Vehicle, vehicle control method, and program

Abstract

To reduce the burden on the user. [Solution] The control unit 80 of the vehicle 1, when the current location of the vehicle 1 is a parking lot that requires stopping at the entrance, detects that the vehicle has stopped at the entrance and activates the memory parking mode. Based on surrounding information, it determines whether or not it is possible to enter the parking lot, and at the later of the timing when it becomes possible to enter the parking lot or when the operation to confirm the target parking position for parking the vehicle 1 by automatic parking is input to the display / operation unit 22, it starts automatic parking using the memory parking mode.

Description

Technical Field

[0001] The present invention relates to a vehicle, a vehicle control method, and a program.

Background Art

[0002] In recent years, efforts to provide access to sustainable transportation systems that also consider vulnerable road users among traffic participants have become active. Towards realizing this, research and development have been conducted to further improve traffic safety and convenience through research and development related to driving support technology.

[0003] The automatic parking method described in Patent Document 1 relates to automatic parking in a parking lot where a gate is installed at an entrance. During execution of an automatic driving process along a stored route, the automatic parking method stops the vehicle in front of the gate based on the current position of the vehicle. Image information in front of the vehicle is acquired by an on-board camera, and whether the gate is open is determined by image recognition. When it is determined that the gate has opened, traveling along the route is resumed.

Prior Art Literature

Patent Literature

[0004]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0005] The conditions under which the gate opens vary depending on the parking lot. For example, in some cases the gate opens only after the vehicle user has received an admission ticket, while in other cases, the gate opens only after the vehicle has stopped at the entrance, in order to limit the speed and volume of traffic entering the parking lot. In the case where the gate opens only after the vehicle has stopped at the entrance, the automatic parking method described in Patent Document 1 carries the risk that the vehicle may start autonomous driving as soon as the gate opens, even before the vehicle user has received an admission ticket, requiring the user to brake to stop the vehicle's autonomous driving. One of the objectives of the present invention is to reduce the burden on the user. [Means for solving the problem]

[0006] A vehicle according to one aspect of the present invention includes an information acquisition unit that acquires vehicle state information and surrounding information, A storage unit that stores the route taken in the past from the parking start position to the parking position, and the information necessary for the autonomous driving of the vehicle along the said route, in association with map information used for route guidance of the said vehicle, A control unit for controlling the operation of the vehicle, comprising a control unit having a memory parking mode that performs automatic parking of the vehicle based on the route and information stored in the storage unit and the map information, In the memory parking mode, the display and operation unit displays the parking position stored in the memory unit and accepts input for confirming a target parking position selected from the parking positions, Equipped with, The control unit, If the vehicle's current location is a parking lot, and that parking lot requires stopping at the entrance, The system detects that the vehicle has stopped at the aforementioned entrance based on the status information, and upon detecting that the vehicle has stopped, it activates the memory parking mode. Based on the surrounding information, a determination is made as to whether or not entry to the aforementioned parking lot is possible. Automatic parking using the memory parking mode will begin at the later of the following two timings: when entry to the parking lot becomes possible, or when the operation to confirm the target parking position is input to the display / operation unit.

[0007] Another aspect of the present invention is a vehicle control method comprising an information acquisition unit that acquires vehicle state information and surrounding information, A storage unit that stores the route taken in the past from the parking start position to the parking position, and the information necessary for the autonomous driving of the vehicle along the said route, in association with map information used for route guidance of the said vehicle, A control unit for controlling the operation of the vehicle, comprising a control unit having a memory parking mode that performs automatic parking of the vehicle based on the route and information stored in the storage unit and the map information, In the memory parking mode, the display and operation unit displays the parking position stored in the memory unit and accepts input for confirming a target parking position selected from the parking positions, A vehicle control method equipped with, The control unit performs the following: If the vehicle's current location is a parking lot, and that parking lot requires stopping at the entrance, The system detects that the vehicle has stopped at the aforementioned entrance based on the status information, and upon detecting that the vehicle has stopped, it activates the memory parking mode. Based on the surrounding information, a determination is made as to whether or not entry to the aforementioned parking lot is possible. Automatic parking using the memory parking mode will begin at the later of the following two timings: when entry to the parking lot becomes possible, or when the operation to confirm the target parking position is input to the display / operation unit.

[0008] A program according to another aspect of the present invention causes a computer to execute the above-described control method. [Effects of the Invention]

[0009] According to the present invention, the burden on the user can be reduced. [BRIEF DESCRIPTION OF THE DRAWINGS]

[0010] [Figure 1] FIG. 1 is a side view of an example vehicle for describing an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view of the vehicle in FIG. 1. [Figure 3] FIG. 3 is a functional block diagram of the vehicle in FIG. 1. [Figure 4] FIG. 4 is a flowchart showing automatic parking processing performed by a control unit of the vehicle in FIG. 1. [Figure 5] FIG. 5 is a diagram showing an example of an operation screen for automatic parking. [MODE FOR CARRYING OUT THE INVENTION]

[0011] An example of a vehicle for describing an embodiment of the present invention will be described with reference to the accompanying drawings. It should be noted that the drawings are to be viewed according to the orientation of reference signs. In addition, in this specification and the like, for the purpose of simple and clear description, each direction of front-back, left-right, and up-down is described in accordance with the direction as viewed from the driver of the vehicle, and in the drawings, Fr indicates the front of the vehicle, Rr indicates the rear, L indicates the left, R indicates the right, U indicates the upper side, and D indicates the lower side.

[0012] A vehicle 1 shown in FIG. 1 and FIG. 2 is a four-wheeled automobile having a pair of left and right front wheels and a pair of left and right rear wheels. The drive source of the vehicle 1 is an internal combustion engine such as a gasoline engine or a diesel engine, an electric motor, or a combination of an internal combustion engine and an electric motor. Both the pair of left and right front wheels and the pair of left and right rear wheels may be driven by the drive source, or either one of the pair of left and right front wheels and the pair of left and right rear wheels may be driven by the drive source. Further, both the pair of left and right front wheels and the pair of left and right rear wheels may be steerable wheels, or either one of the pair of left and right front wheels and the pair of left and right rear wheels may be a steerable wheel.

[0013] The vehicle 1 includes side mirrors 3L and 3R. The side mirrors 3L and 3R are mirrors for the driver to check the rear and rear side areas, and are provided on the outside of the front seat doors of the vehicle 1.

[0014] Vehicle 1 includes a front camera 11Fr, a rear camera 11Rr, a left side camera 11L, and a right side camera 11R. The front camera 11Fr is a digital camera (image sensor) that captures images of the area in front of vehicle 1, and is provided at the front portion of vehicle 1. The rear camera 11Rr is a digital camera that captures images of the area behind vehicle 1, and is provided at the rear portion of vehicle 1. The left side camera 11L is a digital camera that captures images of the area to the left side of vehicle 1, and is provided on the left side mirror 3L of vehicle 1. The right side camera 11R is a digital camera that captures images of the area to the right side of vehicle 1, and is provided on the right side mirror 3R of vehicle 1.

[0015] As shown in FIG. 3, vehicle 1 includes a sensor group, a navigation system 20, an EPS (Electric Power Steering) system 30, a driving force control system 40, a braking force control system 50, a vehicle height adjustment system 60, a communication interface 70, and an ECU (Electronic Control Unit) 80 that comprehensively controls these components.

[0016] The sensor group acquires various detection values used for control of vehicle 1. A camera group 10 including the front camera 11Fr, the rear camera 11Rr, the left side camera 11L, and the right side camera 11R is also included in the sensor group. The sensor group further includes the camera group 10 and a sonar 12 for acquiring surrounding information of vehicle 1, as well as a wheel sensor 13, a positioning sensor 21, and a steering angle sensor 31 for acquiring state information of vehicle 1.

[0017] The front camera 11Fr, rear camera 11Rr, left-side camera 11L, and right-side camera 11R acquire front, rear, left-side, and right-side images of vehicle 1. The ECU 80 performs image recognition on the images acquired by the front camera 11Fr, rear camera 11Rr, left-side camera 11L, and right-side camera 11R to detect road markings drawn on the road surface around vehicle 1 and obstacles present around vehicle 1, and identifies the type of road markings and obstacles detected. The ECU 80 also generates an image of the area around vehicle 1 using the images acquired by the front camera 11Fr, rear camera 11Rr, left-side camera 11L, and right-side camera 11R. The surrounding image is, for example, a two-dimensional or three-dimensional image that provides an overhead view of vehicle 1. A pre-prepared image of vehicle 1 may be superimposed on the surrounding image.

[0018] The sonar 12 emits sound waves around the vehicle 1 and receives the reflected sound. The ECU 80 detects obstacles and other objects present around the vehicle 1 based on the direction of the received reflected sound and the time from when the sound waves were emitted until the reflected sound was received, and determines the direction and distance of the detected obstacles and other objects.

[0019] The sensor group may also include sensors such as radar and Lidar (Light Detection and Ranging or Laser Imaging Detection and Ranging) to acquire information about the surroundings of vehicle 1.

[0020] The wheel sensor 13 detects the rotation angle of each wheel of the vehicle 1, consisting of a pair of front wheels and a pair of rear wheels. The wheel sensor 13 is, for example, an angle sensor or a displacement sensor, and outputs a pulse signal each time the wheel rotates by a predetermined angle. The ECU 80 calculates the rotation angle and rotation speed of each wheel from the pulse signals output from the wheel sensor 13, and further calculates the speed and distance traveled of the vehicle 1.

[0021] The navigation system 20 includes a positioning sensor 21 for detecting the current location of the vehicle 1, a touch panel display 22, a speaker 23, and a memory (not shown) for storing map information. The positioning sensor 21 is, for example, a GPS (Global Positioning System) sensor. Based on the location information of the vehicle 1 detected by the positioning sensor 21 and the map information stored in the memory, the navigation system 20 guides the user of the vehicle 1 on a route to their destination. The guidance is presented to the user through the touch panel display 22 and the speaker 23. The touch panel display 22 functions as an input interface to the ECU 80 and as one of the output destinations for display processing and / or notification processing performed by the ECU 80. The speaker 23 also functions as one of the output destinations for notification processing performed by the ECU 80.

[0022] The EPS system 30 includes a steering angle sensor 31, a torque sensor 32, a resolver 33, and an EPS motor 34. The steering angle sensor 31 detects the steering angle of the steering wheel 35. The torque sensor 32 detects the torque applied to the steering wheel 35. The resolver 33 detects the rotation angle of the EPS motor 34. Based on the steering angle, torque, and rotation angle, the ECU 80 drives the EPS motor 34 to apply a driving force or reaction force to the steering column 36 connected to the steering wheel 35, thereby assisting the occupant in operating the steering wheel 35.

[0023] The drive force control system 40, under the control of the ECU 80, operates the drive source of the vehicle 1 in response to accelerator pedal operation and shift operation by the occupant, thereby controlling the drive force of the vehicle 1. The braking force control system 50, under the control of the ECU 80, operates the brake mechanism of the vehicle 1 in response to brake pedal operation and shift operation by the occupant, thereby controlling the braking force of the vehicle 1.

[0024] The vehicle height adjustment system 60 includes an air suspension device 61 that supports a pair of front wheels and a pair of rear wheels, a pump 62 that supplies air pressure to the air suspension device 61, and a valve 63 that adjusts the air pressure of the air suspension device 61. The pump 62 and valve 63 operate under the control of the ECU 80 to raise the vehicle height of the vehicle 1 by supplying air pressure to the air suspension device 61 and to lower the vehicle height of the vehicle 1 by releasing the air pressure of the air suspension device 61.

[0025] The communication interface 70, under the control of the ECU 80, performs wireless communication with other communication devices. Other communication devices include base stations, communication devices in other vehicles, and information terminals such as smartphones carried by the occupants of vehicle 1.

[0026] The ECU80 includes a processor and memory for storing programs executed by the processor and various data used during program execution. By operating according to the program, the ECU80 realizes the various functions described above, such as steering assistance, drive force control, braking force control, and vehicle height adjustment. Furthermore, the ECU80 can achieve automatic driving and automatic parking by coordinating with the sensor group, navigation system 20, EPS system 30, drive force control system 40, braking force control system 50, and vehicle height adjustment system 60. The ECU80 may also be configured to include multiple processors subdivided for each function, such as steering assistance, drive force control, and braking force control.

[0027] Figure 4 shows the process by which vehicle 1 performs automatic parking in a parking lot that requires stopping at the entrance.

[0028] Parking lots that require vehicles to stop at the entrance are, for example, those with gates at the entrance. An entrance ticket is issued at the entrance, and the gate opens when the vehicle user receives the entrance ticket. In this case, the vehicle is permitted to enter the parking lot at the moment the gate opens, i.e., when entry to the parking lot becomes possible. The issuance of entrance tickets and the opening and closing of the gate may be performed by an automatic ticket machine installed at the entrance, or by a parking lot attendant. Instead of issuing and receiving entrance tickets, identification information such as a barcode displayed on an information terminal carried by the vehicle user may be registered in the parking lot's parking management system, and the gate opens upon completion of registration. Alternatively, the gate may open on the condition that the vehicle has stopped at the entrance. In this case, the vehicle is not necessarily permitted to enter the parking lot at the moment it becomes possible to enter, and may still be required to receive an entrance ticket or register identification information.

[0029] Assume that a parking area (PA) is set as the destination in the navigation system 20, and the map information stored in the memory of the navigation system 20 includes additional information that this parking area (PA) is a parking lot that requires stopping at the entrance.

[0030] First, the ECU 80 starts the first control based on the state information of vehicle 1 so that at least one of the operations included in the first control, which includes one or more operations of vehicle 1, is completed by the time vehicle 1 arrives at the stopping position at the entrance to the parking lot PA (step S1). The operations of vehicle 1 included in the first control include opening the windows, lowering the volume of the in-car audio, adjusting the vehicle height, etc., and the time required for each operation from start to finish is stored in the memory of the ECU 80 in advance. The ECU 80 also estimates the time required for vehicle 1 to arrive at the stopping position from its current position. The time required for arrival can be estimated based on the distance along the planned route from the current position to the parking lot PA and the current speed of vehicle 1.

[0031] For example, if the time required to open the window is 5 seconds, the ECU 80 will start opening the window before the estimated arrival time reaches 5 seconds. Also, if the in-car audio is operating, the ECU 80 will lower the volume of the in-car audio in conjunction with opening the window. By having the window open when vehicle 1 arrives at the parking lot entrance, the user can smoothly receive their entrance ticket. In addition, by lowering the volume of the in-car audio, the possibility of the user missing the voice guidance at the entrance is reduced, and sound leakage to the outside of the vehicle is also suppressed. In case of rain or when the wipers are operating, the ECU 80 may display a screen on the touch panel display 22 to confirm with the user whether or not to open the window, and may open the window based on the operation entered on the touch panel display 22.

[0032] Furthermore, after vehicle 1 has stopped at the parking lot entrance, the ECU 80 controls the vehicle height adjustment system 60 to adjust the vehicle height of vehicle 1. Vehicle types such as SUVs (Sport Utility Vehicles) and minivans generally have a relatively high hip position from the road surface to the seat. Lowering the vehicle height of vehicle 1 improves access to the ticket dispenser of the automatic ticket machine through the window, allowing the user to smoothly receive an admission ticket. The ECU 80 may also display a screen on the touch panel display 22 to confirm with the user whether or not to perform the vehicle height adjustment, and may perform the vehicle height adjustment based on the operation entered on the touch panel display 22. The vehicle height adjustment may be performed so as to be completed before vehicle 1 arrives at the parking lot entrance, similar to opening the windows or lowering the volume of the in-car audio, but from the viewpoint of reducing the load on the air suspension device 61, it is preferably performed after vehicle 1 has stopped.

[0033] The ECU 80 detects that vehicle 1 has stopped at the stopping position at the entrance to the parking lot PA (step S2), and after completing the first control, activates a control mode for performing automatic parking of vehicle 1 (step S3). The ECU 80 has two control modes for automatic parking: a memory parking mode and a circulating parking mode.

[0034] The memory parking mode is a control mode that parks vehicle 1 in a parking position registered in memory. The ECU 80 performs automatic parking in memory parking mode based on the route vehicle 1 has previously traveled from the parking start position to the parking position, information necessary for vehicle 1's autonomous driving along that route, and map information. The information necessary for vehicle 1's autonomous driving includes status information such as vehicle 1's position, speed, steering angle, etc., and surrounding information such as parking space lines and obstacles that define the parking space. The ECU 80 stores this information in its memory, associating it with the map information.

[0035] The roaming parking mode is a control mode in which the vehicle 1 is parked in an empty parking space while circling within the parking lot. The ECU 80 circulates within the parking lot based on map information, detects empty parking spaces based on surrounding information, automatically generates a driving path suitable for parking in an empty parking space, and performs automatic parking in roaming parking mode based on the generated driving path.

[0036] Here, it is assumed that Vehicle 1 has previously parked in one or more parking spaces in a parking area (PA), and that the ECU 80 stores in memory the route from the stopping position at the entrance of the parking area (PA) to the parking position, as well as the information necessary for Vehicle 1's autonomous driving along that route, associated with map information. Since Vehicle 1 has previously parked in one or more parking spaces in a parking area (PA), the memory parking mode is activated in step S3.

[0037] The operation screen shown in Figure 5 is the operation screen for automatic parking using memory parking mode. This operation screen displays a detailed map of the parking area (PA) based on map information. The map includes road markings for the entrance (IN) and exit (OUT), as well as lane markings that define parking spaces.

[0038] The ECU80 extracts candidate parking locations B1, B2, and B3 from parking locations A1, A2, A3, and A4 stored in memory, based on pre-set extraction criteria. The ECU80 then highlights the extracted candidate parking locations B1, B2, and B3 on the map on the operation screen. Extraction criteria include, for example, proximity to the entrance (IN), proximity to the exit (OUT), no need to turn the steering wheel while stationary, minimal reversing, small turning ratio, easy to park (parking space size, road width), frequently used by users, covered parking, and frequently used by other vehicles. Multiple extraction criteria may be used in combination, not just one. The ECU80 allows users to change the extraction criteria. The first highlighting of the extracted candidate parking locations B1, B2, and B3 is performed, for example, by making the color, thickness, and line type of the border lines surrounding candidate parking locations B1, B2, and B3 different from the border lines surrounding parking locations A1, A2, A3, and A4 stored in memory.

[0039] The ECU 80 accepts an operation to select a target parking position C for parking vehicle 1 by automatic parking from candidate parking positions B1, B2, and B3, and performs a second highlighting on the selected target parking position C. The selection operation is performed, for example, by touching the candidate parking positions B1, B2, and B3 that are highlighted in the first highlighting. The second highlighting of target parking position C may be performed, for example, by making the color, thickness, line type, etc. of the border line surrounding target parking position C different from the border lines surrounding candidate parking positions B1, B2, and B3 and the border lines surrounding parking positions A1, A2, A3, and A4 stored in memory, or by coloring the inside of the border line.

[0040] Furthermore, the operation screen for automatic parking using memory parking mode also displays a switch button to instruct the user to switch from memory parking mode to circulating parking mode. When the ECU80 receives a touch operation on the switch button, it switches the control mode to circulating parking mode. In addition, if vehicle 1 has never been parked in parking lot PA before, the ECU80 may activate circulating parking mode in step S3.

[0041] The ECU 80 displays the operation screen shown in Figure 5 on the touch panel display 22 and waits for input of a predetermined operation to instruct the execution of automatic parking (step S4). The predetermined operation is a touch operation on the second highlighted target parking position C. Based on the touch operation on the target parking position C, the ECU 80 confirms the target parking position C and starts automatic parking in memory parking mode. Alternatively, the predetermined operation can be a touch operation on a switch button that instructs switching to circulating parking mode. Based on the touch operation on the switch button, the ECU 80 starts automatic parking in circulating parking mode.

[0042] In parallel with waiting for input of a predetermined operation, the ECU 80 determines, based on surrounding information, whether or not vehicle 1 is able to enter the parking lot PA (step S5). For example, the ECU 80 performs image recognition on the forward image acquired by the forward camera 11Fr to recognize whether or not the entrance gate is open, and determines that entry to the parking lot is possible if the gate is open.

[0043] Then, the ECU80 executes automatic parking according to the set control mode (memory parking mode or circulating parking mode) at the later of the timing when a predetermined operation to instruct the execution of automatic parking is input and the timing when entry into the parking lot PA becomes possible (step S6).

[0044] When the ECU 80 starts driving with automatic parking, it performs a second control (step S7) to restore the state of the vehicle 1, which was changed by the execution of the first control in step S1, back to the state before the execution of the first control, and then starts driving with automatic parking (step S8). For example, if the window is opened by the first control, the ECU 80 closes the window by the second control. Also, if the vehicle height is lowered by the first control, the ECU 80 raises the vehicle height by the second control. Driving with automatic parking may start after the target operation of the second control is completed, or it may start before the target operation of the second control is completed. However, regarding the adjustment of the vehicle height, from the viewpoint of reducing the load on the air suspension device 61, it is preferable that driving with automatic parking starts after the adjustment of the vehicle height is completed.

[0045] Furthermore, when the ECU 80 initiates automatic parking, if the shift position of vehicle 1 is set to parking, it changes the shift position to drive and initiates automatic parking. Moreover, when the ECU 80 initiates automatic parking, if the parking brake of vehicle 1 is engaged, it releases the parking brake and initiates automatic parking. In this way, when initiating automatic parking, the ECU 80 controls the vehicle 1 to return to its state before the execution of the first control in step S1, changes the shift position to drive, and releases the parking brake, thereby reducing the user's operational burden.

[0046] Assuming that automatic parking using memory parking mode is being performed in step S6, the ECU 80 determines, based on surrounding information, whether or not it is possible to park at the target parking position C. An example of a case where parking at the target parking position C is not possible is when another vehicle is parked at the target parking position C. If it is determined that parking at the target parking position C is not possible, the ECU 80 displays text or an image indicating that parking at the target parking position C is not possible on the touch panel display 22 and changes the target parking position to another candidate parking position. The change to another candidate parking position may be performed automatically by the ECU 80 according to the priority of the extraction conditions, or it may be performed by touching the candidate parking position that is highlighted as first on the operation screen shown in Figure 5.

[0047] When the number of changes to the target parking position C reaches a predetermined number, up to the number of parking positions stored in memory, the ECU 80 switches from memory parking mode to circulating parking mode. When switching to circulating parking mode, the ECU 80 may display a screen on the touch panel display 22 to confirm with the user whether or not to switch the control mode, and may perform the control mode switch based on the operation input to the touch panel display 22.

[0048] Furthermore, the ECU 80 stops automatic parking and hands over control of vehicle 1 to the user if predetermined conditions are met while automatic parking is being performed in circulating parking mode. The predetermined conditions are, for example, when the elapsed time since the start of automatic parking in circulating parking mode exceeds a predetermined time and / or when the mileage exceeds a predetermined distance.

[0049] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and modifications, improvements, etc., can be made as appropriate. This specification includes at least the following matters. Note that the components etc. in parentheses indicate those corresponding to the above embodiments, but the invention is not limited thereto.

[0050] (1) An information acquisition unit (camera group 10, wheel sensor 13, positioning sensor 21, and steering angle sensor 31) that acquires vehicle status information and surrounding information, A storage unit (ECU80) stores the route from the parking start position to the parking position that was previously traveled, and the status information and surrounding information necessary for the autonomous driving of the vehicle along the route, in association with map information used for the vehicle's route guidance. A control unit for controlling the operation of the vehicle, comprising a control unit (ECU80) having a memory parking mode that performs automatic parking of the vehicle based on the route and information stored in the memory unit and the map information, In the memory parking mode, a display / operation unit (touch panel display 22) displays the parking position stored in the memory unit and accepts an operation to confirm a target parking position selected from the parking positions, Equipped with, The control unit, If the vehicle's current location is a parking lot, and that parking lot requires stopping at the entrance, The system detects when the vehicle stops at the aforementioned entrance based on the status information, and when the vehicle stops, it activates the memory parking mode. Based on the surrounding information, it is determined whether the vehicle is able to enter the parking lot. Automatic parking using the memory parking mode will begin at the later of the following two timings: when entry to the parking lot becomes possible, or when the operation to confirm the target parking position is input to the display / operation unit. vehicle.

[0051] According to the vehicle described in (1) above, the memory parking mode for automatic parking is automatically activated after the vehicle stops at the designated stopping position at the entrance to the parking lot. Automatic parking is possible with just one input to confirm the target parking position, thus reducing the user's operational burden. Furthermore, since the operation to confirm the target parking position is required in addition to the determination of whether entry into the parking lot is possible based on surrounding information, the user does not need to operate the brakes to stop the vehicle from driving in automatic parking mode until entry is permitted, thus reducing the user's operational burden.

[0052] (2) The vehicle in (1) above, In the memory parking mode, The control unit extracts candidate parking positions from the parking positions stored in the storage unit based on pre-set extraction conditions. The display and operation unit displays an image of the parking lot, performs a first highlight on the parking spaces corresponding to the candidate parking positions in the image, and performs a second highlight on the parking spaces corresponding to the selected target parking position among the candidate parking positions. vehicle.

[0053] According to the vehicle described in (2) above, selecting a target parking position becomes easier.

[0054] (3) The vehicle in (2) above, The control unit allows the user to change the extraction conditions. vehicle.

[0055] According to the vehicle described in (3) above, selecting a target parking position becomes easier.

[0056] (4) The vehicle in (2) above, The control unit, During the execution of the automatic parking using the memory parking mode, it is determined whether or not parking at the target parking position is possible based on the surrounding information. If it is determined that parking at the target parking location is not possible, the target parking location is changed to one of the candidate parking locations based on the extraction conditions. vehicle.

[0057] According to the vehicle described in (4) above, automatic parking can be continued by changing the target parking position.

[0058] (5) The vehicle in (4) above, The control unit further has a roaming parking mode in which it moves around the parking lot based on the map information, detects an available parking space based on the surrounding information, and parks in the available parking space. When the target parking position has been changed a predetermined number of times, the control unit switches from the memory parking mode to the circulating parking mode and performs automatic parking in the circulating parking mode. vehicle.

[0059] According to the vehicle described in (5) above, automatic parking can be continued by switching to circulating parking mode.

[0060] (6) The vehicle in (5) above, The control unit, when a predetermined condition is met during the execution of the automatic parking in the circulating parking mode, will stop the automatic parking and hand over the operation of the vehicle to the vehicle's user. vehicle.

[0061] According to the vehicle described in (6) above, even if automatic parking is difficult, parking can be continued by handing over the driving to the user.

[0062] (7) The vehicle in (1) above, The control unit, The system further includes a circulating parking mode in which the system moves around within the parking lot based on the map information, detects available parking spaces based on the surrounding information, and parks in one of the available parking spaces. While the memory parking mode is active, automatic parking using the circulating parking mode will begin at the later of the following two timings: when entry into the parking lot becomes possible, or when the operation to switch to the circulating parking mode is input to the display / operation unit. vehicle.

[0063] According to the vehicle described in (7) above, the memory parking mode for automatic parking is automatically activated after the vehicle stops at the parking lot entrance, and automatic parking is possible with a single input to switch the control mode to circulating parking mode, thus reducing the user's operational burden. In addition, since the operation input to switch the control mode is required to execute automatic parking in addition to the determination that entry into the parking lot is possible based on surrounding information, the user does not need to operate the brakes to stop the vehicle from driving in automatic parking mode until entry is permitted, thus reducing the user's operational burden.

[0064] (8) The vehicle in (7) above, The control unit, when a predetermined condition is met during the execution of the automatic parking in the circulating parking mode, will stop the automatic parking and hand over the operation of the vehicle to the vehicle's user. vehicle.

[0065] According to the vehicle described in (8) above, even if automatic parking is difficult, parking can be continued by handing over the driving to the user.

[0066] (9) The vehicle in (1) above, The control unit, If the vehicle's shift position is set to "parking" when the automatic parking is initiated, the shift position is changed to "drive" and the automatic parking is initiated. vehicle.

[0067] According to the vehicle described in (9) above, the user's operational burden is reduced.

[0068] (10) The vehicle in (1) above, The control unit, If the vehicle's parking brake is engaged when the automatic parking is initiated, the parking brake will be released and the automatic parking will begin. vehicle.

[0069] According to the vehicle described in (10) above, the user's operational burden is reduced.

[0070] (11) The vehicle in (1) above, The control unit, If the vehicle's window is open when the automatic parking is initiated, the window will be closed and the automatic parking will be initiated. vehicle.

[0071] According to the vehicle described in (11) above, the user's operational burden is reduced.

[0072] (12) The vehicle in (1) above, The control unit, If the vehicle height at the time of starting the automatic parking is different from the vehicle height before the vehicle stopped at the entrance is detected, the vehicle height is restored and the automatic parking is started. vehicle.

[0073] According to the vehicle described in (12) above, the user's operational burden is reduced.

[0074] (13) Information acquisition unit that acquires vehicle status information and surrounding information (camera group 10, wheel sensor 13, positioning sensor 21, and steering angle sensor 31), A storage unit (ECU80) stores the route from the parking start position to the parking position that was previously traveled, and the status information and surrounding information necessary for the autonomous driving of the vehicle along the route, in association with map information used for the vehicle's route guidance. A control unit for controlling the operation of the vehicle, comprising a control unit (ECU80) having a memory parking mode that performs automatic parking of the vehicle based on the route and information stored in the memory unit and the map information, In the memory parking mode, a display / operation unit (touch panel display 22) displays the parking position stored in the memory unit and accepts input for confirming a target parking position selected from the parking positions, A vehicle control method equipped with, The control unit performs the following: If the vehicle's current location is a parking lot, and that parking lot requires stopping at the entrance, The system detects when the vehicle stops at the aforementioned entrance based on the status information, and when the vehicle stops, it activates the memory parking mode. Based on the surrounding information, it is determined whether the vehicle is able to enter the parking lot. Automatic parking using the memory parking mode will begin at the later of the following two timings: when entry to the parking lot becomes possible, or when the operation to confirm the target parking position is input to the display / operation unit. Control method.

[0075] According to the control method described in (13) above, a memory parking mode for automatic parking is automatically activated after the vehicle has stopped at the designated stopping position at the entrance to the parking lot. Since automatic parking becomes possible with just one input to confirm the target parking position, the user's operational burden is reduced. Furthermore, since the operation to confirm the target parking position is required in addition to the determination of whether entry into the parking lot is possible based on surrounding information, the user does not need to operate the brakes to stop the vehicle from driving in automatic parking mode until entry is permitted, thus reducing the user's operational burden.

[0076] (14) A program that causes the computer to execute the control method described in (13) above. [Explanation of Symbols]

[0077] 1 vehicle 3L, 3R side mirrors 10 camera group 12 Sonar 13 Wheel Sensors 20 Navigation System 21 Positioning Sensor 22 Touch panel displays 23 speakers 30 EPS system 31. Steering angle sensor 32 Torque Sensor 33 resolvers 34 EPS motors 35 Steering 36 Steering column 40. Drive force control system 50 Brake force control system 60 Ride Height Adjustment System 61 Air suspension system 62 pumps 63 valves 70 Communication Interfaces A1,A2,A3,A4 Parking position Candidate parking locations B1, B2, B3 C Target parking position IN Entrance OUT exit

Claims

1. An information acquisition unit that acquires vehicle status information and surrounding information, A storage unit that stores the route from the parking start position to the parking position that was previously traveled, and the information necessary for the autonomous driving of the vehicle, in association with map information used for route guidance of the vehicle, A control unit for controlling the operation of the vehicle, comprising a control unit having a memory parking mode that performs automatic parking of the vehicle based on the route and information stored in the storage unit and the map information, In the memory parking mode, a display and operation unit displays the parking position stored in the memory unit and accepts input for confirming a target parking position selected from the parking positions, Equipped with, The control unit, If the vehicle's current location is a parking lot, and that parking lot requires stopping at the entrance, The system detects that the vehicle has stopped at the aforementioned entrance based on the status information, and upon detecting that the vehicle has stopped, it activates the memory parking mode. Based on the surrounding information, a determination is made as to whether or not entry to the aforementioned parking lot is possible. The automatic parking using the memory parking mode will begin at the later of the following two timings: when entry to the parking lot becomes possible, or when the operation to confirm the target parking position is input to the display / operation unit. vehicle.

2. A vehicle according to claim 1, In the memory parking mode, The control unit extracts candidate parking positions from the parking positions stored in the storage unit based on pre-set extraction conditions. The display and operation unit displays an image of the parking lot, performs a first highlight on the area corresponding to the candidate parking position in the image, and performs a second highlight on the area corresponding to the selected target parking position among the candidate parking positions. vehicle.

3. The vehicle according to claim 2, The control unit allows the user to change the extraction conditions. vehicle.

4. The vehicle according to claim 2, The control unit, During the execution of the automatic parking using the memory parking mode, the system determines whether or not parking at the target parking position is possible based on the surrounding information. If it is determined that parking at the target parking location is not possible, the target parking location is changed to one of the candidate parking locations based on the extraction conditions. vehicle.

5. The vehicle according to claim 4, The control unit further has a roaming parking mode in which it moves around the parking lot based on the map information, detects an available parking space based on the surrounding information, and parks in the available parking space. When the number of changes to the target parking position reaches a predetermined number, the control unit switches from the memory parking mode to the circulating parking mode and performs the automatic parking in the circulating parking mode. vehicle.

6. The vehicle according to claim 5, The control unit, when a predetermined condition is met during the execution of the automatic parking in the circulating parking mode, performs a process to stop the automatic parking and hand over the operation of the vehicle to the vehicle's user. vehicle.

7. A vehicle according to claim 1, The control unit, The system further includes a circulating parking mode in which the system moves around within the parking lot based on the map information, detects available parking spaces based on the surrounding information, and parks in one of the available parking spaces. While the memory parking mode is active, the automatic parking using the circulating parking mode will start at the later of the following two timings: when entry to the parking lot becomes possible, or when the operation to switch to the circulating parking mode is input to the display / operation unit. vehicle.

8. The vehicle according to claim 7, The control unit, when a predetermined condition is met during the execution of the automatic parking in the circulating parking mode, performs a process to stop the automatic parking and hand over the operation of the vehicle to the vehicle's user. vehicle.

9. A vehicle according to claim 1, The control unit, If the vehicle's shift position is set to "parking" when the automatic parking is initiated, the shift position is changed to "drive" and the automatic parking is initiated. vehicle.

10. A vehicle according to claim 1, The control unit, If the vehicle's parking brake is engaged when the automatic parking is initiated, the parking brake will be released and the automatic parking will be initiated. vehicle.

11. A vehicle according to claim 1, The control unit, If the vehicle's windows are open when the automatic parking is initiated, the windows will be closed and the automatic parking will be initiated. vehicle.

12. A vehicle according to claim 1, The control unit, If the vehicle height at the time of starting the automatic parking is different from the vehicle height before the vehicle stopped at the entrance is detected, the vehicle height is restored and the automatic parking is started. vehicle.

13. An information acquisition unit that acquires vehicle status information and surrounding information, A storage unit that stores the route taken in the past from the parking start position to the parking position, and the information necessary for the autonomous driving of the vehicle along the said route, in association with map information used for route guidance of the said vehicle, A control unit for controlling the operation of the vehicle, comprising a control unit having a memory parking mode that performs automatic parking of the vehicle based on the route and information stored in the storage unit and the map information, In the memory parking mode, a display and operation unit displays the parking position stored in the memory unit and accepts input for confirming a target parking position selected from the parking positions, A vehicle control method equipped with, The control unit performs the following: If the vehicle's current location is a parking lot, and that parking lot requires stopping at the entrance, The system detects that the vehicle has stopped at the aforementioned entrance based on the status information, and upon detecting that the vehicle has stopped, it activates the memory parking mode. Based on the surrounding information, a determination is made as to whether or not entry to the aforementioned parking lot is possible. The automatic parking using the memory parking mode will begin at the later of the following two timings: when entry to the parking lot becomes possible, or when the operation to confirm the target parking position is input to the display / operation unit. Control method.

14. A program that causes a computer to execute the control method described in claim 13.

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