In-vehicle device and control method

Abstract

The present application provides a kind of vehicle-mounted device and control method, so that more properly to the empty space of parking area position Automatic parking. Vehicle-mounted device has: empty space determination unit (43), it is based on by the sensor part of being arranged in vehicle (3) to the surrounding sensing detection, determine whether the parking area (Q) existing in the surrounding of above-mentioned vehicle (3) is empty space (QA);Empty space storage unit (44), it is relevant to the position of the empty space (QA) determined by above-mentioned empty space determination unit (43) Information is stored in association with the through path (T) of above-mentioned vehicle (3);And automatic travel control unit (48), it is based on by the sensor part of surrounding sensing detection, generate the travel path from current position to above-mentioned empty space (QA), control above-mentioned vehicle (3) so that the vehicle (3) travels along the travel path and parks from front to above-mentioned empty space (QA).

Description

Technical Field

[0001] This invention relates to vehicle-mounted devices and control methods. Background Technology

[0002] Previously, International Publication No. 2017 / 168754 (hereinafter referred to as Patent Document 1) was published as a technology relating to autonomous parking. In the abstract of Patent Document 1, it is stated that: "An automatic parking system includes: an automatic parking control device (10) for controlling the automatic parking of a vehicle with automatic driving function; and a mobile terminal (20) capable of communicating with the automatic parking control device (10). The automatic parking control device (10) searches for empty parking areas and sends its search results to the mobile terminal (20). When the mobile terminal (20) receives the search results for empty parking areas from the automatic parking control device (10), it sends an instruction related to the selection of parking areas to the automatic parking control device (10) based on the user's operation. Based on the instruction received from the mobile terminal (20), the automatic parking control device (10) selects a target parking area from the detected empty parking areas and causes the vehicle to automatically park in the target parking area."

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1

[0006] International Publication No. 2017 / 168754 Summary of the Invention

[0007] In the automatic parking control device of Patent Document 1, after determining that an empty parking space exists around the vehicle by means of detection results from sensors, the automatic parking control begins to operate the vehicle autonomously. Furthermore, in this autonomous driving, when the vehicle is parked in an empty space, repeated steering actions are performed to slightly move the vehicle forward or backward to correct the wheel angle.

[0008] However, during the aforementioned repeated turning maneuvers, subsequent vehicles may park in empty parking spaces first, or vehicles may obstruct surrounding traffic.

[0009] The purpose of this invention is to provide an on-board device and control method for more effectively and appropriately parking vehicles in empty parking spaces.

[0010] One aspect of the vehicle-mounted device of the present invention is characterized by comprising: a vacancy determination unit, which determines whether a parking space existing around the vehicle is vacant based on sensing detection of the surroundings by a sensor unit provided in the vehicle; a vacancy storage unit, which stores information related to the location of the vacancy determined by the vacancy determination unit in association with the vehicle's passage path; and an automatic driving control unit, which generates a driving path from the current position to the vacancy based on the sensing detection of the surroundings by the sensor unit, and controls the vehicle to drive along the driving path and enter the vacancy from the front.

[0011] Invention Effects

[0012] According to the present invention, parking can be performed more appropriately in vacant locations. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating the structure of an autonomous parking system according to an embodiment of the present invention.

[0014] Figure 2 This is a diagram illustrating the operation of an autonomous parking system.

[0015] Figure 3 This is a diagram illustrating an example of the setup of a sonar and camera.

[0016] Figure 4 This is a flowchart of the automatic parking process involved in the operation of the automatic parking control device.

[0017] Figure 5 This is a flowchart of the automatic parking process involved in the operation of the automatic parking control device.

[0018] Figure 6 This is a diagram illustrating an example of an automated driving path during automatic parking.

[0019] Figure 7 This is an illustration of the parking maneuver during automatic driving, where the vehicle enters a detected empty parking space.

[0020] Figure 8 This is a diagram illustrating an example of a modified embodiment of the present invention, showing the empty parking space QA and the target parking space QB.

[0021] Explanation of reference numerals in the attached figures

[0022] 1. Autonomous parking system

[0023] 2 parking lots

[0024] 3 vehicles

[0025] 10. Automatic parking control device (on-board unit)

[0026] 12 smartphones

[0027] 25 Vehicle Control Unit

[0028] 26. Peripheral Detection Sensor Department (Sensor Department)

[0029] 27 Communication Unit

[0030] 40 Entry Judgment Department

[0031] 41. Position estimation section

[0032] 42 Map Generation Department

[0033] 42A Map Data

[0034] 43 Vacancy Location Determination Department

[0035] 44 Empty Storage Unit

[0036] 45. Instructions for Acquisition Department

[0037] 46 Disembarkation Location Storage Section

[0038] 47 Target Parking Location Setting Department

[0039] 48 Automatic Driving Control Unit

[0040] 49. Notification Control Department (Display Control Department)

[0041] PA drop-off location

[0042] PB destination location

[0043] Q Parking location

[0044] QA empty location

[0045] QB Target Parking Location

[0046] T via path

[0047] U Automatic driving route (driving route)

[0048] Ua Repeated Turning Path Detailed Implementation

[0049] The embodiments of the present invention are described below with reference to the accompanying drawings.

[0050] Figure 1 This is a diagram showing the structure of the autonomous parking system 1 of this embodiment. Figure 2 This is a diagram illustrating the operation of the autonomous parking system 1.

[0051] like Figure 2As shown, the autonomous parking system 1 of this embodiment is a system that enables automatic parking of vehicles 3 in a parking lot 2 with multiple parking spaces Q.

[0052] In this embodiment, automatic parking is described as including both the automatic entry and exit of vehicle 3, but automatic parking may also consist of only the automatic entry of vehicle 3.

[0053] like Figure 2 As shown, automatic parking refers to the process where vehicle 3 automatically moves from the exit position PA of passenger 4 to an empty parking space QA in the parking area Q, and vehicle 3 autonomously enters the empty parking space QA to complete the parking action.

[0054] like Figure 2 As shown, automatic exit refers to the action of vehicle 3 autonomously exiting the parking area Q in response to the call of passenger 4, and vehicle 3 automatically driving to the destination location PB.

[0055] The destination location PB is, for example, the waiting position of crew member 4 (in...). Figure 2 In the example, the waiting position is the same as the alighting position PA), or the position is specified by passenger 4, etc.

[0056] In addition, autonomous driving refers to the vehicle 3 driving independently without the driver's operation of the occupant 4 (i.e., in an unmanned state).

[0057] like Figure 1 As shown, the autonomous parking system 1 includes an automatic parking control device 10 and a smartphone 12.

[0058] The automatic parking control device 10 is an on-board device mounted on the vehicle 3 and performing the controls involved in automatic parking.

[0059] Smartphone 12 is a mobile electronic device (so-called mobile terminal) carried by occupant 4.

[0060] The automatic parking control device 10 and the smartphone 12 are configured to communicate with each other via appropriate electrical communication lines such as the Internet or mobile phone communication networks.

[0061] In this embodiment, the smartphone 12 is used as a device for the occupant 4 to input instructions related to the automatic parking of the vehicle 3. For example... Figure 1 As shown, the smartphone 12 includes a touch panel 12A as an operating device for receiving operations from the passenger 4, a display screen 12B as a display unit for displaying various information, and a communication unit 12C for communicating with the automatic parking control device 10.

[0062] Furthermore, the communication unit 12C includes a receiving device and a transmitting device for communicating with the automatic parking control device 10. Additionally, as an operating device for receiving occupant operations, the smartphone 12 may also include a gesture detection unit for detecting gestures. Alternatively, any mobile electronic device such as a tablet PC can be used instead of the smartphone 12.

[0063] The vehicle 3 is configured to drive automatically under the control of the automatic parking control device 10.

[0064] Specifically, such as Figure 1 As shown, vehicle 3 includes vehicle-side sensors 21, steering device 22, drive device 23, braking control device 24, vehicle control unit 25, peripheral detection sensor unit 26, and communication unit 27, which are connected to automatic parking control device 10 directly or via a suitable vehicle network such as CAN (Controller Area Network).

[0065] The vehicle-side sensor 21 includes various sensors for detecting information required for autonomous driving control and autonomous navigation (dead reckoning) of the vehicle 3. These sensors include, for example, gyroscope sensors, accelerometers, vehicle speed sensors for detecting the vehicle 3's speed, and steering angle sensors for detecting the vehicle 3's steering angle.

[0066] The steering device 22 is a device that includes an actuator that steers the steering wheels of the vehicle 3.

[0067] The drive unit 23 is a device that includes an actuator that adjusts the driving force of the drive wheels of the vehicle 3. When the power source of the vehicle 3 is an engine, the actuator of the drive unit 23 is a throttle actuator. When the power source is a motor, the actuator of the drive unit 23 is the motor of the power source.

[0068] The braking control device 24 includes an actuator that controls the braking force applied to the wheels of the vehicle 3 by controlling the braking system provided in the vehicle 3.

[0069] The vehicle control unit 25 is a device that enables the vehicle 3 to drive autonomously (automatic driving) by controlling the steering device 22, the drive device 23 and the braking control device 24.

[0070] The vehicle control unit 25 includes a computer (e.g., ECU (Electronic Control Unit)) that performs the above-mentioned controls.

[0071] The perimeter detection sensor unit 26 is equipped with various sensors for detecting information about the perimeter of the vehicle 3, and outputs the perimeter information obtained through detection to the automatic parking control device 10. Hereinafter, the perimeter information is referred to as "perimeter information".

[0072] The surrounding information includes information about objects existing around vehicle 3, which is used for the control of automatic driving, automatic parking, or automatic exiting. Surrounding objects include, for example, obstacles, or dividing lines that define the driving path or parking space Q of vehicle 3. Obstacles are various objects that hinder the movement of vehicle 3. Typical examples of obstacles include structures such as pillars and walls, other vehicles parked or in motion, and pedestrians.

[0073] In this embodiment, the peripheral detection sensor unit 26 is equipped with a sonar 26A and a camera 26B as a sensor.

[0074] Sonar 26A is a ranging sensor that uses sound wave sensing to detect surrounding obstacles and measure the distance between the obstacle and vehicle 3.

[0075] The vehicle 3 in this embodiment is, for example, Figure 3 As shown, sonars 26A are respectively arranged on the left and right sides. When observed from vehicle 3, obstacles within the respective sensing detection range R on the right and left sides are sensed and detected by each sonar 26A. Regarding the sonars 26A in this embodiment, by forming the sensing detection range R into a bundle shape, the directivity to the side of vehicle 3 is improved. As a result, obstacles on the side of vehicle 3 are detected with higher accuracy.

[0076] Furthermore, the location of Sonar 26A is not limited to Figure 3 The location shown can be any suitable location required for autonomous driving and capable of sensing and detecting obstacles. Alternatively, other ranging sensors such as radar or lidar can be used instead of Sonar 26A.

[0077] Camera 26B is a camera that captures images of surrounding objects such as the dividing lines of the driving road and parking area Q.

[0078] like Figure 3 As shown, the vehicle 3 in this embodiment is equipped with cameras 26B at the front, left, right, and rear. These cameras 26B capture images of the vehicle 3 from all directions (360 degrees).

[0079] Furthermore, regarding camera 26B, it is also possible to use a single camera to capture images from all directions. Additionally, the shooting range of camera 26B and the number of cameras 26B can be appropriately changed based on the sensing detection range around vehicle 3.

[0080] The communication unit 27 is a device that communicates with the smartphone 12 via an electrical communication line and relays communication between the smartphone 12 and the automatic parking control device 10. The communication unit 27 is equipped with a receiving device and a transmitting device for communication via the electrical communication line, such as a TCU (Telematics Control Unit).

[0081] The automatic parking control device 10 includes a computer (ECU in this embodiment), which includes a processor such as a CPU (Central Processing Unit) or MPU (Microprocessor Unit), storage devices such as ROM (Read Only Memory) and RAM (Random Access Memory) (also called main storage devices), storage devices such as HDD (Hard Disk Drive) and SSD (Solid State Drive) (also called auxiliary storage devices), interface circuits for connecting sensors and peripheral devices, and vehicle network communication circuits for communicating with other vehicle devices via a vehicle network.

[0082] In the aforementioned automatic parking control device 10, this is achieved by a processor executing a storage device or a computer program stored in the storage device. Figure 1 The various functional structures shown.

[0083] That is, the automatic parking control device 10 includes, as a functional structure, an entry determination unit 40, a position estimation unit 41, a map generation unit 42, an empty space determination unit 43, an empty space storage unit 44, an instruction acquisition unit 45, an exit position storage unit 46, a target parking space setting unit 47, an automatic driving control unit 48, and a notification control unit 49.

[0084] The entry determination unit 40 determines whether the vehicle 3 has entered the parking lot 2. This entry determination can be performed using appropriate methods that are known or widely accepted. For example, the entry determination unit 40 can make the determination based on a comparison between the location of the parking lot 2 shown by road map data and the location (absolute position) of the vehicle 3 obtained from GPS or the like. Alternatively, the entry determination unit 40 can also determine whether the vehicle 3 has received a signal from equipment installed in the parking lot 2. Furthermore, the entry determination unit 40 can also determine whether the occupant 4 has performed an operation indicating that the vehicle 3 has entered the parking lot 2.

[0085] The position estimation unit 41 estimates the current position (its own position) of vehicle 3 using known or widely known dead reckoning methods, at least from the time vehicle 3 enters parking lot 2 until it exits.

[0086] The map generation unit 42 generates map data 42A that links the positions of the paths T, obstacles and parking spaces Q in the parking lot 2.

[0087] like Figure 2 As shown, path T is the path that vehicle 3 can pass through in parking lot 2.

[0088] Map data 42A is data that maps the location coordinates of the path T, obstacles, and parking spaces Q in an appropriate coordinate space.

[0089] The map generation unit 42 functions as a path acquisition mechanism that calculates the path T by tracking the current position estimated by the position estimation unit 41 while the vehicle 3 is in the parking lot 2, and updates and records the path T in the map data 42A.

[0090] In addition, the map generation unit 42 also functions as an obstacle detection mechanism that detects obstacles around the vehicle 3 based on surrounding information (i.e., based on the sensing detection results of sonar 26A and the images captured by camera 26B). When an obstacle is detected, the position of the obstacle is recorded in map data 42A.

[0091] Furthermore, the map generation unit 42 also functions as a parking location detection mechanism that detects parking locations Q existing around the vehicle 3 based on surrounding information (i.e., based on the sensing detection results of sonar 26A and the images captured by camera 26B). When a parking location Q is detected, the position of the parking location Q is recorded in the map data 42A.

[0092] For methods of detecting obstacles and parking locations Q based on surrounding information, appropriate methods that are known or commonly known can be used.

[0093] The parking space determination unit 43 determines whether parking space Q is an empty space QA based on the detection results of parking space Q and obstacles. Specifically, if there are no obstacles in parking space Q, the empty space determination unit 43 determines that parking space Q is an empty space QA. Similarly, when vehicle 3 arrives at the target parking space QB (described later), the empty space determination unit 43 determines that the target parking space QB is an empty space where parking is possible based on the obstacle detection results. Specifically, if there are other vehicles or obstacles such as shopping carts parked in the target parking space QB when vehicle 3 arrives at the target parking space QB, the empty space determination unit 43 determines that the target parking space QB is not an empty space where parking is possible. If there are no obstacles in the target parking space QB when vehicle 3 arrives at the target parking space QB, the empty space determination unit 43 determines that the target parking space QB is an empty space where parking is possible.

[0094] The empty location storage unit 44 stores the location of the empty location QA in association with the passage path T. This allows for the determination of empty locations QA around the passage path T. Furthermore, the location of the empty location QA can also be recorded in the map data 42A.

[0095] The instruction acquisition unit 45 acquires instructions from the occupant 4 related to automatic parking from the smartphone 12 via the communication unit 27. These instructions may include, for example, instructions for automatic parking or automatic exit from the parking space.

[0096] The disembarkation location storage unit 46 stores the current location of the vehicle 3 when the passenger 4 disembarks as the disembarkation location PA.

[0097] Regarding the disembarkation of occupant 4, appropriate techniques known or publicly available can be used for detection.

[0098] For example, if vehicle 3 is equipped with a door opening and closing sensor that detects the opening and closing of the vehicle 3's doors, the automatic parking control device 10 can detect that the door is opened during the parking process of vehicle 3 based on the detection signals of the door opening and closing detection sensor and the vehicle speed sensor, thereby detecting the exit of the occupant 4.

[0099] For example, if the vehicle 3 is equipped with a seat pressure sensor that detects the seat surface pressure, the automatic parking control device 10 can detect the disappearance of the pressure applied to the seat surface based on the detection signal of the seat pressure sensor, thereby detecting the exit of the occupant 4.

[0100] The target parking space setting unit 47 sets a target parking space Q for vehicle 3 from the available parking spaces QA. Hereinafter, the target parking space Q will be referred to as target parking space QB. Figure 6 ).

[0101] The target parking location QB can be set manually by the occupant 4 or automatically by the target parking location setting unit 47. Automatic setting is based on predetermined selection criteria (e.g., distance from the exit position PA). These selection criteria can also be preset by the occupant 4 in the automatic parking control device 10.

[0102] Furthermore, the setting time for the target parking location QB is appropriately set. The setting time can be any time after occupant 4 has disembarked (after the disembarkation location PA is determined) or before the disembarkation location PA is determined.

[0103] The automatic driving control unit 48 sets the path (hereinafter referred to as "automatic driving path U") for the vehicle 3 to automatically drive from the disembarkation position PA to the target parking area QB based on map data 42A.

[0104] In addition, the automatic driving control unit 48 generates control information for automatic entry and exit from the vehicle based on the automatic driving path U, and outputs the control information to the vehicle control unit 25.

[0105] More specifically, in the case of automatic parking, the automatic driving control unit 48 generates control information for the vehicle 3 to autonomously move from the exit position PA towards the target parking space QB, and control information for the vehicle 3 to autonomously park in the target parking space QB. In this case, the automatic driving control unit 48 initiates the parking maneuver towards the target parking space QB before the vehicle 3 passes through it, and generates control information for forward parking without repeated steering maneuvers (so-called forward parking). Repeated steering maneuvers are actions where the vehicle 3 moves forward or backward to correct the wheel angle before moving forward or backward again.

[0106] On the other hand, in the case of automatic exit, the automatic driving control unit 48 generates control information for enabling the vehicle 3 to autonomously exit from the target parking area QB and autonomously drive the vehicle 3 towards the destination location PB.

[0107] The notification control unit 49 outputs various notifications related to automatic parking to the smartphone 12 of the occupant 4 via the communication unit 27.

[0108] Figure 4 and Figure 5 This is a flowchart of the automatic parking process involved in the operation of the automatic parking control device 10.

[0109] When vehicle 3 enters parking lot 2 and is detected by the entry determination unit 40 (step Sa1: Yes), the map generation unit 42 generates map data 42A by continuously tracking the vehicle 3's passage path T and detecting obstacles and parking spaces Q (step Sa2). In this way, the storage of empty spaces QA begins simultaneously with entry, and the peripheral detection sensor unit 26 installed on vehicle 3 detects empty spaces QA along the vehicle 3's travel path. Therefore, it eliminates the need for road-to-road communication devices or other equipment that obtain information related to empty spaces QA.

[0110] When a parking space Q is detected, the empty space determination unit 43 determines whether the parking space Q is an empty space QA. If the empty space determination unit 43 determines that it is an empty space QA, the empty space storage unit 44 stores the information of the empty space QA (step Sa3). In this case, the empty space storage unit 44 maintains information for multiple empty spaces QA as needed. That is, if information related to a certain empty space QA has already been stored in the empty space storage unit 44, when a new empty space QA is identified, the information of the new empty space QA is not overwritten with the information of the previous empty space QA, but the information of the new empty space QA is additionally stored in the empty space storage unit 44, thereby the empty space storage unit 44 maintains the information of both empty spaces QA.

[0111] Then, passenger 4 gets off at the desired drop-off position PA and operates smartphone 12 to instruct automatic parking.

[0112] The automatic parking control device 10 repeats the processes described in steps Sa2 and Sa3 until the instruction acquisition unit 45 receives an instruction for automatic parking. Upon receiving the instruction for automatic parking (step Sa4: Yes), the automatic parking control device 10 proceeds with the next steps.

[0113] First, the disembarkation location storage unit 46 stores the current location as the disembarkation location PA (step Sa5).

[0114] Next, the target parking space setting unit 47 determines whether there is an empty parking space QA stored in the empty parking space storage unit 44 (step Sa6).

[0115] If there is an empty parking space QA stored (step Sa6: Yes), the target parking space setting unit 47 determines the target parking space QB from the empty parking space QA (step Sa7).

[0116] Then the automatic driving control unit 48 sets the automatic driving path U based on the map data 42A (step Sa8).

[0117] Figure 6 This is a diagram representing an example of an automated driving path U.

[0118] As shown in the figure, the automatic driving path U includes at least one repetitive turning path Ua for changing direction from reversing to moving forward. After the vehicle 3 reverses from the exit position PA, it changes direction in the repetitive turning path Ua to move forward toward the target parking area QB.

[0119] If no empty parking space QA is stored (step Sa6: No), the target parking space setting unit 47 cannot set the target parking space QB, so the target parking space QB is not set here. In this case, the automatic driving control unit 48 sets the path that moves back and forth on part or all of the path through the path T by making a U-turn or reversing at the end of the map data 42A as the automatic driving path U (step Sa9). As will be described later, during the period when the vehicle 3 moves back and forth on the automatic driving path U, a new empty parking space QA is detected.

[0120] Next, the automatic driving control unit 48 generates control information for the automatic driving of the vehicle 3 based on the automatic driving path U, and outputs the control information to the vehicle control unit 25, thereby starting automatic driving (step Sa10).

[0121] During this automatic driving period, the map generation unit 42 detects obstacles (step Sa11). Furthermore, the empty parking space determination unit 43 determines whether each parking space Q is an empty parking space QA based on the obstacle detection results (step S12). Thus, the detection of newly generated empty parking spaces QA due to other vehicles leaving the parking space is continuously performed.

[0122] If a new empty space QA is detected (step Sa12: Yes), the automatic driving control unit 48 immediately performs control to temporarily stop the vehicle 3 (step Sa13).

[0123] Then, the notification control unit 49 will notify the occupant 4's smartphone 12 of the detection of a new empty space QA and whether to park the vehicle 3 in the new empty space QA (step Sa14).

[0124] Then, the automatic parking control device 10 obtains the instructions from the occupant 4 in the notification (step Sa15).

[0125] When the occupant instructs the vehicle to park in a new empty parking space QA (step Sa16: Yes), the automatic driving control unit 48 generates control information to automatically park the vehicle 3 in the new empty parking space QA and outputs this control information to the vehicle control unit 25 (step Sa17). As a result, the vehicle 3 begins to automatically park in the new empty parking space QA.

[0126] By performing the above processing, such as Figure 7 As shown, when a new empty parking space QA is detected while the vehicle 3 is automatically driving along the automatic driving path U, the occupant 4 outputs an instruction from the smartphone 12, thereby enabling the vehicle 3 to automatically enter the empty parking space QA.

[0127] On the other hand, if the instruction from occupant 4 is not to park in the new empty space QA (step Sa16: no), the automatic driving control unit 48 restarts automatic driving along the automatic driving path U (step Sa18).

[0128] In step Sa16, since the instruction from occupant 4 is received, a real-time judgment can be made regarding parking in the empty space QA in accordance with the intention of occupant 4.

[0129] If no new empty parking space QA is detected in step Sa12 (step Sa12: no), or if automatic driving restarts in step Sa18, the automatic driving control unit 48 monitors the relative position of the target parking space QB to the vehicle 3 based on map data 42A and the current position of the vehicle 3 during the automatic driving of the vehicle 3.

[0130] During the period before vehicle 3 arrives at the target parking space QB (i.e., during the period when step Sa19 = No), the automatic parking control device 10 repeats the processing of steps Sa12 to Sa16, continuously detecting new empty parking spaces QA.

[0131] Furthermore, when vehicle 3 approaches the target parking space QB (step Sa19: Yes), the empty space determination unit 43 determines whether the target parking space QB is an empty space QA where parking is possible at that time (step Sa20). If the target parking space QB is an empty space QA where parking is possible (step Sa20: Yes), the process proceeds to the next step Sa21. In this step Sa21, the automatic driving control unit 48 generates control information that automatically drives vehicle 3 into the target parking space QB by moving forward without repeated steering actions, and outputs this control information to the vehicle control unit 25 (step Sa21). Thus, vehicle 3 automatically enters the parking space from the approach of the target parking space QB by moving forward only.

[0132] In this way, by automatically parking into the target parking space QB set based on the pre-stored empty space QA, it is possible to achieve automatic parking based on forward movement, which can be done much faster than parking by reversing.

[0133] On the other hand, in step Sa20, if the target parking space QB is determined not to be an empty parking space QA (step Sa20: No), the automatic driving control unit 48, based on map data 42A, sets the path through which the vehicle 3 moves back and forth on part or all of the path T as the automatic driving path U, and returns the processing to step Sa12 to detect a new empty parking space QA. In this case, if the obstacle detected in the target parking space QB is another vehicle, the target parking space setting unit 47 may delete the setting related to the target parking space QB. This is because if another vehicle has already parked in the target parking space QB, the probability that the other vehicle's occupants will leave the vehicle for shopping or other reasons, and the vehicle 3 will be moving back and forth on the aforementioned automatic driving path U, is low.

[0134] In this way, by performing the determination in step Sa20, even if other vehicles park in the target parking space QB before vehicle 3 arrives, an available parking space QA can be searched again. Moreover, storage resources can be used efficiently.

[0135] If the automatic parking control device 10 completes the automatic parking process in step Sa17 or step Sa21 (step Sa22: yes), the process ends.

[0136] Furthermore, in step Sa17, during the automatic parking into the new empty space QA, the parking direction can be either forward parking or backward parking. Additionally, the automatic parking action may also include repeated steering maneuvers.

[0137] In detail, the sonar 26A included in the peripheral detection sensor unit 26 of this embodiment is as described above. Figure 3 As shown, since the sensor detection range R is bundled, it cannot determine whether there are obstacles in the parking space Q until the parking space Q is in front of the sonar 26A. In other words, at the point when the parking space Q is determined to be an empty space QA, the empty space QA is located to the side or further back than to the side when viewed from the vehicle 3. Therefore, in this case, in order for the vehicle 3 to enter the empty space QA, the automatic parking control device 10 (automatic driving control unit 48) must generate an automatic driving path that can enter the empty space QA based on the relative position relationship between the vehicle 3 and the empty space QA and the position of surrounding obstacles, without having to eliminate repeated steering actions.

[0138] To explain the automatic exit procedure, occupant 4 uses smartphone 12 to send an automatic exit instruction to the automatic parking control device 10 of the parked vehicle 3. In this case, smartphone 12 also sends location information of the aforementioned destination location PB, which is the occupant 4's seating position. The destination location PB uses an appropriate location, such as the location indicated by occupant 4 on a map or the current location of smartphone 12.

[0139] When the instruction acquisition unit 45 receives an instruction to automatically exit the parking space, the automatic parking control unit 10 generates an automatic driving path U from the current position in the parking space to the destination position PB based on map data 42A. Based on this automatic driving path U, it generates control information for the automatic driving of the vehicle 3 and outputs the control information to the vehicle control unit 25. The vehicle 3 then begins to automatically exit the parking space and, after completing the automatic exit, automatically drives towards the destination position PB.

[0140] Furthermore, if the automatic parking control device 10 receives an instruction to automatically exit the parking space before the automatic driving begins and the parking is completed, it terminates the actions involved in automatic parking. Meanwhile, the automatic driving control unit 48 generates an automatic driving path U from the current location to the destination location PB based on map data 42A, causing the vehicle 3 to begin automatic driving towards the destination location PB.

[0141] The following effects are achieved according to this embodiment.

[0142] The automatic parking control device 10 of this embodiment includes: an empty space determination unit 43, which determines whether a parking space Q existing around the vehicle 3 is an empty space QA based on the sensing detection of the surrounding area by the surrounding detection sensor unit 26; an empty space storage unit 44, which stores information related to the position of the empty space QA determined by the empty space determination unit 43 in association with the passage path T of the vehicle 3; and an automatic driving control unit 48, which generates an automatic driving path U from the exit position PA to the target parking space QB (empty space QA), and controls the vehicle 3 to drive along the automatic driving path U and enter the target parking space QB from the front.

[0143] According to this structure, the positions of empty parking spaces QA existing around the path T are pre-stored. Furthermore, an automatic driving path U is generated for vehicle 3 to enter the parking space from the front direction without repeated steering actions, enabling the automatic parking to be completed quickly.

[0144] Therefore, subsequent vehicles will not first park in the target parking area QB, and vehicle 3 will not obstruct surrounding traffic due to repeated turning actions, thus enabling more appropriate automatic parking.

[0145] The automatic parking control device 10 of this embodiment includes an entry determination unit 40 for determining whether a vehicle 3 has entered the parking lot 2. When it is determined that the vehicle 3 has entered the parking lot 2, the empty space determination unit 43 starts to determine whether the parking space Q existing around the vehicle 3 is an empty space QA based on the sensing detection of the surrounding area by the surrounding detection sensor unit 26.

[0146] Therefore, it is possible to detect empty space QA in advance before vehicle 3 reaches the disembarkation position PA.

[0147] In the automatic parking control device 10 of this embodiment, the automatic driving control unit 48 generates an automatic driving path U for the vehicle 3 to travel along the passage path T from entering the parking lot 2 to reaching its current position when there is no empty parking space QA, and controls the vehicle to travel along the automatic driving path U. Furthermore, while the vehicle 3 is traveling along the automatic driving path U, the empty parking space determination unit 43 determines whether the parking spaces Q existing around the vehicle 3 are empty parking spaces QA based on the sensing detection of the surroundings by the surrounding detection sensor unit 26.

[0148] Therefore, even if no empty zone QA is detected before passenger 4 disembarks, a new empty zone QA can still be detected.

[0149] The above embodiments illustrate one aspect of the present invention in principle, and can be arbitrarily modified and applied without departing from the spirit of the present invention.

[0150] (Variation Example 1)

[0151] When vehicle 3 arrives at the target parking space QB, other vehicles have already parked in that target parking space QB, i.e., in the above-mentioned situation... Figure 5 In the case that the determination result of step Sa20 is negative, if there is another empty location QA stored in the empty location storage unit 44, the vehicle 3 can be stopped in that empty location QA.

[0152] Specifically, the target parking location setting unit 47 determines other empty parking locations QA stored in the empty parking location storage unit 44 as target parking locations QB, and the automatic driving control unit 48 sets the automatic driving path U from the current position to the target parking location QB and drives forward into the parking space, and causes the vehicle 3 to drive automatically along the automatic driving path U and automatically enter the target parking location QB.

[0153] In this case, the target parking location setting unit 47 can also set the new target parking location QB from other empty parking locations QA that has the shortest predetermined driving distance from the current position, or the empty parking location QA that was determined to be an empty parking location QA closer to the current position. The predetermined driving distance is the distance that the vehicle 3 travels before reaching the empty parking location QA from the current position. The calculation of this distance also takes into account traffic restrictions such as one-way traffic.

[0154] More specifically, the empty space storage unit 44 stores the moment (hereinafter referred to as the determination moment) when the empty space determination unit 43 determines that it is an empty space QA as one of the information of the empty space QA.

[0155] During the first period from when vehicle 3 enters the parking lot until the automatic parking instruction is received (in Figure 4 During the period from step Sa1 to step Sa4), and during the second period when vehicle 3 is automatically driving along the automatic driving path U (from... Figure 4 Step Sa10 to Figure 5 During steps Sa12, the empty bit QA is detected and stored in the empty bit storage unit 44.

[0156] Furthermore, if other vehicles have already stopped at the target parking space QB when vehicle 3 arrives at the target parking space QB, the target parking space setting unit 47 sets the target parking space QB from the empty space QA stored in the empty space storage unit 44, based on the predetermined driving distance from the current position and the determination time, as follows.

[0157] First, the target parking location setting unit 47 selects the empty parking location QA with the shortest predetermined travel distance among the empty parking locations QA detected in the first period and the empty parking location QA with the shortest predetermined travel distance among the empty parking locations QA detected in the second period, and compares the predetermined travel distances of the two empty parking locations QA. If the difference in the predetermined travel distance is less than a predetermined value, the target parking location setting unit 47 sets the empty parking location QA detected at the closer time, i.e., the empty parking location QA detected in the second period, as the target parking location QB.

[0158] Therefore, if the difference in the predetermined driving distance between the two empty parking spaces QA is less than a specified value, the empty parking space QA with a short elapsed time and a high probability of being empty at the current time can be prioritized as the target parking space QB.

[0159] On the other hand, if the difference in the predetermined driving distance between the two empty parking spaces QA is greater than or equal to a predetermined value, the target parking space setting unit 47 sets the empty parking space QA with the shorter predetermined driving distance as the target parking space QB. For example, if the predetermined driving distance of the empty parking space QA detected in the first period is shorter than or equal to the empty parking space QA detected in the second period, the target parking space setting unit 47 sets the empty parking space QA detected in the first period as the target parking space QB.

[0160] Therefore, the one that is significantly closer to the other of the two empty parking spots QA can be prioritized as the target parking spot QB.

[0161] Furthermore, in this modified example, if no other empty location QA is stored in the empty location storage unit 44, the automatic driving control unit 48 may set a path to return from the current position to the aforementioned passage path T, and set an automatic driving path U that reciprocates on the passage path T, so that the vehicle 3 drives automatically along the automatic driving path U, and the empty location determination unit 43 continuously performs detection of empty location QA based on the sensing detection of the peripheral detection sensor unit 26, thereby searching for empty location QA.

[0162] (Variation Example 2)

[0163] During the automatic parking maneuver, the control unit 49 may also notify the occupant 4's smartphone 12 of the target parking area QB.

[0164] In this case, the notification control unit 49 may send the drop-off location PA and the target parking area QB to the smartphone 12, and the smartphone 12 may display these locations on the display screen 12B. Alternatively, the smartphone 12 may obtain map data showing the shape of the parking lot 2 from an external server or other suitable device, and overlay the drop-off location PA and the target parking area QB on the map data.

[0165] Thus, occupant 4 is able to determine the location of the target parking area QB, that is, the location where vehicle 3 will park.

[0166] Additionally, the map data can be aerial photographs. By setting the map to an aerial photograph, all parking spaces Q within parking lot 2 can be displayed.

[0167] Alternatively, the notification control unit 49 may send the locations of other empty parking spaces QA, in addition to the target parking space QB, to the smartphone 12, which then displays these target parking spaces QB and other empty parking spaces QA on the display screen 12B.

[0168] In this case, the notification control unit 49 can also function as a display control unit, specifying the display format of the target parking space QB and / or other empty spaces QA, and sending these locations to the smartphone 12, thereby... Figure 8 As shown, the display is controlled by showing the target parking space QB and other empty parking spaces QA in different ways. The display can be differentiated by changing factors such as display color, pattern, size, and blinking. Furthermore, the display can also be differentiated by not displaying the empty parking spaces QA other than the target parking space QB, or by giving them different icons.

[0169] By making the display pattern of the target parking location QB different from that of other empty parking locations QA, the occupant 4 can clearly identify the target parking location QB.

[0170] Alternatively, if the occupant 4 selects another available parking space QA by operating the smartphone 12, the target parking space setting unit 47 can replace the target parking space QB with the available parking space QA selected by the occupant 4, thereby enabling the occupant 4 to change the target parking space QB.

[0171] (Variation Example 3)

[0172] The automatic parking control device 10 obtains the location of the parking space Q and information on whether there are other vehicles in the parking space Q from the sensing and detection results of the peripheral detection sensor unit 26.

[0173] However, the automatic parking control device 10 may also use appropriate communication to obtain information about the vacancy status of parking spaces Q in the parking lot 2 (the parking status of other vehicles).

[0174] (Other variations)

[0175] Figure 1 The boxes shown are schematic diagrams illustrating the classification of structural elements according to the main processing content in order to facilitate understanding of the invention. Structural elements can also be classified into more structural elements based on the processing content. Furthermore, they can also be classified in a way that allows for the execution of more processes on a single structural element.

[0176] For example, in Figure 1 In addition, the automatic parking control device 10 may also include a communication unit 27, a peripheral detection sensor unit 26, a vehicle control unit 25, etc.

Claims

1. A vehicle-mounted device, characterized in that, have: The vacancy determination unit determines whether the parking spaces around the vehicle are vacant based on the sensing detection of the surrounding area by the sensor unit installed in the vehicle. The empty space storage unit stores information related to the location of the empty space determined by the empty space determination unit in association with the vehicle's passage path. and The automatic driving control unit generates a driving path from the current position to the empty space based on the sensing detection of the surroundings by the sensor unit, and controls the vehicle to drive along the driving path and park in the empty space without performing the following actions: the actions are to move the vehicle forward or backward to correct the wheel angle and then move forward or backward again.

2. The vehicle-mounted device as described in claim 1, characterized in that, It has an entry determination unit that determines whether the vehicle has entered the parking lot. When it is determined that the vehicle has entered the parking lot, the vacancy determination unit starts to determine whether the parking spaces around the vehicle are vacant based on the sensing detection of the surrounding area by the sensor unit.

3. The vehicle-mounted device as described in claim 2, characterized in that, If a parking space is not identified as an empty parking space, the automatic driving control unit generates a driving path from when the vehicle enters the parking lot until it reaches its current position, and controls the vehicle to travel along that driving path. The vacancy determination unit determines whether parking spaces around the vehicle are vacant based on the sensing detection of the surroundings by the sensor unit while the vehicle is traveling on the driving path under the control of the automatic driving control unit.

4. The vehicle-mounted device as described in any one of claims 1 to 3, characterized in that, The system includes a display control unit that controls the display of the available parking spaces for the vehicle and other available parking spaces in different ways.

5. A control method for an on-board device, the on-board device being mounted in a vehicle, the control method being characterized by comprising: Step 1: Determine whether the parking spaces around the vehicle are empty based on the sensing detection of the surrounding area by the sensor unit installed in the vehicle. The second step is to associate the information related to the location of the empty space determined in the first step with the vehicle's passage path and store it in a way that is relevant to the vehicle's passage path. and Step 3: Based on the sensing and detection of the surroundings by the sensor unit, a driving path from the current position to the empty space is generated, and the vehicle is controlled so that the vehicle moves along the driving path and parks in the empty space without the following action: the action is to move the vehicle forward or backward to correct the wheel angle and then move forward or backward again.

6. The control method as described in claim 5, characterized in that, The system includes a fourth step to determine whether the vehicle has entered the parking lot. If the vehicle is determined to have entered the parking lot according to step 4, the determination in step 1 begins.

7. The control method as described in claim 6, characterized in that, have: Step 5: If there is no parking space that is determined to be an empty parking space according to Step 1, generate a driving path from when the vehicle enters the parking lot until it reaches the current position, and control the vehicle so that the vehicle travels on the driving path. and Step 6: While the vehicle is traveling on the driving path under the control of step 5, it is determined whether the parking spaces around the vehicle are empty based on the sensing detection of the surroundings by the sensor unit.

8. The control method according to any one of claims 5 to 7, characterized in that, Step 7 involves displaying the available parking spaces for the vehicle and other available spaces in different configurations.

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