Control device and parking space determination method

Abstract

To provide a technology capable of accurately determining whether a section that is possibly a parking space existing in the periphery of own vehicle is a parking space.SOLUTION: A control device 100 includes: an image acquisition part 10 that acquires a peripheral image being an image in the periphery of own vehicle; a parking space candidate detection part 20 that detects a parking space candidate PS being a section that is possibly a parking space from the peripheral image; and a parking space determination part 30 that determines whether the parking space candidate is a parking space and a degree of possibility of the parking space candidate being a parking space, on the basis of the peripheral image and a predetermined determination condition. The determination condition includes a condition related to a shape or position of the parking space candidate detected from the peripheral image, and a condition related to an index or object existing in the periphery of the parking space candidate.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a control device and a parking space determination method. [Background technology]

[0002] Patent Document 1 discloses a vehicle control device that determines whether a vehicle is located within a parking lot based on the reliability of the vehicle being located within the parking lot. The reliability is determined based on the relative position of the vehicle and surrounding parking spaces, etc., detected based on image data of the area around the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-162881 Summary of the Invention [Problem to be solved by the invention]

[0004] When detecting parking spaces around a vehicle using images of the vehicle's surroundings, there have been cases where areas that are not parking spaces have been mistakenly detected as parking spaces. Therefore, there is a need for a technology that can accurately determine whether areas around a vehicle that may be parking spaces are parking spaces. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] According to one embodiment of the present disclosure, there is provided a control device (100). The control device 100 includes an image acquisition unit (10) that acquires a peripheral image that is an image of the surroundings of the host vehicle, a parking space candidate detection unit (20) that detects a parking space candidate (PS) that is an area with a possibility of being a parking space from the peripheral image, and a parking space determination unit (30) that determines whether the parking space candidate is the parking space and the likelihood that the parking space candidate is the parking space based on the peripheral image and predetermined determination conditions, where the determination conditions include a condition related to the shape or position of the parking space candidate detected from the peripheral image and a condition related to an indicator or object present in the vicinity of the parking space candidate.

[0007] According to this aspect, it is possible to accurately determine whether an area around the vehicle that has the potential to be a parking space is a parking space.

[0008] The present disclosure can be realized in various forms other than the above-described control device, such as a parking space determination method, a computer program, a recording medium, a vehicle, and the like. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is an explanatory diagram showing a schematic configuration of a control device. [Figure 2] FIG. 10 is a diagram showing examples of parking space candidates. [Figure 3] FIG. 10 is a diagram showing examples of parking space candidates. [Figure 4] FIG. 10 is a diagram showing examples of parking space candidates. [Figure 5] FIG. 10 is a diagram showing examples of parking space candidates. [Figure 6] 10 is a flowchart of an acceleration suppression process. [Figure 7] 10 is a flowchart of a parking space candidate determination process. [Figure 8] 10 is a flowchart of an acceleration suppression process. [Figure 9] FIG. 10 is a diagram illustrating condition A. [Figure 10]FIG. 10 is a diagram illustrating condition A. [Figure 11] FIG. 10 is a diagram illustrating condition D. [Figure 12] FIG. 10 is a diagram illustrating condition E. [Figure 13] FIG. 10 is a diagram illustrating condition F. [Figure 14] FIG. 10 is a diagram illustrating condition H. [Figure 15] FIG. 2 is a diagram showing an example of the positional relationship between the host vehicle and a determined parking space. [Figure 16] FIG. 2 is a diagram showing an example of the positional relationship between the host vehicle and a determined parking space. [Figure 17] FIG. 2 is a diagram showing an example of the positional relationship between the host vehicle and a determined parking space. [Figure 18] 10 is a flowchart of an acceleration suppression process in a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] A. First embodiment: The control device 100 shown in Fig. 1 is mounted on a vehicle 500. The control device 100 is communicably connected to a drive device 201, a steering device 202, a braking device 203, a driving state sensor 211, a camera 221, and a radar sensor 222 mounted on the vehicle 500. The vehicle 500 may be any of a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), an electric vehicle (BEV), and an engine vehicle. Hereinafter, the vehicle 500 mounted with the control device 100 will also be referred to as the host vehicle.

[0011] The drive unit 201 generates a drive force to be transmitted to the drive wheels of the vehicle 500. The drive unit 201 is, for example, an electric motor or an engine.

[0012] The steering device 202 applies a steering force to the wheels of the vehicle 500. The steering device 202 is, for example, an electric power steering device.

[0013] The braking device 203 applies a braking force to the wheels of the vehicle 500. The braking device 203 is, for example, a disc brake device.

[0014] The driving condition sensor 211 is a sensor that detects information related to the driving condition of the vehicle 500. The driving condition sensor 211 includes, for example, a vehicle speed sensor, an accelerator sensor, a brake sensor, a steering angle sensor, a turn signal switch, etc. The driving condition sensor 211 detects the vehicle speed of the vehicle 500, the operation amount of the accelerator pedal, the operation amount of the brake pedal, the steering angle of the steering wheel, the operation state of the turn signal, etc., and transmits the detected information related to the driving condition of the vehicle 500 to the control device 100.

[0015] The camera 221 captures an image of the periphery of the vehicle 500. The image may be a still image or a video image. The camera 221 captures at least an image in front of the vehicle 500. Note that the vehicle 500 may be equipped with a plurality of cameras 221 so as to capture images not only in front of the vehicle 500 but also in the left and right directions and rearward. The camera 221 transmits data of the captured image to the control device 100.

[0016] The radar sensor 222 detects objects present around the vehicle 500. The radar sensor 222 detects the distance, angle, relative speed, etc. to the objects present around the vehicle 500 by emitting electromagnetic waves around the vehicle 500 and receiving the waves reflected by the objects present around the vehicle 500. For example, a millimeter wave radar or a LiDAR (Light Detection and Ranging) can be used as the radar sensor 222. The radar sensor 222 transmits the detected distance, angle, etc. to the control device 100.

[0017] The control device 100 is configured by a computer including a CPU 101 and a storage unit 102. Specifically, the control device 100 is configured as an ECU (Electronic Control Unit). The storage unit 102 is configured by a ROM, a RAM, a hard disk drive, etc. Various programs for controlling the operation of the control device 100 are stored in the storage unit 102. The CPU 101 executes the programs stored in the storage unit 102 to function as an image acquisition unit 10, a parking space candidate detection unit 20, a parking space determination unit 30, a vehicle position determination unit 40, an operation amount acquisition unit 50, and an acceleration suppression unit 60. Note that the control device 100 may be configured by combining a plurality of circuits for realizing at least some of the functions, instead of being configured by a computer.

[0018] The image acquisition unit 10 acquires an image of the surroundings of the host vehicle. Specifically, the image acquisition unit 10 acquires image data transmitted from the camera 221. Hereinafter, the image of the surroundings of the host vehicle will also be referred to as a surrounding image.

[0019] The parking space candidate detection unit 20 detects parking space candidates, which are areas that may be parking spaces, from the surrounding image. In this embodiment, a parking space candidate is an area where two or more parking space candidates, which are areas that may be parking spaces, are consecutive on the left and right of the parking space candidate. A parking space is a parking section for parking one vehicle 500.

[0020] The parking space candidate PF will be described with reference to FIGS. 2 to 4. FIGS. 2 to 4 show lines drawn on a road surface viewed from above. The parking space candidate PF is an area defined by the lines drawn on the road surface. In the example shown in FIG. 2, two parallel lines are drawn on the road surface. The parking space candidate PF shown in FIG. 2 is an area between the two parallel lines, that is, an area defined only by two parallel lines. In the example shown in FIG. 3, two thin U-shaped lines are drawn on the road surface. The parking space candidate PF shown in FIG. 3 is an area between the two U-shaped lines. In the example shown in FIG. 4, rectangular lines with one short side missing are drawn on the road surface. The parking space candidate PF shown in FIG. 4 is an area inside the rectangle with one short side missing. Note that the parking space candidate PF is not limited to the above example, and may be an area inside a rectangle drawn on the road surface, an area between two double lines parallel to each other, or the like. The parking space candidate detection unit 20 recognizes the parking space candidate PF included in the peripheral image by using a machine learning model that has been trained in advance using an image of a parking space. For example, a convolutional neural network is used as an algorithm for the machine learning model. Note that the parking space candidate detection unit 20 may recognize the parking space candidate PF included in the peripheral image by using a method such as pattern matching or edge detection.

[0021] The parking space candidate PS will be described with reference to FIG. 5. As shown in FIG. 5, the parking space candidate PS is an area in which two or more parking space candidates PF are consecutive in the left-right direction of the parking space candidate PF. Here, "the parking space candidates PF are consecutive to the left and right rear" means that the distance between the parking space candidates PF in the left-right direction is not greater than a predetermined left-right adjacent distance. In this specification, the left-right direction of the parking space candidate PF means the shorter side direction of the parking space candidate PF, and the front-rear direction of the parking space candidate PF means the longer side direction of the parking space candidate PF. Furthermore, the left-right direction of the parking space candidate PS means the direction parallel to the left-right direction of the parking space candidate PF included in the parking space candidate PS, and the front-rear direction of the parking space candidate PS means the direction parallel to the front-rear direction of the parking space candidate PF included in the parking space candidate PS. The parking space candidate PS in this embodiment is also referred to as a parking row.

[0022] The parking space determination unit 30 determines whether the parking space candidate PS detected by the parking space candidate detection unit 20 is a parking space and the likelihood that the parking space candidate PS is a parking space based on the surrounding image and predetermined determination conditions. The determination conditions include conditions related to the shape or position of the parking space candidate PS detected from the surrounding image and conditions related to indicators or objects present in the vicinity of the parking space candidate PS. Details of the determination conditions will be described later.

[0023] The vehicle position determination unit 40 determines whether the vehicle is located in a parking lot or whether a parking lot is located in the direction of travel of the vehicle based on the positional relationship between the vehicle and a parking space candidate PS determined to be a parking space by the parking space determination unit 30.

[0024] The operation amount acquisition unit 50 acquires the operation amount of the acceleration operation device. The acceleration operation device is, for example, an accelerator pedal, and the operation amount of the acceleration operation device is, for example, the depression amount of the accelerator pedal. The operation amount acquisition unit 50 acquires, for example, the depression amount of the accelerator pedal detected by an accelerator sensor included in the driving state sensor 211.

[0025] The acceleration suppression unit 60 suppresses acceleration of the host vehicle caused by operation of the acceleration operation device when the operation amount of the acceleration operation device is equal to or greater than a predetermined threshold value.

[0026] When the host vehicle is traveling at a speed equal to or less than a predetermined speed, or when the host vehicle is stopped, the control device 100 repeatedly executes the acceleration suppression processing shown in Figures 6 to 8 at a predetermined cycle. The acceleration suppression processing will be described below with reference to Figures 6 to 8.

[0027] 6, the image acquisition unit 10 acquires a peripheral image. Step S10 is also referred to as an image acquisition step.

[0028] In step S20, the parking space candidate detection unit 20 searches for parking space candidates PS included in the surrounding image. Step S20 is also referred to as a parking space candidate detection step.

[0029] In step S30, the parking space candidate detection unit 20 determines whether or not a parking space candidate PS has been detected from the surrounding image. If a parking space candidate PS has been detected, step S40 is executed. If a parking space candidate PS has not been detected, the control device 100 returns the process to step S20.

[0030] In step S40, the parking space determination unit 30 executes the parking space candidate determination process shown in Fig. 7. The parking space candidate determination process is a process for determining whether the parking space candidate PS is a parking space and the likelihood that the parking space candidate PS is a parking space based on determination conditions. The determination conditions include a first condition, a second condition, and a third condition, which will be described later. Step S40 is also referred to as a parking space determination step.

[0031] In step S210 of FIG. 7, the parking space determination unit 30 determines whether the first condition is satisfied. Satisfying the first condition means satisfying the following condition A or condition B. If the first condition is satisfied, the parking space determination unit 30 determines that the parking space candidate PS is not a parking space. In this specification, a parking space candidate PS that is determined not to be a parking space is also referred to as an invalid parking space. If the first condition is not satisfied, step S220 is executed. Condition A: Based on information about indicators or objects present in the vicinity of the parking space candidate PS, it is determined that the parking space candidate PS is present on a public road. Condition B: Another vehicle passes through the parking space candidate PS at a speed equal to or greater than a predetermined speed.

[0032] Condition A will be described. When the parking space candidate detection unit 20 detects a traffic light or a crosswalk from the peripheral image, it determines that the area around the traffic light and the crosswalk is an intersection. When the parking space candidate PS is located around an intersection, the parking space determination unit 30 determines that the parking space candidate PS is located on a public road. For example, when an intersection and a parking space candidate PS are located at a position as shown in FIG. 9, the parking space determination unit 30 determines that the parking space candidate PS is located on a public road. Note that, in addition to the peripheral image, information acquired by the radar sensor 222 may be used to detect objects such as traffic lights. Furthermore, as shown in FIG. 10, when a parking space candidate PS is located so as to intersect with a lane marking L that defines the lane in which the host vehicle is traveling, the parking space determination unit 30 determines that the parking space candidate PS is located on a public road. Condition A is a condition related to the position of the parking space candidate PS and a condition related to an indicator or object located around the parking space candidate PS.

[0033] Condition B will now be described. Whether or not another vehicle has passed the parking space candidate PS is determined using information acquired by the camera 221 and the radar sensor 222. The predetermined speed in condition B is preferably, for example, 20 km / h or higher. Condition B is a condition regarding objects present in the vicinity of the parking space candidate PS.

[0034] In step S220 of FIG. 7, the parking space determination unit 30 determines whether the second condition is satisfied. Satisfying the second condition means that at least one of the following conditions C to F is not satisfied. If the second condition is satisfied, the parking space determination unit 30 determines that the parking space candidate PS is a valid parking space. A valid parking space is a parking space candidate PS that is highly likely to be a parking space. If the second condition is not satisfied, step S230 is executed. Condition C: A parking space candidate PF included in the parking space candidate PS is an area defined by only two parallel lines. Condition D: There is no object adjacent to the parking space candidate PS in the front or rear direction of the parking space candidate PS. Condition E: The left-right length of the parking space candidate PS is shorter than a predetermined first length, or the left-right length of the area consisting of the parking space candidate PS and the parking space candidate PS adjacent to the parking space candidate PS on the left and right is shorter than a predetermined second length. Condition F: In the front-rear direction of the parking space candidate PS, there is no other parking space candidate PS within a distance shorter than a predetermined distance.

[0035] Condition C will now be explained. Not satisfying condition C means that the parking space candidate PF included in the parking space candidate PS is not an area defined by only two parallel lines as shown in FIG. 2. In other words, it means that the parking space candidate PF included in the parking space candidate PS is an area between two U-shaped lines as shown in FIG. 3, an area inside a rectangle with one short side missing as shown in FIG. 4, an area inside a rectangle painted on the road surface, an area between two double lines that are parallel to each other, etc. Condition C is a condition related to the shape of the parking space candidate PS.

[0036] Condition D will now be explained. FIG. 11 shows an example of an object O1 adjacent to the parking space candidate PS in the front-to-rear direction of the parking space candidate PS. The object O1 is, for example, a wall, a curb, a fence, or a hedge. Not satisfying condition D means that an object O1 such as that shown in FIG. 11 exists. In the example shown in FIG. 11, the horizontal length of the object O1 is equal to the horizontal length of the parking space candidate PS, but the horizontal length of the object O1 may be shorter than the horizontal length of the parking space candidate PS. Condition D is a condition regarding objects present in the vicinity of the parking space candidate PS.

[0037] Condition E will be explained. Not satisfying condition E means that the horizontal length of the parking space candidate PS is longer than the first length, and the horizontal length of the combined area of ​​the parking space candidate PS and the parking space candidate PS adjacent to the parking space candidate PS in the horizontal direction is longer than the second length. For example, when parking space candidate PS1 and parking space candidate PS2 exist as shown in FIG. 12, the "horizontal length of the combined area of ​​the parking space candidate PS and the parking space candidate PS adjacent to the parking space candidate PS in the horizontal direction" is length L1 shown in FIG. 12. The parking space candidate PS1 and the parking space candidate PS2 shown in FIG. 12 are separated horizontally by at least the horizontal adjacency distance. The first length is preferably, for example, 5 m or more. The second length is preferably, for example, 10 m or more. Condition E is a condition related to the shape or position of the parking space candidate PS.

[0038] Condition F will now be described. Not satisfying condition F means that another parking space candidate PS exists at a distance shorter than a predetermined distance in the front-to-rear direction of the parking space candidate PS. FIG. 13 shows a state in which another parking space candidate PS4 exists in the front-to-rear direction of the parking space candidate PS3. Not satisfying condition F means that the distance L2, which is the distance between the parking space candidate PS3 and the parking space candidate PS4 in the front-to-rear direction, is shorter than the predetermined front-to-rear adjacent distance. It is preferable that the front-to-rear adjacent distance is, for example, 2 m or less. Condition F is a condition regarding the position of the parking space candidate PS.

[0039] In step S230 of FIG. 7, the parking space determination unit 30 determines whether the third condition is satisfied. Satisfying the third condition means satisfying the following conditions G and H. If the third condition is satisfied, the parking space determination unit 30 determines that the parking space candidate PS is an allowable parking space. An allowable parking space is a parking space candidate PS that is less likely to be a parking space than an available parking space. If the third condition is not satisfied, the parking space determination unit 30 determines that the parking space candidate PS is not a parking space. The parking space candidate determination process is performed as described above. Condition G: There is another stationary vehicle at a position that is closer to the parking space candidate PS than a predetermined distance. Condition H: The angle formed between the front-rear direction of the parking space candidate PS and the traveling direction of the host vehicle is equal to or greater than a predetermined angle.

[0040] Condition G will be explained. The predetermined distance in condition G is preferably, for example, 5 m or less. In addition, condition G is also satisfied when another vehicle is stationary in a parking frame candidate PF included in the parking space candidate PS. Condition G is a condition regarding objects present in the vicinity of the parking space candidate PS.

[0041] Condition H will now be described. FIG. 14 shows a state in which the host vehicle is traveling near the parking space candidate PS. In FIG. 14, the traveling direction of the host vehicle is indicated by an arrow. The "angle formed between the front-rear direction of the parking space candidate and the traveling direction of the host vehicle" is angle A1 shown in FIG. 14. The predetermined angle in condition H is preferably, for example, 30° or more. Condition H is a condition regarding the position of the parking space candidate PS.

[0042] 8, the vehicle position determination unit 40 determines whether the host vehicle is in a parking lot, or whether a parking lot exists in the direction of travel of the host vehicle. If it is determined that the host vehicle is in a parking lot, or that a parking lot exists in the direction of travel of the host vehicle, step S60 is executed. If it is determined that the host vehicle is not in a parking lot and that no parking lot exists in the direction of travel of the host vehicle, the control device 100 ends the acceleration suppression process.

[0043] The vehicle position determination unit 40 determines that the host vehicle is located in a parking lot, for example, if there are valid parking spaces or allowable parking spaces on both the left and right sides of the host vehicle, or if there is a valid parking space or allowable parking space within a predetermined distance on either the left or right side of the host vehicle. Hereinafter, valid parking spaces and allowable parking spaces are collectively referred to as "determined parking spaces." For example, if the host vehicle, the determined parking space PS11, and the determined parking space PS12 are located at the positions shown in FIG. 15, the vehicle position determination unit 40 determines that the host vehicle is located in a parking lot. Furthermore, if the host vehicle and the determined parking space PS13 are located at the position shown in FIG. 16 and the distance L3 between the host vehicle and the determined parking space PS13 is shorter than the predetermined distance, the vehicle position determination unit 40 determines that the host vehicle is located in a parking lot.

[0044] The vehicle position determination unit 40 determines, for example, an area including a plurality of determination parking spaces PS21 as shown in Fig. 17 as a parking lot P. When the host vehicle is moving toward the parking lot P, the vehicle position determination unit 40 determines that the parking lot P exists in the traveling direction of the host vehicle. Whether the host vehicle is moving toward the parking lot P is determined using the vehicle speed acquired by a vehicle speed sensor, the steering angle acquired by a steering angle sensor, and the like.

[0045] In step S60 of FIG. 8, the operation amount obtaining unit 50 obtains the operation amount of the acceleration operation device.

[0046] In step S70, the control device 100 determines whether the operation amount of the acceleration operation device acquired by the operation amount acquisition unit 50 in step S60 is equal to or greater than a predetermined threshold. The control device 100 determines, for example, whether the depression amount of the accelerator pedal detected by the accelerator sensor is equal to or greater than a predetermined threshold. If it is determined that the operation amount of the acceleration operation device is equal to or greater than the predetermined threshold, the control device 100 executes step S80. If it is determined that the operation amount of the acceleration operation device is below the predetermined threshold, the control device 100 terminates the acceleration suppression process.

[0047] In step S80, the control device 100 determines whether the parking lot where the host vehicle is located or the parking lot located in the direction of travel of the host vehicle is formed from valid parking spaces. If the parking lot is formed from valid parking spaces, step S90 is executed. If the parking lot is not formed from valid parking spaces, that is, if the parking lot is formed from allowable parking spaces, step S110 is executed. Note that step S90 may be executed if the parking lot does not include allowable parking spaces, that is, if the parking lot is formed from only valid parking spaces, and step S110 may be executed if the parking lot includes allowable parking spaces.

[0048] In step S90, acceleration suppression unit 60 strongly suppresses acceleration of the host vehicle due to operation of the acceleration operation device. Acceleration suppression unit 60 controls the operation of drive device 201 so that the acceleration of vehicle 500 does not increase even if the accelerator pedal is depressed. Note that, when the accelerator pedal is depressed, acceleration suppression unit 60 may control the operation of drive device 201 so that the acceleration of vehicle 500 increases by about 10% of a reference value, where the reference value is an increase in the acceleration of vehicle 500 that is predetermined in relation to the amount of operation of the accelerator pedal.

[0049] In step S100, the control device 100 determines whether the operation amount of the acceleration operating device has fallen below a predetermined threshold. For example, the control device 100 determines whether the depression amount of the accelerator pedal detected by an accelerator sensor has fallen below a predetermined threshold. If it is determined that the operation amount of the acceleration operating device has fallen below the predetermined threshold, the control device 100 terminates the driving force suppression process. If it is determined that the operation amount of the acceleration operating device has not fallen below the predetermined threshold, the control device 100 returns the process to step S90.

[0050] In step S110, acceleration suppression unit 60 suppresses the acceleration of the host vehicle caused by operation of the acceleration operating device more weakly than when the parking lot is formed from available parking spaces. When the accelerator pedal is depressed, acceleration suppression unit 60 preferably controls the operation of drive unit 201 so that the acceleration of the host vehicle increases by approximately 10% to 20% of a reference value that is a predetermined increase in acceleration of vehicle 500 relative to the amount of accelerator pedal operation. Note that acceleration suppression unit 60 may also control the operation of drive unit 201 so that the acceleration of the host vehicle increases by approximately 10% to 50% of a reference value when the accelerator pedal is depressed.

[0051] In step S120, the control device 100 determines whether the amount of operation of the acceleration operating device has fallen below a predetermined threshold. For example, the control device 100 determines whether the amount of depression of the accelerator pedal detected by an accelerator sensor has fallen below a predetermined threshold. If it is determined that the amount of operation of the acceleration operating device has fallen below the predetermined threshold, the control device 100 terminates the driving force suppression process. If it is determined that the amount of operation of the acceleration operating device has not fallen below the predetermined threshold, the control device 100 returns the process to step S110. The acceleration suppression process is executed as described above.

[0052] According to the first embodiment described above, the parking space determination unit 30 determines whether the parking space candidate PS is a parking space and the likelihood that the parking space candidate PS is a parking space based on the surrounding image and the determination conditions. Here, the determination conditions include conditions related to the shape or position of the parking space and conditions related to indicators or objects present in the vicinity of the parking space candidate PS. Therefore, it is possible to accurately determine whether an area around the host vehicle that may be a parking space is a parking space.

[0053] Furthermore, in this embodiment, the parking space determination unit 30 determines that the parking space candidate PS is not a parking space if the first condition is satisfied. Satisfying the first condition means satisfying the above-described condition A or condition B. In the above example, the parking space determination unit 30 determines that the parking space candidate PS is located on a public road if the parking space candidate PS is located near an intersection. If the parking space candidate PS is located near an intersection, there is a possibility that the area defined by lane markings may be erroneously detected as the parking space candidate PS. Furthermore, if another vehicle passes the parking space candidate PS at a speed equal to or greater than a predetermined speed, there is a possibility that the area defined by lane markings may be erroneously detected as the parking space candidate PS. Therefore, by determining that the parking space candidate PS is not a parking space if the first condition is satisfied, the possibility of erroneously determining that an area that is not a parking space is a parking space can be reduced.

[0054] In this embodiment, the parking space determination unit 30 determines that a parking space candidate PS is a valid parking space if it does not satisfy the first condition and satisfies the second condition. Satisfying the second condition means that it does not satisfy at least one of the above-mentioned conditions C to F. First, if the parking space candidate PS is an area defined by only two parallel lines, there is a possibility that an area defined by lane markings has been erroneously detected as the parking space candidate PS. Furthermore, if the parking space candidate PS is a parking space, there is a high possibility that an object such as a wall or curb exists adjacent to the parking space candidate PS in the front-to-rear direction of the parking space candidate PS. Therefore, if there is no object adjacent to the parking space candidate PS in the front-to-rear direction of the parking space candidate PS, there is a possibility that an area that is not a parking space has been erroneously detected as the parking space candidate PS. Furthermore, if the parking space candidate PS is a parking space, there is a high possibility that many parking frames are consecutive in the left-to-right direction. In other words, there is a high possibility that the parking space is long in the left-to-right direction. Furthermore, if the parking space candidate PS is a parking space, there is a high possibility that multiple parking spaces exist adjacent to each other in the left-to-right direction. That is, the horizontal length of the area including the parking space and its adjacent parking spaces on the left and right is likely to be long. Therefore, if the horizontal length of the parking space candidate PS is shorter than a predetermined length, or if the horizontal length of the area including the parking space candidate PS and its adjacent parking space candidates on the left and right is shorter than a predetermined length, an area that is not a parking space may be erroneously detected as a parking space candidate PS. Furthermore, if the parking space candidate PS is a parking space, there is a high possibility that another parking space candidate PS exists within a distance shorter than a predetermined distance from the parking space candidate PS in the forward / backward direction. In other words, there is a high possibility that multiple parking space candidates PS are consecutive in the forward / backward direction. Therefore, if there are no other parking space candidates PS within a distance shorter than a predetermined distance from the parking space candidate PS in the forward / backward direction, there is a high possibility that an area that is not a parking space may be erroneously detected as a parking space candidate PS. Therefore, the possibility of erroneously determining an area that is not a parking space or an area that is unlikely to be a parking space as a valid parking space can be reduced.

[0055] In this embodiment, the parking space determination unit 30 determines that the parking space candidate PS is an acceptable parking space if it does not satisfy the first condition, does not satisfy the second condition, and satisfies the third condition. Furthermore, the parking space determination unit 30 determines that the parking space candidate PS is not a parking space if it does not satisfy the first condition, does not satisfy the second condition, and does not satisfy the third condition. Satisfying the third condition means satisfying the above-mentioned conditions G and H. First, if another vehicle is stationary at a distance shorter than a predetermined distance from the parking space candidate PS, the parking space candidate PS may be a parking space. Furthermore, if an area defined by lane markings has been erroneously detected as a parking space candidate PS and the host vehicle is traveling on a public road, the angle between the front-rear direction of the parking space candidate PS and the host vehicle's traveling direction is predicted to be close to 0°. Therefore, if the angle between the front-rear direction of the parking space candidate PS and the host vehicle's traveling direction is equal to or greater than a predetermined angle, the possibility of erroneously detecting the area defined by lane markings as a parking space candidate PS is low. Therefore, the possibility of erroneously determining that an area that is not a parking space is an allowable parking space, and the possibility of erroneously determining that an area that is a parking space is not a parking space, can be reduced.

[0056] Furthermore, in this embodiment, when it is determined that the host vehicle is in a parking lot or that a parking lot is present in the traveling direction of the host vehicle, and the amount of operation of the acceleration operating device is equal to or greater than a predetermined threshold, the acceleration suppression unit 60 suppresses acceleration of the host vehicle caused by operation of the acceleration operating device. Therefore, even if the driver mistakes the accelerator pedal for the brake pedal when the host vehicle is in a parking lot or heading toward a parking lot, the host vehicle can be prevented from suddenly accelerating.

[0057] Furthermore, in this embodiment, the acceleration suppression unit 60 strongly suppresses the acceleration of the host vehicle when the parking lot is formed from available parking spaces, and suppresses the acceleration of the host vehicle less strongly when the parking lot is formed from allowable parking spaces than when the parking lot is formed from available parking spaces. Therefore, when the parking space candidate PS that forms the parking lot is likely to be a parking space, the acceleration of the host vehicle can be suppressed more strongly.

[0058] B. Second embodiment: In the second embodiment, the content of the acceleration suppression processing is different from that in the first embodiment. The configuration of each part of the control device 100 in the second embodiment is the same as that in the first embodiment.

[0059] 18 is a flowchart showing some steps of the acceleration suppression processing in the second embodiment. Steps S10 to S40 are executed in the same manner as in the first embodiment, and therefore are not shown in the figure. Furthermore, the same reference numerals are used for the parts where the same processing as in the acceleration suppression processing shown in FIG. 8 is executed, and the description thereof will be omitted.

[0060] In step S81, the control device 100 determines whether the host vehicle is moving toward a valid parking space. Whether the host vehicle is moving toward a valid parking space is determined using the positional relationship between the host vehicle and the valid parking space, the vehicle speed acquired by the vehicle speed sensor, the steering angle acquired by the steering angle sensor, and the like. If the host vehicle is moving toward a valid parking space, step S90 is executed. If the host vehicle is not moving toward a valid parking space, step S82 is executed.

[0061] In step S82, the control device 100 determines whether the host vehicle is moving toward an allowable parking space. Whether the host vehicle is moving toward an allowable parking space is determined using the positional relationship between the host vehicle and the allowable parking space, the vehicle speed acquired by the vehicle speed sensor, the steering angle acquired by the steering angle sensor, and the like. If the host vehicle is moving toward an allowable parking space, step S110 is executed. If the host vehicle is not moving toward an allowable parking space, the control device 100 ends the acceleration suppression process.

[0062] According to the second embodiment described above, the acceleration suppression unit 60 strongly suppresses the acceleration of the host vehicle when the host vehicle is moving toward a valid parking space, and weakly suppresses the acceleration of the host vehicle when the host vehicle is moving toward an allowable parking space compared to when the host vehicle is moving toward a valid parking space. Therefore, even if the driver mistakes the accelerator pedal for the brake pedal when the host vehicle is moving toward an area with a high probability of being a parking space, the host vehicle can be strongly suppressed from suddenly accelerating. Also, even if the driver mistakes the accelerator pedal for the brake pedal when the host vehicle is moving toward an area with a low probability of being a parking space, the host vehicle can be suppressed from suddenly accelerating.

[0063] C. Other Embodiments: (C-1) In the above embodiment, the parking space candidate PS is an area where two or more parking space candidates PF are consecutive in the left and right direction of the parking space candidate PF. In contrast, the parking space candidate PS may be an area where there is a possibility of a parking space. In other words, the parking space candidate PS may be one parking space candidate PF. The condition E in this embodiment is as follows. It is preferable that the third length is, for example, 10 m or more. Condition E: The horizontal length of the area including the parking space candidate PS and the parking space candidate PS adjacent to the parking space candidate PS on the left and right is shorter than a third length, which is a predetermined length.

[0064] (C-2) In the above embodiment, the control device 100 includes the vehicle position determination unit 40, the operation amount acquisition unit 50, and the acceleration suppression unit 60. In contrast, the control device 100 does not necessarily need to include the vehicle position determination unit 40, the operation amount acquisition unit 50, and the acceleration suppression unit 60.

[0065] (C-3) In the above embodiment, the parking space determination unit 30 determines that the parking space candidate PS is an allowable parking space if the first condition is not satisfied, the second condition is not satisfied, and the third condition is satisfied. Furthermore, the parking space determination unit 30 determines that the parking space candidate PS is not a parking space if the first condition is not satisfied, the second condition is not satisfied, and the third condition is not satisfied. In contrast, the parking space determination unit 30 does not need to use the third condition to determine whether the parking space candidate PS is a parking space or the likelihood that the parking space candidate PS is a parking space. That is, step S230 of the parking space candidate determination process does not need to be executed.

[0066] (C-4) In the above embodiment, the parking space determination unit 30 determines that the parking space candidate PS is a valid parking space when the first condition is not satisfied and the second condition is satisfied. In contrast, the parking space determination unit 30 does not need to use the second condition to determine the likelihood that the parking space candidate PS is a parking space. In other words, step S220 of the parking space candidate determination process does not need to be executed.

[0067] (C-5) In the above embodiment, the parking space determination unit 30 determines that the parking space candidate PS is not a parking space when the first condition is satisfied. In contrast, the parking space determination unit 30 does not need to use the first condition to determine whether the parking space candidate PS is a parking space. In other words, step S210 of the parking space candidate determination process does not need to be executed.

[0068] (C-6) In the above embodiment, the determination conditions include a first condition, a second condition, and a third condition. In contrast, the determination conditions may include a condition related to the shape or position of the parking space candidate PS detected from the surrounding image, and a condition related to an index or object present in the vicinity of the parking space candidate PS, and are not limited to the first condition, the second condition, and the third condition.

[0069] (C-7) The control device 100 and the methods described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the control device 100 and the methods described herein may be implemented by a special-purpose computer configured with a processor configured with one or more dedicated hardware logic circuits. Alternatively, the control device 100 and the methods described herein may be implemented by one or more special-purpose computers configured with a processor and memory programmed to perform one or more functions and a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible storage medium as instructions executed by a computer.

[0070] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted.

[0071] Other forms: The features of the present disclosure are as follows: <Form 1> A control device (100), an image acquisition unit (10) that acquires a surrounding image that is an image of the surroundings of the vehicle; a parking space candidate detection unit (20) that detects a parking space candidate (PS) that is an area with a possibility of being a parking space from the surrounding image; a parking space determination unit (30) that determines whether the parking space candidate is the parking space and the likelihood that the parking space candidate is the parking space based on the surrounding image and predetermined determination conditions; The determination conditions include a condition regarding a shape or a position of the parking space candidate detected from the surrounding image, and a condition regarding an index or an object present in the vicinity of the parking space candidate. Control device. <Form 2> The control device according to aspect 1, the parking space determination unit determines that the parking space candidate is not the parking space when a first condition, which is the determination condition, is satisfied; Satisfying the first condition means satisfying condition A or condition B, The condition A is that the parking space candidate is determined to be located on a public road based on the information about the indicator or the object present in the vicinity of the parking space candidate, The condition B is that another vehicle passes through the parking space candidate at a speed equal to or greater than a predetermined speed. Control device. <Form 3> The control device according to aspect 2, the parking space determination unit determines that the parking space candidate is a valid parking space that is highly likely to be the parking space when the first condition is not satisfied and the second condition, which is the determination condition, is satisfied; "Satisfying the second condition" means not satisfying at least one of conditions C, D, E, and F, The condition C is that a parking space candidate (PF), which is an area that may be a parking space and is included in the parking space candidate, is an area defined by only two parallel lines; The condition D is that the object is not present adjacent to the parking space candidate in the front-rear direction of the parking space candidate, The condition E is that the length in the left-right direction of the parking space candidate including two or more of the parking frame candidates is shorter than a predetermined length, or the length in the left-right direction of an area including the parking space candidate and the parking space candidate adjacent to the parking space candidate in the left-right direction is shorter than a predetermined length, The condition F is that no other parking space candidate exists within a distance shorter than a predetermined distance in the forward / backward direction of the parking space candidate. Control device. <Form 4> The control device according to aspect 3, The parking space determination unit If the first condition is not satisfied, the second condition is not satisfied, and the third condition, which is the judgment condition, is satisfied, the parking space candidate is judged to be an allowable parking space that is less likely to be the parking space than the available parking space, If the first condition is not satisfied, the second condition is not satisfied, and the third condition is not satisfied, the parking space candidate is determined to be not the parking space; Satisfying the third condition means satisfying conditions G and H, The condition G is that another stationary vehicle is present at a position that is closer to the parking space candidate than a predetermined distance, The condition H is that the angle formed between the front-rear direction of the parking space candidate and the traveling direction of the host vehicle is equal to or greater than a predetermined angle. Control device. <Form 5> The control device according to aspect 4, a vehicle position determination unit (40) that determines whether the vehicle is located in a parking lot or whether the parking lot is located in the direction of travel of the vehicle, based on the positional relationship between the vehicle and the available parking space or the allowable parking space; an operation amount acquisition unit (50) that acquires an operation amount of an acceleration operation device; an acceleration suppression unit (60) that suppresses acceleration of the host vehicle due to operation of the acceleration operation device when the operation amount of the acceleration operation device is equal to or greater than a predetermined threshold value, The acceleration suppression unit suppresses the acceleration when the vehicle position determination unit determines that the host vehicle is located in the parking lot or that the parking lot is located in the traveling direction of the host vehicle. Control device. <Form 6> The control device according to aspect 5, The acceleration suppression unit is strongly suppressing the acceleration when the parking lot is formed from the available parking space; When the parking lot is formed from the allowable parking spaces, the acceleration is suppressed less than when the parking lot is formed from the available parking spaces. Control device. <Form 7> The control device according to aspect 5, The acceleration suppression unit is When the host vehicle is moving toward the available parking space, the acceleration is strongly suppressed; When the host vehicle is moving toward the allowable parking space, the acceleration is suppressed less than when the host vehicle is moving toward the available parking space. Control device. <Form 8> The control device according to aspect 1, The parking space candidate is a potential parking space candidate, and the parking space candidate is a space that is continuous with two or more spaces to the left and right of the parking space candidate. Control device. <Form 9> The control device according to aspect 1, The parking space candidate is an area of ​​a possible parking slot. Control device. <Form 10> A parking space determination method, comprising: an image acquisition step of acquiring a surrounding image that is an image of the surroundings of the host vehicle; a parking space candidate detection step of detecting a parking space candidate, which is an area that may be a parking space, from the surrounding image; a parking space determination step of determining whether the parking space candidate is the parking space and the likelihood that the parking space candidate is the parking space based on the surrounding image and predetermined determination conditions; The determination conditions include a condition regarding a shape or a position of the parking space candidate detected from the surrounding image, and a condition regarding an index or an object present in the vicinity of the parking space candidate. Parking space determination method. [Explanation of symbols]

[0072] 10...Image acquisition unit, 20...Parking space candidate detection unit, 30...Parking space determination unit, 40...Vehicle position determination unit, 50...Operation amount acquisition unit, 60...Acceleration suppression unit, 100...Control device, 101...CPU, 102...Memory unit, 201...Drive unit, 202...Steering unit, 203...Braking unit, 211...Driving condition sensor, 221...Camera, 222...Radar sensor, 500...Vehicle, L...Landing line, O1...Object, P...Parking lot, PF...Parking frame candidate, PS, PS1...Parking space candidate, PS11, PS12, PS13...Determined parking space, PS2, PS21, PS3, PS4...Parking space candidate

Claims

1. A control device (100), an image acquisition unit (10) that acquires a surrounding image that is an image of the surroundings of the vehicle; a parking space candidate detection unit (20) that detects a parking space candidate (PS) that is an area with a possibility of being a parking space from the surrounding image; a parking space determination unit (30) that determines whether the parking space candidate is the parking space and the likelihood that the parking space candidate is the parking space based on the surrounding image and predetermined determination conditions; The determination conditions include a condition regarding a shape or a position of the parking space candidate detected from the surrounding image, and a condition regarding an index or an object present in the vicinity of the parking space candidate. Control device.

2. The control device according to claim 1, The parking space determination unit determines that the parking space candidate is not the parking space when a first condition, which is the determination condition, is satisfied, Satisfying the first condition means satisfying condition A or condition B, The condition A is that the parking space candidate is determined to be located on a public road based on the information about the indicator or the object present in the vicinity of the parking space candidate, The condition B is that another vehicle passes through the parking space candidate at a speed equal to or greater than a predetermined speed. Control device.

3. The control device according to claim 2, the parking space determination unit determines that the parking space candidate is a valid parking space that is highly likely to be the parking space when the first condition is not satisfied and the second condition, which is the determination condition, is satisfied; "Satisfying the second condition" means that at least one of conditions C, D, E, and F is not satisfied, The condition C is that a parking space candidate (PF), which is an area that may be a parking space and is included in the parking space candidate, is an area defined by only two parallel lines, The condition D is that the object is not present adjacent to the parking space candidate in the front-rear direction of the parking space candidate, The condition E is that the length in the left-right direction of the parking space candidate including two or more of the parking frame candidates is shorter than a predetermined length, or the length in the left-right direction of an area including the parking space candidate and the parking space candidate adjacent to the parking space candidate in the left-right direction is shorter than a predetermined length, The condition F is that no other parking space candidate exists within a distance shorter than a predetermined distance in the forward / backward direction of the parking space candidate. Control device.

4. The control device according to claim 3, The parking space determination unit If the first condition is not satisfied, the second condition is not satisfied, and the third condition, which is the judgment condition, is satisfied, the parking space candidate is judged to be an allowable parking space that is less likely to be the parking space than the available parking space, If the first condition is not satisfied, the second condition is not satisfied, and the third condition is not satisfied, the parking space candidate is determined to not be the parking space; Satisfying the third condition means satisfying conditions G and H, The condition G is that another stationary vehicle is present at a position that is closer to the parking space candidate than a predetermined distance, The condition H is that the angle formed between the front-rear direction of the parking space candidate and the traveling direction of the host vehicle is equal to or greater than a predetermined angle. Control device.

5. The control device according to claim 4, a vehicle position determination unit (40) that determines whether the vehicle is in a parking lot or whether the parking lot is in the direction of travel of the vehicle, based on the positional relationship between the vehicle and the available parking space or the allowable parking space; an operation amount acquisition unit (50) that acquires an operation amount of an acceleration operation device; An acceleration suppression unit (60) that suppresses acceleration of the host vehicle due to operation of the acceleration operation device when the operation amount of the acceleration operation device is equal to or greater than a predetermined threshold value, The acceleration suppression unit suppresses the acceleration when the vehicle position determination unit determines that the host vehicle is located in the parking lot or that the parking lot is located in the traveling direction of the host vehicle. Control device.

6. The control device according to claim 5, The acceleration suppression unit is strongly suppressing the acceleration when the parking lot is formed from the available parking space; When the parking lot is formed from the allowable parking spaces, the acceleration is suppressed less than when the parking lot is formed from the available parking spaces. Control device.

7. The control device according to claim 5, The acceleration suppression unit is When the host vehicle is moving toward the available parking space, the acceleration is strongly suppressed; When the host vehicle is moving toward the allowable parking space, the acceleration is suppressed less than when the host vehicle is moving toward the available parking space. Control device.

8. The control device according to claim 1, The parking space candidate is a potential parking space candidate, and the parking space candidate is a space that is continuous with two or more adjacent spaces in the left and right direction of the parking space candidate. Control device.

9. The control device according to claim 1, The parking space candidate is an area of ​​a possible parking slot. Control device.

10. A parking space determination method, comprising: an image acquisition step of acquiring a surrounding image that is an image of the surroundings of the host vehicle; a parking space candidate detection step of detecting a parking space candidate, which is an area that may be a parking space, from the surrounding image; a parking space determination step of determining whether the parking space candidate is the parking space and the likelihood that the parking space candidate is the parking space based on the surrounding image and predetermined determination conditions; The determination conditions include a condition regarding a shape or a position of the parking space candidate detected from the surrounding image, and a condition regarding an index or an object present in the vicinity of the parking space candidate. Parking space determination method.

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