Vehicle control device

Abstract

Vehicle control device (410), comprising: a reference unit (521, 522) configured to obtain map data specifying an absolute azimuth on a map of a linear road surface sign affixed to a road surface on which a vehicle is traveling, and image data obtained by imaging the vehicle's surroundings with a vehicle-mounted camera contained within the vehicle;and a correction unit (524) configured to estimate the azimuth of the vehicle, to capture the road surface mark from the referenced image data, to calculate a relative azimuth of the road surface mark with respect to the vehicle in the image data, to calculate a computational absolute azimuth of the road surface mark based on the calculated relative azimuth of the road surface mark and the estimated azimuth of the vehicle, to calculate an offset of an azimuth at which the vehicle is moving based on the calculated computational absolute azimuth and the absolute azimuth on the map, and to correct the azimuth at which the vehicle is moving based on the calculated offset.

Description

Area

[0001] The embodiments described here essentially relate to a vehicle control device. background

[0002] Among features relating to a road whose position information is stored in a map database, a characteristic feature in an area where a mobile object, such as a vehicle, travels is set as a feature required to correct the mobile object's own position. For example, a pattern of features with a high frequency for each of a variety of road types is referenced, and a feature with a high frequency for a road on which the mobile object travels is set as the feature required to correct the mobile object's own position. The set feature is recognized, and the own position, estimated using a Global Positioning System (GPS) or vehicle tracking, is corrected based on the feature's recognition result.Conventional technologies are described, for example, in Japanese patent application publication no. 2007-316025.

[0003] However, while the technology of correcting the self-position, estimated using GPS or motion tracking, can improve the accuracy of the self-position estimation based on the feature recognition result, errors can easily occur because the mobile object estimates its self-position while in motion. This makes it difficult to correct the azimuth of the moving object with high accuracy. Assuming GPS is used, it is difficult to correct the azimuth of the moving object using the technology described above in locations where satellite signals cannot be received (for example, a multi-story parking garage or an underground parking facility). Summary

[0004] A vehicle control device of an exemplary embodiment comprises, for example: a reference unit that obtains map data specifying an absolute azimuth of a linear road surface mark affixed to a road surface on which a vehicle is traveling, and image data obtained by imaging the vehicle's surroundings with a vehicle-mounted camera contained within the vehicle; and a correction unit that detects the road surface mark from the obtained image data, calculates a relative azimuth of the road surface mark with respect to the vehicle based on the image data, calculates an offset of an azimuth at which the vehicle is moving based on the calculated relative azimuth and the absolute azimuth of the detected road surface mark specified by the map data, and corrects the azimuth at which the vehicle is moving based on the calculated offset.Therefore, one of the tasks of the embodiment is to provide a vehicle control device that can correctly detect the current azimuth of a vehicle during automatic driving.

[0005] In the vehicle control device of the exemplary embodiments, the correction unit detects the road surface marking from image data obtained by the camera mounted on the vehicle at a predetermined position. Therefore, for example, the current azimuth of the vehicle can be correctly detected during automated driving.

[0006] In the vehicle control device of the exemplary embodiments, the correction unit detects the road surface marking from the image data captured by the vehicle-mounted camera at the moment the vehicle stops at the predetermined position. Therefore, for example, correction accuracy with respect to the vehicle's azimuth can be improved.

[0007] In the vehicle control device of the exemplary embodiments, the road surface marker is a lane outline drawn on the road surface on which the vehicle is traveling. Therefore, for example, the current azimuth of the vehicle can be correctly detected during automated driving without having to place a separate road surface marker on the road surface.

[0008] In the vehicle control device of the exemplary embodiments, the road surface marker is a linear azimuth marking drawn on the road surface on which the vehicle is driving. Therefore, for example, the current azimuth of the vehicle can be correctly detected during automated driving.

[0009] In the vehicle control device of the exemplary embodiments, the road surface marker is a pedestrian crossing that is mounted on the road surface on which the vehicle is driving. Therefore, for example, the current azimuth of the vehicle can be correctly detected during automated driving.

[0010] In the vehicle control device of the exemplary embodiments, the road surface marker is a stop line painted on the road surface over which the vehicle is traveling. Therefore, for example, the current azimuth of the vehicle can be correctly detected during automated driving.

[0011] In the vehicle control device of the exemplary embodiments, the road surface marker is a linear road surface marker applied to the road surface on which the vehicle travels and is distinct from a parking separation line, which indicates a parking frame. Therefore, for example, the current azimuth of the vehicle can be correctly detected during automated driving. List of characters Fig. Figure 1 is an exemplary and schematic representation illustrating an example of automatic parking in an automated parking service system according to an embodiment; Fig. Figure 2 is an exemplary and schematic representation illustrating an example of automatic recovery in the automated parking service system according to the present embodiment; Fig. Figure 3 is an exemplary and schematic block diagram illustrating a hardware configuration of a control equipment according to the present embodiment; Fig. Figure 4 is an exemplary and schematic block diagram illustrating a system configuration of a vehicle control system according to the present embodiment; Fig. Figure 5 is an exemplary and schematic block diagram illustrating the functions of the control equipment and a vehicle control device according to the present embodiment; Fig. Figure 6 is an exemplary and schematic representation to explain an example of a method for estimating an azimuth with which a vehicle moves, which can be carried out by a position estimation unit of the vehicle control device according to the present embodiment; Fig. Figure 7 is an exemplary and schematic representation to explain an example that differs from the one in Fig. 6 differs with respect to the method for estimating the azimuth at which the vehicle is moving, which can be carried out by the position estimation unit of the vehicle control device according to the present embodiment; Fig. Figure 8 is an exemplary and schematic representation to explain an example of the method for estimating the azimuth with which the vehicle moves, which can be carried out by the position estimation unit of the vehicle control device according to the present embodiment; Fig. Figure 9 is an exemplary and schematic representation to explain an example of the method for estimating the azimuth with which the vehicle moves, which can be carried out by the position estimation unit of the vehicle control device according to the present embodiment; Fig. Figure 10 is an exemplary and schematic representation to explain details of a correction taking into account a relative azimuth of a road surface sign for estimating an azimuth that can be carried out by the position estimation unit of the vehicle control device according to the present embodiment; Fig. Figure 11 is an exemplary and schematic flowchart illustrating a processing procedure carried out by the control equipment and the vehicle control device in a case where automatic parking is performed in the present embodiment; Fig. Figure 12 is an exemplary and schematic flowchart illustrating a processing procedure carried out by the control equipment and the vehicle control device in a case where automatic recovery or exiting of the parking space is performed in the present embodiment; Fig. Figure 13 is an exemplary and schematic flowchart illustrating a procedure of correction processing with respect to the azimuth of the vehicle, which is included in the driving control carried out by the vehicle control device, in a case in which automatic parking and automatic recovery are carried out in the present embodiment; Fig. Figure 14 is an exemplary and schematic flowchart illustrating a procedure of computational processing with respect to road surface sign data comprising an absolute azimuth of a road surface sign for estimating an azimuth, which is performed by the vehicle control device in a case where a driving control is performed in the present embodiment; and Fig. Figure 15 is an exemplary and schematic flowchart illustrating a procedure of correction processing with respect to the azimuth of the vehicle, which is carried out by the vehicle control device, in a case where the driving control is carried out in the present embodiment. Detailed description

[0012] The following describes an embodiment based on the drawings. A configuration of the present embodiment described below, as well as an operation and a result (effect) obtained from the configuration, are merely examples, and the embodiment is not limited to the following description.

[0013] Fig. Figure 1 is an exemplary and schematic representation illustrating an example of automatic parking in an automated parking service system according to the present embodiment, and Fig. Figure 2 is an exemplary and schematic representation illustrating an example of automatic retrieval or exiting of a parking space in the automated parking service system according to the present embodiment. First, with reference to Fig. 1 and Fig. Section 2 below provides an overview of the automated parking service system according to the present embodiment. The automated parking service system is, for example, a system for implementing an automated parking service comprising automated parking and automated retrieval / exit, as described below, in a parking garage. P encompassing one or more park regions R , which are divided by a predetermined dividing line L, such as a white line.

[0014] As in Fig. 1 and Fig. As illustrated in point 2, an automated parking service uses automatic parking (see arrow). C1 in Fig. 1) and automatic recovery or exit (see an arrow) C2 in Fig. 2) carried out. Automatic parking is carried out in such a way that, after an occupant Xfrom a vehicle V in a predetermined exit region P1 in the parking garage P gets out, the vehicle V automatically from the exit region P1 to a free park region R , in which to park, is moved in response to a predetermined instruction, and the automatic recovery is carried out in such a way that, after the automatic parking is complete, the vehicle V the parking area R leaves and automatically enters a predetermined entry region. P2 moved to be stopped in response to a predetermined call. The predetermined instruction and call are initiated by the occupant activating a terminal device T. X implemented.

[0015] As in Fig. 1 and Fig. As illustrated in point 2, the automated parking service system includes control equipment. 101, which are located in the parking area P is appropriate, and a vehicle control system 102 , which is attached to the vehicle V is mounted. The control equipment 101 and the vehicle control system 102 are configured to be able to communicate with each other via wireless communication.

[0016] The control equipment 101 is configured to handle a situation in the parking lot area or parking garage P to monitor, by receiving image data from one or more surveillance cameras 103 to be obtained, which the situation in the parking area or parking garage P depict, as well as data output by various (not illustrated) sensors, and the like, located in the parking lot area or parking garage P are attached, and around the parking area Rto manage based on a monitoring result. The following description details the information provided by the control equipment. 101 to monitor the situation in the parking area or parking garage P received data is collectively referred to as sensor data.

[0017] In the exemplary embodiment, the number, arrangement, and the like of the exit area are P1 , of the entry-level area P2 , as well as the parking area R in the parking area or parking garage P not on the in Fig. 1 and Fig. The illustrated example is limited. The technology of the exemplary embodiment can be applied to parking areas that have various configurations, differing from that of the one in Fig. 1 and Fig. 2 illustrated parking area P differs.

[0018] Next, with reference to Fig. 3 and Fig. Four configurations of the control equipment and the vehicle control system according to the present embodiment are described. Fig. 3 and Fig. The four illustrated configurations are merely examples, and the configurations of the control equipment 101 and the vehicle control system 102 According to the present embodiment, the components can be assembled (modified) in various ways. First, with reference to... Fig. 3. A hardware configuration of the control equipment 101 as described in the exemplary embodiment.

[0019] Fig. Figure 3 is an exemplary and schematic block diagram illustrating the hardware configuration of the control equipment according to the present embodiment. As shown in Fig. As illustrated in section 3, the control equipment includes101 According to the exemplary embodiment, a computer resource, similar to that of a typical information processing device, such as a personal computer (PC). In the Fig. The 3 illustrated examples include the control equipment. 101 a central processing unit (CPU) 301 , a read memory (ROM) 302 , a read / write memory (RAM) 303 , a communication interface (I / F) 304 , an input / output interface (I / F) 305 and a solid-state drive (SSD) 306 These hardware elements are interconnected via a data bus. 350 tied together.

[0020] The CPU 301 is a hardware processor that is integral to the control equipment 101 controls the CPU 301 It reads various control programs (computer programs) that are located in the ROM. 302and similar data are stored, and implements various functions according to instructions prescribed in the various control programs.

[0021] The ROM 302 is a non-volatile main memory device that stores parameters, and the like, required to execute the various control programs described above.

[0022] The RAM 303 is a volatile main memory device that provides a workspace for the CPU 301 provides.

[0023] The communication interface 304 is an interface that enables communication between the control equipment 101 and implemented in an external device. For example, the communication interface implements 304 a sending and receiving of a signal between the control equipment 101 and the vehicle V (Vehicle control system) 102) via wireless communication.

[0024] The input / output interface 305 is an interface that provides a connection between the control equipment 101 and implemented in an external device. Examples of external devices include an input / output device, and the like, operated by an operator of the control equipment. 101 is used.

[0025] The SSD 306 is a non-volatile, rewritable auxiliary storage device. In control equipment 101 According to the exemplary embodiment, a hard disk drive (HDD) can be used instead of the SSD. 306 (or in addition to the SSD) 306 ) as the auxiliary storage device.

[0026] Next, with reference to Fig. 4. A system configuration of the vehicle control system 102 as described in the present embodiment.

[0027] Fig. Figure 4 is an exemplary and schematic block diagram illustrating the system configuration of the vehicle control system according to the present embodiment. As shown in Fig. As illustrated in section 4, the vehicle control system includes 102 a braking system 401 , an acceleration system 402 , a steering system 403 , a gearshift system 404 , an obstacle sensor 405 , a driving condition sensor 406 , a communication interface (I / F) 407 , a vehicle-mounted camera 408 , a monitor device 409 , a vehicle control device 410 and a vehicle-mounted network 450 .

[0028] The braking system 401 controls a deceleration of the vehicle V The braking system 401 includes a brake unit 401a , a brake control unit 401band a brake unit sensor 401c .

[0029] The brake unit 401a is a device for slowing down the vehicle V , including, for example, a brake pedal.

[0030] The brake control unit 401b An example is an electronic control unit (ECU), which consists of a computer with a hardware processor, such as a CPU. The brake control unit 401b controls the extent of the vehicle's deceleration V by controlling or driving an actuator (not illustrated), and actuating the brake unit 401a based on an instruction from the vehicle control device 410 .

[0031] The brake unit sensor 401c is a device for detecting the state of the brake unit 401a For example, in a case where the brake unit 401a a brake pedal that includes the brake unit sensor401c a position of the brake pedal or a pressure applied to the brake pedal as the state of the brake unit 401a Detected. The brake unit sensor 401c indicates the detected state of the brake unit 401a to the network mounted on the vehicle 450 out of.

[0032] The acceleration system 402 controls the acceleration of the vehicle V The acceleration system 402 includes an acceleration unit 402a , an acceleration control unit 402b , and an accelerometer sensor 402c .

[0033] The acceleration unit 402a is a device for accelerating the vehicle V , for example, an accelerator pedal.

[0034] The acceleration control unit 402bAn ECU is an electronic control unit (ECU) that consists of a computer with a hardware processor, such as a CPU. 402b controls the degree of acceleration of the vehicle V by driving the actuator (not illustrated) based on an instruction from the vehicle control device 410 , to the acceleration unit 402a to activate.

[0035] The accelerometer sensor 402c is a device for detecting the state of the acceleration unit 402a For example, in a case where the acceleration unit 402a an accelerator pedal includes the accelerometer sensor 402c The accelerator pedal sensor detects the position of the accelerator pedal or the pressure applied to the accelerator pedal. 402c indicates the detected state of the acceleration unit 402ato the network mounted on the vehicle 450 off. The steering system 403 controls a direction of movement of the vehicle V The steering system 403 includes a steering unit 403a , a steering control unit 403b and a steering unit sensor 403c .

[0036] The steering unit 403a is a device for steering a steerable wheel of the vehicle V , for example, comprising a steering wheel and a handle. The steering control unit 403b An ECU is an electronic control unit (ECU) that consists of a computer with a hardware processor, such as a CPU. The steering control unit 403b controls the direction of movement of the vehicle V by driving the actuator (not illustrated) based on an instruction from the vehicle control device 410 to operate the steering unit 403a .

[0037] The steering unit sensor 403c is a device for detecting the state of the steering unit 403a For example, in a case where the steering unit 403a a steering wheel that includes the steering unit sensor 403c a position of the steering wheel or a steering wheel rotation angle is detected. In a case where the steering unit 403a if it includes a handle, the steering unit sensor can 403c Detect the position of the handle or the pressure applied to the handle. The steering unit sensor 403c indicates the detected state of the steering unit 403a to the network mounted on the vehicle 450 out of.

[0038] The gearshift system 404 controls the vehicle's gear ratio V The gearshift system 404 includes a gearshift unit 404a , a gear shift control unit 404b and a gear shift unit sensor404c .

[0039] The gearshift unit 404a is a device for changing the gear ratio of the vehicle V , for example with a gearshift lever.

[0040] The gearshift control unit 404b An ECU is an electronic control unit (ECU), which consists, for example, of a computer with a hardware processor, such as a CPU. The gear shift control unit. 404b controls the vehicle's gear ratio V by driving the actuator (not illustrated) based on an instruction from the vehicle control device 410 , to the gearshift unit 404a to activate.

[0041] The gear shift unit sensor 404c is a device for detecting the state of the gearshift unit 404a For example, in a case where the gearshift unit 404a a gearshift lever that includes the gearshift unit sensor404c The gearshift unit sensor detects the position of the gearshift lever or pressure applied to the gearshift lever. 404c indicates the detected state of the gearshift unit 404a to the network mounted on the vehicle 450 out of.

[0042] The obstacle sensor 405 is a device for capturing information regarding an obstacle that is in the vicinity of the vehicle V The obstacle sensor 405 It includes, for example, a range sensor, such as sonar, that detects the distance to the obstacle. The obstacle sensor 405 transmits the collected information to the network mounted on the vehicle. 450 out of.

[0043] The driving condition sensor 406 is a device for detecting the driving condition of the vehicle V The driving condition sensor 406This includes, for example, a wheel speed sensor that measures the wheel speed or rotational speed of the vehicle. V detected by an acceleration sensor that measures acceleration in a front and rear direction or a right and left direction of the vehicle V It detects, and a gyroscope that detects the vehicle's rotational speed (angular velocity). The driving condition sensor 406 The detected driving status is transmitted to the network mounted on the vehicle. 450 out of.

[0044] The communication interface 407 is an interface that enables communication between the vehicle control system 102 and implemented in an external device. For example, the communication interface implements 407 a sending and receiving of a signal between the vehicle control system 102 and the control equipment 101via wireless communication, a sending and receiving of a signal between the vehicle control system 102 and the terminal device T via wireless communication, and the like.

[0045] The camera mounted on the vehicle 408 is a device for mapping a situation in the vicinity of the vehicle V For example, a large number of cameras are mounted on the vehicle. 408 to depict an area encompassing a road surface on the front, rear, and lateral sides (both left and right) of the vehicle V attached. By means of the camera mounted on the vehicle. 408 Related image data is used to monitor a situation in the vehicle's surroundings. V (including obstacle detection). The vehicle-mounted camera 408 The received image data is sent to the vehicle control device. 410The following description details the features of the camera mounted on the vehicle. 408 image data obtained and the data from the various sensors described above, which are integrated into the vehicle control system 102 The data obtained are collectively referred to as sensor data.

[0046] The monitor device 409 is on a dashboard or similar in a passenger compartment of the vehicle V attached. The monitor device 409 includes a display unit 409a , a speech output unit 409b and an actuation input unit 409c .

[0047] The display unit 409a is a device for displaying an image in response to an instruction from the vehicle control device. 410 The display unit 409aIt consists of a liquid crystal display (LCD) or an organic EL display (OELD: organic electroluminescent display), for example.

[0048] The speech output unit 409b is a device for outputting speech in response to an instruction from the vehicle control device. 410 The speech output unit 409b It consists, for example, of a loudspeaker.

[0049] The actuation input unit 409c is a device for receiving input from an occupant in the vehicle V The actuation input unit 409c It consists, for example, of a touch panel that is mounted on a display screen of the display unit. 409a is attached, or consists of a physical actuating switch. The actuating input unit 409c Indicates a received input to the network mounted on the vehicle. 450 out of.

[0050] The vehicle control device 410 is a device for the integral control of the vehicle control system 102 The vehicle control device 410 is an ECU with a computer resource, such as a CPU 410a , a ROM 410b and a RAM 410c .

[0051] In particular, the vehicle control device includes 410 the CPU 410a , the ROM 410b , the RAM 410c , an SSD 410d , a display control unit 410e and a voice control unit 410f .

[0052] The CPU 410a is a hardware processor that is integral to the vehicle control device 410 controls the CPU 410a It reads various control programs (computer programs) that are located in the ROM. 410b and similar data are stored, and implements various functions according to instructions prescribed in the various control programs.

[0053] The ROM 410b is a non-volatile main memory device that stores parameters and the like required to execute the various control programs described above.

[0054] The RAM 410c is a volatile main memory device that provides a workspace for the CPU 410a provides.

[0055] The SSD 410d is a non-volatile, rewritable auxiliary memory device. In the vehicle control unit 410 According to the present embodiment, an HDD can be used as an auxiliary storage device instead of the SSD. 410d (or in addition to the SSD) 410d) appropriate.

[0056] Among different types of vehicle control devices 410 The processing carried out is performed by the display control unit. 410ePrimarily image processing related to the camera mounted on the vehicle. 408 image data received, or generates image data that is sent to the display unit 409a the monitor device 409 to be spent.

[0057] Among different types of a vehicle control device 410 The processing performed generates the voice control unit. 410f mainly speech data that is sent to the speech output unit 409b the monitor device 409 to be spent.

[0058] The vehicle-mounted network 450 connects the braking system 401 , the acceleration system 402 , the steering system 403 , the gearshift system 404 , the obstacle sensor 405 , the driving condition sensor 406 , the communication interface 407 , the actuation input unit 409c the monitor device 409and the vehicle control device 410 in a communicative way.

[0059] In order to implement automated driving, such as automated parking and automatic retrieval or exiting, in the automated parking service system, it is important to know the current position of the vehicle. V to accurately detect the vehicle's position during automated driving. Therefore, a conventional position detection method is used to estimate the vehicle's current position. V This is known using a reading from a wheel speed sensor and the like (for example, odometry and dead reckoning navigation). However, according to this position estimation method, if a vehicle's movement distance V increases, error in an estimate of the current position of the vehicle Vaccumulate to grow large, and the current position of the vehicle V cannot be detected correctly. Additionally, an error in the azimuth, with which the vehicle orients itself, may occur. V be moved, enlarged.

[0060] Therefore, in the present embodiment, by acting on the vehicle control device 410 , to have a function as described below, the current position of the vehicle V During automatic driving for automatic parking and automatic recovery, the vehicle's position can be correctly detected, and the azimuth at which the vehicle is moving can be corrected.

[0061] Fig. Figure 5 is an exemplary and schematic block diagram illustrating the functions of the control equipment and the vehicle control device according to the present embodiment. The in Fig. The five illustrated functions are implemented through cooperating software and hardware. This means that in the Fig. The 5 illustrated examples demonstrate the function of the control equipment. 101 as a result that is obtained when the CPU 301 a predetermined one in the ROM 302 reads and executes stored control programs, and the like, and the function of the vehicle control device 410 is implemented as a result obtained when the CPU 410a a predetermined one in the ROM 410b reads and executes a stored control program, and the like. In the exemplary embodiment, part or all of the in Fig. 5 illustrated control equipment 101 and the vehicle control device 410 can only be implemented through exclusive hardware (circuitry).

[0062] As in Fig. As illustrated in section 5, the control equipment includes 101 according to the present embodiment, a communication control unit 511 , a sensor data reference unit 512 , a parking data management unit 513 , and a guide route generation unit 514 as a functional configuration.

[0063] The communication control unit 511 controls a wireless communication between this and the vehicle control device. 410 is executed. For example, the communication control unit authenticates. 511 the vehicle control device 410 by sending or receiving predetermined data to / from the vehicle control device 410 , receives a predetermined completion notification output from the vehicle control device 410, when automatic parking and automatic retrieval or exit are completed, and sends map data, a guidance route, and the like, of the parking area or parking garage P (described later) to the vehicle control device 410 , if required.

[0064] The sensor data reference unit 512 The sensor data described above is obtained from the surveillance camera. 103 or various sensors (not illustrated) located in the parking area or parking garage P are attached. The sensor data reference unit 512 related sensor data (especially from the surveillance camera) 103 The image data received can, for example, be used to record the availability status of the parking area. R be used.

[0065] The parking data management unit 513manages data (information) regarding the parking area or the parking garage P For example, the parking data management unit manages 513 Map data of the parking area P , an availability status of the parking area R , and so on. For example, the parking data management unit selects 513 a parking area R from available parking areas R at the time when automatic parking is performed, and designates the selected parking area. R as a target parking area as a final destination of the vehicle V during automatic parking. In a case where the vehicle V It moves again after the automatic parking is complete, and the parking area... R The parking data management unit has changed. 513 the changed parking area Rbased on the sensor data reference unit 512 related sensor data.

[0066] The guidance route generation unit 514 generates a guidance route that the vehicle control device 410 as an instruction to be provided when automatic parking and automatic retrieval are performed. In particular, the guidance route generation unit generates 514 a short route from the exit area P1 to the target parking area as the guide route at the time when automatic parking is performed, and generates a short route from the target parking area (in a case where the vehicle V moved after automatic parking, the parking area R , in which the vehicle V (currently parked) to the entrance area P2than the guidance route at the time when an automatic recovery or exit maneuver is performed.

[0067] On the other hand, as in Fig. As illustrated in section 5, the vehicle control device includes 410 according to the present embodiment, a communication control unit 521 , a sensor data reference unit 522 , a driving control unit 523 and a position estimation unit 524 as a functional configuration.

[0068] The communication control unit 521 controls a wireless communication between this and the control equipment 101 is executed. For example, the communication control unit authenticates. 521 the vehicle control device 410 by sending or receiving predetermined data to / from the control equipment 101, sends a predetermined completion notification to the control equipment 101 , when automatic parking and automatic retrieval are completed, and receives parking data, such as map data of the parking area. P , as well as the guidance route from the control equipment 101 , if necessary. Therefore, the communication control unit functions 521 as a reference unit that contains the map data (parking lot data) of the parking lot area P refers to.

[0069] In the present embodiment, the map data includes, for example, information for specifying absolute positions of various road surface markers to estimate a position on the road surface of the parking area. Pmay be appropriate, and to specify an orientation (of an absolute azimuth) that is included in a road surface sign for estimating an azimuth.

[0070] The sensor data reference unit 522 is an example of a reference unit provided by the camera mounted on the vehicle 408 The image data obtained is derived from, and sensor data comprehensively includes, the image data as well as data from various sources within the vehicle control system. 102 The data is output by the attached sensors. 522 The related sensor data can be used for various types of vehicle driving controls. V , which are controlled by the vehicle control unit 523 (described later) can be used, such as generating a current driving route (comprising a parking route and recovery route) based on the control equipment 101received guidance route, and setting various parameters (such as vehicle speed, steering angle and direction of movement) that are required, for example, during an actual journey along the route.

[0071] By controlling the braking system 401 , of the acceleration system 402 , of the steering system 403 , of the gearshift system 404 and the like, controls the vehicle control unit 523 the vehicle's driving condition V , in order to implement various types of driving controls for automatic parking and automatic retrieval or exiting, such as a start control from the exit area P1 , Driving control (including parking control) from the exit area P1 into the parking area R , Driving control (including recovery and exit control) from the parking areaR to the entry area P2 , and a stop control in the entry area P2 .

[0072] During automatic driving of the vehicle V For automatic parking or automatic exiting, the position estimation unit estimates 524 the current position of the vehicle V using the position estimation method described above. The position estimation unit 524 It then corrects an estimated result of the vehicle's current position. V , which is obtained through the position estimation method, to account for a cumulative error in it based on the sensor data reference unit 522 to cancel related image data, and estimates the current position (actual position) of the vehicle. V away.

[0073] Therefore, in the present embodiment, during a period in which automatic driving is performed, the position estimation unit detects 524 First, a road surface marker is used to estimate a position in the vicinity of the vehicle. V located, from the sensor data reference unit 522 related image data to calculate a relative position as a relative position of the road surface sign, to estimate a position with respect to the vehicle V in the image data. The position estimation unit 524 The estimated position of the vehicle is then corrected. V, which is obtained by the position estimation procedure, based on a difference between a computational absolute position of the road surface sign for estimating a position, which is specified based on the relative position of the road surface sign, for estimating a position, and a correct absolute position of the road surface sign for estimating a position based on the communication control unit 521 based on parking data, and represents a corrected value as a correct estimate of the current position (actual position) of the vehicle. V a.

[0074] The position estimation unit 524 also appreciates the azimuth with which the vehicle orients itself. V moved, using the position estimation method described above during automatic driving of the vehicle Vfor automatic parking and automatic exiting. The position estimation unit 524 It then corrects an estimated result of the azimuth with which the vehicle orients itself. V moved, which is obtained through odometry, dead reckoning, and the like, to adjust the cumulative error therein based on the sensor data reference unit 522 to resolve related image data.

[0075] In the current embodiment, the position estimation unit detects 524 The road surface marking for estimating a situation in the vicinity of the vehicle V azimuth located from the sensor data reference unit 522 related image data during automated driving to estimate the relative azimuth as a relative azimuth of the road surface sign to estimate an azimuth with respect to the vehicle V to be calculated in the image data. The position estimation unit. 524is an example of a correction unit that adjusts the estimated azimuth with which the vehicle is orienting itself. V moved by the position estimation method based on an offset (a difference) between the computational absolute azimuth of the road surface sign for estimating an azimuth, which is specified based on the relative azimuth of the road surface sign for estimating an azimuth, and the correct absolute azimuth of the road surface sign for estimating an azimuth based on the communication control unit 521 The parking data is corrected, resulting in the corrected absolute azimuth of the vehicle. V , to be a present azimuth in which the vehicle is V moved.

[0076] Fig. Figure 6 is an exemplary and schematic representation to illustrate an example of a method for estimating the azimuth with which the vehicle is moving, which can be carried out by the position estimation unit of the vehicle control device according to the present embodiment. In the Fig. The vehicle drives as illustrated in the 6th example. V in a direction parallel to the outer lines of the road L60 , located on the lateral sides of the vehicle V are located. In this case, the road's outer line is L60 a line drawn on the road surface on which the vehicle V drives.

[0077] In the Fig. The 6 illustrated example corresponds to one imaging area of ​​the camera mounted on the vehicle. 408 , which are attached to a side panel (for example, a side mirror) of the vehicle V appropriate, an area A60encompassing the outer edge of the road L60 Therefore, if image recognition processing, such as the detection processing of a white line, is performed with respect to the image data provided by the vehicle-mounted camera 408 , which are located on the side of the vehicle V If appropriate, the street outer line can be preserved. L60 The road surface markings are used to estimate an azimuth. By using the recorded road outline. L60 can a relative azimuth of the road's outer line L60 regarding the vehicle V (especially the relative azimuth, which represents a direction in which the road's outer line points) L60 (extends) can be calculated. By using the calculated relative azimuth and the estimated azimuth result of the vehicle's azimuth. V , which is obtained through the position estimation method, can be the calculated absolute azimuth of the road's outer lineL60 be specified.

[0078] In this case, the calculated absolute azimuth of the road's outer line is used. L60 by using the estimation result based on the position estimation procedure as previously specified, such that the calculated absolute azimuth may include an influence of the cumulative error caused by the position estimation procedure. On the other hand, as described above, the map data of the parking area include P , which are controlled by the control equipment 101 The information for specifying the correct absolute azimuth of the road surface marker is managed to estimate an azimuth, so that the map data includes dividing line data for specifying the correct absolute azimuth of the road outline. L60 as the road surface marking for estimating an azimuth.

[0079] Therefore, in the present embodiment, the communication control unit refers to 521 the dividing line data as the map data from the control equipment 101 The position estimation unit 524 This then forms a difference between the calculated absolute azimuth of the road's outer line. L60 , as described above, and the correct absolute azimuth of the road's outer line L60 , which is specified based on the dividing line data, corrects an offset of the estimation result obtained by the position estimation procedure, based on the difference, and estimates a corrected value as an actual azimuth of the vehicle. V Therefore, the current azimuth of the vehicle can be determined. V can be correctly detected during automated driving without placing an exclusive road surface marker on the road surface to estimate an azimuth.

[0080] Fig. Figure 7 is an exemplary and schematic representation to explain an example that differs from the one in Fig. 6 differs with respect to the method of estimating an azimuth at which the vehicle moves, which can be carried out by the position estimation unit of the vehicle control device according to the present embodiment. In the Fig. The vehicle drives as illustrated in the 7th example. V in one direction parallel to azimuth markings L70 , located on the lateral sides of the vehicle V are located. In this case, the azimuth marker L70 a linear marking that is applied to the road surface on which the vehicle V drives, is drawn.

[0081] In the Fig. The imaging area of ​​the camera mounted on the vehicle corresponds to the illustrated example 7. 408, which are attached to a side panel (for example, a side mirror) of the vehicle V appropriate, an area A70 comprehensively the azimuth marking L70 Therefore, if image recognition processing, such as white line detection processing, is performed on image data from the vehicle-mounted camera 408 , which are located on the side of the vehicle V The azimuth marker can be obtained if it is attached. L70 The road surface marking can be used to estimate an azimuth. By using the detected azimuth marking L70 , can be a relative azimuth of the azimuth marker L70 regarding the vehicle V (more precisely, a relative azimuth, which represents a direction in which the azimuth marker points) L70 (extends) can be calculated. By using the calculated relative azimuth and the estimated azimuth of the vehicle. VBased on the position estimation method, the calculated absolute azimuth of the azimuth marker can be determined. L70 be specified.

[0082] In this case, the calculated absolute azimuth of the azimuth marker is used. L70 by using the estimation result based on the position estimation procedure as specified above, such that the calculated absolute azimuth includes the influence of the cumulative error caused by the position estimation procedure. On the other hand, as described above, the map data of the parking area include P , which are controlled by the control equipment 101 is managed, information to specify the correct absolute azimuth of the road surface sign to estimate an azimuth, so that the map data dividing line data to specify the correct absolute azimuth of the azimuth marker L70as the road surface marking for estimating an azimuth.

[0083] Therefore, in the present embodiment, the communication control unit refers to 521 the dividing line data as the map data from the control equipment 101 The position estimation unit 524 This then forms a difference between the calculated absolute azimuth of the azimuth marker. L70 , as described above, and the correct absolute azimuth of the azimuth marker L70 , which is specified based on the dividing line data, corrects an offset of the estimation result obtained by the position estimation method based on the difference, and estimates a corrected value as an actual azimuth of the vehicle. V away.

[0084] In the current embodiment, the position estimation unit corrects 524 the estimated azimuth result of the vehicle V, which is obtained through the position estimation method, using a linear road surface symbol, such as the road outline L60 , or the azimuth marker L70 , which are on the road surface on which the vehicle V is driven, is attached, and differs from a parking separation line indicating a parking frame (for example, a linear road surface mark for estimating an azimuth parallel to the azimuth with which the vehicle is moving). V (moved, drawn), however, the linear road surface symbol is not limited to this. Any linear road surface symbol can be used as long as the linear road surface symbol can specify the absolute azimuth of the road surface symbol for estimating an azimuth based on the dividing line data contained in the map data. For example, the position estimation unit can 524likewise the estimated result of the vehicle's azimuth V , which is achieved by using the position estimation method with the parking dividing line to divide the parking area R of the parking area P is used to correct, or can use a pedestrian crossing, stop line, and the like, which are drawn on the road surface as road surface markings, to estimate an azimuth. Fig. Figure 8 is an exemplary and schematic representation to illustrate an example of the method for estimating the azimuth with which the vehicle is moving, which can be carried out by the position estimation unit of the vehicle control device according to the present embodiment. In the Fig. The 8 illustrated example corrects the position estimation unit. 524 the estimated azimuth result of the vehicle V, which is obtained through the position estimation method, using the camera mounted on the vehicle 408 , which are located on the side of the vehicle V Appropriate is the image data obtained at the time when the vehicle V , which is in a direction parallel to the azimuth marking L70 drives, which is located on the lateral side of the vehicle V is located in front of an intersection CP This is coming. The cumulative error in the estimated azimuth of the vehicle. V , which is obtained through the position estimation method, tends to approximate the azimuth with which the vehicle is orienting itself. V to influence the direction of movement of the vehicle after it has changed. V has changed.

[0085] Therefore, in this embodiment, the position estimation unit corrects 524 the estimated azimuth result of the vehicle V, which is obtained through the position estimation method, using image data from the vehicle-mounted camera 408 at the time when the vehicle V into the intersection CP occurs, and before the direction of movement of the vehicle changes V has changed. At this point, it is preferably the case that the position estimation unit 524 the estimated azimuth result of the vehicle V using the image data captured by the vehicle-mounted camera 408 at the time when the vehicle V in front of the intersection CP stops, corrects. Because of this, it is possible to improve the accuracy in specifying the calculated absolute azimuth of the azimuth marker. L70 using the camera mounted on the vehicle 408 to improve the obtained image data so that the estimation result of the vehicle's azimuth isV , which is obtained through the position estimation method, can be corrected with high accuracy.

[0086] Fig. Figure 9 is an exemplary and schematic representation to illustrate an example of the method for estimating the azimuth with which the vehicle is moving, which can be carried out by the position estimation unit of the vehicle control device according to the present embodiment. In the Fig. The 9 illustrated example corrects the position estimation unit. 524 the estimated azimuth result of the vehicle V , which is obtained through the position estimation method, using image data from the vehicle-mounted camera 408 , which are located on the side of the vehicle V is appropriate, will be obtained after the vehicle V , which is in a direction parallel to the azimuth marking L70, located on the lateral side of the vehicle V is located, is driving, a curve CV runs through. As described above, the cumulative error in the estimated azimuth of the vehicle tends to V , which is obtained through the position estimation method, to the azimuth with which the vehicle orients itself V moved after the direction of movement of the vehicle changed V has changed, to influence.

[0087] Therefore, in the present embodiment, the position estimation unit corrects 524 the estimated azimuth result of the vehicle V , which is obtained through the position estimation method, using image data from the vehicle-mounted camera 408 will be received after the vehicle V the curve CV has passed through and the direction of movement of the vehicle has changed. V has changed. In one case of crossing the intersection CP (see Fig. 8) the vehicle stops V in front of the intersection CP , to avoid a minor collision with another vehicle entering the intersection CP to prevent it from entering from another direction. Therefore, in a case where the direction of movement of the vehicle changes V at the intersection CP If the position estimation unit has changed, it is preferably the case that it is the case that the position estimation unit is used. 524 the estimated azimuth result of the vehicle V using image data captured by the vehicle-mounted camera 408 at the time when the vehicle V in front of the intersection CP stops, corrects. On the other hand, in a case where the azimuth of the vehicle changes V due to the curve CV and has changed things like this, it is rare that another vehicle enters the curve at the same time. CV enters, and the vehicle Vrarely stops at a point before the vehicle's azimuth changes V changes (that is, in front of the curve) CV ), after entering the curve CV is entered.

[0088] Therefore, in the present embodiment, the position estimation unit corrects 524 the estimated azimuth result of the vehicle V using image data captured by the vehicle-mounted camera 408 at the time when the vehicle V after passing through the curve CV stops. Because of this, it is possible to detect an error in the estimated azimuth of the vehicle. V , which is obtained through the position estimation method, which is caused in a period in which the direction of movement of the vehicle changes V after passing through the curve CV , and the like, has changed, to correct, so that it becomes possible to estimate the azimuth of the vehicle with high accuracy. V , which is obtained through the position estimation method, to correct after the direction of movement of the vehicle has changed. V has changed.

[0089] In the present embodiment, as described above, the position estimation unit detects 524 the road surface symbol for estimating an azimuth from the image data captured by the vehicle-mounted camera 408 at a time when the direction of movement of the vehicle changes V after passing through the intersection CP , the curve CV , and the like, has changed, and corrects the estimated azimuth result of the vehicle. V using the data collected from it. However, the position estimation unit is 524not limited to this, and any position estimation unit can be used as long as the position estimation unit captures the road surface marker for estimating an azimuth, such as the road outline. L60 and the azimuth marker L70 from the image data captured by the camera mounted at a predetermined position on the vehicle 408 to be obtained, and corrects the estimated azimuth result of the vehicle. V using one of the results of that data collection.

[0090] For example, the position estimation unit 524 the road surface symbol for estimating an azimuth from the image data captured by the vehicle-mounted camera 408 to be obtained at a position after the vehicle V has driven over a preset distance (for example, a distance in which the error in the estimation result of the vehicle's azimuth is V, which is obtained through the position estimation method, is greater than or equal to a preset threshold), and the estimation result of the vehicle's azimuth. V correct it using a measurement result. This is to improve the accuracy of the vehicle's azimuth correction. V To improve the position estimation method, the position estimation unit captures 524 preferably the road surface marking for estimating an azimuth from image data acquired by the vehicle-mounted camera 408 at the time when the vehicle V stops, and corrects the estimated azimuth of the vehicle. V using a capture result thereof. In the present embodiment, the image data captured by the vehicle-mounted camera are used. 408 , which are located on the side of the vehicle Vis used to detect the relative azimuth of the road surface marker to estimate an azimuth, such as the road's outer line. L60 and the azimuth marker L70 Alternatively, image data captured by the vehicle-mounted camera can be used. 408 , located on a front section (for example, a front bumper) of the vehicle V The attached camera will receive image data captured by the vehicle-mounted camera. 408 , which are obtained on a rear section (for example, a rear bumper), or the like.

[0091] Fig. Figure 10 is an exemplary and schematic representation to explain details of a correction taking into account the relative azimuth of the road surface sign for estimating an azimuth that can be carried out by the position estimation unit of the vehicle control device according to the present embodiment.

[0092] In Fig. 10 is an area R1 with a rectangular shape, an area that defines the imaging area of ​​the vehicle-mounted camera 408 represented in a top view, the area being transformed by performing a projection transformation with respect to the view provided by the vehicle-mounted camera. 408 The image data is generated. R1 includes a road outer line L1 , which go in one direction D1 extends, as an example of the road surface marking for estimating an azimuth.

[0093] As in Fig. As illustrated in 10, the position estimation unit is configured. 524 According to the present embodiment, an XY coordinate system is first created by setting a center point. C3 of the area R1 as an origin, and calculates a value that represents a relative azimuth of the road's outer line. L1regarding the origin. The X-axis is set to correspond to the orientation of the vehicle. V (in Fig. (10 not illustrated) to match, and the Y-axis is set to align with the orientation of the vehicle-mounted camera. 408 to agree. In the Fig. In the illustrated example 10, a value indicating the relative azimuth is calculated, which indicates the direction. D1 represented, into which the road's outer line extends L1 extends, for example, an angle counterclockwise based on the X-axis (10 degrees in the illustrated example).

[0094] Once a calculation of the relative azimuth is complete, the position estimation unit is specified. 524 the calculated absolute azimuth of the road's outer line L1 based on the relative azimuth and the azimuth of the vehicle V, which is estimated based on the position estimation method.

[0095] On the other hand, the position estimation unit extracts 524 , from the communication control unit 521 related map data, dividing line data regarding the road outer line in the vicinity of the vehicle's position V , which are estimated based on the position estimation method. The dividing line data includes, for example, an absolute azimuth of the road's outer edge. L1 Therefore, the position estimation unit specifies 524 the absolute azimuth, which represents a direction in which the road's outer line points L1 extends, based on the dividing line data extracted from the map data.

[0096] The position estimation unit 524 then takes a difference between the calculated absolute azimuth of the road's outer line. L1, which is specified based on the image data, and the correct absolute azimuth of the road outline L1 , which is specified based on the map data (dividing line data). This difference corresponds to the cumulative error of the estimated azimuth of the vehicle. V , which is obtained through the position estimation procedure. Therefore, the position estimation unit corrects 524 the estimated azimuth result of the vehicle V , which is obtained through the position estimation method to cancel the cumulative error, and represents a corrected value as a corrected azimuth (actual azimuth) of the vehicle V a.

[0097] Next, with reference to Fig. 11 to Fig. 15 describes a processing carried out by the automated parking service system according to the present embodiment.

[0098] Fig. Figure 11 is an exemplary and schematic flowchart illustrating a processing procedure carried out by the control equipment and the vehicle control device in a case where automatic parking is performed in the present embodiment. A Fig. The illustrated processing sequence 11 is started in a case where the inmate X the terminal device T in the exit area P1 activated to trigger a predetermined instruction for automatic parking.

[0099] In the Fig. The processing sequence illustrated in section 11 first establishes communication between the control equipment 101 and the vehicle control device 410 in S1101 produced. In S1101Authentication will be achieved by sending / receiving identification information (ID), and a transfer of operational rights to implement automated driving while monitoring the control equipment. 101 , and the like.

[0100] If in S1101 Once communication is established, the control equipment sends 101 the map data of the parking area or the parking garage P to the vehicle control device 410 in S1102 .

[0101] The control equipment 101 Then checks the availability of the parking area. R in S1103 , and indicates an available parking area R as a target parking area that is designated for the vehicle V is planned to.

[0102] In S1104 The control equipment generates 101 then a (short) guided route from the exit areaP1 to the in S1103 assigned destination parking area.

[0103] In S1105 The control equipment sends 101 the in S1104 generated guidance route to the vehicle control device 410 .

[0104] On the other hand, the vehicle control device estimates 410 in S1106 a starting position in the exit area P1 after receiving the map data from the control equipment 101 in S1102 The data will be sent from there. The starting position is the current position of the vehicle. V in the exit area P1 , to establish a starting point for departure from the exit area P1 to be. To estimate the starting position, a method can be used with the camera mounted on the vehicle. 408 The image data obtained can be used in the same way as the estimation of the current position described above. In the Fig. The 11 illustrated examples demonstrate the processing in S1106 before processing in S1105 carried out, however, the processing may be in S1106 even after processing in S1105 be performed.

[0105] After assessing the starting position in S1106 and receiving the guided route from the control equipment 101 in S1105 The vehicle control device is sent and generates 410 in S1107 a driving route with higher accuracy than the guide route that should be followed during actual automatic parking, based on the S1106 estimated starting position, and the like.

[0106] In S1108 The vehicle control device 410 then a start control from the exit area P1 out of.

[0107] In S1109 The vehicle control device 410then a driving control along the in S1107 The generated route is executed. This route control is carried out while the current position is estimated using the image data as described above.

[0108] The vehicle control device 410 Subsequently, a parking control system is implemented with regard to the target parking area in S1110 out of.

[0109] If a parking control system in S1110 Once completed, the vehicle control device sends 410 a notification of park closure to the control equipment 101 in S1111 .

[0110] Automated parking in an automated parking service is implemented as described above.

[0111] Fig. Figure 12 is an exemplary and schematic flowchart illustrating a processing procedure performed by the control equipment and the vehicle control device in a case where automatic recovery or exiting of a parking space is carried out in the present embodiment. The Fig. 12. The illustrated processing sequence is started when the occupant X the terminal device T in the entry area P2 activated to trigger a predetermined call as a trigger for automatic recovery or removal from parking.

[0112] In the Fig. The processing sequence illustrated in 12 is initially presented in S1201 communication between the control equipment 101 and the vehicle control device 410 produced. In S1201 , just as in the one described above S1101 in Fig. 11. Authentication is carried out by sending / receiving identification information (ID), and a transfer of operational authority is made to implement automated driving under the supervision of the control equipment. 101 , and the like.

[0113] If in S1201 Once communication is established, the control equipment sends 101 the map data of the parking area or parking garage P to the vehicle control device 410 in S1202 .

[0114] In S1203 checks the control equipment 101 the parking area R , in which the vehicle control device 410 vehicle equipped as a communication counterpart V currently located. In the exemplary embodiment, the processing is in S1203 based on the image data, and the like, captured by the surveillance camera 103will be obtained, carried out.

[0115] In S1204 The control equipment generates 101 a (short) guided route from the in S1203 checked parking area R to the entry area P2 .

[0116] In S1205 The control equipment sends 101 the in S1204 generated guidance route to the vehicle control device 410 .

[0117] On the other hand, in S1206 , after receiving the map data from the control equipment 101 in S1202 The vehicle control device estimates that the data will be sent. 410 a recovery position in the parking area R , in which the vehicle V The recovery position is the current position of the vehicle. V in the park area R , to provide a starting point for regaining or exiting the parking areaR to be. To estimate the recovery position, a method similar to the method described above for estimating the current position (a method using map data and the road surface marker to estimate a position extracted from the image data by image recognition processing) can be used. In the Fig. The 12 illustrated examples demonstrate the processing in S1206 before processing in S1205 carried out, however, the processing may be in S1206 even after processing in S1205 be performed.

[0118] After assessing the recovery position in S1206 and receiving the guided route from the control equipment 101 in S1205 The vehicle control device is sent and generates 410 in S1207a route with higher accuracy than the guide route that should be followed during the current automatic recovery, based on the recovery position, and the like, which are in S1206 is estimated.

[0119] The vehicle control device 410 This is followed by a recovery or exit control from the parking area. R in S1208 out of.

[0120] In S1209 The vehicle control device 410 then a driving control along the in S1207 generated route. Likewise, the vehicle control in S1109 in Fig. 11, this driving control is also executed, while the current position is estimated using the image data by the procedure described above.

[0121] The vehicle control device 410This then triggers a stop control regarding the entry area. P2 in S1210 out of.

[0122] If the stop control is in S1210 Once completed, the vehicle control device sends 410 a notification of a parking or recovery completion to the control equipment 101 in S1211 .

[0123] Automated parking in the automated parking service is implemented as described above.

[0124] Fig. Figure 13 is an exemplary and schematic flowchart illustrating a procedure for correcting the vehicle's azimuth, contained in the driving control performed by the vehicle control device, in a case where automatic parking and automatic recovery or exit are performed in the present embodiment. A Fig. 13. The illustrated processing sequence is repeated during the vehicle's automatic driving. V in S1109 , who in Fig. 11 illustrates, in S1209 , who in Fig. 12 is illustrated, and the like, carried out. In the Fig. The processing sequence illustrated in section 13 initially refers to the vehicle control device. 410 the image data from the camera mounted on the vehicle 408 in S1301 .

[0125] In S1302 The vehicle control device detects 410 Road surface marking data in the image data from the in S1301 Image data is processed through a predetermined image recognition process. S1302 For example, processing will be carried out in accordance with the following Fig. 14 illustrated processing steps were carried out.

[0126] Fig. Figure 14 is an exemplary and schematic flowchart illustrating a procedure for computational processing of road surface marker data with the absolute azimuth of the road surface marker to estimate an azimuth, which is performed by the vehicle control device in a case where vehicle control is carried out in the present embodiment. An example processing procedure for capturing the road outline is described below. L60 or the azimuth marker L70 described as the road surface marking used to estimate an azimuth.

[0127] In the Fig. The processing sequence illustrated in 14 first involves the vehicle control device. 410 distortion correction processing with respect to the image from the vehicle-mounted camera 408 related image data in S1401 through.

[0128] In S1402The vehicle control device 410 an extraction processing of white color with respect to the image data, which is used for distortion correction processing in S1401 were subjected to this. The road surface marking for estimating an azimuth, such as the road's outer edge. L60 or the azimuth marker L70 , is typically drawn in white, so that a white area with the road surface symbol can be extracted from the image data to estimate an azimuth, which is then processed for distortion correction by processing in S1402 were subjected to this.

[0129] In S1403 The vehicle control device 410 a blur improvement process to improve a blur that is present in the image. S1402 The extracted white area may be contained by this.

[0130] In S1404 The vehicle control device 410a Hough transform is performed on the image data, which is used for blur improvement processing in S1403 were subjected to this analysis and extracts a linear area as a candidate for the road surface symbol to estimate an azimuth from the image data. S1405 selects the vehicle control device 410 the candidate for the road surface marker for estimating an azimuth that is in S1404 is extracted according to a predetermined criterion.

[0131] In S1406 The vehicle control device 410 a projection transformation with respect to the image data encompassing the in S1405 selected candidates, and generates image data corresponding to an area that defines the imaging area of ​​the vehicle-mounted camera. 408 represented in a top view.

[0132] In S1407 selects the vehicle control device 410furthermore, the candidate for the road surface symbol for estimating an azimuth contained in the image data that have undergone projection transformation is selected according to a predetermined criterion.

[0133] In S1408 The vehicle control device calculates 410 the relative azimuth of the in S1407 extracted candidates as the road surface sign data. If the elements of the processing in S1401 until S1408 Once the above-described processing is complete, the processing continues. S1303 in Fig. 13 continued. In S1303 The vehicle control device 410 processing in accordance with the following Fig. 15 illustrated processing steps to determine the azimuth of the vehicle. V to estimate.

[0134] Fig. Figure 15 is an exemplary and schematic flowchart illustrating a procedure of correction processing with respect to the azimuth of the vehicle, which is carried out by the vehicle control device in a case in which a driving control is carried out in the present embodiment.

[0135] In the Fig. The processing sequence illustrated in 15 initially refers to the vehicle control device. 410 the azimuth of the vehicle V , which is determined by the position estimation method in S1501 is estimated.

[0136] In S1502 The vehicle control device calculates 410 the relative azimuth of the road surface marker to estimate an azimuth with respect to the current position based on the road surface marker data provided by the Fig. The processing flow illustrated in 14 can be calculated. By using the S1502calculated relative azimuth and the azimuth of the vehicle V , who in S1501 When reference is made, a calculated absolute position of the road surface sign can be specified to estimate an azimuth.

[0137] In S1503 specifies the vehicle control device 410 the absolute azimuth of the road surface sign to estimate an azimuth based on the information provided by the communication control unit 521 map data. In particular, the vehicle control device specifies 410 by extracting, from the absolute azimuths of all road surface markers to estimate an azimuth contained in the map data, a computational absolute azimuth of the road surface marker to estimate an azimuth that is located at a position near the current position of the vehicle. Vis located, which is estimated based on the image data, a correct absolute azimuth of the road surface sign to estimate an azimuth whose difference from the calculated absolute azimuth in the next processing in S1504 is used.

[0138] For example, in a case where the image data from which the road surface sign data is calculated is image data taken by the vehicle-mounted camera 408 , which are located on the side panel on the left side of the vehicle V is attached, will be obtained, extracts the vehicle control device 410 From the absolute azimuths of all the road surface markers used to estimate an azimuth contained in the map data, an absolute azimuth corresponding to the left side of the vehicle's current position is calculated. V based on the position estimation method.

[0139] In S1504forms the vehicle control device 410 a difference between the calculated absolute azimuth of the road surface marker for estimating an azimuth based on the calculation result in S1502 is specified, and the correct absolute azimuth of the road surface sign for estimating an azimuth that is in S1503 is specified, and corrects, based on the difference, the calculated value in S1501 , that is, the calculated value of the vehicle's current azimuth V based on the position estimation method.

[0140] In S1505 estimates the vehicle control device 410 the corrected value in S1504 as a correct azimuth of the vehicle Vab. In the present embodiment, various parameters (vehicle speed, steering angle, direction of movement, and the like) are used for the automatic driving of the vehicle. V are required, based on a S1505 The received estimate result has been entered.

[0141] As described above, the vehicle control device includes 410 according to the present embodiment, the vehicle control unit 523 , which determine the vehicle's driving condition V controls to enable automatic driving in the parking lot area or parking garage P to implement. The vehicle control device 410 It also includes the communication control unit. 521 , which uses the parking lot data to estimate the absolute azimuth of the road surface marker on the road surface of the parking lot area. Pis appropriate, can specify the sensor data reference unit 522 , which is shown by the camera mounted on the vehicle 408 obtained image data, and the position estimation unit 524 , which use the relative azimuth of the road surface mark to estimate an azimuth with respect to the vehicle V The azimuth is calculated from the image data by capturing the road surface markings during automated driving, and estimates the actual azimuth of the vehicle. V based on the calculated relative azimuth and the parking lot data.

[0142] According to the present embodiment, based on the configuration described above, the current azimuth (actual azimuth) of the vehicle can be Vduring automated driving, correctly taking into account an offset between the calculated azimuth of the road surface sign for estimating an azimuth specified by using the relative azimuth calculated based on the image data, and the correct absolute azimuth of the road surface sign for estimating an azimuth specified based on the parking data.

[0143] In the present embodiment, by capturing the road surface marking data to estimate an azimuth from the image data, which represents a situation of the left or right side of the vehicle. V can represent the position estimation unit 524 the relative azimuth of the road surface mark to estimate an azimuth that is on the left or right side of the vehicle V located, calculate.

[0144] According to this configuration, the relative azimuth of the road surface sign can be easily calculated to estimate an azimuth using the image data in which the road surface sign tends to be reflected.

[0145] In the current embodiment, the communication control unit refers to 521 , than the parking lot data, the dividing line data, which define the absolute azimuth of the road outlines L60 or the azimuth marker L70 , which were previously located in the parking area P to be attached, and the position estimation unit 524 calculated as the road surface marking data, the orientation of the road outline L60 or the azimuth marker L70 in the image data. Therefore, the relative azimuth of the road's outer line can be determined. L60 or the azimuth marker L70 to be calculated, and the current azimuth of the vehicleV The actual azimuth of the vehicle can be estimated based on the calculated relative azimuth and the separation line data. According to this configuration, the vehicle's actual azimuth can be determined. V simply by using the road's outer line L60 The azimuth can be estimated using road surface markers, such as pedestrian crossings, stop lines, and similar markings located in the parking area. P are located, are applied.

[0146] The embodiment described above illustrates a case in which the technology according to the present invention is applied to the automated parking service system. However, the technology according to the present invention can be applied to an automated driving system that differs from the automated parking service system, provided that a suitable road surface marker for estimating an azimuth is provided in the system and that map data relating to the absolute azimuth of the road surface marker for estimating an azimuth can be obtained.

[0147] In the embodiment described above, the configuration is illustrated in which the vehicle control device comprises the vehicle control unit as a vehicle position estimation device, in addition to the sensor data reference unit, which serves as a parking space data reference unit (the sensor data reference unit also serving as an image data reference unit), and the position estimation unit. However, in the present embodiment, a device that does not include the vehicle control unit and is different from the vehicle control device can be installed as the vehicle position estimation device, provided that the device includes at least the parking space data reference unit, the image data reference unit, and the position estimation unit.

[0148] While certain embodiments have been described, these embodiments are presented merely as examples and are not intended to limit the scope of the inventions. In fact, the novel methods and systems described herein can be embodied in a multitude of other forms; furthermore, various omissions, substitutions, and modifications of the form of the methods and systems described herein can be made without departing from the spirit of the inventions. The appended claims and their equivalents are intended to cover such forms or modifications that would fall within the scope and spirit of the invention.

[0149] According to one embodiment, a vehicle control device includes, for example: a reference unit configured to obtain map data specifying an absolute azimuth of a linear road surface marker affixed to a road surface on which the vehicle is traveling, and image data obtained by imaging the vehicle's surroundings with a vehicle-mounted camera contained within the vehicle;and a correction unit configured to capture a road surface marker from the referenced image data, to calculate a relative azimuth of the road surface marker with respect to the vehicle in the image data, to calculate an offset of an azimuth at which the vehicle is moving based on the calculated relative azimuth and the absolute azimuth of the captured road surface marker specified by the map data, and to correct the azimuth at which the vehicle is moving based on the calculated offset.

Claims

[1] Vehicle control device, comprising: a reference unit configured to reference map data specifying the absolute azimuth of a linear road surface marker affixed to a road surface on which a vehicle is traveling, and image data obtained by mapping the vehicle's surroundings with a vehicle-mounted camera contained within the vehicle; and a correction unit configured to capture the road surface mark from the referenced image data, to calculate a relative azimuth of the road surface mark with respect to the vehicle in the image data, to calculate an offset of an azimuth with which the vehicle is moving, based on the calculated relative azimuth and the absolute azimuth of the captured road surface mark specified by the map data, and to correct the azimuth with which the vehicle is moving based on the calculated offset. [2] Vehicle control device according to claim 1, wherein the correction unit detects the road surface mark from image data obtained by the camera mounted on the vehicle at a predetermined position. [3] Vehicle control device according to claim 2, wherein the correction unit detects the road surface mark from the image data obtained by the camera mounted on the vehicle at the time when the vehicle stops at the predetermined position. [4] Vehicle control device according to any one of claims 1 to 3, wherein the road surface mark is a road outer line drawn on the road surface on which the vehicle travels. [5] Vehicle control device according to any one of claims 1 to 3, wherein the road surface mark is a linear azimuth marking drawn on the road surface on which the vehicle travels. [6] Vehicle control device according to any one of claims 1 to 5, wherein the road surface sign is a pedestrian crossing which is mounted on the road surface on which the vehicle travels. [7] Vehicle control device according to any one of claims 1 to 6, wherein the road surface mark is a stop line applied to the road surface on which the vehicle is traveling. [8] Vehicle control device according to any one of claims 1 to 7, wherein the road surface mark is a linear road surface mark that is applied to the road surface on which the vehicle travels and is distinct from a parking separation line that indicates a parking frame.

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