Control device, control method, and computer program product

Abstract

This invention provides a control device that provides users with reassurance during automatic parking, thereby promoting the use of the automatic parking function. This control device controls the movement of a mobile object that automatically travels to and stops at a parking candidate location. It comprises: an external identification unit that acquires identification data of the external environment of the mobile object; a parking candidate location setting unit that sets a parking candidate location based on the identification data; a path generation unit that generates one or more driving paths connecting the current location of the mobile object to the parking candidate location; a display unit that displays the parking candidate location and at least one of the one or more driving paths; and a control unit that controls the movement of the mobile object. The control unit sets a predetermined driving speed for the mobile object along at least one of the one or more driving paths based on the identification data, and the display unit changes the display mode of the at least one driving path according to the predetermined driving speed.

Description

Technical Field

[0001] This invention relates to a control device, a control method, and a computer program product. Background Technology

[0002] In recent years, there has been an increasing number of measures aimed at providing access to sustainable transportation systems that are considerate of vulnerable road users. As one such measure, research and development are underway on driver assistance and autonomous driving technologies for automobiles and other vehicles to further improve traffic safety and convenience.

[0003] For example, in automatic parking technology that detects parking areas, generates a path from the vehicle's current location to the target parking area, and autonomously moves and parks, it is known to display the generated path on a display.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: CN108146432B Summary of the Invention

[0007] The technical problem that the invention aims to solve

[0008] However, even when the generated path is displayed, the user has no idea how the vehicle will move along it. Furthermore, while the image of the vehicle's surroundings is shown when the generated path is displayed, information about obstacles is not shown, leaving the user unsure whether the automatic parking system has identified them. This anxiety may lead the user to disable the automatic parking function.

[0009] This invention provides a control device, control method, and computer program product that facilitates the use of automatic parking functions by providing users with reassurance through prompts during automatic parking.

[0010] Methods for solving technical problems

[0011] This invention provides a control device for controlling the movement of a moving body that automatically travels to a parking candidate position and stops, comprising:

[0012] The external identification unit acquires external identification data of the moving object.

[0013] The parking candidate location setting unit sets parking candidate locations based on the identified data.

[0014] The path generation unit generates one or more driving paths connecting the current position of the moving body to the parking candidate position.

[0015] The display unit shows the parking candidate locations and at least one of the one or more driving paths, and

[0016] The control unit controls the movement of the moving body, and...

[0017] Based on the identification data, the control unit sets a predetermined travel speed for the moving body along at least one of the one or more travel paths.

[0018] The display unit changes the display mode of the at least one driving path according to the predetermined driving speed.

[0019] The present invention also provides a control method for controlling the movement of a moving body that automatically travels to a parking candidate position and stops, and the control method is executed by a control device, the control method comprising:

[0020] Acquire external identification data of the moving object.

[0021] Based on the identified data, candidate parking locations are set.

[0022] Generate one or more driving paths connecting the current position of the moving body to the parking candidate position.

[0023] Display the parking candidate locations and the one or more driving routes.

[0024] The movement of the moving body is controlled, and

[0025] The control method further includes:

[0026] Based on the identification data, a predetermined driving speed is set along at least one of the one or more driving paths.

[0027] The display method of the at least one driving path is changed according to the predetermined driving speed.

[0028] The present invention also provides a program product comprising a control program for a control device.

[0029] The control program is executed by the processor of the control device to implement the control method, which includes:

[0030] Acquire external identification data of the moving object.

[0031] Based on the identified data, candidate parking locations are set.

[0032] Generate one or more driving paths connecting the current position of the moving body to the parking candidate position.

[0033] Display the parking candidate locations and the one or more driving routes.

[0034] The movement of the moving body is controlled, and

[0035] The control method further includes:

[0036] Based on the identification data, a predetermined driving speed is set along at least one of the one or more driving paths.

[0037] The display method of the at least one driving path is changed according to the predetermined driving speed.

[0038] The effects of the invention

[0039] According to the present invention, by providing users with reassurance during automatic parking, the use of automatic parking functions can be promoted. This, in turn, helps improve traffic safety and contributes to the development of sustainable transportation systems. Attached Figure Description

[0040] Figure 1 This is a block diagram showing a schematic configuration of a vehicle equipped with a control device according to an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram illustrating a parking space search process according to one embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram illustrating an example of parking path generation according to an embodiment of the present invention.

[0043] Figure 4 This is a schematic diagram illustrating the display of the expected speed on a parking path according to one embodiment of the present invention.

[0044] Figure 5 This is a schematic diagram illustrating the display of objects near a parking path according to an embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram illustrating an application scenario of the control device according to an embodiment of the present invention.

[0046] Explanation of reference numerals in the attached figures

[0047] 1. Vehicle (moving object)

[0048] 2 External Devices

[0049] 10 sensor group

[0050] 11 external sensors

[0051] 111 cameras

[0052] 111a front-side camera

[0053] 111b rear camera

[0054] 111c left side camera

[0055] 111d right side camera

[0056] 112 sonar

[0057] Radar 113

[0058] 12 vehicle sensors

[0059] 121 wheel sensor

[0060] 122 vehicle speed sensor

[0061] 123 Inertial Measurement Device

[0062] 124 Occupant Camera

[0063] 125 Operation and Inspection Department

[0064] 126 Steering wheel touch sensor

[0065] 20 navigation devices

[0066] 21GNSS receiver

[0067] 22-inch touchscreen display

[0068] 23 speakers

[0069] 24 Map Information Database (DB)

[0070] 30 control devices

[0071] 31 Input / Output Section

[0072] 32-bit arithmetic unit

[0073] 320 Object Recognition Unit (External Environment Recognition Unit)

[0074] 321 Automated Driving Control Department

[0075] 322 Driving Control Unit

[0076] 323 Parking Space Search Department (Parking Candidate Location Setting Department)

[0077] 324 Parking Route Generation Department (Route Generation Department)

[0078] 325 Obstacle Detection Unit

[0079] 326 Display Unit

[0080] 33 Storage Department

[0081] Parking routes 351, 352, and 353

[0082] Icons 354, 355, and 356

[0083] 40 Electric Power Steering System

[0084] 41 Steering Angle Sensor

[0085] 42 Torque Sensor

[0086] 43EPS motor

[0087] 44 Distributor

[0088] 45EPS ECU

[0089] 50 Drive Force Control System

[0090] 51 drive ECU

[0091] 52 Accelerator Pedal

[0092] 53-speed sensor

[0093] 60 braking force control system

[0094] 61 Brake ECU

[0095] 62 Brake Pedal

[0096] 70 Ministry of Communications

[0097] 80 Operation Input Section Detailed Implementation

[0098] Hereinafter, one embodiment of the vehicle control device of the present invention will be described with reference to the accompanying drawings. The following embodiments do not limit the present invention, and not all elements described in the following embodiments are essential to the present invention. Furthermore, two or more elements described in the following embodiments may be combined arbitrarily without departing from the spirit of the present invention. In addition, the same or similar reference numerals are used to mark the same or similar elements below, and their descriptions may be omitted or simplified.

[0099] [Vehicles equipped with control devices]

[0100] First, the vehicle 1 of this embodiment will be described. Figure 1 This is a block diagram illustrating the configuration of a vehicle 1 equipped with the control device 30 according to an embodiment of the present invention. Vehicle 1 is an automobile having a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable steering wheels. As an example, vehicle 1 may be a four-wheeled automobile having a pair of front wheels on the left and right sides and rear wheels on the rear.

[0101] The drive source of vehicle 1 can be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the drive source of vehicle 1 can drive the left and right front wheels, the left and right rear wheels, or all four wheels (the left and right front wheels and the rear wheels). One of the front wheels and the rear wheels of vehicle 1 can be a steerable wheel, or both can be steerable wheels.

[0102] Vehicle 1 is capable of both automated driving and driver assistance in its automatic control driving operations. Automated driving, as defined here, refers to the recognition or monitoring of the driving environment and surrounding conditions, as well as the execution of all driving operations such as starting, accelerating, decelerating, steering, and stopping by the vehicle system. Driver assistance refers to the execution of some driving operations such as starting, accelerating, decelerating, steering, and stopping by the vehicle system, such as APS (Automatic Parking System), LKAS (Lane Keep Assist System), and ACC (Adaptive Cruise Control). In the embodiments shown below, for example, vehicle 1 is moved to a position with a predetermined parking location as the target. Furthermore, there can be multiple levels of driving control for automated driving and driver assistance, for example, defined according to levels 0 to 5 as defined by the US SAE (Society of Automotive Engineers). In this driving control level system, the higher the level number, the lighter the driver's workload (in other words, the higher the level number, the higher the degree of automation). Since the specific details of levels 0 to 5 are known, their description is omitted here.

[0103] Vehicle 1 consists of sensor group 10, navigation device 20, control device 30, electric power steering (EPS) system 40, drive force control system 50, braking force control system 60, communication unit 70, and operation input unit 80.

[0104] The sensor group 10 consists of an external sensor 11 that acquires information related to the surroundings of the vehicle 1 and a vehicle sensor 12 that acquires information related to the vehicle 1. The information acquired by each sensor in the sensor group 10 (in other words, the detection values) is output to the control device 30.

[0105] The external sensor 11 consists of a camera 111, a sonar 112, and a radar 113. The camera 111 captures images of the surroundings of the vehicle 1, including the vehicle 1, and outputs the obtained image data of the surroundings to the digital camera of the control device 30. In this embodiment, since the vehicle 1 can perform autonomous driving and automatic parking, it has a front camera 111a, a rear camera 111b, a left camera 111c, and a right camera 111d to acquire all-around images of the vehicle 1. Furthermore, the camera 111 does not need to have all of these cameras 111a to 111d; it only needs to have the cameras required for autonomous driving and automatic parking.

[0106] The front camera 111a is positioned, for example, above the windshield or on the front bumper inside the vehicle, to capture the area in front of the vehicle 1. The rear camera 111b is positioned, for example, on the rear bumper, to capture the area behind the vehicle 1. The left camera 111c is positioned, for example, on the left side mirror, to capture the left side of the vehicle 1. The right camera 111d is positioned, for example, on the right side mirror, to capture the right side of the vehicle 1. Each of the cameras 111a to 111d can be a digital camera using imaging elements such as CCD (Charge Coupled Device) and CMOS (Complementary Metal Oxide Semiconductor). Furthermore, in the following description, unless specifically distinguished, the front camera 111a, rear camera 111b, left camera 111c, and right camera 111d will be referred to simply as "camera 111".

[0107] Sonar 112 emits sound waves towards the periphery of vehicle 1 (e.g., in front, behind, and to the sides of vehicle 1), and detects the distance and orientation of objects by receiving reflected waves from objects present in the periphery of vehicle 1. This detected information is transmitted to control device 30 at a predetermined frequency. Radar 113 emits radio waves towards the periphery of vehicle 1, including in front of vehicle 1, and detects the distance and orientation of objects by receiving reflected waves from objects present in the periphery of vehicle 1. This detected information is transmitted to control device 30 at a predetermined frequency. For example, millimeter-wave radar can be used as radar 113.

[0108] Furthermore, the external sensor 11 can be replaced by a LiDAR (Light Detection and Ranging) sensor or supplemented with a sonar 112 and a radar 113. In this case, the LiDAR emits lasers toward the area around the vehicle 1, including the front of the vehicle 1, and detects the distance and orientation of objects by receiving reflected light from objects present around the vehicle 1.

[0109] The vehicle sensor 12 may consist of, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering wheel touch sensor 126.

[0110] Wheel sensor 121 detects the rotation angle of one or more wheels of vehicle 1. For example, wheel sensor 121 detects the rotation angle of the left rear wheel and the right rear wheel respectively. Wheel sensor 121 can be, for example, an angle sensor or a displacement sensor.

[0111] The vehicle speed sensor 122 detects the speed of the vehicle 1 (in other words, the speed at which the vehicle body moves), i.e., the vehicle speed. For example, the vehicle speed sensor 122 detects the vehicle speed based on the number of revolutions of a counter shaft (not shown) provided by the vehicle 1.

[0112] The inertial measurement unit 123 detects the angular velocities of the vehicle 1 in the pitch, roll, and yaw directions, as well as the accelerations of the vehicle 1 in the forward, left, right, and up / down directions. Furthermore, the vehicle sensor 12 can be replaced by an accelerometer sensor that detects the acceleration of the vehicle 1 in a specified direction and a gyroscope sensor that detects the angular velocity of the vehicle 1 in a specified direction.

[0113] The occupant camera 124 captures images of the interior of vehicle 1 and outputs the obtained interior image data to the digital camera of the control device 30. For example, the occupant camera 124 may be a so-called "driver monitoring camera" configured to capture the head of the driver sitting in the driver's seat of vehicle 1 from the front (in other words, to capture the face). As the occupant camera 124, similar to the camera 111, a digital camera utilizing imaging elements such as CCD and CMOS can be used. Furthermore, in this embodiment, the interior image data obtained by capturing images of the interior of the vehicle through the occupant camera 124 contains information specific to the driver's line of sight.

[0114] The operation detection unit 125 detects operations performed via the operation input unit 80, which is configured to be operable by a user such as a driver. In this embodiment, the operation input unit 80 includes, for example, an operation switch (not shown) that accepts switching operations for automatic driving and automatic parking (in other words, starting) and stopping. In this case, the operation detection unit 125 is able to detect the starting and stopping operations of automatic driving and automatic parking.

[0115] The steering wheel touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is properly held. For example, the steering wheel touch sensor 126 is implemented by means of an electrostatic capacitance sensor or the like. In this case, the electrostatic capacitance sensor is located on the part that the driver would touch when the steering wheel 46 is properly held.

[0116] The navigation device 20 consists of a GNSS (Global Navigation Satellite System) receiver 21, a touch screen 22, and a speaker 23. Additionally, the navigation device 20 has a storage unit (not shown) composed of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24, etc.

[0117] The GNSS receiver 21 determines the current position of vehicle 1 (e.g., the latitude and longitude of the vehicle 1's location) based on signals received from GNSS satellites. Furthermore, the navigation device 20 can, for example, acquire the detection results from vehicle sensors 12 (e.g., wheel sensors 121 and speed sensors 122) via the control device 30, and use the detection values ​​from vehicle sensors 12 to determine or supplement the current position of vehicle 1 through the INS (Inertial Navigation System).

[0118] The touch screen 22 functions as an input device for receiving various information inputs to the control device 30 and as a display device controlled by the control device 30. The touch screen 22 is composed of, for example, a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) combined with a positioning device (e.g., a touchpad). The speaker 23 is configured to output sound to the occupants of the vehicle 1 (e.g., the driver).

[0119] For example, navigation device 20 searches for a route (hereinafter also referred to as a "guided route") from the current location of vehicle 1 to the destination set by the driver via touchscreen display 22 by referring to map information database 24. Then, navigation device 20 provides route guidance using touchscreen display 22 and speaker 23 based on the searched guided route. Additionally, navigation device 20 can display prescribed information on touchscreen display 22 according to instructions from control device 30. Specific display details will be described later. Furthermore, navigation device 20 can output prescribed information to control device 30, such as information indicating the current location of vehicle 1 and information indicating operations accepted via touchscreen display 22.

[0120] The EPS system 40 consists of, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a distributor 44, and an EPS ECU 45.

[0121] Steering angle sensor 41 detects the steering angle θst of steering wheel 46 and outputs information indicating the detected steering angle θst to EPS ECU 45. Torque sensor 42 detects the torque applied to steering wheel 46 of vehicle 1, i.e., steering torque TQ, and outputs information indicating the detected steering torque TQ to EPS ECU 45.

[0122] EPS motor 43 assists the driver in operating the steering wheel 46 by applying driving or counter-force to the steering column 47 connected to the steering wheel 46 according to the instructions of EPS ECU 45. Distributor 44 detects the rotation angle θm of EPS motor 43 and outputs information indicating the detected rotation angle θm to EPS ECU 45.

[0123] The EPS ECU 45, for example, includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the internal and external data inputs and outputs of the EPS ECU 45 (all not shown). It is a computer that controls the EPS system 40 (e.g., the EPS motor 43) and is implemented by one or more ECUs. For example, the EPS ECU 45 controls the EPS system 40 (e.g., the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the distributor 44. Furthermore, the EPS ECU 45 can control the EPS system 40 according to the instructions of the control device 30.

[0124] Furthermore, the EPS system 40 (e.g., EPS ECU 45) can output information to the control device 30 representing the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the distributor 44, etc. Additionally, the EPS system 40 (e.g., EPS ECU 45) can output information to the control device 30 representing the steering speed ω of the steering wheel 46. In this case, the steering speed ω can be obtained, for example, by time differentiation of the steering angle θst.

[0125] The drive force control system 50 includes a drive ECU 51, configured to control the drive force of the vehicle 1. The drive ECU 51, for example, includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling internal and external data inputs and outputs (all not shown). It is a computer controlling the drive force control system 50, implemented by one or more ECUs. For example, the drive ECU 51 controls the drive force output from the drive source of the vehicle 1 based on the amount of operation of the accelerator pedal 52 provided on the vehicle 1 and the detection value of the gear position sensor 53 that detects the gear position Ps of a shifting device (e.g., shift lever and shift switch, not shown). Furthermore, as mentioned above, the drive source is an internal combustion engine or an electric motor, and the drive ECU 51 controls the output of these internal combustion engines or electric motors based on the amount of operation of the accelerator pedal 52 and the gear position Ps. Additionally, the drive ECU 51 can also control the drive force control system 50 (e.g., the drive source) according to the instructions of the control device 30.

[0126] The braking force control system 60 includes a braking ECU 61, configured to control the braking force of the vehicle 1. The braking ECU 61, for example, includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling internal and external data inputs and outputs (all not shown). It is a computer controlling the braking force control system 60, implemented by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling the braking device (not shown) provided by the vehicle 1 based on the operation of the brake pedal 62 provided on the vehicle 1. Here, the braking device consists, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the hydraulic cylinder. Then, the braking ECU 61 controls the electric motor of the braking device to generate braking force corresponding to the operation of the brake pedal 62. Alternatively, the braking ECU 61 can also control the braking force control system 60 according to the instructions of the control device 30.

[0127] The communication unit 70 is a communication interface for communicating with the external device 2 according to the control instructions of the control device 30. That is, the control device 30 can communicate with the external device 2 through the communication unit 70. Examples of the external device 2 include, for instance, a driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Furthermore, communication between the vehicle 1 and the external device 2 can utilize mobile communication networks such as cellular networks, Wi-Fi (registered trademark), or Bluetooth (registered trademark).

[0128] [Structure of the control device]

[0129] The control device 30 includes, for example, an input / output unit 31 for controlling internal and external data input and output, an arithmetic unit 32 for performing various calculations, a storage unit 33 for storing various information on a non-temporary storage medium, and a display unit 326 for displaying various information, and is a computer that controls the entire vehicle 1.

[0130] The control device 30 is implemented by one or more ECUs (Electronic Control Units) working together. Furthermore, since the control device 30 performs driving assistance functions such as controlling the vehicle on behalf of the driver, it can also be called the control device for an Advanced Driver Assistance System (ADAS ECU). The specific configuration of the control device 30, including the storage unit 33, and specific examples of its control will be described later; details are omitted here.

[0131] The computing unit 32 includes an object recognition unit 320, an automatic driving control unit 321, and a display unit 326, etc.

[0132] The object recognition unit 320 performs sensor fusion processing on the detection results from the camera 10, radar device 12, and detector 14 to identify information such as the position, type, and speed of objects. Furthermore, the object recognition unit 320 outputs the recognition results to the autonomous driving control unit 321.

[0133] The autonomous driving control unit 321 includes: a driving control unit 322, a parking space search unit 321, a parking path generation unit 324, an obstacle judgment unit 325, etc.

[0134] Parking space search and parking route generation

[0135] The parking space search unit 321 searches for parking spaces in the forward or reverse direction of the vehicle 1. Figure 2 This is a schematic diagram showing vehicle 1 searching for a parking space in the forward direction. Figure 2 The white arrow in the image indicates the direction the vehicle is traveling. Figure 2 The sector-shaped area in the diagram schematically represents the situation of exploration using sonar 112.

[0136] During the search, the parking space search unit 321 receives signals detected by external sensors 11 such as the front-side camera 111a, sonar 112, and radar 113, and analyzes these signals to obtain the location information of vehicles already parked in the parking lot. Specifically, vehicle 1 acquires an image of the area in front of the vehicle through the front-side camera 111a, and obtains the position of objects in front of the vehicle through the front sonar and radar. Furthermore, the vehicle acquires images of the left and right sides of the vehicle through the left and right-side cameras 111a, and obtains the position of objects on the left and right sides through the left and right-side sonar and radar.

[0137] For example, the parking space search unit 321 can process the image captured by the camera 111, identify the ground markings of the parking space, and identify other parked vehicles. Then, it analyzes the distance and orientation information of other vehicles detected by the sonar 112 and radar 113 to determine the exact location of the other parked vehicles. By comprehensively analyzing this information, the parking space search unit 321 can determine the location, size, and relative position of the vacant parking space to the vehicle 1. In addition, the parking space search unit 321 generates a parking space layout diagram based on this data.

[0138] like Figure 2 As shown in the generated parking space layout diagram, there are a total of 4 cars parked in the parking lot, two on each side of vehicle 1. There are also 2 vacant parking spaces, one located to the right front of vehicle 1 in its direction of travel (shown by the upper dashed box in the diagram), and the other located to the left front of vehicle 1 (shown by the lower dashed box in the diagram). The identified available parking spaces can be displayed on the touchscreen display 22 in the form of dashed boxes, for example, to facilitate driver confirmation and selection. The display method for selectable parking spaces is not limited to dashed boxes; it can also be solid boxes, squares, or other methods.

[0139] The parking space search unit 321 can also obtain map data of the parking lot from the map information database 24. This map data includes information such as the overall layout of the parking lot, the size of standard parking spaces, and the width of aisles. By combining the map data with data detected in real time by external sensors 11, the parking space search unit 321 can generate a more accurate and complete parking space layout diagram, which can help drivers understand the parking lot situation more intuitively and choose a suitable parking space more effectively.

[0140] A suitable parking space can be selected by the user on the touch screen 22, or it can be automatically selected by the control system based on factors such as the distance of the parking space.

[0141] The parking route generation unit 323 can generate multiple selectable parking routes based on the available parking spaces found by the parking space search unit 321. For example, it can generate routes for parking spaces in different locations. Figure 2 The upper middle dashed box and Figure 2 The path to the parking space is shown in the dashed box at the bottom center.

[0142] In a preferred embodiment, for the same parking space, the parking path generation unit 323 can also generate multiple different parking paths based on the turning radius of the vehicle 1, the safe distance from surrounding parked vehicles, and the avoidance space during the turning process. For example... Figure 3 As shown, for a selected parking space (i.e., Figure 2As shown in the dotted box at the bottom center, the parking path generation unit 323 generated two different parking paths 351 and 352.

[0143] Figure 3 The white hollow line in the diagram indicates parking path 351, which involves multiple forward and reverse maneuvers to park the car in the parking space. This route avoids the front of the car approaching the parking space during the parking process. Figure 3 The parked vehicles in the upper left corner, although time-consuming, can prevent accidental scratches to other vehicles. Figure 3 The gray line in the diagram indicates parking path 352, which is a parking path with few turns, although it is relatively close to the target location while driving. Figure 3 The vehicle in the upper left corner can complete parking more quickly. By setting multiple parking routes, different user needs can be met.

[0144] Subsequently, the autonomous driving control unit 321 can control the vehicle to move forward, turn, and reverse according to the parking path selected by the user or recommended by the system by controlling the driving control unit 322, thereby parking the vehicle 1 in the target parking space along the selected parking path.

[0145] <Estimated driving speed display>

[0146] The automatic driving control unit 321 can also display the predetermined driving speed on the driving path after the user or the system automatically selects a parking route.

[0147] Specifically, the driving speed can be set to at least three levels, such as high speed, medium speed, and low speed. For example, the high speed level is suitable for straight driving routes and normal driving speed when there are no obstacles; the medium speed level is suitable for slow turning routes or driving speed when static obstacles are detected; and the low speed level is suitable for sharp turning routes, reversing into a parking space, or driving speed when dynamic obstacles are detected.

[0148] In a preferred embodiment of the invention, the predetermined driving speed information can be represented, for example, by using different colors to represent the vehicle's driving speed on different road segments, but is not limited to this. For example, a gradient of color depth can be used to represent driving speed, with darker colored road segments indicating faster driving speeds and lighter colored road segments indicating slower driving speeds. As another example, green can be used to represent high-speed levels, yellow to represent medium-speed levels, and red to represent slow-speed levels.

[0149] by Figure 4Taking parking path 353 as an example, when vehicle 1 first moves forward to adjust its angle for easier parking, the path segment is black, indicating a high speed. As the front of the vehicle approaches the parked vehicle in the upper left corner of the diagram, vehicle 1 slows down to avoid a collision, at which point the path segment changes color to gray and then light gray. Then, when vehicle 1 has safely completed its angle adjustment and is preparing to reverse into the parking garage, it slightly accelerates, but then slightly slows down when turning; this process is represented by the color change from gray to black to gray. When the rear of the vehicle is aligned with the center of the parking space, it travels at a higher speed to improve parking efficiency; this section of the path is represented by a longer black path segment. However, when approaching the parked vehicle below, it gradually slows down to avoid collisions until the speed reaches zero; this section of the path also changes color to gray and then light gray.

[0150] This intuitive speed change display allows users to clearly understand the speed variation pattern of vehicle 1 during the parking process. This design not only helps users predict the movement of vehicle 1 but also enhances their trust in the automatic parking system. When users see the system automatically reduce speed at appropriate locations, they perceive the system's reliability and safety.

[0151] It should be noted that, although Figure 4 The example shown is a display of speed information only on one path, but more preferably, for example, for... Figure 3 The system displays multiple paths, with speed information shown for each path. This helps users anticipate speed changes along different paths, allowing them to choose the appropriate path based on their preferences.

[0152] Object Recognition

[0153] In another preferred embodiment, the object recognition unit 320 recognizes objects that are a certain distance from the generated parking path, and before driving along the driving path, the display unit 326 displays the various recognized objects.

[0154] The object recognition unit 320 receives image data from each camera 111 via the input / output unit 31, processes the image data acquired by each camera 111, fuses the surrounding images of the vehicle 1, and performs object recognition to detect whether there are moving objects around the vehicle 1. The moving objects may be people, animals, or other vehicles.

[0155] Regarding object recognition methods, the object recognition unit 320 can combine various technical means for efficient recognition and classification, including but not limited to the following methods:

[0156] (Image recognition based on machine learning)

[0157] A pre-trained deep learning model (such as a convolutional neural network, CNN) is used to process the image data acquired by camera 111. The model identifies features such as the shape, outline, and color of objects to classify them into specific categories, such as humans, animals, vehicles, or other objects. If an object is identified as a human or animal, it is classified as a dynamic object because such targets have the potential for movement.

[0158] (Motion detection based on inter-frame difference)

[0159] The continuous video frames captured by camera 111 are compared, and the inter-frame difference is calculated to detect whether the object is moving.

[0160] If motion is detected in an object (e.g., a change in position or shape), the object is classified as a dynamic object.

[0161] This method is particularly suitable for identifying objects that are not easily distinguishable by static features, such as leaves blown by the wind, which may be excluded, while moving pedestrians or vehicles can be accurately identified.

[0162] (Combination of image recognition and motion detection)

[0163] First, the image data acquired by camera 111 is processed. A model identifies objects into specific categories, such as humans, animals, vehicles, or other objects. Then, motion detection based on inter-frame difference is used to determine whether the object is moving. If an object is identified as a human, animal, or other vehicle, and motion is detected, it is classified as a moving object. This further improves the accuracy of moving object recognition; for example, leaves blowing in the wind might be excluded, while moving pedestrians or vehicles can be accurately identified.

[0164] In addition, adaptive recognition can be added according to environmental conditions. For example, infrared cameras or thermal imaging sensors can be introduced for auxiliary recognition at night or in low light conditions.

[0165] By combining these methods, the object recognition unit 320 can accurately classify objects in different environments, ensuring the accuracy of dynamic object recognition while reducing the false recognition rate of static objects. This not only improves the safety of automatic parking and automatic exit but also enhances the system's adaptability to complex traffic scenarios.

[0166] The display unit 326 is capable of displaying various objects recognized by the object recognition unit 320. For example, it can display these objects on the touchscreen 22 as specific icons, which are also called markers. For example, when a pedestrian is recognized, the pedestrian's location is immediately marked with a human icon; when a moving animal such as a cat or dog is recognized, it is marked with an animal icon, and an arrow indicates its direction of movement; when a static object is recognized, its type, location, and size are indicated by a corresponding icon. The corresponding icons can be, for example, universally recognized emoticons, or more complex pre-designed icons.

[0167] Preferably, the display unit 326 only displays objects that are a certain distance away from the parking path, so as to avoid visual confusion for the user caused by too many icons.

[0168] <Object Judgment>

[0169] In a preferred embodiment, the obstacle determination unit 325 determines the danger of an object based on multiple dimensions, then identifies objects that may pose a danger as obstacles, and highlights the objects identified as obstacles.

[0170] The primary criterion is based on the object's movement characteristics. Specifically:

[0171] For moving objects such as pedestrians and bicycles, because their direction and speed of movement are uncertain and they may cause driving hazards, they are identified as obstacles.

[0172] For obstacles that may move intermittently, such as car doors that may be opened in parked vehicles, although they are initially stationary, when it is detected that someone is inside the vehicle or the door is not fully closed, it indicates that the door may open at any time and cause danger, so it is judged as an obstacle.

[0173] For static objects such as trash cans, danger may only be posed when vehicle 1 is about to approach these static objects, so they are only considered obstacles when they are relatively close to them.

[0174] The second criterion is based on the relative positional relationship with vehicle 1:

[0175] When an object is located in the parking path of vehicle 1, it is identified as an obstacle;

[0176] In a preferred embodiment, when an object is in the blind spot of vehicle 1, if there is a moving object, it can be identified as an obstacle in order to help the user understand the situation in the blind spot.

[0177] The third criterion is based on the relative distance and relative speed between the object and vehicle 1:

[0178] When the distance between an object and vehicle 1 is less than a preset safe distance threshold, it is identified as an obstacle;

[0179] When an object is detected approaching vehicle 1, it is identified as an obstacle if the relative speed is relatively high.

[0180] For objects moving away from vehicle 1, the obstacle assessment can be cancelled as the danger disappears.

[0181] <Emphasis on obstacles>

[0182] The display unit 326 is capable of emphasizing objects that are judged to be obstacles in different ways.

[0183] Figure 5 This is an example of a specific embodiment of the present invention.

[0184] When a pedestrian is detected approaching a vehicle, the pedestrian's icon 354 can be highlighted. This can be achieved by making the pedestrian's icon 354 glow, changing its color, or enlarging it. Additionally, the pedestrian's expected direction of movement can be marked, and the user can be alerted with prominent text.

[0185] When the system detects that a nearby parked vehicle has passengers or that a sliding door of a parked vehicle is installed, it will highlight the vehicle in a specific area. For example, it may mark the parked vehicle or its sliding door with a specific color or make it glow to alert the user that people or objects may suddenly appear in the area.

[0186] Through this hierarchical and focused display method, the control device 30 helps users better understand potential hazards in the surrounding environment. Simultaneously, this intuitive risk warning helps users understand why vehicle 1 slows down or avoids obstacles at specific locations, thereby enhancing user trust in the automatic parking system. When the risks identified by the system match the user's own observations, it further strengthens the user's acceptance of the system's judgment capabilities.

[0187] The parking path generation unit 42 can prioritize multiple selectable parking paths based on the type and location of identified obstacles. For example... Figure 5 As shown, because a parked vehicle was detected in the upper left corner of the image, to avoid collisions, the system displays the safer route (route 351 in the image) on the upper level, while displaying the shorter but less safe route (route 352 in the image) on the lower level. This display method intuitively recommends safer parking options to the user.

[0188] <Speed ​​change based on obstacles and speed change display>

[0189] In addition to the danger posed by obstacles, the automatic driving control unit 321 can also dynamically adjust the driving speed based on the distance between the vehicle and the obstacles.

[0190] Specifically, for static obstacles, the vehicle speed does not need to be reduced when it is far away from the obstacle. If the vehicle gradually approaches the obstacle while driving, the speed can be gradually reduced according to the size of the obstacle and the increase in danger. For dynamic obstacles, the system predicts the movement trajectory, sets a larger safety distance threshold, and decelerates with a faster acceleration when approaching the preset trajectory of the obstacle. For pedestrians within a certain range of the driving path, the vehicle speed is always significantly reduced, and if necessary, it is completely stopped until it is confirmed to be safe.

[0191] <Setting the mode for the driving route>

[0192] For each of the generated parking routes, a pattern can be labeled.

[0193] For example, parking routes can be divided into the following four modes:

[0194] Fast mode: This mode is characterized by using a higher driving speed to get as close to obstacles as possible while ensuring safety, and generating the shortest parking path.

[0195] Medium speed mode: This mode is characterized by appropriately reducing the driving speed along the path and approaching obstacles when necessary, striking a balance between path length and safety.

[0196] Low-speed mode: This mode is characterized by driving at low speeds and deliberately avoiding obstacles by increasing the number of U-turns or taking detours to ensure a safe distance from obstacles.

[0197] Safety Priority Mode: This mode is characterized by using the lowest driving speed throughout the entire journey, while avoiding obstacles to the greatest extent possible, ensuring sufficient safety margin even when multiple U-turns are required.

[0198] The storage unit 33 records the parking route patterns selected by the user during daily use. The parking route generation unit 42 analyzes this historical data to identify the user's driving preference patterns, and in subsequent uses, the system will prioritize recommending parking route patterns that match the user's driving habits. For example, if the user frequently selects the safety priority mode, the system will use the safety priority mode as the default recommendation when generating parking routes next time.

[0199] This user-preference-based route recommendation mechanism not only provides parking solutions that better suit individual driving habits, but also allows users to gain a clearer understanding of the vehicle's trajectory by displaying multiple options, thereby enhancing their sense of security and trust during automatic parking. Furthermore, users can switch between different parking route modes at any time according to the specific needs of the scenario.

[0200] Figure 6 An application scenario diagram of the control device of the present invention is shown. For example... Figure 6 As shown, the touchscreen display of the main control computer located in front of the driver's seat displays the automatic parking process performed by the automatic driving control unit 321 in real time. Furthermore, although operations such as parking location search, parking path generation, and parking path selection are all performed by the user through the touchscreen display 22 of the vehicle 1 itself, the generated parking path can also be displayed on the screen of the user's mobile phone through communication between the communication unit 70 and an external device 2 such as a mobile phone.

[0201] Furthermore, while the above embodiments illustrate the use of a vehicle (four-wheeled car) as the moving body, the invention is not limited to this. For example, it could also be a two-wheeled vehicle, a Segway, or other similar vehicle. Moreover, the concept of this invention is not limited to vehicles and can also be applied to robots, ships, aircraft, and the like, which are equipped with a drive source and can move under the power of that drive source.

[0202] Furthermore, the control method described in the foregoing embodiments can be implemented by executing a pre-prepared control program. This control program is recorded in a computer-readable storage medium and is executed by reading it from the storage medium. Additionally, this control program can be provided in the form of storage on a non-transitory storage medium such as flash memory, or it can be provided via a network such as the Internet. The computer executing this control program can be included in a control device, or in an electronic device such as a smartphone, tablet terminal, or personal computer capable of communicating with the control device, or in a server device capable of communicating with these control devices and electronic devices.

[0203] In addition, the present invention includes at least the following items, wherein the items in parentheses represent the corresponding components or likes in the above embodiments, but are not limited thereto.

[0204] <Option 1>

[0205] A control device (30) is a control device for moving a moving body (vehicle, 1) that automatically drives to a parking candidate position and stops, comprising:

[0206] The external recognition unit (object recognition unit, 320) acquires recognition data of the external environment of the moving object.

[0207] The parking candidate location setting unit (parking space search unit, 323) sets parking candidate locations based on the identification data.

[0208] The path generation unit (parking path generation unit, 324) generates one or more driving paths connecting the current position of the moving body to the parking candidate position.

[0209] The display unit (326) displays the parking candidate locations and at least one of the one or more driving paths, and

[0210] The control unit (autopilot control unit, 321) performs movement control on the moving body, and...

[0211] Based on the identification data, the control unit sets a predetermined travel speed for the moving body along at least one of the one or more travel paths.

[0212] The display unit (326) changes the display mode of the at least one driving path according to the predetermined driving speed.

[0213] The control device in Option 1, by displaying the parking path to the user, allows the user to understand the autonomous driving trajectory in advance, thus increasing the user's trust in autonomous driving. Furthermore, by setting and displaying the speed of movement along the path, users can more intuitively understand the vehicle's speed changes on different path segments, improving the safety of automatic parking while also allowing users to perceive the reliability of the vehicle's autonomous driving system.

[0214] <Option 2>

[0215] In the control device described in Scheme 1

[0216] Along the driving path generated based on the identification data, before starting movement control to the parking candidate location, the display unit (326) highlights the markers detected within a predetermined distance from the driving path.

[0217] The control device of Option 2 reminds the user of potential obstacles that may affect the vehicle's movement by highlighting the displayed landmarks before starting movement control. This intuitively lets the user know that the autonomous driving system is taking multiple measures to ensure driving safety, increasing the user's sense of security. It can also help the user identify potential risks in advance and enhance the safety of the automatic parking process.

[0218] <Option 3>

[0219] In the control device described in Scheme 2

[0220] The control unit (321) displays the travel speed of the moving body based on the distance between the moving body and the marker, so that the moving body reduces its travel speed as it approaches the marker.

[0221] The control device (30) of Scheme 3 dynamically adjusts and displays the driving speed according to the distance to the obstacle, so as to realize the automatic deceleration of the vehicle when approaching the obstacle and ensure the safety of the parking process.

[0222] <Option 4>

[0223] In any of the control devices described in Schemes 1 to 3

[0224] The one or more driving paths are each configured with different modes.

[0225] The display unit (326) displays the plurality of driving paths.

[0226] The control device in Scheme 4 allows users to choose a suitable parking scheme based on their personal driving preferences by setting different modes for different driving paths and displaying multiple paths simultaneously, thereby improving the system's practicality and adaptability.

[0227] <Option 5>

[0228] In the control device described in Scheme 1

[0229] From the time the driving path is generated until the movement control to the parking candidate position is completed, when a dynamic marker is detected approaching the moving body from outside the range of the driving path at a predetermined distance, the display unit (326) highlights the dynamic marker.

[0230] The control device of Scheme 5 monitors and highlights dynamic obstacles approaching the vehicle in real time throughout the parking process. Even if the initial position is outside the preset range, the dynamic obstacle will be highlighted as it actively or passively approaches the vehicle. In this way, it can ensure timely response to emergencies.

[0231] <Option 6>

[0232] In the control device described in Scheme 1

[0233] When a static sign is detected outside the specified distance from the driving path, and it is anticipated that a dynamic sign will appear near the static sign, the display unit (326) emphasizes the static sign.

[0234] The control device in Scheme 6 can also predict the movement of dynamic markers. By highlighting dynamic obstacles that may suddenly appear near static obstacles, it can also provide early warning of potential risks and improve active safety performance.

[0235] <Option 7>

[0236] A control method for controlling the movement of a moving body that automatically travels to and stops at a parking candidate position, and is executed by a control device (30), the control method comprising:

[0237] Acquire external identification data of the moving object.

[0238] Based on the identified data, candidate parking locations are set.

[0239] Generate one or more driving paths connecting the current position of the moving body to the parking candidate position.

[0240] Display the parking candidate locations and the one or more driving routes.

[0241] The movement of the moving body is controlled, and

[0242] The control method further includes:

[0243] Based on the identification data, a predetermined driving speed is set along at least one of the one or more driving paths.

[0244] The display method of the at least one driving path is changed according to the predetermined driving speed.

[0245] The control method of Scheme 7 reminds users of potential obstacles that may affect the vehicle's movement by highlighting the displayed landmarks before starting movement control. This intuitively lets users know that the autonomous driving system is taking multiple measures to ensure driving safety, increasing users' peace of mind and helping them identify potential risks in advance, thus enhancing the safety of the automatic parking process.

[0246] <Option 8>

[0247] A program product comprising a control program for a control device (30),

[0248] The control program is executed by the processor of the control device (30) to implement the control method, which includes:

[0249] Acquire external identification data of the moving object.

[0250] Based on the identified data, candidate parking locations are set.

[0251] Generate one or more driving paths connecting the current position of the moving body to the parking candidate position.

[0252] Display the parking candidate locations and the one or more driving routes.

[0253] The movement of the moving body is controlled, and

[0254] The control method further includes:

[0255] Based on the identification data, a predetermined driving speed is set along at least one of the one or more driving paths.

[0256] The display method of the at least one driving path is changed according to the predetermined driving speed.

[0257] The program product in Option 8 reminds users of potential obstacles that may affect the vehicle's movement by highlighting signs before starting motion control. This intuitively shows users that the autonomous driving system is taking multiple measures to ensure driving safety, increasing users' peace of mind. It also helps users identify potential risks in advance and enhances the safety of the automatic parking process.

Claims

1. A control device for controlling the movement of a moving body that automatically travels to a parking candidate position and stops, comprising: The external identification unit acquires external identification data of the moving object. The parking candidate location setting unit sets parking candidate locations based on the identified data. The path generation unit generates one or more driving paths connecting the current position of the moving body to the parking candidate position. The display unit shows the parking candidate locations and at least one of the one or more driving paths, and The control unit controls the movement of the moving body, and... Based on the identification data, the control unit sets a predetermined travel speed for the moving body along at least one of the one or more travel paths. The display unit changes the display mode of the at least one driving path according to the predetermined driving speed.

2. The control device as claimed in claim 1, wherein, Along the driving path generated based on the identification data, before initiating movement control towards the parking candidate location, the display unit highlights the landmarks detected within a predetermined distance from the driving path.

3. The control device as described in claim 2, wherein, The control unit displays the travel speed of the moving body based on the distance between the moving body and the marker, so that the moving body reduces its travel speed as it approaches the marker.

4. The control device as described in any one of claims 1 to 3, wherein, The one or more driving paths are each configured with different modes. The display unit shows the multiple driving paths.

5. The control device as claimed in claim 1, wherein, From the time the driving path is generated until the movement control to the parking candidate position is completed, when a dynamic marker is detected approaching the moving body from outside a range of a predetermined distance from the driving path, the display unit emphasizes the dynamic marker.

6. The control device as claimed in claim 1, wherein, When a static sign is detected outside a predetermined distance from the driving path, and a dynamic sign is anticipated to appear near the static sign, the display unit emphasizes the static sign.

7. A control method for controlling the movement of a moving body that automatically travels to a parking candidate position and stops, and the control method is executed by a control device, the control method comprising: Acquire external identification data of the moving object. Based on the identified data, candidate parking locations are set. Generate one or more driving paths connecting the current position of the moving body to the parking candidate position. Display the parking candidate locations and the one or more driving routes. The movement of the moving body is controlled, and The control method further includes: Based on the identification data, a predetermined driving speed is set along at least one of the one or more driving paths. The display method of the at least one driving path is changed according to the predetermined driving speed.

8. A program product comprising a control program for a control device, The control program is executed by the processor of the control device to implement the control method, which includes: Acquire external identification data of the moving object. Based on the identified data, candidate parking locations are set. Generate one or more driving paths connecting the current position of the moving body to the parking candidate position. Display the parking candidate locations and the one or more driving routes. The movement of the moving body is controlled, and The control method further includes: Based on the identification data, a predetermined driving speed is set along at least one of the one or more driving paths. The display method of the at least one driving path is changed according to the predetermined driving speed.

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