Parking assistance system and parking assistance method

Abstract

Parking Assistance System and Method A parking assistance system (100) comprises: a reversing position determination unit (136), which modifies the starting point of a reversing path (R1B) to the stopping point where the vehicle (1A) has stopped moving and, if the vehicle (1A) has traveled the reversing path (R1B) where the starting point was changed to the stopping position, identifies a reversing position where the vehicle (1A) can reverse; a control information generation unit (137), which generates control information to move the vehicle (1A) from the stopping position to the reversing position; and a route generation unit (135), which generates a second parking path to move the vehicle (1A) to the parking position. Figure for abstract: 1

Description

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

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

[0002] There are known technologies for stopping the movement of a vehicle halfway through a parking route, to recalculate the parking route, when it is known that an obstacle exists on the parking route.

[0003] For example, Document JP 2018-17909 discloses a parking assistance system in which, if an obstacle exists on a parking route, a parking route to a parking space from a stopped position of a vehicle is calculated and redefined as a new parking route. Summary of the Invention Problem solved by the present invention

[0004] However, there have been cases where, depending on the stopping position when the movement of a vehicle has stopped halfway on a parking route, it has not been possible to generate a parking route.

[0005] In view of the above-described situation, the object of the present invention is to provide a parking assistance system and a parking assistance method which improve the convenience for the user by improving the generating rate of parking routes. Solution to the problem

[0006] In order to achieve the object stated above, the parking assistance system according to the present invention comprises:

[0007] an input / output interface, connected to an external system, making it possible to acquire information from outside the system and to transmit information to the external system;

[0008] a state acquisition unit, making it possible to acquire, via the input / output interface, a state of the environment of the vehicle and location information for the vehicle;

[0009] a parking position determination unit, making it possible to determine a parking position for parking the vehicle according to the state of the environment acquired for the vehicle;

[0010] a route generating unit, making it possible to generate a first sta route operation, comprising a forward route and a reverse route, for the vehicle to move to the parking position determined by the parking position determination unit;

[0011] a control information generating unit, for generating control information for the vehicle to travel along the first parking route and for transmitting the generated control information to the input / output interface; and

[0012] a reversing position determination unit, for changing the starting point of the reversing route to the stopping position where the movement of the vehicle stops upon input of a notification indicating the stopping of the movement of the vehicle on the forward route through the entry / exit interface, and determining a reversing position where the vehicle can reverse if the vehicle has moved along the reversing route where the starting point of the reversing route has become the stopping position:

[0013] the control information generating unit generating control information for moving the vehicle from the vehicle stop position to the reverse position; and

[0014] when the vehicle has switched to the reversing route, the route generating unit produces a second parking route, along which the vehicle is to move to the parking position, according to the state of the environment acquired by the state acquiring unit. Effects of the invention

[0015] The present invention enables improvement of user convenience by improving the parking route generating rate, so as to improve user convenience. Brief descriptions of the drawings

[0016] [Fig-1] [Fig.l] is a block diagram showing a structure of a system embarked.

[0017] [Fig.2] [Fig.2] is a diagram showing an example of a first route of de investment.

[0018] [Fig.3] [Fig.3] is a diagram showing a route not used as a second parking route.

[0019] [Fig.4] [Fig.4] is a diagram showing a state where the starting point for the reversing route has become the vehicle's stopping position.

[0020] [Fig.5] [Fig.5] is a diagram showing a state where a vehicle moving up to a segmentation point almost hit an obstacle.

[0021] [Fig.6] [Fig.6] is a diagram showing a state where a vehicle moves to a determined stopping position.

[0022] [Fig.7] [Fig.7] is a diagram showing the range of a vehicle when the vehicle is positioned at a segmentation point.

[0023] [Fig.8] [Fig.8] is a flowchart showing the operation of the parking assistance system. Embodiments of the present invention

[0024] One embodiment will be explained below with reference to the accompanying drawings.

[0025] [Fig.l] is a block diagram showing a structure of an on-board system 3. In the following, a vehicle where the on-board system 3 is mounted will be called “the vehicle IA”.

[0026] 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 driving system 80 and a parking assistance system 100.

[0027] The position detection unit 10 detects the position of the AI ​​vehicle. The position detection unit 10 includes a GNSS (Global Navigation Satellite System) receiver and a processor (neither of which is shown). The GNSS receiver receives signals transmitted from satellites. The processor calculates latitude and longitude, which are location information for the AI ​​vehicle, according to the signals received by the GNSS receiver and calculates the bearing of the AI ​​vehicle according to the calculated differences between the location information. The position detection unit 10 transmits the location information and orientation information calculated for the AI ​​vehicle to the parking assistance system 100.

[0028] The detection system 20 comprises a plurality of sensors. The detection system 20 according to the present embodiment comprises, as sensors, an imaging unit 30 comprising a plurality of cameras and sonar units 40.

[0029] While according to the present embodiment, a case where the detection system 20 comprises cameras and a sonar, the sensor of the detection system 20 is not limited to the cameras and the sonar. For example, a radar or a LiDAR (Laser Imaging Detection and Ranging), capable of measuring the distance of objects by using radio signals, light or a similar wave, may be provided in the detection system 20. The detection system 20 transmits 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 indicating the state of the environment.

[0030] The imaging unit 30 comprises a front camera 31 for forward imaging of the vehicle IA, a rear camera 32 for reverse imaging of the vehicle IA, a left side camera 33 for imaging toward the left side of the vehicle IA and a right side camera 34 for imaging toward the right side of the vehicle IA. 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, as well as data processing circuits for generating images from the light-receiving 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, through 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 transmit the generated captured images to the parking assistance system 100.

[0031] The sonar units 40 are mounted at a plurality of locations on the AI ​​vehicle, such as forward, backward, left side, right side, etc., and use ultrasound to detect objects in the environment of the AI ​​vehicle. Specifically, the sonar unit 40 detects the location of an object and the distance of the object.

[0032] The display unit 50 comprises a display panel 51 and a touch sensor 53. For example, a liquid crystal display or an organic electroluminescent display is used in the display panel 51. The touch sensor 53 uses a sensor of a commonly known method, such as a resistance film method, an electrostatic capacitance method, or the like. The touch sensor 53 detects a touch operation performed on the display 51, to generate a position signal indicating the location of the detected touch operation. The touch sensor 53 transmits to the parking assistance system 100 an operation information signal including the generated position signal.

[0033] The vehicle control unit 70 is a computer device such as, for example, an ECU (Electronic Control Unit) and is a control unit of the driving system 80 mounted in the vehicle IA. The driving 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 steering system 81, the power system 83, the braking system 85 and the transmission system 87, as well as to the parking assistance system 100 through a communication bus 5 meeting a standard such as Ethemet®, CAN (Controller Area Network), LIN (Local Interconnect Network) or a similar standard. The vehicle control unit 70 controls the steering system 81, the system power supply 83, the braking system 85 and the transmission system 87 according to the control information input by the parking assistance system 100.

[0034] The steering system 81 comprises an actuator for steering the steering wheel of the vehicle IA.

[0035] The power system 83 comprises an actuator for adjusting the driving force on the driving 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.

[0036] The braking system 85 controls the braking system provided in the vehicle IA according to the information from the parking assistance system 100 and comprises actuators for controlling the braking forces applied to the wheels of the vehicle IA.

[0037] The transmission system 87 comprises a transmission and an actuator. The transmission system 87 controls, by the actuator, the driving of the gearshift position of the transmission, to change the reduction ratio of the transmission and to switch the vehicle IA between forward and reverse.

[0038] When the movement of the vehicle IA stops halfway on a parking route, the vehicle control unit 70 transmits a stop notification to the parking assistance system 100.

[0039] If the movement of the vehicle IA stops under the action of the driver, the vehicle control unit 70 stops the movement of the vehicle IA. In addition, the vehicle control unit 70, through sensor data and / or captured images input by the detection system 20, assesses whether or not an obstacle exists on the movement route of the vehicle IA. If there is an obstacle on the movement route of the vehicle IA, the vehicle control unit 70 controls, by the braking system 85, the stopping of the movement of the vehicle IA.

[0040] In addition, when the control of the driving system 80 according to the control information inputted by the parking assistance system 100 is completed, the vehicle control unit 70 transmits a completion notification to the parking assistance system 100.

[0041] 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, with these devices, a storage device such as an HDD (Hard Disk Drive), an SSD (Solid-State Drive) or a similar storage medium. The word "interface" will hereinafter be abbreviated as "I / F".

[0042] The input / output I / F 110 is connected to the communication bus 5 to acquire information from external systems and to transmit information to external systems by communication, as well as to exchange data 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.

[0043] The memory 120 is structured from a ROM (Read-Only Memory), a RAM (Random Access Memory), or a similar memory. Furthermore, the memory 120 may be structured from 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 to be processed when the processor 130 executes the computer program, and / or data resulting from processing. In addition, the memory 120 stores images captured by the imaging unit 30, sensor data transmitted by the sonar units 40, and similar data.

[0044] The processor 130 is structured from a CPU (Central Processing Unit), an MPU (Microprocessor Unit) or a similar unit.

[0045] The parking assistance system 100 comprises, as functional structures, a position acquisition unit 131, a state acquisition unit 132, an environment map generating unit 133, a parking position determining unit 134, a route generating unit 135, a reversing position determining unit 136 and a control information generating unit 137. These functional structures are functions realized by performing execution calculations, by the processor 130, of a computer program.

[0046] The location information and the orientation information of 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 location information and / or the orientation information input by the position detection unit 10. The position acquisition unit 131 transmits the corrected location information and the orientation information to the environment map generating unit 133 and the route generating unit 135.

[0047] The state acquisition unit 132 causes the acquisition, by performing the imaging and by the imaging unit 30, of the captured images generated by the imaging unit 30 as environment information through the input / output I / F 110. The state acquisition unit 132 temporarily stores, in the memory 120, the captured images acquired by the imaging unit 30.

[0048] In addition, the state acquisition unit 132 causes the sonar units 40 performing the detection to acquire the sensor data resulting from detection by the sonar units 40, in the form of environment information, through the I / F input / output 110. The state acquisition unit 132 temporarily stores, in the memory 120, the sensor data acquired by the sonar units 40.

[0049] The environment map generating unit 133 generates an environment map showing the state of the environment of the AI ​​vehicle, based on the location information and orientation information input from the position acquisition unit 131, as well as the captured images and sensor data stored in the memory 120. The environment map records, for example, the positions of objects located around the AI ​​vehicle, the distances of these objects, the positions of parking spaces, such as white lines or similar marks, painted on the surface of the parking lot, etc. Other AI vehicles, parked at parking spaces, structures, such as columns of the parking lot and similar facilities, for example, are among the objects recorded in the environment map.As parking space lines are painted on the road surface in prescribed widths, areas corresponding to the widths of the white lines are detected as periodic distinctive features.

[0050] The parking position determination unit 134 references the environment map generated by the environment map generating unit 133 to determine a parking space W as a parking position P for parking the vehicle IA. For example, the parking position determination unit 134 selects a parking space not exceeding a predetermined distance, while a distance set in advance by the vehicle IA is detected from the parking spaces registered in the obstacle-free environment map. The parking position determination unit 134 determines a parking position P by setting a location and an angle for parking the vehicle IA in the selected parking space.

[0051] [Fig.2] is a diagram showing an example of a first sta route RL operation

[0052] The route generating unit 135 executes the production, by a route generating process, of a first parking route RI, by which the vehicle IA is to park in the parking position P. Publicly known means are used in the route generating process. The first parking route RI generated by the route generating unit 135 is a route aiming at the parking position P and determined by the parking position determining unit 134 and, as illustrated in [Fig. 2], comprises an advance route R1A, an intermediate position S2 and a reverse route R1B.

[0053] The forward travel route R1A is a route by which the vehicle IA advances and includes a straight forward travel route and / or a turning forward travel route. The straight forward travel route is a route where the AI ​​vehicle moves straight forward. The forward turn travel route is a route where the AI ​​vehicle moves forward while turning.

[0054] The reversing route R1B is a route by which the AI ​​vehicle travels while reversing and includes a straight backward travel route and / or a turn backward route. The straight backward travel route is a route where the AI ​​vehicle travels straight backward. The turn backward travel route is a route where the AI ​​vehicle travels backward while turning.

[0055] The intermediate position S2 is a position where the direction of travel of the vehicle IA changes from forward to backward, the travel of the vehicle IA being briefly stopped, a gearshift operation is performed and the direction of travel of the vehicle IA changes from forward to backward.

[0056] Furthermore, the position SI shown in [Fig.2] is the position where the parking assistance system 100 produces the first parking route RI and starts automatic operation along the first parking route RL. In the following, the position SI will be referred to as the “starting position SI”.

[0057] The reversing position determination unit 136 determines a reversing position. The reversing position is a position where the route generation unit 135 executes a route generation process and a second parking route R2 is generated.

[0058] The second parking route R2 is a new parking route generated when information that the vehicle IA has stopped moving halfway on the first parking route RI is acquired through the input / output I / F 110.

[0059] The recoil position determination unit 136 determines a recoil position when the conditions A to C below are satisfied:

[0060] Condition A: While traveling the vehicle IA along the first parking route RI, the vehicle IA stopped halfway on the first parking route RI by an operation of the driver or by detection of an obstacle through a detection result of the detection system 20.

[0061] Condition B: the stopping position S3 (with reference to [Fig.4]) where the vehicle IA has stopped is either on the forward route R1A or on the intermediate position S2.

[0062] Condition C: In stop position S3, a search took place for a new parking route (the second parking route R2) but the search for the second parking route R2 failed.

[0063] Depending on the stop position S3, when the vehicle IA has stopped halfway through the advance route R1A, it may not be possible to generate a second route R2 parking.

[0064] First, if the vehicle IA has stopped halfway through the advance route R1A, it is not possible to generate, as a second parking route R2, a route where the vehicle IA advances. Either the driver has determined the presence of an obstacle in front of the vehicle IA, or the detection system 20 has assessed the presence of an obstacle in front of the vehicle IA.

[0065] [Fig.3] is a diagram showing a route not used as a second parking route.

[0066] Suppose that another vehicle IB is parked in a parking space adjacent to the parking position P and there is an occupant in the other vehicle IB. [Fig. 3] shows a case where the other vehicle IB is parked on the right side, from the perspective of the drawing, of the parking position P. In this case, where generating a route where the rear of the vehicle IA approaches the front of the other vehicle IB, as shown in [Fig. 3], this may cause the passenger of the other vehicle IB to worry that the vehicle IA might not detect the other vehicle IB and that the vehicle IA might collide with the other vehicle IB.

[0067] It will therefore not be possible to generate a second parking route R2 by which the rear of the vehicle IA would approach the front of the other vehicle IB.

[0068] Furthermore, the advance route R1A, as shown in [Fig. 2], is a route case where the vehicle IA turns while advancing (a case where the stop position S3 is farther than the start position S1 from the parking position P). In this case, the sonar data of the sonar unit 40 that is detected at the stop position S3 may have lower detection accuracy than the sonar data that was detected at the start position S1. This is because the detection accuracy of the parking position P with respect to obstacles in its vicinity is better when the distance between the sonar 40 and the target parking position P is short. If the vehicle IA is farther than the start position S1, the reduced detection accuracy of the sonar unit 40 may prevent the generation of a parking route.

[0069] In the reversing position determining unit 136, when the above conditions A to C are satisfied, the route generating unit 135 executes a route generation process to determine the reversing position.

[0070] The reversing position determination unit 136 determines the reversing position by using the reversing route R1B included in the first parking route RL. Using the reversing route R1B to determine the reversing position reduces the overhead of calculating the new route, thereby reducing the time required to complete parking.

[0071] In addition, the detection accuracy by the sonar unit 40 can be improved using of the reversing route R1B to bring the AI ​​vehicle closer to the parking position P. In particular, the obstacle detection accuracy by the sensor data of the sonar unit 40 is higher at the rear of the AI ​​vehicle than at the side of the AI ​​vehicle. This is a design fact, from the point of view of safety at the rear of the AI ​​vehicle. The obstacle detection accuracy can thus be improved by using the reversing route R1B to move the AI ​​vehicle, so that the rear part of the AI ​​vehicle faces the parking position P.

[0072] First, the reversing position determination unit 136 sets the reversing route R1B in an environment map. The reversing position determination unit 136 moves the starting point of the reversing route R1B from the intermediate position S2 to the stopping position S3.

[0073] The one generated at the starting position S1 can be used for the environment map or the environment map can be generated by re-acquiring environment information at the stopping position S3.

[0074] [Fig.4] is a diagram showing a plurality of segmentation points Q established on the reverse route R1B.

[0075] When the stop position S3 is set as the starting point and the reversing route R1B is set in the environment map, the reversing position determination unit 136 sets a plurality of segmentation points Q on the reversing route R1B. For example, the reversing position determination unit 136 sets segmentation points Q at a set spacing set in advance on the reversing route R1B. In addition, if the reversing route R1B includes a straight travel route and a turn route, the reversing position determination unit 136 sets, on the straight travel route, segmentation points Q at a set spacing for the straight travel routes and sets, on the turn route, the segmentation points Q at a set spacing for the turn routes. [Fig.4] shows the state where seven segmentation points, Ql, Q2, Q3, Q4, Q5, Q6 and Q7, have been established on the reverse route R1B. .

[0076] When the segmentation points Q have been set, the reversing position determination unit 136 sequentially selects the segmentation points Q for processing, starting closest to the stop position S3, i.e., the current position of the vehicle IA, to assess whether or not the distance between the vehicle IA and an obstacle located near it would be less than or equal to the setting distance, set in advance, if the vehicle IA were to move to the selected segmentation point Q. Thus, the reversing position determination unit 136 assesses whether or not the distance between the vehicle IA, after moving, would be less than or equal to the setting distance if the position of the vehicle IA on the environment map were to move to the position of the selected point of Q segmentation. This adjustment distance can be 0 cm, i.e. the distance where the AI ​​vehicle risks coming into contact or colliding with the obstacle.

[0077] When evaluating, at one of the defined segmentation points Q1, Q2, Q3, Q4, Q5, Q6 and Q7, that the obstacle distance does not exceed the setting distance, the setback position determining unit 136 defines the setback position at the segmentation point Q, i.e., a position preceding the segmentation point Q where it has been evaluated that the distance must be less than or equal to the setting distance. The "segmentation point Q, i.e., a preceding position" is the segmentation point Q adjacent to the segmentation point Q for which the process is executed, i.e., the segmentation point Q closer to the stop position S3 than the segmentation point Q where the process is executed.

[0078] Furthermore, when judging that the distance to the obstacle at none of the plurality of segmentation set points Q1, Q2, Q3, Q4, Q5, Q6 and Q7 would be greater than or equal to the set distance, the reversing position determination unit 136 sets the reversing route end position R1B (the position of Q7) as the reversing position.

[0079] [Fig.5] is a diagram showing a state where the AI ​​vehicle moving to a segmentation point Q3 almost hit an obstacle.

[0080] In addition, [Fig.6] shows the state where the backing position is set to the segmentation point Q2, i.e., the segmentation point Q which precedes the segmentation point Q3 where the obstacle distance must be less than or equal to the setting distance.

[0081] After determining the reversing position, the reversing position determining unit 136 generates a travel route for the vehicle IA to travel from the stop position S3 to the segmentation point Q2, i.e., the reversing position, and transmits information on the generated travel route to the control information generating unit 137. At least a part of the reversing route R1B is used in this travel route.

[0082] In the present description, the travel route of the vehicle IA to the parking position P will be called a "parking route" and a travel route of the vehicle IA to a position other than the position P will be called a "travel route".

[0083] Information about the parking route, the traveling route, or the like is input into the control information generating unit 137. Information about the first parking route RI described above and information about the second parking route R2 described below are part of the parking route information.

[0084] The control information generating unit 137 generates control information to be executed by the vehicle control unit 70, according to the information inputs regarding the first parking route RI or according to the information regarding the travel route. After inputting the information regarding the first parking route RI from the route generating unit 135, the control information generating unit 137 generates control information for the vehicle IA to travel according to the first parking route and transmits the generated control information to the input / output I / F 110. The control information is information for controlling the vehicle control unit 70, the steering system 81, the power system 83, the braking system 85 and the transmission system 87.In addition, upon inputting the information regarding the travel route from the reversing position determination unit 136, the control information generating unit 137 generates control information for the vehicle IA to travel according to the travel route and transmits the generated control information to the input / output I / F 110. The control information generating unit 137 transmits the generated control information to the vehicle control unit 70 through the input / output I / F 110.

[0085] The vehicle IA moves from the stop position S3 to the reverse position via the vehicle control unit 70 controlling the driving system 80 by the control information corresponding to the travel route.

[0086] Upon completion of the control of the driving system 80 according to the control information, the vehicle control unit 70 transmits a completion notification for the control to the parking assistance system 100.

[0087] After inputting a completion notification from the vehicle control unit 70, the route generating unit 135 judges whether or not the AI ​​vehicle has arrived at the reversing position, according to the location information and according to the orientation information input from the position detecting unit 10.

[0088] When judging the arrival of the vehicle IA in the reversing position, the route generating unit 135 executes a route generating process to generate a second parking route R2 according to the environment map newly generated by the environment map generating unit 133.

[0089] If the route generating unit 135 can generate the second parking route R2 by the route generation process, it transmits the information generated for the second parking route R2 to the control information generating unit 137. If the route generating unit 135 cannot generate the second parking route R2 despite executing the route generation process, a parking route generation failure indication is displayed on the display unit 50.

[0090] Figures 7 and 8 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 Figures 7 and 8.

[0091] First, the parking assist system 100 judges whether or not a parking assist start operation has been received by a touch operation on the display unit 50 (step S1). If no parking assist start operation has been received (step S1 / NO), the parking assist system 100 delays the start of the next process until the start operation has been received.

[0092] If a parking assist start operation is received by a touch operation on the display unit 50 (step S1 / YES), the parking assist system 100 acquires, from the detection system 20, environment information, i.e., information on the environment of the vehicle IA (step S2). Step S2 corresponds to T “acquisition step”. Based on the acquisition of the environment information, the parking assist system 100 detects a parking W where the vehicle IA can park (step S3).

[0093] The parking assistance system 100 defines the angle and position when the vehicle IA is to park in the parking space, to determine the parking position P for parking the vehicle IA (step S4). Step S4 corresponds to the "determination step". The parking assistance system 100 generates a first parking route RI for the vehicle IA to move from the starting position SI, where the vehicle IA is positioned, to the parking position P that has been determined (step S5). Step S5 corresponds to the "route generation step".

[0094] Then, the parking assistance system 100 generates control information corresponding to the generated first parking route RI and transmits the generated control information to the vehicle control unit 70 (step S6). Step S6 corresponds to the “control information generating step” and the “exit step”.

[0095] The parking assistance system 100 then judges whether or not a stop notification, providing a notification of stopping the movement of the vehicle IA halfway on the first parking route RI, has been input from the vehicle control unit 70 (step S7). If there is no stop notification (step S7 / NO), the parking assistance system 100 judges whether or not parking at the parking position P is completed (step S8). The parking assistance system 100 judges whether or not parking at the parking position P is completed on the basis of the completion notification input from the vehicle control unit 70 at the end of parking at the parking position P and on the location and orientation information input from the position acquisition unit 131. If a completion notification has been input from the vehicle control unit 70 and the location information input from the position acquisition unit 131 is the parking position P, the parking assistance system 100 judges that parking has ended.

[0096] If parking in parking position P is completed (step S8 / YES), the parking assistance system 100 completes this process flow.

[0097] Conversely, if parking in the parking position P is not completed (step S8 / NO), the parking assistance system 100 returns to the evaluation of step S7 and evaluates whether or not a stop notification has been input from the vehicle control unit 70 (step S7).

[0098] When a stop notification is input from the vehicle control unit 70 (step S7 / YES), the parking assistance system 100 judges whether or not the vehicle IA has passed through the intermediate position S2 (step S9). If the vehicle IA has passed through the intermediate position S2 before stopping (step S9 / YES), the parking assistance system 100 executes a route generation process for generating the second parking route R2 (step S16) and judges whether or not the second parking route R2 can be generated (step S17).

[0099] If it is impossible to generate the second parking route R2 (step S17 / NO), the parking assistance system 100 displays, at the display unit 50, the impossibility of generating the second parking route R2. After generating the second parking route R2 (step S17 / YES), the parking assistance system 100 further generates control information corresponding to the generated second parking route R2 and transmits the generated control information to the vehicle control unit 70 (step S18). The parking assistance system 100 then proceeds to the evaluation in step S7.

[0100] When assessing whether the vehicle IA has not crossed the intermediate position S2 (step S9 / NO), the parking assistance system 100 executes a route generation process for generating the second parking route R2 (step S10) and assesses whether or not the second parking route R2 can be generated (step S11).

[0101] After generating the second parking route R2 (step S1 / YES), the parking assistance system 100 generates control information corresponding to the generated second parking route R2 and transmits the generated control information to the vehicle control unit 70 (step S18). The parking assistance system 100 then proceeds to evaluation in step S7.

[0102] Conversely, if it is impossible to produce the second parking route R2 (step S11 / NO), the parking assistance system 100 executes the process of determining recoil positions (step S12). The details of step S12 will be explained with reference to the flowchart in [Fig.8]. Step S12 corresponds to the “identification step”.

[0103] When determining the reversing position by the reversing position determination process, the parking assistance system 100 generates a travel route that the vehicle IA is to travel to the determined reversing position (step S13). At least a portion of the reversing route R1B is used in this travel route. The parking assistance system 100 generates control information corresponding to the generated travel route and transmits the generated control information to the vehicle control unit 70 (step S14). Step S14 corresponds to the “control information generating step”.

[0104] The parking assistance system 100 then judges whether or not the movement of the vehicle IA to the determined reversing position is completed (step S15). If a journey completion notification is input from the vehicle control unit 70 and the position indicated by the location information input from the position acquisition unit 131 is the reversing position, the parking assistance system 100 judges that the movement to the reversing position is completed. If the movement of the vehicle IA to the reversing position is not completed (step S15 / NO), the parking assistance system 100 does not proceed to the next step in the absence of a judgement that the movement of the vehicle IA is completed.

[0105] At the end of the movement to the reverse position (step S15 / YES), the system The parking assistance system 100 reacquires the surrounding information at the reached reversing position and executes a route generation process to generate the second parking route R2 according to the surrounding information that has been acquired (step S16). Step S16 corresponds to the "route generation step". In addition, the parking assistance system 100 judges whether or not a second parking route R2 has been generated (step S17). If it is not possible to generate the second parking route R2 (step S17 / NO), the parking assistance system 100 displays, on the display unit 50, the impossibility of generating the second parking route R2 (step S19).After generating the second parking route R2 (step S17 / YES), the parking assistance system 100 further generates control information corresponding to the generated second parking route R2 and transmits the generated control information to the vehicle control unit 70 (step S18). The parking assistance system 100 then proceeds to evaluation in step S7.

[0106] [Fig.8] is a flowchart showing the details of step S12.

[0107] The parking assistance system 100 begins by setting the reversing route R1B on the environment map (step S121). In this case, the parking assistance system 100 changes the starting point of the reversing route R1B from the intermediate position S2 to the stopping position S3.

[0108] The parking assistance system 100 then defines a plurality of segmentation points Q on the reversing route R1B defined on the environment map (step S122).

[0109] The parking assistance system 100 then selects, for processing, one of the defined segmentation points Q (step S123). The parking assistance system 100 sequentially selects, for processing, the segmentation points Q, starting with the one closest to the stop positions S3.

[0110] After selecting a segmentation point Q, the parking assistance system 100 judges whether or not the distance between the vehicle IA and an obstacle is likely to be greater than or equal to the setting distance, set in advance, if the vehicle IA is to go to the selected segmentation point Q (step S124).

[0111] If the distance between the vehicle IA and an obstacle is unlikely to exceed the setting distance (step S124 / NO), the parking assistance system 100 judges whether or not the selection of all the segmentation points Q set on the reversing route R1B as being processed is completed (step S126). If the judgement indicates that all the segmentation points Q have been selected as being processed (step S126 / YES), the parking assistance system 100 determines that the reversing position is the position of the end of the reversing route R1B set on the environment map (step S127).

[0112] Conversely, if not all of the segmentation points Q have been selected as being processed (step S126 / NO), the parking assistance system 100 selects the next segmentation point Q to be selected for processing (step S123). The parking assistance system 100 selects the segmentation point Q for which the distance from the stop positions S3 is adjacent to the already selected segmentation point Q, i.e., the segmentation point Q for which the distance from the stop position S3 is immediately further than the already selected segmentation point Q. After selecting a segmentation point Q, the parking assistance system 100 judges whether or not the distance between the vehicle IA and an obstacle is likely to be greater than or equal to the setting distance, set in advance, if the vehicle IA is to go to the selected segmentation point Q (step S124).

[0113] In addition, if the evaluation indicates that the distance between the segmentation point Q subject to processing and an obstacle is not likely to exceed the setting distance (step S124 / YES), the parking assistance system 100 establishes, as the position of back, the segmentation point Q adjacent to the segmentation point Q subjected to this process, i.e. a segmentation point Q closer to the stop positions S3 than the segmentation point Q subjected to the process (step S125).

[0114] As explained above, the parking assistance system 100 according to the present embodiment comprises an input / output LF 110, a state acquisition unit 132, a parking position determination unit 134, a route generation unit 135, a control information generation unit 137 and a reversing position determination unit 136.

[0115] The input / output I / F 110 is connected to the position detection unit 10, the detection system 20 and the vehicle control unit 70, which are external devices. The input / output I / F 110 acquires information from these external systems and transmits this information to the external systems.

[0116] The state acquisition unit 132 acquires, through the input / output I / F 110, the state of the environment of the AI ​​vehicle and location information about the AI ​​vehicle.

[0117] The parking position determination unit 134 determines the parking position P for parking the vehicle IA, according to the acquired state of the environment of the vehicle IA.

[0118] The route generating unit 135 generates the first parking route RI, which includes the forward route R1A and the reverse route R1B, for the vehicle IA to move to the parking position P determined by the parking position determining unit 134.

[0119] The control information generating unit 137 generates control information for the vehicle IA to travel according to the first parking route RI and transmits the generated control information to the input / output I / F 110.

[0120] Upon input of a notification, through the input / output I / F 110, indicating that the movement of the vehicle IA has stopped on the advance route R1A, the reversing position determination unit 136 changes the starting point of the reversing route R1B to the stop position S3 where the movement of the vehicle IA has stopped and if the vehicle IA has followed the reversing route R1B where the starting point has been changed to the stop position S3, the vehicle IA determines a reversing position where reversing becomes possible.

[0121] The control information generating unit 137 generates control information for causing the vehicle IA to move from the stop position S3 to the reverse position.

[0122] When the vehicle IA moves to the reversing route R1B, the route generating unit 135 executes, according to the state of the environment acquired by the unit state acquisition 132, the production of the second parking route R2 which the vehicle IA must follow to the parking position P.

[0123] Thus, if the second parking route R2 cannot be generated at the stop position S3, the vehicle IA moves to the reversing point and executes the generation of the second parking route R2, which improves the generation rate of the second parking route R2.

[0124] In addition, the time required for the movement of the vehicle IA can be shortened, by not performing calculation processes such as route calculation, by using, on the route to be followed by the vehicle IA, at least a part of the reversing route R1B generated by the first parking route RI.

[0125] The reversing position determination unit 136 establishes a plurality of segmentation points Q, at prescribed spacing, in the reversing route R1B which has been changed to the stop position S3 and assesses whether or not the vehicle IA is likely to collide with an obstacle if the vehicle IA is to travel to a set segmentation point Q.

[0126] If the retreat position determination unit 136 detects a segmentation point Q judged to collide with an obstacle, the retreat position determination unit 136 specifies, as the retreat position, the segmentation point Q adjacent to the detected segmentation point Q and in a position closer to the stop position S3 than the detected segmentation point Q.

[0127] The maximum proximity to the parking position P can increase the detection accuracy among the sensor data of the sonar unit 40 acquired by the state acquisition part 132 as the state of the environment of the vehicle IA.

[0128] It is therefore possible to increase the generating rate of the second parking route R2 by detecting the parking position and the environment information with high precision, by making the rear of the vehicle IA close to the parking position P, without the vehicle IA coming into contact with the obstacle.

[0129] In addition, in the sonar unit 40, the sonar facing the rear of the vehicle IA has a higher detection accuracy than the sonars facing the sides of the vehicle IA. It is therefore possible to further improve the detection accuracy of the parking position and the surrounding information thereof by making the rear of the vehicle IA close to the parking position P.

[0130] In the absence of detection of segmentation point Q evaluated as colliding with an obstacle, the reversing position determination unit 136 determines the final position of the reversing route R1B as the reversing position.

[0131] The generating rate of the second parking route R2 can be increased by detecting the parking position and the surrounding information with high accuracy by making the rear of the vehicle IA close to the parking position P, without the vehicle IA coming into contact with the obstacle.

[0132] The route generating unit 135 executes the generation of the second parking route R2 in the stop position S3.

[0133] The reversing position determination unit 136 starts determining the reversing position upon input of a notification of impossibility of producing, for the route generating unit 135, the second parking route R2 in the stop position S3.

[0134] This makes it possible to determine the reversing position where the vehicle IA must reverse if it is impossible to produce these second parking paths R2 in the stopping position S3.

[0135] The embodiment set forth above is nothing more than an illustration of one form of the present invention, and the present invention may be suitably modified and applied within a scope not departing from its spirit and object.

[0136] According to the embodiment set forth above for example, when it proved impossible to produce the second parking route R2 at the stop position S3, the reversing position determination unit 136 determined a stop position S3 and the vehicle IA moved to the determined stop position S3.

[0137] In the parking assistance system 100, if the vehicle IA has stopped halfway on the advance route R1A, instead of executing the generation of the second parking route R2 at the stop position S3, a stop position S3 can be determined and the second parking route R2 can be generated after determining the course of the vehicle IA to the stop position S3.

[0138] Since the rear of the vehicle IA must be closer to the parking position P when in the reverse position than in the stop position S3, this allows the sonar unit 40 to obtain relatively accurate data regarding obstacles. This is to enable an improvement in the second parking route generating rate R2 and to enable an improvement in the parking accuracy when parking in the parking position P.

[0139] Furthermore, while the block diagram showing a structure for the parking assistance system 100 appearing in [Fig.l] is a schematic diagram where the structure elements are partitioned according to the main processing details, for ease of understanding, the structure elements may be partitioned into several structure elements according to the details of the processes. Furthermore, the partitioning may be such that several processes are executed by a single structure element.

[0140] Furthermore, in [Fig.l], the parking assistance system 100 may be structured in one piece with the position detection unit 10 and / or with a detection system 20.

[0141] Furthermore, when the parking assistance method according to the present invention is performed 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, an HDD (Hard Disk Drive), a CD-ROM (Compact Disk Read-Only Memory), a DVD, a Blu-ray® disc, a magneto-optical disc, a flash memory, a card-type recording medium or the like. In addition, the recording medium may further be a non-volatile storage device, such as a read-only memory (ROM), an HDD or the like, equipped with the parking assistance system 100.

[0142] In addition, the processing unit in the flowcharts shown in Figures 7 and 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 in terms of names and ways of dividing the processing units. The processes of the parking assistance system 100 may be divided into several processing units according to the process details. In addition, the processes of the parking assistance system 100 may further be divided so as to include more processes in a single processing unit. Explanation of Reference Symbols

[0143] AI: Vehicle

[0144] 3: On-board System

[0145] 5: Communication Bus

[0146] 10 Position Detection Unit

[0147] 20 Detection System

[0148] 30 Imaging Unit

[0149] 31 Front Camera

[0150] 32 Rear Camera

[0151] 33 Left Side Camera

[0152] 34 Right Side Camera

[0153] 40 Sonar Unit

[0154] 50 Display Unit

[0155] 51 Display Panel

[0156] 53 Touch Sensor

[0157] 70 Vehicle Control Unit

[0158] 80 Driving System

[0159] 81 Steering System

[0160] 83: Power system

[0161] 85: Braking system

[0162] 87: Transmission system

[0163] 100: Parking assistance system

[0164] 110:1 / F input / output

[0165] 120: Memory

[0166] 130: Processor

[0167] 131: Position acquisition unit

[0168] 132: State acquisition unit

[0169] 133: Environment Map Generator Unit

[0170] 134: Parking position determination unit

[0171] 235: Route generating unit

[0172] 136: Unit for determining recoil positions

[0173] 137: Control information generating unit

[0174] P: Parking position

[0175] Q: Segmentation point

[0176] SI: Starting position

[0177] S2: Intermediate position

[0178] S3: Stop position

Claims

Claims

1. Parking assistance system (100) comprising: an input / output interface (110), connected to an external system and allowing information to be acquired from outside the system and information to be transmitted to the external system; a state acquisition unit (132), for acquiring, via the input / output interface (110), a state of the environment of the vehicle and location information for the vehicle; a parking position determining unit (134) for determining a parking position for parking the vehicle according to the acquired environmental condition for the vehicle; a route generating unit (235) for generating a first parking route, including an advance route and a reverse route, for the vehicle to move to the parking position determined by the parking position determining unit (134); a control information generating unit (137) for generating control information for the vehicle to travel along the first parking route and transmitting the generated control information to the entry / exit interface (110); and a reversing position determining unit (136) for: changing the starting point of the reversing route to a stop position where the vehicle travel stops when a notification indicating that the vehicle travel has stopped on the forward route is input through the entry / exit interface (110), setting a reversing route in which the starting point of the reversing route that has been generated as the first parking route is changed to a stop position and which is at least a part of the reverse route that has been generated as the first parking route, and to determine, on the established reversing route, a reversing position where the vehicle can reverse if the vehicle has moved onto the established reversing route; the control information generating unit (137) generating control information for moving the vehicle from the vehicle stop position to the reverse position; and when the vehicle has moved to the reversing position, the route generating unit (235) produces a second parking route along which the vehicle is to move to the parking position, according to the state of the environment acquired in the state acquisition step.

2. The parking assistance system according to claim 1, wherein: the reversing position determination unit (136) sets a plurality of segmentation points, at prescribed spacing, in the set reversing route where the starting point has been changed to the stop position and assesses whether the vehicle is likely to collide with an obstacle if the vehicle travels to the set segmentation points; and upon detecting a segmentation point assessed as resulting in a collision with an obstacle, determines, as the reversing position, the segmentation point adjacent to the detected segmentation point, closer to the stop position than the detected segmentation point.

3. The parking assistance system of claim 2, wherein: in the absence of detection of a segmentation point judged to give rise to a collision with an obstacle, the reversing position determination unit (136) determines, for the reversing position, the final position of the established reversing route in which the starting point has been changed to the stopping position.

4. A parking assistance method comprising: an acquisition step for acquiring a vehicle environment state and vehicle location information; a determination step for determining a parking position for parking the vehicle according to the acquired vehicle environment state; a route generation step for generating a first parking route, including a forward route and a reverse route, for the vehicle to move to the parking position determined by the determination step; a control information generation step for generating control information for the vehicle to move according to the first parking route; a transmission step for transmitting the generated control information; and an identification step, allowing to change the starting point of the reversing route to the stop position where the movement of the vehicle has stopped, after inputting a notification of stopping the movement of the vehicle on the forward route, to establish a reversing route in which the starting point of the reversing route that was generated as the first parking route is changed to the stop position and which is at least a part of the reverse route that was generated as the first parking route, and identifying, on the established reversing route, a reversing position where the vehicle can reverse if the vehicle has followed the established reversing route; the control information generating step generating control information for moving the vehicle from the vehicle stop position to the reversing position; and when the vehicle has moved to the reversing route, the route generating step producing a second parking route, along which the vehicle is to move to the parking position, according to the state of the environment acquired by the state acquiring step.

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