Parking position determination device, parking position determination method, and parking position determination program

Abstract

To provide a technology that enables a user to appropriately adjust the parking position of a vehicle through intuitive operations. [Solution] A display control unit displays on the touchscreen a first image in which an icon of a vehicle is superimposed on an image including a parking space, the image being generated based on images captured by one or more cameras and the positions of obstacles around the vehicle detected by one or more distance sensors. The first icon, which is an icon of the vehicle, is composed of the vehicle's body and door sections, and includes an image of at least one door section open. The display control unit displays on the touchscreen a graphic in which the first icon moves within the parking space on the first image based on a user's sliding operation on the vehicle's body section, and the opening angle of the door section continuously changes taking into account the position of obstacles. The parking position of the vehicle is determined based on the position of the vehicle's body section in the parking space on the first image.

Description

[Technical Field]

[0001] The present invention relates to an apparatus, a method, and a program for appropriately determining a parking position for a vehicle. [Background technology]

[0002] In recent years, the importance of technology relating to controlling the parking position of a vehicle has been increasing.

[0003] Known technology for controlling parking positions is, for example, that disclosed in Patent Document 1. Patent Document 1 discloses a parking assistance device that guides a vehicle to a parking position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-058258 Summary of the Invention [Problem to be solved by the invention]

[0005] The parking assistance device described in Patent Document 1 is unable to determine the parking position of the vehicle based on an intuitive operation by the user.

[0006] Therefore, when determining the parking position of a vehicle using the technology described in Patent Document 1, it is difficult to appropriately adjust the final parking position of the vehicle, and as a result, there is a risk that the user will not be able to comfortably disembark or access the trunk.

[0007] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a technology that enables a user to appropriately adjust the parking position of a vehicle through intuitive operations. [Means for solving the problem]

[0008] A parking position determination device according to the present invention is connected to a touchscreen, one or more cameras, and one or more distance measurement sensors, and includes a display control unit. The display control unit displays a first image on the touchscreen, obtained by superimposing an icon of a vehicle on an image including a parking space, the image being generated based on images captured by the one or more cameras and the positions of obstacles around the vehicle detected by the one or more distance measurement sensors. The first icon of the vehicle is composed of a body and door parts of the vehicle, and includes an image of at least one door part open. The display control unit displays a graphic on the touchscreen in which the opening angle of the door part continuously changes in consideration of the position of the obstacle as the first icon moves within the parking space on the first image based on a user's sliding operation on the body part. The parking position of the vehicle is determined based on the position of the body part in the parking space on the first image.

[0009] The parking position determination method of the present invention is a method in which a computer connected to a touch screen, one or more cameras, and one or more ranging sensors is caused to execute a process of displaying on the touch screen a first image obtained by superimposing an icon of the vehicle on an image including a parking space, the image being generated based on images captured by the one or more cameras and the positions of obstacles around the vehicle detected by the one or more ranging sensors, and a graphic in which the opening degree of the door portion continuously changes in consideration of the position of the obstacle as the first icon, which is the icon of the vehicle, moves within the parking space on the first image based on a user's sliding operation on the body portion of the vehicle, the first icon being composed of the body portion and door portion of the vehicle, and includes an image of at least one door portion open, and the parking position of the vehicle is determined based on the position of the body portion in the parking space on the first image.

[0010] Other problems and solutions disclosed in the present application will be made clear in the detailed description and drawings. [Effects of the Invention]

[0011] According to the present invention, the parking position of the vehicle can be appropriately adjusted by an intuitive operation of the user. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram illustrating an example of a hardware configuration of a parking position determination device according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a functional block of the parking position determination device according to the embodiment. [Figure 3] FIG. 2 is a diagram showing an example of the arrangement of sensors in the vehicle. [Figure 4] FIG. 2 is a diagram schematically illustrating an example of a parking position control HMI (Human Machine Interface) provided by the parking position determination device. [Figure 5A] FIG. 10 is a diagram showing an example of an animation showing the opening degree of a side door. [Figure 5B] FIG. 10 is a diagram showing an example of an animation showing the opening degree of a side door. [Figure 6A] FIG. 2 is a diagram showing an example of a first image displayed on a touch screen. [Figure 6B] 2A and 2B are diagrams showing examples of a first image and a second image displayed on a touch screen. [Figure 7] FIG. 10 is a diagram showing an example of a visual representation showing the opening degree of a rear door in a second image. [Figure 8A] FIG. 10 is a diagram showing an example of an animation showing the opening degree of a rear door. [Figure 8B] FIG. 10 is a diagram showing an example of an animation showing the opening degree of a rear door. [Figure 8C] FIG. 10 is a diagram showing an example of an animation showing the opening degree of a rear door. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, several embodiments of the present invention will be described in detail with reference to the drawings. In the drawings used in the following description, the same or similar parts and / or elements will be designated by the same reference numerals, and duplicate descriptions may be omitted as appropriate. In addition, in some drawings, reference numerals unnecessary for the description may be omitted.

[0014] In this embodiment, the mobile body that uses a parking position determination device to autonomously control a parking position will be described as a well-known autonomous vehicle (hereinafter simply referred to as a "vehicle"). However, the uses and functions of the mobile body in the present invention are not limited to this, and the mobile body may be, for example, an agricultural machine or a construction machine, as long as it has a control device that instructs actuators that physically perform operations such as braking, shifting, and steering to perform appropriate operations based on positioning data received from one or more cameras, one or more distance measuring sensors, etc.

[0015] FIG. 1 is a diagram schematically illustrating an example of the hardware configuration of a parking position determination device 1 according to one embodiment of the present invention.

[0016] 1, the parking position determination device 1 according to this embodiment is realized by a computer device 2 connected to a touch screen 3 and one or more sensors 4. The computer device 2, the touch screen 3, and the sensors 4 are mounted on the body of the vehicle (hereinafter also simply referred to as the "body").

[0017] In the following description, the parking position determination device 1 is described as being realized by a single general-purpose computer device 2 including one or more arithmetic units 10, one or more memory devices 20, one or more input / output interfaces (31, 32), one or more communication interfaces 40, and a wired or wireless communication line 50 connecting these components.

[0018] The computer device 2 is connected to a touch screen 3 and various sensors 4 via a network such as a dedicated line. The computer device 2 and the network are connected by wire via well-known communication equipment (not shown), but may also be connected wirelessly.

[0019] Next, various functions of the parking position determination device 1 will be described with reference to Figures 1 and 2. Figure 2 is a diagram showing an example of functional blocks of the parking position determination device 1 according to this embodiment. Note that each block described below does not represent a hardware configuration, but represents a functional block.

[0020] As shown in FIG. 2, the parking position determination device 1 according to this embodiment includes a control unit 11, a storage unit 12, a user interface unit 13, and a communication unit .

[0021] The control unit 11 executes various data processing operations based on user operation input detected by the user interface unit 13, data acquired by the communication unit 14, and programs and data stored in the storage unit 12. The control unit 11 also functions as an interface between the user interface unit 13, the communication unit 14, and the storage unit 12.

[0022] The control unit 11 has the following functional blocks: a display control unit 111, a parking control unit 112, a parking path generation unit 113, and a parking instruction unit 114. The control unit 11 is configured using an arithmetic device (hereinafter also simply referred to as a "processor") 10 such as a CPU (Central Processing Unit) and various co-processors, and can realize these functional blocks by executing a predetermined program. Note that the control unit 11 may be configured using a logic circuit such as an FPGA (Field Programmable Gate Array) instead of a processor. The control unit 11 may also be configured by combining a processor and a logic circuit.

[0023] The program executed by the control unit 11 may be installed from a program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium. The program executed by the control unit 11 may also be composed of a device driver, an operating system, various application programs located at higher levels than those, and a library that provides common functions to these programs. Furthermore, two or more programs may be realized as one program, or one program may be realized as two or more programs.

[0024] The display control unit 111 displays a first image and a second image on the touch screen 3. The first image is obtained by superimposing an icon representing the vehicle from a side view (hereinafter also referred to as a "first vehicle icon" and / or a "first icon") on an image including a parking space. The image including the parking space is generated based on images captured by one or more cameras and the positions of obstacles around the vehicle detected by one or more distance sensors. The second image includes an object indicating the position of the obstacle and an icon representing the vehicle from a side view (hereinafter also referred to as a "second vehicle icon" and / or a "second icon").

[0025] The parking control unit 112 automatically controls the parking of the vehicle based on the instruction received from the parking instruction unit 114.

[0026] The parking path generation unit 113 generates a parking path leading to the determined parking position of the vehicle.

[0027] The parking instruction unit 114 outputs the above instruction to the parking control unit 112. This instruction is to move the vehicle to the determined parking position based on the generated parking route.

[0028] The specific contents of these functions will be described later.

[0029] The memory unit 12 is configured using a storage device 20 such as a RAM (Random Access Memory) or a flash memory, and stores programs that supply various processing commands to the control unit 11 and data representing various information used in the processing executed by the control unit 11. For example, data related to a human-machine interface (HMI) for parking position control generated by the display control unit 111, data related to a parking path generated by the parking path generation unit 113, etc. are stored in the memory unit 12. The control unit 11 can implement the functional blocks of the display control unit 111, the parking control unit 112, the parking path generation unit 113, and the parking instruction unit 114 described above by reading and writing this information to the memory unit 12.

[0030] The above-described human-machine interface related to parking position control realized by the display control unit 111 will also be referred to as a "parking position control HMI" hereinafter.

[0031] The user interface unit 13 accepts input operations from the user and is responsible for processing related to the user interface, such as image display and audio output. The user interface unit 13 has functional blocks of an input unit 131 and an output unit 132. The input unit 131 detects various operations from the user. The input unit 131 is configured using, for example, a touch screen 3, a pointing device, etc. The output unit 132 executes, for example, screen display and audio output for the user. The output unit 132 is configured using, for example, a touch screen 3, a liquid crystal display, etc.

[0032] The communication unit 14 is responsible for communication processing with other devices such as the touch screen 3 and various sensors 4 via a network. The communication unit 14 is configured using, for example, a NIC (Network Interface Card) or an HBA (Host Bus Adapter).

[0033] In this embodiment, the functions of the parking position determination device 1 have been described as being integrally realized by a single computer device 2. However, these functions may also be realized by a plurality of interconnected computer devices 2. Furthermore, the parking position determination device 1 may be configured to include a general-purpose computer device such as a laptop PC, or may be configured to include various types of portable devices.

[0034] Furthermore, the description of each function is an example, and multiple functions may be combined into one function, or one function may be divided into multiple functions.

[0035] Next, the sensors 4 mounted on the vehicle will be described. Figure 3 is a diagram showing an example of the arrangement of the sensors 4 on the body of the vehicle.

[0036] As shown in Fig. 3, various sensors 4 such as sonars and cameras are installed on the body of the vehicle. In this embodiment, four front sonars, four rear sonars, four side sonars, and four cameras are installed on the body of the vehicle as sensors 4. In addition, one or more LiDAR (Light Detection And Ranging) sensors (not shown) are installed on the body of the vehicle according to this embodiment. These sensors 4 are each connected to the parking position determination device 1 as shown in Figs. 1 and 2.

[0037] As described above, the display control unit 111 displays an image including the parking space 41 on the touch screen 3. This image including the parking space 41 is generated based on an image captured by a camera and the positions of obstacles around the vehicle detected by distance measuring sensors such as sonar and LiDAR sensors. That is, the positions of the parking space 41 and obstacles around the vehicle are detected by these sensors 4.

[0038] The number, type and / or location of the sensors 4 can be changed as appropriate.

[0039] Next, we will explain an example of the operation of the parking position determination device 1. Figure 4 is a diagram that schematically shows an example of a parking position control HMI provided by the parking position determination device 1.

[0040] As shown in Fig. 4, the parking position determination device 1 is a device for realizing a parking position control HMI. This parking position control HMI is a human-machine interface that allows the occupant of the vehicle (i.e., the user of the parking position determination device 1) to appropriately adjust the parking position of the vehicle through intuitive operations. In the case of automatic parking, the parking position determination device 1 provides the occupant with the parking position control HMI before automatic parking begins.

[0041] The parking position control HMI includes the first image 400 described above, which is obtained by superimposing a first vehicle icon 42 on an image including a parking space 41. As described above, this first image 400 is displayed on the touch screen 3 by the display control unit 111 when the display control unit 111 receives information representing the parking space 41 and the positions of obstacles around the vehicle detected by the sensor 4. A user of the parking position determination device 1 (i.e., an occupant of the vehicle) can freely move the first vehicle icon 42 by a slide operation or a drag operation.

[0042] The first vehicle icon 42 is composed of a body part of the vehicle (hereinafter also referred to as "body part (of the vehicle)") and a side door part of the vehicle (hereinafter referred to as "door part (of the vehicle)"). The parking position determination device 1 determines the parking position of the vehicle based on the stopping position of the body part in the parking space 41 on the first image 400. That is, the parking position determination device 1 determines the parking position of the vehicle based on the final stopping position of the first vehicle icon 42 in the parking space 41 on the first image 400.

[0043] 5A and 5B are diagrams showing examples of animations that indicate the opening degree of the side doors.

[0044] As shown in Figures 5A and 5B, the first vehicle icon 42 includes an image of at least one side door section open.

[0045] In the parking position control HMI, an animation is displayed on the first image 400, showing how the opening degrees of one or more side doors change dynamically and continuously as the first vehicle icon 42 slides. That is, by using this animation, the display control unit 111 of the parking position determination device 1 visualizes, on the first image 400, the dynamic and continuous change in the opening degrees of one or more side doors as the first vehicle icon 42 slides.

[0046] On the first image 400, the display control unit 111 of the parking position determination device 1 displays the opening degree of the side door part of the first vehicle icon 42 using the following color code in order to visualize it. (1) Red = It is almost impossible to get off the bus. (2) Yellow = You can get off, but it's uncomfortable. (3) Green = Comfortable disembarkation.

[0047] For example, in FIG. 5A , a first vehicle icon 42 is located to the right of a parking space 41 on the first image 400. In this state, when a user of the parking position determination device 1 moves the first vehicle icon 42 from the right to the left within the parking space 41 by a sliding or dragging operation, the first vehicle icon 42 dynamically and continuously moves to the left. As the first vehicle icon 42 moves, the change in the opening degree of the side door section of the first vehicle icon 42 is dynamically and continuously visualized using the color code. In this way, the display control unit 111 of the parking position determination device 1 continuously changes the graphic representation of the portion of the first vehicle icon 42 that indicates the opening degree of one or more side doors in accordance with the dynamic and continuous change in the opening degree of the side door.

[0048] When the user stops sliding the first vehicle icon 42 and determines the final stopping position of the first vehicle icon 42 in the parking space 41 on the first image 400, the display control unit 111 of the parking position determination device 1 determines the parking position of the vehicle at the final stopping position of the first vehicle icon 42. In this way, the parking position determination device 1 provides the user with the possibility to adjust the completed parking position of the vehicle.

[0049] As a result, the parking path generation unit 113 generates a parking path toward the determined parking position of the vehicle, as described above. Then, the parking instruction unit 114 generates an instruction to move the vehicle to the determined parking position based on the generated parking path, and outputs this instruction to the parking control unit 112. Furthermore, the parking control unit 112 receives the instruction from the parking instruction unit 114, and automatically performs parking control of the vehicle based on the instruction.

[0050] The display control unit 111 of the parking position determination device 1 may change the above-described color code to another color code. The display control unit 111 may also change the above-described graphic display to another graphic display. The display control unit 111 may also display a numerical value indicating the opening degree of the vehicle door on the first image 400.

[0051] 6A is a diagram showing, for convenience, an example of the above-mentioned first image 400 displayed on the touch screen 3. Also, FIG. 6B is a diagram showing an example of the first image 400 and the second image 600 displayed on the touch screen 3.

[0052] As described above, this second image 600 is displayed on the touch screen 3 together with the first image 400 by the display control unit 111. That is, the parking position control HMI further includes the second image 600. As shown in FIG. 6B, the second image 600 includes an object indicating the position of the obstacle 72 and a second vehicle icon 70 (i.e., an icon representing the vehicle from a side perspective).

[0053] FIG. 7 is a diagram showing an example of a visual representation of the opening degree of rear door 71 in second image 600. In FIG.

[0054] As shown in FIG. 7, on the second image 600, the display control unit 111 of the parking position determination device 1 can continuously change the graphic representation of the part of the second vehicle icon 70 indicating the opening degree of the rear door 71 according to the opening degree of the rear door 71.

[0055] On the second image 600, the display control unit 111 of the parking position determination device 1 displays the opening degree of the rear door part of the second vehicle icon 70 using the following color code in order to visualize it. (1) Red = Trunk access is nearly impossible. (2) Yellow = Trunk access possible but uncomfortable. (3) Green = Easy access to trunk.

[0056] For example, in FIG. 7 , on the second image 600, a second vehicle icon 70 is positioned in front of an object indicating the position of an obstacle 72. In this state, when a user of the parking position determination device 1 moves the first vehicle icon 42 in the forward / backward direction on the first image 400 by a slide operation or a drag operation, the second vehicle icon 70 moves dynamically and continuously in the forward / backward direction on the second image 600 in accordance with the sliding movement of the first vehicle icon 42 on the first image 400. Furthermore, as the first vehicle icon 42 moves, changes in the opening degree of the rear door section of the second vehicle icon 70 are dynamically and continuously visualized using the color code. In this way, the display control unit 111 of the parking position determination device 1 continuously changes the graphic representation of the portion of the second vehicle icon 70 indicating the opening degree of the rear door 71 in accordance with the dynamic and continuous change in the opening degree of the rear door 71.

[0057] The display control unit 111 of the parking position determination device 1 may change the above-described color code to another color code. The display control unit 111 may also change the above-described graphic display to another graphic display. The display control unit 111 may also display a numerical value indicating the opening degree of the rear door of the second vehicle icon 70 on the second image 600.

[0058] 8A, 8B, and 8C are diagrams showing examples of animations that indicate the opening degree of rear door 71. FIG.

[0059] As shown in Figures 8A, 8B and 8C, a third icon 80 representing a person is displayed on the second image 600 between the second vehicle icon 70 and the object indicating the position of the obstacle 72.

[0060] Furthermore, on the second image 600, the display control unit 111 of the parking position determination device 1 can continuously change the graphic representation of the third icon 80 indicating the opening degree of the rear door 71 according to the opening degree of the rear door 71, as shown in Figures 8A, 8B and 8C.

[0061] In the second image 600, the display control unit 111 of the parking position determination device 1 displays the opening degree of the rear door portion of the third icon 80 using the following color code in order to visualize the opening degree. (1) Red = Trunk access is nearly impossible. (2) Yellow = Trunk access possible but uncomfortable. (3) Green = Easy access to trunk.

[0062] 8A, 8B, and 8C, the second vehicle icon 70 is positioned in front of an object indicating the position of the obstacle 72 on the second image 600. In this state, when the user of the parking position determination device 1 moves the first vehicle icon 42 forward or backward on the first image 400 by a sliding operation or a dragging operation, the above-described graphic representation of the third icon 80 changes dynamically and continuously on the second image 600 in accordance with the sliding movement of the first vehicle icon 42 on the first image 400. Furthermore, the change in the third icon 80 is dynamically and continuously visualized by the above-described color code in accordance with the movement of the first vehicle icon 42. In this way, the display control unit 111 of the parking position determination device 1 continuously changes the graphic representation of the third icon 80 in accordance with the dynamic and continuous change in the opening degree of the rear door 71.

[0063] The display control unit 111 of the parking position determination device 1 may change the above-described color code to another color code. Also, the display control unit 111 may change the above-described graphic representation on the second image 600 to another graphic representation.

[0064] As a result, the parking position determination device 1 can appropriately adjust the final parking position of the vehicle through intuitive operations.

[0065] The present invention is not limited to the above embodiment, and can be implemented using any components within the scope of the present invention. For example, the parking control unit 112 and / or the parking path generation unit 113 may be provided in a device other than the parking position determination device 1.

[0066] The above-described embodiments and modifications are merely examples, and the present invention is not limited to these details as long as the features of the invention are not impaired. Furthermore, although various embodiments and modifications have been described above, the present invention is not limited to these details. Other aspects that can be considered within the scope of the technical idea of ​​the present invention are also included within the scope of the present invention. [Explanation of symbols]

[0067] 1: Parking position determination device 2: Computer equipment (computer) 3: Touchscreen 4: Sensor 10: Processing unit (processor) 11: Control unit 12: Storage part 13: User interface section 14: Communications Department 20: Storage device 31: Input interface 32: Output interface 40: Communication interface 41: Parking space 42: First vehicle icon (first icon) 43: Parking route 50:Communication line 70: Second vehicle icon (second icon) 71: Rear door (hatch) 72: Obstacle 80: Third Icon 111: Display control unit 112: Parking control unit 113: Parking path generation unit 114: Parking instructions 131: Input section 132: Output section 400: First image 600: Second image

Claims

1. A parking location device connected to a touch screen, one or more cameras, and one or more distance sensors, comprising: a display control unit that displays on the touch screen a first image obtained by superimposing an icon of the vehicle on an image including a parking space, the image being generated based on images captured by the one or more cameras and positions of obstacles around the vehicle detected by the one or more distance measuring sensors; the first icon, which is an icon of the vehicle, is configured with a body part and door parts of the vehicle, and includes an image in which at least one door part is open; the display control unit displays on the touch screen a graphic in which the opening degree of the door portion continuously changes in consideration of the position of the obstacle as the first icon moves within the parking space on the first image based on a slide operation by the user on the vehicle body portion; the parking position of the vehicle is determined based on the position of the vehicle body part in the parking space on the first image; Parking position determination device.

2. the display control unit continuously changes a graphic representation of a part of the first icon representing the opening degree of the one or more doors in accordance with the opening degree of the one or more doors. The parking position determining device according to claim 1.

3. The display control unit a second image including an object indicating the position of the obstacle and a second icon representing the vehicle from a side view; a graphic in which the opening degree of a rear door portion on the second image continuously changes in consideration of the position of the obstacle as the first icon moves within the parking space on the first image based on a slide operation by the user on the first icon; on the touch screen. The parking position determining device according to claim 1.

4. the second image has a third icon representing a person displayed between the second icon and an object indicating the position of the obstacle; the display control unit changes the graphic display of the third icon depending on the opening degree of the rear door. The parking position determining device according to claim 3.

5. The parking control device further includes a parking instruction unit that outputs an instruction to move the vehicle to the determined parking position based on the determined parking route toward the parking position of the vehicle to a parking control unit that performs parking control of the vehicle. The parking position determining device according to claim 1.

6. the display control unit starts displaying the first image on the touch screen before automatic parking is started, The parking position determining device according to claim 1.

7. 1. A method for determining a parking position, comprising: a computer connected to a touch screen, one or more cameras, and one or more distance sensors; a first image obtained by superimposing an icon of the vehicle on an image including the parking space, the image being generated based on the images captured by the one or more cameras and the positions of obstacles around the vehicle detected by the one or more distance measuring sensors; and a graphic in which the opening degree of the door portion continuously changes in consideration of the position of the obstacle as a first icon, which is an icon of the vehicle, moves within the parking space on the first image based on a user's sliding operation on the vehicle body portion; on the touch screen; the first icon is configured with a body part and door parts of the vehicle, and includes an image in which at least one door part is open; the parking position of the vehicle is determined based on the position of the vehicle body part in the parking space on the first image; Parking location determination method.

8. A computer connected to a touchscreen, one or more cameras, and one or more distance sensors, a first image obtained by superimposing an icon of the vehicle on an image including the parking space, the image being generated based on the images captured by the one or more cameras and the positions of obstacles around the vehicle detected by the one or more distance measuring sensors; and a graphic in which the opening degree of the door portion continuously changes in consideration of the position of the obstacle as a first icon, which is an icon of the vehicle, moves within the parking space on the first image based on a user's sliding operation on the vehicle body portion; on the touch screen; the first icon is configured with a body part and door parts of the vehicle, and includes an image in which at least one door part is open; the parking position of the vehicle is determined based on the position of the vehicle body part in the parking space on the first image; Computer program.

Images