Control apparatus, control method, and storage medium

Abstract

To provide a control device, a control method, and a control program capable of flexibly parking a moving body in a parking section.SOLUTION: The control device for the vehicle 10 that autonomously moves from the parking start position to the parking position includes the external environment recognition unit that acquires the external environment information on the surrounding situation of the vehicle 10, the storage unit that stores the route information on the travel route when the vehicle 10 moves from the parking start position to the predetermined parking position, and the control unit that performs the travel control of the vehicle 10 to the parking slot Ptar set as the target parking position based on the external environment information and the route information. When a parking available section Pdet in which the vehicle 10 can be parked and which is adjacent to the travel route to the target parking position is detected from the external information obtained during the execution of the travel control, the control unit resets the target parking position to the parking available section Pdet.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, and a control program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] Remote parking systems are known that allow a vehicle to be remotely controlled using a smartphone or to move autonomously to park the vehicle in a designated parking space or to remove the vehicle from the parking space.

[0004] For example, Patent Document 1 describes a parking assistance device that recognizes landmark information indicating features of the location where the vehicle is to be parked based on sensing information from a surrounding monitoring sensor, stores route information in the form of a surrounding map similar to a home map that includes landmark information for automatic parking as well as a parking route for automatic parking, and uses the route information including landmarks when estimating the vehicle's position. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-184506 Summary of the Invention [Problem to be solved by the invention]

[0006] In conventional remote parking, even if a vehicle attempts to autonomously drive and park in a designated parking space, the objective cannot be achieved if another vehicle is parked in that space. If information on the availability of each parking space were available, an available parking space could be designated, but in parking lots at large commercial facilities, for example, vehicles frequently enter and exit the parking space, so there is no guarantee that the designated parking space will still be available when the vehicle arrives.

[0007] Furthermore, when a vehicle user specifies a parking space for the vehicle, it is desirable for the user to be able to specify a parking space that is close to the entrance to the facility from the parking lot. However, if there are no available parking spaces close to the entrance, the user is forced to specify an available parking space further away. As mentioned above, parking situations change from moment to moment. A parking space closer to the entrance may become available immediately after specifying a distant parking space. If the user wants to park the vehicle in this available parking space, the user must perform an operation to specify the parking space. Such an operation may be cumbersome for the user.

[0008] An object of the present invention is to provide a control device, a control method, and a control program that enable flexible parking of a mobile object in a parking space, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0009] The present invention provides A control device for a moving body that autonomously moves from a parking start position to a parking position, an external environment recognition unit that acquires external environment information regarding the surrounding situation of the moving object; a storage unit that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit that controls the traveling of the moving object toward a parking space set as a target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. It is a control device.

[0010] The present invention provides A control method for a mobile object that autonomously moves from a parking start position to a parking position, comprising: The moving body is an external environment recognition unit that acquires external environment information regarding the surrounding situation of the moving object; a storage unit that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit that controls the traveling of the moving object toward a parking space set as a target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. It is a control method.

[0011] The present invention provides A control program for a control device of a mobile object that autonomously moves from a parking start position to a parking position, The moving body is an external environment recognition unit that acquires external environment information regarding the surrounding situation of the moving object; a storage unit that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit that controls the traveling of the moving object toward a parking space set as a target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. It is a control program that executes the process. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a control device, a control method, and a control program that enable flexible parking of a mobile object in a parking space. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a side view showing an example of a vehicle 10 equipped with a control device of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle 10 shown in FIG. [Figure 3] 2 is a block diagram showing an example of the internal configuration of a vehicle 10 shown in FIG. 1. FIG. [Figure 4] 2 is a diagram illustrating an example of a hardware configuration of an information terminal 60 owned by a user of a vehicle 10. FIG. [Figure 5] 10 is a flowchart showing the driving control by the control ECU 20 when the vehicle 10 is driving from the parking start position to the target parking position. [Figure 6] FIG. 10 is a diagram showing an example of parking a vehicle from a parking start position to a parking space set as a target parking position. [Figure 7] FIG. 10 is a diagram showing an example in which a parking space is reset to a target parking position and the vehicle is parked midway along a travel route from a parking start position to an initial target parking position. [Figure 8] FIG. 10 is a diagram showing another example in which a parking space is reset to a target parking position and the vehicle is parked midway along the travel route from the parking start position to the original target parking position. [Figure 9] FIG. 10 is a diagram showing another example in which a parking space is reset to a target parking position and the vehicle is parked midway along the travel route from the parking start position to the original target parking position. DETAILED DESCRIPTION OF THE INVENTION

[0014] An embodiment of a control device, a control method, and a control program according to the present invention will be described below with reference to the accompanying drawings. The drawings are to be viewed in accordance with the directions of the reference numerals. For simplicity and clarity, the front-rear, left-right, and up-down directions in this specification and elsewhere are described according to the directions as seen by the driver of the vehicle 10 shown in Figures 1 and 2. In the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0015] <Vehicle 10 equipped with the control device of the present invention> Fig. 1 is a side view showing an example of a vehicle 10 equipped with a control device of the present invention. Fig. 2 is a top view of the vehicle 10 shown in Fig. 1. The vehicle 10 is an example of the "mobile body" of the present invention.

[0016] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle 10 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. The drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels, including a pair of left and right front wheels and rear wheels. Both the front wheels and the rear wheels may be steerable wheels, or either one of them may be steerable wheels.

[0017] The vehicle 10 further includes side mirrors 11L and 11R. The side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front doors of the vehicle 10 to enable the driver to check what is behind and to the rear sides. The side mirrors 11L and 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around this rotation shaft.

[0018] The vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is an imaging device (e.g., a digital camera) provided at the front of the vehicle 10 and captures images in the front direction of the vehicle 10. The rear camera 12Rr is a digital camera provided at the rear of the vehicle 10 and captures images in the rear direction of the vehicle 10. The left side camera 12L is a digital camera provided on the left side mirror 11L of the vehicle 10 and captures images in the left direction of the vehicle 10. The right side camera 12R is a digital camera provided on the right side mirror 11R of the vehicle 10 and captures images in the right direction of the vehicle 10.

[0019] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of vehicle 10 shown in Fig. 1. As shown in Fig. 3, vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. Vehicle 10 also has a driving force control system 26 and a braking force control system 28.

[0020] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0021] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the periphery of the vehicle 10 to obtain external information (e.g., peripheral images) related to the situation around the vehicle 10. The peripheral images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a lateral image. An image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is referred to as an overhead image of the vehicle 10.

[0022] The front sonar group 32a, rear sonar group 32b, left side sonar group 32c, and right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The front sonar group 32a includes, for example, four sonars. The sonars that make up the front sonar group 32a are provided diagonally forward left, front left, front right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars that make up the rear sonar group 32b are provided diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars that make up the left side sonar group 32c are provided respectively on the front left side and rear left side of the vehicle 10. The right side sonar group 32d includes, for example, two sonars. The sonars that make up the right side sonar group 32d are provided at the front and rear of the right side of the vehicle 10, respectively.

[0023] The wheel sensors 34a, 34b detect the rotation angles of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured as angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse each time the wheel rotates a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the wheel rotation angle and wheel rotation speed. The travel distance of the vehicle 10 is calculated based on the wheel rotation angle. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0024] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0025] The operation detection unit 38 detects the operation content performed by the user using the operation input unit 14, and outputs the detected operation content to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (selector lever or selector).

[0026] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that has a map information database. The navigation device 18 also has a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0027] The touch panel 42 is configured to allow various commands to be input to the control ECU 20. For example, a user can input commands related to mobility assistance for the vehicle 10 via the touch panel 42. The mobility assistance includes parking assistance and exit assistance for the autonomously moving vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays a screen related to mobility assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance. The parking assistance buttons include a remote parking button for requesting parking using automatic steering by the control ECU 20, an assisted parking button for requesting assistance when parking via user operation, and a parking start button with route guidance function for requesting parking including movement from a parking start position to a target parking position via driving control by the control ECU 20. The exit assistance buttons include a remote exit button for requesting exit using automatic steering by the control ECU 20, and an assisted exit button for requesting assistance when leaving via user operation. Note that a component other than the touch panel 42, for example, an information terminal such as a smartphone or tablet, may be used as the input device or display device.

[0028] Note that "parking" is synonymous with "parking," for example. For example, "parking" refers to the continuous stopping of a mobile body (vehicle 10) in a parking space, excluding temporary stops at traffic signals, etc. Furthermore, a "parking position" refers to the position where a mobile body (vehicle 10) is stopped, i.e., the parking position. A "parking start position" refers to, for example, the entrance or exit of a facility used by a user of the mobile body. A "parking space" refers to a space provided in the parking lot of the facility, etc., for parking one mobile body (vehicle 10).

[0029] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a memory unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the memory unit 54. The calculation unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of a "control device" in the present invention.

[0030] The memory unit 54 also stores information related to the remote movement of the vehicle 10. The memory unit 54 stores, for example, route information related to the driving route taken when the vehicle 10 moves from a parking start position to a predetermined parking position. The parking start position is the position of the vehicle 10 when the user starts parking, and includes, for example, the position of the vehicle 10 when the user presses a parking assist button to activate the parking assist function, the position of the vehicle 10 when it enters a predetermined parking lot area, and the position of the vehicle 10 when it arrives near the destination indicated by the navigation device 18. The route information includes parking position information, driving route information, and surrounding environment information. The parking position information is position information related to the parking position. The driving route information is information related to the driving route from the parking start position to the parking position, which is associated with the parking position information. The surrounding environment information includes, associated with the driving route information, external environment information along the driving route indicated by the driving route information, and map information related to the driving route or environmental information obtained through communication with the outside.

[0031] The calculation unit 52 has an external environment recognition unit 55 that recognizes an external environment recognition image of the vehicle 10, a control unit 57 that controls the remote movement of the vehicle 10, and a notification unit 59 that notifies movement information of the vehicle 10.

[0032] The external environment recognition unit 55 acquires external environment information (for example, peripheral images) relating to the surrounding conditions of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R from each camera.

[0033] The control unit 57 performs parking assistance and leaving assistance for the vehicle 10 by automatic steering, in which the operation of the steering wheel 110 is automatically performed under the control of the control unit 57. In parking assistance and leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is automatically performed. When the control unit 57 performs parking assistance or leaving assistance, the vehicle 10 may be in a state where a user (driver) is inside the vehicle 10, or the user may have gotten out of the vehicle 10 and be outside (not inside the vehicle).

[0034] The control unit 57 controls the driving of the vehicle 10 to a parking space set as a target parking position based on external information about the vehicle 10 acquired by a camera or the like and route information stored in the memory unit 54. The control unit 57 can execute the driving control in accordance with instruction signals input via the input / output unit 50. The input instruction signals include instruction signals transmitted by wireless communication from an information terminal or the like portable by the user of the vehicle 10. The control unit 57 can also transmit information related to the driving control to the information terminal or the like via the input / output unit 50.

[0035] When the vehicle 10 has stopped at the parking start position and all passengers have disembarked, and a parking space is set as the target parking position, the control unit 57 begins controlling the vehicle 10 to travel to the parking space in response to an instruction signal transmitted via wireless communication from an information terminal or the like portable by the user of the vehicle 10.

[0036] When the control unit 57 changes the target parking position while the control unit 57 is executing the above-mentioned driving control, the notification unit 59 transmits route information regarding the driving route to the parking space of the changed target parking position to an information terminal or the like of the user of the vehicle 10. Note that the notification unit 59 may notify using, for example, the navigation device 18 of the vehicle 10. The route information notified by the notification unit 59 includes at least one of parking position information, driving route information, and surrounding environment information regarding the parking space of the changed target parking position.

[0037] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of a steering wheel 110. The torque sensor 102 detects the torque TQ applied to the steering wheel 110.

[0038] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the occupant in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0039] The communication unit 24 enables wireless communication with other communication devices 120. The other communication devices 120 include base stations, communication devices of other vehicles, and information terminals 60 such as smartphones or tablets that can be carried by the user of the vehicle 10. For example, the communication unit 24 includes a UWB (Ultra Wide Band: registered trademark) interface that enables UWB communication with the information terminal 60.

[0040] The driving force control system 26 includes a driving ECU 130. The driving force control system 26 controls the driving force of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on the operation of an accelerator pedal (not shown) by a user.

[0041] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0042] <Hardware configuration of user's information terminal 60> 4 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user of the vehicle 10. The information terminal 60 includes a processor 61, a memory 62, a communication interface 63, and a user interface 64. The processor 61, the memory 62, the communication interface 63, and the user interface 64 are connected by, for example, a bus 65.

[0043] The processor 61 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information terminal 60. The processor 61 may be realized by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). The processor 61 may also be realized by combining a plurality of digital circuits.

[0044] The memory 62 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a random access memory (RAM). The main memory is used as a work area for the processor 61.

[0045] The auxiliary memory is, for example, a non-volatile memory such as a magnetic disk, an optical disk, or a flash memory. The auxiliary memory stores various programs that operate the information terminal 60. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 61.

[0046] The auxiliary memory may also include a portable memory that is removable from the information terminal 60. Portable memories include memory cards such as a USB (Universal Serial Bus) flash drive and an SD (Secure Digital) memory card, and external hard disk drives.

[0047] The communication interface 63 is a communication interface that performs wireless communication with the outside of the information terminal 60 (for example, the communication unit 24 of the vehicle 10). For example, the communication interface 63 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 63 is controlled by the processor 61.

[0048] The user interface 64 includes, for example, an input device that accepts operation input from the user and an output device that outputs information to the user. The input device can be realized, for example, by a touch panel. The output device can be realized, for example, by a display or a speaker. The user interface 64 is controlled by the processor 61.

[0049] In response to a specific operation on the terminal screen of the information terminal 60, the processor 61 transmits an instruction for the control unit 57 of the vehicle 10 to start the above-mentioned driving control to the vehicle 10 via the communication interface 63. An application capable of managing the above-mentioned driving control by transmitting and receiving information related to the driving control of the vehicle 10 to and from the vehicle 10 is installed in the information terminal 60.

[0050] <Driving control method by control ECU 20> Next, the travel control of the vehicle 10 from the parking start position to the target parking position will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the travel control by the control ECU 20 when the vehicle 10 travels from the parking start position to the target parking position.

[0051] First, the control ECU 20 determines whether the user has issued a parking start instruction to the vehicle 10 at the parking start position (step S11). The control ECU 20 determines that the vehicle 10 is at the parking start position because the vehicle 10 has entered a predetermined parking lot area or has arrived near the destination indicated by the navigation device 18. The control ECU 20 also determines that the user has issued an instruction to start parking the vehicle 10 when the user has pressed a parking start button with a route guidance function or when the control ECU 20 has received a predetermined instruction signal transmitted from the user's information terminal or the like. The following description will be given taking as an example a case where the vehicle 10 arrives at a parking lot of a shopping mall and the user has pressed the parking start button with a route guidance function.

[0052] In step S11, if the user has not instructed to start parking the vehicle 10 (step S11: No), the control ECU 20 repeats the determination process of step S11. In step S11, if the user has instructed to start parking the vehicle 10 (step S11: Yes), the control ECU 20 starts driving control of the vehicle 10 from the parking start position to the target parking position (step S12). Note that when the vehicle 10 starts driving by the above driving control, the user does not need to be on board the vehicle 10. In other words, the control ECU 20 starts executing driving control even if all passengers have left the vehicle 10.

[0053] The target parking position is a parking space set by the user before the above instruction, or a parking space determined by the control ECU 20 based on the information stored in the storage unit 54.

[0054] While the vehicle 10 is traveling toward the target parking position, the control ECU 20 controls the traveling of the vehicle 10 toward a parking space at the target parking position based on the external environment information acquired by the external environment recognition unit 55 and route information regarding the traveling route to the target parking position. The control ECU 20 determines from the external environment information acquired while performing the traveling control whether or not an available parking space in which the vehicle 10 can be parked has been detected that is adjacent to the traveling route of the vehicle 10 to the target parking position (step S13). The control ECU 20 excludes from the parking spaces indicated by the parking position information in the route information stored in the memory unit 54 any parking space that has been selected in advance by the user of the vehicle 10 from the parking spaces to be detected as available parking spaces.

[0055] In step S13, if a parking space adjacent to the driving route is not detected (step S13: No), the control ECU 20 proceeds to step S15, which will be described later. On the other hand, if a parking space adjacent to the driving route is detected (step S13: Yes), the control ECU 20 resets the target parking position to the detected parking space (step S14). The control ECU 20 determines whether the vehicle 10 has arrived at the target parking position and has completed parking the vehicle 10 in the parking space set as the target parking position (step S15).

[0056] In step S15, if parking of the vehicle 10 at the target parking position has not been completed (step S15: No), the control ECU 20 proceeds to step S13 described above. On the other hand, if parking of the vehicle 10 at the target parking position has been completed (step S15: Yes), the control ECU 20 stores route information regarding the driving route to the target parking position in the storage unit 54 (step S16).

[0057] <Driving control by control ECU 20> Next, referring to Figures 6 to 9, driving of the vehicle 10 from the parking start position to a parking space set as a target parking position based on driving control of the control ECU 20 will be described. Figure 6 is a diagram showing an example of parking the vehicle from the parking start position to a parking space set as a target parking position. As shown in Figure 6, after a user U driving the vehicle 10 arrives at a parking lot 70 in a shopping mall, the user U gets out of the vehicle 10 and attempts to park the vehicle 10 in a parking space Ptar within the parking lot 70. In other words, the parking space Ptar is set as the target parking position.

[0058] When the user U gets out of the vehicle 10 with the information terminal 60 and operates the information terminal 60 to instruct the vehicle 10 to park using the route guidance function, the control ECU 20 of the vehicle 10 starts the driving control described above with reference to Fig. 5. The stopping position of the vehicle 10 at the time the above instruction is given is the parking start position. The control ECU 20 performs driving control from the time the vehicle 10 starts driving from the parking start position, travels along the driving route Rtar shown in Fig. 6, reaches the parking space Ptar, and parks in the parking space Ptar.

[0059] The control ECU 20 controls the driving of the vehicle 10 based on the external environment information acquired by the external environment recognition unit 55 and route information related to the driving route to the parking space Ptar stored in the storage unit 54. In this embodiment, as shown in FIG. 7 , the control ECU 20 detects a parking space Pdet adjacent to the driving route where the vehicle 10 can be parked, based on the external environment information acquired while the vehicle 10 is driving on the driving route to the parking space Ptar. The control ECU 20 determines whether it is possible to generate a travel route from the current position of the vehicle 10 to the parking space Pdet. Note that a condition is that the travel route does not overlap with other parking spaces adjacent to the parking space Pdet.

[0060] If the control ECU 20 determines that a travel route to the parking section Pdet can be generated, it resets the target parking position to the parking section Pdet. On the other hand, if the control ECU 20 determines that a travel route to the parking section Pdet cannot be generated, it does not reset the target parking position to the parking section Pdet, and continues driving control toward the parking section Ptar.

[0061] In determining whether the travel route described above can be generated, if the distance D between the branch point Bdet for heading to the parking section Pdet on the travel route Rtar leading to the parking section Ptar and the current position of the vehicle 10 is equal to or greater than a predetermined distance, the control ECU 20 determines that the travel route to the parking section Pdet can be generated. The predetermined distance compared with the distance D varies depending on the traveling speed of the vehicle 10 when making this determination. The faster the traveling speed of the vehicle 10, the longer the predetermined distance.

[0062] When the control ECU 20 resets the target parking position to the parking area Pdet, it generates route information regarding the driving route to the parking area Pdet, and transmits at least one of the parking position information, driving route information, and surrounding environment information contained in the route information to the information terminal 60 of the user U.

[0063] If the control ECU 20 determines that it is possible to generate a travel route to the parking space Pdet, it may transmit at least one of parking position information, travel route information, and surrounding environment information included in route information regarding the travel route to the parking space Pdet to the information terminal 60 of the user U before resetting the target parking position to the parking space Pdet. At this time, for example, a parking space having a different form from the parking space indicating the target parking position is displayed on the screen of the information terminal 60, superimposed on the parking space Pdet. If the control ECU 20 receives an instruction permitting resetting the target parking position to the parking space Pdet, it resets the target parking position to the parking space Pdet.

[0064] The control ECU 20 also controls the movement of the vehicle 10 from the time when the parking section Pdet is detected until the above instruction transmitted by the information terminal 60 is received. The movement of the vehicle 10 during this time may involve slowing down on the travel route leading to the parking section Ptar, or stopping travel until the above instruction transmitted by the information terminal 60 is received. When stopping travel, the vehicle 10 may stop with its turn indicators flashing to indicate to the surroundings that it is changing course to the travel route leading to the parking section Pdet, and then start traveling again after receiving the above instruction transmitted from the information terminal 60.

[0065] 8, while the vehicle 10 is traveling along a route leading to the parking section Ptar, the control ECU 20 detects multiple parking sections Pdet1, Pdet2 adjacent to the route and capable of parking the vehicle 10. If a travel route to either section can be generated, the control ECU 20 selects one of the multiple parking sections Pdet1, Pdet2 based on predetermined conditions. The control ECU 20 resets the target parking position to the selected parking section. The predetermined conditions include a condition that the distance between each branch point for heading to the parking sections Pdet1, Pdet2 on the route Rtar leading to the parking section Ptar and the current position of the vehicle 10 is equal to or shorter than the predetermined distance, or a condition that the distance between the branch point for heading to the parking sections Pdet1, Pdet2 on the route Rtar leading to the parking section Ptar and the current position of the vehicle 10 is equal to or shorter than the predetermined distance.

[0066] As shown in FIG. 9, if the control ECU 20 detects a parking area Pdet0 while the vehicle 10 is traveling along a route leading to the parking area Ptar, but the vehicle 10 cannot enter the parking area Pdet0 directly from its current position, the control ECU 20 may move the vehicle 10 back along the travel route Rtar and then reset the target parking position to the parking area Pdet0.

[0067] Furthermore, if the control ECU 20 determines from external environment information that the vehicle 10 cannot be parked in the parking space after resetting the target parking position to a parking space available for parking, it returns the target parking position to the parking space Ptar before the resetting, and performs driving control of the vehicle 10 based on the route information regarding the driving route to the parking space Ptar and the external environment information.

[0068] As described above, when the control ECU 20 of this embodiment detects an available parking space along the driving route from the parking start position to the target parking position, it resets the target parking position to the available parking space and controls the vehicle 10 to drive to the reset target parking position. In this way, parking in a parking space can be flexibly performed depending on the availability of parking spaces in the parking lot. Therefore, even if another vehicle parks at the target parking position while the vehicle 10 is driving along the driving route toward the target parking position, a parking space can be secured for the vehicle 10. This improves convenience for the user of the vehicle 10. It also alleviates the user's anxiety that a parking space may not be secured for the vehicle 10. It also satisfies the user's desire to park the vehicle 10 in a parking space as close as possible to the entrance of a facility from the parking lot. Furthermore, the route information regarding the driving route stored in the memory unit 54, which is necessary for setting the target parking position, only needs to be the driving route to the original target parking position. It is not necessary to register driving routes for all available parking spaces in the parking lot. This reduces the burden on the capacity of the memory unit 54.

[0069] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. are possible as appropriate.

[0070] In the above embodiment, an example has been described in which the moving body is a vehicle (four-wheeled automobile), but this is not limiting. For example, the moving body may be a motorcycle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may also be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move using the power of the drive source.

[0071] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0072] (1) A control device (control ECU 20) for a moving body (vehicle 10) that autonomously moves from a parking start position to a parking position, An external environment recognition unit (external environment recognition unit 55) that acquires external environment information regarding the surrounding situation of the moving object; a storage unit (storage unit 54) that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit (control unit 57) that controls the traveling of the moving body toward the parking space set as the target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. Control device.

[0073] According to (1), when an available parking space is detected along the driving route from the parking start position to the target parking position, the target parking position is reset to the available parking space, and the mobile body is controlled to travel to the reset target parking position. In this way, parking in a parking space can be flexibly performed depending on the availability of parking spaces in the parking lot. This improves convenience for users of the mobile body. It also alleviates users' concerns that they may not be able to secure a parking space for their mobile body. It also meets users' requests to park their mobile body in a parking space as close as possible to the entrance from the parking lot to the facility. Furthermore, the route information regarding the driving route stored in the memory unit required to set the target parking position only needs to be the driving route to the original target parking position, and there is no need to register driving routes for vacant parking spaces, thereby reducing the burden on the memory unit's capacity.

[0074] (2) The control device according to (1), The route information regarding the driving route to the parking position includes parking position information, driving route information, and surrounding environment information, The parking position information is position information regarding the parking position, the travel route information is information about a travel route from the parking start position to the parking position, the travel route information being associated with the parking position information, The surrounding environment information includes the external environment information acquired by the external environment recognition unit along the driving route indicated by the driving route information, and map information related to the driving route or environmental information obtained by communication with the outside. Control device.

[0075] According to (2), since the route information includes parking position information, driving route information, and surrounding environment information, driving control can be performed based on the accurate situation of the moving object.

[0076] (3) The control device according to (1) or (2), The control unit After detecting the available parking space, determining whether or not it is possible to generate a travel route from the current position of the mobile object to the available parking space; If the travel route can be generated, the target parking position is reset to the available parking section, and the travel route is generated; If the movement route cannot be generated, the target parking position is not reset to the available parking space. Control device.

[0077] According to (3), the target parking position can be reset to the available parking section only when a travel route from the current position to the available parking section can be generated.

[0078] (4) The control device according to (3), The control unit When determining whether the travel route can be generated, if a distance between a branch point for heading to the parking space on a travel route leading to the target parking position and a current position of the moving object is equal to or greater than a predetermined distance, the travel route can be generated. Control device.

[0079] According to (4), a travel path can be generated and the mobile body can be parked in a parking space only if the mobile body can move toward the parking space without backing up.

[0080] (5) The control device according to (4), The predetermined distance varies depending on the traveling speed of the moving object when the control unit determines whether the travel route can be generated. Control device.

[0081] According to (5), it is possible to accurately determine when a moving object can move toward a parking space without backing up.

[0082] (6) The control device according to (2), When the target parking position is reset to the available parking space, the control unit notifies the user of the mobile body of at least one of the parking position information, the driving route information, and the surrounding environment information included in route information regarding the driving route to the available parking space. Control device.

[0083] According to (6), the user can be notified that the target parking position has been reset to a parking space.

[0084] (7) The control device according to (2), When the control unit detects the available parking space during the driving control, notifying a user of the mobile object of at least one of the parking position information, the driving route information, and the surrounding environment information included in route information regarding a driving route to the parking space; receiving an instruction sent from the user indicating whether or not the target parking position can be reset to the available parking space; Control device.

[0085] According to (7), the target parking position can be reset to a parking space after confirmation by the user.

[0086] (8) The control device according to (1), When a plurality of available parking sections are detected during the driving control, the control section selects one of the available parking sections based on a predetermined condition. Control device.

[0087] According to (8), even if multiple available parking spaces are detected, one available parking space can be selected.

[0088] (9) The control device according to (1), When the control unit determines that the mobile object cannot be parked in the parking space after resetting the target parking position to the parking space, The target parking position is returned to the parking space before the resetting, and the driving control is performed based on route information regarding a driving route to the parking space before the resetting and the external environment information. Control device.

[0089] According to (9), if the mobile body cannot park in the parking space that has been reset as the target parking position, the target parking position can be returned to the parking space before it was reset, so that driving control can be continued.

[0090] (10) The control device according to (1), the control unit resets the target parking position to the available parking space, and when parking of the mobile object in the available parking space is completed, registers route information regarding a travel route from the parking start position to the available parking space in the storage unit. Control device.

[0091] According to (10), the number of options for the target parking position can be increased the next time the vehicle is parked.

[0092] (11) The control device according to (1), The control unit causes an information terminal carried by a user of the mobile body to display a parking space having a different form from the parking space indicating the target parking position, superimposed on the available parking space. Control device.

[0093] According to (11), the user can clearly distinguish between the parking space set as the target parking position and the space available for parking.

[0094] (12) The control device according to (3), the control unit generates a travel route from the current position of the mobile object to the available parking section so that other parking sections do not overlap on the route. Control device.

[0095] According to (12), parking can be reliably performed in a parking space.

[0096] (13) The control device according to (2), the control unit excludes a parking space selected by a user of the mobile body from among parking spaces indicated by the parking position information of the route information stored in the storage unit from detection targets as available parking spaces. Control device.

[0097] According to (13), the mobile object can be parked in a parking space according to the user's wishes.

[0098] (14) A control method for a mobile object that autonomously moves from a parking start position to a parking position, the method comprising: The moving body is an external environment recognition unit that acquires external environment information regarding the surrounding situation of the moving object; a storage unit that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit that controls the traveling of the moving object toward a parking space set as a target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. Control method.

[0099] According to (14), when an available parking space is detected along a driving route from a parking start position to a target parking position, the target parking position is reset to the available parking space, and the mobile body is controlled to travel to the reset target parking position. In this way, parking in a parking space can be flexibly performed depending on the availability of parking spaces in the parking lot. This improves convenience for users of the mobile body. It also alleviates users' concerns that they may not be able to secure a parking space for their mobile body. It also meets users' requests to park their mobile body in a parking space as close as possible to the entrance from the parking lot to the facility. Furthermore, the route information regarding the driving route stored in the memory unit required to set the target parking position only needs to be the driving route to the original target parking position, and there is no need to register driving routes for vacant parking spaces, thereby reducing the burden on the memory unit's capacity.

[0100] (15) A control program for a control device of a mobile object that moves autonomously from a parking start position to a parking position, comprising: The moving body is an external environment recognition unit that acquires external environment information regarding the surrounding situation of the moving object; a storage unit that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit that controls the traveling of the moving object toward a parking space set as a target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. A control program that executes processing.

[0101] According to (15), when an available parking space is detected along a driving route from a parking start position to a target parking position, the target parking position is reset to the available parking space, and the mobile body is controlled to travel to the reset target parking position. In this way, parking in a parking space can be flexibly performed depending on the availability of parking spaces in the parking lot. That is, convenience for users of the mobile body can be improved. Also, user anxiety about not being able to secure a parking space for the mobile body can be alleviated. Also, user requests for parking the mobile body in a parking space as close as possible to the entrance from the parking lot to the facility can be met. Furthermore, the route information regarding the driving route stored in the memory unit required for setting the target parking position only needs to be the driving route to the original target parking position, and there is no need to register driving routes for vacant parking spaces, thereby reducing the burden on the memory unit's capacity. [Explanation of symbols]

[0102] 10 Vehicles (moving objects) 20 Control ECU (control device) 54 Memory section 55 External world recognition department 57 Control Unit 60 Information terminal

Claims

1. A control device for a moving body that autonomously moves from a parking start position to a parking position, an external environment recognition unit that acquires external environment information regarding the surrounding situation of the moving object; a storage unit that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit that controls the traveling of the moving object toward a parking space set as a target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. Control device.

2. The control device according to claim 1, The route information regarding the driving route to the parking position includes parking position information, driving route information, and surrounding environment information, The parking position information is position information regarding the parking position, the travel route information is information about a travel route from the parking start position to the parking position, the travel route information being associated with the parking position information, The surrounding environment information includes the external environment information acquired by the external environment recognition unit along the driving route indicated by the driving route information, and map information related to the driving route or environmental information obtained by communication with the outside. Control device.

3. The control device according to claim 1 or 2, The control unit After detecting the available parking space, determining whether or not it is possible to generate a travel route from the current position of the mobile object to the available parking space; If the travel route can be generated, the target parking position is reset to the available parking section, and the travel route is generated; If the movement route cannot be generated, the target parking position is not reset to the available parking space. Control device.

4. The control device according to claim 3, The control unit When determining whether the travel route can be generated, if a distance between a branch point for heading to the parking space on a travel route leading to the target parking position and a current position of the moving object is equal to or greater than a predetermined distance, the travel route can be generated. Control device.

5. The control device according to claim 4, The predetermined distance varies depending on the traveling speed of the moving object when the control unit determines whether the travel route can be generated. Control device.

6. The control device according to claim 2, When the target parking position is reset to the available parking space, the control unit notifies the user of the mobile body of at least one of the parking position information, the driving route information, and the surrounding environment information included in route information regarding the driving route to the available parking space. Control device.

7. The control device according to claim 2, When the control unit detects the available parking space during the driving control, notifying a user of the mobile object of at least one of the parking position information, the driving route information, and the surrounding environment information included in route information relating to a driving route to the parking space; receiving an instruction sent from the user indicating whether or not the target parking position can be reset to the available parking space; Control device.

8. The control device according to claim 1, When a plurality of available parking sections are detected during the driving control, the control section selects one of the available parking sections based on a predetermined condition. Control device.

9. The control device according to claim 1, When the control unit determines that the mobile object cannot be parked in the parking space after resetting the target parking position to the parking space, The target parking position is returned to the parking space before the resetting, and the driving control is performed based on route information regarding a driving route to the parking space before the resetting and the external environment information. Control device.

10. The control device according to claim 1, the control unit resets the target parking position to the available parking space, and when parking of the mobile object in the available parking space is completed, registers route information regarding a travel route from the parking start position to the available parking space in the storage unit. Control device.

11. The control device according to claim 1, The control unit causes an information terminal carried by a user of the mobile body to display a parking space having a different form from the parking space indicating the target parking position, superimposed on the available parking space. Control device.

12. The control device according to claim 3, the control unit generates a travel route from the current position of the mobile object to the available parking section so that other parking sections do not overlap on the route. Control device.

13. The control device according to claim 2, the control unit excludes a parking space selected by a user of the mobile body from among parking spaces indicated by the parking position information of the route information stored in the storage unit from detection targets as available parking spaces. Control device.

14. A control method for a mobile object that autonomously moves from a parking start position to a parking position, comprising: The moving body is an external environment recognition unit that acquires external environment information regarding the surrounding situation of the moving object; a storage unit that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit that controls the traveling of the moving object toward a parking space set as a target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. Control method.

15. A control program for a control device of a mobile object that autonomously moves from a parking start position to a parking position, The moving body is an external environment recognition unit that acquires external environment information regarding the surrounding situation of the moving object; a storage unit that stores route information regarding a travel route when the moving object moves from the parking start position to a predetermined parking position; a control unit that controls the traveling of the moving object toward a parking space set as a target parking position based on the external environment information and the route information, The control unit When a parking space in which the mobile body can be parked is detected adjacent to a driving route leading to the target parking position from the external environment information obtained during execution of the driving control, the target parking position is reset to the parking space. A control program that executes processing.

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