Vehicle control method and vehicle control device

Abstract

Provides optimal parking assistance. [Solution] The control unit of the vehicle control device registers a teacher route R0 which includes a first route R1 from a first position D1 to a turning position TP, and a second route R2 from the turning position TP to a parking position P1. When the control unit 11 causes the vehicle 1 to move forward in response to an operation on the passenger's control device, and the vehicle 1 stops at a third position D3 which is within a second distance L2 from the turning position TP, and the control device 20 receives a second operation, the control unit 11 autonomously causes the vehicle 1 to move backward from the third position D3 to the parking position P1 based on the second route R2.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control method and a vehicle control device.

Background Art

[0002] Generally, parking spaces in houses are often narrow and it may be difficult to park. Therefore, there is a high need for automatic driving for parking and leaving the garage.

[0003] A vehicle control device that realizes this type of automatic driving is known. For example, a teacher route to a planned parking position is registered in advance by teacher driving. And when parking the vehicle at the planned parking position, the vehicle is parked at the planned parking position by driving the vehicle along the teacher route.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the prior art, assistance regarding parking according to the position of the vehicle and operations by passengers has not been sufficiently provided, and it may be difficult to perform suitable parking assistance.

[0006] An object of the present disclosure is to provide a vehicle control method and a vehicle control device that can provide suitable parking assistance.

Means for Solving the Problems

[0007] The vehicle control method according to this disclosure is a vehicle control method performed by a vehicle control device mounted on a vehicle that includes an operating device for receiving operations from an occupant and a movement control device for controlling at least acceleration, deceleration and steering, wherein a teacher path is registered which includes a first path from a first position to a turning position by moving forward and a second path from the turning position to a parking position by moving backward, and when the occupant operates the operating device and the vehicle moves forward, and the vehicle is positioned at a second position which is within a first distance from the first path, and the operating device receives the first operation, Based on the first path, the movement control device autonomously drives forward from the second position to the turning position. Thereafter, based on the second path, the movement control device autonomously drives backward from the turning position to the planned parking position. When the vehicle moves forward due to an operation by the passenger on the control device and stops at a third position within a second distance from the turning position, and the control device receives a second operation different from the first operation, the movement control device autonomously drives backward from the third position to the planned parking position based on the second path. [Effects of the Invention]

[0008] The vehicle control method and vehicle control device described herein can provide suitable parking assistance. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a block diagram showing an example of the overall configuration of a vehicle. [Figure 2] Figure 2 is an explanatory diagram illustrating an example of the arrangement of sensors and cameras. [Figure 3] Figure 3 is a schematic diagram showing an example of the external configuration of a vehicle. [Figure 4] Figure 4 shows an example of the configuration near the driver's seat of a vehicle. [Figure 5] Figure 5 is an explanatory diagram of an example of parking assistance. [Figure 6] Figure 6 is a schematic diagram of an example of the data structure of a route management database. [Figure 7A]FIG. 7A is a schematic diagram of an example of a display screen. [Figure 7B] FIG. 7B is a schematic diagram of an example of a display screen. [Figure 7C] FIG. 7C is a schematic diagram of an example of a display screen. [Figure 8A] FIG. 8A is a schematic diagram of an example of a display screen. [Figure 8B] FIG. 8B is a schematic diagram of an example of a display screen. [Figure 9A] FIG. 9A is a schematic diagram of an example of a display screen. [Figure 9B] FIG. 9B is a schematic diagram of an example of a display screen. [Figure 9C] FIG. 9C is a schematic diagram of an example of a display screen. [Figure 10] FIG. 10 is a flowchart showing an example of the flow of information processing executed by the control unit. [Figure 11] FIG. 11 is a flowchart showing an example of the flow of information processing executed by the control unit. [Figure 12] FIG. 12 is a flowchart showing an example of the flow of information processing executed by the control unit. [Figure 13] FIG. 13 is a block diagram showing an example of the hardware configuration of the vehicle control device 10. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of a vehicle control method and a vehicle control device according to the present disclosure will be described with reference to the drawings. In the description of the following embodiments, the same reference numerals are given to the same parts, and redundant descriptions are omitted.

[0011] FIG. 1 is a block diagram showing an example of the overall configuration of the vehicle 1.

[0012] The vehicle 1 includes a vehicle control device 10, a movement control device 12, a sensor 14, a camera 16, a storage device 18, an operation device 20, and a display device 22.

[0013] The vehicle control device 10 is connected to the movement control device 12, sensor 14, camera 16, storage device 18, operating device 20, and display device 22 so that data or signals can be exchanged between them. In other words, the vehicle control device 10 is configured to be communicatively connected to at least the operating device 20, camera 16, display device 22, and movement control device 12.

[0014] The motion control device 12 controls at least the acceleration, deceleration, and steering of the vehicle 1. The motion control device 12 is a means for realizing the driving, braking, and turning motions necessary for the vehicle 1 to travel. For example, the motion control device 12 is composed of a drive motor, a power transmission mechanism, a brake device, a steering device, etc., and an electronic vehicle control device that controls them. The motion control device 12 drives the vehicle 1 by, for example, generating power with a drive motor and transmitting power to the wheels via a power transmission mechanism. The power transmission mechanism is, for example, a propeller shaft, a differential gear, and a drive shaft.

[0015] To control steering at least means that the motion control device 12 controls at least one of the driving, braking, and turning motions necessary for the vehicle 1 to travel. In other words, to control steering means that the motion control device 12 controls at least one of the following: turning direction by steering, vehicle speed and acceleration by accelerator steering, and deceleration and stopping by brake steering. To control acceleration and deceleration at least means that the motion control device 12 controls at least one of the acceleration and deceleration of the vehicle 1.

[0016] The movement control device 12 includes, in detail, an auxiliary control device 12A, a brake control device 12B, an engine control device 12C, and a power steering control device 12D. The brake control device 12B, the engine control device 12C, and the power steering control device 12D can be collectively referred to as the actuator control unit that controls the operation of the vehicle 1.

[0017] The auxiliary control device 12A is a control device that monitors the transmission status of the vehicle control device 10 and operates to perform appropriate degraded control as a backup in the event that the vehicle control device 10 fails. However, if safety can be ensured by having a degraded control function within the vehicle control device 10 even in the event that the vehicle control device 10 fails, then degraded control is unnecessary.

[0018] The brake control device 12B is a control device that controls the brakes of vehicle 1. Brake control is sometimes referred to as braking force control. For example, the brake control device 12B controls the brakes of vehicle 1 in response to the strengthening and weakening of the occupant's operation of the brake pedal. Strengthening the occupant's operation of the brake pedal specifically means pressing the brake pedal down. In addition, the brake control device 12B controls the brakes in response to surrounding images during autonomous driving.

[0019] The engine control device 12C is a control device that controls the engine that generates the driving force of the vehicle 1. The power steering control device 12D is a control device that controls the power steering of the vehicle 1.

[0020] Sensor 14 is mounted on the vehicle 1 and acquires at least the external conditions of the vehicle 1. In detail, sensor 14 is a variety of sensors that detect the driving state of the vehicle 1 and the external conditions of the vehicle 1. Sensor 14 includes, for example, an accelerator position sensor that detects the accelerator position, a steering angle sensor that detects the steering angle of the steering device, an acceleration sensor that detects the acceleration acting on the vehicle 1 in the longitudinal direction, a torque sensor that detects the torque acting on the power transmission mechanism between the wheels and the drive motor of the vehicle 1, a vehicle speed sensor that detects the vehicle speed of the vehicle 1, a wheel speed sensor, GPS (Global Positioning System), etc. Sensor 14 also includes LiDAR (Light detection and ranging), radar, or ultrasonic sensors, etc. Sensor 14 outputs the sensor information obtained through detection to the vehicle control device 10.

[0021] Camera 16 is a surrounding sensor mounted on vehicle 1 that monitors the environment around vehicle 1. Camera 16 has an image sensor. In this embodiment, camera 16 photographs the area around vehicle 1 and outputs the surrounding video data obtained from the photography to vehicle control device 10. The surrounding video data consists of multiple captured image data taken in chronological order around vehicle 1. Hereinafter, the surrounding video data may be simply referred to as surrounding video. In this embodiment, camera 16 is also used to detect objects present around vehicle 1 and to estimate the location of vehicle 1 based on the positional relationship between vehicle 1 and the objects present around vehicle 1.

[0022] The position, number, and shooting direction of the cameras 16 are pre-adjusted so that they can photograph the area around the vehicle 1. For example, the vehicle 1 is equipped with four cameras 16 arranged to photograph the front, rear, left, and right directions of the vehicle 1. However, the number of cameras 16 installed on the vehicle 1 is not limited to four.

[0023] The storage device 18 stores various types of data. In this embodiment, the storage device 18 stores the route management DB (database) 18A. Details of the route management DB 18A will be described later.

[0024] The storage device 18 is, for example, an auxiliary storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or flash memory. At least a portion of the data contained in the storage device 18 may be stored in an external storage device, such as a server device, located outside the vehicle 1 and connected to the vehicle control device 10 in a communicative manner.

[0025] The operating device 20 receives input from the occupant of the vehicle 1. The operating device 20 includes operating mechanisms related to driving operations, such as a steering wheel, a shift lever for shifting transmission gears, an accelerator pedal, a brake pedal, a turn signal lever, and push switches, as well as input devices such as a keyboard, a touch panel, and switches. The steering angle of the steering device is adjusted by the occupant's operation of the steering control unit. At least one of the keyboard, touch panel, and switches functions as an automatic parking instruction unit that receives an instruction to start automatic parking. The steering wheel is an example of a steering control unit. The steering wheel may be referred to as a handle. In this embodiment, autonomous parking and autonomous driving may be described as automatic parking and automatic driving, respectively.

[0026] A shift lever is an example of a forward / reverse control unit. The forward / reverse control unit switches the vehicle 1 between at least forward and reverse. A brake pedal is an example of a brake control unit. The brake control unit is a control unit for the brake that controls the speed of the vehicle 1. That is, the brake control unit receives a command to decelerate the vehicle 1. The control device 20 may constitute part of an HMI (Human Machine Interface) or IVI (In-Vehicle Infotainment).

[0027] The display device 22 is a display that outputs various images. The display device 22 is installed in a position visible to the occupants of the vehicle 1. Examples of displays include liquid crystal displays (LCDs), organic EL (Electro-Luminescence) displays, and projectors. It may also be a touch panel display in which the display device 22 and the operating device 20 are integrated. The display device 22 is an example of at least one of HMI and IVI.

[0028] Furthermore, the display device 22 is not limited to having only one display area. For example, the display device 22 may have multiple display areas.

[0029] Furthermore, the vehicle 1 may be equipped with multiple display devices 22. For example, the display device 22 may include a first display unit and a second display unit, the first and second display units being displays that output various images. The first and second display units are separate display devices 22. The first and second display units may be located in different positions within the vehicle 1. For example, the first display unit may function as an IVI (In-Vehicle Inspection Device), and the second display unit may function as part of the instrument panel of the vehicle 1.

[0030] Figure 2 is an explanatory diagram of an example arrangement of sensor 14 and camera 16.

[0031] Vehicle 1 is equipped with, for example, four cameras 16 (cameras 16A to 16D) so as to be able to acquire the external conditions of Vehicle 1 in at least four directions, such as the front, rear, right side, and left side of Vehicle 1.

[0032] Specifically, for example, camera 16 includes camera 16A, camera 16B, camera 16C, and camera 16D. Camera 16A is positioned at the front of vehicle 1 and photographs the area in front of vehicle 1. Camera 16A may be referred to as the front camera. Camera 16B is positioned at the right side of vehicle 1 and photographs the area to the right of vehicle 1. Camera 16C is positioned at the left side of vehicle 1 and photographs the area to the left of vehicle 1. Camera 16D is positioned at the rear of vehicle 1 and photographs the area behind vehicle 1. Camera 16D may be referred to as the rear camera, or rear-view camera, etc.

[0033] The control unit 11 of the vehicle control device 10, which will be described later, may use the surrounding video data captured by the rear camera 16D, in particular, among the multiple cameras 16 installed on the vehicle 1, for detecting the planned parking position, which will be described later. Details of the surrounding video data and the planned parking position will be described later.

[0034] The number of cameras 16 installed on the vehicle 1 is not limited to four. Furthermore, it is preferable that the placement and number of object-detecting sensors, such as lidar, radar, sonar, and ultrasonic sensors included in the sensor 14, are pre-adjusted so that the external conditions on the right, left, front, and rear of the vehicle 1 can be acquired. For example, as shown in Figure 2, the sensor 14 includes sensors 14A to 14F. These sensors 14A to 14F are arranged on the vehicle 1 so that the external conditions on the right, left, front, and rear of the vehicle 1 can be acquired. The object-detecting sensors 14, such as lidar, radar, sonar, and ultrasonic sensors, may be placed only in the rear of the vehicle 1.

[0035] Next, we will explain the configuration of Vehicle 1.

[0036] Figure 3 is a schematic diagram showing an example of the external configuration of vehicle 1.

[0037] Vehicle 1 comprises a body 2 and two pairs of wheels 23 arranged on the body 2 in a predetermined direction. The two pairs of wheels 23 each consist of one pair of front tires 23F and one pair of rear tires 23R (see also Figure 2). Figures 2 and 3 show an example where Vehicle 1 has four wheels 23. However, the number of wheels 23 provided on Vehicle 1 is not limited to this.

[0038] Next, the configuration of the area near the driver's seat of vehicle 1 in this embodiment will be described.

[0039] Figure 4 shows an example of the configuration near the driver's seat 24A of vehicle 1 in this embodiment.

[0040] Vehicle 1 is equipped with a driver's seat 24A and a passenger seat 24B. In front of the driver's seat 24A are a windshield 25, a dashboard 26, a steering wheel 20A, control buttons 20B, and a display device 22. Near the driver's seat 24A is a shift lever 20C, which is a lever for shifting gears of the transmission.

[0041] The steering wheel 20A, the control buttons 20B, and the shift lever 20C are examples of the control device 20.

[0042] The steering wheel 20A is located in front of the driver's seat 24A and can be operated by the occupant. The rotation angle of the steering wheel 20A, i.e., the steering angle, is electrically or mechanically linked to the change in direction of the front tires 23F, which are the steering wheels. The steering wheels may also be the rear tires 23R, or both the front tires 23F and the rear tires 23R may be steering wheels.

[0043] The operation button 20B is a button that can be operated by the passenger. The operation button 20B may also include a turn signal. The location of the operation button 20B is not limited to the example shown in Figure 4, and may be provided on the steering wheel 20A, for example. Although Figure 4 shows one operation button 20B, multiple operation buttons 20B may be provided. If the display device 22 also functions as a touch panel, the display device 22 may be an example of the operation device 20.

[0044] Returning to Figure 1, we continue the explanation.

[0045] The vehicle control device 10 is an electronic control unit that provides comprehensive control over all parts of the vehicle 1.

[0046] The vehicle control device 10 uses sensor information received from the sensor 14 and camera 16, respectively, as well as surrounding video footage, to control the movement control device 12 so that the driving state of the vehicle 1 is optimized. The vehicle control device 10 also controls the movement control device 12 to enable the vehicle 1 to drive autonomously.

[0047] The vehicle control device 10 includes a control unit 11. Part or all of the control unit 11 may be a software configuration realized through the cooperation of a processor and various programs stored in memory. Alternatively, part or all of the control unit 11 may be a hardware configuration realized by dedicated circuits or the like.

[0048] The control unit 11 provides overall control over all parts of the vehicle 1.

[0049] In this embodiment, the control unit 11 performs information processing for assisting the parking of the vehicle 1.

[0050] The control unit 11 provides overall control over all parts of the vehicle 1.

[0051] In this embodiment, the control unit 11 is configured to switch the driving mode between teacher driving mode and autonomous driving mode based on input operations of the operating device 20 by the passenger. Note that the driving modes that can be performed by the vehicle 1 may include various driving modes other than teacher driving mode and autonomous driving mode.

[0052] The teacher driving mode is a mode for registering a teacher route when Vehicle 1 is to drive autonomously. The teacher route is a route obtained by teacher driving from a predetermined position to a target position such as a parking location. In teacher driving mode, Vehicle 1 is controlled by the operation of the occupant. That is, in teacher driving mode, the control unit 11 receives an operation from the operation device 20, which is a driving operation by the occupant, and controls the movement control device 12 to drive according to the operation. In other words, in teacher driving mode, the control unit 11 registers the teacher route based on the surrounding images acquired by the camera 16 during the teacher driving of Vehicle 1 from a predetermined position to a target position, based on the operation of the occupant.

[0053] The autonomous driving mode is a mode in which vehicle 1 is driven autonomously. In this embodiment, the autonomous driving mode means a mode in which vehicle 1 is driven autonomously along a teacher route. In the autonomous driving mode, the control unit 11 controls the movement control device 12 to drive along the teacher route, at least by controlling the steering. In the autonomous driving mode, vehicle 1 is automatically controlled by the vehicle control device 10 without manual operation by the occupant. That is, in the autonomous driving mode, the control unit 11 drives vehicle 1 autonomously from a predetermined position to a target position, at least by controlling the steering, based on the teacher route and surrounding images acquired by the camera 16 and sensor information. In this embodiment, autonomous driving may be referred to as automatic parking, and the autonomous driving mode may be referred to as automatic parking mode.

[0054] Figure 5 is an explanatory diagram illustrating an example of the parking assistance system of this embodiment.

[0055] For example, in teacher driving mode, the passenger drives the vehicle 1 forward until at least a portion of the vehicle body 2 has passed through at least a portion of the parking space including the planned parking position P1. The passenger then drives the vehicle 1 to a stop, and from the stopping position, which is the turning position TP, the vehicle 1 is reversed to park at the planned parking position P1.

[0056] In other words, during the training drive mode for entering the planned parking position P1, the training drive from the first position D1 to the planned parking position P1 is performed by the passenger manually operating the control device 20.

[0057] The first position D1 is any position the occupant takes in real space RS. The planned parking position P1 is the position where vehicle 1 is intended to be parked. The planned parking position P1 may be, for example, a parking lot, but is not limited to this. Furthermore, the planned parking position P1 may be any position the occupant intends to park in real space RS.

[0058] In this embodiment, the teacher route R0 includes a first route R1 and a second route R2. The first route R1 is the route from the first position D1 where the teacher driving begins, through which the vehicle 1 travels forward to the turning position TP. Therefore, the first position D1 is a position on the first route R1 and is part of the first route R1. The second route R2 is the route through which the vehicle travels in reverse from the turning position TP to the parking location P1. The turning position TP is the stopping position when the vehicle 1 stops after traveling forward along the first route R1, performs a turning maneuver at the stopping position, and switches the direction of travel to reverse in order to park at the parking location P1 and travels in reverse towards the parking location P1.

[0059] During the training run to enter the parking position P1, for example, the occupant operates the control device 20 to drive forward from the first position D1 towards the turning position TP, and then steers the control device 20 to drive backward from the turning position TP towards the parking position P1. The control unit 11 generates training route data for the training route R0, which includes the first route R1 and the second route R2, and registers it in the route management DB 18A of the storage device 18. Details of the route management DB 18A will be described later.

[0060] The control of the control unit 11 during teacher driving mode will be described in detail.

[0061] When the control unit 11 determines that the teacher driving mode has started, it switches the driving mode to the teacher driving mode. Then, the control unit 11 performs the following processes while in teacher driving mode.

[0062] The control unit 11 acquires sensor information from the sensor 14 indicating the driving state of the vehicle 1. Then, the control unit 11 estimates the current position of the vehicle 1 based on the temporal changes in the sensor values ​​represented by the sensor information. For example, the control unit 11 calculates the amount of movement of the vehicle 1 from a reference position, such as the starting position when the training driving mode was started, based on the temporal changes in the vehicle speed and yaw rate represented by the sensor values, and estimates the current position of the vehicle 1 based on the amount of movement.

[0063] However, the accuracy of estimating the current position based on the amount of movement may be low. For this reason, the control unit 11 may use the result of correcting the estimated current position based on the surrounding image of the vehicle 1 acquired by the camera 16 as the current position. Alternatively, the control unit 11 may use the position information obtained by the GPS installed on the vehicle 1 as the current position of the vehicle 1.

[0064] The control unit 11 sequentially stores the current position of vehicle 1, which it has estimated in sequence as vehicle 1 travels, in the storage device 18. Specifically, the control unit 11 defines the travel path during the training run, represented by the group of current positions sequentially estimated from the time it receives the instruction to start the training run mode (first position D1) until it receives the instruction to end the training run mode, as the training path R0, and stores the training path data representing the training path R0 in the storage device 18. The control unit 11 also stores map data in the storage device 18.

[0065] The teacher route data consists of a group of location-specific driving information, which is the current position estimated sequentially during the teacher run. The driving information includes an index, driving position, bearing, driving direction, and reference driving information. The index is the identification information for the driving information. The driving position is the estimated position of vehicle 1. The bearing indicates the orientation of vehicle 1 at that position. The driving direction indicates the direction of vehicle 1's movement at that position, and is represented, for example, by forward or reverse. The reference driving information is information that represents the driving state at that position. For example, the reference driving information is information such as the steering angle detected at each position during the teacher run, vehicle speed, and external conditions acquired by sensor 14.

[0066] Furthermore, during the training run of vehicle 1, the control unit 11 creates map data to estimate the current position of vehicle 1 from the surrounding video footage captured by camera 16. Methods such as SLAM (Simultaneous Localization and Mapping) are used to estimate the current position of vehicle 1 from the surrounding video footage.

[0067] Map data refers to map data containing registered first feature points around vehicle 1 as it travels along the training route R0.

[0068] The first feature point is a feature point obtained by analyzing the surrounding images captured by the camera 16 during the teacher's run. In other words, in this embodiment, the feature point identified in accordance with the surrounding images during the teacher's run will be described as the first feature point.

[0069] For example, a feature point is a portion of an object (e.g., a tree, wall, or pillar) contained in the real-space RS that yields a characteristic image pattern through analysis of the surrounding video. This portion is, for example, the edge portion of the object. As described above, in this embodiment, the feature point identified during the training run is referred to as the first feature point. Therefore, the map data contains multiple first feature points, and each first feature point is registered in a way that allows for individual identification by assigning an identification number.

[0070] Feature points are represented by feature point data that includes their 3D position and feature quantities. The 3D position of a feature point is its 3D position in real space, and is represented, for example, in a 3D Cartesian coordinate system (X,Y,Z).

[0071] The feature quantities of a feature point are characteristic quantities of that feature point that are represented by image analysis of the video. Examples of feature quantities of the first feature point include brightness and density in the video, SIFT (Scale Invariant Feature Transform) features, SURF (Speeded Up Robust Features) features, etc.

[0072] The map data includes one first feature point for each identical 3D location. However, for each identical 3D location, the map data may also include multiple first feature points for each camera 16's shooting position and direction. Furthermore, the feature point data of the first feature point registered in the map data may further include image data of the object possessing that first feature point.

[0073] During the training run, the control unit 11 identifies the coordinates of the first feature point in the real-space RS, for example, by using stereo photogrammetry from the surrounding video. Specifically, the control unit 11 reads out multiple images taken at different timings that make up the surrounding video and associates the same first feature point that is commonly seen in these multiple images. Then, the control unit 11 estimates the provisional position of the vehicle 1 at the time these multiple images were taken and identifies the provisional coordinates of the first feature point in the real-space RS using the principle of triangulation. Then, the control unit 11 performs bundle adjustment, for example, using the provisional position of the vehicle 1 and the provisional coordinates of the first feature point in the real-space RS as reference information, and calculates the official position of the vehicle 1 and the official coordinates of the first feature point in the real-space RS so as to minimize the reprojection error when projecting each first feature point in the real-world scene onto all the images. The control unit 11 then stores the registered map data of the first feature point, which is represented by feature point data that includes the formal coordinates of the first feature point in real space RS as a three-dimensional position, in the storage device 18.

[0074] The 3D position of the first feature point registered in the map data may be determined beforehand using LiDAR (Light Detection and Ranging) or a stereo camera, rather than by the SLAM method. However, using the SLAM method is preferable from the viewpoint of suppressing a decrease in position estimation accuracy.

[0075] The control unit 11 performs the above processing when in teacher driving mode. Therefore, in teacher driving mode, the control unit 11 registers teacher route data and map data for the teacher route R0 based on the surrounding images acquired by the camera 16 during teacher driving. In other words, the control unit 11 generates teacher route data for the teacher route R0 obtained through teacher driving, and map data in which the 3D positions of each of the multiple first feature points around the vehicle 1 when driving along the teacher route R0 and the feature quantities of the first feature points are registered, based on the surrounding images, and stores them in association with the route management DB 18A of the storage device 18.

[0076] Therefore, for each training run, the route management DB18A of the storage device 18 registers, in association with the training route data of the training route R0, which consists of a group of training information for each location that is the current location estimated sequentially during the training run, and the map data in which the first feature points observed for each location are registered.

[0077] Figure 6 is a schematic diagram of an example of the data structure of the route management DB18A. The route management DB18A is a database for registering teacher route data and map data for each teacher route. Note that the data format of the route management DB18A is not limited to the database.

[0078] For example, let's consider the case where vehicle 1 performs a training run from a first position D1 to a planned parking position P1 via a turning position TP. In this case, the control unit 11 registers the training route data of the training route R0, which includes a first route R1 from the first position D1 forward to the turning position TP and a second route R2 from the turning position TP to the planned parking position P1, the map data generated during the training run of the training route R0, and the location information of the planned parking position P1, in the route management DB 18A.

[0079] The location information for the planned parking position P1 may be any location information that represents the parking area of ​​vehicle 1 represented by the planned parking position P1. The location information for the planned parking position P1 may be represented, for example, by the position coordinates of a specific point within the parking area of ​​vehicle 1 represented by the planned parking position P1, or by a group of position coordinates that represent a position within the parking area. In this embodiment, the form in which the location information for the planned parking position P1 is a group of position coordinates that represent a position within the parking area represented by the planned parking position P1 will be described as an example.

[0080] The control unit 11 may also add identification information that uniquely identifies the map data to the map data and register it in the route management DB 18A. Furthermore, as described above, the teacher route data consists of a group of driving information for each location, which is the current location estimated sequentially during the teacher drive. The driving information includes external conditions acquired at each location by at least one of the sensor 14 and the camera 16 during the teacher drive. For this reason, the teacher route data for teacher route R0 may include external conditions acquired by the sensor 14.

[0081] In autonomous driving mode, the control unit 11 controls steering along the teacher path R0 obtained through teacher driving, and makes the vehicle 1 drive autonomously based on the teacher path R0 and surrounding images acquired by the camera 16. In autonomous driving mode, the control unit 11 performs steering control and forward / reverse acceleration / deceleration control of the vehicle 1, but at least a part of the forward / reverse acceleration / deceleration control may be performed by the driver.

[0082] Next, the control by the control unit 11 of this embodiment will be described in detail.

[0083] The control unit 11 displays a button image on the display device 22 of the moving vehicle 1 to instruct it to start parking registration.

[0084] Figure 7A is a schematic diagram of an example of the display screen 30A. The display screen 30A is an example of the display screen 30 that is displayed on the display device 22.

[0085] The control unit 11 displays a display screen 30A on the display device 22 of the moving vehicle 1, including a button image B1 for instructing the start of parking registration. The display screen 30A includes, for example, a surrounding image V captured by the camera 16. The control unit 11 may further superimpose and display an icon image I representing the vehicle 1 at a relative position corresponding to the vehicle 1's current position in the surrounding image V. The control unit 11 displays a button image for instructing the start of parking registration by superimposing the button image B1 on the surrounding image V. The control unit 11 may, when power is supplied to various parts of the vehicle 1, cause the display device 22 to display the surrounding image V and continue to display the surrounding image V. Then, depending on the situation, the control unit 11 may superimpose the button image B1 and various displays described later on the surrounding image V.

[0086] Returning to Figure 5, we continue the explanation.

[0087] The control unit 11 acquires the current location information of vehicle 1. The control unit 11 then determines whether the training route data corresponding to the current location of vehicle 1 is registered in the route management DB 18A. More specifically, the control unit 11 determines whether the training route data for entering the planned parking location P1 corresponding to the current location information of vehicle 1 is registered in the route management DB 18A.

[0088] For example, the control unit 11 identifies one or more parking locations from the current location of the vehicle 1 using a known method. The control unit 11 then determines whether training route data corresponding to the parking location P1 that matches the identified parking location or includes the parking location is registered in the route management DB 18A. Through this determination process, the control unit 11 determines whether training route data for entering the parking location P1 corresponding to the current location information of the vehicle 1 is registered in the route management DB 18A.

[0089] If the control unit 11 determines that no training route data corresponding to the current position of vehicle 1 has been registered, it will determine whether or not it has received a parking registration start instruction when vehicle 1 stops. For example, the control unit 11 determines that vehicle 1 has stopped when the speed included in the sensor information obtained by sensor 14 becomes 0. Also, the control unit 11 determines that it has received a parking registration start instruction when the display area of ​​button image B1 on the display screen 30A shown in Figure 7A is operated. Furthermore, if the control unit 11 determines that vehicle 1 has stopped by analyzing the sensor information, etc., and also determines that it has received a parking registration start instruction, it switches the driving mode to training driving mode.

[0090] Returning to Figure 5, we continue the explanation.

[0091] Then, the training run of vehicle 1 is initiated by the driver's operation of vehicle 1. In this embodiment, the training run is performed by the driver's operation of vehicle 1, which moves forward from the first position D1 (see arrow D direction) to the turning position TP, and then reverses from the turning position TP to the planned parking position P1. When the training run is started, the control unit 11 sequentially stores the map data and the current position of vehicle 1 in the storage device 18. In detail, the control unit 11 sequentially stores the current position of vehicle 1, which has been sequentially estimated along with the training run of vehicle 1. At this time, the control unit 11 assigns an index to the current position and sequentially stores the driving position, bearing, driving direction, and reference driving information associated with the current position. In addition, the control unit 11 identifies first feature points by performing image analysis on the surrounding video V captured by the camera 16 during the training run and sequentially registers them in the map data.

[0092] The control unit 11 then determines whether vehicle 1 has stopped and received the instruction to complete the teacher run. For example, the control unit 11 displays information indicating the instruction operation to complete the teacher run on the display device 22.

[0093] Figure 7B is a schematic diagram of an example of the display screen 30B. The display screen 30B is an example of the display screen 30 displayed on the display device 22.

[0094] The control unit 11 causes the display device 22 to display a display screen 30B which includes a display M2 indicating the instruction operation to complete the teacher run, and a button image B2 for the passenger to operate the instruction to complete the teacher run. The display screen 30B may also include the surrounding image V and an icon image I of the vehicle 1, as described above. Display M2 is information indicating the instruction operation to complete the teacher run.

[0095] Figure 7B shows an example where the instruction operation to complete the teacher's drive represents the operation of putting the shift lever into P (parking) or the button operation to switch the shift of vehicle 1 to parking, and the operation of button image B2. Putting the shift lever into P (parking) or the button operation to switch the shift of vehicle 1 to parking is an example of a parking switch operation.

[0096] Furthermore, Figure 7B shows an example where display M2 is a statement indicating the completion of the teacher's run. Note that display M2 may also be a still image, an animated image, or an icon, etc., that indicates the completion of the teacher's run, and is not limited to a statement.

[0097] When the control unit 11 determines that the vehicle 1 has stopped and has received an instruction operation from the passenger to complete the training run by operating the control device 20, it sets the training run route R, which is represented by a group of current positions estimated sequentially during the training run, as training run route R0, and registers the training run data representing training run route R0, the registered map data of the first feature point identified during the training run, and the location information of the planned parking position P1, which represents the current position of the stopped vehicle 1, in association with each other in the route management DB 18A.

[0098] Returning to Figure 5, we continue the explanation.

[0099] In this embodiment, the teacher route data for the teacher route R0, which includes a first route R1 from the first position D1 forward (see arrow D direction) to the turning position TP, and a second route R2 from the turning position TP to the planned parking position P1 in reverse, is registered in the route management DB18A.

[0100] The control unit 11 then causes the display device 22 to display information indicating that the teacher route R0 has been registered.

[0101] Figure 7C is a schematic diagram of an example of the display screen 30C. The display screen 30C is an example of the display screen 30 that is displayed on the display device 22.

[0102] The control unit 11 causes the display device 22 to display a display screen 30C that includes a display M3 indicating that the teacher route R0 has been registered, and a button image B3 for accepting confirmation operations by the passenger. The display screen 30C may also include the surrounding video V and an icon image I of the vehicle 1, as described above. Display M3 is information indicating that the teacher route R0 has been registered. Figure 7C shows an example where display M3 is text indicating that the teacher route R0 has been registered. Note that display M3 may be a still image, an animated image, or an icon, etc., indicating that the teacher route R0 has been registered, and is not limited to text.

[0103] Through these processes, the route management DB18A registers the following data in association with the route data: the training route R0, which includes the first route R1 from the first position D1 forward to the turning point TP, and the second route R2 from the turning point TP to the planned parking position P1, along with the map data and the planned parking position P1.

[0104] Returning to Figure 5, we continue the explanation.

[0105] Next, we will describe the processing of the control unit 11 when the vehicle 1 is made to autonomously drive at least a portion of the route in the teacher route R0.

[0106] For example, consider a scenario where the vehicle 1 moves forward due to an operation on the control device 20 by the passenger, and the vehicle 1 is positioned at a second position D2 which is within a first distance L1 relative to the first path R1, and the control device 20 receives the first operation. Being within a first distance L1 relative to the first path R1 means that the distance to the first path R1 is less than or equal to the first distance L1.

[0107] The first operation is an operation in which the automatic parking instruction unit receives an instruction to start automatic parking. Alternatively, the first operation may be an operation in which the brake operation unit receives an instruction to increase the brakes by the occupant, causing the vehicle 1 to stop, and the automatic parking instruction unit receives an instruction to start automatic parking.

[0108] As described above, at least one of the keyboard, touch panel, and switches included in the operating device 20 functions as an automatic parking instruction unit that receives an instruction to start automatic parking.

[0109] The second position D2 is the position of vehicle 1 in real space RS when vehicle 1 moves forward in response to an operation by the passenger on the control device 20 and the first operation is received. Alternatively, the second position D2 may be the position of vehicle 1 in real space RS when, after vehicle 1 moves forward in response to an operation by the passenger on the control device 20, vehicle 1 moves forward again in response to an operation by the passenger on the control device 20, the brake operation unit receives an instruction from the passenger to strengthen the brakes and vehicle 1 stops, and the automatic parking instruction unit receives an instruction to start automatic parking.

[0110] Specifically, the second position D2 is a position within a first distance L1 relative to the first path R1. The first distance L1 only needs to be defined.

[0111] The first distance L1 from the second position D2 to the first path R1 is the length between the second position D2 and the point C that is perpendicular to the first path R1 on the straight line L that passes through the second position D2 and is perpendicular to the first path R1, and the second position D2.

[0112] The first distance L1 can be predetermined. For example, the first distance L1 can be the position where vehicle 1, located at the second position D2, gradually moves towards the first path R1 as it moves forward, and becomes able to travel along the first path R1. The first distance L1 is, for example, the same distance as the second distance L2 described later.

[0113] When the vehicle 1 moves forward (see arrow D direction) in response to an operation on the passenger's control device 20, and the second position D2 is within a first distance L1 from the first position D1 which is part of the first path R1, and the control device 20 receives the first operation, the control unit 11 autonomously causes the movement control device 12 to move the vehicle 1 forward from the second position D2 to the turning position TP based on the first path R1. Subsequently, the control unit 11 autonomously causes the movement control device 12 to move the vehicle 1 backward from the turning position TP to the planned parking position P1 based on the second path R2 which is included in the teacher path R0 which includes the first path R1, and parks the vehicle 1 at the planned parking position P1.

[0114] In other words, in autonomous driving mode, the vehicle 1 moves forward (see arrow D direction) in response to an operation on the control device 20 by the passenger, and the vehicle 1 is positioned at the second position D2 within the second distance L2 from the first position D1, which is part of the first path R1, and the control device 20 receives the first operation. In this case, the control unit 11 autonomously drives the vehicle 1 forward along the identified teacher path R0, based on the first path R1 included in the teacher path R0, from the second position D2 to the turning position TP, and then autonomously drives the vehicle 1 backward from the turning position TP to the planned parking position P1 based on the second path R2 included in the teacher path R0.

[0115] Furthermore, consider a scenario where, for example, the vehicle 1 moves forward in response to an operation on the control device 20 by the passenger, and stops at a third position D3 which is within a second distance L2 from the turning position TP. Specifically, consider a scenario where, for example, after switching to autonomous driving mode, the vehicle 1 moves forward in response to an operation on the control device 20 by the passenger (driving operation by the passenger), passes the turning position TP, and stops at a third position D3 which is within a second distance L2 from the turning position TP, and then receives a second operation.

[0116] The second operation is different from the first operation described above. In detail, the second operation is one in which the forward / reverse control unit receives a reverse command from the rider, and the brake control unit accepts a release of the brakes from the rider. Specifically, the second operation is one in which the rider operates the shift lever included in the control device 20, causing the shift to change to reverse, thereby receiving a reverse command, and the brake control unit accepts a release of the brakes from the rider.

[0117] The third position D3 is the position of the vehicle 1 within a second distance L2 relative to the turning position TP when the vehicle 1 moves forward and stops due to an operation on the passenger's control device 20. Being within a second distance L2 relative to the turning position TP means that the distance to the turning position TP is less than or equal to the second distance L2.

[0118] The second distance L2 can be predetermined. More specifically, the second distance L2 should be such that the distance from the turning position TP, which is a position on the first path R1 in real space RS, is less than or equal to the maximum distance that the vehicle can autonomously reverse to and park in one stroke at the planned parking position P1, which is represented by the teacher path R0 including the first path R1. Parking in one stroke by autonomous driving means parking from the stopping position to the planned parking position P1 by autonomous driving only by reversing, without performing any steering maneuvers on the vehicle 1. The control unit 11 can make this determination using known methods or the like based on the surrounding video V. As described above, the second distance L2 and the first distance L1 can be the same distance.

[0119] When the passenger operates the control device 20, the vehicle 1 moves forward (see direction of arrow D), and the vehicle 1 stops at the third position D3, which is within the second distance L2 from the turning position TP, and the second operation is received, the control unit 11 has the movement control device 12 autonomously move in reverse from the third position D3 to the parking position P1 based on the second route R2 from the turning position TP to the parking position P1, and park the vehicle 1.

[0120] Furthermore, the control unit 11 may, in response to an operation by the passenger on the control device 20, cause the vehicle 1 to move forward (see direction of arrow D), stop in a predetermined orientation at a third position D3 which is within a second distance L2 from the turning position TP, and if the control device 20 receives a second operation, autonomously cause the vehicle 1 to move backward from the third position D3 to the planned parking position P1.

[0121] The predetermined orientation refers to the posture and tilt of the vehicle 1. The predetermined orientation should be such that the vehicle 1, stopped at the third position D3, can autonomously drive in reverse from the third position D3 to the planned parking position P1.

[0122] Next, we will explain the control system in autonomous driving mode in more detail.

[0123] The control unit 11 switches the driving mode to autonomous driving mode if the training route data corresponding to the current position of vehicle 1 is already registered in the route management DB 18A. Then, the control unit 11 reads the map data corresponding to the location information of the parking location P1 identified for the current position from the route management DB 18A.

[0124] The control unit 11 then estimates the vehicle's current position, which is its own position, based on the map data it has read and the surrounding video V of the vehicle 1 acquired by at least one camera 16.

[0125] For example, the control unit 11 uses pattern matching, feature search, or the like to compare a second feature point identified from the surrounding video V captured by the camera 16 with a first feature stored in the map data.

[0126] The second feature point is obtained by analyzing the surrounding video V captured by the camera 16 after switching to autonomous driving mode. The control unit 11 can identify the second feature point using the same method as the method used to identify the first feature point during the training run.

[0127] The control unit 11 randomly selects several (for example, 3 to 6) second feature points from among the identified second feature points that can be matched with first feature points stored in the map data.

[0128] The control unit 11 then estimates the current position of vehicle 1 in real space based on the positions of these several second feature points within the surrounding video V and the three-dimensional positions in real space of the first feature points registered in the map data corresponding to these several second feature points. In this process, the control unit 11 estimates the current position of vehicle 1 by solving a PnP problem using a known method such as Lambda Twist (for example, reference: Mikael Persson et al. "Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver.", ECCV 2018, pp 334-349, published in 2018, http: / / openaccess.thecvf.com / content_ECCV_2018 / papers / Mikael_Persson_Lambda_Twist_An_ECCV_2018_paper.pdf).

[0129] Through these processes, the control unit 11 estimates current position information representing the current position of the vehicle 1, based on map data and surrounding video V of the vehicle 1 acquired by at least one camera 16. This current position information includes the two-dimensional position (X coordinate, Y coordinate) of the vehicle 1 in real space, and information related to the orientation of the vehicle 1.

[0130] Then, when the control unit 11 receives a first operation, such as receiving an instruction to start automatic parking, when the vehicle 1 stops and the stopping position is at a second position D2 which is within a first distance L1 with respect to the first path R1, it performs driving control along the teacher path R0. The occupant operates at least one of a predetermined key, display area, display button, or switch to receive an instruction to start automatic parking. Upon receiving this operation instruction, the control unit 11 accepts the instruction to start automatic parking.

[0131] In other words, in this case, the control unit 11 causes the movement control device 12 to autonomously move the vehicle 1 forward from the second position D2 to the turning position TP based on the first path R1 included in the teacher path R0. Then, the control unit 11 causes the movement control device 12 to autonomously move the vehicle control device 10 backward from the turning position TP to the planned parking position P1 based on the second path R2 included in the teacher path R0.

[0132] On the other hand, when the control unit 11 receives a reverse command, such as when the vehicle 1 stops and the vehicle 1's shift lever is changed to reverse (R), it determines whether the stopping position of the vehicle 1 is a position that allows it to enter the planned parking position P1.

[0133] The control unit 11 determines whether the vehicle 1's stopping position is a position from which it can enter the parking location P1 by determining whether it can autonomously reverse from the stopping position and park at the planned parking location P1 in one stroke. More specifically, the control unit 11 determines whether the vehicle 1's stopping position is a position from which it can enter the parking location P1 by determining whether the distance between the stopping position and the turning position TP is less than or equal to the second distance L2. The turning position TP is represented by the intersection of the first path R1 and the second path R2 included in the teacher path R0. The control unit 11 can make this determination using known methods based on surrounding video V, sensor information, etc.

[0134] For example, consider a case where vehicle 1 is downstream from the first position D1 in the direction of travel along the first path R1 (direction of arrow D), and stops upstream from the turning point TP on the first path R1 (towards the first position D1). Also consider a case where the stopping position is at a distance greater than or equal to the second distance L2 from the turning point TP. In this case, the control unit 11 determines that the stopping position of vehicle 1 is a position from which it is impossible to enter the planned parking position P1.

[0135] Furthermore, consider a scenario where vehicle 1, driven forward along the first route R1 by a passenger, passes the turning point TP on the first route R1, and stops after traveling a distance exceeding the second distance L2 from the turning point TP. In this case as well, the control unit 11 determines that the stopping position of vehicle 1 is a position from which it is impossible to park in the planned parking position P1.

[0136] If the control unit 11 determines that parking is not possible, it displays a position correction instruction on the display device 22 to move the vehicle from the planned parking position P1 to a position where parking is possible.

[0137] Figure 8A is a schematic diagram of an example of the display screen 30F. The display screen 30F is an example of the display screen 30 displayed on the display device 22.

[0138] In autonomous driving mode, when the vehicle 1 stops at a position at a distance of 2 distance L2 or more away from the turning point TP on the first route R1 toward the first position D1 due to the driver's operation, and the vehicle 1's shift lever is changed to reverse (R), the control unit 11 receives a reverse instruction, for example, to display screen 30F on the display device 22.

[0139] Display screen 30F is a display screen 30 in which a display M7 prompting forward movement because the turning point TP is still ahead, and an icon image I of vehicle 1 are superimposed on the surrounding video V. Display M7 is an example of position correction instruction information to the parking space-accessible position. Figure 8A shows an example of a form in which display M7 is text prompting forward movement because the turning point TP is still ahead. Note that display M7 may be a still image, animation image, or icon, etc., indicating that the turning point TP is still ahead and prompting forward movement, and is not limited to text.

[0140] Figure 8B is a schematic diagram of an example of the display screen 30G. The display screen 30G is an example of the display screen 30 displayed on the display device 22.

[0141] In autonomous driving mode, when the vehicle 1 stops at a distance greater than the second distance L2 away from the first position D1 from the turning point TP on the first route R1 due to the driver's operation, and the vehicle 1's shift lever is changed to reverse (R), the control unit 11 receives a reverse command, for example, to display the display screen 30G on the display device 22.

[0142] Display screen 30G is a display screen 30 in which a display M8 prompting the driver to reverse because they have passed the turning point TP, and an icon image I of vehicle 1 are superimposed on the surrounding video V. Display M8 is an example of position correction instruction information to a parking-possible position. Figure 8B shows an example of a form in which display M8 is text prompting the driver to reverse because they have passed the turning point TP. Note that display M8 may be a still image, animation image, or icon, etc., indicating that the driver has passed the turning point TP and is being prompted to reverse, and is not limited to text.

[0143] After the control unit 11 displays the display screen 30F or the display screen 30G on the display device 22, when the operation is started by the passenger operating the control device 20, the control unit 11 should resume the process of estimating its own position using the second feature point and map data.

[0144] Returning to Figure 5, we continue the explanation.

[0145] On the other hand, when the control unit 11 receives a reverse command, such as when the vehicle 1 stops and the vehicle 1's shift lever is changed to reverse (R), and determines that the vehicle 1's stopping position is a position where it can enter the planned parking position P1, it executes the following process. That is, when the control unit 11 determines that the distance between the stopping position and the turning position TP is less than or equal to the second distance L2, it executes the following process. That is, in this case, the vehicle 1 is located at the third position D3, which is less than or equal to the second distance L2 from the turning position TP.

[0146] When the control unit 11 detects that the brake pedal (brake operation unit) has released the brakes applied by the passenger, it starts autonomous driving along the second route R2.

[0147] Figure 9A is a schematic diagram of an example of the display screen 30D. The display screen 30D is an example of the display screen 30 displayed on the display device 22.

[0148] The control unit 11 causes the display device 22 to display a display screen 30D that includes a display M4 indicating that a teacher route R0 to the planned parking location P1 has been registered and that the vehicle has switched to autonomous driving mode, and a button image B4 for the passenger to select to switch to manual driving. In this embodiment, the control unit 11 causes the display device 22 to display a display screen 30D that superimposes the display M4, the button image B4, and an icon image I of the vehicle 1 onto the surrounding video V. Figure 9A shows an example where the display M4 is text indicating that a teacher route R0 to the planned parking location P1 has been registered and that the vehicle has switched to autonomous driving mode. The display M4 may be a still image, an animated image, or an icon, etc., indicating that a teacher route R0 to the planned parking location P1 has been registered and that the vehicle has switched to autonomous driving mode, and is not limited to text.

[0149] Returning to Figure 5, we continue the explanation.

[0150] The control unit 11 receives an operation from the passenger on the operating device 20, causing the vehicle 1 to move forward (see direction of arrow D), and when the vehicle 1 stops at a third position D3, which is within a second distance L2 from the turning position TP, and receives a second operation, it causes the movement control device 12 to start autonomous reverse driving from the third position D3 to the parking position P1, based on the second path R2 from the turning position TP to the parking position P1. As described above, the second operation is an operation in which the passenger operates the shift lever included in the operating device 20, causing the shift to change to reverse, thereby receiving an instruction to move backward, and the brake operation unit accepts the passenger's release of the brakes.

[0151] Furthermore, when the control unit 11 receives a manual driving start instruction, it may interrupt autonomous driving by canceling the autonomous driving mode. For example, when the control unit 11 receives an instruction from the passenger to operate button image B4 (see Figure 9A) for the passenger to select to switch to manual driving, it accepts the manual driving start instruction and interrupts autonomous driving.

[0152] Figure 9B is a schematic diagram of an example of the display screen 30H. The display screen 30H is an example of the display screen 30 displayed on the display device 22.

[0153] The control unit 11 causes the display device 22 to display a display screen 30H on the surrounding video V, which superimposes a display M4 indicating the interruption of autonomous driving, a button image B5 for accepting the instruction operation to acknowledge the interruption of autonomous driving, and an icon image I of the vehicle 1. Figure 9A shows an example where the display M9 is text. The display M9 may be a still image, an animated image, or an icon, and is not limited to text.

[0154] Returning to Figure 5, we continue the explanation.

[0155] If the control unit 11 does not receive a manual driving start instruction, it instructs the movement control device 12 to start autonomous reverse driving from the third position D3 to the parking position P1 based on the second route R2 from the turning position TP to the parking position P1. Then, when the vehicle 1 enters the parking position P1 and autonomous driving is completed, the control unit 11 displays an indication on the display device 22 that autonomous parking has been completed.

[0156] Figure 9C is a schematic diagram of an example of the display screen 30E. The display screen 30E is an example of the display screen 30 displayed on the display device 22.

[0157] The control unit 11 causes the display device 22 to display a display screen 30E that includes a display M5 indicating that automatic parking is complete and a button image B5 for accepting confirmation operations by the occupant. The display screen 30E is a display screen 30 in which an icon image I of the vehicle 1, the display M5, and the button image B5 are superimposed on the surrounding image V, as described above. The display M5 is information indicating that automatic parking is complete. Figure 8B shows an example where the display M5 is text indicating that automatic parking is complete. Note that the display M5 may be a still image, an animated image, or an icon, etc., indicating that automatic parking is complete, and is not limited to text.

[0158] When the control unit 11 determines that it has received an operation instruction for button image B5 from the operation device 20 by the passenger, it should deactivate the autonomous driving mode and drive the vehicle 1 according to the passenger's operation received by the operation device 20.

[0159] Next, an example of the information processing flow performed by the control unit 11 of this embodiment will be described.

[0160] Figures 10, 11, and 12 are flowcharts illustrating an example of the information processing flow performed by the control unit 11.

[0161] The control unit 11 displays a button image on the display device 22 of the vehicle 1 while it is moving forward, in response to the driver's operation, i.e., the driver's operation of the control device 20 (step S100). As a result of the process in step S100, for example, the display screen 30A shown in Figure 7A is displayed on the display device 22.

[0162] The control unit 11 acquires the current location information of the vehicle 1 (step S102). Based on sensor information and surrounding video V, the control unit 11 acquires the current location information of the vehicle 1 using a known method.

[0163] Next, the control unit 11 determines whether the teacher route R0 corresponding to the current position of vehicle 1, represented by the position information acquired in step S102, is registered in the route management DB 18A (step S104).

[0164] For example, the control unit 11 identifies one or more parking locations from the vehicle 1's current location using a known method. The control unit 11 then determines whether training route data corresponding to the planned parking location P1 that matches the identified parking location is registered in the route management DB 18A. Through this determination process, the control unit 11 determines whether training route data for entering the planned parking location P1 corresponding to the vehicle 1's current location information is registered in the route management DB 18A.

[0165] If it is determined that the teacher route R0 corresponding to the current position of vehicle 1 is not registered (step S104: No), proceed to step S106.

[0166] In step S106, the control unit 11 determines whether or not the vehicle 1 has stopped (step S106). For example, the control unit 11 performs the determination in step S106 by determining whether or not the speed included in the sensor information obtained by the sensor 14 has become 0. If the determination in step S106 is negative (step S106: No), the process returns to step S102. If the determination in step S106 is positive (step S106: Yes), the process proceeds to step S108.

[0167] In step S108, the control unit 11 determines whether or not it has received the instruction to start parking registration (step S108). For example, the control unit 11 performs the determination in step S108 by determining whether or not the display area of ​​the button image B1 on the display screen 30A shown in Figure 7A, which was displayed in step S100, has been operated by the passenger.

[0168] If the decision in step S108 is negative (step S108: No), the control unit 11 determines whether or not the vehicle 1 is in a power-off state (step S110). For example, the control unit 11 can make this determination by determining whether or not an operation related to turning off the engine has been performed by the occupant using the control device 20. Alternatively, the control unit 11 may make this determination by analyzing sensor information and determining whether or not the vehicle 1 is in a power-off state. If the control unit 11 makes a negative decision in step S110 (step S110: No), it returns to step S102. If the control unit 11 makes an positive decision in step S110 (step S110: Yes), it terminates this routine.

[0169] On the other hand, if a positive decision is made in step S108 (step S108: Yes), the process proceeds to step S200 in Figure 11. A positive decision is made in step S108 when the teacher route R0 of the teacher route data corresponding to the current position of vehicle 1 is not registered, vehicle 1 does not stop, and a parking registration start instruction has been received.

[0170] Let's explain using Figure 11.

[0171] If the control unit 11 finds that the training route R0 corresponding to the current position of vehicle 1 has not been registered, vehicle 1 has not stopped, and a parking registration start instruction has been received, it switches the driving mode to training driving mode (step S200). As a result of the process in step S200, the control unit 11 starts processing the driving of vehicle 1 by the occupant's driving operations as training driving for vehicle 1.

[0172] The control unit 11 sequentially stores the first feature point and the current position of vehicle 1 in the storage device 18 (step S202). In detail, the control unit 11 sequentially stores the current position of vehicle 1, which has been sequentially estimated along with the training run of vehicle 1. At this time, the control unit 11 assigns an index to the current position and sequentially stores the driving position, bearing, driving direction, and reference driving information associated with the current position. In addition, the control unit 11 identifies the first feature point by performing image analysis on the surrounding video V captured by the camera 16 during the training run and sequentially registers it in the map data.

[0173] Then, the control unit 11 determines whether or not vehicle 1 has stopped (step S204). The control unit 11 can perform the determination in step S204 in the same manner as in step S106. If the control unit 11 determines in step S204 that it has stopped (step S204: No), it returns to step S202. If the control unit 11 determines that vehicle 1 has stopped (step S204: Yes), it proceeds to step S206.

[0174] The control unit 11 determines whether or not it has received a command operation to complete the teacher run (step S206). For example, during the teacher run, the control unit 11 displays a display screen 30B on the display device 22 that includes information indicating the command operation to complete the teacher run (see Figure 7B). The control unit 11 then makes the determination in step S206 by determining whether or not it has received a command operation to complete the teacher run, which includes the operation to put the shift lever into P (parking) or the operation of a button to switch the vehicle 1's shift to parking, as displayed on the display screen 30B, and the operation of button image B2. When the control unit 11 determines that the operation to put the shift lever into P (parking) or the operation of a button to switch the vehicle 1's shift to parking has been performed by the passenger instructing the operation device 20, and that the operation of button image B2 has been performed, it determines that it has received a command operation to complete the teacher run.

[0175] If you make a negative judgment in step S206 (Step S206: No), return to step S202. If you make an affirmative judgment in step S206 (Step S206: Yes), proceed to step S208.

[0176] In step S208, the control unit 11 defines the driving route during the teacher drive, which is represented by a group of current positions sequentially estimated during the teacher drive, as the teacher drive route R0, and registers the teacher drive route data representing the teacher drive route R0, the registered map data of the first feature point identified during the teacher drive, and the location information of the planned parking location P1 representing the current position of the parked vehicle 1 in the route management DB 18A (step S208).

[0177] Then, the control unit 11 causes the display device 22 to display information indicating the completion of registration of the teacher route R0 (step S210). As a result of the process in step S210, for example, the display screen 30C shown in Figure 7C is displayed on the display device 22.

[0178] Next, the control unit 11 determines whether or not the vehicle 1 is in a power-off state (step S212). The process in step S212 is the same as in step S110. The control unit 11 repeats the negative determination (step S212: No) until it makes an affirmative determination (step S212: Yes) in step S212. When the control unit 11 makes an affirmative determination (step S212: Yes) in step S212, this routine terminates.

[0179] As the processes in steps S200 to S212 are executed, in this embodiment, the teacher route data for the teacher route R0, which includes a first route R1 from the first position D1 forward (see arrow D direction) to the turning position TP, and a second route R2 from the turning position TP to the planned parking position P1 in reverse, is registered in the route management DB18A (see Figure 5).

[0180] Returning to Figure 10, we continue the explanation.

[0181] On the other hand, in step S104, if the control unit 11 determines that the teacher route R0 of the teacher route data corresponding to the current position of vehicle 1 has been registered (step S104: Yes), the process proceeds to step S300 in Figure 12.

[0182] This will be explained using Figure 12.

[0183] If the control unit 11 has registered the training route data corresponding to the current position of vehicle 1 in the route management DB 18A, it switches the driving mode to autonomous driving mode (step S300). At this point, the control unit 11 only switches the driving mode to autonomous driving mode, which is a mode in which autonomous driving is possible, and manual driving by the passenger, i.e., driving by the passenger's operation of the control device 20, continues.

[0184] The control unit 11 reads map data corresponding to the location information of the designated parking location P1 identified relative to the current location from the route management DB 18A (step S302).

[0185] Then, the control unit 11 estimates the vehicle's current position, which is its own position, based on the map data read in step S302 and the surrounding video V of the vehicle 1 acquired by at least one camera 16 (step S304).

[0186] For example, the control unit 11 uses pattern matching or feature search to compare the second feature points identified from the surrounding video V captured by the camera 16 with the first features stored in the map data read in step S302. The control unit 11 randomly selects several second feature points from among the identified second feature points that can be matched with the first feature points stored in the map data. Then, the control unit 11 estimates the current position of the vehicle 1 in real space based on the positions of these several second feature points in the surrounding video V and the three-dimensional positions in real space of the first feature points registered in the map data that correspond to these several second feature points. In detail, the control unit 11 estimates the current position information representing the current position of the vehicle 1 as its own position, which includes the two-dimensional position (X coordinate, Y coordinate) of the vehicle 1 in real space and information related to the orientation of the vehicle 1.

[0187] Then, the control unit 11 determines whether or not the vehicle 1 has stopped, in the same manner as in step S106 (step S306). Stopping is also called halting. If the control unit 11 determines negative in step S306 (step S306: No), it returns to step S304. If the control unit 11 determines positive in step S306 (step S306: Yes), it proceeds to step S308.

[0188] In step S308, the control unit 11 determines whether or not it has received an instruction to start automatic parking (step S308). For example, the occupant instructs the operation of at least one of a predetermined key, display area, display button, or switch for receiving an instruction to start automatic parking. The control unit 11 performs the determination in step S308 by determining whether or not it has received the operation instruction.

[0189] If the decision in step S308 is affirmative (Step S308: Yes), proceed to step S310.

[0190] In step S310, the control unit 11 reads the teacher route data for the teacher route R0 corresponding to the current position, which was identified in step S104, from the route management DB 18A, and performs driving control along the teacher route R0 (step S310).

[0191] In detail, the control unit 11 determines in step S306 that the stopping position is a second position D2 which is within a first distance L1 with respect to the first path R1 included in the teacher path R0, and if it confirms in step S308 that this is a first operation such as receiving an instruction to start automatic parking, it executes driving control along the teacher path R0.

[0192] In step S310, during driving control along the teacher path R0, the control unit 11 instructs the movement control device 12 to autonomously drive the vehicle 1 forward from the second position D2 to the turning position TP based on the first path R1 included in the teacher path R0. Then, the control unit 11 instructs the movement control device 12 to autonomously drive the vehicle control device 10 backward from the turning position TP to the planned parking position P1 based on the second path R2 included in the teacher path R0.

[0193] Next, the control unit 11 determines whether autonomous driving along the teacher route R0 has been completed (step S312). For example, the control unit 11 performs the determination in step S312 by determining whether the vehicle 1 has reached the planned parking position P1 represented by the teacher route R0. If the control unit 11 makes a negative determination in step S312 (step S312: No), it returns to step S310. If the control unit 11 makes an positive determination in step S312 (step S312: Yes), it proceeds to step S314.

[0194] In step S314, the control unit 11 causes the display device 22 to display information indicating that automatic parking is complete (step S314). As a result of the process in step S314, for example, the display screen 303 shown in Figure 9C is displayed on the display device 22. Then, this routine ends.

[0195] On the other hand, if a negative result is determined in step S308 (step S308: No), the process proceeds to step S316.

[0196] In step S316, the control unit 11 determines whether or not it has received a reverse instruction by determining whether or not the shift lever of vehicle 1 has been shifted to reverse (R) (step S316). If the control unit 11 makes a negative determination in step S316 (step S316: No), it returns to step S304. If it makes an positive determination in step S316 (step S316: Yes), it proceeds to step S318.

[0197] In step S318, the control unit 11 determines whether or not the vehicle 1's own position has been estimated (step S318). For example, the control unit 11 makes the determination in step S318 by determining whether or not the vehicle 1's own position has been estimated by the processing in step S304. If the determination in step S318 is negative (step S318: No), the process returns to step S304. If the determination in step S318 is positive (step S318: Yes), the process proceeds to step S320.

[0198] In step S320, the control unit 11 determines whether the current stopping position of vehicle 1 is a position that allows it to enter the planned parking position P1 (step S320). The control unit 11 reads the teacher route data of the teacher route R0 corresponding to the current position, which was identified in step S104, from the route management DB 18A. Then, the control unit 11 determines whether the stopping position of vehicle 1 is a position that allows it to enter the planned parking position P1 by determining whether the distance between the turning position TP, which is the intersection point of the first route R1 and the second route R2 included in the teacher route R0 of the teacher route data read, and the stopping position is less than or equal to the second distance L2.

[0199] If the control unit 11 determines that the vehicle is not in a position where it can be stored (step S320: No), it proceeds to step S322.

[0200] In step S322, the control unit 11 displays a position correction instruction on the display device 22 to move the vehicle to a position where it can enter the planned parking position P1 (step S322).

[0201] Let's explain using Figure 5. For example, let's assume that a vehicle 1, driven forward by a passenger, stops downstream from the first position D1 in the direction of travel along the first path R1 (arrow D direction), and upstream from the turning point TP on the first path R1 (towards the first position D1). Let's also assume that the stopping position is at a distance greater than the second distance L2 from the turning point TP. In this case, the control unit 11 determines that the stopping position of the vehicle 1 is a position from which it cannot enter the planned parking position P1.

[0202] In this case, the process in step S322 causes the control unit 11 to display, for example, the display screen 30F shown in Figure 8A on the display device 22.

[0203] In other words, in autonomous driving mode, when vehicle 1 stops at a position at least 2 distance L2 away from the first position D1 on the first route R1 due to the driver's operation, and when vehicle 1 receives a reverse command, such as when the vehicle's shift lever is changed to reverse (R), the control unit 11 displays, for example, the display screen 30F on the display device 22.

[0204] Furthermore, consider a scenario where, for example, a vehicle 1, driven forward by a passenger, passes the turning point TP on the first route R1 and stops after traveling a distance exceeding the second distance L2 from the turning point TP. In this case as well, the control unit 11 determines that the stopping position of the vehicle 1 is a position from which it cannot enter the planned parking position P1.

[0205] In this case, the process in step S322 causes the control unit 11 to display, for example, the display screen 30G shown in Figure 8B on the display device 22.

[0206] In other words, in autonomous driving mode, when vehicle 1 stops at a distance greater than the second distance L2 away from the first position D1 from the turning point TP on the first path R1 due to the driver's operation, and when vehicle 1 receives a reverse command, such as when the vehicle's shift is changed to reverse (R), the control unit 11 displays, for example, the display screen 30G on the display device 22.

[0207] Returning to Figure 12, we continue the explanation.

[0208] Next, the control unit 11 determines whether manual driving, which is driving by the rider's operation of the control device 20, has started (step S324). The control unit 11 repeats the negative determination (step S324: No) until it makes an affirmative determination (step S324: Yes) in step S324. If the control unit 11 makes an affirmative determination (step S324: Yes) in step S324, it returns to step S304.

[0209] On the other hand, if the control unit 11 determines in step S320 that it is a position where the vehicle can be stored (step S320: Yes), it proceeds to step S326.

[0210] In other words, when the control unit 11 receives a reverse instruction, such as when the vehicle 1 stops (step S306: Yes) and the vehicle 1's shift lever is changed to reverse (R) (step S316: Yes), and determines that the vehicle 1's stopping position is a position where it can enter the planned parking position P1 (step S320: Yes), it proceeds to step S326. In other words, when the control unit 11 determines through the processing in step S320 that the distance between the vehicle 1's stopping position and the turning position TP included in the teacher path R0 corresponding to the current position identified in step S104 is less than or equal to the second distance L2, it proceeds to step S326. In other words, in this case, the vehicle 1 is located at a third position D3 which is less than or equal to the second distance L2 from the turning position TP (see Figure 5).

[0211] When the control unit 11 detects that the brake pedal (brake operation unit) has eased the brake operation by the occupant (step S326), it causes the movement control device 12 to autonomously reverse along the second path R2 included in the teacher path R0 corresponding to the current position, which was identified in step S104 (step S328).

[0212] In other words, when the control unit 1 receives an operation from the passenger on the operating device 20, the vehicle 1 moves forward, stops at a third position D3 which is within a second distance L2 from the turning position TP, and receives a second operation, it causes the movement control device 12 to start autonomous reverse driving from the third position D3 to the parking position P1 based on the second route R2 from the turning position TP to the parking position P1. As described above, the second operation is an operation in which the shift lever included in the operating device 20 is operated by the passenger to change the shift to reverse, thereby receiving an instruction to move backward, and the brake operation unit accepts the passenger's release of the brakes.

[0213] At this time, the control unit 11 causes the display screen 30D shown in Figure 9A to be displayed on the display device 22.

[0214] The control unit 11 determines whether or not it has received a manual driving start instruction (step S330). For example, the control unit 11 performs the determination in step S330 by determining whether or not it has received an instruction from the passenger to operate the button image B4, which is included in the display screen 30D shown in Figure 9A displayed on the display device 22, for the passenger to select to switch to manual driving.

[0215] If the control unit 11 determines that it has not received a manual driving start instruction (step S330: No), it proceeds to step S332. In step S332, the control unit 11 instructs the movement control device 12 to continue autonomous reverse driving along the second path R2, which was started in step S328 (step S332).

[0216] Next, the control unit 11 determines whether autonomous driving along the teacher route R0, which includes the second route R2, has been completed (step S334). For example, the control unit 11 performs the determination in step S334 by determining whether the vehicle 1 has reached the parking location P1 represented by the second route R2 included in the teacher route R0. If the control unit 11 makes a negative determination in step S334 (step S334: No), it returns to step S330. If the control unit 11 makes an positive determination in step S334 (step S334: Yes), it proceeds to step S336.

[0217] In step S336, the control unit 11 causes the display device 22 to display information indicating that automatic parking is complete (step S336). As a result of the process in step S336, for example, the display screen 303 shown in Figure 9C is displayed on the display device 22. Then, this routine ends.

[0218] On the other hand, if the control unit 11 makes a positive determination in step S330 (step S330: Yes), it proceeds to step S338. In step S338, the control unit 11 instructs the mobility control device 12 to interrupt autonomous driving (step S338). Then, the control unit 11 displays, for example, the display screen 30H shown in Figure 9B on the display device 22. Then, the control unit 11 terminates this routine.

[0219] As described above, the vehicle control method performed by the vehicle control device 10 of this embodiment is a vehicle control method performed by a vehicle control device 10 mounted on a vehicle 1 which includes an operating device 20 that accepts input from an occupant and a movement control device 12 that controls at least acceleration, deceleration, and steering.

[0220] The control unit 11 of the vehicle control device 10 registers a teacher route R0 which includes a first route R1 from a first position D1 to a turning position TP, and a second route R2 from the turning position TP to a parking position P1. When the vehicle 1 moves forward in response to an operation by the passenger on the operating device 20, and the vehicle 1 is positioned at a second position D2 which is within a first distance L1 relative to the first route R1, and the operating device 20 receives the first operation, the control unit 11 autonomously drives the vehicle forward from the second position D2 to the turning position TP based on the first route R1, and then autonomously drives the vehicle backward from the turning position TP to the parking position P1 based on the second route R2. Furthermore, if the control unit 11 causes the vehicle 1 to move forward in response to an operation by the passenger on the control device 20, and the vehicle 1 stops at a third position D3 which is within a second distance L2 from the turning position TP, and the control device 20 receives a second operation different from the first operation, the control unit 11 will have the movement control device 12 autonomously move the vehicle 1 in reverse from the third position D3 to the planned parking position P1 based on the second path R2.

[0221] Therefore, the vehicle control device 10 and the vehicle control method executed by the vehicle control device 10 of this embodiment can adequately provide assistance with parking in accordance with the position of the vehicle 1 and the operation by the occupant.

[0222] Therefore, the vehicle control device 10 and the vehicle control method executed by the vehicle control device 10 of this embodiment can provide suitable parking assistance.

[0223] Next, the hardware configuration of the vehicle control device 10 in this embodiment will be described.

[0224] Figure 13 is a block diagram showing an example of the hardware configuration of the vehicle control device 10.

[0225] The vehicle control device 10 has a hardware configuration that utilizes a standard computer, with a CPU (Central Processing Unit) 13A, ROM (Read Only Memory) 13B, RAM (Random Access Memory) 13C, and I / F 13D for connecting to various devices, all interconnected by a bus 13E.

[0226] The CPU 13A is an arithmetic unit that controls the overall processing of the vehicle control device 10. The RAM 13C stores data necessary for various processes performed by the CPU 13A. The ROM 13B stores programs and other data that implement the various processes performed by the CPU 13A. The I / F 13D is an interface that connects to external devices and external terminals via communication lines, etc., and is used to send and receive data between the connected external devices and external terminals.

[0227] The program for executing the various processes described above, which are performed by the vehicle control device 10, is provided pre-installed in a ROM 13B or the like. The program for executing the vehicle control method performed in this embodiment may also be provided as a file in an installable or executable format for these devices, recorded on a computer-readable recording medium such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disc).

[0228] Furthermore, the program for executing the vehicle control method performed in this embodiment may be stored on a computer connected to a network such as the Internet and provided by allowing download via the network. Alternatively, the program for executing the vehicle control method performed in this embodiment may be provided or distributed via a network such as the Internet.

[0229] While embodiments of this disclosure have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be carried out in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of Symbols]

[0230] 1 vehicle 10. Vehicle control system 11 Control Unit 12 Mobile control device 14 sensors 16 cameras 20 Operating device 22 Display device

Claims

1. A vehicle control method performed by a vehicle control device mounted on a vehicle, which includes an operating device that accepts input from a passenger and a movement control device that controls at least acceleration, deceleration, and steering, A teacher route is registered that includes a first route from the first position forward to the turning position and a second route from the turning position backward to the planned parking position. When the vehicle moves forward due to an operation of the control device by the passenger, and the vehicle is positioned at a second position within a first distance from the first path, and the control device receives the first operation, the movement control device autonomously moves forward from the second position to the turning position based on the first path, and thereafter, the movement control device autonomously moves backward from the turning position to the planned parking position based on the second path. If the vehicle moves forward due to an operation by the passenger on the control device, and stops at a third position within a second distance from the turning position, and the control device receives a second operation different from the first operation, the movement control device will autonomously cause the vehicle to move in reverse from the third position to the planned parking position based on the second path. Vehicle control method.

2. A vehicle control method according to claim 1, The operating device comprises a forward / reverse operating unit that receives instructions to move forward or backward, and a brake operating unit that receives instructions to decelerate the vehicle. The second operation involves the forward / reverse control unit receiving a reverse command from the rider, and the brake control unit receiving a release of the brakes from the rider. Vehicle control method.

3. A vehicle control method according to claim 1, The operating device includes an automatic parking instruction unit that receives an instruction to start automatic parking, The first operation is that the automatic parking instruction unit receives the instruction to start the automatic parking. Vehicle control method.

4. A vehicle control method according to claim 1, The aforementioned operating device includes a brake operation unit that receives instructions to decelerate the vehicle and an automatic parking instruction unit that receives instructions to start automatic parking. The first operation involves the brake operation unit receiving a request from the occupant to increase the brake pressure, causing the vehicle to stop, and the automatic parking instruction unit receiving an instruction to start the automatic parking. Vehicle control method.

5. A vehicle control method according to claim 1, The first distance and the second distance are the same. Vehicle control method.

6. A vehicle control method according to claim 1, The vehicle moves forward as a result of the passenger's operation of the control device. If the second position is within the first distance from the first position which is part of the first path, and the operating device receives the first operation, the movement control device autonomously moves forward from the second position to the turning position based on the first path, and thereafter autonomously moves backward from the turning position to the planned parking position based on the second path. Vehicle control method.

7. A vehicle control method according to claim 1, The aforementioned vehicle is further equipped with cameras that acquire images of the surrounding area. Based on the surrounding video acquired by the camera, the teacher route including the first route and the second route is registered. Based on the surrounding images acquired by the aforementioned camera, the system autonomously drives forward and / or backward. Vehicle control method.

8. A vehicle control method according to claim 7, The vehicle control device includes a storage device for registering the teacher route. Vehicle control method.

9. A vehicle control method according to claim 1, The first distance of the second position to the first path is the length between the second position and the point where the straight line passing through the second position and perpendicular to the first path intersects with the first path. Vehicle control method.

10. A vehicle control method according to claim 1, When the vehicle moves forward due to an operation by the passenger on the control device, and the vehicle stops in a predetermined direction at the third position which is within a second distance from the turning position, and the control device receives the second operation, the movement control device autonomously moves the vehicle in reverse from the third position to the planned parking position based on the second path. Vehicle control method.

11. A vehicle control device mounted on a vehicle, comprising an operating device that accepts input from a passenger, and a motion control device that controls at least acceleration, deceleration, and steering, A teacher route is registered that includes a first route from the first position forward to the turning position and a second route from the turning position backward to the planned parking position. When the vehicle moves forward due to an operation of the control device by the passenger, and the vehicle is positioned at a second position within a first distance from the first path, and the control device receives the first operation, the movement control device autonomously moves forward from the second position to the turning position based on the first path, and thereafter, the movement control device autonomously moves backward from the turning position to the planned parking position based on the second path. If the vehicle moves forward due to an operation by the passenger on the control device, and stops at a third position within a second distance from the turning position, and the control device receives a second operation different from the first operation, the movement control device will autonomously cause the vehicle to move in reverse from the third position to the planned parking position based on the second path. Vehicle control system.

12. A vehicle control device according to claim 11, The operating device comprises a forward / reverse operating unit that receives instructions to move forward or backward, and a brake operating unit that receives instructions to decelerate the vehicle. The second operation involves the forward / reverse control unit receiving a reverse command from the rider, and the brake control unit receiving a release of the brakes from the rider. Vehicle control system.

13. A vehicle control device according to claim 11, The operating device includes an automatic parking instruction unit that receives an instruction to start automatic parking, The first operation is that the automatic parking instruction unit receives the instruction to start the automatic parking. Vehicle control system.

14. A vehicle control device according to claim 11, The aforementioned operating device includes a brake operation unit that receives instructions to decelerate the vehicle and an automatic parking instruction unit that receives instructions to start automatic parking. The first operation involves the brake operation unit receiving a request from the occupant to increase the brake pressure, causing the vehicle to stop, and the automatic parking instruction unit receiving an instruction to start the automatic parking. Vehicle control system.

15. A vehicle control device according to claim 11, The first distance and the second distance are the same. Vehicle control system.

16. A vehicle control device according to claim 11, The vehicle moves forward as a result of the passenger's operation of the control device. If the second position is within the first distance from the first position which is part of the first path, and the operating device receives the first operation, the movement control device autonomously moves forward from the second position to the turning position based on the first path, and thereafter autonomously moves backward from the turning position to the planned parking position based on the second path. Vehicle control system.

17. A vehicle control device according to claim 11, The aforementioned vehicle is further equipped with cameras that acquire images of the surrounding area. Based on the surrounding video acquired by the camera, the teacher route including the first route and the second route is registered. Based on the surrounding images acquired by the aforementioned camera, the system autonomously drives forward and / or backward. Vehicle control system.

18. A vehicle control device according to claim 17, The vehicle control device includes a storage device for registering the teacher route. Vehicle control system.

19. A vehicle control device according to claim 11, The first distance of the second position to the first path is the length between the second position and the point where the straight line passing through the second position and perpendicular to the first path intersects with the first path. Vehicle control system.

20. A vehicle control device according to claim 11, When the vehicle moves forward due to an operation by the passenger on the control device, and the vehicle stops in a predetermined direction at the third position which is within a second distance from the turning position, and the control device receives the second operation, the movement control device autonomously moves the vehicle in reverse from the third position to the planned parking position based on the second path. Vehicle control system.

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