Outbound assistance method and outbound assistance device

Abstract

A method for assisting a vehicle to exit a warehouse is implemented by using an exit assisting controller that moves a vehicle (1) from an exit starting position to a target exit position along an exit path, and determines whether there is an adjacent parked vehicle (2) in a parking space (9) adjacent to the exit starting position. If there is no adjacent parked vehicle (2), an exit path including the adjacent parking space (9) is generated.

Description

[0001] This application is a divisional application of the Chinese invention patent application filed on September 6, 2016, with application number 201680088966.2, and invention name “Warehouse Outbound Assistance Method and Device”, and the applicants are Nissan Motor Co., Ltd. and Renault AG. Technical Field

[0002] The invention relates to a warehouse-out assisting method and a device. Background Art

[0003] As a system for automatically moving a vehicle out of a parking position, the following system is known, namely: setting an exit position, generating a trajectory from the parking position to the exit position, and when a stationary object, i.e., an obstacle, is detected on the trajectory, avoiding the obstacle and resetting the trajectory to reach the exit position (for example, refer to Patent Document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: (Japanese) Patent Publication No. 2013-177128

[0007] Technical problem to be solved by the invention

[0008] In the system described in Patent Document 1, a removal route is not generated in accordance with whether there is a parked vehicle next to the host vehicle, and the selection range of the removal route is narrowed. Summary of the invention

[0009] The technical problem to be solved by the present invention is to provide a method and device for assisting warehouse exit, which can expand the selection range of warehouse exit paths.

[0010] Technical solutions for solving technical problems

[0011] The present invention determines whether there is an adjacent parked vehicle in a parking space adjacent to the start position of the exit. If there is an adjacent parked vehicle, an exit path that does not include the adjacent parking space is generated. If there is no adjacent parked vehicle, an exit path that includes the adjacent parking space is generated, thereby solving the above-mentioned problem.

[0012] Effects of the Invention

[0013] According to the present invention, the selection range of the delivery route can be expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a block diagram showing the structure of a parking and exit support device according to one embodiment of the present invention.

[0015] Figure 2 It is used to illustrate Figure 1 Block diagram of the parking and exit assist function of the parking and exit assist ECU.

[0016] Figure 3 These are a diagram and a table for explaining a method of setting a departure position of a vehicle for forward departure.

[0017] Figure 4 These are a diagram and a table for explaining a method of setting a departure position of a vehicle for a rearward departure.

[0018] Figure 5 This is a diagram for explaining a method of automatically setting the exit direction of the host vehicle.

[0019] Figure 6 This is a diagram for explaining a method of automatically setting the exit direction of the host vehicle.

[0020] Figure 7 This is a flowchart showing a process of setting a departure position of a host vehicle according to the distance to a destination.

[0021] Figure 8 This is a flowchart showing a process of setting the departure position of the vehicle according to the time required to reach the destination.

[0022] Fig. 9 This is a diagram for explaining a method of automatically setting the exit direction of the host vehicle.

[0023] Fig.10 FIG. 1 is a diagram showing a remote control key operated by an operator.

[0024] Fig.11 This is a diagram for explaining a method of manually setting a departure position of a vehicle that is to be departed by remote operation.

[0025] Fig.12 This is a diagram for explaining a method of automatically setting a departure position of a vehicle that is to be departed by remote operation.

[0026] Fig.13 This is a diagram for explaining a method of automatically setting a departure position of the host vehicle 1 that is to be departed by remote operation.

[0027] Fig.14 This is a diagram for explaining a method of automatically setting a departure position of the host vehicle 1 that is to be departed by remote operation.

[0028] Fig.15 This is a diagram for explaining a method of automatically setting a departure position of the host vehicle 1 that is to be departed by remote operation.

[0029] Fig.16This is a diagram for explaining a method of automatically setting a departure position of a vehicle that is to be departed from an unmanned parking lot by remote control.

[0030] Fig.17 This is a diagram for explaining a method of estimating the width X of the outbound passage.

[0031] Fig.18 It is a diagram for explaining a method of detecting a parked vehicle adjacent to the host vehicle.

[0032] Fig.19 It is a diagram for explaining a method of detecting a parked vehicle adjacent to the host vehicle.

[0033] Fig. 20 This is a diagram for explaining a process of generating a departure route of the vehicle for forward departure.

[0034] Fig.21 This is a diagram for explaining a process of generating a departure route for a vehicle that departs backward.

[0035] Fig. 22 This is a flowchart showing the procedure of generating a delivery route.

[0036] Fig.23 This is a diagram for explaining the process of generating a delivery route.

[0037] Fig.24 This is a diagram for explaining the process of generating a delivery route.

[0038] Fig.25 This is a flowchart showing the procedure of generating a delivery route according to another embodiment. DETAILED DESCRIPTION

[0039] Hereinafter, embodiments of the present invention will be described based on the drawings. Figure 1 1 is a block diagram showing the structure of a parking and exit assisting device 100 according to an embodiment of the present invention. The parking and exit assisting device 100 according to this embodiment is mounted on a vehicle to assist in moving the vehicle to a parking space (parking) and in moving the vehicle from a parking space (exiting). In addition, the parking and exit assisting device 100 can also realize the parking action or exiting action of the vehicle by remote control. For example, the occupant of the vehicle can input an instruction to start assisting in parking or exiting to a remote control device such as a remote controller or a portable terminal outside the vehicle, thereby realizing the parking or exiting action of the vehicle.

[0040] The parking and exit assisting device 100 of the present embodiment includes: a camera group 10, a distance measuring device 15, a moving distance sensor 20, a steering angle sensor 30, a main switch 40, a parking and exit assisting ECU (Electronic Control Unit) 50, a vehicle control ECU 60, and a navigation system 70. In addition, the parking and exit assisting device 100 also includes a hardware group mounted on a general vehicle, such as an engine control ECU and a steering assist ECU, which are not shown in the figure. The above-mentioned structures are connected by a CAN (Controller Area Network) and other vehicle-mounted LANs for mutual reception and transmission of information.

[0041] For example, as shown in the figure, the camera group 10 includes a front camera 11, a right side camera 12, a left side camera 13, and a rear camera 14. The front camera 11 is arranged at the front bumper of the vehicle or in the vicinity thereof, and takes a picture of the front of the vehicle, and outputs the image information to the parking and exit assisting ECU 50. The right side camera 12 is arranged at the right side of the vehicle (e.g., the right side of the front end of the vehicle), and takes a picture of the right side of the vehicle, and outputs the image information to the parking and exit assisting ECU 50. The left side camera 13 is arranged at the left side of the vehicle (e.g., the left side of the front end of the vehicle), and takes a picture of the left side of the vehicle, and outputs the image information to the parking and exit assisting ECU 50. The rear camera 14 is arranged at the rear bumper of the vehicle or in the vicinity thereof, and takes a picture of the rear of the vehicle, and outputs the image information to the parking and exit assisting ECU 50.

[0042] The distance measuring device 15 is a radar device or sonar such as a millimeter wave radar, a laser radar, or an ultrasonic radar, and is installed at the same position as the cameras 11 to 14 to detect whether there are obstacles, pedestrians, other vehicles, etc. around the vehicle, the positions of the above objects, and the distances to them.

[0043] The travel distance sensor 20 calculates the travel distance of the host vehicle and outputs the calculated travel distance to the parking and exit assisting ECU 50. The travel distance sensor 20 can be configured by, for example, a rotation speed sensor that detects the rotation speed of the wheels of the host vehicle.

[0044] The steering angle sensor 30 is provided inside a steering column, for example, and detects the rotation angle of the steering wheel and outputs the detected angle to the parking and exit assisting ECU 50 .

[0045] The main switch 40 is a switch operated by the user to indicate the start of parking assistance and exit assistance. When not operated, it outputs an off signal to the parking and exit assistance ECU 50, and when operated, it outputs an on signal to the parking and exit assistance ECU 50. The main switch 40 is provided, for example, at a remote control device such as a remote controller or a portable terminal held by a passenger outside the vehicle for remote operation, or at a location where the driver can operate inside the vehicle, such as the periphery of the instrument panel and the periphery of the steering wheel of the vehicle. In addition, the main switch 40 may also be a software switch provided on the interface of a portable terminal such as a smartphone that can communicate with the vehicle via a network, or a software switch provided on the interface of a navigation device.

[0046] The parking and exit assisting ECU 50 is a controller that comprehensively controls the parking and exit assisting device 100. The parking and exit assisting ECU 50 includes a ROM 52 that stores a parking and exit assisting program, a CPU 51 that functions as an operating circuit that functions as the parking and exit assisting device 100 of the present embodiment by executing the program stored in the ROM 52, and a RAM 53 that functions as an accessible storage device. The parking and exit assisting ECU 50 receives detection information or commands from the camera group 10, the distance measuring device 15, the moving distance sensor 20, the steering angle sensor 30, and the main switch 40, calculates a target steering angle and a target vehicle speed of the vehicle, and outputs them to the vehicle control ECU 60.

[0047] The vehicle control ECU 60 is a controller that performs drive control of the vehicle. The vehicle control ECU 60 includes a ROM 62 that stores a vehicle drive control program, a CPU 61 that functions as a vehicle control device by executing the program stored in the ROM 62, and a RAM 63 that functions as an accessible storage device. The vehicle control ECU 60 receives the target steering angle and target vehicle speed from the parking and exit assist ECU 50, and performs drive control of the vehicle in conjunction with the engine control ECU and the steering assist ECU.

[0048] Figure 21 is a block diagram for explaining the unloading assist function of the parking and assisting ECU 50. As shown in the figure, the parking and unloading assisting ECU 50 has: an unloading position setting unit 501, an unloading start position setting unit 502, a passage width estimation unit 503, a surrounding object detection unit 504, an unloading path generation unit 505, an unloading path tracking control unit 506, and a target speed generation unit 507. In addition, the vehicle control ECU 60 has: a steering angle control unit 601, and a speed control unit 602. Furthermore, the navigation system 70 has a current position estimation unit 701. The current position estimation unit 701 estimates the current position of the vehicle and outputs it to the unloading start position setting unit 502 and the unloading path tracking control unit 506. In the current position estimation process, examples include using GPS (Global Positioning System) to measure the current position of the vehicle, or obtaining the current position through road-to-vehicle communication, or calculating the current position based on the steering amount and accelerator operation amount, or accumulating the vehicle's movement amount and position to calculate the current position.

[0049] The outbound position setting unit 501 sets the position (hereinafter referred to as the target outbound position) at which the vehicle is to be outbound from the parking position by automatic driving. Here, due to the presence or absence of a parked vehicle adjacent to the vehicle and the positional relationship between the parked vehicle and the vehicle, there are situations where the outbound direction of the vehicle is restricted and situations where it is not restricted. In the case where the outbound direction of the vehicle is restricted due to an adjacent parked vehicle, the outbound position setting unit 501 sets the outbound position based on the positional relationship between the parked vehicle and the vehicle and the difference between right-hand traffic and left-hand traffic in the outbound passage. On the other hand, in the case where there is no adjacent parked vehicle or the outbound direction of the vehicle is not restricted due to an adjacent parked vehicle, the outbound position setting unit 501 sets the outbound position by various methods described later.

[0050] Here, when the exit direction of the vehicle is restricted due to an adjacent parked vehicle, the exit position set by the exit position setting unit 501 can be a position that cannot be changed by the occupant's selection, that is, a restricted exit position, or a position that can be changed by the occupant's selection, that is, an initially set position or a recommended position.

[0051] Figure 3 and Figure 4 These are a diagram and a table for explaining a method of setting a departure position of the host vehicle 1 . Figure 3 A table and a diagram are shown for explaining a method of setting a forward exit position of the vehicle 1. Figure 4 A table and a diagram are shown for explaining a method of setting a parking exit position when the host vehicle 1 exits rearward.

[0052] like Figure 3 As shown in the figure on the left side of the figure, when there is an adjacent parked vehicle 2 on the right side of the vehicle 1 that is moving forward out of the warehouse, and the passage for moving out of the warehouse is a right-side passage, because it is easier to move out of the warehouse on the left side than on the right side when viewed from the vehicle 1, the position for moving out of the warehouse is set in the right-side passage on the left side when viewed from the vehicle 1. On the other hand, when there is an adjacent parked vehicle 2 on the right side of the vehicle 1 that is moving forward out of the warehouse, and the passage for moving out of the warehouse is a left-side passage, because there is no significant difference in the difficulty of moving out of the vehicle 1 on the left side and on the right side when viewed from the vehicle 1, the position for moving out of the warehouse of the vehicle 1 is not restricted. In addition, the difficulty of moving out of the vehicle 1 is determined based on the length of the distance of the linear moving interval described later, the size of the turning radius, and the number of repeated vehicle transfers.

[0053] On the other hand, Figure 3 As shown in the figure on the right side of FIG, when there is an adjacent parked vehicle 2 on the left side of the vehicle 1 moving forward out of the garage, and the passage for moving out of the garage is a left-side passage, since it is easier to move out of the garage on the right side than on the left side as viewed from the vehicle 1, the exit position is set in the left-side passage on the right side as viewed from the vehicle 1. On the other hand, when there is an adjacent parked vehicle 2 on the left side of the vehicle 1 moving forward out of the garage, and the passage for moving out of the garage is a right-side passage, since it is easier to move out of the garage on the left side than on the left side as viewed from the vehicle 1, the exit position of the vehicle 1 is not restricted.

[0054] like Figure 4 As shown in the figure on the left side of , when there is an adjacent parked vehicle 2 on the right side (left side from the driver's perspective) of the vehicle 1 that is exiting the garage backwards, and the passage for exiting the garage is right-hand traffic, because it is easier to exit the garage from the perspective of the vehicle 1 on the right side (left side of the rear from the driver's perspective) than on the left side (right side of the rear from the driver's perspective), the exit position is set in the right traffic lane on the right side (left side of the rear from the driver's perspective) as viewed from the vehicle 1. In contrast, when there is an adjacent parked vehicle 2 on the right side of the vehicle 1 that is exiting the garage backwards, and the passage for exiting the garage is left-hand traffic, because there is no significant difference in the difficulty of exiting the garage between the left and right sides as viewed from the vehicle, the exit position of the vehicle 1 is not restricted. In addition, in the case of exiting the garage backwards, the turn is made based on the front wheel axle, as shown in FIG. Figure 4 As shown by the solid arrow in the figure on the left side, when the vehicle is viewed from the right side out of the garage, the gap between the left front wheel and the adjacent parked vehicle 2 is large when turning. Figure 4 As shown by the dashed arrow in the figure on the left side of the vehicle, when the vehicle is viewed from the left side, the gap between the left front wheel and the adjacent parked vehicle 2 is relatively small when turning. Figure 4In the situation shown in the left side figure, it can be said that it is easier to exit the garage from the right side than from the left side when viewed from the host vehicle 1.

[0055] On the other hand, when there is an adjacent parked vehicle 2 on the left side (right side from the driver's perspective) of the vehicle 1 exiting from the rear, and the exit passage is a left-side passage, since it is easier to exit from the left side (right side from the driver's perspective) than from the right side (left side from the driver's perspective) as viewed from the vehicle 1, the exit position is set in the left-side passageway on the left side (right side from the driver's perspective) as viewed from the vehicle 1. On the other hand, when there is an adjacent parked vehicle 2 on the left side of the vehicle 1 exiting from the rear, and the exit passage is a right-side passage, since it is easier to exit from the left side than from the right side as viewed from the vehicle 1, the exit position of the vehicle 1 is not restricted.

[0056] Here, when the exit position of the host vehicle 1 is not restricted due to the presence of the adjacent parked vehicle 2 , the exit position of the host vehicle 1 may be set automatically or manually. Figures 5 to 16 This is a diagram for explaining a method of automatically or manually setting the exit direction of the host vehicle 1 .

[0057] First, if Figure 5 As shown, as a method for automatically setting the exit position of the vehicle 1, a method for setting the exit direction in the passage direction of the exit passage can be exemplified. Here, as a method for setting the passage direction of the exit passage, the following methods (1) to (4) can be exemplified.

[0058] (1) Based on the image information from the cameras 11 to 14 , signs indicating the travel direction and road markings are detected, and the direction indicated by the detected signs and road markings is set.

[0059] (2) The traveling direction of another vehicle is detected based on the image information of the cameras 11 to 14 or the distance measurement information of the distance measurement device 15, and the setting is made based on the detected traveling direction of the other vehicle.

[0060] (3) The driving history of the vehicle until it enters the parking position, including the driving direction, is recorded, and the driving direction included in the driving history is set.

[0061] (4) Receive the traffic direction from the base station in the parking lot and set it based on the received traffic direction.

[0062] As a method for automatically setting the exit position of the vehicle 1, there can be exemplified a method for setting the exit position based on the previous exit history of the vehicle 1. In this setting method, when the determination value J shown in the following formula (1) is a positive value, the exit direction is set to the right, and when the determination value D is a negative value, the exit direction is set to the left.

[0063] [Number 1]

[0064]

[0065] Among them, T i is the elapsed time, D i For the outbound direction, in the case of right direction D i = +1, in the case of left direction D i =-1.

[0066] An example of the departure history is shown in Table 1. For parking lot A shown in the table, J=(((1 / 1)×(+1))+((1 / 2)×(+1))+((1 / 2)×(+1)))=+2, which is the right direction. In addition, for parking lot B, J = (((1 / 2) × (-1) + ((1 / 2) × (-1)) + ((1 / 4) × (-1))) = -1.25, which is the left direction. Furthermore, for parking lot C, J = (((1 / 2) × (+1) + ((1 / 1) × (+1)) + ((1 / 1) × (-1))) = +0.5, which is the right direction. In this way, since the elapsed time is included in the above formula (1), the most recent outbound history can be given priority for determination. In other words, even if outbound in the left direction was given priority in the past, but outbound in the right direction is given priority recently, outbound in the right direction is performed. In this way, outbound can be performed in accordance with the current outbound environment. In addition, the elapsed time in the following Table 1 is not necessarily limited to units such as one hour, but can also be units such as seconds, minutes, and days.

[0067] [Table 1]

[0068]

[0069] like Figure 6 As shown, as a method of automatically setting the exit position of the host vehicle 1, a method of setting the exit direction in the direction of the route R toward the target point searched in the navigation system 70 can be exemplified.

[0070] Figure 7 and Figure 8 This is a flowchart showing a procedure for automatically setting the exit position of the host vehicle 1 according to one embodiment. Figure 7It is a flowchart showing the order of setting the outbound position of the vehicle 1 according to the distance to the destination. As shown in the flowchart of the figure, first, in step S1, the outbound position setting unit 501 calculates the distance to the destination when outbound in the right direction. Next, in step S2, the outbound position setting unit 501 calculates the distance to the destination when outbound in the left direction. Next, in step S3, the outbound position setting unit 501 determines whether the distance to the destination when outbound in the right direction is shorter than the distance to the destination when outbound in the left direction. In the case of an affirmative judgment, the process proceeds to step S4, and in the case of a negative judgment, the process proceeds to step S5. In step S4, the outbound position setting unit 501 sets the outbound direction to the right direction. On the other hand, in step S5, the outbound position setting unit 501 sets the outbound direction to the left direction. The process ends as described above.

[0071] Figure 8 It is a flowchart showing the order of setting the outbound position of the vehicle 1 according to the time required to reach the destination. As shown in the flowchart of the figure, first, in step S11, the outbound position setting unit 501 calculates the time required to reach the destination when outbound in the right direction. Then, in step S12, the outbound position setting unit 501 calculates the time required to reach the destination when outbound in the left direction. Then, in step S13, the outbound position setting unit 501 determines whether the time required to reach the destination when outbound in the right direction is shorter than the time required to reach the destination when outbound in the left direction. In the case of an affirmative determination, the process proceeds to step S14, and in the case of a negative determination, the process proceeds to step S15. In step S14, the outbound position setting unit 501 sets the outbound direction to the right direction. On the other hand, in step S15, the outbound position setting unit 501 sets the outbound direction to the left direction. The process ends as described above.

[0072] like Fig. 9 As shown, as a method for automatically setting the exit position of the vehicle 1, a method of setting the exit direction in a direction with a small number of repeated vehicle transfers can be exemplified. Fig. 9 As shown on the left side of , when leaving the warehouse to the left, the number of repeated car moves is two. In contrast, Fig. 9 As shown on the right side of , when exiting the warehouse to the right, the number of repeated vehicle transfers is 0 times. In this case, the exit direction is set to the right direction.

[0073] Next, a method for setting the exit position of the vehicle 1 when the vehicle 1 is exited by remote operation will be described. Examples of methods for manually setting the exit position of the vehicle 1 when exiting the warehouse by remote operation include: a method for setting based on the operation of the touch panel display or operation keys of the navigation system 70; a method for setting based on the operation of the touch panel display or operation keys of a portable terminal such as a smartphone; a method for setting based on the operation of a steering rod; a method for setting based on the steering angle and steering torque detected during steering operation; a method for setting based on the operation of a button on a remote control key, and the like. In addition, Fig.10 As shown, the remote control key 3 may be provided with a button 3L for instructing the vehicle to exit the vehicle in the left direction and a button 3R for instructing the vehicle to exit the vehicle in the right direction.

[0074] In addition, if Fig.11 As shown, as a method for manually setting the exit position of the vehicle 1 that exits the warehouse by remote operation, a method for setting according to the action of the operator 4 can be exemplified. For example, the following method can be exemplified, that is, the operator 4 indicates the exit direction with his arm, and the action of the operator 4 is detected by using the on-board sensors such as the cameras 11 to 14 and the distance measuring device 15 of the vehicle 1, the portable terminal or remote control held by the operator 4, and the sensor installed in the parking lot, and the direction indicated by the operator 4 is set as the exit direction.

[0075] As a method for automatically setting the exit position of the vehicle 1 which is to be exited by remote operation, Fig.12 As shown, a method of setting a departure position near the operator 4 can be exemplified. In addition, as a method of detecting the position of the operator 4, a method of detecting using on-board sensors such as the cameras 11 to 14 and the distance measuring device 15 of the vehicle 1, a portable terminal or remote controller held by the operator 4, a sensor installed in the parking lot, etc. can be exemplified. In addition, as a method of selecting a departure direction, a method of comparing the distance between the departure position in the right direction and the operator 4 with the distance between the departure position in the left direction and the operator 4, and selecting the departure position in the direction with the shorter distance can be exemplified.

[0076] In addition, as a method of automatically setting the exit position of the vehicle 1 that is to be exited by remote operation, Fig.13 and Fig.14 As shown, a method of setting the outbound position at a position where the operator 4 can easily get on the vehicle 1 can be exemplified. As a position where the operator 4 can easily get on the vehicle 1, the following can be exemplified: Fig.13 As shown in FIG. 1 , a space S can be secured between the door on the driver's seat side of the vehicle 1 and the wall 5 for the operator 4 to sit on the driver's seat, or as shown in FIG. Fig.14As shown, a space S can be secured between the door on the passenger seat side of the vehicle 1 and the wall 5 so that the operator 4 can sit on the passenger seat.

[0077] In addition, as a method of automatically setting the exit position of the vehicle 1 that is to be exited by remote operation, Fig.15 As shown, a position where a space S that only other vehicles 6 can pass can be ensured between the parking position and the unloading position can be exemplified.

[0078] In addition, if Fig.16 As shown, as a method of automatically setting the exit position of the vehicle 1 that exits the parking lot by remote control in an unmanned parking lot, a method of setting the exit direction according to an instruction from the parking lot base station 7 can be exemplified. As the exit direction indicated by the base station 7, a direction that shortens the distance to the exit 8 of the parking lot, a direction according to the traveling direction of another vehicle 6, etc. can be exemplified.

[0079] Back to Figure 2 The outbound starting position setting unit 502 sets the position at which the outbound auxiliary processing starts (hereinafter referred to as the outbound starting position) and outputs it to the outbound path generating unit 505. For example, when the main switch 40 is operated, the outbound starting position setting unit 502 obtains the current position of the vehicle 1 at that moment from the current position estimating unit 701, and sets the obtained current position as the outbound starting position.

[0080] The passage width estimation unit 503 estimates the width X of the outbound passage (hereinafter referred to as the passage width) and outputs it to the outbound path generation unit 505. Fig.17As shown, when the passage between the parking space 9 and the wall 5 is exited, the position of the frame of the parking space 9 is detected based on the image information of the cameras 11 to 14, and the distance from the host vehicle 1 to the wall 5 is detected based on the distance measurement information of the distance measuring device 15 and the image information of the cameras 11 to 14. Based on the above detection information, the passage width X between the frame of the parking space 9 and the wall 5 can be estimated. In addition, the position of the parked vehicle 2 can be detected instead of the position of the parking space 9, and the distance between the parked vehicle 2 and the wall 5 can be estimated as the passage width X, or the distance between the host vehicle 1 and the wall 5 can be estimated as the passage width X. In addition, the passage width X can also be estimated and recorded based on the distance measurement information of the distance measuring device 15 and the image information of the cameras 11 to 14 when entering the garage. In addition, as a sensor for measuring the distance between the host vehicle 1 and the wall 5, a sonar sensor, an infrared sensor, a laser sensor, a radar sensor, a stereo camera, etc. can be exemplified. Furthermore, the passage width X is not necessarily estimated based on the detection information of the cameras 11 to 14 and the distance measuring device 15. For example, the passage width X information may be acquired through communication with the outside of the vehicle, that is, road-to-vehicle communication or vehicle-to-vehicle communication. Here, as the road-to-vehicle communication, communication between a base station in a parking lot and the vehicle 1 can be exemplified.

[0081] Back to Figure 2 The surrounding object detection unit 504 detects the parked vehicle 2 adjacent to the vehicle 1 and outputs it to the exit path generation unit 505. Fig.18 As shown in FIG. 1 , as a method for detecting an adjacent parked vehicle 2, a method using onboard sensors such as cameras 11 to 14 and a distance measuring device 15 can be exemplified. As onboard sensors, sonar sensors, infrared sensors, laser sensors, radar sensors, and stereo cameras can be exemplified. Here, as a condition for determining whether there is an adjacent parked vehicle 2, a method of detecting when the adjacent parked vehicle 2 enters the detection range R of the onboard sensors can be exemplified. D The determination condition is to determine that there is an adjacent parked vehicle 2 when the distance between the object and the host vehicle 1 is less than a threshold value. The threshold value in this case can be set based on the distance between the parked vehicles 2 in the general parking lot.

[0082] like Fig.19 As shown, as a method for detecting an adjacent parked vehicle 2, a method for detecting the presence or absence of an adjacent parked vehicle 2 based on the detection state of the white line WL on the depth side of the adjacent parking line frame can be exemplified. Here, as a determination condition for the presence or absence of an adjacent parked vehicle 2, a determination condition for determining the presence of an adjacent parked vehicle 2 when the length of the detected white line WL is less than a threshold value can be exemplified. The threshold value in this case can be set to a length slightly shorter than the length of a normal white line WL.

[0083] In addition, it is not necessary to use the vehicle-mounted sensor to detect the presence of adjacent parked vehicles 2. For example, the information on the presence of adjacent parked vehicles 2 may be obtained through communication with the outside of the vehicle, that is, road-to-vehicle communication or vehicle-to-vehicle communication. Here, as the road-to-vehicle communication, communication between a base station in a parking lot and the vehicle 1 can be exemplified.

[0084] Back to Figure 2 The outbound path generation unit 505 generates a path (hereinafter referred to as an outbound path) from the outbound start position set by the outbound start position setting unit 502 to the outbound position set by the outbound position setting unit 501, and outputs it to the outbound path tracking control unit 506 and the target speed generation unit 507. In the outbound path generation process, the outbound path is calculated based on the presence or absence of the adjacent parked vehicle 2 and the positional relationship between the adjacent parked vehicle 2 and the vehicle 1.

[0085] Fig. 20 1 is a diagram for explaining the process of generating a forward exit route of the vehicle 1. Fig.21 1 is a diagram for explaining the generation process of the exit path of the vehicle 1 for exiting the vehicle backward. Fig. 20 As shown, when there are adjacent objects such as parked vehicles next to the vehicle 1, and the vehicle is moving forward to the side where the adjacent object exists, an exit path is generated that first moves forward in a straight line (hereinafter referred to as straight line movement), then turns and exits the vehicle without interfering with the adjacent object.

[0086] exist Fig. 20 Under the conditions shown, the delivery route generation unit 505 generates a delivery route that satisfies the following equations (2) and (3).

[0087] [Number 2]

[0088] L=l0-l1…(2)

[0089] [Number 3]

[0090]

[0091] Among them, L is the distance of the straight-line moving interval from the starting position of the outbound delivery (hereinafter referred to as the straight-line moving distance), l0 is the distance from the rear wheel axle of the vehicle 1 located at the starting position of the outbound delivery to the front end of the adjacent object, l1 is the distance from the rear wheel axle of the vehicle 1 that has only moved forward L to the front end of the adjacent object, w is the gap between the vehicle 1 and the adjacent object, and R is the turning radius based on the rear wheel and inner wheel of the vehicle 1 that has only moved forward L.

[0092] like Fig.21As shown, when there are adjacent objects such as adjacent vehicles on both sides of the vehicle 1, and when one side of an adjacent object is exiting the warehouse backward, an exit path is generated in which the vehicle first moves backward in a straight line (hereinafter referred to as linear movement), then turns and exits the warehouse without interfering with the adjacent objects on both sides. In such a situation, the exit path generation unit 505 calculates the path of the rear wheels and the inner wheels that satisfies the above equations (2) and (3), and the path of the front wheels and the outer wheels that satisfies the above equations (2) and the following equation (4), and generates the path with the longer linear movement distance L from the exit start position as the exit path.

[0093] [Number 4]

[0094]

[0095] Here, T is the vehicle width of the vehicle 1 .

[0096] Here, it is not necessary to generate an outbound path including a straight-line moving distance L. For example, in the case of turning from the outbound start position but not colliding with an adjacent object, or in the case of an adjacent object not existing, the straight-line moving distance L may be set to 0. In the present embodiment, the outbound path generation unit 505 generates an outbound path with a straight-line moving distance L=0 when the distance between the rear wheel axle of the vehicle 1 located at the outbound start position and the front end of the adjacent object is less than l1, and when no adjacent object is detected. However, in the case of a space next to the vehicle 1 being a prohibited area or an area with poor road conditions, the outbound path generation unit 505 generates an outbound path including a straight-line moving distance L, similar to the case of the presence of an adjacent object. In addition, as an area with poor road conditions, an area with accumulated water, muddy water, snow, ice, oil, etc. can be exemplified. By generating an outbound path that does not pass through the above-mentioned area, it is possible to prevent the accuracy of outbound assistance from being reduced due to dirt or sliding of the vehicle body.

[0097] Fig. 22 This is a flowchart showing the order of generating a delivery route. Fig.23 and Fig.24 This is a diagram for explaining the process of generating a delivery route. When the main switch 40 is operated to instruct the start of delivery assistance, the delivery assistance starts. Fig. 22 The process of generating the outbound route is performed as shown in the flowchart, and the process proceeds to step S101.

[0098] In step S101, the outbound path generation unit 505 calculates the distance (hereinafter referred to as the depth setting value) from the rear wheel axle of the vehicle 1 located at the outbound start position to the end of the depth side of the outbound passage (wall or parking line frame, etc.) based on the image information of the cameras 11 to 14 and the distance measurement information of the distance measurement device 15. Then, in step S102, the outbound path generation unit 505 sets the target outbound line TL on the outbound passage. Here, as the target outbound line TL, the center line of the outbound passage can be exemplified (refer to Fig.23 ), or the center line of the front side or the deep side passage that divides the outbound passage in the width direction, etc. In addition, step S101 does not necessarily have to be executed before step S102, and step S102 may also be executed before step S101.

[0099] Next, in step S103, the outbound path generation unit 505 determines whether the adjacent parked vehicle 2 is detected by the surrounding object detection unit 504. If a positive determination is made in this step, the process proceeds to step S104, and if a negative determination is made, the process proceeds to step S105. In step S104, the outbound path generation unit 505 calculates the linear moving distance L based on the above equations (2) and (3) in the case of forward outbound and based on the above equations (2) to (4) in the case of backward outbound. In addition, due to the positional relationship between the rear wheel axle of the host vehicle 1 and the front end of the adjacent parked vehicle 2, the linear moving distance may be L=0. On the other hand, in step S105, the outbound path generation unit 505 sets the linear moving distance to L=0.

[0100] After steps S104 and S105, in step S106, the outbound path generation unit 505 calculates the turning radius R based on the above formulas (2) and (3) in the case of forward outbound and based on the above formulas (2) to (4) in the case of backward outbound, and generates an outbound path corresponding to the straight-line moving distance L set in steps S104 and S105 and the turning radius R calculated in this step.

[0101] Here, if Fig.23 As shown in FIG. 1 , when there is an adjacent parked vehicle 2, the straight-line moving distance L and the turning radius R are set so that there is a gap between the turning host vehicle 1 and the adjacent parked vehicle 2 to a degree that does not make the occupants feel uncomfortable. Therefore, when there is an adjacent parked vehicle 2, a path for the host vehicle 1 to exit the parking space 9 is generated. In contrast, Fig.24 As shown, in the case where there is no adjacent parked vehicle 2, an exit path is generated for the vehicle 1 through the adjacent parking space 9.

[0102] Back to Fig. 22In step S107, the outbound path generation unit 505 determines whether the vehicle 1 can reach the target outbound line TL when outbound along the outbound path generated in step S106. If a positive determination is made in this step, the process proceeds to step S108, and if a negative determination is made, the process proceeds to step S109.

[0103] In step S108, when the vehicle 1 is being driven out of the warehouse along the outbound path generated in step S106, the outbound path generation unit 505 determines whether the vehicle 1 can travel within the passage width corresponding to the depth setting value set in step S101. If a positive determination is made in this step, the process ends, and if a negative determination is made, the process proceeds to step S109.

[0104] In step S109, the outbound path generation unit 505 generates an outbound path including repeated vehicle transfers. Then, the process returns to step S107 and steps S107 to S109 are repeated. Here, if a negative determination is made again in step S107 or step S108, an outbound path including multiple repeated vehicle transfers is generated.

[0105] As described above, in the exit assisting method of the present embodiment, when it is determined whether there is an adjacent parked vehicle 2 in the parking space 9 adjacent to the exit starting position of the host vehicle 1, and when there is no adjacent parked vehicle 2, an exit path including the adjacent parking space 9 is generated (refer to Fig.24 ). Thus, for example, compared with a case where a path is recorded during parking at a parking position and the recorded path is used as an exit path, and a case where an exit path is pre-set and an exit path is generated regardless of the presence or absence of adjacent parked vehicles 2, the selection range of the exit path can be expanded.

[0106] Here, when generating an outbound path including the adjacent parking space 9, the straight-line moving distance L from the outbound start position can be reduced, or the turning radius can be reduced, compared with the case of generating an outbound path not including the adjacent parking space 9. This makes it easier to reach the target outbound line TL, and the number of repeated vehicle moves can be reduced, or the outbound time can be shortened.

[0107] However, a method of detecting an empty parking space based on the image information of a camera and generating a route to exit the parking space can be considered. In this method, when detecting an empty parking space based on the image information of a camera, it is difficult to ensure the detection accuracy outdoors because of obstacles such as strong sunlight or dark shadows during the day, lack of lighting at night, reverse driving or reflection of lights, etc., and it is limited to underground and indoors. Therefore, due to the surrounding environment, it is sometimes difficult to estimate the details of the empty parking space (such as width, length, presence or absence of white line detection, etc.), it is difficult to estimate the empty parking space with good accuracy, and it is impossible to generate a route to exit the parking space with good accuracy.

[0108] In contrast, in the exit assisting method of the present embodiment, the presence or absence of adjacent parked vehicles 2 is detected based on the image information of the camera and the distance measurement information of the distance measuring device 15, and the detection accuracy of the presence or absence of adjacent parked vehicles 2 is easily ensured regardless of the brightness of the surroundings, that is, whether indoors or outdoors. In other words, it is easier to detect the presence or absence of adjacent parked vehicles 2 and estimate the details of the empty parking space, and to estimate the situation of the empty parking space with good accuracy. Therefore, regardless of the surrounding environment, the space for generating the exit path can be estimated with good accuracy, and the exit path can be generated with good accuracy.

[0109] In addition, in the exit assisting method of the present embodiment, when there is an adjacent parked vehicle 2, an exit path is generated that includes a straight moving section that moves straightly from the exit start position and a turning section that turns from the end point of the straight moving section without interfering with the adjacent parked vehicle 2 (see Fig.23 Here, the distance L of the linear movement section is set according to the interval W between the adjacent parked vehicle 2 and the host vehicle 1 (refer to Fig. 20 and Fig.21 ). Thus, when there is an adjacent parked vehicle 2, an exit path that does not interfere with the adjacent parked vehicle 2 is generated. On the other hand, when there is no adjacent parked vehicle 2, an exit path including the adjacent parking space 9 can be generated.

[0110] In the exit assisting method of the present embodiment, when there is no adjacent parked vehicle 2 , the distance L of the linear movement section is set to 0. Thus, when there is no adjacent parked vehicle 2 , an exit route including the adjacent parking space 9 can be generated.

[0111] In addition, in the exit assisting method of the present embodiment, when there is an adjacent parked vehicle 2, a target exit position is set according to the position of the adjacent parked vehicle 2 and the passing direction of the vehicle on the exit passage (see Figure 3 and Figure 4 ). For example, as described above, when there is an adjacent parked vehicle 2 on the right, the exit passage is right-hand traffic, and the exit is forward, the exit position is set on the left. In this way, a exit path that turns slowly from the exit start position to the target exit position can be generated, which can reduce the discomfort given to the occupants during the exit.

[0112] In addition, in the exit assisting method of the present embodiment, an instruction from an operator indicating a target parking position is received, and the target parking position is set according to the received instruction (see Fig.10 and Fig.11). For example, as described above, the operator's command is received through the buttons 3L and 3R of the remote control key 3, or the operator 4's command is received by detecting the action of the operator 4. In this way, the vehicle can be unloaded to the position desired by the operator 4, and the discomfort given to the operator 4 when unloading can be reduced.

[0113] In addition, in the outbound assistance method of this embodiment, the target outbound position is set according to the predetermined automatic setting conditions (refer to Figures 5 to 9 , Figure 12 to Figure 16 For example, in order to make the direction of the outbound passage consistent with the outbound direction, the target outbound position is set (refer to Figure 5 ), or in order to make the direction of the path R toward the target location searched in the navigation system 70 consistent with the direction of the outbound direction, the target outbound position is set (refer to Figure 6 ), or set the target outbound position in the direction with fewer repeated car moves (refer to Fig. 9 ). This can reduce the discomfort given to passengers when leaving the garage.

[0114] In addition, in the exit assisting method of the present embodiment, the target exit position (see Figure 12 to Figure 14 For example, a target parking position is set near the operator 4 (see Fig.12 ), or set the target parking position at a position where a space S can be ensured between the door on the driver's seat side of the vehicle 1 and the wall 5 for the operator 4 to sit on the driver's seat (refer to Fig.13 ), or the target parking position is set at a position where a space S can be ensured between the door on the passenger seat side of the vehicle 1 and the wall 5 for the operator 4 to sit on the passenger seat (refer to Fig.14 ). Thus, it is possible to reduce the discomfort given to the operator 4 who performs the remote operation.

[0115] Fig.25 This is a flowchart showing the sequence of processing for generating a delivery route in another embodiment. Fig.25 The generation process of the outbound route shown in the flowchart is executed Fig. 22 The flowchart shown is steps S101 to S105.

[0116] After step S104 and step S105, in step S110, the outbound path generation unit 505 changes the straight-line moving distance L. In this step, the straight-line moving distance L set in step S104 or step S105 is extended. Next, in step S106, the outbound path generation unit 505 calculates the turning radius R based on the above equations (2) and (3) in the case of forward outbound and based on the above equations (2) to (4) in the case of backward outbound, and generates an outbound path corresponding to the straight-line moving distance L set in step S110 and the turning radius R calculated in this step.

[0117] Next, execute Fig. 22 Steps S107 to S109 of the flowchart shown. If it is determined in step S107 that the target outbound line can be reached, and if it is determined in step S108 that the depth setting value can be traveled, in step S111, the outbound path generation unit 505 determines whether the generated outbound path satisfies the prescribed determination conditions. If a negative determination is made in this step, the process returns to step S110, the straight-line moving distance L is changed again, and steps S106 to S109 and S111 are executed. In contrast, if a positive determination is made in this step, the process ends.

[0118] Here, the linear movement distance L in step S110 is changed according to the passage width and the target delivery position. For example, the wider the passage width is and the longer the distance from the delivery start position to the target delivery position is, the longer the linear movement distance L is.

[0119] As the determination conditions specified in step S111, the determination conditions such as whether the total distance of the outbound path is less than the specified distance, whether the outbound time is less than the specified time, etc. can be exemplified. The specified distance or specified time in the determination condition can be exemplified as a length set to a level at which the occupant or the operator performing remote operation will not feel discomfort. In addition, it can be exemplified as selecting the best outbound path based on conditions such as distance and time from multiple outbound paths generated during the cycle of steps S110, S106 to S109, and S111 that must be repeated multiple times. As the determination conditions specified in step S111 in this case, the determination condition of selecting an outbound path with the highest total value of evaluation points such as distance and time from multiple outbound paths generated can be exemplified.

[0120] As described above, in the outbound assistance method of this embodiment, the linear moving distance L is set according to conditions such as the passage width and the target outbound position, and an outbound path is generated that includes the set linear moving distance L and satisfies the prescribed judgment conditions. In this way, an outbound path that is suitable for the feelings of the occupants and the operator can be generated.

[0121] In addition, the above-mentioned embodiments are only for facilitating understanding of the present invention, and are not intended to limit the present invention. Therefore, the main contents disclosed in the above-mentioned embodiments also include all design changes and equivalents within the technical scope of the present invention.

[0122] For example, in the above-mentioned embodiment, although an exit path that does not include the adjacent parking space 9 is generated when there is an adjacent parked vehicle 2, this is not necessarily the case. As long as the turn can be made without interfering with the adjacent parked vehicle 2, an exit path that includes the adjacent parking space 9 can also be generated.

[0123] Explanation of symbols

[0124] 1 vehicle;

[0125] 2. Parking vehicles;

[0126] 9 parking spaces;

[0127] 50 parking and exit assist ECU;

[0128] 100 Parking and exit assistance device;

[0129] L is the distance of the linear moving interval, the linear moving distance;

[0130] W is the distance between the host vehicle 1 and the adjacent parked vehicle 2.

Claims

1. A method for assisting a vehicle to exit a warehouse, which is performed by using an exit assisting controller for moving a vehicle from an exit starting position to a target exit position along an exit path, wherein: determining whether there is an adjacent parked vehicle in a parking space adjacent to the exit start position, When there is an adjacent parked vehicle on the right side of the vehicle moving forward out of the garage and the passage for exiting the garage is right-hand traffic, the target exiting position is set in the right-hand traffic lane on the left side as viewed from the vehicle. When there is an adjacent parked vehicle on the left side of the vehicle moving forward out of the garage and the passage for exiting the garage is left-hand traffic, the target exiting position is set in the left-hand traffic lane on the right side as viewed from the vehicle. When there is an adjacent parked vehicle on the right side of the vehicle exiting the garage backwards and the passage for exiting the garage is right-hand traffic, the target exiting position is set in the right-hand traffic lane on the right side as viewed from the vehicle. When the adjacent parked vehicle exists on the left side of the host vehicle exiting the garage backwards and the exit passage is a left-side traffic lane, the target exit position is set in the left-side traffic lane on the left side as viewed from the host vehicle.

2. A method for assisting a vehicle to exit a warehouse, executed by using an exit assisting controller for moving a vehicle from an exit starting position to a target exit position along an exit path, wherein: determining whether there is an adjacent parked vehicle in a parking space adjacent to the exit start position, In the case where there is an adjacent parked vehicle, the target exit position is set based on whether there is an adjacent parked vehicle in the left and right directions relative to the host vehicle, whether the two-lane passage of the target exit position is for right-hand traffic or left-hand traffic, and whether the host vehicle is exiting forward or backward. In the case where the adjacent parked vehicle exists, generating the exit path that does not include the adjacent parking space, In a case where the adjacent parked vehicle does not exist, the exit path including the adjacent parking space is generated.

3. The method for assisting warehouse delivery according to claim 1 or 2, wherein: The exit path in the case where the adjacent parked vehicle exists includes: a straight movement section in which the vehicle moves straightly from the exit start position, and a turning section in which the vehicle turns from an end point of the straight movement section so as not to interfere with the adjacent parked vehicle. The distance of the linear movement section is set according to the distance between the adjacent parked vehicle and the host vehicle.

4. The method for assisting warehouse delivery according to claim 3, wherein: When there is no adjacent parked vehicle, the distance of the linear movement section is set to 0.

5. The warehouse-out assisting method according to claim 1 or 2, wherein: An instruction from an operator to designate the target outbound storage position is received, and the target outbound storage position is set according to the received instruction.

6. The warehouse-out assisting method according to claim 1 or 2, wherein: The target outbound location is set according to the specified automatic setting conditions.

7. The method for assisting warehouse delivery according to claim 6, wherein: The predetermined automatic setting condition is a condition set according to the position of an operator who remotely operates the host vehicle.

8. A warehouse exit assisting device, comprising a warehouse exit assisting controller for moving a vehicle along a warehouse exit path from a warehouse exit starting position to a target warehouse exit position, wherein: The exit assisting controller determines whether there is an adjacent parked vehicle in a parking space adjacent to the exit starting position. When there is an adjacent parked vehicle on the right side of the vehicle moving forward out of the garage and the passage for exiting the garage is right-hand traffic, the target exiting position is set in the right-hand traffic lane on the left side as viewed from the vehicle. When there is an adjacent parked vehicle on the left side of the vehicle moving forward out of the garage and the passage for exiting the garage is left-hand traffic, the target exiting position is set in the left-hand traffic lane on the right side as viewed from the vehicle. When there is an adjacent parked vehicle on the right side of the vehicle exiting the garage backwards and the passage for exiting the garage is right-hand traffic, the target exiting position is set in the right-hand traffic lane on the right side as viewed from the vehicle. When the adjacent parked vehicle exists on the left side of the host vehicle exiting the garage backwards and the exit passage is a left-side traffic lane, the target exit position is set in the left-side traffic lane on the left side as viewed from the host vehicle.

Images