Vehicle control device and parking assistance system and method

Abstract

The present invention relates to a vehicle control device and a parking assistance system and method. The vehicle control device causes the vehicle to enter or exit a parking space in a parking lot by causing the vehicle to drive itself. The vehicle control device includes: a receiving unit that receives map information containing mark information from a parking lot control center, the mark information being information related to a plurality of marks used to identify the position of the vehicle in the parking lot; a calculation unit that calculates the interval between the plurality of marks based on the mark information contained in the map information; and a determination unit that determines whether the calculated interval is a predetermined interval.

Description

Technical Field

[0001] The present invention relates to the technical field of a vehicle control device and a parking assistance system and method for causing a vehicle to enter or exit a parking space by causing the vehicle to drive itself. Background Art

[0002] As a technology related to such devices, for example, a navigation device has been proposed that receives driving assistance information from a driving assistance device that assists vehicles in driving within a parking lot. This driving assistance information includes a floor map that reflects the presence or absence of vehicles within a parking lot map, and a congestion map that reflects warning information, etc. within the parking lot map (see Japanese Patent Application Laid-Open No. 2016-197314). It should be noted that Japanese Patent Application Laid-Open No. 2016-197314 states that this navigation device can also be applied to vehicles capable of autonomous driving.

[0003] When information is transmitted and received between a vehicle and a device external to the vehicle, errors may occur in the transmitted and received information (for example, garbled information due to partial loss or corruption). Errors in the transmitted and received information may affect vehicle control. The technology described in Japanese Patent Application Laid-Open No. 2016-197314 does not consider the possibility of errors in the transmitted and received information. Summary of the Invention

[0004] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a vehicle control device and a parking assistance system and method that can detect errors in information caused by transmission and reception.

[0005] A vehicle control device according to one embodiment of the present invention is a vehicle control device for a vehicle that is configured to communicate with a control center of the parking lot and is capable of causing the vehicle to enter a parking space of the parking lot or to exit the parking space by causing the vehicle to drive itself. The vehicle control device comprises: a receiving unit that receives map information containing mark information from the control center, the mark information being information related to a plurality of marks used to determine the position of the vehicle in the parking lot; a calculation unit that calculates each interval of the plurality of marks based on the mark information contained in the map information; and a determination unit that determines whether each calculated interval is a specified interval.

[0006] A parking assistance system according to one embodiment of the present invention is a parking assistance system for causing a vehicle to enter a parking space in a parking lot or to exit the parking space by causing the vehicle to drive itself, and comprises: a control center for giving instructions and information to the vehicle in the parking lot; and a vehicle control device mounted on the vehicle and configured to be able to communicate with the control center, the vehicle control device comprising: a receiving unit for receiving map information including mark information from the control center, the mark information being information related to a plurality of marks for determining the position of the vehicle in the parking lot; a calculation unit for calculating each interval between the plurality of marks based on the mark information included in the map information; and a determination unit for determining whether each calculated interval is a specified interval.

[0007] A parking assistance method according to one embodiment of the present invention is a parking assistance method for causing a vehicle to enter a parking space in a parking lot or to exit the parking space by causing the vehicle to drive itself, and includes: a receiving step, in which the vehicle receives map information containing mark information from a control center of the parking lot, the mark information being information related to a plurality of marks used to determine the position of the vehicle in the parking lot; a calculation step, in which the vehicle calculates each interval of the plurality of marks based on the mark information contained in the map information; and a determination step, in which the vehicle determines whether each calculated interval is a specified interval. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0009] Figure 1 This is a block diagram showing the configuration of a parking assistance system according to an embodiment.

[0010] Figure 2 This is a diagram showing a portion of a parking lot.

[0011] Figure 3 This is a block diagram showing the operation of the parking assistance system according to the embodiment. DETAILED DESCRIPTION

[0012] Reference Figures 1 to 3 The parking assist system 1 of the embodiment causes an unmanned vehicle 20 (ie, without passengers) to drive itself, thereby allowing the vehicle 20 to enter or exit a parking space.

[0013] Here, "autonomous driving" means that the vehicle moves independently of the driver's operation. Specific examples of "autonomous driving" include a scenario where the vehicle moves (drives) using the vehicle's autonomous driving function and a scenario where the vehicle moves using a robot towing the vehicle. It should be noted that the following description will focus on a scenario where the vehicle 20 moves using the vehicle's autonomous driving function, but the present invention is not limited to this.

[0014] exist Figure 1 In the present invention, parking assistance system 1 is configured to include a control center 10 and a vehicle control device 100 mounted on a vehicle 20. The control center 10 and the vehicle control device 100 are configured to communicate with each other. It should be noted that the control center 10 can be located within the parking lot where vehicles 20 enter or exit the parking lot, or it can be located at a separate location. Furthermore, the control center 10 can be physically constructed or virtually constructed on a network.

[0015] The control center 10 provides instructions and information to vehicles 20 in the parking lot. Examples of instructions provided by the control center 10 to vehicles 20 include "start loading," "start unloading," "temporarily stop," and "abort." Examples of information provided by the control center 10 to vehicles 20 include "parking lot map information," "route information," "loading start time," and "unloading start time."

[0016] The control center 10 is provided with a database 11 including map information of the parking lot set as a target, a map information checking device 12, and a map information distributing device 13. Here, in the parking lot set as a target by the control center 10, for example, Figure 2 As shown, a plurality of landmarks LM are arranged at predetermined intervals on a passageway where the vehicle 20 can move. The map information includes landmark information indicating position coordinates, identification numbers, and the like of each of the plurality of landmarks LM.

[0017] When the vehicle 20 moves in the parking lot, the vehicle control device 100 detects the landmark LM using, for example, a vehicle-mounted camera (not shown), and compares the detected landmark LM with the landmark information included in the map information, thereby estimating the position of the vehicle 20 in the parking lot.

[0018] Furthermore, when map information is distributed (sent) from the control center 10 to the vehicle control device 100 of the vehicle 20, errors may occur in the map information, for example, due to partial loss or corruption of the information. In particular, if errors occur in the landmark information included in the map information, the vehicle control device 100 may be unable to accurately estimate the position of the vehicle 20 within the parking lot.

[0019] In contrast, the parking assist system 1 determines whether an error has occurred in the map information due to communication between the control center 10 and the vehicle control device 100. Specifically, as described above, multiple landmarks LM are arranged at predetermined intervals. Therefore, the vehicle control device 100 checks the intervals between the multiple landmarks LM indicated by the landmark information included in the map information received from the control center 10. If the intervals between the multiple landmarks LM indicated by the landmark information are within the predetermined intervals, the vehicle control device 100 determines that there are no errors in the map information. On the other hand, if the intervals between the multiple landmarks LM indicated by the landmark information are not within the predetermined intervals, the vehicle control device 100 determines that an error has occurred in the map information.

[0020] Here, the vehicle control device 100 is configured to include a map information receiving device 21 that receives map information from the control center 10 , a map information checking device 22 that performs the above-mentioned check, and a travel start determination device 23 .

[0021] Next, refer to Figure 3 The operation of the parking assist system 1 will be described with reference to the flowchart of FIG.

[0022] When a vehicle 20 equipped with a vehicle control device 100 enters a parking space, the vehicle control device 100 communicates with the control center 10 when the user of the vehicle 20 exits the vehicle at a designated location (e.g., a platform) and performs an action, such as indicating permission to park. The control center 10 determines the parking space to be entered by the vehicle 20 and the route for the vehicle 20 to enter the parking space based on, for example, the status of each parking space in the parking lot. The control center 10 then distributes map information to the vehicle control device 100 of the vehicle 20.

[0023] When a vehicle 20 equipped with a vehicle control device 100 leaves a parking space, the control center 10 determines the location (e.g., a platform) to which the vehicle 20 should be moved and the route for the vehicle 20 to leave the parking space, if the vehicle 20 leaves the parking space a predetermined time before the scheduled departure time or if a departure instruction is received. The control center 10 then distributes map information to the vehicle control device 100 of the vehicle 20.

[0024] Depend on Figure 3 The actions shown in the flowchart correspond to actions after the entry or exit route of the vehicle 20 is determined. Figure 3 In the process, steps S101 to S103 and S108 are operations of the control center 10 , and steps S104 to S107 are operations of the vehicle control device 100 .

[0025] exist Figure 3In the process, the map information checking device 12 of the control center 10 obtains map information to be distributed to the vehicle 20 from the database 11. Then, the map information checking device 12 calculates the intervals between a plurality of landmarks LM indicated by the landmark information included in the obtained map information as a map information check (step S101).

[0026] Next, the map information checking device 12 determines whether the calculated interval is within the prescribed interval (step S102). If the calculated interval is determined not to be within the prescribed interval (step S102: No), the control center 10 notifies the terminal used by the parking lot manager, for example, that an anomaly exists in the map information contained in the database 11 (step S108). At this time, the control center 10 may also transmit a signal to the vehicle control device 100 of the vehicle 20 indicating that entry or exit is suspended or that autonomous driving is disabled.

[0027] If it is determined in the process of step S102 that the calculated interval is the predetermined interval (step S102 : YES), the map information distribution device 13 distributes the map information checked by the map information check device 12 to the vehicle control device 100 of the vehicle 20 (step S103 ).

[0028] After the map information receiving device 21 of the vehicle control device 100 receives the map information, the map information checking device 22 calculates the intervals between the plurality of landmarks LM indicated by the landmark information included in the received map information as a check of the map information (step S104). The map information checking device 22 then determines whether the calculated intervals are within a predetermined interval (step S105).

[0029] If it is determined in step S105 that the calculated interval is not the prescribed interval (step S105: No), the map information check device 22 requests the control center 10 to retransmit the map information (step S107). If it is determined in step S105 that the calculated interval is the prescribed interval (step S105: Yes), the travel start determination device 23 determines to start travel of the vehicle 20 to enter or exit the vehicle 20 (step S106).

[0030] (Technical Effect)

[0031] In the parking assistance system 1, map information determined to be normal by the control center 10 (in the above-described embodiment, map information determined to have multiple landmarks LM spaced at a predetermined interval) is transmitted to the vehicle control device 100. The vehicle control device 100 then determines whether the map information received from the control center 10 is normal (in the above-described embodiment, whether the multiple landmarks LM spaced at a predetermined interval). Therefore, if the vehicle control device 100 determines that the map information is abnormal, it can be said that the cause lies in the information exchanged between the control center 10 and the vehicle control device 100. Therefore, the parking assistance system 1 can detect errors in information caused by this exchange.

[0032] It should be noted that the "prescribed interval" can be determined during the design of the parking lot targeted by the parking assistance system 1. If a common standard is established for parking lots where vehicles are driven by themselves to enter or exit, the "prescribed interval" can be determined based on that standard. The map information checking device 22 of the vehicle control device 100 may have information about the "prescribed interval" in advance or obtain it from the control center 10, such as a server on the Internet, when checking map information.

[0033] Modifications

[0034] Alternatively, the map information may include, in addition to landmark information, information such as the position coordinates and identification information of multiple frame lines defining parking spaces, or information such as the position coordinates and identification information of multiple vehicle blocks (e.g., parking lots), or alternatively, information such as the position coordinates and identification information of multiple frame lines defining parking spaces, or information such as the position coordinates and identification information of multiple vehicle blocks (e.g., parking lots), instead of landmark information. In this case, the map information checking device 12 and the map information checking device 22 may check the map information using, for example, multiple frame lines or multiple vehicle blocks in addition to the multiple landmarks LM indicated by the landmark information, or alternatively, multiple frame lines or multiple vehicle blocks instead of the multiple landmarks LM. Specifically, map information checks may be performed at regular intervals predetermined within the parking lot using objects detectable by onboard sensors such as cameras.

[0035] Multiple landmarks LM may also be arranged at equal intervals. In this case, the map information checking device 12 and the map information checking device 22 may determine that the map information is normal based on the condition that the calculated intervals between the multiple landmarks LM are equal to each other (in other words, without determining whether the calculated intervals are the specified intervals).

[0036] The vehicle control device 100 may not include the map information checking device 22. In this case, upon receiving map information from the control center 10, the vehicle control device 100 may download a program for checking map information from, for example, the control center 10 or a server on the network, and execute the program to check the map information. Upon completion of the map information check (for example, upon determining that the calculated interval in step S105 is within the specified interval), the downloaded program may be deleted from the vehicle control device 100.

[0037] In the above embodiment, the vehicle 20 is moved by the autonomous driving function of the vehicle 20 , but the vehicle 20 may be moved by being towed by a robot. In this case, the vehicle control device 100 may be mounted on the robot towing the vehicle 20 .

[0038] Various aspects of the invention derived from the above-described embodiment and modifications will be described below.

[0039] A vehicle control device according to one embodiment of the invention is a vehicle control device configured to communicate with a control center of a parking lot, and is capable of causing the vehicle to enter a parking space of the parking lot or to exit the parking space by causing the vehicle to drive itself. The vehicle control device comprises: a receiving unit that receives map information containing mark information from the control center, the mark information being information related to a plurality of marks used to determine the position of the vehicle in the parking lot; a calculation unit that calculates each interval of the plurality of marks based on the mark information contained in the map information; and a determination unit that determines whether each calculated interval is a specified interval.

[0040] In the above embodiment, the "map information receiving device 21" corresponds to an example of a "receiving unit", the "map information checking device 22" corresponds to an example of a "calculating unit" and a "determining unit", and the "landmark information" corresponds to an example of a "mark information".

[0041] The vehicle control device may include a transmitting unit configured to transmit a request to retransmit the map information to the control center when the determining unit determines that the calculated interval is not the predetermined interval. In the above-described embodiment, the "map information checking device 22" is an example of the "transmitting unit."

[0042] The plurality of marks may be a plurality of landmarks provided in the parking lot or a plurality of frame lines defining the parking space.

[0043] A parking assistance system according to one embodiment of the invention is a parking assistance system for causing a vehicle to enter a parking space in a parking lot or to exit the parking space by causing the vehicle to drive itself, and comprises: a control center for giving instructions and information to the vehicle in the parking lot; and a vehicle control device mounted on the vehicle and configured to be able to communicate with the control center, the vehicle control device comprising: a receiving unit for receiving map information containing mark information from the control center, the mark information being information related to a plurality of marks for determining the position of the vehicle in the parking lot; a calculation unit for calculating each interval of the plurality of marks based on the mark information contained in the map information; and a determination unit for determining whether each calculated interval is a specified interval.

[0044] The vehicle control device may include a transmitting unit configured to transmit a retransmission request of the map information to the control center when the determining unit determines that the calculated interval is not the predetermined interval.

[0045] The control center may calculate the intervals between the plurality of markers based on the marker information included in the map information before transmitting the map information to the vehicle control device.

[0046] A parking assistance method according to one embodiment of the invention is a parking assistance method for causing a vehicle to enter a parking space in a parking lot or to exit the parking space by causing the vehicle to drive itself, the method comprising: a receiving step, wherein the vehicle receives map information containing mark information from a control center of the parking lot, the mark information being information related to a plurality of marks used to determine the position of the vehicle in the parking lot; a calculation step, wherein the vehicle calculates each interval of the plurality of marks based on the mark information contained in the map information; and a determination step, wherein the vehicle determines whether each calculated interval is a specified interval.

[0047] The parking assist method may include a sending step in which, when it is determined in the determining step that the calculated interval is not the predetermined interval, the vehicle sends a request to resend the map information to the control center.

[0048] The parking assistance method may include a second calculation step, in which the control center calculates the intervals between the plurality of marks based on the mark information included in the map information before the receiving step.

[0049] The present invention is not limited to the above-mentioned embodiments, and can be appropriately modified within the scope that does not violate the main purpose or idea of the invention read from the entire claims and description. The vehicle control device and parking assistance system and method accompanying such modifications are also included in the technical scope of the present invention.

Claims

1. A vehicle control device for a vehicle configured to communicate with a parking control center, configured to cause the vehicle to enter or exit a parking space in a parking lot by causing the vehicle to drive itself, the vehicle control device comprising: a receiving unit that receives, from the control center, map information including mark information related to a plurality of marks for determining a position of the vehicle in the parking lot; a calculation unit for calculating intervals between the plurality of marks based on the mark information included in the map information; as well as The determination unit determines whether each of the calculated intervals is a predetermined interval, and if the interval is not the predetermined interval, the vehicle control device determines that an error has occurred in the map information.

2. The vehicle control device according to claim 1, wherein: A transmitting unit is provided for transmitting a retransmission request of the map information to the control center when the determining unit determines that the calculated interval is not the predetermined interval.

3. The vehicle control device according to claim 1 or 2, characterized in that: The plurality of marks are a plurality of landmarks provided in the parking lot or a plurality of frame lines defining the parking space.

4. A parking assistance system for causing a vehicle to enter a parking space in a parking lot or exit the parking space by causing the vehicle to drive itself, the parking assistance system comprising: a control center for giving instructions and information to the vehicles in the parking lot; and a vehicle control device, mounted on the vehicle and configured to communicate with the control center, The vehicle control device comprises: a receiving unit that receives, from the control center, map information including mark information related to a plurality of marks for determining a position of the vehicle in the parking lot; a calculation unit for calculating intervals between the plurality of marks based on the mark information included in the map information; as well as The determination unit determines whether each of the calculated intervals is a predetermined interval, and if the interval is not the predetermined interval, the vehicle control device determines that an error has occurred in the map information.

5. The parking assistance system according to claim 4, characterized in that: The vehicle control device includes a transmitting unit configured to transmit a retransmission request of the map information to the control center when the determining unit determines that the calculated interval is not the predetermined interval.

6. The parking assistance system according to claim 4 or 5, characterized in that: The control center calculates the intervals between the plurality of markers based on the marker information included in the map information before transmitting the map information to the vehicle control device.

7. A parking assistance method for causing a vehicle to enter a parking space in a parking lot or exit the parking space by causing the vehicle to drive itself, the parking assistance method comprising: a receiving step in which the vehicle receives map information including mark information related to a plurality of marks for determining the position of the vehicle in the parking lot from a control center of the parking lot; a calculation step of calculating, by the vehicle, each interval between the plurality of marks based on the mark information included in the map information; as well as In the determining step, the vehicle determines whether each of the calculated intervals is a predetermined interval, and if the intervals are not the predetermined intervals, the vehicle determines that an error has occurred in the map information.

8. The parking assistance method according to claim 7, characterized in that: The method includes a sending step in which, when it is determined in the determining step that the calculated interval is not the predetermined interval, the vehicle sends a request for resending the map information to the control center.

9. The parking assistance method according to claim 7 or 8, characterized in that: The control center includes a second calculation step, which is a step of calculating the intervals between the plurality of markers based on the marker information included in the map information before the receiving step.

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