger curvature and a greater curvature change rate. When there are no passengers in the vehicle interior, the parking process can be performed quickly with priority over the larger movement of the vehicle. By allowing the movement of the vehicle to become larger, a shorter distance parking path can be calculated. Since the parking path can be shortened, the parking process can be performed quickly.

[0132] In addition, the control device 10 calculates control information that the movement of the vehicle becomes larger when it is determined that there are no passengers in the vehicle, compared with the case where it is determined that there are passengers in the vehicle. When it is determined that there are no passengers in the vehicle, the movement of the vehicle is allowed to become larger and the parking process is performed quickly with priority. When the movement of the vehicle becomes larger (vehicle speed, acceleration, deceleration, yaw rate, lateral acceleration, jump, steering amount, and steering speed are large), the parking path can be moved more quickly in exchange. Since the parking time required for parking can be shortened, the parking process can be performed quickly.

[0133] According to the method of this embodiment, when it is determined that there are no passengers in the interior of the vehicle, a parking path is calculated that can shorten the parking time required from the start to the completion of parking compared to when it is determined that there are passengers in the interior of the vehicle. When it is determined that there are no passengers in the interior of the vehicle, priority is given to performing the parking process quickly. In order to shorten the parking time, the path length is allowed to be shortened, the curvature and the curvature change rate are allowed to increase (the movement of the vehicle and its change amount become larger), which in turn shortens the parking time, so that the parking process can be performed quickly.

[0134] In addition, the control device 10 prioritizes the rapid parking control of the vehicle when it is determined that there are no passengers in the vehicle interior, rather than when it is determined that there are passengers in the vehicle interior. In order to shorten the parking time, the vehicle movement amount such as vehicle speed, acceleration, deceleration, yaw rate, lateral acceleration, jerk, steering amount, steering speed, lateral acceleration, jerk, etc. is allowed to increase. Since the parking time can be shortened, the parking process can be performed rapidly.

[0135] According to the method of this embodiment, the control device 10 calculates a shorter parking path when it is determined that there are no passengers in the interior of the vehicle than when it is determined that there are passengers in the interior of the vehicle. When it is determined that there are no passengers in the interior of the vehicle, the parking process is performed quickly with priority. Instead of increasing the allowable curvature and the curvature change rate, the parking distance can be shortened. As a result, the parking time can be shortened.

[0136] According to the method of this embodiment, the control device 10 increases the speed of the vehicle when parking when it is determined that there are no passengers in the vehicle interior, compared with when it is determined that there are passengers in the vehicle interior. When it is determined that there are no passengers in the vehicle interior, the parking process is performed quickly with priority. By setting the vehicle speed higher, the moving time of the parking path can be shortened. As a result, the parking process can be performed quickly.

[0137] According to the method of this embodiment, when it is determined that there is no passenger in the vehicle interior, the second parameter including the maximum curvature, the maximum curvature change rate, and the upper limit steering speed used in the process of calculating the target path is set to a value greater than the first parameter used in the process of calculating the target path when there is a passenger in the vehicle interior. Thus, a shorter parking path can be calculated. By shortening the distance of the parking path, the time required for parking can be shortened.

[0138] According to the method of this embodiment, when it is determined that there is no passenger in the vehicle interior, the second parameter including the upper limit acceleration, the upper limit yaw rate, the upper limit lateral acceleration, the upper limit steering speed, the upper limit acceleration jerk, the upper limit deceleration, and the upper limit deceleration jerk used in the process of calculating the target speed is set to a value greater than the first parameter used in the process of calculating the target speed when there is a passenger in the vehicle interior. Thus, the vehicle is moved at a faster speed, and the time required for parking can be shortened.

[0139] According to the method of this embodiment, when it is determined that there are no passengers in the vehicle cabin, the deceleration time from the start of vehicle deceleration to the stop is set short to obtain the target speed, thereby increasing the deceleration and shortening the parking time accordingly.

[0140] According to the method of this embodiment, when it is determined that there are no passengers in the vehicle, the parking completion point where the vehicle is stopped is set to the position where the vehicle contacts the curb. This eliminates the need for parking control that sets a margin to prevent the vehicle from colliding with the curb, thereby shortening the parking time.

[0141] According to the method of this embodiment, whether the tire of the vehicle is in contact with the curb is detected based on the change in the vehicle's behavior, thereby accurately determining whether the vehicle has reached the parking completion point.

[0142] According to the method of the present embodiment, when it is determined that there are no passengers in the interior of the vehicle, the vehicle is stopped at the upstream side of the second stop position margin MR2 from the parking completion point or at the downstream side of the parking completion point. The second stop position MR2 is a smaller value than the first stop position MR1. The parking completion point is, for example, the position of a curb. When the stop position margin is set relatively short on the upstream side of the parking completion point, the possibility of the vehicle contacting the curb becomes higher. When the stop position margin is set to the downstream side of the parking completion point, the vehicle contacts the curb. When it is determined that there are no passengers in the interior of the vehicle, the parking time can be shortened by stopping the vehicle near the parking completion point (curb) instead of allowing the possibility of the vehicle contacting the curb.

[0143] According to the method of this embodiment, when evaluating the control content (parking path, control information) using an evaluation function that uses the length of parking time and the smoothness of vehicle movement as weighted parameters, when it is determined that there are no passengers in the room, the weighted parameter of the length of parking time is set relatively high, while the weighted parameter of the smoothness of vehicle movement is set relatively low. In this way, it is possible to calculate a parking path and control information that give priority to shortening the parking time.

[0144] According to the method of this embodiment, the control device 10 calculates the smoothness of the vehicle movement using at least one of the longitudinal velocity jump, the lateral velocity jump, and the yaw jump. The jump is an acceleration and is a factor that affects the riding feeling of the passenger. The weighting of the smoothness of the vehicle movement can be set to an appropriate value from the perspective of the riding feeling of the passenger.

[0145] According to the method of this embodiment, by determining that there is no passenger in the vehicle interior when an operation instruction is obtained from outside the vehicle, it is possible to determine whether there is a passenger without using detection information on the vehicle side (output information of a seat sensor, etc.).

[0146] The parking control method and the parking information display method described above can be implemented by the parking control device 100 of the present embodiment. Therefore, the parking control device 100 of the present embodiment can achieve the above-mentioned functions and effects.

[0147] In addition, the above-described embodiments are described to facilitate understanding of the present invention and are not intended to limit the contents of the present invention. Therefore, each element disclosed in the above-described embodiments includes all design changes and equivalent structures within the technical scope of the present invention.

[0148] Explanation of symbols

[0149] 1000: Parking control system

[0150] 100: Parking control device

[0151] 10: Control device

[0152] 11: CPU

[0153] 12: ROM

[0154] 13: RAM

[0155] 20: Input device

[0156] 21: Communication device

[0157] 30: Output device

[0158] 31: Display

[0159] 1a~1d:Camera

[0160] 2: Image processing device

[0161] 3: Distance measuring device

[0162] 5: Input terminal device

[0163] 200: Vehicle-mounted device

[0164] 40: Drive system

[0165] 50: Steering angle sensor

[0166] 60: Vehicle speed sensor

[0167] 70: Vehicle Controller

[0168] V1: Vehicle

[0169] V2, V3: Other vehicles

Claims

1. A parking control method, which controls a vehicle to park based on an operation instruction obtained from inside and outside the vehicle, characterized in that: Determine whether there are passengers in the interior of the vehicle, When it is determined that there is no passenger in the interior of the vehicle, a process is performed to control the vehicle so that the parking time is shortened compared to a case where it is determined that there is a passenger in the interior of the vehicle, wherein: When it is determined that there is no passenger in the interior of the vehicle, the parking completion point at which the vehicle is stopped is set as a position where the vehicle contacts a curb.

2. The parking control method according to claim 1, characterized in that: Based on the change in the movement of the vehicle, it is detected whether a tire of the vehicle is in contact with the curbstone.

3. The parking control method according to claim 1 or 2, characterized in that: When it is determined that there is no passenger in the vehicle interior, the stop position margin to the parking completion point of the vehicle is set shorter than when it is determined that there is a passenger in the vehicle interior, and the target speed during parking is calculated.

4. The parking control method according to claim 1 or 2, characterized in that: When evaluating the parking control using an evaluation function that uses the length of the parking time and the smoothness of the vehicle's movement as weighted parameters, When it is determined that there is no passenger in the interior of the vehicle, a weighting parameter for the length of the required parking time is set higher than when it is determined that there is a passenger in the interior of the vehicle, Furthermore, when it is determined that there is no passenger in the interior of the vehicle, a weighting parameter of the smoothness of the movement of the vehicle is set lower than when it is determined that there is a passenger in the interior of the vehicle.

5. The parking control method according to claim 4, characterized in that: The smoothness of the movement of the vehicle is obtained using at least one of the longitudinal velocity jerk, the lateral velocity jerk, and the yaw jerk.

6. The parking control method according to claim 1 or 2, characterized in that: When the operation instruction is acquired from outside the vehicle compartment, it is determined that there is no passenger inside the vehicle compartment.

7. A parking control device, which controls the vehicle to park based on an operation instruction obtained from inside and outside the vehicle, characterized in that: Determine whether there are passengers in the interior of the vehicle, When it is determined that there is no passenger in the interior of the vehicle, a process is performed to control the vehicle so that the parking time is shortened compared to a case where it is determined that there is a passenger in the interior of the vehicle, wherein: When it is determined that there is no passenger in the interior of the vehicle, the parking completion point at which the vehicle is stopped is set as a position where the vehicle contacts a curb.

Images