OBSTACLE DETECTION DEVICE AND OBSTACLE DETECTION METHOD

Abstract

OBSTACLE DETECTION DEVICE AND OBSTACLE DETECTION METHOD An obstacle detection device 200 includes a direction-of-travel determination unit 235 configured to determine the direction of travel of a personal vehicle 1A based on acquired steering angle and gear-shift position information, and an obstacle determination unit 237 configured to define a detection range 300 as a predetermined range around the personal vehicle 1A. When an object detected based on sensor data is positioned within the detection range 300, the device determines the object as an obstacle that impedes the travel of the personal vehicle 1A and sends a control signal to stop the travel of the personal vehicle 1A or reduce the speed of the personal vehicle 1A. Figure for abstract: 1

Description

Title of the invention: OBSTACLE DETECTION DEVICE AND OBSTACLE DETECTION METHOD FIELD OF THE INVENTION

[0001] The present invention relates to an obstacle detection device and an obstacle detection method. Description of the technique

[0002] Traditionally, a device is known which detects an object present around a vehicle and which determines whether or not the detected object is an obstacle which hinders the movement of a vehicle moving along a parking path.

[0003] For example, a parking assistance device described in Japanese Patent Laid-Open No. 2010-18167 sets a predetermined range around a vehicle as an origin area, and detects an obstacle area where an obstacle is present in the set origin area. Once assistance has started, the parking assistance device sets an area excluding at least the obstacle area from the origin area as an assistance area and determines whether or not the vehicle has approached an outer peripheral end portion of the assistance area while guiding the movement of the vehicle. The parking assistance device issues a warning of which a driver is informed when it is determined that the vehicle has approached the outer peripheral end portion of the assistance area and when the vehicle has approached an end portion of the assistance area, i.e., when there is a risk of collision between the vehicle and the obstacle. 。 Summary of the invention

[0004] However, when an obstacle area and an aid area are not appropriately defined, an erroneous determination occurs when determining contact between a vehicle and an obstacle, and a brake is erroneously operated so that the movement of the vehicle may be stopped. In this case, a trajectory is recalculated, which poses the problem of the time required to park the vehicle at a target parking position.

[0005] The present invention aims to prevent the erroneous determination of an obstacle in a vehicle area where the risk of contact and collision is low and to prevent the erroneous actuation of a brake.

[0006] To achieve the above-described purpose, an obstacle detection device according to one aspect of the present invention comprises an input interface connected to an external device, a manipulation information acquisition unit configured to acquire steering angle information of a vehicle and information of a gear shift position of a gear shift device via the input interface, a detection information acquisition unit configured to acquire detection information of an object present around the vehicle via the input interface, a travel direction determination unit configured to determine a travel direction of the vehicle on the basis of the steering angle information and the gear shift position information, and an obstacle determination unit configured to set a detection range as a predetermined range around the vehicle, determines, when an object detected on the basis of the detection information is positioned within the detection range, the object as an obstacle that hinders the travel of the vehicle, and sends a control signal to stop the travel of the vehicle or reduce the speed of the vehicle,wherein the obstacle determination unit changes the detection range based on a determination result of the movement direction determination unit.

[0007] The aspect of the present invention makes it possible to prevent the erroneous determination of an obstacle in a vehicle area where the risk of contact and collision is low and to prevent the erroneous actuation of a brake. Brief description of the drawings

[0008] [Fig-1] [Fig.l] is a block diagram illustrating a configuration of a device embarked;

[0009] [Fig.2] [Fig.2] is a diagram illustrating a sonar installation position;

[0010] [Fig.3] [Fig.3] is a diagram illustrating a fixed detection range as detection range of a traditional sonar;

[0011] [Fig.4] [Fig.4] is a diagram illustrating a detection range in a case where a direction of travel is a forward direction of travel;

[0012] [Fig.5] [Fig.5] is a diagram illustrating a detection range in a case where a direction of travel is a straight backward direction of travel;

[0013] [Fig.6] [Fig.6] is a diagram illustrating a detection range in a case where a direction of travel is a left rear steering direction;

[0014] [Fig.7] [Fig.7] is a diagram illustrating a detection range in a case where a direction of travel is a right rear steering direction;

[0015] [Fig.8] [Fig.8] is a diagram illustrating the respective trajectories of a part right front end and a left front end portion of a personal vehicle in a case where the personal vehicle is turning in reverse to the right;

[0016] [Fig.9] [Fig.9] is a diagram illustrating a case where a personal vehicle placed in a fixed detection range has been released;

[0017] [Fig. 10] [Fig. 10] is a diagram illustrating a case where a personal vehicle placed within a detection range corresponding to a direction of travel has been taken out;

[0018] [Fig. 11] [Fig. 11] is a diagram depicting the establishment of a detection range in a case where a personal vehicle is parked in a line; and

[0019] [Fig. 12] [Fig. 12] is a flowchart illustrating an operation of an obstacle detection device.

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

[0021] An embodiment of the present invention will be described below with reference to the accompanying drawings.

[0022] [Fig.l] is a diagram illustrating a configuration of an on-board apparatus 3 mounted in a vehicle. In the following description, the vehicle on which the on-board apparatus 3 is mounted is referred to as a personal vehicle IA, and a vehicle other than the personal vehicle IA is referred to as another vehicle IB.

[0023] The on-board apparatus 3 comprises a position detection unit 10, a sonar unit 30, a trajectory generation device 50, an operation control device 100, a movement drive device 150, and an obstacle detection device 200. The position detection unit 10, the sonar unit 30, the trajectory generation device 50, the operation control device 100, and the obstacle detection device 200 are connected to be able to communicate data with each other via a communication bus 5. The communication bus 5 is a bus for data communication in accordance with a standard such as Ethernet (registered trademark), a CAN (controller area network), or a LIN (Local Interconnect Network).

[0024] The position detection unit 10 detects a position of the personal vehicle IA. The position detection unit 10 includes a GNSS (Global Navigation Satellite System) receiver and a processor. The illustration of the GNSS receiving unit and the processor is omitted. The GNSS receiver receives a signal sent from a satellite. The processor calculates a longitude and a latitude as position information of the personal vehicle IA on the basis of the signal received by the GNSS receiver and an orientation of the personal vehicle IA due to a difference in the calculated position information. The position detection unit 10 sends the calculated position information and orientation information of the personal vehicle IA to the trajectory generation device 50 and the obstacle detection device 200.

[0025] The sonar unit 30 comprises a plurality of sonars. The plurality of sonars are each disposed in a front portion, a rear portion, and a side portion, for example, of the personal vehicle IA, to detect an object present around the vehicle. AI personnel. Specifically, each of the sonars detects a distance to the object and an orientation based on the AI ​​personnel vehicle, for example, using an ultrasonic wave. The sonar unit 30 sends sensor data representing a detection result to the trajectory generation device 50 and the obstacle detection device 200.

[0026] [Fig.2] is a diagram illustrating a sonar installation position.

[0027] Although a case where 12 sonars are mounted on the personal vehicle IA is described in the present embodiment, the number of mounted sonars is not limited to 12.

[0028] Six sonars, i.e., SI sonar, S2 sonar, S3 sonar, S4 sonar, S5 sonar and S6 sonar are installed on the front side of the IA personal vehicle, as shown in [Fig.2].

[0029] The SI sonar, the S2 sonar and the S3 sonar are installed on the left front side of the IA personal vehicle, and the S4 sonar, the S5 sonar and the S6 sonar are installed on the right front side of the IA personal vehicle.

[0030] An S7 sonar, an S 8 sonar and an S9 sonar are installed on the left rear side of the IA personal vehicle, and an S10 sonar, an SI 1 sonar and an S12 sonar are installed on the right rear side of the IA personal vehicle.

[0031] An example of respective installation positions of the SI sonar to the S12 sonar will be described.

[0032] To describe the respective installation positions of the sonar SI to the sonar S12, two-dimensional coordinates are defined in the personal vehicle IA. In the two-dimensional coordinates, a direction parallel to a length direction of the personal vehicle IA is defined as an X-axis, and a direction parallel to a width direction of the personal vehicle IA is defined as a Y-axis. A positive direction of the X-axis is a forward moving direction of the personal vehicle IA, and a negative direction of the X-axis is a rearward moving direction of the personal vehicle IA. A positive direction of the Y-axis is a leftward direction of the personal vehicle IA, and a negative direction of the Y-axis is a rightward direction of the personal vehicle IA. The origin of the two-dimensional coordinates is defined at a position on a rear wheel axle of the personal vehicle IA and at the center in the width direction of the vehicle..

[0033] The SI sonar is installed at an installation angle of 95° at a coordinate position (2800, 850).

[0034] The sonar S2 is installed at an installation angle of 50° at a coordinate position (3100, 700).

[0035] The S3 sonar is installed at an installation angle of 15° at a coordinate position (3300, 250).

[0036] The S4 sonar is installed at an installation angle of 345° at a co-position ordinates (3300, -250).

[0037] The S5 sonar is installed at an installation angle of 310° at a coordinate position (3100, -700).

[0038] The S6 sonar is installed at an installation angle of 265° at a coordinate position (2800, -850).

[0039] The S7 sonar is installed at an installation angle of 95° at a coordinate position (-400, 850).

[0040] The S8 sonar is installed at an installation angle of 160° at a coordinate position (-650, 700).

[0041] The S9 sonar is installed at an installation angle of 195° at a coordinate position (-850, 250).

[0042] The S10 sonar is installed at an installation angle of 165° at a coordinate position (-850, -250).

[0043] The SI 1 sonar is installed at an installation angle of 200° at a coordinate position (-650, -700).

[0044] The S12 sonar is installed at an installation angle of 265° at a coordinate position (-400, -850).

[0045] The unit of a coordinate value is mm, and the installation angle is a counterclockwise angle with the positive direction of the X axis set at 0°.

[0046] Although a case where the onboard apparatus 3 comprises a sonar will be described in the present embodiment, a sensor mountable on the onboard apparatus 3 is not limited to the sonar. For example, a radar and a lidar (Laser Imaging Detection And Ranging) that can measure the distance of an object using a radio wave, light, or the like may be mounted on the onboard apparatus 3. A camera may be mounted on the onboard apparatus 3.

[0047] The trajectory generation device 50 is a computing device comprising an input / output interface (the interface is hereinafter abbreviated as I / F) 60, a memory 70 and a processor 80. The trajectory generation device 50 may be configured to include a storage device such as an HDD (hard disk drive) or an SSD (solid state drive), for example, in addition to the devices.

[0048] The input / output I / F 60 is connected to the communication bus 5, and performs data communication with an external device connected to the communication bus 5. The external device comprises the position detection unit 10, the sonar unit 30, the operation control device 100, and the obstacle detection device 200.

[0049] The memory 70 comprises a ROM (read only memory) and a RAM (random access memory). The memory 70 may include a non-volatile semiconductor memory such as a flash memory. The memory 70 stores a computer program to be executed by the processor 80, data to be processed when the processor 80 executes the computer program, and data representing a processing result. The memory 70 stores sensor data to be sent by the sonar unit 30 and position and orientation information detected by the position detection unit 10. The memory 70 stores a peripheral map generated by the trajectory generation device 50 and information regarding a parking trajectory.

[0050] The processor 80 comprises a CPU (central processing unit) and an MPU (microprocessor central processing unit).

[0051] The trajectory generation device 50 comprises a map generation unit 81, a parking trajectory generation unit 83, and an operation information generation unit 85, respectively, as functional components. Each of the functional components is a function to be implemented when the processor 80 performs a calculation according to the computer program.

[0052] The map generation unit 81 generates a peripheral map representing a situation around the personal vehicle IA on the basis of the position and orientation information and the acquired sensor data read from the memory 70. In the peripheral map, a position of the personal vehicle IA, a position of an object present around the personal vehicle IA, a distance from the object, and a position of a parking space such as a white line painted on a road surface of a parking area, for example, are recorded. The object to be recorded on the peripheral map includes another vehicle 1B and structures such as a pillar and a wall of the parking area, for example. The object is hereinafter referred to as a "target object."The parking space is painted on the driving surface at a predetermined thickness, so that a spacing corresponding to the thickness of the white line is detected as a periodic feature.

[0053] The parking trajectory generation unit 83 refers to the peripheral map generated by the map generation unit 81, to determine a parking space in which the personal vehicle AI is to be parked. For example, the parking trajectory generation unit 83 selects a parking space, in which a target object is not detected and a distance from the personal vehicle AI is a distance less than or equal to a predetermined distance, from among the parking spaces recorded on the peripheral map. The parking trajectory generation unit 83 sets a position and an angle at which the personal vehicle AI is to be parked within the parking space. operation selected, in order to determine a parking position.

[0054] Then, the parking trajectory generation unit 83 generates a parking trajectory for parking the personal vehicle IA at the determined parking position. The parking trajectory is a trajectory for moving the personal vehicle IA to the parking position from the position of the personal vehicle IA. The position of the personal vehicle IA is a position represented by the position information read from the memory 70. Known means are used to perform the processing for generating the parking trajectory.

[0055] The operation information generation unit 85 receives information about the parking trajectory generated by the parking trajectory generation unit 83. The operation information generation unit 85 generates operation information as information for causing the operation control device 100 to control the travel drive device 150 on the basis of the received information about the parking trajectory. Examples of the operation information include information about a manipulation amount of a manipulation target such as a steering wheel, a gearshift device, an accelerator, or a brake and a position where the manipulation target is to be manipulated.Examples of the manipulation amplitude include a steering angle of a steering wheel, an opening of the accelerator, a manipulation amplitude of a brake. A manipulation position is information about a position on the parking trajectory for manipulating the manipulation target according to a manipulation amplitude corresponding to the manipulation position. The operation information generation unit 85 sends control information including trajectory information as information about the parking trajectory and the generated operation information to the operation control device 100 and the obstacle detection device 200.

[0056] The operation control device 100 is a computing device comprising an input / output IF, a memory, and a processor. The illustration of the input / output I / F, the memory, and the processor is omitted.

[0057] The operation control device 100 receives control information from the trajectory generation device 50. The operation control device 100 generates a drive signal on the basis of operation information included in the received control information. The drive signal is a signal for driving a steering device 151, a driving device 153, a braking device 155, and a transmission device 157 provided in the travel drive device 150. The Operation control device 100 sends the generated drive signal to the movement drive device 150.

[0058] The operation control device 100 receives a stop signal from the obstacle detection device 200. The stop signal is a signal for stopping the movement of the personal vehicle IA moving along the parking trajectory. The operation control device 100 stops the driving of the driving device 153 and drives the braking device 155 to stop the movement of the personal vehicle IA upon receiving the stop signal.

[0059] The travel drive device 150 comprises the steering device 151, the drive device 153, the braking device 155 and the transmission device 157.

[0060] The steering device 151 is a device comprising an actuator that steers a steering wheel of the personal vehicle IA. The operation control device 100 drives the actuator in response to the drive signal, and steers the steering wheel.

[0061] The drive device 153 is a device comprising an actuator that adjusts a drive force of the drive wheel of the personal vehicle IA. When a power source of the personal vehicle IA is a motor, a throttle actuator corresponds to the actuator. When the power source is a motor, the motor corresponds to the actuator. The operation control device 100 drives the actuator in response to the drive signal, and adjusts the drive force of the drive wheel of the personal vehicle IA.

[0062] The braking device 155 is a device comprising an actuator which controls a braking system provided in the personal vehicle IA and controls a braking force to be applied to the wheel of the personal vehicle IA.

[0063] The operation control device 100 drives the actuator in response to the drive signal, and controls the braking force to be applied to the wheel of the personal vehicle IA.

[0064] The transmission device 157 is a device comprising a transmission and an actuator. The transmission device 157 comprises a gearshift device that can be manipulated by a driver to manipulate the transmission. The operation control device 100 drives the actuator in response to the drive signal, and switches a gearshift ratio of the transmission, as well as forward and reverse travel of the personal vehicle IA.

[0065] The obstacle detection device 200 is a computing device comprising an input / output IF 210, a memory 220 and a processor 230. The obstacle detection device 200 may be configured to include a storage device such than an HDD or SSD, for example, in addition to the devices.

[0066] The input / output I / F 210 is connected to the communication bus 5, and performs data communication with an external device connected to the communication bus 5. The external device comprises the position detection unit 10, the sonar unit 30, the trajectory generation device 50 and the operation control device 100. The input / output I / F 210 corresponds to an input interface.

[0067] The memory 220 includes a ROM (read-only memory) and a RAM (random access memory). The memory 220 may include a non-volatile semiconductor memory such as a flash memory. The memory 220 stores a computer program to be executed by the processor 230, data to be processed when the processor 230 executes the computer program, and data representing a processing result. The memory 220 stores the sensor data to be sent from the sonar unit 30 and the position and orientation information detected by the position detection unit 10. In addition, the memory 220 stores the control information from the trajectory generation device 50.

[0068] The processor 230 includes a CPU and an MPU.

[0069] The obstacle detection device 200 comprises a manipulation information acquisition unit 231, a detection information acquisition unit 233, a movement direction determination unit 235 and an obstacle determination unit 237, respectively, as functional components. Each of the functional components is a function to be implemented when the processor 230 performs a calculation according to the computer program.

[0070] The manipulation information acquisition unit 231 acquires steering angle information and gear shift position information. Specifically, the manipulation information acquisition unit 231 first reads the operation information in the memory 220, and sets a determination point for each predetermined distance on the parking trajectory represented by the trajectory information. The manipulation information acquisition unit 231 also sets, when a point where a travel direction of the personal vehicle IA changes from a forward travel direction to a backward travel direction or from a backward travel direction to a forward travel direction is included in the parking trajectory, the point as a determination point.

[0071] The manipulation information acquisition unit 231 acquires, when setting the determination point, steering angle information representing a manipulation amount of a steering wheel at the set determination point and shift position information representing a shift position of a shift device at the at the determination point from the operation information. The manipulation information acquisition unit 231 sends the steering angle information and the gear shift position information, at each of the determination points, to the travel direction determination unit 235.

[0072] The detection information acquisition unit 233 acquires the sensor data from the sonar unit 30 as detection information. The detection information acquisition unit 233 reads the sensor data in the memory 220, and sends the read sensor data to the obstacle determination unit 237.

[0073] The travel direction determination unit 235 receives the steering angle information and the gear shift position information, at each of the determination points, from the manipulation information acquisition unit 231. The travel direction determination unit 235 determines the travel direction of the personal vehicle IA, at each of the determination points, on the basis of the received gear shift position information and the steering angle information. The travel direction determination unit 235 sends information representing the determined travel direction of the personal vehicle IA, at each of the determination points, to the obstacle determination unit 237.

[0074] The travel direction to be determined by the travel direction determination unit 235 includes four directions, i.e., a forward travel direction, a straight-ahead backward travel direction, a right rear steering direction, and a left rear steering direction. Although the forward travel direction includes three directions, i.e., a straight-ahead travel direction, a right front steering direction, and a left front steering direction, the travel direction determination unit 235 indiscriminately determines the three travel directions as a forward travel direction.

[0075] For example, the travel direction determination unit 235 determines the travel direction of the personal vehicle IA as a forward travel direction when the gear shift position information of the gear shift device represents a travel drive position.

[0076] The travel direction determination unit 235 compares a steering angle represented by the steering angle information to a first threshold value and a second threshold value when the shift position information of the shift device represents a travel toward the rear. In the present embodiment, the first threshold value is set to -120°, and the second threshold value is set to 120°.

[0077] The travel direction determination unit 235 determines the travel direction of the personal vehicle IA as a left rear turning direction when the gearshift position information represents a backward movement and when the steering angle is less than -120°. The travel direction determination unit 235 determines the travel direction of the personal vehicle IA as a right rear turning direction when the gearshift position information represents a backward movement and when the steering angle is greater than 120°. In the present embodiment, the description is made assuming that a case where the steering wheel is turned to the right is a forward rotation.

[0078] Although a case where the first threshold value is set to -120° and the second threshold value is set to 120° will be described in the present embodiment, the first threshold value is not limited to -120° and the second threshold value is not limited to 120°. The first threshold value is preferably defined as a value less than or equal to -120° and greater than or equal to -180°, and the second threshold value is preferably defined as a value greater than or equal to 120° and less than or equal to 180°. Each of the first threshold value and second threshold value is not constrained by an upper limit or a lower limit, and can be defined so as to correspond to a steering angle characteristic, a turning characteristic, a shape, and the like of the personal vehicle IA.

[0079] The obstacle determination unit 237 receives information about a traveling direction of the personal vehicle IA, at each of the determination points, from the traveling direction determination unit 235 and receives sensor data from the detection information acquisition unit 233.

[0080] The obstacle determination unit 237 determines whether or not a target object detected on the basis of the sensor data is an obstacle that hinders the movement of the personal vehicle IA. Hindering the movement of the personal vehicle IA means that the target object comes into contact or collides with the personal vehicle IA when the personal vehicle IA moves along the parking trajectory. The obstacle determination unit 237 sets a detection range 300 as a predetermined range around the personal vehicle IA, and determines whether the target object detected by the sonar unit 30 is positioned inside or outside the detection range 300. The obstacle determination unit 237 determines, upon detecting the target object positioned inside the detection range 300, the target object to be an obstacle.

[0081] The obstacle determination unit 237 changes the detection range 300 according to the travel direction of the personal vehicle IA determined by the travel direction determination unit 235. The obstacle determination unit 237 makes the detection range 300, in a direction not corresponding to the travel direction, smaller than the detection range 300 in a direction corresponding to the travel direction of the personal vehicle IA using a determination result of the travel direction determination unit 235.

[0082] More specifically, the obstacle determination unit 237 determines a range of the personal vehicle IA that does not prevent the determination of contact or collision with the target object even if the detection range 300 is reduced. In other words, the obstacle determination unit 237 determines a range of the personal vehicle IA having high safety. The obstacle determination unit 237 changes the width of the detection range 300 corresponding to the determined range of the personal vehicle IA to be narrow. A relationship between the traveling direction of the personal vehicle 1A and the width of the detection range 300 will be described with reference to FIGS. 3 to 7.

[0083] [Fig.3] is a diagram illustrating a fixed detection range 20 as the detection range of a traditional sonar.

[0084] The fixed detection range 20 as a conventional detection range is not changed, so as to always detect a target object as an obstacle within a predetermined range, even if a traveling direction of the personal vehicle IA is changed. In the fixed detection range 20, a search distance of each of the sonars is uniformly set at a distance DI for all the sonars. The search distance is a search distance of the sonar in a direction according to a sonar installation angle. For the sonar SI, for example, the search distance is a distance at which the target object is detected in a direction of 95° as a direction according to a sonar installation angle SL

[0085] [Fig.4] is a diagram illustrating a detection range 300A in a case where a travel direction of the personal vehicle IA is a forward travel direction.

[0086] The obstacle determination unit 237 sets the detection range 300A for forward movement when the movement direction of the personal vehicle IA is the forward movement direction. More specifically, the obstacle determination unit 237 changes the respective detection distances between the sonar S7 and the sonar S12 installed on the rear side of the personal vehicle IA from a distance DI to a distance D2. The obstacle determination unit 237 makes the respective detection distances between the sonar S1 and the sonar S6 installed on the front side of the personal vehicle IA unchanged from the distance DI. The distance D2 is set at a shorter distance than distance Dl. Distance DI corresponds to a predefined distance.

[0087] If the direction of travel of the personal vehicle IA is the forward direction of travel, the respective detection ranges 300 of the sonars S1 to S6 correspond to a range corresponding to the direction of travel of the personal vehicle IA. If the direction of travel of the personal vehicle IA is the forward direction of travel, the respective detection ranges 300 of the sonars S7 to S12 correspond to a range not corresponding to the direction of travel of the personal vehicle IA.

[0088] [Fig.5] is a diagram illustrating a detection range 300B in a case where a The direction of travel of the personal vehicle IA is a straight-line backward direction of travel.

[0089] The obstacle determination unit 237 sets the detection range 300B for backward movement when the movement direction of the personal vehicle IA is the straight-ahead backward movement direction. More specifically, the obstacle determination unit 237 changes the respective detection distances between the sonar S1 and the sonar S6 installed on the front side of the personal vehicle IA from a distance D1 to a distance D2. The obstacle determination unit 237 makes the respective detection distances between the sonar S7 and the sonar S12 installed on the rear side of the personal vehicle IA unchanged from the distance DL

[0090] If the direction of travel of the personal vehicle IA is the direction of travel in a straight line towards the rear, the respective detection ranges 300 of the sonars S7 to S12 correspond to a range corresponding to the direction of travel of the personal vehicle IA. If the direction of travel of the personal vehicle IA is the direction of travel in a straight line towards the rear, the respective detection ranges 300 of the sonars S1 to S6 correspond to a range not corresponding to the direction of travel of the personal vehicle IA.

[0091] [Fig.6] is a diagram illustrating a detection range 300C in a case where a The direction of travel of the personal vehicle IA is a left rear steering direction.

[0092] The obstacle determination unit 237 sets the detection range 300C for a left rear turn when the travel direction of the personal vehicle IA is the left rear turn direction. More specifically, the obstacle determination unit 237 changes the respective detection distances between the sonar S1 and the sonar S5 installed on the front side of the personal vehicle IA from a distance D1 to a distance D2. The obstacle determination unit 237 makes a detection distance of the sonar S6 unchanged from the distance D1 to maintain a detection distance on the right side of the personal vehicle IA at the distance DL The obstacle determination unit 237 makes the respective detection distances between the sonar S7 and the sonar S12 installed on the rear side of the personal vehicle IA unchanged from the distance D1.

[0093] If the direction of travel of the personal vehicle IA is the left rear steering direction, the respective detection ranges 300 of the sonars S6 to S12 correspond to a range corresponding to the direction of travel of the personal vehicle IA. If the direction of travel of the personal vehicle IA is the left rear steering direction, the respective detection ranges 300 of the sonars S1 to S5 correspond to a range not corresponding to the direction of travel of the personal vehicle IA.

[0094] [Fig.7] is a diagram illustrating a detection range 300D in a case where a travel direction of the personal vehicle IA is a right rear steering direction.

[0095] The obstacle determination unit 237 sets the detection range 300D for a right rear turn when the travel direction of the personal vehicle IA is the right rear turn direction. More specifically, the obstacle determination unit 237 changes the respective detection distances between the sonar S2 and the sonar S6 installed on the front side of the personal vehicle IA from a distance D1 to a distance D2. The obstacle determination unit 237 makes a detection distance of the sonar S1 unchanged from the distance D1 to maintain a detection distance on the left side of the personal vehicle IA at the distance DL. The obstacle determination unit 237 makes the respective detection distances between the sonar S7 and the sonar S12 installed on the rear side of the personal vehicle IA unchanged from the distance DL.

[0096] If the direction of travel of the personal vehicle IA is the right rear steering direction, the respective detection ranges 300 of the sonars S1 and S7 to S12 correspond to a range corresponding to the direction of travel of the personal vehicle IA. If the direction of travel of the personal vehicle IA is the right rear steering direction, the respective detection ranges 300 of the sonars S2 to S6 correspond to a range not corresponding to the direction of travel of the personal vehicle IA.

[0097] [Fig.8] is a diagram illustrating the respective trajectories of a right front end portion p and a left front end portion of the personal vehicle IA in a case where the personal vehicle IA is turning in reverse to the right.

[0098] If the personal vehicle IA reverses to the right, the detection distance of the sonar S6 installed in the right front end part p of the personal vehicle IA changes from the distance D1 to a distance D2, and the detection distance of the SI sonar installed in the left front end part q of the personal vehicle IA remains unchanged with respect to the distance Dl. The reason for this will be described with reference to [Fig.8].

[0099] At a time tl, the right front end portion p is positioned at pl, and the left front end portion q is positioned at ql.

[0100] At a time t2, the right front end portion p is positioned at p2, and the left front end portion q is positioned at q2.

[0101] At a time t3, the right front end portion p is positioned at p3, and the left front end portion q is positioned at q3.

[0102] At a time t4, the right front end portion p is positioned at p4, and the left front end portion q is positioned at q4.

[0103] If the personal vehicle IA steers in reverse to the right, the position p2 of the right front end portion p at time t2 moves to the left of the position p1 of the right front end portion p at time t1, i.e., in a direction in which the body of the personal vehicle IA was positioned at time t1. Similarly, the position p3 at time t3 moves to the left of the position p2 at time t2, i.e., in a direction in which the body of the personal vehicle IA was positioned at time t2.

[0104] On the other hand, the position q2 of the left front end portion q at time t2 moves to the left of the position ql of the left front end portion q at time tl, i.e., toward the outer side of the body of the personal vehicle IA positioned at time tl. Similarly, the position q3 at time t3 moves to the left of the position q2 at time t2, i.e., toward the outer side of the body of the personal vehicle IA positioned at time t2.

[0105] Thus, when the personal vehicle IA reverses to the right, the right front end portion p moves in a direction in which the existence of a target object as an obstacle is certain, and the left front end portion q moves in a direction in which the existence of a target object as an obstacle is uncertain.

[0106] Therefore, if the personal vehicle IA reverses to the right, the detection distance of the sonar S6 installed in the right front end portion p of the personal vehicle IA increases to t2, and the detection distance of the sonar SI installed in the left front end portion q of the personal vehicle IA remains unchanged from the distance D1.

[0107] For a similar reason, if the personal vehicle IA reverses to the left, the detection distance of the sonar SI installed in the left front end portion of the personal vehicle IA increases to t2, and the detection distance of the sonar S6 installed in the left front end portion of the personal vehicle IA remains unchanged with respect to the distance Dl.

[0108] [Fig.9] is a diagram illustrating a case where the detection range 300 is set to a fixed detection range 20 and the personal vehicle IA is exited. [Fig.10] is a diagram illustrating a case where the personal vehicle IA placed in the detection range 300A corresponding to a travel direction is exited.

[0109] A case where the AI ​​personal vehicle is traveling in a straight line and then steers to the left to move the AI ​​personal vehicle out of a parking position will be described.

[0110] If the detection range 300 is set to the fixed detection range 20, when quickly turning the personal vehicle IA to the left, another vehicle IB parked on the left side of the personal vehicle IA, as shown in [Fig.9], is detected as an obstacle so that the movement of the personal vehicle IA can be stopped.

[0111] On the other hand, if the detection range 300A for forward movement is set, the detection distance of the sonar S7 installed in a left end portion at a rear end of the vehicle increases from a distance D1 to a distance D2. Therefore, the closer the personal vehicle IA gets to the rear end, the more the detection distance decreases. Thus, it is possible to prevent the other vehicle IB parked on the left side of the personal vehicle IA from being detected as an obstacle.

[0112] [Fig. 11] is a diagram depicting the establishment of the detection range 300 in a case where the personal vehicle IA is parked in a line.

[0113] Queue parking is a parking maneuver of the personal vehicle IA such that the personal vehicle IA and another vehicle are arranged lengthwise of the personal vehicle IA.

[0114] For the line parking illustrated in [Fig. 11], the personal vehicle 1A reverses to the right in a section from a position PI to a position P2, and the personal vehicle IA reverses to the left in a section from the position P2 to a position P3.

[0115] In the section from position PI to position P2, the detection range 300D for right rear steering is set. That is, the detection distance of the sonar S6 becomes t2, and the detection distance in front and on the right side of the personal vehicle IA is set as short. Accordingly, in the section from position PI to position P2, the erroneous determination of contact with the other vehicle 1B is prevented so that the stopping of the personal vehicle IA due to the erroneous determination can be prevented.

[0116] In the section from position P2 to position P3, the detection range 300C for left rear steering is defined.

[0117] That is, the respective detection ranges 300 of the sonars SI to S5 are changed to t2, and the detection distance in front of the personal vehicle IA is set as short. As a result, the erroneous determination of contact with the other vehicle IB parked in front of a parking position is prevented, so that the stopping of the personal vehicle IA due to the erroneous determination can be prevented.

[0118] The respective detection distances of the sonar S6 and the sonar S12 are maintained at the distance D1, so that the detection distance on the right side of the personal vehicle IA remains unchanged from the distance D1. If the right side of the parking position is a wall, for example, the detection distance on the right side of the personal vehicle IA remains unchanged from the distance D1, so that the wall can be correctly detected as an obstacle.

[0119] [Fig. 12] is a flowchart illustrating an operation of the device of obstacle detection 200. The operation of the obstacle detection device 200 will be described with reference to the flowchart of [Fig.12].

[0120] First, the obstacle detection device 200 determines whether or not control information has been received from the trajectory generation device 50 (step S1). If the control information has not been received (NO in step S1), the obstacle detection device 200 waits to start processing until the control information has been sent by the trajectory generation device 50.

[0121] If the control information has been received (YES in step S1), the obstacle detection device 200 acquires trajectory information, steering angle information, and gearshift position information included in the control information (step S2). Step S2 corresponds to an information acquisition step. Then, the obstacle detection device 200 sets a determination point for each predetermined distance on a parking trajectory represented by the acquired trajectory information (step S3).

[0122] Next, the obstacle detection device 200 determines whether a traveling direction of the personal vehicle IA is a forward traveling direction or not on the basis of the steering angle information and the gear shift position information (step S4). Step S4 corresponds to a direction determining step. If the obstacle detection device 200 determines that the traveling direction of the personal vehicle IA is a forward traveling direction on the basis of the steering angle information and the gear shift position information (YES in step S4), the obstacle detection device 200 sets a detection range 300A for forward traveling as a detection range 300 of the sonar unit 30 (step S5).

[0123] If the direction of movement of the personal vehicle IA is not a direction of forward movement (NO in step S4), the obstacle detection device 200 determines whether or not a steering angle of a steering wheel represented by the steering angle direction is greater than 120° (step S6). Step S6 corresponds to a direction determination step. If the steering angle of the steering wheel is greater than 120° (YES in step S6), the obstacle detection device 200 sets a detection range 300D for the right rear steering as the detection range 300 of the sonar unit 30 (step S7).

[0124] If the steering angle of the steering wheel is less than or equal to 120° (NO in step S6), the obstacle detection device 200 determines whether the steering angle of the steering wheel is less than -120° or not (step S8). Step S8 corresponds to a direction determination step. If the steering angle of the steering wheel is less than -120° (YES in step S8), the obstacle detection device 200 sets a detection range 300C for the left rear steering as the detection range 300 of the sonar unit 30 (step S9).

[0125] Unless the steering angle of the steering wheel is less than -120° (NO in step S8), i.e., if the steering angle of the steering wheel is neither less than -120° nor more than 120°, the obstacle detection device 200 sets a detection range 300B for straight-ahead travel as the detection range 300 of the sonar unit 30 (step S10).

[0126] Next, the obstacle detection device 200 acquires sensor data from the sonar unit 30 (step S11). Step S11 corresponds to a detection information acquisition step. The obstacle detection device 200 determines whether or not a position of a target object detected on the basis of the acquired sensor data is within the detection range 300 set in any one of steps S5, S7, S9, and S10 (step S12). Step S12 corresponds to an obstacle determination step.

[0127] If the obstacle detection device 200 determines that the position of the target object is within the detection range 300 (YES in step S12), the obstacle detection device 200 determines the target object to be an obstacle, and sends a stop signal to stop the movement of the personal vehicle IA to the operation control device 100 (step S13). Step S13 corresponds to a sending step. Although a case where the obstacle detection device 200 sends the stop signal to stop the movement of the personal vehicle IA to the operation control device 100 will be described in the present embodiment, the obstacle detection device 200 may send a signal to reduce a speed of the personal vehicle IA to the operation control device 100 to reduce the speed of the personal vehicle IA.

[0128] If the obstacle detection device 200 determines that the position of the target object is outside the detection range 300 (NO in step S12), the obstacle detection device 200 determines whether or not the personal vehicle IA has moved to a next determination point on the basis of the position information detected by the position detection unit 10 (step S14). If the obstacle detection device 200 determines that the personal vehicle IA has moved to a determination point (YES in step S14), the processing flow returns to step S4. In step S4, the obstacle detection device 200 sets the detection range 300 again.

[0129] If the obstacle detection device 200 determines that the position of the personal vehicle IA is not the determination point (NO in step S14), the obstacle detection device 200 determines whether or not the personal vehicle IA has reached a parking position (step S15). If the obstacle detection device 200 determines that the personal vehicle IA has reached the parking position (YES in step S15), the processing flow ends. If the obstacle detection device 200 determines that the personal vehicle IA has not reached the parking position (NO in step S15), the processing flow returns to step S14.

[0130] As described above, the obstacle detection device 200, according to the present embodiment, comprises the input / output I / F 210, the manipulation information acquisition unit 231, the detection information acquisition unit 233, the movement direction determination unit 235 and the obstacle determination unit 237.

[0131] The input / output I / F 210 is connected to the sonar unit 30 and the trajectory generation device 50, respectively, as external devices.

[0132] The manipulation information acquisition unit 231 acquires steering angle information of the personal vehicle IA and gear shift position information of a gear shift device via the input / output I / F 210.

[0133] The detection information acquisition unit 233 acquires sensor data from the sonar unit 30 as detection information of an object present around the personal vehicle IA via the input / output I / F 210.

[0134] The travel direction determination unit 235 determines the travel direction of the personal vehicle IA on the basis of the steering angle information and the gear shift position information.

[0135] The obstacle determination unit 237 defines the detection range 300 as a predetermined range around the personal vehicle IA. If the object detected on the basis of the sensor data is positioned within the detection range 300, the obstacle determination unit 237 determines the object as an obstacle that hinders the movement of the personal vehicle IA. If the obstacle determination unit 237 determines the object as the obstacle, the obstacle determination unit 237 sends a control signal to stop the movement of the personal vehicle IA or to reduce the speed of the personal vehicle IA.

[0136] The obstacle determination unit 237 modifies the detection range 300 on the basis of a determination result of the movement direction determination unit 235.

[0137] When the detection range 300 is changed based on the traveling direction of the personal vehicle IA, the detection range 300 in an area where the probability of the presence of an obstacle that hinders the traveling of the personal vehicle IA is low, for example, can be set to a position close to the personal vehicle IA so that erroneous detection of the obstacle can be prevented. This can prevent erroneous determination of the obstacle in a vehicle area where the risk of contact and collision is low and prevent erroneous operation of a brake.

[0138] The obstacle determination unit 237 makes the detection range 300 in a direction not corresponding to the traveling direction of the personal vehicle IA smaller than the detection range 300 in a direction corresponding to the traveling direction using the determination result of the traveling direction determination unit 235.

[0139] Therefore, when the detection range 300 in the area where the probability of the presence of an obstacle that hinders the movement of the personal vehicle IA is low is set at the position close to the personal vehicle IA, the erroneous detection of the obstacle can be prevented.

[0140] If the travel direction determination unit 235 determines that the travel direction of the personal vehicle IA is a forward travel direction, the obstacle determination unit 237 changes the detection range 300 behind the personal vehicle IA to be less than a set distance.

[0141] Therefore, if the traveling direction of the personal vehicle IA is a forward traveling direction, the obstacle determination unit 237 changes the detection range 300 behind the personal vehicle IA to be less than the set distance so that erroneous detection of the obstacle can be prevented.

[0142] If the travel direction determination unit 235 determines that the travel direction of the personal vehicle IA is a backward travel direction, the obstacle determination unit 237 changes the detection range 300 in front of the personal vehicle IA to be less than a set distance.

[0143] Therefore, if the travel direction of the personal vehicle IA is a backward travel direction, the obstacle determination unit 237 changes the detection range 300 in front of the AI ​​personal vehicle to be less than the set distance so that false detection of the obstacle can be prevented.

[0144] If the travel direction determination unit 235 determines that the travel direction of the personal vehicle IA is a left rear turning direction, the obstacle determination unit 237 modifies the detection range 300 in front of and on the left side of the personal vehicle IA to be less than a set distance.

[0145] Therefore, if the traveling direction of the personal vehicle IA is a left rear turning direction, the detection range 300 in front of and on the left side of the personal vehicle IA is changed to be less than the set distance so that erroneous detection of the obstacle can be prevented.

[0146] If the travel direction determination unit 235 determines that the travel direction of the personal vehicle IA is a right-turn direction, the obstacle determination unit 237 changes the detection range 300 in front of and on the right side of the personal vehicle IA to be less than a set distance.

[0147] Therefore, if the traveling direction of the personal vehicle IA is a right turning direction, the detection range 300 in front of and on the right side of the personal vehicle IA is changed to be less than the set distance so that erroneous detection of the obstacle can be prevented.

[0148] The travel direction determination unit 235 determines that the travel direction of the personal vehicle IA is a left rear steering direction when the gear shift position represented by the gear shift position information is a reverse position and when the steering angle represented by the steering angle information is greater than a first threshold value. The travel direction determination unit 235 determines that the travel direction of the personal vehicle IA is a right rear steering direction when the gear shift position represented by the gear shift position information is a reverse position and when the steering angle represented by the steering angle information is greater than a second threshold value.

[0149] The first threshold value is defined as a value between -120° minimum and -180° maximum, and the second threshold value is defined as a value between 120° minimum and 180° maximum.

[0150] Therefore, the left rear steering and right rear steering of the AI ​​personal vehicle can be detected with high accuracy.

[0151] The embodiment described above is only an illustration of one aspect of the present invention, and variations and applications are possibly possible without departing from the scope and spirit of the invention.

[0152] For example, the trajectory generation device 50 and the obstacle detection device 200 may respectively be composed of separate computing devices, as illustrated in [Fig.l], or may be composed of a single computing device.

[0153] A block diagram illustrating a configuration of the obstacle detection device 200 shown in [Fig.l], is a simplified view illustrated by classifying the components according to a main processing content to facilitate understanding of the present invention, and the components can also be classified into more components according to a processing content. The components can also be classified so that one of them executes more processes.

[0154] If an obstacle detection method according to the present invention is implemented using a computer, a program that the computer is caused to execute may also be configured as a recording medium or a transmission medium that transmits the program. A magnetic or optical recording medium or a semiconductor memory device may be used as the recording medium. Specific examples include portable or fixed recording media such as a floppy disk, a hard disk, a CD-ROM (Compact Disk Read Only Memory), a DVD, a Blu-ray Disc (registered trademark), a magneto-optical disk, a flash memory, and a card-type recording medium. The recording medium described above may be a non-volatile storage device such as a ROM or a hard disk included in the trajectory generation device 50.

[0155] Processing units in the flowchart illustrated in [Fig. 12] are obtained by dividing the processing units of the flowchart according to a main processing content to facilitate understanding of the processing of the obstacle detection device 200. The present invention is not limited to a method of dividing the process of the obstacle detection device 200 or the name of the divided process. The processing of the obstacle detection device 200 may be divided into more processing units according to the processing content. The processing of the obstacle detection device 200 may be divided so that one of the processing units includes more processes. List of references

[0156] AI Vehicle

[0157] IB Other vehicle

[0158] 3 On-board device

[0159] 5 Communication bus

[0160] 10 Position detection unit

[0161] 20 Fixed detection range

[0162] 30 Sonar Unit

[0163] 50 Trajectory generation device

[0164] 60, 110 I / F input / output

[0165] 70, 220 Memory

[0166] 80, 230 Processor

[0167] 81 Map Generation Unit

[0168] 83 Parking trajectory generation unit

[0169] 85 Operating information generation unit

[0170] 100 Operation control device

[0171] 150 Displacement drive device

[0172] 151 Steering device

[0173] 153 Training device

[0174] 155 Braking device

[0175] 157 Transmission device

[0176] 200 Obstacle detection device

[0177] 231 Manipulation information acquisition unit

[0178] 233 Detection information acquisition unit

[0179] 235 Movement direction determination unit

[0180] 237 Obstacle determination unit

[0181] 300, 300A, 300B, 300C, 300D Detection range

Claims

Claims

1. An obstacle detection device (200) comprising: - an input interface connected to an external device; - a manipulation information acquisition unit (231) configured to acquire steering angle information of a vehicle and gear shift position information of a gear shift device via the input interface; - a detection information acquisition unit (233) configured to acquire detection information of an object present around the vehicle via the input interface; - a travel direction determination unit (235) configured to determine a travel direction of the vehicle on the basis of the steering angle information and the gear shift position information; and - an obstacle determining unit (237), configured to define a detection range as a predetermined range around the vehicle, determines, when an object detected on the basis of the detection information is positioned within the detection range, the object as an obstacle that hinders the movement of the vehicle, and sends a control signal to stop the movement of the vehicle or reduce the speed of the vehicle, - a map generation unit (81) configured to generate a map in which a position of the object present around the vehicle and a distance from the object and positions of parking spaces in a parking area are recorded, and - a trajectory generation unit configured to determine a parking space in which the vehicle is to be parked by referring to the generated map, define a position and an angle, according to which the vehicle is to be parked within the selected parking space in order to determine a parking position, and generate a parking trajectory which is a trajectory for moving the vehicle from its current position to the determined parking position, - wherein the obstacle determination unit (237) defines a determination point for each predetermined distance on the parking trajectory generated by the trajectory generation unit and changes the detection range based on a determination result of the moving direction determination unit (235) each time the obstacle determination unit determines that the vehicle moving along the generated parking trajectory has moved to the set determination point.

2. An obstacle detection device according to claim 1, wherein the obstacle determination unit (237) makes the detection range as a range not corresponding to the vehicle travel direction smaller than the detection range as a range corresponding to the travel direction using the determination result of the travel direction determination unit (235).

3. An obstacle detection device according to claim 1 or 2, wherein the obstacle determination unit (237) changes the detection range behind the vehicle to be less than the detection range in front of the vehicle when the travel direction determination unit (235) determines that the travel direction of the vehicle is a forward travel direction.

4. An obstacle detection device according to any one of claims 1 to 3, wherein the obstacle determination unit (237) changes the detection range in front of the vehicle to be less than the detection range behind the vehicle when the travel direction determination unit (235) determines that the travel direction of the vehicle is a backward travel direction.

5. An obstacle detection device according to any one of claims 1 to 4, wherein the obstacle determination unit (237) changes the detection range in front of and on a left side of the vehicle to be less than the detection range behind and on a right side of the vehicle when the travel direction determination unit (235) determines that the travel direction of the vehicle is a left rear turning direction.

6. An obstacle detection device according to any one of claims 1 to 5, wherein the obstacle determination unit (237) changes the detection range in front of and on a right side of the vehicle to be less than the detection range behind and on a left side of the vehicle when the travel direction determination unit (235) determines that the travel direction of the vehicle is a right-turn direction.

7. An obstacle detection device according to any one of claims 1 to 6, wherein the movement direction determination unit (235) - determines that the direction of travel of the vehicle is a left rear steering direction when a gear shift position represented by the gear shift position information is a reverse position and when a steering angle represented by the steering angle information is greater than a first threshold value, and - determines that the direction of travel of the vehicle is a right rear steering direction when the gear shift position represented by the gear shift position information is a reverse position and when the steering angle represented by the steering angle information is greater than a second threshold value, - the first threshold value being defined as a value greater than or equal to -120° and less than or equal to -180°, and - the second threshold value being defined as a value greater than or equal to 120° and less than or equal to 180°.

8. A method of obstacle detection comprising: - an information acquisition step for acquiring steering angle information of a vehicle and gear shift position information of a gear shift device; - a step of acquiring detection information making it possible to acquire detection information of an object present around the vehicle; - a map generation step for generating a map in which a position of the object present around the vehicle and a distance from the object and positions of parking spaces in a parking area are recorded; - a trajectory generation step for determining a parking space in which the vehicle is to be parked by referring to the generated map, defining a position and an angle, according to which the vehicle is to be parked inside the selected parking space in order to determine a parking position, and generating a parking trajectory which is a trajectory for moving the vehicle from its current position to the position of determined parking, - a direction determining step for determining a direction of travel of the vehicle based on the steering angle information and the gear shift position information that are acquired; - an obstacle determining step for defining a detection range as a predetermined range around the vehicle and for determining, when an object detected on the basis of the detection information is positioned within the detection range, the object as an obstacle that hinders the movement of the vehicle; and - a sending step for sending a control signal to stop the movement of the vehicle or to reduce the speed of the vehicle when the object is determined to be the obstacle, and - wherein the obstacle determining step comprises setting a determination point for each predetermined distance on the parking trajectory generated by the trajectory generation unit and changing the detection range based on a determination result of the direction determining step each time the obstacle determining unit determines that the vehicle traveling along the generated parking trajectory has moved to the set determination point.

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