Automatic valet parking system and automatic valet parking method

Abstract

To suppress a decrease in accuracy of stopping a vehicle at its final destination when automatic valet parking of the vehicle is performed by receiving a travel path including information on the maximum speed from an external device. [Solution] Vehicle control for automatic valet parking includes a process for applying an upper limit guard to the maximum speed of a target path point based on information on the target position of a path end point included in a travel path and information on the target position of the target path point included in the travel path. The process for applying the upper limit guard includes a process for determining whether the distance from the target position of the target path point to the target position of the path end point is equal to or less than a guard threshold, and a process for replacing the maximum speed of the target path point with the minimum speed among a preset guard speed and the maximum speeds of multiple path points included in the travel path, if it is determined that this distance is equal to or less than the guard threshold.

Description

[Technical Field]

[0001] The present disclosure relates to automated valet parking (AVP) of a vehicle within a predetermined area, such as a parking lot. [Background technology]

[0002] Patent Document 1 discloses a method for guiding a vehicle in a parking lot. In this method, an external device identifies a travel path for remotely controlling the vehicle to be guided and transmits the path to the vehicle. In the method, the external device also monitors deviations of the vehicle, which is autonomously traveling within the parking lot, from the travel path based on the travel path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6756828 Summary of the Invention [Problem to be solved by the invention]

[0004] Although Patent Document 1 does not specifically mention it, the information contained in the travel path may be location information and maximum speed information. The location information is information indicating the position within the parking lot where the guided vehicle should pass, and is given as, for example, two-dimensional coordinates. The maximum speed information is information indicating the maximum speed (upper limit speed) that the guided vehicle should observe.

[0005] The maximum speed may be changed depending on the position of the travel path, the travel conditions of the vehicle to be guided, etc. For example, the maximum speed for a travel path for a straight passage may be set to be higher than that for a travel path for a curved passage. Furthermore, the maximum speed when the distance from the vehicle to an obstacle (e.g., another vehicle, a structure) is short may be set to be lower than that when the distance to the obstacle is long.

[0006] If the maximum speed is changed from a low speed to a high speed, it will be possible to shorten the time it takes to reach the final destination in the parking lot (the parking position when entering, or the loading / unloading position when leaving). However, if the maximum speed is changed in this way near the final destination, it will be difficult to stop accurately at the final destination.

[0007] One objective of the present disclosure is to provide a technology that can suppress a decrease in the accuracy of stopping a vehicle at its final destination when automatic valet parking of a vehicle is performed by receiving a driving path including maximum speed information from an external device. [Means for solving the problem]

[0008] A first aspect of the present disclosure is a system for performing automatic valet parking of a vehicle within a predetermined area, and has the following features. The system includes a management device and a control device. The management device manages the automated valet parking. The control device is mounted on the vehicle. The control device also controls the vehicle for the automated valet parking based on the driving path received from the management device. The travel path includes a plurality of path points, each of which includes information on a target position of the vehicle and information on a maximum speed of the vehicle. The vehicle control includes processing for imposing an upper limit guard on the maximum speed of a target path point based on information on the target position of a path end point included in the plurality of path points and indicating the end point of the driving path, and information on the target position of a target path point included in the plurality of path points. The process of applying the upper limit guard includes a process of determining whether the distance from the target position of the target path point to the target position of the path end point is equal to or less than a guard threshold, and if it is determined that the distance is equal to or less than the guard threshold, a process of replacing the maximum speed of the target path point with the minimum speed among a pre-set guard speed and the maximum speeds included in each of the multiple path points.

[0009] A second aspect of the present disclosure is a method for performing automatic valet parking of a vehicle within a predetermined area, which has the following features. The method includes a process in which a control device of the vehicle intermittently receives a driving path from a management device that manages the automatic valet parking, and a process in which the control device controls the vehicle for the automatic valet parking based on the driving path. The travel path includes a plurality of path points, each of which includes information on a target position of the vehicle and information on a maximum speed of the vehicle. The vehicle control includes processing for imposing an upper limit guard on the maximum speed of a target path point based on information on the target position of a path end point included in the plurality of path points and indicating the end point of the driving path, and information on the target position of a target path point included in the plurality of path points. The process of applying the upper limit guard includes a process of determining whether the distance from the target position of the target path point to the target position of the path end point is equal to or less than a guard threshold, and if it is determined that the distance is equal to or less than the guard threshold, a process of replacing the maximum speed of the target path point with the minimum speed among a pre-set guard speed and the maximum speeds included in each of the multiple path points. [Effects of the Invention]

[0010] According to the first or second aspect, it is determined whether the distance from the target position of the target path point to the target position of the path end point is equal to or less than a guard threshold. If it is determined that this distance is equal to or less than the guard threshold, the maximum speed of the target path point is replaced with the lowest speed among a preset guard speed and the maximum speed of the vehicle included in each of the multiple path points. This replacement imposes an upper limit guard on the target path point. Therefore, it is possible to suppress a decrease in the accuracy of stopping the vehicle at the path end point. If the target position of the path end point is the vehicle's final destination, it is also possible to suppress a decrease in the accuracy of stopping the vehicle at this final destination. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of an automatic valet parking system. [Figure 2] FIG. 1 is a diagram illustrating an example of the configuration of a vehicle system. [Figure 3] FIG. 1 is a diagram illustrating an example of a travel path. [Figure 4] FIG. 10 is a diagram illustrating a problem occurring near a stopping position of a vehicle. [Figure 5] FIG. 10 is a diagram illustrating a problem occurring near a stopping position of a vehicle. [Figure 6] FIG. 10 is a diagram illustrating an upper limit guard process. [Figure 7] 10 is a flowchart illustrating an example of processing particularly related to the embodiment. [Figure 8] 10 is a flowchart illustrating an example of processing particularly related to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will be simplified or omitted.

[0013] 1. Example of overall system configuration An AVP system is a system that automatically parks a vehicle within a specified area such as a parking lot, factory, or facility premises. Figure 1 is a diagram showing an example of the configuration of an AVP system. Figure 1 illustrates a parking lot PK as the specified area. The parking lot PK has a configuration capable of executing AVP. The configuration capable of executing AVP includes a boarding / exiting space PD and a parking space PS. The boarding / exiting space PD is a space for disembarking from and / or boarding a vehicle VH. The parking space PS is a space for parking the vehicle VH. The configuration capable of executing AVP also includes markers that assist the movement of the vehicle VH within the parking lot PK, and sensors (e.g., cameras, radar) that monitor the vehicle VH.

[0014] FIG. 1 also illustrates a server (hereinafter also referred to as "parking lot server") 10 that manages the AVP in the parking lot PK. The parking lot server 10 is a configuration equivalent to the "management device" of the present disclosure. The parking lot server 10 performs various processes related to the management of AVP reservations in the parking lot PK. The parking lot server 10 also performs various processes related to the management of the operating authority of the vehicle VH required for the AVP in the parking lot PK. The parking lot server 10 further acquires various information from sensors in the parking lot PK, and performs various processes related to the execution of the AVP in the parking lot PK based on this information. The parking lot server 10 may be a combination of a server (local server) that performs various processes related to the execution of the AVP and a server (cloud server) that performs various processes related to the management of the AVP.

[0015] The parking lot server 10 is typically a computer including at least one processor 11, at least one storage device 12, and a communication I / F (interface) 13. The processor 11 executes various processes. Examples of the processor 11 include a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array). The processor 11 can also be called a "circuitry" or a "processing circuitry." The "circuitry" is hardware that is programmed to realize a described function, or hardware that executes a function. The processor 11 reads various information from the storage device 12 and stores various information in the storage device 12.

[0016] Examples of the storage device 12 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), and SSD (Solid State Drive). Examples of various information stored in the storage device 12 include parking lot map information, parking lot usage information, and vehicle management information. The parking lot map information indicates map information of the parking lot PK. The parking lot usage information is information regarding the usage status (vacancy information) of the boarding and alighting spaces PD and parking spaces PS within the parking lot PK. The vehicle management information includes information such as the vehicle ID, entry and exit times, and vehicle position. The vehicle management information is managed for each vehicle VH. The vehicle ID is identification information for the vehicle VH. The entry and exit times are information regarding the entry and exit times of the vehicle VH (e.g., reservation time, actual time, etc.). The vehicle position indicates information regarding the position of the vehicle VH within the parking lot PK.

[0017] The communication I / F 13 is an interface for communicating with devices external to the parking lot server 10 to send and receive information. For example, the communication I / F 13 is made up of devices for connecting to surrounding devices via wireless LAN, devices for connecting to a mobile communication network, devices for connecting to the Internet, etc. The parking lot server 10 sends and receives information to and from the vehicle VH (vehicle system 20) via the communication I / F 13. The parking lot server 10 also sends and receives information to and from the central server 30 via the communication I / F 13.

[0018] Fig. 2 is a diagram showing an example of the configuration of vehicle system 20. In the example shown in Fig. 2, vehicle system 20 is installed in each vehicle VH as a system capable of executing AVP. In the example shown in Fig. 2, vehicle system 20 includes a control device 21, sensors 22, a communication I / F 23, and an in-vehicle device 24.

[0019] The control device 21 is communicatively connected to the sensors 22, the communication I / F 23, and the in-vehicle device 24. The control device 21 is a computer that performs information processing related to the control of the vehicle VH based on various information. The control device 21 includes at least one processor 25 and at least one storage device 26. An example configuration of the processor 25 is the same as that of the processor 11 shown in FIG. 1. Furthermore, an example configuration of the storage device 26 is the same as that of the storage device 12 shown in FIG. 1. The processor 25 cooperates with the storage device 26 to realize information processing related to the control of the vehicle VH.

[0020] For example, the control device 21 is configured with one or more ECUs (Electronic Control Units). In another example, the control device 21 is configured with a kit (e.g., an AVP kit) for functions provided by the parking lot server 10. The control device 21 generates and outputs a control signal for the vehicle VH through information processing. When the vehicle VH receives an instruction INS for an AVP operation (e.g., an entry operation, an exit operation, etc.) from the parking lot server 10, the control device 21 generates a control signal CON for the AVP operation. The control signal CON is transmitted to the in-vehicle device 24.

[0021] The sensors 22 detect information about the surrounding environment and driving conditions of the vehicle VH. Examples of the sensors 22 include a camera, radar, LiDAR, a wheel speed sensor, an IMU (Inertial Measurement Unit), and a GNSS (Global Navigation Satellite System) sensor.

[0022] The communication I / F 23 is an interface for communicating with devices external to the vehicle VH to send and receive information. The vehicle VH sends and receives information to and from the parking lot server 10 via the communication I / F 23. The vehicle VH can also send and receive information to and from the user terminal 40 via the communication I / F 23.

[0023] The in-vehicle device 24 includes lighting devices, interior lighting devices, a horn, direction indicators, wipers, doors, door windows, mirrors, drive devices, braking devices, steering devices, an HMI (Human Machine Interface), etc. Each device of the in-vehicle device 24 includes an actuator 27 that can be controlled by the control device 21. The in-vehicle device 24 receives a control signal from the control device 21. The actuator 27 operates in accordance with the control signal, thereby controlling the in-vehicle device 24 by the control device 21. Furthermore, control of the vehicle VH is realized by the control of the in-vehicle device 24. The actuator 27 operates in accordance with a control signal CON for AVP operation, thereby realizing vehicle control for AVP operation.

[0024] Returning to Figure 1, we will continue to explain the overall configuration example. Figure 1 also illustrates a central server 30. The central server 30 is a server (cloud server) that manages the entire AVP service. The central server 30 manages users who use the AVP service (hereinafter also referred to as "AVP users"), vehicles that have the vehicle system 20 (i.e., vehicles VHs), etc. The management of AVP users includes authentication of AVP users, management of AVP reservations by AVP users, etc. The management of vehicles VHs includes management of vehicle information of vehicles VHs, management of operating authority of vehicles VHs, management of AVP operation logs of vehicles VHs, etc.

[0025] The central server 30 is typically a computer including at least one processor 31, at least one storage device 32, and a communication I / F 33. An example of the configuration of the processor 31 is the same as that of the processor 11. An example of the configuration of the storage device 32 is the same as that of the storage device 12.

[0026] Examples of various information stored in the storage device 32 include AVP reservation information, user information, and AVP vehicle information. The AVP reservation information is information related to AVP reservations made by AVP users. The AVP reservation information includes information such as the parking lot the AVP user wishes to use and the entry and exit times. The user information includes information such as the user ID of the AVP user and the vehicle ID of the vehicle used by the AVP user. The user information is managed for each AVP user. The AVP vehicle information includes information such as the vehicle ID of the vehicle having the vehicle system 20, the IP address of the vehicle system 20, and the AVP operation log by the vehicle system 20.

[0027] The communication I / F 33 is an interface for communicating with devices external to the central server 30 to send and receive information. For example, the communication I / F 33 is made up of devices for connecting to surrounding devices via wireless LAN, devices for connecting to a mobile communication network, devices for connecting to the Internet, etc. The central server 30 sends and receives information to and from the parking lot server 10 via the communication I / F 33. The central server 30 also sends and receives information to and from the user terminal 40 via the communication I / F 33.

[0028] The user terminal 40 is a terminal carried by an AVP user (e.g., a smartphone). The AVP user transmits and receives information to and from the vehicle VH (vehicle system 20) by operating the user terminal 40. The AVP user also transmits and receives information to and from the central server 30 by operating the user terminal 40. The user terminal 40 is used by the AVP user to register for and reserve use of the AVP service. The user terminal 40 is also used as appropriate for AVP in the parking lot PK. Note that, instead of operating the user terminal 40, information related to AVP may be transmitted and received by operating the in-vehicle device 24 (e.g., HMI) shown in FIG. 2.

[0029] 2. Travel path and travel plan When executing AVP (entry), for example, the parking lot server 10 transmits and receives information to the central server 30 to obtain the authority to operate the vehicle VH waiting in the loading / unloading space PD. This operation authority is transferred to the parking lot server 10, allowing the parking lot server 10 (processor 11) to execute the AVP of the vehicle VH. The vehicle system 20 (processor 25) generates a control signal CON in accordance with the instruction INS for the AVP operation (entry operation) received from the parking lot server 10, and controls the in-vehicle device 24 to perform vehicle control for the AVP operation (entry operation).

[0030] When performing AVP (leaving), for example, the vehicle system 20 (processor 25) generates a control signal CON according to an instruction INS for the AVP operation (leaving operation) received from the parking lot server 10, generates the control signal CON, and controls the in-vehicle device 24 to perform vehicle control for the AVP operation (leaving operation). When the vehicle VH arrives at the boarding / alighting space PD, the parking lot server 10 transmits and receives information to and from the central server 30 and returns the operation authority for the vehicle VH. When this operation authority is transferred to the central server 30, the execution of the AVP for the vehicle VH by the parking lot server 10 (processor 11) ends.

[0031] The instruction INS for AVP operation includes information on the travel path PT. The travel path PT is a set of path points PP in the parking lot PK that the vehicle VH must pass through from its current location to its destination. The instruction INS is generated sequentially based on information on the surrounding environment and travel conditions of the vehicle VH obtained from sensors in the parking lot PK. Information obtained from sensors 22 of the vehicle VH may also be used to generate the instruction INS. The generated instruction INS is sequentially transmitted from the parking lot server 10 to the vehicle VH. The instruction INS transmitted at each timing includes information on the travel path PT in the traveling direction of the vehicle VH.

[0032] FIG. 3 is a diagram illustrating an example of a travel path PT. In FIG. 3, the travel path PT is depicted ahead of the vehicle VH. The travel path PT includes a section path PT-ID1, a section path PT-ID2, and a section path PT-ID3. The section paths PT-ID1, PT-ID2, and PT-ID3 are each included in the instructions INS sequentially received by the vehicle VH (vehicle system 20) during AVP operation, and are identified by a unique ID assigned to each section path PT-IDk (k≧1).

[0033] Section path PT-IDk includes a path point PP (hereinafter also referred to as "path end point PPf") indicating the end point of section path PT-IDk. In the example shown in Fig. 3, section path PT-ID1 includes path end point PPf and path points PPf-1, PPf-2, PPf-3, and PPf-4 that are located before this path end point PPf. Path point PPf-4 can also be considered as a path point PP indicating the start point of section path PT-ID1. The configurations of the path points PP of section paths PT-ID2 and PT-ID3 are basically the same as the configuration of the path point PP of section path PT-ID1.

[0034] Each path point PP included in the section path PT-IDk includes, for example, position information, steering angle information, maximum speed information, and curvature information. The position information indicates the target position of the vehicle VH and is expressed in the two-dimensional coordinate system (x, y) of the parking lot PK. The steering angle information indicates the target steering angle of the vehicle VH at the path point PP. The maximum speed information indicates the maximum allowable speed of the vehicle VH at the path point PP. The curvature information indicates the curvature of the section path PT-IDk.

[0035] The vehicle system 20 sets a driving plan for following the section path PT-IDk based on information included in each path point PP of the section path PT-IDk and information on the surrounding environment and driving conditions of the vehicle VH. The set driving plan includes a speed plan and a steering angle plan. The vehicle system 20 also controls the vehicle in accordance with the set driving plan. Specifically, the vehicle system 20 calculates the deviation (e.g., speed deviation, lateral position deviation, yaw angle deviation) between the vehicle VH and the driving plan, generates control target values ​​(e.g., target acceleration, target steering angle) that reduce the deviation, and transmits a control signal CON to the actuators 27 (e.g., drive actuator, braking actuator, and steering actuator). This causes the AVP operation along the driving path PT to be performed.

[0036] 3. Issues near the stopping point The travel plan is set based on the latest section path held by the vehicle system 20. For example, consider a case where section path PT-IDk is received from the parking lot server 10 during AVP operation based on a travel plan that follows section path PT-IDk-1. In this case, the vehicle system 20 takes into consideration information about the surrounding environment and travel conditions of the vehicle VH, sets a travel plan for following section path PT-IDk, which is the latest section path, and performs vehicle control for AVP operation.

[0037] The problem here occurs when the position of the vehicle VH is close to the stopping position. Figures 4 and 5 are diagrams explaining the issue near the stopping position of the vehicle VH. Figure 4 shows an example of a speed plan V / PT-IDk that follows the section path PT-IDk. The section path PT-IDk is the latest section path at the current time. The section path PT-IDk is, for example, a section path when the target position (x, y) indicated by the path end point PPf corresponds to the final destination of the vehicle VH. In another example, the section path PT-IDk is a section path when the target position (x, y) indicated by the path end point PPf corresponds to a temporary stop position due to the approach of a moving object to the vehicle VH.

[0038] 4, the position (current position) of the vehicle VH at the current time is assumed to be closer to the target position (x, y) indicated by the path point PPf-3 / PT-IDk. The speed plan V / PT-IDk is designed to decelerate while passing through each path point (path points PPf-3, PPf-2, PPf-1, and PPf) included in the section path PT-IDk, and to stop (speed V=0) at the path end point PPf / PT-IDk.

[0039] 4 also illustrates the maximum speed Vmax / PT-IDk. The maximum speed Vmax / PT-IDk is a concatenation of the allowable maximum speeds indicated by each path point (path points PPf, PPf-1, PPf-2, PPf-3, etc.) included in the section path PT-IDk. In the example shown in FIG. 4, the maximum speed Vmax / PT-IDk is constant, and the speed plan V / PT-ID is set so as not to exceed the maximum speed Vmax / PT-IDk.

[0040] Similar to Fig. 4, Fig. 5 depicts the speed plan V / PT-IDk and the maximum speed Vmax / PT-IDk. Also, the path points PP shown in Fig. 5 (path points PPf, PPf-1, PPf-2, PPf-3) are the same as the path points PP shown in Fig. 4.

[0041] In the example shown in FIG. 5, the allowable maximum speed of the path points included in the section path PT-IDk is increased. Therefore, the speed plan V / PT-IDk set in this example is partially increased before the path end point PPf / PT-IDk. This will hinder accurate stopping at the target position (x, y) indicated by the path end point PPf. In particular, if the target position (x, y) indicated by the path end point PPf corresponds to the final destination of the vehicle VH, inaccurate stopping of the vehicle VH at the final destination may force the vehicle VH to make additional position adjustments.

[0042] 4. Upper limit guard processing Therefore, in the embodiment, the vehicle system 20 performs a process (upper limit guard process) to impose an upper limit guard on the maximum speed Vmax. FIG. 6 is a diagram illustrating the upper limit guard process. Like FIG. 5, FIG. 6 depicts a speed plan V / PT-IDk and a maximum speed Vmax / PT-IDk. The maximum speed Vmax / PT-IDk shown in FIG. 6 is the same as that shown in FIG. 5. Furthermore, the pass points PP shown in FIG. 6 (pass points PPf, PPf-1, PPf-2, PPf-3) are the same as the pass points PP shown in FIG. 5.

[0043] In the upper limit guard process, first, each path point included in the section path PT-IDk, except for the path end point PPf, is extracted as a processing target. The extracted path point PP to be processed is hereinafter also referred to as the "target path point PPt." Next, a guard threshold THg is compared with a distance D1 between the target position (x, y) indicated by the target path point PPt and the target position (x, y) indicated by the path end point PPf. The guard threshold THg is a value that determines whether the target position (x, y) indicated by the target path point PPt is close to that indicated by the path end point, i.e., whether the former is closer to the stop position. Then, if a target path point PPt having a distance D1 equal to or less than the guard threshold THg is identified as a result of the comparison, the maximum speed Vmax indicated by this target path point PPt is replaced by an upper limit guard Vg / PPt shown in the following equation (1).

[0044]

number

[0045] In equation (1), the value Vset is a preset guard speed. The value Vmax / PT-IDk is the maximum speed Vmax indicated by each path point included in the section path PT-IDk. In other words, equation (1) means that the lower value of the guard speed Vset and the maximum speed Vmax / PT-IDk is the upper guard Vg / PPt.

[0046] By performing the upper limit guard process, it is possible to avoid the occurrence of problems associated with an increase in the maximum allowable speed, as described in Fig. 5. In the example shown in Fig. 6, the maximum speed Vmax indicated by the target path point PPt (path points PPf-3, PPf-2, and PPf-1) is replaced with the guard speed Vset as the upper limit guard Vg / PPt. This makes it possible to stop the vehicle VH at the target position (x, y) indicated by the path end point PPf.

[0047] Incidentally, during AVP operation based on a travel plan that follows the section path PT-IDk, the vehicle system 20 may receive the section path PT-IDk+1 as the latest section path from the parking lot server 10. In this case, the vehicle system 20 sets a travel plan for following the section path PT-IDk+1, which is the latest section path, taking into account information about the surrounding environment and travel conditions of the vehicle VH. Then, upper limit guard processing similar to the upper limit guard processing for the target path point PPt included in the section path PT-IDk is performed on the target path point PPt included in the section path PT-IDk+1.

[0048] However, the maximum speed Vmax indicated by the target path point PPt included in the section path PT-IDk may differ from that of the target path point PPt included in the section path PT-IDk+1. Therefore, even if the position of the vehicle VH is close to the stopping position, hunting may occur in which part of the speed plan V / PT-IDk+1 to which the upper limit guard Vg / PPt has been applied as a result of undergoing upper limit guard processing exceeds the speed plan V / PT-IDk to which the upper limit guard Vg / PPt has been applied as a result of undergoing upper limit guard processing.

[0049] Therefore, in an embodiment, when the vehicle system 20 receives the latest section path (i.e., section path PT-IDk+1) after setting the speed plan V / PT-IDk to which the upper limit guard Vg / PPt is applied, the upper limit guard Vg / PPt applied in the upper limit guard processing of the target path point PPt included in the section path PT-IDk may be referenced in the upper limit guard processing of the target path point PPt included in this latest section path.

[0050] When the position of the vehicle VH is close to the stopping position, the distance D2 from the position of the vehicle VH to the target position (x, y) indicated by the target path point PPt is considered to be short. Therefore, the hunting threshold THh is compared with the distance D2 (see FIG. 6) between the target position (x, y) indicated by the target path point PPt and the current position of the vehicle VH. The hunting threshold THh is a value that determines whether the target position (x, y) indicated by the target path point PPt is close to the current position of the vehicle VH. If the comparison identifies a target path point PPt having a distance D2 that is less than the hunting threshold THh, the maximum speed Vmax indicated by this target path point PPt is replaced by an upper limit guard Vg / PPt shown in the following equation (2).

[0051]

number

[0052] In equation (2), the value Vg / PPt-1 is an upper guard that replaces the maximum speed Vmax indicated by the target path point PPt included in the previous section path received before the latest section path. In other words, equation (2) means that the upper guard Vg / PPt is the minimum value among the guard speed Vset, the maximum speed Vmax / PT-IDk, and the previous upper guard Vg / PPt-1.

[0053] 5. Information processing example 7 is a flowchart showing the flow of information processing particularly related to the embodiment. The processing routine shown in FIG. 7 is repeatedly executed by the vehicle system 20 (processor 25) at predetermined intervals.

[0054] 7, first, information is acquired (step S11). Examples of information acquired in the processing of step S11 include instructions INS transmitted from the parking lot server 10, and information on the surrounding environment and driving conditions of the vehicle VH acquired from the sensors 22. In the processing of step S11, information on the current position of the vehicle VH is also acquired. The current position of the vehicle VH is acquired, for example, by a position estimation process (localization process) of the vehicle VH performed by the parking lot server 10 or the vehicle system 20.

[0055] Following the processing of step S11, it is determined whether or not the distance D1 exceeds the guard threshold THg (step S12). As described above, the distance D1 is the distance between the target position (x, y) indicated by the target path point PPt included in the section path PT-IDk and the target position (x, y) indicated by the path end point PPf included in the section path PT-IDk. The guard threshold THg is a value that allows determining that the target path point PPt is close to the stop position, and is set in advance.

[0056] If the determination result in step S12 is positive, it is determined that the target path point PPt is far from the stop position, and therefore, in this case, the upper limit guard process is not performed (step S13).

[0057] On the other hand, if the determination result in step S12 is negative, it is determined that the target path point PPt is close to the stopping position. Therefore, in this case, upper limit guard processing is performed (step S14). In the processing of step S14, the upper limit guard Vg / PPt is calculated using the above formula (1). Then, the maximum speed Vmax indicated by the target path point PPt is replaced by the upper limit guard Vg / PPt.

[0058] Like Fig. 7, Fig. 8 is a flowchart showing the flow of information processing particularly related to the embodiment. The processing routine in Fig. 8 is for the case where the previous upper limit guard Vg / PPt-1 is used to calculate the upper limit guard Vg / PPt. The processing routine shown in Fig. 8 is repeatedly executed at a predetermined interval by the vehicle system 20 (processor 25) instead of executing the processing routine shown in Fig. 7.

[0059] 8, if the determination result of step S12 is negative, it is determined whether or not the distance D2 exceeds the hunting threshold THh (step S21). As described above, the distance D2 is the distance between the target position (x, y) indicated by the target path point PPt included in the section path PT-IDk and the current position of the vehicle VH. The hunting threshold THh is a value that determines whether the target path point PPt is close to the current position of the vehicle VH, and is set in advance.

[0060] If the determination result in step S21 is positive, it is determined that the target path point PPt is close to the stop position but far from the current position of the vehicle VH. Therefore, in this case, the upper limit guard Vg / PPt is calculated using the above formula (1) (step S22). Then, the maximum speed Vmax indicated by the target path point PPt is replaced by the upper limit guard Vg / PPt. The processing in step S22 is the same as the processing in step S14 in FIG. 7.

[0061] On the other hand, if the determination result in step S12 is negative, it is determined that the target path point PPt is close to the stop position and also close to the current position of the vehicle VH. Therefore, in this case, the upper limit guard Vg / PPt is calculated using the above formula (2). Then, the maximum speed Vmax indicated by the target path point PPt is replaced by the upper limit guard Vg / PPt.

[0062] 6.Effects According to the embodiment described above, upper limit guard processing is performed. Then, if it is determined that the distance D1 is equal to or less than the guard threshold THg, the maximum speed Vmax indicated by the target path point PPt is replaced by the upper limit guard Vg / PPt calculated using the above formula (1). Therefore, it is possible to suppress a decrease in the accuracy of stopping the vehicle VH at the path end point PPf. If the target position (x, y) indicated by the path end point PPf is the final destination of the vehicle VH, it is also possible to suppress a decrease in the accuracy of stopping the vehicle VH at this final destination (the parking space PS when entering the parking lot, or the boarding / exiting space PD when leaving the parking lot).

[0063] According to the embodiment, if it is determined that the distance D2 is equal to or less than the hunting threshold THh, the maximum speed Vmax indicated by the target path point PPt is replaced by the upper limit guard Vg / PPt calculated using the above formula (2). Therefore, by going through the upper limit guard process, hunting of the speed plan can be suppressed after the upper limit guard Vg / PPt is applied, and a decrease in the accuracy of stopping the vehicle VH at the path end point PPf can be suppressed. [Explanation of symbols]

[0064] 10...Parking lot server, 11, 25, 31...Processor, 12, 26, 32...Storage device, 13, 23, 33...Communication interface, 20...Vehicle system, 24...In-vehicle device, 27...Actuator, 30...Control server, 40...User terminal, D1, D2...Distance, PK...Parking lot, PD...Pick-up / drop-off space, PS...Parking space, PT...Driving path, VH...Vehicle, Vset...Guard speed, PPf, PPf-1, PPf-2, PPf-3, PPf-4, PPf-i...Path point, PPt...Target path point, THg...Guard threshold, THh...Hunting threshold, PT-ID1, PT-ID2, PT-ID3, PT-IDk, PT-IDk+1, PT-IDk+j...Section path, V / PT-IDk, V / PT-IDk+1...Speed ​​plan, Vmax / PT-IDk...Maximum speed, Vg / PPt...Upper limit guard

Claims

1. A system for automatically parking a vehicle within a predetermined area, a management device that manages the automated valet parking; a control device mounted on the vehicle and performing vehicle control for the automatic valet parking based on the driving path received from the management device, the travel path includes a plurality of path points; Each of the plurality of path points includes information on a target position of the vehicle and information on a maximum speed of the vehicle; the vehicle control includes processing for imposing an upper limit guard on a maximum speed at a target path point based on information on a target position of a path end point that is included in the plurality of path points and indicates an end point of the travel path, and information on a target position of a target path point that is included in the plurality of path points, The process of providing the upper limit guard is a process of determining whether a distance from a target position of the target path point to a target position of the path end point is equal to or less than a guard threshold; and if it is determined that the distance is equal to or less than the guard threshold, replacing the maximum speed of the target path point with the lowest speed among a preset guard speed and the maximum speeds included in each of the plurality of path points. An automated valet parking system.

2. 10. The system of claim 1, the upper limit guard process is performed on the target path point included in the latest travel path received from the management device; the process of applying the upper limit guard further includes a process of determining whether or not a distance from the current position of the vehicle to a target position of the target path point is equal to or less than a hunting threshold; If it is determined that the distance is equal to or less than the hunting threshold, in the process of replacing the maximum speed of the target path point, the maximum speed of the target path point is replaced with the lowest speed among the guard speed, the maximum speed included in each of the plurality of path points, and the upper limit guard that is obtained by replacing the maximum speed of the target path point included in the previous travel path received from the management device before the latest travel path. An automated valet parking system.

3. 3. The system according to claim 1 or 2, The path end target location includes a final destination of the vehicle within the predetermined area. An automated valet parking system.

4. 1. A method for automatically valet parking a vehicle within a predetermined area, comprising: A process in which the vehicle control device receives a driving path from a management device that manages the automated valet parking; a process in which the control device performs vehicle control for the automatic valet parking based on the driving path, the travel path includes a plurality of path points; Each of the plurality of path points includes information on a target position of the vehicle and information on a maximum speed of the vehicle; the vehicle control includes processing for imposing an upper limit guard on a maximum speed at a target path point based on information on a target position of a path end point that is included in the plurality of path points and indicates an end point of the travel path, and information on a target position of a target path point that is included in the plurality of path points, The process of providing the upper limit guard is a process of determining whether a distance from a target position of the target path point to a target position of the path end point is equal to or less than a guard threshold; and if it is determined that the distance is equal to or less than the guard threshold, replacing the maximum speed of the target path point with the lowest speed among a preset guard speed and the maximum speeds included in each of the plurality of path points. An automatic valet parking method.

5. 5. The method of claim 4, the upper limit guard process is performed on the target path point included in the latest travel path received from the management device; the process of applying the upper limit guard further includes a process of determining whether or not a distance from the current position of the vehicle to a target position of the target path point is equal to or less than a hunting threshold; If it is determined that the distance is equal to or less than the hunting threshold, in the process of replacing the maximum speed of the target path point, the maximum speed of the target path point is replaced with the lowest speed among the guard speed, the maximum speed included in each of the plurality of path points, and the upper limit guard that is obtained by replacing the maximum speed of the target path point included in the previous travel path received from the management device before the latest travel path. An automatic valet parking method.

6. 6. The method according to claim 4 or 5, The path end target location includes a final destination of the vehicle within the predetermined area. An automatic valet parking method comprising:

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