VEHICLE CONTROL DEVICE

Abstract

A vehicle control device (324) having a processor and a memory, mounted on a vehicle (300), and controlling the vehicle (300) to a target parking position (106), the vehicle control device (324) comprising: an obstacle detection unit (325) that detects a position of an obstacle (102) in the vicinity of the vehicle (300); a drivable area (104) setting unit (401) that sets an area in which the vehicle (300) can move as a drivable area (104) based on a position of the obstacle (102) and sets the target parking position (106) in the drivable area (104); a route generation unit (403) that calculates a travel route to the target parking position (106) in the drivable area (104);anda parking execution unit (470) that causes the vehicle (300) to move to the target parking position (106) based on the travel route, wherein the route generation unit (403) generates a route from a set parking start position (701) to the target parking position (106) in one or more sections and corrects a distance of the section to a predetermined distance or more if the distance of the section is less than the predetermined distance.;

Claims

[1] A vehicle control device (324) having a processor and a memory, mounted on a vehicle (300) and controlling the vehicle (300) to a target parking position (106), the vehicle control device (324) comprising: an obstacle detection unit (325) that detects a position of an obstacle (102) in the vicinity of the vehicle (300); a drivable area (104) setting unit (401) that sets an area in which the vehicle (300) can move as a drivable area (104) based on a position of the obstacle (102) and sets the target parking position (106) in the drivable area (104); a route generation unit (403) that calculates a driving route to the target parking position (106) in the drivable area (104); and a parking execution unit (470) that causes the vehicle (300) to move to the target parking position (106) based on the travel route, wherein the route generation unit (403) generates a route from a set parking start position (701) to the target parking position (106) in one or more sections and corrects a distance of the section to a predetermined distance or more if the distance of the section is less than the predetermined distance. [2] The vehicle control device (324) according to claim 1, wherein the route generation unit (403) includes a steering wheel reversing position in which a moving direction in the section is changed, and increases a turning radius in the section or adds a straight-line route to a traveling route in the section to correct the distance of the section to the predetermined distance or more if the distance of the section is less than the predetermined distance. [3] The vehicle control device (324) according to claim 2, wherein the route generation unit (403) adds a straight-line route to the section to correct the distance of the section to the predetermined distance or more if the distance of the section is shorter than the predetermined distance and a turning radius in the section cannot be increased. [4] The vehicle control device (324) according to claim 1, wherein the route generation unit (403) selects, as the predetermined route, the larger of a first moving route set as a minimum moving route based on a vehicle speed and a second moving route set as a predetermined moving route for causing a driver to perceive movement by automatic parking. [5] Vehicle control device (324) according to claim 4, wherein the target parking position (106) has an area that includes a vehicle (300), and the route generation unit (403) prohibits the use of the second movement route if a part of an end point of the vehicle (300) lies in the area. [6] The vehicle control device (324) according to claim 4, wherein the route generation unit (403) prohibits the use of the second moving route if recalculation occurs in the calculation of the travel route. [7] The vehicle control device (324) according to claim 4, wherein the route generation unit (403) sets the second distance short if a travel route from the parking start position (701) is in a direction away from the target parking position (106) compared to a case where a travel route from the parking start position (701) approaches the target parking position (106). [8] The vehicle control device (324) according to claim 4, wherein the route generation unit (403) sets the second movement distance shorter than a distance between the parking start position (701) and an obstacle (102) if the obstacle detection unit (325) detects the obstacle (102). [9] The vehicle control device (324) according to claim 4, wherein the first movement distance is a distance in which the vehicle speed reaches a predetermined value Vth. [10] Vehicle control device (324) according to claim 4, wherein the vehicle control device (324) is connected to a display unit (327) which displays a driving route, and the second movement distance refers to a length at which the route generation unit (403) outputs the travel route planned for travel to the display unit (327). [11] The vehicle control device (324) according to claim 9, wherein the route generation unit (403) sets a larger value to a predetermined value Vth of the vehicle speed as the resolution or the accuracy of a wheel speed sensor that estimates a self-position of the vehicle (300) is higher. [12] The vehicle control device (324) according to claim 9, wherein the route generation unit (403) sets a larger value to a predetermined value Vth of the vehicle speed as a slope of the travelable area is larger.

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