Parking assistance system and parking assistance method

Abstract

Parking assistance system and method. A parking assistance system 100 comprises: a route generation unit 135 for generating a generation position S3 for generating a parking route R2 and for generating a travel route R1 for the vehicle 1A to move to the generation position S3; and a control information generation unit 136 for generating control information so that the vehicle 1A moves along the travel route R1, wherein: the route generation unit 135 determines a generation position S3 such that at least a portion of the rear end of the vehicle 1A will be positioned in a parking space, and, after the vehicle 1A has arrived at the generation position, generates, at the generation position S3, a parking route R2. Figure for the abstract: 1

Description

Title of the invention: Parking assistance system and parking assistance method Technology field

[0001] The present invention relates to a parking assistance system and a parking assistance method. Prior art

[0002] A parking assistance system is known, which detects the state of the surroundings of a vehicle, generates a parking route based on the detected state of the surroundings, and causes the vehicle to move along the generated parking route to park in a target parking position.

[0003] For example, the parking assistance system described in JP 2014-54912 comprises: parking route calculation means for calculating a parking route for a vehicle to return to a target parking position; assistance means for assisting the vehicle to reverse along the parking route calculated by the parking route calculation means; obstacle location correction means for correcting the location of an obstacle that has been detected when moving forward, based on a comparison of a location detected by rearward distance measuring means when reversing and a location detected when moving forward, with respect to an obstacle that is adjacent to a parking space;and target parking position correction means for correcting a target parking position according to a correction amount corrected by the obstacle location correction means, the parking route calculation means recalculating the parking route to be traveled by the vehicle to the target parking position on the basis of the corrected target parking position and the current position of the vehicle. ; Summary of the invention Problem solved by the present invention

[0004] However, when the detection accuracy of an on-board sensor is low, the accuracy of the inputted environment information that indicates the state of the vehicle's surroundings will be low, making it impossible to park the vehicle in the ideal position in the parking space. When a vehicle is parked in a parking position during correction of obstacle positions as in Patent Document 1, the parking process will take of time.

[0005] The present invention has been made taking into account the situation described above, and its objective is to provide a parking assistance system and a parking assistance method providing the possibility of parking a vehicle in a suitable position in a parking space and shortening the time required for parking. Ways to solve the problem

[0006] The parking assistance system according to the present invention, capable of achieving the above-stated objective, comprises: an input / output interface which is connected to on-board sensors which are mounted on a plurality of locations including the rear end of a vehicle; a parking position determination unit for determining a parking space for parking the vehicle on the basis of inputted environment information, when environment information which indicates the state of the environment of the vehicle is input from the on-board sensors via the input / output interface;a route generation unit for determining a generation position which is a position for generating a parking route for parking the vehicle in the parking space which has been determined, and generating a travel route for traveling the vehicle to the generation position;and a control information generation unit for generating control information for controlling a drive system for causing the vehicle to travel, generating the control information for causing the vehicle to travel along the travel route, and outputting the control information via the input / output interface to a control system for controlling operation of the drive system, wherein: the route generation unit determines the generation position so as to position at least a portion of the rear end of the vehicle in the parking space, and, after the vehicle arrives at the generation position, generates, at the generation position, a parking route for parking the vehicle in the parking space. ; Effects of the invention

[0007] The present invention makes it possible to park a vehicle in a position in a parking space, and makes it possible to shorten the time required for parking, even if the detection accuracy of the on-board sensor is poor. Brief descriptions of the drawings

[0008] [Fig-1] [Fig.l] is a functional diagram showing a structure of a system embarked.

[0009] [Fig.2] [Fig.2] is a diagram showing an example of a travel route.

[0010] [Fig.3] [Fig.3] is a diagram showing the parking condition at a position which is not centered on a parking space.

[0011] [Fig.4] [Fig.4] is a diagram showing the vehicle positioned at a starting position and an intermediate position.

[0012] [Fig.5] [Fig.5] is a diagram showing a state in which a vehicle steering angle exceeds an upper limit value.

[0013] [Fig.6] [Fig.6] is a diagram showing a generation position.

[0014] [Fig.7] [Fig.7] is a diagram showing a generation position.

[0015] [Fig.8] [Fig.8] is a diagram showing an example of a route that the management unit Route generation does not generate as a reverse turning route.

[0016] [Fig.9] [Fig.9] is a diagram showing an example of a route that the route generation unit does not generate as a reverse turning route.

[0017] [Fig. 10] [Fig. 10] is a diagram showing an example of a route that the route generation unit does not generate as a reverse turning route.

[0018] [Fig. 11] [Fig. 11] is a diagram showing a parking route generated after moving to the generation position.

[0019] [Fig. 12] [Fig. 12] is a flowchart showing the operation of the parking assistance system.

[0020] [Fig. 13] [Fig. 13] is a flowchart showing the operation of the parking assistance system.

[0021] One embodiment will be explained below with reference to the accompanying drawings.

[0022] [Fig.l] is a functional diagram showing a structure of an embedded system 3. In the following, the vehicle on which the on-board system 3 is installed will be referred to as “the IA vehicle”, and a vehicle other than the IA vehicle will be referred to as “another IB vehicle”.

[0023] The on-board system 3 comprises a position detection unit 10, a detection system 20, a display unit 50, a vehicle control unit 70, a drive system 80 and a parking assistance system 100.

[0024] The position detection unit 10 detects the position of the vehicle IA. The position detection unit 10 comprises a GNSS (Global Navigation Satellite System) receiver and a processor (neither shown). The GNSS receiver receives the signals transmitted by the satellites. The processor calculates the latitude and longitude, which are location information for the vehicle IA, on the basis of the signals received by the GNSS receiver, and calculates the bearing of the vehicle IA on the basis of the disparities in the calculated location information. The position detection unit 10 outputs, to the parking assistance system 100, the location information lization and orientation information calculated for the AI ​​vehicle.

[0025] The detection system 20 comprises a plurality of on-board sensors. The detection system 20 according to the present embodiment comprises, as on-board sensors, an imaging unit 30, which comprises a plurality of cameras, and sonar units 40.

[0026] And in the present embodiment, a case in which the detection system 20 comprises cameras and a sonar, the onboard sensor of the detection system 20 is not limited to the cameras and the sonar. For example, a radar or LIDAR (Laser Imaging Detection and Ranging), capable of measuring the distance to objects using radio signals, light, or the like, may be provided in the detection system 20. The detection system 20 outputs to the parking assistance system 100 the images captured by the imaging unit 30 and the sensor data of the sonar unit 40, as environment information that indicates the state of the environment.

[0027] The imaging unit 30 comprises a front camera 31 for imaging toward the front of the AI ​​vehicle, a rear camera 32 for imaging toward the rear of the AI ​​vehicle, a left side camera 33 for imaging toward the left side of the AI ​​vehicle, and a right side camera 34 for imaging toward the right side of the AI ​​vehicle. These cameras are each equipped with image sensors such as, for example, CCD (Charge-Coupled Devices) or CMOS (Complementary Metal-Oxide-Semiconductor) sensors or the like, and data processing circuits for generating images from the light reception states of the image sensors. In the imaging units 30, the viewing angles are adjusted so as to enable imaging of a 360° range, centered on the AI ​​vehicle, by the four cameras.The front camera 31, the rear camera 32, the left side camera 33 and the right side camera 34 each perform imaging of the respective imaging range at a prescribed frame rate to generate captured images. The front camera 31, the rear camera 32, the left side camera 33 and the right side camera 34 output the generated captured images to the parking assistance system 100.

[0028] The sonar units 40 are mounted on a plurality of locations on the IA vehicle, such as the front end, the rear end, the left side, the right side, etc., and use ultrasound to detect objects that are present in the vicinity of the IA vehicle. Specifically, the sonar unit 40 detects the location of an object and the distance to the object.

[0029] The display unit 50 comprises a display panel 51 and a touch sensor 53. A liquid crystal display or an organic electroluminescent display, for example, is used in the display panel 51. The touch sensor 53 uses a sensor of a commonly known method, such as a resistor film method, an electrostatic capacitance method, or the like. The touch sensor 53 detects a touch operation that is performed on the display 51 to generate coordinate information indicating the location of the detected touch operation. The touch sensor 53 outputs to the parking assistance system 100 an operation signal that includes the generated coordinate information.

[0030] The vehicle control unit 70 is a computing device such as, for example, an ECU (electronic control unit), and is a control device for controlling the drive system 80 which is mounted in the vehicle IA. The drive system 80 comprises a steering system 81, a power system 83, a braking system 85 and a transmission system 87. The vehicle control unit 70 is connected to the parking assistance system 100 via a communication bus 5 which conforms to a protocol such as Ethernet®, CAN (Controller Area Network), LIN (Local Interconnect Network), or a similar protocol. The vehicle control unit 70 controls the steering system 81, the power system 83, the braking system 85 and the transmission system 87 in accordance with the control information input from the parking assistance system 100.

[0031] The steering system 81 is a system that includes an actuator for steering the steering wheel of the vehicle IA.

[0032] The power system 83 is a system that includes an actuator for adjusting the drive force applied to the drive wheels of the vehicle IA. This actuator corresponds to a "throttle actuator", if the power source of the vehicle IA is an engine, or corresponds to the "engine" if the power source is an engine.

[0033] The braking system 85 controls the braking system that is disposed in the vehicle IA, based on the information from the parking assistance system 100, and includes actuators for controlling the braking forces that are applied to the wheels of the vehicle IA. The transmission system 87 is a system that includes a transmission and an actuator. The transmission system 87 drives the actuator to control the shift position of the transmission, to change the reduction ratio of the transmission, and to accelerate the vehicle IA between forward and reverse.

[0034] In addition, the vehicle control unit 70 issues a completion notification and a stop notification to the parking assistance system 100. When, based on the control information, the control of the drive system 80 is completed and the vehicle AI arrives at the target position set in the control information, the vehicle control unit 70 issues a notification completion of the parking assistance system 100.

[0035] In addition, when, during control of the drive system 80, an obstacle, or the like, is detected and the movement of the vehicle IA is stopped, or when the movement of the vehicle IA is stopped by an operation of the driver, the vehicle control unit 70 sends a stop notification to the parking assistance system 100.

[0036] The parking assistance system 100 is a computer system comprising an input / output interface 110, a memory 120 and a processor 130. The parking assistance system 100 may be structured by comprising, like these devices, a storage device such as a hard disk drive (HDD), a solid-state drive (SSD), or a similar device. In the following, “interface” will be abbreviated “LF”.

[0037] The input / output I / F 110 is connected to the communication bus 5 to perform data communication with external systems connected to the communication bus 5. The external systems include the position detection unit 10, the detection system 20, the display unit 50, and the vehicle control unit 70.

[0038] The memory 120 is comprised of a ROM (Read-Only Memory), a RAM (Random Access Memory), or the like. Furthermore, the memory 120 may be comprised of a non-volatile semiconductor memory such as a flash memory. The memory 120 stores a computer program to be executed by a processor 130, data that is to be processed when the processor 130 executes the computer program, and / or data that is the result of processing. In addition, the memory 120 stores images captured by the imaging unit 30, sensor data output by the sonar units 40, and the like.

[0039] The processor 130 is composed of a CPU (central processing unit), a microprocessor unit (MPU), or the like.

[0040] The parking assistance system 100 comprises, as functional structures, a position acquisition unit 131, a state acquisition unit 132, an environment map generation unit 133, a parking position determination unit 134, a route generation unit 135 and a control information generation unit 136. These functional structures are functions implemented by performing calculations by the processor 130 executing a computer program.

[0041] The position information and orientation information for the vehicle IA, calculated by the position detection unit 10, are input into the position acquisition unit 131. The position acquisition unit 131 uses a well-known dead reckoning technique to correct the position information and / or the in orientation formations that have been input by the position detection unit 10. The position acquisition unit 131 outputs the corrected position information and the orientation information to the environment map generation unit 133 and the route generation unit 135.

[0042] The state acquisition unit 132 causes the imaging unit 30 to perform imaging, in order to acquire, as environment information, the captured images generated by the imaging unit 30. The state acquisition unit 132 temporarily stores, in the memory 120, the captured images that have been acquired by the imaging unit 30.

[0043] Furthermore, the state acquisition unit 132 causes the sonar units 40 to execute detection, in order to acquire, as environmental information, the sensor data which are the results of detection by the sonar units 40. The state acquisition unit 132 temporarily stores, in the memory 120, the sensor data which has been acquired from the sonar units 40.

[0044] The environment map generation unit 133 generates an environment map showing the state of the environment of the AI ​​vehicle, based on the position information and orientation information input from the position acquisition unit 131, and the captured images and sensor data stored in the memory 120. The environment map records, for example, the positions of objects that are located around the AI ​​vehicle, the distances to these objects, the positions of parking spaces, such as white lines or the like, which are painted on the surface of the parking lot, etc. Other AI vehicles parked in parking spaces, structures such as columns of the parking lot, and the like, for example, are included in the objects that are recorded in the environment map.Since parking space lines are painted on the road surface with prescribed widths, the regions corresponding to the widths of the white lines are detected as periodic distinctive features.

[0045] The parking position determination unit 134 references the environment map, generated by the environment map generation unit 133, to determine a parking space W (with reference to [Fig. 2]) for parking the vehicle IA. For example, the parking position determination unit 134 selects a parking space W that is not more than a predetermined distance, a distance that has been set in advance, from the vehicle IA, from those parking spaces registered in the environment map without a detected obstacle. The parking position determination unit 134 determines a parking position P by setting a location and an angle for parking the vehicle IA on the selected parking space W.

[0046] The route generation unit 135 determines a generation position S3 (with reference to [Fig.2]), and generates a travel route RI by which the vehicle IA will travel to the generation position S3 that has been determined. The route generation unit 135 references the environment map to generate the travel route RI by publicly known means.

[0047] The generation position S3 is the position in which the route generation unit 135 will generate a parking route R2. The parking route R2 is a route by which the position of the vehicle IA will move from the generation position S3 to the parking position P. The parking assistance system 100 determines, as the generation position S3, a position other than the position at which the operation for starting the parking assistance was received via the touch panel, or the like, and generates the parking route R2 at the generation position S3 that was determined. In addition, the generation position S3 is generated such that at least a portion of the rear end of the vehicle IA will be positioned in the parking space W. The process of determining the generation position S3 and the travel route RI will be explained below with reference to [Fig.2] to [Fig.l 1]. It is noted that the route in which the end of the route is the parking position P is called a "parking route", while a route in which the end of the route is different from the parking position P is called a "travel route".

[0048] [Fig. 2] is a diagram showing an example of a travel route RI and a parking space. [Fig. 2] shows that another vehicle 1B is parked in the adjacent parking space to the right (from the drawing perspective) of the parking position P, and that a parking structure 7, such as a column, or the like, is located next to the parking position P to the left (from the drawing perspective). A forward turning route R1A, an intermediate position S2, and a backward turning route R1B are included in the travel route RI, as shown in [Fig. 2].

[0049] The forward turning route R1A is a route in which the AI ​​vehicle moves forward while turning, and a route in which the AI ​​vehicle moves straight forward may be included in a part of the route.

[0050] The backward turning route R1B is a route in which the AI ​​vehicle travels in reverse while turning, and a route in which the AI ​​vehicle travels straight backward may be included in a part of the route.

[0051] The intermediate position S2 is a position in which the direction of movement of the vehicle IA changes from forward to reverse, and the movement of the AI vehicle stops briefly, a gearshift operation is performed, and the AI ​​vehicle's direction of travel changes from forward to reverse.

[0052] Furthermore, the position SI shown in [Fig. 2] is the position in which an operation for starting the parking assist is received via the touch panel, and the parking assist system 100 generates the travel route RI. In the following, the position SI will be referred to as the “starting position SI”.

[0053] [Fig.3] is a diagram showing the state in which the vehicle IA has parked at a position that is not centered on parking space W.

[0054] Here, an explanation will be given as to why the parking assistance system 100 generates the parking route R2 at the generation position S3 rather than at the starting position S1.

[0055] If the detection accuracy of the sonar units 40 that are mounted in the vehicle IA is low, the detection accuracy of the parking space and obstacles will be low, which may cause the vehicle IA to park in a position that is not centered on the parking space W when parked at the parking position P. The vehicle IA indicated by dotted lines in [Fig. 3] shows a case in which the vehicle IA is parked at a suitable position on the parking space W, and the vehicle IA indicated by solid lines in [Fig. 3] shows a case in which the vehicle IA is parked offset to the right side (from the drawing viewpoint) of the parking space W, and also at an angle to the parking space W. When the vehicle IA is parked at a position that is not centered, as shown in [Fig.3], it becomes impossible to correct the parking position, given the travel limitations of the IA vehicle, and the IA vehicle will be too close to the other IB vehicle which is parked to its right, which may cause the door of the IA vehicle to hit the other IB vehicle when opening and closing.

[0056] Considering the detection accuracy of the sonar units 40, the parking assistance system 100 determines the travel route RI and the generation position S3 so as to position at least a portion of the rear end of the vehicle IA on the parking space W, as illustrated in [Fig. 2]. The sonar units 40 may have higher detection accuracy when they are closer to the measured object.

[0057] In addition, the detection accuracies of the sonar units 40 are set such that the detection accuracy at the rear end of the vehicle IA will be higher than at the front on the sides of the vehicle IA. This design is in line with the perspective of improving the safety towards the rear of the vehicle IA, given that the rear of the vehicle IA has many angles not visible to the driver. Therefore, the parking assistance system 100 directs the rear end of the vehicle 1A to the parking position P, and sets the travel route RI and the generation position S3 so that at least a portion of the rear end of the vehicle IA will be in the parking space W, preventing a reduction in the obstacle detection accuracy, and the like, which would be caused by the detection accuracy of the sonar units 40.

[0058] When the vehicle IA moves to the generation position S3, the route generation unit 135 generates a parking route R2 by which the vehicle IA will move from the generation position S3 to the parking position P. After the vehicle IA arrives at the generation position S3, the route generation unit 135 generates the parking route R2 on the basis of the sensor data and captured images acquired by the state acquisition unit 132 at the generation position S3 and the environment map that was generated by the environment map generation unit 133 on the basis of this information.

[0059] A method for determining the generation position S3 will then be explained.

[0060] The route generation unit 135 first defines a forward turning route R1A. The route generation unit 135 defines the forward turning route RI A and an intermediate position S2 by changing two parameters: the travel distance t1 and the steering angle 01.

[0061] The travel distance tl is a travel distance in the width direction of the vehicle IA, for example.

[0062] The steering angle 01 is the angle of rotation to the right, relative to the length direction of the vehicle as a reference, when, for example, the vehicle IA is located at the starting position SL

[0063] [Fig.4] is a diagram showing the vehicle IA at the starting position SI and at the intermediate position S2.

[0064] In [Fig. 4], the vehicle length direction (the reference direction), when the vehicle IA is located at the starting position SI, is indicated by mO, and the vehicle width direction is indicated by nO. In addition, the vehicle length direction IA, when the vehicle IA has moved to the intermediate position S2, is indicated by ml, and the vehicle width direction is indicated by ni. The travel distance tl is the distance, in the vehicle width direction nO, between the starting position SI and the intermediate position S2, as shown in [Fig. 4]. In addition, the steering angle 01 is the angle formed between the vehicle length direction mO at the starting position SI and the vehicle length direction ml at the intermediate position S2.

[0065] An upper limit value is defined for the travel distance tl. The upper limit value for the travel distance tl may be a value that has been defined in advance, or may be determined based on a route width calculated using images captured for sonar data by the sonar units 40 for the route width of the route for positioning the vehicle IA. That is, when parking spaces are provided on the side opposite the parking position P, with the route between them, an upper limit value is set for the travel distance tl to prevent a collision with another vehicle IB that is parked on the opposite side.

[0066] An upper limit value is also set for the steering angle 01. [Fig.5] is a diagram showing a state in which the steering angle 01 of the vehicle IA exceeds the upper limit value.

[0067] The route generation unit 135 judges that the steering angle 01 is greater than the upper limit value if, for example, the steering angle 01 is greater than the angle between the vehicle length direction m0 at the starting position SI and the vehicle width direction n0.

[0068] When determining the forward turning route R1A and the intermediate position S2, the route generation unit 135 then determines the backward turning route R1B for reversing the vehicle IA from the intermediate position S2 that has been determined, and determines the generation position S3. The route generation unit 135 determines the backward turning route R1B and the generation position S3 by changing the steering angle parameter 02. The range within which the value 02 can be changed is set in advance for the steering angle 02.

[0069] [Fig.6] and [Fig.7] are diagrams showing the generation position S3. In particular, [Fig.6] is a diagram showing the backward turning route R1B when the vehicle IA has performed a right backward turning from the intermediate position S2. Furthermore, [Fig.7] is a diagram showing the backward turning route R1B when the vehicle IA has performed a left backward turning from the intermediate position S2.

[0070] The route generation unit 135 determines the backward route R1B and the generation position S3 while changing the steering angle 02. The route generation unit 135 generates, as the backward turning route R1B, a route that will cause the rear end of the vehicle IA to approach an obstacle, within a setting range that has been set in advance, as shown in [Fig. 6]. When a right-hand backward turning route is to be generated as the backward turning route R1B, as shown in [Fig. 6], a reverse turning route R1B is generated such that the distance between the side face of the other vehicle 1B, which is an obstacle located on the right side of the vehicle IA, and the rear end of the vehicle IA will be within a setting range that has been set in advance.

[0071] Furthermore, when the route generation unit 135 is to generate a left-hand rearward turning route as the rearward turning route R1B, as shown in [Fig. 7], a rearward turning route R1B is generated such that the distance between the structure 7, which is an obstacle located on the left side of the vehicle 1A, and the rear of the vehicle 1A will be within a setting range that has been set in advance. Generating, as the rearward turning route R1B, a route such that the distance between the rear end of the vehicle 1A and the side face of another vehicle 1B or a structure 7 will be within a pre-set setting range makes it possible to generate, as the rearward turning route R1B, a route such that at least a portion of the rear end of the vehicle 1A will be in the parking space W.

[0072] The route generation unit 135, when generating a rearward turning route R1B such that the distance between the rear end of the vehicle IA and an obstacle will be within a setting range that has been set in advance, calculates the angle 03 that will be formed between the length direction m2 of the vehicle IA when the vehicle IA is positioned at the end position of the rearward turning route R1B and the length direction W1 of the parking space W.

[0073] If this is the first time that the angle 03 is calculated, the route generation unit 135 stores the calculated angle 03 in the memory 120. If there is a value for the angle 03 stored in the memory 120, the route generation unit 135 compares the calculated angle 03 with the angle 03 that is stored in the memory 120. If the angle 03 that has been calculated is less than the angle 03 that is stored in the memory 120, the route generation unit 135 stores the travel distance t1 and the steering angles 01 and 02, which are the parameters of this angle 03, in the memory 120.

[0074] Generating, as the backward turning route R1B, a route that reduces this angle 03 makes it possible to define the backward turning route R1B so that the vehicle IA is parallel to the vehicle length direction of the parking space W, thereby making it possible to easily generate a parking route R2 by which the vehicle IA, which has moved to the generation position S3, will go to the parking position P.

[0075] The route generation unit 135 modifies the values ​​for the travel distance tl and the steering angles 01 and 02, which are the conditions, to find the values ​​for the travel distance tl and the steering angles 01 and 02 that reduce the angle 03.

[0076] [Fig. 8] to [Fig. 10] are diagrams showing routes generated, as backward turning routes R1B, by the route generation unit 135.

[0077] [Fig.8] shows a case where the rear end of vehicle IA collides with the front of another vehicle IB which is parked to the right (from the drawing point of view) of the parking position P.

[0078] If, at the end of the rearward turning route R1B, the rear end of the vehicle IA collides with the front of the other vehicle 1B which is positioned on the right side of the parking position P, the route generation unit 135 excludes this route as a candidate for the rearward turning route R1B. In other words, the route generation unit 135 does not store, in the memory 120, the conditions that would generate this route (the travel distance t1 and the steering angles 01 and 02).

[0079] Furthermore, when the route generation unit 135 generates a right-hand rearward turning route as the rearward turning route R1B, any route in which the distance from the side face of the obstacle, which is adjacent to the parking space W on the right, will not be within the setting range that has been set in advance is excluded from the candidates for the rearward turning route R1B. Similarly, when the route generation unit 135 generates a left-hand rearward turning route as the rearward turning route R1B, any route in which the distance from the side face of the obstacle, which is adjacent to the parking space W on the left, will not be within the setting range that has been set in advance is excluded from the candidates for the rearward turning route R1B.

[0080] For example, as illustrated in [Fig.9], if a right rearward turning route is generated as rearward turning route R1B, a route that would contact or collide with a structure 7, which is an obstacle positioned on the left side of the parking space W, would be excluded from the candidates for rearward turning route R1B.

[0081] Furthermore, as shown in [Fig. 10], if the distance between the vehicle IA and the obstacle were to be greater than the setting range that has been set in advance, although the vehicle IA travels the route, this route would be excluded from the candidates for the backward turning route R1B. Indeed, it would be necessary to set another condition for stopping the movement of the vehicle 1A if the distance between the vehicle IA and the obstacle is not within the setting range that has been set in advance, and the parameters of this condition cannot be determined uniformly.

[0082] [Fig. 11] is a diagram showing a parking route R2 generated by the route generation unit 135 after the vehicle IA has moved to the generation position S3.

[0083] When a completion notification has been input from the vehicle control unit 70, the route generation unit 135 judges whether or not the vehicle IA has moved to the generation position S3, on the basis of the position information and the orientation information input from the route detection unit 135. position 10.

[0084] When judging whether the vehicle IA has arrived at the reverse position, the route generation unit 135 generates a parking route R2 on the basis of the environment map newly generated by the environment map generation unit 133. A forward turning route R2A, an intermediate position S4, and a backward turning route R2B are included in the parking route R2. The route generation unit 135 outputs, to the control information generation unit 136, the parking route R2 that has been generated.

[0085] The control information generation unit 136 generates control information, corresponding to the parking route R2, which has been input from the parking assistance system 100, and the control information generation unit 136 outputs the generated control information to the vehicle control unit 70. Parking of the vehicle IA at the parking position P is thus completed.

[0086] [Fig. 12] and [Fig. 13] are flowcharts showing the operation of the parking assistance system 100. The operation of the parking assistance system 100 will be explained with reference to [Fig.12] and [Fig.13].

[0087] First, the parking assist system 100 judges whether or not an operation for starting the parking assist has been received by means of a touch operation on the display unit 50 (step S1). If no operation for starting the parking assist has been received (step S1 / NO), the parking assist system 100 delays the start of the next process until the start operation is received.

[0088] When an operation for starting the parking assist is received by means of a touch operation on the display unit 50 (step S1 / YES), the parking assist system 100 receives, from the detection system 20, environment information which is information on the surroundings of the vehicle IA (step S2). On the basis of the environment information which is obtained, the parking assist system 100 determines a parking space W for parking the vehicle IA (step S3). Step S3 corresponds to the “determining step”.

[0089] The parking assistance system 100 sets the angle and position for the case where the vehicle IA is to be parked in the parking space W, in order to determine the parking position P for parking the vehicle IA (step S4). The parking assistance system 100 then determines the travel route RI and the generation position S3 (step S5), and outputs, to the vehicle control unit 70, control information corresponding to the travel route RI that has been determined (step S6). Step S5 corresponds to the "route generation step". Step S6 corresponds to the “exit step”.

[0090] The parking assistance system 100 then judges whether or not a completion notification, which is a notification indicating that travel to the generation position S3 has been completed, has been input from the vehicle control unit 70 (step S7). If the completion notification has not been input (step S7 / NO), the parking assistance system 100 waits until the completion notification has been input.

[0091] When the completion notification has been input (step S7 / YES), the parking assistance system 100 generates an environment map based on the newly acquired environment information at the generation position S3, and generates the parking route R2 based on the environment map that is generated (step S8).

[0092] When the parking route R2 has been generated, the parking assistance system 100 generates control information corresponding to the generated parking route R2, and outputs the generated control information to the vehicle control unit 70 (step S9).

[0093] The parking assistance system 100 then judges whether or not a completion notification, which is a notification indicating that movement to the parking position P has been completed, has been input from the vehicle control unit 70 (step S10). If the completion notification has not been input (step S10 / NO), the parking assistance system 100 waits until the completion notification has been input. When the parking assistance system 100 inputs the completion notification (step S10 / YES), this process flow ends.

[0094] [Fig. 13] is a flowchart showing the details of step S5.

[0095] The detailed operations for step S5 will be explained with reference to [Fig. 13]. First, the parking assistance system 100 sets the travel distance t1 and the steering angle 01, in order to set the forward steering route R1A (step S501). The parking assistance system 100 then sets the steering angle 02 in order to set the backward steering route R1B (step S502).

[0096] The parking assistance system 100 then judges, on the basis of the steering angle 02 that has been set, whether the rearward turning route R1B is a right rearward turning (step S503).

[0097] If the backward turning route R1B is a right backward turning (step S503 / YES), the parking assistance system 100 judges whether or not the distance between the vehicle IA and an obstacle that is present on the right side of the parking space W will be within the setting range if the vehicle IA were to travel along the forward turning route R1A and the backward turning route R1B (step S504).

[0098] If the evaluation reveals that the distance from the obstacle will not be within the setting range if the vehicle AI were to move (step S504 / NO), the parking assistance system 100 proceeds to the process in step S510 and changes the value of the steering angle 02 (step S510). If the evaluation reveals that the distance from the obstacle will be within the setting range if the vehicle AI were to move (step S504 / YES), the parking assistance system 100 proceeds to the evaluation in step S506.

[0099] Furthermore, if the backward turning route R1B is not a right backward turning, but rather a left backward turning (step S503 / / NO), the parking assistance system 100 judges whether or not the distance between the vehicle IA and an obstacle that is present on the left side of the parking space W will be within the setting range if the vehicle IA were to travel along the forward turning route R1A and the backward turning route R1B (step S505).

[0100] If the evaluation reveals that the distance from the obstacle will not be within the setting range if the AI ​​vehicle were to move (step S505 / NO), the parking assistance system 100 proceeds to the process in step S510 and changes the value of the steering angle 02 (step S510). If the evaluation reveals that the distance from the obstacle will be within the setting range if the AI ​​vehicle were to move (step S505 / YES), the parking assistance system 100 proceeds to the evaluation in step S506.

[0101] In step S506, the parking assistance system 100 evaluates whether or not parameter values ​​have been stored in the memory 120. If parameter values ​​have been stored in the memory 120 (step S506 / YES), the parking assistance system 100 calculates the angle θ3 that would be formed between the length direction m2 of the vehicle 1A at the generation position S3 and the length direction W1 of the parking space W (step S507).

[0102] The parking assist system 100 compares the calculated angle 03 and the angle 03 that would be formed between the length direction m2 of the vehicle 1A and the length direction W1 of the parking space W at the position that is stored as a candidate for the generation position S3 in the memory 120. If the angle 03 that has been calculated is not less than the angle 03 that would be formed at the position that has been stored as a candidate for the generation position S3 in the memory 120 (step S508 / NO), the parking assist system 100 proceeds to the process of step S510, and the value of the steering angle 02 is changed.

[0103] Furthermore, if the calculated angle 03 is less than the angle 03 which will be formed at the position which is stored in the memory 120 as a candidate for the generation position S3 (step S508 / YES), the parking assist system 100 stores the information about the generation position S3 and the information about the angle 03 in the memory 120 (step S509). Furthermore, even if no values ​​for the conditions have been stored in the memory 120 (step S506 / NO), the parking assist system 100 stores, in the memory 120, the parameter values, the information about the generation position S3, and the information about the angle 03 (step S509). The information about the generation position S3, stored in the memory 120, may be information about the position at the end of the reverse turning route R1B, or may be information about a return position in the direction of the intermediate position S2, at a prescribed distance from the end of the reverse turning route R1B.

[0104] The parking assist system 100 then modifies the value of the steering angle 02 (step S510), and judges whether or not the modified steering angle 02 exceeds the range that can be set as the steering angle 02 (step S511). If the steering angle 02 does not exceed the range that can be set as the steering angle 02 (step S511 / NO), the parking assist system 100 returns to step S502 and modifies the value of the steering angle 02, and then sets the rearward turning route R1B based on the modified steering angle 02 (step S502). In addition, if the steering angle 02 exceeds the range that can be set as the steering angle 02 (step S511 / YES), the parking assist system 100 changes the value of the travel distance tl or the steering angle 01 (step S512).

[0105] The parking assist system 100 then judges whether or not the adjustment of the travel distance tl and the steering angle 01 has been fully performed within adjustable ranges (step S513). That is, the parking assist system 100 judges that the adjustment of the travel distance tl and the steering angle 01 has been fully performed within the adjustable range if either the travel distance tl or the steering angle 01 for which the value was changed in step S512 is a value greater than the adjustable range and would be a value greater than the adjustable range even if the other value of the steering angle 01 and the travel distance tl were changed.If the parking assist system 100 judges that the setting of the travel distance tl and the steering angle 01 within the adjustable range has not been fully performed (step S513 / NO), the processing returns to step S501, and the parking assist system 100 changes the value of either the travel distance tl or the steering angle 01. Furthermore, if the parking assist system 100 judges that the setting of the travel distance tl and the steering angle 01 within the adjustable range has been fully performed (step S513 / YES), the processing proceeds to step S6. .

[0106] As explained above, the parking assistance system 100 according to the present embodiment comprises an entry / exit LF 110, a parking position determination unit 134, a route generation unit 135 and a control information generation unit 136.

[0107] The input / output I / F 110 is connected to on-board sensors that are installed at a plurality of positions, including the rear end of the vehicle IA.

[0108] At the time of input, from the on-board sensors and via the input / output I / F 110, of environment information indicating the state of the environment of the vehicle IA, the parking position determination unit 134 determines, on the basis of the inputted environment information, a parking space W on which the vehicle IA is to park.

[0109] The route generation unit 135 generates a generation position S3 in order to generate the parking route R2 for parking the vehicle IA in the parking space W which has been determined, and generates a travel route RI by which the vehicle IA will travel to the generation position S3.

[0110] The control information generation unit 136 generates control information by which the vehicle IA will travel along the travel route RI, i.e., control information for controlling the drive system 80 to cause the vehicle IA to travel, and outputs the control information, via the input / output I / F 110, to the vehicle control unit 70 to control the operation of the drive system 80.

[0111] The route generation unit 135 determines a generation position S3 such that at least a portion of the rear end of the vehicle IA will be positioned on the parking space, and, at the generation position S3 after the vehicle IA arrives at the generation position, generates the parking route R2 for parking the vehicle IA on the parking space W.

[0112] The accuracy of the sensor data of the on-board sensors is greater when the sensors are close to the object being detected, so that highly accurate sensor data is produced by determining the generation position S3 such that at least a portion of the rear end of the vehicle IA will be positioned on the parking space W, allowing the vehicle 1A to park with good accuracy on the parking space W.

[0113] In addition, since the AI ​​vehicle does not adjust the route while traveling, this can shorten the time required to complete parking.

[0114] The backward turning route R1B generated by the route generation unit 135 comprises a turning route.

[0115] When the route generation unit 135 generates a route in which the AI vehicle turns to the right in reverse, as a reverse turning route R1B, the route generation unit 135 determines a generation position S3 such that the distance to an obstacle that is located on the right side of the AI ​​vehicle when the AI ​​vehicle has reversed and parked in a parking space will be a distance within a range that has been set in advance, and generates a travel route RI by which the AI ​​vehicle will travel to the generation position S3 that has been determined.In addition, when the route generation unit 135 generates a route in which the AI ​​vehicle turns to the left while reversing, as a reverse turning route R1B, the route generation unit 135 determines a generation position S3 such that the distance to an obstacle that is located on the left side of the AI ​​vehicle when the AI ​​vehicle has reversed and parked in a parking space will be a distance within a range that has been set in advance, and generates a travel route RI by which the AI ​​vehicle will travel to the generation position S3 that has been determined.

[0116] This makes it possible to easily determine a generation position S3 which is a position in which at least a part of the rear end of the vehicle IA will be in a parking space W, and to easily generate a travel route RI for the vehicle IA to travel to the generation position S3 which has been determined.

[0117] The route generation unit 135 calculates the angle that would be formed between the length direction of the vehicle 1A and the length direction of the parking space if the vehicle IA were positioned at the generation position, and modifies the backward turning route R1B so as to reduce the calculated angle.

[0118] This allows the rear end of the vehicle IA to face the direction of the parking space W, and further improves the accuracy of the sensor data that is output by the on-board sensors that are mounted at the rear end of the vehicle IA.

[0119] The embodiment described above is nothing more than an illustrative example of one form of the present invention, where the present invention may be modified and applied as appropriate within a scope that does not depart from the spirit and intent of the present invention.

[0120] For example, although the block diagram showing a structure of the parking assistance system 100 shown in [Fig.l] is a schematic diagram in which the structural elements are partitioned according to the main processing details, for ease of understanding, the structural elements may be partitioned into several structural elements according to the details of the processes. In addition, the partitioning may be such that several processes are executed by a single structural element.

[0121] Furthermore, in [Fig.l], the parking assistance system 100 may be structured in one piece with the position detection unit 10 and / or a detection system 20.

[0122] In addition, when the parking assistance method according to the present invention is carried out using a computer, it may be structured as a recording medium for a program to be executed on the computer or a transmission medium for transmitting the program. The recording medium may use a magnetic or optical recording medium, or a semiconductor memory device. More specifically, it may be a fixed recording medium or a portable recording medium such as a floppy disk, a Hard Disk Drive (HDD), a Compact Disk Read-Only Memory (CD-ROM), a DVD, a Blu-ray® disk, a magneto-optical disk, a flash memory, a card-type recording medium, or the like.Furthermore, the recording medium may instead be a non-volatile storage device, such as a ROM memory, an HDD disk or a similar device, equipped with the parking assistance system 100. .

[0123] In addition, the processing unit in the flowcharts shown in [Fig.7] and [Fig.8] is partitioned according to the main processing units to facilitate understanding of the processes of the parking assistance system 100, but the present invention is not limited by the names and the ways in which the processing units are divided. The processes of the parking assistance system 100 may be divided into several processing units depending on the details of the process. Furthermore, the processes of the parking assistance system 100 may instead be divided so as to include more processes in a single processing unit. Explanations of reference symbols

[0124] AI: Vehicle

[0125] IB: Another vehicle

[0126] 3: Embedded system

[0127] 5: Communication bus

[0128] 7: Structure

[0129] 10: Position detection unit

[0130] 20: Detection system

[0131] 30: Imaging Unit

[0132] 31: Front camera

[0133] 32: Rear camera

[0134] 33: Left side camera

[0135] 34: Right side camera

[0136] 40: Sonar unit

[0137] 53: Touch sensor

[0138] 70: Vehicle control unit

[0139] 80: Drive system

[0140] 81: Steering system

[0141] 83: Power supply system

[0142] 85: Braking system

[0143] 87: Transmission system

[0144] 100: Parking assistance system

[0145] 110:1 / F input / output

[0146] 120: Memory

[0147] 130: Processor

[0148] 131: Position acquisition unit

[0149] 132: State acquisition unit

[0150] 133: Environment map generation unit

[0151] 134: Parking position determination unit

[0152] 135: Route generation unit

[0153] 136: Control information generation unit

[0154] P: Parking position

[0155] RI: Travel route

[0156] R1A, R2A: Forward Turning Routes

[0157] R1B, R2B: Backward Turning Routes

[0158] R2: Second parking route

[0159] SI: Starting position

[0160] S2: Intermediate position

[0161] S3: Generation position

[0162] S 3: Step

[0163] S4: Intermediate position

Claims

Claims

1. Parking assistance system (100), comprising: an input / output interface (110) connected to on-board sensors that are mounted at a plurality of positions, including a rear end of a vehicle; a parking position determination unit (134) for determining a parking space for parking the vehicle on the basis of inputted environment information when environment information, indicating the state of the vehicle's surroundings, is input from the on-board sensors, via the input / output interface (110); a route generation unit (135) for determining a generation position, which is a position for generating a parking route for the vehicle to park in the parking space that has been determined and is a position other than a position at which the operation for starting the parking assist has been received, and generating a travel route for the vehicle to travel to the generation position; and a control information generation unit (136) for generating control information for controlling a drive system (80) to cause the vehicle to travel along the travel route, and for outputting the generated control information via the input / output interface (110) to a control device for controlling the operation of the drive system (80), wherein: the route generation unit (135): determines the generation position so as to position at least a portion of the rear end of the vehicle in the parking space; and generates, at the generation position, after the vehicle has arrived at the generation position, a parking route for the vehicle to park in the parking space.

2. The parking assistance system according to claim 1, wherein: in the route generation unit (135), a backward turning route is included in the travel route that is generated; and the route generation unit (135): determines, if it generates a right-hand travel trajectory in reverse as a backward turning trajectory, the generation position so that the distance from an obstacle that is positioned on the right side of the vehicle, when the vehicle has reversed and parked in the parking space, is a distance that is within a range that is set in advance, and generates the travel trajectory for the vehicle to travel to the generation position that has been determined;and determines, if it generates a left-hand reversing travel path as a backward turning path, the generation position so that the distance from an obstacle that is positioned on the left side of the vehicle, when the vehicle has reversed and parked in the parking space, is a distance that is within a range that is set in advance, and generates the travel path for the vehicle to travel to the generation position that has been determined.;

3. A parking assistance system according to claim 2, wherein: when the vehicle is positioned in the generation position, the trajectory generation part calculates an angle that will be formed between the length direction of the vehicle and the length direction of the parking space, and modifies the steering trajectory backward so as to reduce the calculated angle.

4. A parking assistance method, comprising: a determining step in which, upon inputting, from on-board sensors which are mounted at a plurality of positions, including the rear end of a vehicle, environment information which indicates the state of the environment of the vehicle, a parking space for parking the vehicle is determined, on the basis of the inputted environment information; a route generating step for determining a generating position, which is a position for generating a parking route for the vehicle to park at the parking space which has been determined and which is a position other than a position at which the operation for starting the parking assistance has been received, and generating a travel route for the vehicle to travel to the generating position;and an output step for generating control information for controlling a drive system to cause the vehicle to; move along the travel route, and to output the generated control information to a controller for controlling the actuation of the drive system, wherein: the route generation step determines the generation position so as to position at least a portion of the rear end of the vehicle in the parking space; and generates, at the generation position, after the vehicle has arrived at the generation position, a parking route for the vehicle to park in the parking space.

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