Automatic parking system, automatic parking method and program

Abstract

To reduce a level of contact risk between a vehicle and the other object.SOLUTION: An upper limit speed of a vehicle in automatic parking control is set, and the vehicle is automatically parked in a parking space (2) at a vehicle speed equal to or lower than the set upper limit speed. In such a case, the upper limit speed is set according to a body size of the vehicle and if the body size of the vehicle is larger than a preset size, the upper limit speed is set lower than that of a case where the body size of the vehicle is smaller than the preset size.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to an automatic parking system, an automatic parking method, and a program. [Background technology]

[0002] A parking assistance device that performs automatic parking control to automatically park a vehicle in a parking space is known, which adjusts the upper limit speed of the vehicle during automatic parking control while checking whether the conditions around the vehicle are safe during automatic parking control (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-99024 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, this parking assistance device does not take into consideration the vehicle size of the host vehicle, which affects safety during automatic parking control. [Means for solving the problem]

[0005] Therefore, according to the present invention, an automatic parking control unit that performs automatic parking control to automatically park a vehicle in a parking space; An upper limit speed setting unit that sets the upper limit speed of the vehicle during automatic parking control and, A situation detection device that detects a situation around the vehicle; a risk degree determination unit that determines a degree of a contact risk of the vehicle coming into contact with an object other than the vehicle based on a situation around the vehicle detected by the situation detection device; It is equipped with The automatic parking control unit performs automatic parking control to automatically park the vehicle in the parking space at a vehicle speed equal to or lower than the upper limit speed set by the upper limit speed setting unit, The risk degree determination unit determines whether or not there is a blind spot around the vehicle that cannot be detected by the situation detection device, and when there is a blind spot, determines that the degree of contact risk exceeds a preset limit degree; The upper limit speed setting unit sets an upper limit speed according to the degree of the contact risk, and when it is determined that the degree of the contact risk exceeds a preset limit degree, the upper limit speed is made smaller than when it is determined that the degree of the contact risk does not exceed the preset limit degree, and further, when it is determined that the degree of the contact risk exceeds the preset limit degree,The automatic parking system is provided in which an upper limit speed setting unit sets the upper limit speed according to the vehicle body size, and in this case, when the vehicle body size is larger than a preset size, the upper limit speed is made smaller than when the vehicle body size is smaller than the preset size. Further, according to the present invention, The computer The situation detection device detects the situation around the vehicle, Based on the situation around the vehicle detected by the situation detection device, the degree of contact risk of the vehicle coming into contact with an object other than the vehicle is determined. , A determination is made as to whether or not there is a blind spot around the vehicle that cannot be detected by the situation detection device, and when there is a blind spot, it is determined that the degree of the contact risk exceeds a preset limit degree; The upper limit speed of the vehicle during the automatic parking control is set to be smaller when it is determined that the degree of the contact risk exceeds a preset limit degree than when it is determined that the degree of the contact risk does not exceed the preset limit degree, and further, when it is determined that the degree of the contact risk exceeds the preset limit degree, The upper limit speed of the vehicle during automatic parking control is set lower when the body size of the vehicle is larger than a preset size than when the body size of the vehicle is smaller than the preset size. Set it so that To provide an automatic parking method for performing automatic parking control to automatically park a vehicle in a parking space at a vehicle speed equal to or lower than a set upper limit speed. Further, according to the present invention, The situation detection device detects the situation around the vehicle, Based on the situation around the vehicle detected by the situation detection device, the degree of contact risk of the vehicle coming into contact with an object other than the vehicle is determined. , A determination is made as to whether or not there is a blind spot around the vehicle that cannot be detected by the situation detection device, and when there is a blind spot, it is determined that the degree of the contact risk exceeds a preset limit degree; The upper limit speed of the vehicle during the automatic parking control is set to be smaller when it is determined that the degree of the contact risk exceeds a preset limit degree than when it is determined that the degree of the contact risk does not exceed the preset limit degree, and further, when it is determined that the degree of the contact risk exceeds the preset limit degree, The upper limit speed of the vehicle during automatic parking control is set lower when the body size of the vehicle is larger than a preset size than when the body size of the vehicle is smaller than the preset size. Set it so that A program is provided that causes a computer to function to perform automatic parking control for automatically parking a vehicle in a parking space at a vehicle speed equal to or lower than a set upper limit speed. Effect of the Invention

[0006] The risk of contact between the vehicle and other objects can be reduced. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a plan view diagrammatically illustrating an example of an automated parking lot. [Diagram 2]FIG. 2 is a side view of the automated parking lot shown in FIG. [Diagram 3] FIG. 3 is a diagram illustrating the parking lot management server. [Figure 4] FIG. 4 is a diagram illustrating an autonomous vehicle. [Diagram 5] FIG. 5 is an enlarged view of a portion of FIG. [Figure 6] FIG. 6 is a flow chart for controlling entry management into an automated parking lot. [Figure 7] FIG. 7 is a flowchart for determining the degree of contact risk. [Figure 8] FIG. 8 is a flowchart for determining the degree of contact risk. [Figure 9] FIG. 9 is a flowchart for setting the upper limit speed. [Figure 10] FIG. 10 is a flowchart for performing automatic parking control. [Figure 11] FIG. 11 is a flowchart for performing automatic parking control. [Figure 12] FIG. 12 is a functional block diagram of an embodiment according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] FIG. 1 is a plan view that diagrammatically shows only a part of an automatic parking lot, and FIG. 2 is a side view of the automatic parking lot shown in FIG. 1. With reference to FIG. 1 and FIG. 2, 1 denotes a parking lot, 2 denotes a number of parking spaces, 3 denotes a parking frame for parking space 2, 4 denotes a boarding / alighting area, 5 denotes an automatic driving vehicle stopped at boarding / alighting area 4, and 6 denotes an automatic driving vehicle parked in parking space 2 in parking lot 1. In this parking lot 1, an automatic parking service is implemented in which an automatic driving vehicle 5 that has arrived at boarding / alighting area 4 is parked in an empty parking space 2 by automatic driving, that is, an auto valet parking service. Meanwhile, in FIG. 1, 7 denotes a parking lot management server for implementing the automatic parking service. Note that this automatic parking lot can also park manually driven vehicles.

[0009] In this automated parking lot, many infrastructure sensors are arranged to detect the parking status of vehicles in the parking lot 1. Figures 1 and 2 show a part of the area in the parking lot 1, and in the example shown in Figures 1 and 2, four infrastructure sensors S1, S2, S3, and S4 are installed to detect the status of this part of the area of ​​the automated parking lot. Cameras are usually used as the infrastructure sensors S1, S2, S3, and S4, and image signals captured by each of the infrastructure sensors S1, S2, S3, and S4 are transmitted to the parking lot management server 7.

[0010] Fig. 3 shows the parking lot management server 7 of Fig. 1. As shown in Fig. 3, an electronic control unit 10 is provided in this parking lot management server 7. This electronic control unit 10 is made up of a digital computer and includes a CPU (microprocessor) 12, a memory 13 consisting of ROM and RAM, and an input / output port 14, which are connected to each other by a bidirectional bus 11. As shown in Fig. 3, image signals captured by each of the infrastructure sensors S1, S2, S3, and S4 are input to the electronic control unit 10. Furthermore, map data of the parking lot 1 is stored in the memory 13 of the electronic control unit 10.

[0011] FIG. 4 diagrammatically shows an example of the autonomous vehicles 5, 6. With reference to FIG. 4, 21 denotes a vehicle drive unit for applying a drive force to the drive wheels of the vehicles 5, 6, 22 denotes a braking device for braking the vehicles 5, 6, 23 denotes a steering device for steering the vehicles 5, 6, and 24 denotes an electronic control unit mounted in the vehicles 5, 6. As shown in FIG. 4, the electronic control unit 24 is a digital computer and includes a CPU (microprocessor) 26, a memory 27 consisting of ROM and RAM, and an input / output port 28, which are connected to each other by a bidirectional bus 25. In the example shown in FIG. 4, the vehicle drive unit 21 is composed of an electric motor driven by a secondary battery or an electric motor driven by a fuel cell, and the drive wheels are driven and controlled by these electric motors in accordance with the output signal of the electronic control unit 24. Braking control of the vehicles 5, 6 is performed by a braking device 22 in response to an output signal from an electronic control unit 24, and steering control of the vehicles 5, 6 is performed by a steering device 23 in response to an output signal from the electronic control unit 24.

[0012] 4, the vehicles 5, 6 are equipped with various sensors 30 necessary for the vehicles 5, 6 to perform automatic driving and automatic parking, that is, sensors that detect the state of the vehicles 5, 6 and surroundings detection sensors that detect the surroundings of the vehicles 5, 6. In this case, acceleration sensors, speed sensors, and azimuth sensors are used as sensors that detect the state of the vehicles 5, 6, and on-board cameras, lidars, radars, etc. that capture images of the front, sides, and rear of the vehicles 5, 6 are used as surroundings detection sensors that detect the surroundings of the vehicles 5, 6.

[0013] The vehicles 5 and 6 are also provided with a GNSS (Global Navigation Satellite System) receiver 31, a map data storage device 32, a navigation device 33, and an operation unit 34 for performing various operations. The GNSS receiver 31 can detect the current positions of the vehicles 5 and 6 (for example, the latitude and longitude of the vehicles 5 and 6) based on information obtained from a plurality of artificial satellites. Therefore, the current positions of the vehicles 5 and 6 can be obtained by the GNSS receiver 31. For example, a GPS receiver is used as the GNSS receiver 31. Meanwhile, the map data storage device 32 stores map data and the like required for the vehicles 5 and 6 to perform automatic driving and automatic parking. These various sensors 30, the GNSS receiver 31, the map data storage device 32, the navigation device 33, and the operation unit 34 are connected to the electronic control unit 24. In addition, vehicles 5 and 6 are equipped with a communication device 35 for communicating with the parking lot management server 7, and as shown in Figure 3, a communication device 15 for communicating with vehicles 5 and 6 is provided within the parking lot management server 7.

[0014] Next, an example of an automatic parking system to which the present invention is applied will be described with reference to FIG. 1 and FIG. 5, which shows an enlarged view of a part of FIG. 1. FIG. 1 and FIG. 5 show a case where an automatic driving vehicle 5 that has arrived at a boarding / alighting station 4 is automatically parked in an empty parking space 2. In this case, when the automatic driving vehicle 5 arrives at the boarding / alighting station 4, for example, the user of the automatic driving vehicle 5 transmits a parking entry request from his / her mobile terminal to the parking lot management server 7 via a communication network together with a vehicle ID for identifying the automatic driving vehicle 5. When the parking lot management server 7 receives the parking entry request, it determines a parking space 2a in which the automatic driving vehicle 5 should be parked from among the empty parking spaces 2, and transmits information regarding the position of the parking space 2a and the destination to which the automatic driving vehicle 5 should head to the automatic driving vehicle 5. When the automatic driving vehicle 5 receives this information, it starts automatic driving based on this information and is parked in the parking space 2a.

[0015] In this case, in this example, the parking lot management server 7 determines, as destinations to which the autonomous vehicle 5 should head, a first destination G before the autonomous vehicle 5 is moved to the parking space 2a, and a second destination F which is the final parking position of the autonomous vehicle 5, as shown by dashed lines in Fig. 5, and the autonomous vehicle 5 sets, within its electronic control unit 24, a first driving route GR from the boarding / alighting area 4 to the first destination G, and a second driving route FR from the first destination G to the second destination F, as shown by arrows in Figs. 1 and 5. Once the first driving route GR and the second driving route FR are set, the autonomous vehicle 5 is caused to move forward along the first driving route GR to the first destination G, and then moved backward along the second driving route FR to the second destination F.

[0016] Now, when such automatic parking control is performed, the most important thing is to minimize the degree of the contact risk of the autonomous vehicle 5 coming into contact with stationary objects such as other parked vehicles and structures in the vicinity, or with moving objects such as other moving vehicles and pedestrians, while the autonomous parking control is being performed. However, the degree of this contact risk varies greatly depending on various factors, and there are many factors that affect the degree of the contact risk when performing the autonomous parking control. For example, the degree of contact risk increases as the degree of congestion of other vehicles and pedestrians around the autonomous vehicle 5 increases. Therefore, the degree of congestion around the autonomous vehicle 5 is one of the factors that affect the degree of the contact risk.

[0017] Furthermore, if the person present around the autonomous vehicle 5 is a child, the degree of contact risk is higher. Therefore, the presence of a child around the autonomous vehicle 5 is one of the factors that determine the degree of contact risk. Furthermore, the degree of contact risk is higher when the body size of other vehicles present around the autonomous vehicle 5 is larger. Therefore, the body size of other vehicles present around the autonomous vehicle 5 is one of the factors that determine the degree of contact risk. Furthermore, the degree of contact risk is higher when there is a blind spot that cannot be detected by the detection sensor around the autonomous vehicle 5. Therefore, the presence of such a blind spot is one of the factors that determine the degree of contact risk.

[0018] Furthermore, the presence of a pedestrian crossing around the autonomous vehicle 5 increases the degree of contact risk. Therefore, the presence of a pedestrian crossing is one of the factors that determine the degree of contact risk. Also, when the weather around the autonomous vehicle 5 becomes bad, such as rain, snow, or strong winds, it becomes difficult to distinguish between the autonomous vehicle and the vehicle, and the degree of contact risk increases. Therefore, the weather around the autonomous vehicle 5 is one of the factors that determine the risk of contact.

[0019] As described above, there are many factors that affect the degree of the contact risk. Another factor that affects the degree of the contact risk other than these factors is the body size of the autonomous vehicle 5 itself. In this case, the degree of the contact risk increases as the body size of the autonomous vehicle 5 itself increases, and therefore the body size of the autonomous vehicle 5 itself is also one of the factors that affect the degree of the contact risk. However, the most effective method for reducing the degree of the contact risk when the degree of the contact risk increases in this way is to reduce the upper limit speed of the autonomous vehicle 5 when automatic parking control is being performed. Therefore, in an embodiment according to the present invention, when the degree of the contact risk exceeds a preset limit degree when automatic parking control is being performed, the upper limit speed of the autonomous vehicle 5 is reduced.

[0020] Next, an embodiment of the present invention will be described with reference to Fig. 6 to Fig. 11. First, Fig. 6 shows a management control routine for entry into an automated parking lot, which is executed in the electronic control unit 10 of the parking lot management server 7. 6, first, in step 40, it is determined whether or not an entry request has been received. If it is determined that an entry request has not been received, the processing cycle is terminated. In contrast, if it is determined that an entry request has been received, the process proceeds to step 41, where an empty parking space 2 is searched for based on the image signals captured by the infrastructure sensors S1, S2, S3, and S4 and the map data of the parking lot 1 stored in the memory 13.

[0021] Next, in step 42, a parking space 2a (FIGS. 1 and 5) for the autonomous vehicle 5 that has requested to enter is determined from among these vacant parking spaces 2. Next, in step 43, a first destination G (FIG. 5) for the autonomous vehicle 5 that has requested to enter is set, and then, in step 44, a second destination F (FIG. 5) for the autonomous vehicle 5 that has requested to enter is set. These first destination G and second destination F are, for example, set in advance for each parking space 2, and are stored in advance in memory 13 of electronic control unit 10. Next, in step 45, a command to execute automatic parking control is issued, and the command to execute automatic parking control is transmitted to the autonomous vehicle 5 together with the first destination G and the second destination F.

[0022] When the autonomous vehicle 5 receives a command to execute automatic parking control, the electronic control unit 24 of the autonomous vehicle 5 repeatedly executes the contact risk degree determination routine shown in Figures 7 and 8, as well as the upper limit speed setting routine shown in Figure 9, and further executes the automatic parking control routine shown in Figures 10 and 11.

[0023] 7 and 8 showing a routine for determining the degree of contact risk, first, in step 50, in addition to detection signals from surrounding detection sensors such as an on-board camera, a lidar, and a radar that capture images of the front, sides, and rear of the autonomously driven vehicle 5, image signals captured by the infrastructure sensors S1, S2, S3, and S4, and map data of the parking lot 1 stored in memory 13 of the electronic control unit 10 are acquired. In this case, the surrounding situation of the autonomously driven vehicle 5 can be detected from the acquired detection signals and image signals. Therefore, these surrounding detection sensors and infrastructure sensors S1, S2, S3, and S4 form a situation detection device that detects the surrounding situation of the autonomously driven vehicle 5.

[0024] When various data are acquired in step 50, the process proceeds to step 51, where the congestion degree of other vehicles and pedestrians around the autonomous vehicle 5 is detected based on the various data acquired in step 50, that is, based on the surrounding conditions detected by a condition detection device that detects the surrounding conditions of the autonomous vehicle 5. In this case, for example, the sum of the number of other vehicles around the autonomous vehicle 5 and the number of people around the autonomous vehicle 5 is set as the congestion degree. Next, in step 52, it is determined whether the congestion degree exceeds a preset limit value AX. When the congestion degree exceeds the preset limit value AX, it is determined that the degree of contact risk exceeds the preset limit degree, and the process proceeds to step 64, where a risk flag is set. Then, the processing cycle is terminated. When the risk flag is set, the upper limit speed of the autonomous vehicle 5 is reduced as described later. On the other hand, when it is determined in step 52 that the congestion degree does not exceed the preset limit value AX, the process proceeds to step 53.

[0025] In step 53, a person present around the autonomous vehicle 5 is detected based on the various data acquired in step 50, i.e., based on the surrounding situation detected by a situation detection device that detects the surrounding situation of the autonomous vehicle 5. Next, in step 54, it is determined whether the person present around the autonomous vehicle 5 is a child. If the person present around the autonomous vehicle 5 is a child, it is determined that the degree of contact risk exceeds a preset limit degree, and the process proceeds to step 64, where a risk flag is set. Then, the processing cycle is ended. On the other hand, if it is determined in step 54 that the person present around the autonomous vehicle 5 is not a child, the process proceeds to step 55.

[0026] In step 55, the body size of other vehicles around the autonomous vehicle 5 is detected based on the various data acquired in step 50, i.e., based on the surrounding conditions detected by a situation detection device that detects the surrounding conditions of the autonomous vehicle 5. Next, in step 56, it is determined whether the body size of other vehicles around the autonomous vehicle 5 is larger than a preset size BX. When the body size of other vehicles around the autonomous vehicle 5 is larger than the preset size BX, it is determined that the degree of contact risk exceeds a preset limit degree, and the process proceeds to step 64, where a risk flag is set. Then, the processing cycle is terminated. On the other hand, when it is determined in step 56 that the body size of other vehicles around the autonomous vehicle 5 is not larger than the preset size BX, the process proceeds to step 57.

[0027] In step 57, based on the various data acquired in step 50, i.e., based on the surrounding conditions detected by the situation detection device that detects the surrounding conditions of the autonomous vehicle 5, it is determined whether or not there is a blind spot around the autonomous vehicle 5 that cannot be detected by the situation detection device. Next, in step 58, it is determined whether or not there is a blind spot around the autonomous vehicle 5. When a blind spot is present around the autonomous vehicle 5, it is determined that the degree of contact risk exceeds a preset limit degree, and the process proceeds to step 64, where a risk flag is set. Then, the processing cycle is ended. On the other hand, when it is determined in step 58 that there is no blind spot around the autonomous vehicle 5, the process proceeds to step 59.

[0028] In step 59, a pedestrian crossing existing around the autonomous vehicle 5 is detected based on the various data acquired in step 50, i.e., based on the surrounding conditions detected by a situation detection device that detects the surrounding conditions of the autonomous vehicle 5. Next, in step 60, it is determined whether or not a pedestrian crossing exists around the autonomous vehicle 5. If a pedestrian crossing exists around the autonomous vehicle 5, it is determined that the degree of contact risk exceeds a preset limit degree, and the process proceeds to step 64, where a risk flag is set. Then, the processing cycle is ended. On the other hand, if it is determined in step 60 that no pedestrian crossing exists around the autonomous vehicle 5, the process proceeds to step 61.

[0029] In step 61, information on the weather around the autonomous vehicle 5 is obtained, which is detected using a weather detector such as a rain detector, or obtained from a weather information company. In this case, a weather forecast can also be used as the weather information. Next, in step 62, it is determined whether the weather around the autonomous vehicle 5 is a preset bad weather. If the weather around the autonomous vehicle 5 is the preset bad weather, it is determined that the degree of contact risk exceeds a preset limit degree, and the process proceeds to step 64, where a risk flag is set. Then, the processing cycle is terminated. On the other hand, if it is determined in step 62 that the weather around the autonomous vehicle 5 is not the preset bad weather, the process proceeds to step 63, where the risk flag is reset. Then, the processing cycle is terminated.

[0030] Next, with reference to FIG. 9, a routine for setting an upper limit speed that is repeatedly executed in the electronic control unit 24 of the autonomously driven vehicle 5 will be described. 9, first, in step 70, it is determined whether or not the risk flag is set. When it is determined that the risk flag is not set, that is, when the degree of the contact risk does not exceed the preset limit degree, the process proceeds to step 70, where the upper limit speed is set to the preset upper limit speed MAX3. Then, the process cycle is ended.

[0031] On the other hand, when it is determined in step 70 that the risk flag is set, the process proceeds to step 72, where the vehicle body size of the host vehicle is acquired. Next, in step 73, it is determined whether or not the vehicle body size of the host vehicle is larger than the preset size CX. When it is determined that the vehicle body size of the host vehicle is not larger than the preset size CX, the process proceeds to step 74, where the upper limit speed is set to a preset upper limit speed MAX2 that is lower than the upper limit speed MAX3. Then, the processing cycle is terminated. On the other hand, when it is determined that the vehicle body size of the host vehicle is larger than the preset size CX, the process proceeds to step 75, where the upper limit speed is set to a preset upper limit speed MAX1 that is even lower than the upper limit speed MAX2. Then, the processing cycle is terminated.

[0032] Next, an automatic parking control routine executed in the electronic control unit 24 of the automatically driven vehicle 5 will be described with reference to FIGS. 10 and 11, first, in step 80, the first destination G transmitted from the parking lot management server 7 is acquired. In this case, the first destination G can also be set in the electronic control unit 24 of the autonomous vehicle 5 based on the surrounding conditions detected by a condition detection device that detects the surrounding conditions of the autonomous vehicle 5. Next, in step 81, map data of the parking lot 1 stored in the memory 13 of the electronic control unit 10 of the parking lot management server 7 is read, and a first driving route GR indicating the passage along which the autonomous vehicle 5 should travel from the boarding / disembarking area 4 to the first destination G is set based on the map data. In this case, the first driving route GR can also be set in the parking lot management server 7.

[0033] Next, in step 82, any one of the upper limit speeds MAX1, MAX2, and MAX3 calculated in the upper limit speed setting routine shown in FIG. 9 is read. Next, in step 83, based on the read map data, a travel trajectory of the autonomous vehicle 5 within a certain distance range from the current position, which allows the autonomous vehicle 5 to travel within the travel path of the autonomous vehicle 5 without coming into contact with other vehicles or pedestrians, is determined. Furthermore, in step 83, a travel speed equal to or less than the upper limit speed when the autonomous vehicle 5 travels on the travel trajectory is set. Next, in step 84, travel control of the autonomous vehicle 5 is performed along the set travel trajectory at a set travel speed equal to or less than the upper limit speed, based on the detection results of a surrounding detection sensor such as a camera, a lidar, or a radar that captures the front of the autonomous vehicle 5, so as not to come into contact with other vehicles or pedestrians. Next, in step 85, it is determined whether the autonomous vehicle 5 has reached the first destination G. When it is determined that the autonomously driven vehicle 5 has not reached the first destination G, the process returns to step 84, and the autonomous driving of the autonomously driven vehicle 5 continues. On the other hand, when it is determined in step 85 that the autonomously driven vehicle 5 has reached the first destination G, the process proceeds to step 86.

[0034] In step 86, the second destination G transmitted from the parking lot management server 7 is acquired. In this case, this second destination G can also be set in the electronic control unit 24 of the autonomously driven vehicle 5 based on the surrounding conditions detected by a condition detection device that detects the surrounding conditions of the autonomously driven vehicle 5. Next, in step 87, map data of the parking lot 1 stored in the memory 13 of the electronic control unit 10 of the parking lot management server 7 is read, and a second driving route FR from the first destination G to the second destination F is set based on this map data. In this case, this second driving route FR can also be set in the parking lot management server 7.

[0035] Next, in step 88, any one of the upper limit speeds MAX1, MAX2, and MAX3 calculated in the upper limit speed setting routine shown in FIG. 9 is read. Next, in step 89, based on the read map data, a travel path of the autonomous vehicle 5 that does not come into contact with other vehicles or pedestrians and a travel speed equal to or less than the upper limit speed are set. Next, in step 90, travel control of the autonomous vehicle 5 is performed along the set travel path at a set travel speed equal to or less than the upper limit speed, based on the detection results of a surrounding detection sensor such as a camera, a lidar, or a radar that captures the area ahead of the autonomous vehicle 5, so as not to come into contact with other vehicles or pedestrians. Next, in step 91, it is determined whether the autonomous vehicle 5 has reached the second destination F. When it is determined that the autonomous vehicle 5 has not reached the second destination F, the process returns to step 90, and the autonomous driving of the autonomous vehicle 5 continues. On the other hand, when it is determined in step 91 that the autonomously driven vehicle 5 has reached the second destination F, that is, when the parking operation of the autonomously driven vehicle 5 has been completed, the process proceeds to step 92, where the autonomously driven vehicle 5 is stopped from traveling.

[0036] Although an embodiment of the present invention has been described above using the example of automatically parking an autonomous vehicle 5 in an automatic parking lot, the present invention can also be applied to a case where a manually-driven vehicle equipped with an automatic parking function is parked in a general parking space where manually-driven vehicles are parked. In this case, when a manually-driven vehicle is parked in a parking space 2a using the automatic parking function in FIG. 5, for example, the manually-driven vehicle is parked in the parking space 2a shown in FIG. G The manually-driven vehicle is stopped once at the position indicated by the arrow A, and then the contact risk degree determination routine shown in FIGS. 7 and 8, the upper limit speed setting routine shown in FIG. 9, and the automatic parking control routine shown in FIGS. 10 and 11 are executed in the electronic control unit of the manually-driven vehicle, thereby performing an automatic parking operation of the manually-driven vehicle using the automatic parking function.

[0037] In this way, in an embodiment of the present invention, as shown in the functional configuration diagram of Fig. 12, the automatic parking system includes an automatic parking control unit 100 that performs automatic parking control to automatically park a vehicle in a parking space, and an upper limit speed setting unit 101 that sets the upper limit speed of the vehicle during automatic parking control, and the automatic parking control unit 100 performs automatic parking control to automatically park a vehicle in a parking space at a vehicle speed equal to or lower than the upper limit speed set by the upper limit speed setting unit 101, and the upper limit speed setting unit 101 sets the upper limit speed according to the vehicle body size, and at that time, when the vehicle body size is larger than the preset size, the upper limit speed is made smaller than when the vehicle body size is smaller than the preset size. In this case, the electronic control unit 24 of the vehicle constitutes the automatic parking control unit 100 and the upper limit speed setting unit 101.

[0038] In an embodiment of the present invention, the automatic parking system includes a situation detection device that detects the situation around the vehicle, and a risk degree determination unit that determines the degree of contact risk of the vehicle coming into contact with an object other than the vehicle based on the situation around the vehicle detected by the situation detection device, and when it is determined that the degree of contact risk exceeds a preset limit degree, the upper limit speed setting unit 101 sets the upper limit speed according to the body size of the vehicle. In this case, the electronic control unit 24 of the vehicle constitutes the risk degree determination unit.

[0039] In an embodiment according to the present invention, the upper limit speed setting unit 101 sets the upper limit speed in accordance with the vehicle body size and the degree of contact risk, and when it is determined that the degree of contact risk exceeds a preset limit, the upper limit speed is made smaller than when it is determined that the degree of contact risk does not exceed the preset limit. Furthermore, when it is determined that the degree of contact risk exceeds a preset limit, the upper limit speed setting unit 101 sets the upper limit speed in accordance with the vehicle body size, and when it is determined that the vehicle body size is larger than the preset size, the upper limit speed is made smaller than when the vehicle body size is smaller than the preset size.

[0040] In addition, in an embodiment of the present invention, an automatic parking method is provided that performs automatic parking control by setting an upper limit speed of a vehicle during automatic parking control to be lower when the vehicle body size is larger than a preset size compared to when the vehicle body size is smaller than the preset size, and automatically parking the vehicle in a parking space at a vehicle speed equal to or lower than the set upper limit speed.

[0041] Furthermore, in an embodiment of the present invention, a program is provided that causes a computer to function to set an upper limit vehicle speed during automatic parking control to be lower when the vehicle body size is larger than a preset size than when the vehicle body size is smaller than the preset size, and to automatically park the vehicle in a parking space at a vehicle speed that is equal to or lower than the set upper limit speed. [Explanation of symbols]

[0042] 1 Parking lot 2 Parking spaces 3 Parking spaces 4. Boarding and alighting points 5.6 Self-driving vehicles 7 Parking lot management server

Claims

1. an automatic parking control unit that performs automatic parking control to automatically park a vehicle in a parking space; an upper limit speed setting unit that sets an upper limit speed of the vehicle during automatic parking control; A situation detection device that detects a situation around the vehicle; a risk degree determination unit that determines a degree of a contact risk of the vehicle coming into contact with an object other than the vehicle based on the situation around the vehicle detected by the situation detection device, The automatic parking control unit performs automatic parking control to automatically park the vehicle in the parking space at a vehicle speed equal to or lower than the upper limit speed set by the upper limit speed setting unit, The risk degree determination unit determines whether or not there is a blind spot around the vehicle that cannot be detected by the situation detection device, and when there is a blind spot, determines that the degree of the contact risk exceeds a preset limit degree; The upper limit speed setting unit sets an upper limit speed in accordance with the degree of contact risk, and when it is determined that the degree of contact risk exceeds a predetermined limit degree, the upper limit speed is made lower than when it is determined that the degree of contact risk does not exceed the predetermined limit degree, and further, when it is determined that the degree of contact risk exceeds the predetermined limit degree, the upper limit speed setting unit sets an upper limit speed in accordance with the body size of the vehicle, and when the body size of the vehicle is larger than the predetermined size, the upper limit speed is made lower than when the body size of the vehicle is smaller than the predetermined size.

2. An automatic parking system as described in claim 1, wherein the situation detection device detects the degree of congestion around the vehicle, and the risk degree determination unit determines that the degree of contact risk exceeds a predetermined limit degree even when the degree of congestion exceeds a predetermined limit value.

3. An automatic parking system as described in claim 1, wherein the situation detection device detects a person present around the vehicle, and the risk degree determination unit determines that the degree of contact risk exceeds a predetermined limit even when the person is a child.

4. An automatic parking system as described in claim 1, wherein the situation detection device detects the body size of other vehicles present around the vehicle, and the risk degree determination unit determines that the degree of contact risk exceeds a predetermined limit even when the body size of the other vehicle is larger than a predetermined size.

5. An automatic parking system as described in claim 1, wherein the situation detection device detects a crosswalk existing around the vehicle, and the risk degree determination unit determines that the degree of contact risk exceeds a predetermined limit degree even when the crosswalk exists around the vehicle.

6. An automatic parking system as described in claim 1, in which information regarding the weather around the vehicle is acquired, and the risk degree determination unit determines that the degree of contact risk exceeds a predetermined limit degree even when the weather around the vehicle is a predetermined bad weather condition.

7. A computer comprising: The situation detection device detects the situation around the vehicle, determining a degree of a contact risk of the vehicle coming into contact with an object other than the vehicle based on the situation around the vehicle detected by the situation detection device; determining whether or not there is a blind spot around the vehicle that cannot be detected by the situation detection device, and determining that the degree of the contact risk exceeds a preset limit degree when the blind spot exists; an upper limit speed of the vehicle during automatic parking control is set to be lower when it is determined that the degree of the contact risk exceeds a predetermined limit degree compared to when it is determined that the degree of the contact risk does not exceed the predetermined limit degree, and further, when it is determined that the degree of the contact risk exceeds the predetermined limit degree, an upper limit speed of the vehicle during automatic parking control is set to be lower when the body size of the vehicle is larger than the predetermined size compared to when the body size of the vehicle is smaller than the predetermined size; The automatic parking method performs automatic parking control to automatically park a vehicle in a parking space at a vehicle speed equal to or lower than a set upper limit speed.

8. A situation detection device detects the situation around the vehicle, determining a degree of a contact risk of the vehicle coming into contact with an object other than the vehicle based on the situation around the vehicle detected by the situation detection device; determining whether or not there is a blind spot around the vehicle that cannot be detected by the situation detection device, and determining that the degree of the contact risk exceeds a preset limit degree when the blind spot exists; an upper limit speed of the vehicle during automatic parking control is set to be lower when it is determined that the degree of the contact risk exceeds a predetermined limit degree compared to when it is determined that the degree of the contact risk does not exceed the predetermined limit degree, and further, when it is determined that the degree of the contact risk exceeds the predetermined limit degree, an upper limit speed of the vehicle during automatic parking control is set to be lower when the body size of the vehicle is larger than the predetermined size compared to when the body size of the vehicle is smaller than the predetermined size; A program that causes a computer to function to perform automatic parking control for automatically parking a vehicle in a parking space at a vehicle speed equal to or lower than a set upper limit speed.

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