Parking control device, method, and program

Abstract

The present invention relates to a parking control device, a method, and a program, the parking control device comprising: a driving assistance ECU that sets a target trajectory from a parking start position to a parking completion position in a parking area on the basis of information of objects around a vehicle acquired by an object information acquisition device; the driving assistance ECU controls the automatic driving device so that the vehicle moves from the parking start position to the parking completion position by at least an automatic steering along the target trajectory, and when it is determined that a parking stop type parking lock device is present in the parking area and the parking stop type parking lock device is in an unlocked state, the driving assistance ECU controls the automatic driving device so that the vehicle moves from the parking start position to the parking completion position by the automatic steering. The target trajectory is set such that the wheels of the vehicle do not pass through the parking lock device.

Description

Technical Field

[0001] The present invention relates to a parking control device, method, and program for a vehicle such as an automobile. Background Art

[0002] A parking control device is known as a control device for vehicles such as automobiles. This device sets a target trajectory from a parking start position to a parking completion position based on information about surrounding landmarks acquired by a landmark information acquisition device. Furthermore, the parking control device automatically drives the vehicle along the target trajectory.

[0003] For example, Japanese Patent Application Laid-Open No. 2018-90108 describes a parking control device that assists parking when a level obstacle exists in the parking path. Based on information about the inclination of the obstacle, this parking control device assists parking by providing a parking path that avoids the obstacle or passes over the portion of the obstacle where the inclination angle is the smallest.

[0004] Parking lots where cars and other vehicles are parked are equipped with parking locks that prevent vehicles from entering or leaving the parking area. The parking lock switches between a locked state, which prevents vehicle movement, and an unlocked state, which allows vehicle movement. The state of the parking lock changes significantly with each switch. When a parking lock that prevents vehicle movement is unlocked, the vehicle's wheels can pass over the parking lock and move into the parking area. However, when a parking lock that prevents vehicle entry is unlocked, the vehicle's wheels cannot pass over the parking lock and move into the parking area.

[0005] Conventional parking control systems fail to determine not only the presence of a parking lock, but also the type and operating status of the parking lock. Consequently, there is a concern that the parking lock and / or the vehicle may be damaged when the parking control system is used to park the vehicle. This concern is particularly pronounced when the parking lock is a parking-blocking type. Summary of the Invention

[0006] The present invention provides a parking control device, method, and program that can reduce the risk of damage to the parking lock device and / or the vehicle even in such situations, even when a vehicle is parked in a parking lot equipped with a parking lock device that prevents entry.

[0007] According to the present invention, a parking control device (100) is provided, comprising at least:

[0008] an automatic driving device (80) for moving the vehicle (102) by automatically steering the vehicle;

[0009] An object mark information acquisition device (18) acquires information of object marks around the vehicle;

[0010] The control unit (driving assistance ECU 10) sets a target trajectory (150) from a parking start position (102S) to a parking completion position (102C) within a parking area (140) based on information obtained by an object marker information acquisition device (S70, S90, S100), and controls the automatic driving device (80) (S110) in such a manner that the vehicle moves from the parking start position to the parking completion position along the target trajectory at least by automatic steering operation.

[0011] The control unit (driving assistance ECU 10) is configured to set a target trajectory (150) (S70) in such a way that the wheels (34) of the vehicle do not pass through the parking lock device of ...

[0012] In addition, according to the present invention, there is provided a parking control method, comprising:

[0013] Steps (S70, S90, S100) of setting a target trajectory (150) from a parking start position (102S) to a parking completion position (102C) within a parking area (140) based on information on object markers around the vehicle (102) acquired by an object marker information acquisition device (18); and

[0014] A step (S110) of controlling the automatic driving device (80) in such a manner that the vehicle moves along a target trajectory from a parking start position to a parking completion position at least by automatic steering manipulation.

[0015] The parking control method also includes:

[0016] A step (S40, S80) of determining whether a parking lock device (110, 120, 130) exists in a parking area based on at least the information acquired by the object marker information acquisition device; and

[0017] When it is determined that a parking lock device (110) of the parking lock type is present and the parking lock device (110) of the parking lock type is in an unlocked state (S40, S50), a step (S70) of setting a target trajectory (150) is performed in such a way that the wheels (34) of the vehicle do not pass over the parking lock device of the parking lock type.

[0018] Furthermore, according to the present invention, a parking control program is provided, which causes an electronic control unit (driving assistance ECU 10) mounted on a vehicle to execute the following steps: steps (S70, S90, S100) of setting a target trajectory (150) from a parking start position (102S) to a parking completion position (102C) within a parking area (140) based on information on object markers around the vehicle (102) acquired by an object marker information acquisition device (18); and

[0019] A step (S110) of controlling an automatic driving device (80) in such a manner that the vehicle moves along a target trajectory from a parking start position to a parking completion position at least by automatic steering manipulation.

[0020] The parking control program further includes: steps (S40, S80) of determining whether a parking lock device (110, 120, 130) exists in the parking area based on at least information acquired by the object marker information acquisition device; and

[0021] When it is determined that a parking lock device (110) of the parking lock type is present and the parking lock device (110) of the parking lock type is in an unlocked state (S40, S50), a step (S70) of setting a target trajectory (150) is performed in such a way that the wheels (34) of the vehicle do not pass over the parking lock device of the parking lock type.

[0022] Sometimes, it is determined that a parking lock device that prevents entry is present within the parking area and is in the unlocked state. According to the aforementioned travel control device, method, and program, in this case, a target trajectory is set so that the vehicle's wheels do not pass over the parking lock device that prevents entry. Therefore, as the vehicle moves along the target trajectory toward the parking completion position, the possibility of the vehicle's wheels passing over the unlocked parking lock device that prevents entry can be reduced. Furthermore, concerns about the parking lock device and / or the vehicle being affected by this can be reduced.

[0023] In one embodiment of the present invention,

[0024] The control unit (driving assistance ECU 10) is configured not to move the vehicle toward the parking completion position (S70, S240, S250) when it is determined, at least based on information obtained by the object mark information acquisition device, that a parking lock device of the parking prevention type is present in the predetermined parking area and the parking lock device of the parking prevention type is in a locked state.

[0025] In another embodiment of the present invention,

[0026] The control unit (driving assistance ECU 10) is configured to set a target trajectory (S70) in such a way that at least one wheel of the vehicle passes over a locking component of the parking lock device of the exit-preventing type when it is determined that a parking lock device of the exit-preventing type is present in a predetermined parking area and the parking lock device of the exit-preventing type is in an unlocked state, at least based on information obtained by the object mark information acquisition device.

[0027] In the above description, to facilitate understanding of the present invention, the names and / or reference numerals used in the embodiments described below are enclosed in parentheses for the components of the invention corresponding to the embodiments described below. However, the components of the present invention are not limited to the components of the embodiments corresponding to the names and / or reference numerals enclosed in parentheses. Other objects, other features, and additional advantages of the present invention can be easily understood from the description of the embodiments of the present invention described with reference to the following drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Hereinafter, features, advantages, technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0029] Figure 1 It is a diagram schematically showing the configuration of a parking control device according to an embodiment.

[0030] Figure 2A The diagram shows the installation positions and operating conditions of various parking lock devices.

[0031] Figure 2B The diagram shows the installation positions and operating conditions of various parking lock devices.

[0032] Figure 2C The diagram shows the installation positions and operating conditions of various parking lock devices.

[0033] Figure 2D The diagram shows the installation positions and operating conditions of various parking lock devices.

[0034] Figure 2E The diagram shows the installation positions and operating conditions of various parking lock devices.

[0035] Figure 2F The diagram shows the installation positions and operating conditions of various parking lock devices.

[0036] Figure 2G The diagram shows the installation positions and operating conditions of various parking lock devices.

[0037] Figure 2HThe diagram shows the installation positions and operating conditions of various parking lock devices.

[0038] Figure 2I The diagram shows the installation positions and operating conditions of various parking lock devices.

[0039] Figure 3 This is a flowchart corresponding to the parking control program in the embodiment.

[0040] Figure 4 This is a diagram illustrating the operation of the embodiment when the parking lock device is a parking prevention type parking lock device and is in an unlocked state.

[0041] Figure 5 This is a diagram illustrating the operation of the embodiment when the parking lock device is of the exit prevention type and is in the unlocked state.

[0042] Figure 6 This is a diagram illustrating the operation of the embodiment for a case where there is no parking lock device. DETAILED DESCRIPTION

[0043] Hereinafter, a parking control device, method, and program according to embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0044] like Figure 1 As shown, a parking control device 100 according to an embodiment of the present invention is applied to a vehicle 102 and includes a driving assistance ECU 10. Vehicle 102 is capable of autonomous driving and includes a drive ECU 20, a brake ECU 30, an electric power steering ECU 40, and an instrument ECU 50. An ECU is an electronic control unit (ECU) having a microcomputer as its main component. In the following description, the electric power steering is referred to as EPS.

[0045] Each ECU's microcomputer includes a CPU, ROM, RAM, readable and writable nonvolatile memory (N / M), and interfaces (I / F). The CPU implements various functions by executing commands (programs, routines) stored in the ROM. Furthermore, these ECUs are interconnected to exchange data (enable communication) via CAN (Controller Area Network) 104. Therefore, detection values from sensors (including switches) connected to a specific ECU are also transmitted to other ECUs.

[0046] The driving support ECU 10 is a central control device that performs driving support control such as parking control and inter-vehicle distance control. In the embodiment, as will be described in detail later, the driving support ECU 10 cooperates with other ECUs to execute parking control.

[0047] The driving support ECU 10 is connected to a camera sensor 12, a radar sensor 14, and a switch 16. The camera sensor 12 and the radar sensor 14 include a plurality of camera devices and a plurality of radar devices, respectively. The camera sensor 12 and the radar sensor 14 function as an object information acquisition device 18 that acquires object information around the vehicle 102.

[0048] Although not shown in the drawings, the camera sensor 12 includes a camera unit that captures images of the surroundings of the vehicle 102 and a recognition unit that analyzes image data captured by the camera unit to identify objects such as white lines on the road and other vehicles. The recognition unit provides information about the recognized objects to the driving support ECU 10 at predetermined intervals.

[0049] Each radar device in the radar sensor 14 uses millimeter-wave radio waves to detect the distance between the vehicle and a solid object, the relative speed between the vehicle and the solid object, and the relative position (orientation) of the solid object relative to the vehicle. Furthermore, each radar device in the radar sensor 14 supplies this information to the driving assistance ECU 10 at predetermined intervals. Furthermore, LiDAR (Light Detection and Ranging) can be used in place of or in addition to the radar sensor 14.

[0050] Switch 16 is set at Figure 1 The switch 16 is located in a position operable by the driver, such as a steering wheel (not shown), and is operated by the driver. The switch 16 includes a parking control switch and a parking start switch. As will be described in detail later, the driving assistance ECU 10 performs parking control when the parking control switch is turned on. If the parking start switch is turned on while parking control is being executed, the driver initiates control of vehicle movement using automatic driving.

[0051] The drive ECU 20 is connected to a drive device 22 that applies driving force to drive wheels 24 to accelerate the vehicle 102. Normally, the drive ECU 20 controls the drive device 22 so that the driving force generated by the drive device 22 varies in response to the driver's driving operation. Upon receiving a command signal from the driving assistance ECU 10, the drive device 22 is controlled based on the command signal. Thus, the drive ECU 20 and the drive device 22 cooperate with each other to function as a drive control device 26.

[0052] The brake ECU 30 is connected to a brake device 32 that decelerates the vehicle 102 by applying a braking force to wheels 34. Normally, the brake ECU 30 controls the brake device 32 so that the braking force generated by the brake device 32 varies in response to the driver's braking operation. Furthermore, upon receiving a command signal from the driving assistance ECU 10, the brake ECU 30 controls the brake device 32 based on the command signal to perform automatic braking.

[0053] Therefore, the brake ECU 30 and the brake device 32 cooperate with each other to function as a brake control device 36, which can control the braking force of the entire vehicle 102 and can independently control the braking force of each wheel. Figure 1 The brake lights (not shown) are illuminated.

[0054] An EPS device 42 is connected to the EPS / ECU 40. The EPS / ECU 40 controls the EPS device 42 in a manner well known in the art based on the steering torque Ts and the vehicle speed V detected by the driving operation sensor 60 and the vehicle state sensor 70 described later. Thus, the EPS / ECU 40 controls the steering assist torque to reduce the driver's steering burden. In addition, the EPS / ECU 40 can steer the steering wheel 44 as needed by controlling the EPS device 42. Therefore, the EPS / ECU 40 and the EPS device 42 function as a steering control device 46 that automatically steers the steering wheel as needed.

[0055] The drive control device 26, the brake control device 36, and the steering control device 46 cooperate with the driving assistance ECU 10 to function as an automatic driving device 80 that automatically drives the vehicle 102. As will be described in detail later, the driving assistance ECU 10 sets a target trajectory from the parking start position to the parking completion position within the parking area based on information acquired by the object information acquisition device 18. The driving assistance ECU 10 then controls the automatic driving device 80 so that the vehicle moves automatically along the target trajectory from the parking start position to the parking completion position.

[0056] Connected to the instrument ECU 50 are a touch-panel display 52 that displays the status of control by the driving support ECU 10, and an alarm device 54 that issues an alarm. The display 52 may be, for example, a multi-information display that displays instruments and various information, or a display for a navigation system. The display 52 can display the status of parking control by receiving signals from the driving support ECU 10.

[0057] When it is determined that the vehicle 102 cannot be parked in the driver's desired parking area, the alarm device 54 is activated to issue a warning indicating that the vehicle cannot be parked. The alarm device 54 may be any one of a visual warning device such as a warning light, an audible warning device such as a warning buzzer, or a sensory warning device such as seat vibration, or any combination thereof.

[0058] The driving operation sensor 60 and the vehicle state sensor 70 are also connected to the CAN 104. Information detected by the driving operation sensor 60 and the vehicle state sensor 70 (referred to as sensor information) is transmitted to the CAN 104. The sensor information transmitted to the CAN 104 can be used appropriately by each ECU. Alternatively, the sensor information may be information from a sensor connected to a specific ECU, and transmitted from that specific ECU to the CAN 104.

[0059] The driving operation sensor 60 includes a driving operation amount sensor that detects the amount of accelerator pedal operation, a braking operation amount sensor that detects master cylinder pressure or brake pedal depression force, and a brake switch that detects whether the brake pedal is being operated. Furthermore, the driving operation sensor 60 includes a steering angle sensor that detects a steering angle, a steering torque sensor that detects steering torque, and other components.

[0060] The vehicle state sensor 70 includes a vehicle speed sensor for detecting the vehicle 102 speed, a longitudinal acceleration sensor for detecting the vehicle's longitudinal acceleration, a lateral acceleration sensor for detecting the vehicle's lateral acceleration, and a yaw rate sensor for detecting the vehicle's yaw rate.

[0061] As described above, parking control sets a target trajectory from the parking start position to the parking completion position within the parking area. Whether the target trajectory is set and the vehicle moves along the target trajectory varies depending on whether a parking lock device is present within the parking area, as well as the type and operating status of the parking lock device.

[0062] Parking lock

[0063] Next, refer to Figure 2A 、 2B , 2C, 2D, 2E, 2F, 2G, 2H, and 2I are used to describe the parking lock device installed in the parking area. Figure 2A 、 2B , 2C, 2D, 2E, 2F, 2G, 2H, and 2I show the setting positions and working conditions of various parking lock devices.

[0064] in particular, Figure 2AIt is a plan view showing a parking area 140 in which a parking lock device 110 of a parking prevention type is installed. Figure 2B It is a side view of the parking lock device in the locked state. Figure 2C It is a side view of the parking lock device in the unlocked state.

[0065] A parking lock device 110, which prevents vehicles from entering the parking area, is installed in the center of the parking area 140, near the passage 144, so that it is located closer to the side of the passage 144 than a parked vehicle 142. The parking lock device 110 includes a substantially arc-shaped locking plate 112 that functions as a locking member, and a drive device 114 that drives the locking plate 112. When locked, the locking plate 112 stands substantially perpendicular to the surface 146 of the parking area 140, preventing vehicles from moving into the parking area 140. In contrast, when unlocked, the locking plate 112 is inverted and parallel to the surface 146 of the parking area 140, allowing vehicles to move out of the parking area 140.

[0066] When a parking space 140 is reserved by a management device (not shown in the drawings), the parking lock device 110 is controlled to be locked. When the reserved vehicle approaches the parking space 140, the parking lock device 110 is controlled to be unlocked. The locked and unlocked states can be switched, for example, by a user operating a terminal device.

[0067] Figure 2D It is a plan view showing a parking area in which a pivotable parking lock device of the exit-preventing type is installed. Figure 2E It is a side view of the parking lock device in the locked state. Figure 2F It is a side view of the parking lock device in the unlocked state.

[0068] A pivoting parking lock device 120, which prevents vehicle 142 from exiting the parking area, is located on the side of parking area 140, away from passageway 144, between the right front wheel 142F and the right rear wheel 142R of a parked vehicle 142. Parking lock device 120 includes a rectangular locking plate 122, which has a "へ"-shaped cross section and functions as a locking member, and a drive device 124 that drives locking plate 122. When locked, locking plate 122 pivots so that its rear edge, away from passageway 144, rises relative to its front edge. By preventing the right rear wheel from moving toward passageway 144, locking plate 122 prevents vehicle 142 from exiting parking area 140. In contrast, when unlocked, the rear edge of locking plate 122 is at the same height as the front edge, allowing vehicle 142 to enter parking area 140.

[0069] Parking lock device 120 is normally controlled to an unlocked state, allowing the vehicle to be moved into parking area 140 and parked. Once the vehicle has moved into parking area 140 and parked, locking plate 122 is pivoted by drive device 124 to a locked state. Furthermore, parking lock device 120 can be switched from a locked state to an unlocked state by user operation of a control panel (not shown), allowing the vehicle to exit the parking area.

[0070] Figure 2G It is a plan view showing a parking area in which a lift-type parking lock device of the exit-preventing type is installed. Figure 2H It is a side view of the parking lock device in the locked state. Figure 2I It is a side view of the parking lock device in the unlocked state.

[0071] Similar to parking lock device 120, a lift-type parking lock device 130 that prevents vehicle 142 from exiting the parking area is installed on the side of parking area 140, away from passageway 144. This allows the right rear wheel of parked vehicle 142 to be positioned between its right front wheel 142F and right rear wheel 142R. Parking lock device 130 includes an oblong locking block 132 that functions as a locking member and a drive device 134 that raises and lowers locking block 132. When locked, locking block 132 rises to protrude from surface 146 of parking area 140, preventing the right rear wheel from moving toward passageway 144 and thus preventing vehicle 142 from exiting the parking area 140. In contrast, when unlocked, the upper surface of locking block 132 is substantially at the same height as surface 146. By allowing the right rear wheel to move toward passageway 144, locking block 132 allows vehicle 142 to enter parking area 140 and enter the parking area.

[0072] Parking lock device 130 is normally controlled to an unlocked state, allowing the vehicle to be moved into parking area 140 and parked. Once the vehicle has moved into parking area 140 and completed parking, locking block 132 is raised by drive device 134 to a locked state. Furthermore, parking lock device 130 can be switched from a locked state to an unlocked state by user operation of a control panel (not shown), allowing the vehicle to exit the parking area.

[0073] In the exit-prevention parking lock devices 120 and 130, the locking plate 122 and locking block 132 are each formed to be highly robust. Therefore, when a vehicle moves into parking area 140 and enters the parking space, the vehicle's wheels can pass over the locking plate 122 and locking block 132. Therefore, the target trajectory for moving the vehicle from the parking start position to the parking completion position within the parking area is one in which the vehicle's wheels pass over the locking plate 122 and locking block 132.

[0074] In contrast, in a parking-entry-prevention parking lock device 110, the locking plate 112 is formed of a material such as plastic. Therefore, it is preferred that when a vehicle moves into parking area 140 and enters a parking space, the vehicle's wheels do not pass over the locking plate 112. Therefore, it is preferred that the target trajectory for moving the vehicle from the parking start position to the parking completion position within the parking area is one in which the vehicle's wheels do not pass over the parking lock device 110.

[0075] Furthermore, the parking lock devices 120 and 130 are locked when the vehicle is parked, and since they are located below the vehicle, the presence of the parking lock devices cannot be determined based on the image captured by the camera sensor 12. In contrast, when the presence of the parking lock devices is determined based on the image captured by the camera sensor 12, the parking lock devices are unlocked.

[0076] Among them, Figure 2D 、 2E , 2F and Figure 2G 、 2H In FIG2I , the parking lock devices 120 and 130 prevent the right rear wheel from passing. However, a parking lock device of the exit prevention type may also have the locking plate 122 and the locking block 132 extending substantially across the entire width of the parking area 140, thereby preventing the right rear wheel from passing on both sides.

[0077] In the embodiment, the ROM (storage medium) of the driving assistance ECU 10 stores Figure 3 The flowchart shown in FIG. Figure 3 The flowchart shown executes parking control to implement the parking control method according to the embodiment.

[0078] Parking Control( Figure 3 )

[0079] Next, refer to Figure 3 The parking assist control in the embodiment will be described with reference to the flowchart shown. When the parking control switch of the switch 16 is turned on, the CPU of the driving assist ECU 10 repeatedly executes the following at predetermined intervals: Figure 3 The flowchart shown in FIG. 1 is related to the parking assist control. In the following description, the parking control is referred to as "this control". Figure 3 In the specification, the parking lock device is expressed as "PL".

[0080] First, in S10, the CPU determines, based on information on object markers acquired by the object marker information acquisition device 18, whether there are candidate parking areas for the vehicle within a predetermined distance from the vehicle 102, i.e., areas where no other vehicles are parked. If the CPU makes a positive determination, it outputs a command signal to the meter ECU 50. The CPU then displays an overhead image of the vehicle 102 and its surroundings on the display 52 based on information on object markers acquired by the object marker information acquisition device 18. The CPU thus displays candidate parking areas.

[0081] When a negative determination is made, a message indicating that there are no candidates for parking areas and the vehicle needs to be moved to another location is displayed on the display 52, and the present control may be temporarily terminated.

[0082] In S20, the CPU determines whether the driver has determined the parking area where the driver wants to park by touching the displayed parking area candidate. If a negative determination is made, the control returns to S10, and if a positive determination is made, the control proceeds to S30.

[0083] In S30, the CPU determines whether the driver has turned on the parking start switch of switch 16, that is, whether there is an instruction to start moving the vehicle 102. If a negative determination is made, S30 is repeatedly executed. If a positive determination is made, the control proceeds to S40. If a negative determination is made continuously for a predetermined number of times or more, the control may be temporarily terminated.

[0084] In S40, the CPU determines whether a parking lock device that prevents parking entry is present in the identified parking area based on object marker information acquired by the object marker information acquisition device 18 and wireless communication with the parking lot management device. If a negative determination is made, the control proceeds to S80; if an affirmative determination is made, the control proceeds to S50.

[0085] In S50, the CPU determines whether the parking lock is in the unlocked state by performing a classification determination based on, for example, a DNN (Deep Neural Network) based on an image of the parking lock device captured by the camera sensor 12. Alternatively, the CPU determines whether the parking lock is in the unlocked state based on wireless communication with the parking lot management device. If a positive determination is made, i.e., if the parking lock device is in the unlocked state and the vehicle is capable of parking, the control proceeds to S70. If a negative determination is made, the control proceeds to S60.

[0086] In S60, the CPU outputs a command signal to the meter ECU 50, causing the display 52 to indicate that the vehicle cannot be parked in the identified parking area. Furthermore, the CPU outputs a command signal to the meter ECU 50, causing the alarm device 54 to activate, thereby issuing an alarm indicating that the vehicle cannot be parked. Upon completion of these processes, this control temporarily ends. The issuance of the alarm may be omitted.

[0087] In S70, the CPU sets a target trajectory for moving the vehicle from the parking start position (the current position of the vehicle) to the parking completion position within the parking area by automatic driving. The target trajectory is set so that the wheels 34 of the vehicle 102 do not pass through the parking lock device of the parking prevention type in the unlocked state.

[0088] In S80, the CPU determines whether a parking lock device that prevents the vehicle from leaving the parking area is present based on information about the object acquired by the object information acquisition device 18 and wireless communication with the parking lot management device. If a negative determination is made, the control proceeds to S100. If a positive determination is made, that is, if a parking lock device that prevents the vehicle from leaving the parking area is present and is unlocked, the control proceeds to S90.

[0089] In S90, the CPU sets a target trajectory for moving the vehicle from the parking start position (the vehicle's current position) to the parking completion position within the parking area by automatic driving. The target trajectory is set so that the rear wheels 34 of the vehicle 102 pass over the unlocked parking lock device of the exit-preventing type.

[0090] In S100, the CPU sets a target trajectory from the parking start position (the vehicle's current position) to the parking completion position within the parking area. Since the target trajectory in this case is not restricted by the parking lock, it can be set to a trajectory that allows the vehicle 102 to move from the parking start position to the parking completion position most efficiently.

[0091] In S110, the CPU executes automatic driving using automatic driving device 80 so that vehicle 102 moves along the target trajectory from the parking start position to the parking completion position. Furthermore, the CPU outputs a command signal to meter ECU 50, causing display 52 to display an overhead image showing the movement of vehicle 102 from the parking start position to the parking completion position.

[0092] In S120, the CPU determines whether parking is complete, that is, whether the vehicle 102 has moved to the parking completion position and stopped based on the object information acquired by the object information acquisition device 18. If a negative determination is made, the control returns to S110, and if an affirmative determination is made, the control proceeds to S130.

[0093] In S130, the CPU outputs a command signal to meter ECU 50, causing display 52 to display that parking is complete. The CPU then performs a control termination process to turn off an ignition switch (not shown) to terminate power to various devices, thereby terminating this control.

[0094] Implementation methods

[0095] Next, refer to Figures 4 to 6 The operation of the embodiment will be described with respect to various situations in which the types and operating states of the parking lock device are different.

[0096] C1: When the parking lock device is in the parking prevention type and is in the unlocked state ( Figure 4 )

[0097] If the parking lock device is a parking lock device 110 of the parking prevention type and is in the unlocked state, a positive determination is made in S40 and S50. Figure 4 In FIG. 1 , (d) and (e) show examples of images captured by the camera sensor 12 of the parking lock device 110 in the unlocked state and the locked state, respectively.

[0098] In the unlocked state, in S70, a target trajectory 150 for automatically moving the vehicle 102 from the parking start position 102S to the parking completion position 102C is set so that the vehicle's wheels 34 do not pass over the parking lock device 110. Furthermore, in S110 and S120, the vehicle 102 is automatically moved along the target trajectory 150 to the parking completion position 102C, and parking is completed in S130. The method for moving the vehicle 102 by automatically driving is also the same in the cases C3 and C4 described below.

[0099] Therefore, since the vehicle 102 is moved to the parking completion position 102C by automatic driving so that the wheels 34 do not pass over the parking lock device 110 , damage to the parking lock device 110 and / or the vehicle can be prevented.

[0100] C2: The parking lock device is in the parking prevention type and is locked.

[0101] When the parking lock device 110 is in the locked state (see Figure 4(e)) in step S40 makes a positive determination, but a negative determination is made in step S50. Therefore, in step S60, a message indicating that the vehicle cannot be parked in the identified parking area is displayed on the display 52, and a warning indicating that the vehicle cannot be parked is issued. This allows the driver to search for other parking areas instead of parking in the identified parking area. Furthermore, damage to the parking lock device 110 and the vehicle caused by an attempt to forcefully park the vehicle can be prevented.

[0102] C3: When the parking lock device is in the exit prevention type and is in the unlocked state ( Figure 5 )

[0103] In this case, a negative determination is made in S40 and a positive determination is made in S80. Therefore, in S90, the target trajectory 150 for automatically moving the vehicle 102 from the parking start position 102S to the parking completion position 102C is set such that the rear wheels 34 of the vehicle pass over the unlocked parking lock device.

[0104] Therefore, the right wheel 34 of the vehicle 102 passes over the lock plate 122 or the lock block 132 of the parking lock device 120 or 130, but the parking lock device and the vehicle are not damaged. C4: When there is no parking lock device ( Figure 6 )

[0105] In this case, negative determinations are made in S40 and S80. Therefore, since the target trajectory 150 is not restricted by the parking lock device, it is set in S100 as a trajectory for moving the vehicle 102 most efficiently from the parking start position 102S to the parking completion position 102C.

[0106] As can be seen from the above description, according to the present invention, it may be determined that a parking-blocking parking lock device 110 is present within parking area 140 and is in the unlocked state. In this case, target trajectory 150 is set so that the wheels 34 of vehicle 102 do not pass over the parking-blocking parking lock device. Therefore, as the vehicle moves along the target trajectory toward parking completion position 102C, the possibility of the vehicle's wheels passing over the unlocked parking-blocking parking lock device can be reduced. Furthermore, the risk of damage to the parking lock device and / or the vehicle due to such damage can be reduced.

[0107] Furthermore, according to the present invention, if it is determined that a parking lock device 110 of the parking prevention type is present in parking area 140 and is locked, vehicle 102 is not moved toward parking completion position 102C. This prevents the vehicle from colliding with the locked parking lock device and thereby damaging the parking lock device and / or the vehicle.

[0108] As described above, the parking lock device of the exit-prevention type is configured to allow the vehicle's wheels to pass over the locking member of the parking lock device when in the unlocked state. In addition, when the parking lock device is the exit-prevention type, when the vehicle is moved to the parking completion position, the wheels are required to pass over the locking member of the parking lock device.

[0109] According to the present invention, it may be determined that a parking lock device 120 or 130 that prevents exiting the vehicle is present within parking area 140 and is in an unlocked state. In this case, target trajectory 150 is set such that at least one wheel 34 of vehicle 102 passes over the locking member 122 or 132 of the unlocked parking lock device. Thus, a target trajectory can be set such that the vehicle's wheels pass over the locking member of the unlocked parking lock device. Furthermore, a target trajectory can be set that allows the vehicle to move without damaging the parking lock device and / or the vehicle.

[0110] Furthermore, target trajectory 150 is set to a trajectory where the vehicle's wheels pass over the locking components of a parking lock device that prevents exiting the vehicle and is in the unlocked state. Therefore, when the vehicle is moved toward the parking completion position, the wheels pass over the locking components of the parking lock device. Therefore, once the vehicle is parked, the parking lock device can be locked.

[0111] As mentioned above, the present invention has been described in detail with respect to specific embodiments. However, the present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various other embodiments are possible within the scope of the present invention.

[0112] For example, in the above-described embodiment, when determining whether a parking lock device is present in parking area 140, wireless communication with the parking lot management device may be utilized as needed. However, if the parking lot management device is not equipped to wirelessly communicate with vehicles, the presence and status of the parking lock device may be determined solely based on information acquired by the object marker information acquisition device 18.

[0113] In the above embodiment, in S110, the automatic driving device 80 performs automatic driving such that the vehicle 102 moves along the target trajectory 150 from the parking start position 102S to the parking completion position 102C. Automatic driving can be performed through automatic acceleration, automatic braking, and automatic steering. However, automatic driving may also be performed in which at least one of automatic acceleration and automatic braking is performed in response to a driver's operation.

Claims

1. A parking control device, wherein: At least: An automated driving device that moves the vehicle by automatically steering it; an object information acquisition device for acquiring information about object marks around the vehicle; and a control unit that sets a target trajectory from a parking start position to a parking completion position within a parking area based on information acquired by the object marker information acquisition device, and controls the automatic driving device so that the vehicle moves from the parking start position to the parking completion position along the target trajectory at least by automatic steering manipulation. The control unit is configured to set the target trajectory in such a way that the wheels of the vehicle do not pass over the parking lock device of ...

2. The parking control device according to claim 1, wherein: The control unit is configured to not move the vehicle toward the parking completion position when it is determined based on at least the information acquired by the object marker information acquisition device that a parking lock device of the parking prevention type is present in the predetermined parking area and is in a locked state.

3. The parking control device according to claim 1, wherein: The control unit is configured to set the target trajectory in such a way that at least one wheel of the vehicle passes over a locking component of the exit-preventing parking lock device when it is determined, at least based on information obtained by the object marker information acquisition device, that a parking lock device of the exit-preventing type is present in the predetermined parking area and the parking lock device of the exit-preventing type is in an unlocked state.

4. A parking control method, wherein: include: a step of setting a target trajectory from a parking start position to a parking completion position within a parking area based on information on surrounding objects of the vehicle acquired by an object information acquiring device; and the step of controlling the automatic driving device in such a manner that the vehicle moves along the target trajectory from the parking start position to the parking completion position at least by automatic steering manipulation, The parking control method further includes: a step of determining whether a parking lock device is present in the parking area based on at least the information acquired by the object marker information acquiring device; and The step of setting the target trajectory so that the wheels of the vehicle do not pass over the parking lock device of ...

5. A parking control program, wherein: The electronic control device mounted on the vehicle executes the following steps: a step of setting a target trajectory from a parking start position to a parking completion position within a parking area based on information on surrounding objects of the vehicle acquired by an object information acquiring device; and the step of controlling the automatic driving device in such a manner that the vehicle moves along the target trajectory from the parking start position to the parking completion position at least by automatic steering manipulation, The parking control program causes the electronic control device mounted on the vehicle to further execute the following steps: a step of determining whether a parking lock device is present in the parking area based on at least the information acquired by the object marker information acquiring device; and The step of setting the target trajectory so that the wheels of the vehicle do not pass over the parking lock device of ...

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