Control device, control method, and control program

Abstract

To provide a control device which enables external environment recognition of a moving body even if a vehicle height changes, and to provide a control method and a control program.SOLUTION: A calculation part 52 of a vehicle 10 includes: an external environment recognition unit 55 configured to acquire external environment recognition data of the vehicle 10; a movement control unit 56 configured to exercise movement control of the vehicle 10 based on the external environment recognition data; and a vehicle height detection unit 57 configured to detect a vehicle height of the vehicle 10. The external environment recognition unit 55 corrects the external environment recognition data in accordance with a change in the vehicle height of the vehicle 10 while the movement control is exercised.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a control device, a control method, and a control program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into driver assistance technologies to further improve road safety and convenience.

[0003] Conventionally, an automatic parking system that moves a vehicle to a target parking position acquired by a sensor such as a camera is known. Also, a vehicle height adjustment system that can adjust the vehicle height by a user operation or a system control is known. For example, Patent Document 1 describes a driving support device that, when the road surface near the parking target area is highly uneven and the driver increases the vehicle height and registers it, drives a suspension control device based on the registered vehicle height adjustment data at the same timing to set the vehicle height to the registered height. Patent Document 2 describes a starting assistance device that includes a longitudinal acceleration sensor that detects the inclination state of the vehicle body, a road surface condition estimation unit that estimates the inclination degree of the road surface based on the detection result of the longitudinal acceleration sensor, and a vehicle height sensor that detects the vehicle height near the wheels, and corrects the inclination degree of the road surface (vehicle body) estimated based on the detection result of the longitudinal acceleration sensor using the vehicle height detected by the vehicle height sensor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2006-298115 A [Patent Document 2] JP 2013-035495 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the vehicle height changes, the position of the sensor mounted on the vehicle also changes, and therefore the external recognition data of the vehicle's external environment recognized by the sensor also changes in response to the change. In this case, the external image generated based on the external recognition data also differs, which may affect the control of the automatic movement of the vehicle using these information. Therefore, even if the vehicle height changes, it is desirable that the external recognition data of the vehicle's external environment recognized by the sensor does not differ. According to the driving support device of Patent Document 1, it is possible to adjust the vehicle height at the same timing as in the past based on the past driving history. According to the starting assistance device of Patent Document 2, it is possible to correct the estimated value of the inclination degree of the road surface (vehicle body) based on the detected vehicle height. However, Patent Document 1 and Patent Document 2 do not describe the different external recognition data acquired when the vehicle height changes during the automatic movement of the vehicle and the processing of the external recognition data. Therefore, there is room for improvement in the prior art in this regard.

[0006] The present invention aims to provide a control device, a control method, and a control program that are capable of properly recognizing the outside world of a moving object even if the vehicle height changes, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] The present invention relates to In a control device for a moving object, An external environment recognition unit that acquires external environment recognition data of the moving body; A movement control unit that controls the movement of the moving object based on the external environment recognition data; a vehicle height detection unit for detecting a vehicle height of the moving body; a vehicle height control unit that controls a vehicle height of the moving body; Equipped with The external environment recognition unit, when executing the movement control Okeru The above Height Control The external recognition data is corrected according to the stomach , The vehicle height control unit is executing a first vehicle height control of the moving body based on the external environment recognition data before starting the movement control; starting a second vehicle height control of the moving body, which is different from the first vehicle height control, when the movement control is completed or during the execution of the movement control. It is a control device.

[0008] The present invention relates to An external environment recognition unit that acquires external environment recognition data of a moving body, a movement control unit that performs movement control of the moving body based on the external environment recognition data, and a vehicle height detection unit that detects a vehicle height of the moving body; a vehicle height control unit that controls a vehicle height of the moving body; A control method by a control device comprising: When the movement control is executed Okeru The above Height Control The external recognition data is corrected according to the stomach , executing a first vehicle height control of the moving body based on the external environment recognition data before starting the movement control; starting a second vehicle height control of the moving body, which is different from the first vehicle height control, when the movement control is completed or during the execution of the movement control. It is a control method.

[0009] The present invention relates to An external environment recognition unit that acquires external environment recognition data of a moving body, a movement control unit that performs movement control of the moving body based on the external environment recognition data, and a vehicle height detection unit that detects a vehicle height of the moving body; a vehicle height control unit that controls a vehicle height of the moving body; A control program for a control device comprising: A processor of the control device When the movement control is executed Okeru The above Height Control The external recognition data is corrected according to the stomach , executing a first vehicle height control of the moving body based on the external environment recognition data before starting the movement control; starting a second vehicle height control of the moving body, which is different from the first vehicle height control, when the movement control is completed or during the execution of the movement control. This is a control program for executing the processing. Effect of the Invention

[0010] According to the present invention, it is possible to provide a control device, a control method, and a control program that are capable of properly recognizing the outside world of a moving object even if the vehicle height changes. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view of a vehicle equipped with a control device of the present invention. [Diagram 2] FIG. 2 is a top view of the vehicle shown in FIG. [Diagram 3] 2 is a block diagram showing an example of an internal configuration of the vehicle shown in FIG. 1. [Figure 4] 13 is a flowchart showing an example of a warehousing process performed by a calculation unit. [Diagram 5] 13 is a flowchart showing an example of a shipping process performed by a calculation unit. [Figure 6] 13 is a flowchart showing a modified example of the storage process performed by the calculation unit. [Figure 7] 13 is a flowchart showing a modified example of the delivery process performed by the calculation unit. [Figure 8] FIG. 13 is a diagram showing an example of vehicle height control during automatic parking of a vehicle. [Figure 9] FIG. 13 is a diagram showing an example of vehicle height control when a vehicle automatically leaves a garage. [Figure 10] FIG. 4 is a diagram showing the relationship between a change in vehicle height and a change in the position at which a surrounding target is captured. [Figure 11] 11A and 11B are diagrams for explaining changes in vehicle height and correction of the positions of surrounding targets; [Figure 12] 10 is a flowchart showing a correction process of the external recognition data by a calculation unit. [Figure 13] 11 is a diagram showing an example of an overhead image when a vehicle is automatically parked at a target position; FIG. [Figure 14] 14 is a diagram showing an example of an overhead image when the vehicle height has changed from the state shown in FIG. 13. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described with reference to the accompanying drawings. The drawings are to be viewed in the direction of the reference symbols. In this specification and the like, for the sake of simplicity and clarity, the front / rear, left / right, and up / down directions are described according to the direction as seen by the driver of the vehicle 10 shown in Figures 1 and 2, and in the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the up as U, and the down as D.

[0013] <Vehicle 10 equipped with the control device of the present invention> Fig. 1 is a side view of a vehicle 10 equipped with a control device of the present invention. Fig. 2 is a top view of the vehicle 10 shown in Fig. 1. The vehicle 10 is an example of a moving body of the present invention.

[0014] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle 10 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. The drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front wheels and rear wheels, i.e., four wheels. Both the front wheels and the rear wheels may be steerable wheels, or one of them may be steerable wheels.

[0015] The vehicle 10 further includes side mirrors 11L, 11R. The side mirrors 11L, 11R are mirrors (rear-view mirrors) provided on the outside of the front doors of the vehicle 10 to allow the driver to check the rear and rear sides. The side mirrors 11L, 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around the rotation shaft.

[0016] The vehicle 10 further includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is a digital camera provided in front of the vehicle 10 and captures an image in front of the vehicle 10. The rear camera 12Rr is a digital camera provided in the rear of the vehicle 10 and captures an image in the rear of the vehicle 10. The left side camera 12L is a digital camera provided in the left side mirror 11L of the vehicle 10 and captures an image in the left side of the vehicle 10. The right side camera 12R is a digital camera provided in the right side mirror 11R of the vehicle 10 and captures an image in the right side of the vehicle 10.

[0017] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Fig. 1. As shown in Fig. 3, the vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 further has a driving force control system 26 and a braking force control system 28.

[0018] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a, 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0019] The front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R capture images of the periphery of the vehicle 10 to obtain external environment recognition data for recognizing the external environment of the vehicle 10. The peripheral images of the vehicle 10 captured by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R are referred to as a front image, a rear image, a left side image, and a right side image, respectively. An image composed of the left side image and the right side image may be referred to as a lateral image. A peripheral image generated by synthesizing the respective captured data of the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R may be referred to as an overhead image of the vehicle 10. The front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R output the acquired external environment recognition data to the control ECU 20.

[0020] The front sonar group 32a, the rear sonar group 32b, the left side sonar group 32c, and the right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sounds from other objects. The front sonar group 32a includes, for example, four sonars. The sonars constituting the front sonar group 32a are provided diagonally forward left, forward left, forward right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are provided diagonally backward left, backward left, backward right, and diagonally backward right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars constituting the left side sonar group 32c are provided diagonally forward left and rear left of the vehicle 10, respectively. The right side sonar group 32d includes, for example, two sonars. The sonars that make up the right side sonar group 32d are provided respectively at the front and rear of the right side of the vehicle 10. The front sonar group 32a, the rear sonar group 32b, the left side sonar group 32c, and the right side sonar group 32d output reflected sounds received from other objects to the control ECU 20.

[0021] The wheel sensors 34a, 34b detect the rotation angle of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured by angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse every time the wheels rotate a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the rotation angle and rotation speed of the wheels. The travel distance of the vehicle 10 is calculated based on the rotation angle of the wheels. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0022] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0023] The operation detection unit 38 detects the operation contents performed by the user using the operation input unit 14, and outputs the detected operation contents to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (select lever or selector).

[0024] The navigation device 18 detects the current position of the vehicle 10 using, for example, a Global Positioning System (GPS), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that includes a map information database.

[0025] The navigation device 18 is equipped with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to a user (passenger) of the vehicle 10 by voice.

[0026] The touch panel 42 is configured to input various commands to the control ECU 20. For example, the user can input commands related to the movement support of the vehicle 10 via the touch panel 42. The movement support includes the entry support and exit support of the vehicle 10. The touch panel 42 is also configured to display various screens related to the control contents of the control ECU 20. For example, the touch panel 42 displays a screen related to the movement support of the vehicle 10. Specifically, the touch panel 42 displays an entry support button for requesting entry support of the vehicle 10 and an exit support button for requesting exit support. The entry support button includes an automatic entry button for requesting entry by automatic steering of the control ECU 20 and an auxiliary entry button for requesting assistance when entering by the driver's operation. The exit support button includes an automatic exit button for requesting exit by automatic steering of the control ECU 20 and an auxiliary exit button for requesting assistance when leaving by the driver's operation. Note that a component other than the touch panel 42, for example, an information terminal such as a smartphone or a tablet terminal, may be used as the input device or the display device. Also, a HUD (Head-Up Display) may be used as the display device.

[0027] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a storage unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The calculation unit 52 also inputs and outputs signals between each unit connected to the control ECU 20 via the input / output unit 50. The calculation unit 52 is an example of a control device of the present invention.

[0028] The calculation unit 52 has an external environment recognition unit 55 that acquires external environment recognition data for recognizing the external environment of the vehicle 10, a movement control unit 56 that controls the movement of the vehicle 10 based on the external environment recognition data, a vehicle height detection unit 57 that detects the vehicle height of the vehicle 10, a vehicle height control unit 58 that controls the vehicle height, and a display control unit 59 that displays an image based on the external environment recognition data.

[0029] The external environment recognition unit 55 acquires external environment recognition data of the vehicle 10 acquired by the sensor group 16 from the sensor group 16. When the vehicle height of the vehicle 10 changes during the execution of the movement control of the vehicle 10, the external environment recognition unit 55 corrects the external environment recognition data according to the change in the vehicle height. The vehicle height of the vehicle 10 changes due to the vehicle height control by the vehicle height control unit 58 during the execution of the movement control. The change in the vehicle height may include, in addition to the change in the vehicle height due to the vehicle height control by the vehicle height control unit 58, a change in the vehicle height due to the tire of the vehicle 10 climbing up an object during the execution of the movement control. The vehicle height control by the vehicle height control unit 58 is, for example, control of an air suspension, a hydraulic suspension, or the like. Note that the vehicle height is not limited to an air suspension or a hydraulic suspension as long as it is adjustable.

[0030] When the vehicle height of the vehicle 10 changes, the position (height) of the sensor group 16 mounted on the body of the vehicle 10 also changes in accordance with the change in the vehicle height. However, even if the position of the sensor group 16 changes, the sensing angle of the sensor group 16 does not change and remains constant. Therefore, when the position of the sensor group 16 changes, a deviation occurs in the external environment recognition data acquired by the sensor group 16. Therefore, the external environment recognition unit 55 corrects the external environment recognition data to return the change in the position of the recognized object in the external environment recognition data that occurs due to the change in the vehicle height to the position of the recognized object in the external environment recognition data before the change in the vehicle height.

[0031] For example, when the vehicle height of the vehicle 10 changes and becomes lower, the external environment recognition unit 55 corrects the external environment recognition data in a direction in which the target represented by the external environment recognition data approaches the vehicle 10. On the other hand, when the vehicle height of the vehicle 10 changes and becomes higher, the external environment recognition unit 55 corrects the external environment recognition data in a direction in which the target represented by the external environment recognition data moves away from the vehicle 10. The target is a peripheral target that exists around the vehicle 10 when the vehicle 10 is automatically entered and automatically removed from the vehicle. For example, the target includes a recognition target on the movement path of the vehicle 10 that may affect the movement control of the vehicle 10. For example, when the image generated based on the external environment recognition data is an overhead image of the vehicle periphery, the external environment recognition unit 55 corrects the external environment recognition data so that the overhead image shrinks around the vehicle 10 when the vehicle height is lowered. In addition, the external environment recognition unit 55 corrects the external environment recognition data so that the overhead image expands around the vehicle 10 when the vehicle height is higher.

[0032] The movement control unit 56 performs movement support of the vehicle 10 by automatic steering, which automatically operates the steering wheel 110 under the control of the movement control unit 56. The movement support of the vehicle 10 includes automatic entry support that supports automatic entry of the vehicle 10, and automatic exit support that supports automatic exit of the vehicle 10. In the automatic steering assistance control, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is performed automatically. In addition, the movement control unit 56 performs auxiliary entry support and auxiliary exit support when the user operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually enter and manually exit the vehicle 10.

[0033] For example, the movement control unit 56 performs automatic entry control for causing the vehicle 10 to enter a specified target position and automatic exit control for causing the vehicle 10 to exit from the specified target position based on the external environment recognition data of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R and a specified target position specified by the user. In addition, when the vehicle height of the vehicle 10 changes and the external environment recognition data is corrected by the external environment recognition unit 55 in response to the change, the movement control unit 56 performs movement control of the vehicle 10 based on the corrected external environment recognition data. The specified target positions include normal vacant parking spaces where the vehicle 10 can be parked (entered / exited), and registered parking spaces (registered target positions) registered in the storage unit 54. The registered target positions are specific target positions for the user, for example, parking positions where the user's vehicle 10 is frequently parked. The registered target positions include, for example, monthly parking lots, parking lots at home, and coin parking lots where parking is frequently performed. The registered target position is detected by comparing the characteristic points of the target position obtained from the sensing data of the camera, sonar, and radar.

[0034] A vehicle height adjustment unit 140 capable of adjusting the vehicle height of the vehicle 10 is connected to the vehicle height control unit 58. The vehicle height adjustment unit 140 is configured with, for example, an air suspension, a hydraulic suspension, or the like. The vehicle height control unit 58 outputs a vehicle height control signal for controlling the vehicle height of the vehicle 10 to the vehicle height adjustment unit 140. The vehicle height adjustment unit 140 adjusts the vehicle height of the vehicle 10 based on the vehicle height control signal.

[0035] The vehicle height detection unit 57 detects the vehicle height of the vehicle 10 based on the time that has elapsed since the vehicle height control unit 58 started to control the vehicle height. For example, the vehicle height detection unit 57 may calculate the amount of change in the vehicle height based on the time that has elapsed since the start of the vehicle height adjustment by the air suspension, and estimate the current vehicle height of the vehicle 10. Alternatively, the vehicle height detection unit 57 may detect the current vehicle height of the vehicle 10 based on a feedback value of the adjustment amount from the vehicle height adjustment unit 140.

[0036] The vehicle height control unit 58 performs vehicle height control to control the vehicle height of the vehicle 10 according to the progress of movement control to move the vehicle 10 to a target position. The vehicle height of the vehicle 10 includes the vehicle height of the uppermost part of the vehicle 10 and the vehicle height of the lowermost part of the vehicle 10. The lowermost part of the vehicle 10 refers to the minimum ground clearance of the vehicle 10 excluding the contact parts such as tires.

[0037] For example, the vehicle height control unit 58 starts vehicle height control for controlling the vehicle height of the vehicle 10 upon completion of movement control for moving the vehicle 10 to a target position or movement control for moving the vehicle 10 from the target position. The completion of movement control includes not only the time of completion of movement control, but also, for example, the time immediately before the completion of movement control when the vehicle 10 moving due to movement control has become almost stationary. The movement control for moving the vehicle 10 to a target position is the automatic entrance support control by the movement control unit 56. The movement control for moving the vehicle 10 from the target position is the automatic departure support control by the movement control unit 56.

[0038] In addition, the vehicle height control unit 58 judges whether or not vehicle height control is possible during the execution of movement control to move the vehicle 10 to a target position or the execution of movement control to move the vehicle 10 from the target position, and starts vehicle height control to control the vehicle height of the vehicle 10 according to the result of the judgment. Whether or not vehicle height control is possible means, for example, during movement control to move the vehicle 10 to a target position, whether or not vehicle height control is possible from the vehicle height of the vehicle 10 suitable for moving the vehicle 10 to the target position to the vehicle height of the vehicle 10 suitable for the user to get on and off the vehicle 10. During movement control to move the vehicle 10 from the target position, means whether or not vehicle height control is possible from the vehicle height of the vehicle 10 suitable for moving the vehicle 10 from the target position to the vehicle height of the vehicle 10 suitable for the vehicle 10 to run normally.

[0039] In addition, the vehicle height control unit 58 starts vehicle height control to control the vehicle height of the vehicle 10 according to the acquisition status of the external recognition data of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R during the execution of the movement control to move the vehicle 10 to the target position. For example, the vehicle height control unit 58 starts the vehicle height control when it has acquired the external recognition data to an extent that it is possible to complete the movement control of the vehicle 10, that is, when it has acquired the sensing data to an extent that it is possible to perform the movement control by odometry, and when it is possible to perform the self-position estimation to estimate the current relative position of the vehicle 10 with respect to the target position. If the vehicle height control of the vehicle 10 is performed while moving, an error may occur in the sensing of the camera, but if the acquisition of the sensing data is completed and the self-position estimation is possible, the vehicle height control can be performed even while the vehicle 10 is moving, since the movement control can be performed by odometry thereafter.

[0040] Furthermore, the vehicle height control unit 58 executes a first vehicle height control for controlling the vehicle height of the vehicle 10 based on the external recognition data of the vehicle 10 before starting the movement control for moving the vehicle 10 to the target position, and starts a second vehicle height control for controlling the vehicle 10 to a vehicle height different from the vehicle height by the first vehicle height control, triggered by the completion of the movement control or during the execution of the movement control. The first vehicle height control is a vehicle height control of the vehicle 10 to a vehicle height that allows the movement control of the vehicle 10 to the target position. For example, the first vehicle height control is a control of the vehicle height to a vehicle height that allows safe movement control, taking into consideration the recognition results of the road surface condition such as a speed bump in a parking lot (e.g., a bump on the road in a parking lot for speed control), the ceiling height of the parking lot, and other obstacles. The second vehicle height control is a vehicle height control of the vehicle 10 to a vehicle height that is more suitable for the user to get on and off the vehicle 10 than the vehicle height that allows the movement control of the vehicle 10 to the target position. The vehicle height suitable for the user to get on and off may be a vehicle height that is predetermined according to the vehicle type, or may be a vehicle height that is preset by the user. The height of speed bumps, ceiling height, etc. are detected by image analysis of external recognition data acquired by cameras, etc.

[0041] Furthermore, when movement control (automatic leaving-parking assistance control) is executed to move vehicle 10 from the target position, vehicle height control unit 58 stores the vehicle height of vehicle 10 before the start of first vehicle height control, and executes vehicle height control of vehicle 10 to the stored vehicle height upon completion of movement control to move vehicle 10 from the target position. The vehicle height of vehicle 10 before the start of first vehicle height control refers to the vehicle height of vehicle 10 when vehicle 10 is normally traveling.

[0042] The display control unit 59 displays an image based on the external environment recognition data corrected according to a change in the vehicle height of the vehicle 10. The image based on the external environment recognition data is a peripheral image of the periphery of the vehicle 10 generated from the external environment recognition data. The image based on the external environment recognition data includes, for example, an overhead image of the periphery of the vehicle 10. The display control unit 59 displays an image of a target position for movement control, an image of a target object in the vicinity of the vehicle 10, etc., based on the external environment recognition data. The display control unit 59 displays the image on, for example, the touch panel 42 of the navigation device 18 or an information terminal such as a smartphone.

[0043] Note that "parking" is synonymous with "parking", for example. For example, "parking" means stopping with passengers getting in and out of the vehicle, and does not include temporary stops at traffic signals, etc. Furthermore, a "target position" is a parking position where a mobile body is to be parked. A "parking position" is a position where a mobile body is to be stopped, i.e., a position where the mobile body is to be parked.

[0044] The EPS system 22 has a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects a steering angle θst of a steering wheel 110. The torque sensor 102 detects a torque TQ applied to the steering wheel 110.

[0045] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the driver in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects a rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for the overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0046] The communication unit 24 enables wireless communication with other communication devices 120. The other communication devices 120 include base stations, communication devices of other vehicles, and information terminals such as smartphones carried by passengers of the vehicle 10.

[0047] The driving force control system 26 is equipped with a driving ECU 130. The driving force control system 26 executes driving force control of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0048] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 executes braking force control of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0049] <Processing of the calculation unit 52 at the time of storage> Next, the entry process of the calculation unit 52 during automatic entry of the vehicle 10 will be described. FIG. 4 is a flow chart showing an example of the entry process by the calculation unit 52. When the calculation unit 52 accepts an entry start operation from a user, it starts the process shown in FIG. The entry start operation refers to, for example, an operation of designating a predetermined parking position (target position) where the vehicle 10 is to be parked on an image of the parking lot displayed on the touch panel 42 of the navigation device 18 or an information terminal such as a smartphone, and then touching an automatic entry button. The entry start operation is performed, for example, when the vehicle 10 arrives near the parking lot where the vehicle 10 is to be parked.

[0050] First, the calculation unit 52 determines whether or not an automatic entry instruction for starting automatic entry of the vehicle 10 has been received (step S11). The automatic entry instruction is, for example, the above-mentioned entry start operation.

[0051] In step S11, if an automatic warehousing instruction has not been received (step S11: No), the calculation unit 52 repeats the process of step S11. In step S11, if an automatic warehousing instruction has been received (step S11: Yes), the calculation unit 52 stores the current vehicle height (Hi) of the vehicle 10 in the memory unit 54 (step S12). The current vehicle height (Hi) is the vehicle height of the vehicle 10 before the automatic warehousing is started, that is, the vehicle height of the vehicle 10 when the vehicle 10 is normally traveling. The vehicle height (Hi) will be described further below with reference to FIG. 8.

[0052] Next, the calculation unit 52 starts vehicle height control to control the vehicle height of the vehicle 10 to a vehicle height (Mid) suitable for automatic parking when the vehicle 10 automatically parks at the specified target position (step S13). The vehicle height (Mid) suitable for automatic parking means, for example, a vehicle height at which the bottom of the vehicle 10 does not come into contact with a speed bump in the parking lot, and a vehicle height at which the top of the vehicle 10 does not come into contact with the ceiling of the parking space when the vehicle 10 parks. The vehicle height (Mid) will be described further below with reference to FIG. 8.

[0053] Next, the calculation unit 52 determines whether or not the vehicle height control of the vehicle 10 started in step S13 has been completed (step S14). It is the vehicle height control unit 58 of the calculation unit 52 that executes the processes of steps S12, S13, and S14.

[0054] In step S14, if the vehicle height control of the vehicle 10 is not completed (step S14: No), the calculation unit 52 repeats the process of step S14 until it is completed. In step S14, if the vehicle height control of the vehicle 10 is completed (step S14: Yes), the calculation unit 52 starts automatic entrance control to automatically enter the vehicle 10 into the target position (step S15).

[0055] Next, the calculation unit 52 determines whether or not the automatic entry of the vehicle 10 started in step S15 has been completed (step S16). It is the movement control unit 56 of the calculation unit 52 that executes the processes of steps S15 and S16.

[0056] In step S16, if the automatic entry of the vehicle 10 has not been completed (step S16: No), the calculation unit 52 repeats the process of step S16 until it is completed. In step S16, if the automatic entry of the vehicle 10 has been completed (step S16: Yes), the calculation unit 52 starts a vehicle height control for controlling the vehicle height of the vehicle 10 so that the vehicle height (Lo) is suitable for the user to get on and off the vehicle 10 (step S17). The vehicle height (Lo) will be described further below with reference to FIG. 8.

[0057] Next, the calculation unit 52 determines whether or not the vehicle height control of the vehicle 10 started in step S17 has been completed (step S18). It is the vehicle height control unit 58 of the calculation unit 52 that executes the processes of steps S17 and S18.

[0058] In step S18, if the vehicle height control of the vehicle 10 is not completed (step S18: No), the calculation unit 52 repeats the process of step S18 until the vehicle height control is completed. In step S18, if the vehicle height control of the vehicle 10 is completed (step S18: Yes), the calculation unit 52 ends this warehousing process.

[0059] In this way, in the warehousing process for automatically warehousing the vehicle 10 to a target position such as a parking space, the vehicle height control unit 58 of the calculation unit 52 controls the vehicle height of the vehicle 10 to a vehicle height (Mid) suitable for automatic warehousing during automatic warehousing, and controls the vehicle height of the vehicle 10 to a vehicle height (Lo) suitable for a user to get on and off when the automatic warehousing is completed. This makes it possible to control the vehicle height of the vehicle 10 to an appropriate height depending on the warehousing status of the vehicle 10, thereby improving the convenience of the user getting on and off the vehicle 10, for example.

[0060] <Processing of the calculation unit 52 at the time of leaving the warehouse> Next, the leaving process of the calculation unit 52 when the vehicle 10 is automatically leaving the garage will be described. FIG. 5 is a flow chart showing an example of the leaving process by the calculation unit 52. When the calculation unit 52 accepts a leaving start operation from a user, the calculation unit 52 starts the process shown in FIG. The leaving start operation is performed, for example, when the vehicle 10 is automatically left from the parking position where the vehicle 10 is parked. The leaving start operation refers to, for example, an operation of specifying a direction in which the vehicle 10 is to be left out from a target position shown in an image of the parking lot displayed on the touch panel 42 or an information terminal, such as a left front / right front direction, a left rear / right rear direction, etc., and then touching an automatic leaving button.

[0061] First, the calculation unit 52 determines whether or not an automatic leaving instruction for starting the automatic leaving of the vehicle 10 has been received (step S21). The automatic leaving instruction is, for example, the above-mentioned leaving start operation.

[0062] In step S21, if an automatic leaving instruction has not been received (step S21: No), the calculation unit 52 repeats the process of step S21. In step S21, if an automatic leaving instruction has been received (step S21: Yes), the calculation unit 52 starts vehicle height control to control the vehicle height of the vehicle 10 to a vehicle height (Mid) suitable for automatic leaving when the vehicle 10 automatically leaves the designated target position (step S22). The vehicle height (Mid) suitable for automatic leaving is, for example, a vehicle height at which the bottom of the vehicle 10 does not come into contact with a speed bump in the parking lot and a vehicle height at which the top of the vehicle 10 does not come into contact with the ceiling of the parking space when the vehicle 10 leaves the parking lot. The vehicle height (Mid) will be described further below with reference to FIG. 9.

[0063] Next, the calculation unit 52 determines whether or not the vehicle height control of the vehicle 10 started in step S22 has been completed (step S23). It is the vehicle height control unit 58 of the calculation unit 52 that executes the processes of steps S22 and S23.

[0064] In step S23, if the vehicle height control of the vehicle 10 is not completed (step S23: No), the calculation unit 52 repeats the process of step S23 until it is completed. In step S23, if the vehicle height control of the vehicle 10 is completed (step S23: Yes), the calculation unit 52 starts automatic leaving control to automatically leave the vehicle 10 from the target position (step S24).

[0065] Next, the calculation unit 52 determines whether the automatic leaving of the vehicle 10 started in step S24 has been completed (step S25). It is the movement control unit 56 of the calculation unit 52 that executes the processes of steps S24 and S25.

[0066] In step S25, if the automatic leaving of the vehicle 10 is not completed (step S25: No), the calculation unit 52 repeats the process of step S25 until it is completed. In step S25, if the automatic leaving of the vehicle 10 is completed (step S25: Yes), the calculation unit 52 starts height control to control the height of the vehicle 10 to the height (Hi) of the vehicle 10 stored in the memory unit 54 when the vehicle 10 is brought into the target position (step S26). The vehicle height (Hi) will be described further below with reference to FIG.

[0067] Next, the calculation unit 52 determines whether or not the vehicle height control of the vehicle 10 started in step S26 has been completed (step S27). It is the vehicle height control unit 58 of the calculation unit 52 that executes the processes of steps S26 and S27.

[0068] In step S27, if the vehicle height control of the vehicle 10 is not completed (step S27: No), the calculation unit 52 repeats the process of step S27 until it is completed. In step S27, if the vehicle height control of the vehicle 10 is completed (step S27: Yes), the calculation unit 52 ends this entry process. Note that since the automatic leaving of the vehicle 10 has been completed, the user can start driving the vehicle 10 without waiting for the vehicle height control of the vehicle 10 to be completed.

[0069] In this way, in the leaving process for automatically leaving the vehicle 10 from a target position such as a parking spot, the vehicle height control unit 58 of the calculation unit 52 controls the vehicle height of the vehicle 10 to a vehicle height (Mid) suitable for automatic leaving during automatic leaving, and controls the vehicle height of the vehicle 10 to the vehicle height (Hi) during normal driving of the vehicle 10 stored in the storage unit 54 when entering the vehicle upon completion of automatic leaving. This makes it possible to control the vehicle height of the vehicle 10 to an appropriate height depending on the leaving situation of the vehicle 10, so that, for example, the vehicle height automatically returns to the original vehicle height (Hi) upon completion of automatic leaving, eliminating the need for a user to instruct adjustment of the vehicle height, improving convenience.

[0070] <Modification of the process of the calculation unit 52 at the time of storage> Next, a modified example of the warehousing process of the calculation unit 52 when the vehicle 10 is automatically warehousing will be described. Fig. 6 is a flowchart showing a modified example of the warehousing process by the calculation unit 52. Similar to the warehousing process of Fig. 4, the calculation unit 52 starts the process shown in Fig. 6 when it accepts a warehousing start operation from a user.

[0071] As shown in Fig. 6, in the modified example of the warehousing process, the processes from step S31 to step S38 are the same as the processes from step S11 to step S18 in the warehousing process described in Fig. 4. Therefore, the description of steps S31 to S38 will be omitted.

[0072] In a modified example of the warehousing process, if automatic warehousing of the vehicle 10 is not completed in step S36 (step S36: No), the calculation unit 52 judges whether or not it is possible to perform vehicle height control for controlling the vehicle height of the vehicle 10 to a vehicle height (Lo) suitable for the user getting on and off the vehicle 10 (step S39). The ability to control the vehicle height (Lo) means that the vehicle 10 can be warehousing-ready without contacting a speed bump even if the vehicle height of the vehicle 10 is changed to the vehicle height (Lo), that is, the vehicle 10 has passed the position of a speed bump that exists on the warehousing-ready route to the target position. The vehicle height (Lo) is the same as the vehicle height (Lo) in the warehousing process described in FIG. 4. The processing of step S39 is executed by the vehicle height control unit 58 of the calculation unit 52.

[0073] In step S39, if vehicle height control to the vehicle height (Lo) is not possible (step S39: No), the calculation unit 52 returns to step S36 and repeats each process. In step S39, if vehicle height control to the vehicle height (Lo) is possible (step S39: Yes), the calculation unit 52 determines whether or not sensing is complete (step S40). "Sensing is complete" means that external environment recognition data can be acquired to such an extent that automatic warehousing control can be completed by odometry, and the vehicle 10's own position can be estimated relative to the target position. The process of steps S36 and S40 is executed by the movement control unit 56 of the calculation unit 52.

[0074] In step S40, if the sensing is not completed (step S40: No), the calculation unit 52 returns to step S36 and repeats each process. In step S40, if the sensing is completed (step S40: Yes), the calculation unit 52 starts height control to control the height of the vehicle 10 so that the height becomes suitable for getting on and off the vehicle 10 (Lo) when the user gets on and off the vehicle 10 (step S41). The processing of step S41 is executed by the vehicle height control unit 58 of the calculation unit 52.

[0075] Next, the calculation unit 52 determines whether the vehicle height control of the vehicle 10 started in step S41 has been completed, and also determines whether the automatic storage of the vehicle 10 started in step S35 has been completed (step S42). The processing of step S42 is executed by the vehicle height control unit 58 and the movement control unit 56 of the calculation unit 52.

[0076] In step S42, if at least one of the vehicle height control of the vehicle 10 and the automatic warehousing control of the vehicle 10 has not been completed (step S42: No), the calculation unit 52 repeats the processing of step S42 until completion. In step S42, if the vehicle height control of the vehicle 10 and the automatic warehousing control of the vehicle 10 have been completed (step S42: Yes), the calculation unit 52 ends this warehousing process. Note that it does not matter whether the vehicle height control or the automatic warehousing control is completed first.

[0077] Thus, according to the modified example of the warehousing process, if it is determined that the vehicle height control unit 58 is capable of controlling the vehicle height of the vehicle 10 even during control of automatic warehousing of the vehicle 10, and further if it is determined that sensing of the automatic warehousing is completed, the vehicle height control unit 58 controls the vehicle height of the vehicle 10 to a vehicle height (Lo) suitable for a user to get on and off. Therefore, it is possible to start the vehicle height control of the vehicle 10 before the vehicle 10 is completely warehousing at the target position, and the waiting time for the completion of the vehicle height (Lo) control after the vehicle 10 is completely warehousing at the target position can be reduced, improving convenience.

[0078] <Modification of the process of the calculation unit 52 at the time of leaving the warehouse> Next, a modified example of the leaving process of the calculation unit 52 when the vehicle 10 automatically leaves the garage will be described. Fig. 7 is a flowchart showing a modified example of the leaving process by the calculation unit 52. As with the leaving process in Fig. 5, the calculation unit 52 starts the process shown in Fig. 7 when it accepts a leaving start operation from a user.

[0079] As shown in Fig. 7, in the modified example of the shipping process, the processes from step S51 to step S57 are the same as the processes from step S21 to step S27 in the shipping process described in Fig. 5. Therefore, the description of steps S51 to S57 will be omitted.

[0080] In a modified example of the leaving process, if the automatic leaving of the vehicle 10 is not completed in step S55 (step S55: No), the calculation unit 52 judges whether or not it is possible to perform vehicle height control to control the vehicle height of the vehicle 10 to the vehicle height (Hi) at which the vehicle 10 normally travels (step S58). Being able to control the vehicle height (Hi) means that the vehicle 10 can leave the parking space without touching the ceiling even if the vehicle height of the vehicle 10 is changed to the vehicle height (Hi), that is, the vehicle 10 has left the position where the ceiling of the parking space exists. The vehicle height (Hi) is the same as the vehicle height (Hi) in the leaving process described in FIG. 5. The processing of step S58 is executed by the vehicle height control unit 58 of the calculation unit 52.

[0081] In step S58, if the vehicle height control to the vehicle height (Hi) is not possible (step S58: No), the calculation unit 52 returns to step S55 and repeats each process. In step S58, if the vehicle height control to the vehicle height (Hi) is possible (step S58: Yes), the calculation unit 52 determines whether or not sensing is complete (step S59). "Sensing is complete" means that external environment recognition data can be acquired to such an extent that automatic leaving control can be completed by odometry, and the vehicle 10's own position can be estimated with respect to the stopping position of the leaving destination. The process of steps S55 and S59 is executed by the movement control unit 56 of the calculation unit 52.

[0082] In step S59, if the sensing is not completed (step S59: No), the calculation unit 52 returns to step S55 and repeats each process. In step S59, if the sensing is completed (step S59: Yes), the calculation unit 52 starts vehicle height control to control the vehicle height (Hi) of the vehicle 10 stored in the memory unit 54 when the vehicle 10 is brought into the target position (step S60). The process of step S60 is executed by the vehicle height control unit 58 of the calculation unit 52.

[0083] Next, the calculation unit 52 determines whether the vehicle height control of the vehicle 10 started in step S60 has been completed, and also determines whether the automatic leaving of the vehicle 10 started in step S54 has been completed (step S61). The processing of step S61 is executed by the vehicle height control unit 58 and the movement control unit 56 of the calculation unit 52.

[0084] In step S61, if at least one of the vehicle height control of the vehicle 10 and the automatic leaving control of the vehicle 10 has not been completed (step S61: No), the calculation unit 52 repeats the process of step S61 until it is completed. In step S61, if the vehicle height control of the vehicle 10 and the automatic leaving control of the vehicle 10 have been completed (step S61: Yes), the calculation unit 52 ends this entering process.

[0085] Thus, according to the modified example of the leaving process, if it is determined that the vehicle height control unit 58 can control the vehicle height of the vehicle 10 even during control of the automatic leaving of the vehicle 10, and further if it is determined that the sensing of the automatic leaving is completed, the vehicle height of the vehicle 10 is controlled to the vehicle height (Hi) during normal driving. Therefore, it is possible to start the vehicle height control of the vehicle 10 before the vehicle 10 completes leaving the target position, and the waiting time for the completion of the vehicle height (Hi) control after the vehicle 10 completes leaving the target position can be reduced, improving convenience.

[0086] <Height control of vehicle 10 when entering the warehouse> Next, an example of vehicle height control when the vehicle 10 automatically enters a garage will be described with reference to FIG.

[0087] The upper diagram in Fig. 8 shows a state before the start of automatic entry of the vehicle 10 to the specified target position 60. Assume that the vehicle 10 has ended normal driving on a general road and arrived at a parking lot, for example. When the vehicle 10 receives an automatic entry instruction for starting automatic entry, the vehicle 10 stores in the storage unit 54 the vehicle height (Hi), which is the height of the vehicle 10 adjusted during normal driving of the vehicle 10. This corresponds to, for example, the processing from step S11 to step S12 in the entry processing described in Fig. 4 and the processing from step S31 to step S32 in the entry processing of the modified example described in Fig. 6.

[0088] The middle diagram in Fig. 8 shows the state of the vehicle 10 during automatic warehousing to the specified target position 60. After storing the vehicle height (Hi) in the storage unit 54, the vehicle 10 adjusts the vehicle height of the vehicle 10 to a vehicle height (Mid) suitable for automatic warehousing, taking into consideration the ceiling 61 of the target position 60 and the speed bumps 63 provided in the travel area 62 to the target position 60, and starts automatic warehousing when the adjustment of the vehicle height (Mid) is completed. This corresponds to, for example, the processing from step S13 to step S15 in the warehousing processing described in Fig. 4 and the processing from step S33 to step S35 in the warehousing processing of the modified example described in Fig. 6. The recognized objects such as the ceiling 61 and the speed bumps 63 are examples of surrounding targets in the present invention.

[0089] The lower diagram in Fig. 8 shows a state where automatic entry of the vehicle 10 to the specified target position 60 has been completed. When automatic entry is completed, the vehicle 10 adjusts the vehicle height of the vehicle 10 to a vehicle height (Lo) suitable for a user to get on and off the vehicle 10. Since automatic entry is completed, the vehicle height (Lo) is a vehicle height suitable for a user to get on and off, which is unrelated to (does not need to be taken into consideration of) the height of the speed bump 63. This corresponds to, for example, the processing from step S16 to step S18 in the entry processing described in Fig. 4 and the processing from step S36 to step S38 in the entry processing of the modified example described in Fig. 6.

[0090] In the example shown in the lower part of Fig. 8, the vehicle height of the vehicle 10 is adjusted to the vehicle height (Lo) after the vehicle 10 reaches the target position 60, but for example, even before the vehicle 10 reaches the target position 60, if the vehicle 10 has passed the position of the speed bump 63 and it is confirmed that there is no obstacle such as a speed bump in the driving area 62 of the vehicle 10 thereafter, the adjustment to change the vehicle height of the vehicle 10 to the vehicle height (Lo) may be started. This corresponds to, for example, the processing from step S39 to step S42 in the warehousing processing of the modified example described in Fig. 6.

[0091] <Height control of vehicle 10 when leaving the garage> Next, an example of vehicle height control when the vehicle 10 automatically leaves a garage will be described with reference to FIG.

[0092] The upper diagram in Fig. 9 shows a state in which the vehicle 10 has entered the specified target position 60. The vehicle 10 has been adjusted to, for example, the vehicle height (Lo) of the vehicle 10 at the time of completion of automatic entry described in the lower diagram of Fig. 8, that is, a vehicle height suitable for a user to get on and off the vehicle 10. This corresponds to, for example, the process of step S21 in the leaving process described in Fig. 5 and the process of step S51 in the leaving process of the modified example described in Fig. 7.

[0093] The middle diagram in Fig. 8 shows a state in the middle of automatic leaving of the vehicle 10 from the target position 60. The middle diagram in Fig. 8 shows a state in the middle of automatic leaving, and before starting automatic leaving, the vehicle 10 adjusts the vehicle height of the vehicle 10 to a vehicle height (Mid) suitable for automatic leaving in consideration of the height of the ceiling 61 and the speed bump 63, and starts automatic leaving after the adjustment of the vehicle height (Mid) is completed. This corresponds to, for example, the processing from step S22 to step S24 in the leaving processing described in Fig. 5 and the processing from step S52 to step S54 in the leaving processing of the modified example described in Fig. 7.

[0094] The lower diagram in Fig. 9 shows a state where automatic leaving of the vehicle 10 from the target position 60 has been completed. When automatic leaving is completed, the vehicle height of the vehicle 10 is adjusted to the vehicle height (Hi) during normal driving. Because automatic leaving has been completed, the vehicle height (Hi) is a vehicle height that is unrelated to (does not need to be taken into consideration) the height of the ceiling 61. This corresponds to, for example, the processing from step S25 to step S27 in the leaving processing described in Fig. 5 and the processing from step S55 to step S57 in the leaving processing of the modified example described in Fig. 7.

[0095] In the example shown in the lower part of Fig. 9, the vehicle height of the vehicle 10 is adjusted to the vehicle height (Hi) after the vehicle 10 completes automatic leaving from the target position 60, but for example, even before the automatic leaving is completed, if the vehicle 10 has left the position where the ceiling 61 is present, the adjustment to change the vehicle height of the vehicle 10 to the vehicle height (Hi) may be started. This corresponds to, for example, the processing from step S58 to step S61 in the leaving processing of the modified example described in Fig. 7.

[0096] In addition, in the above example, the vehicle height during normal driving of vehicle 10 is described as vehicle height (Hi), the vehicle height suitable for automatic entry / exit is described as vehicle height (Mid) lower than vehicle height (Hi), and the vehicle height suitable for the user getting on and off is described as vehicle height (Lo) lower than vehicle height (Mid). However, depending on the vehicle, the vehicle heights may be reversed.

[0097] <Changes in target position due to changes in vehicle height> Next, a description will be given of a change in the position of a surrounding target in the external environment recognition data acquired by a sensor such as a camera, which accompanies a change in the vehicle height of the vehicle 10. Fig. 10 is a diagram showing the relationship between a change in vehicle height and a change in the position where a surrounding target is captured. Fig. 11 is a diagram explaining a change in vehicle height and correction of the position of a surrounding target.

[0098] As shown in Fig. 10, it is assumed that the vehicle height of the vehicle 10 has changed to vehicle height (Hi), vehicle height (Mid), and vehicle height (Lo). The vehicle height (Hi), vehicle height (Mid), and vehicle height (Lo) shown here are the same as the vehicle height (Hi), vehicle height (Mid), and vehicle height (Lo) in the vehicle height control described in Fig. 8 and Fig. 9. In Fig. 10, 2 [m] written at the position of a speed bump 63 provided in a driving area 62 of the vehicle 10 indicates the distance from the vehicle 10 to the speed bump 63.

[0099] For example, when the vehicle height of the vehicle 10 is adjusted to vehicle height (Mid), the position of a speed bump 63 in the external environment recognition data acquired by the sensor group 16 of the vehicle 10 is detected at a position 2 m from the vehicle 10. Then, the sensing area of ​​the external environment acquired by the sensor at this time is, for example, a sensing area RM centered on the position of the arrow line 64M.

[0100] Here, assume that the vehicle height of the vehicle 10 changes from vehicle height (Mid) to vehicle height (Lo) and becomes lower. In this case, as the vehicle height becomes lower, the position of the sensor also becomes lower in response to the change. However, even if the position of the sensor becomes lower, the sensing angle of the sensor does not change, so the sensing area of ​​the outside world acquired by the sensor is closer to the front (toward the vehicle 10) than the sensing area RM at the vehicle height (Mid), as shown by the sensing area RL centered on the position of the arrow line 64L, for example. Therefore, the detection position of the speed bump 63 in the outside world recognition data changes in a direction away from the vehicle 10.

[0101] On the other hand, suppose that the vehicle height of the vehicle 10 changes from vehicle height (Mid) to vehicle height (Hi) and becomes higher. In this case, as the vehicle height increases, the position of the sensor also becomes higher in response to the change. However, even if the position of the sensor becomes higher, the sensing angle of the sensor does not change, so the sensing area of ​​the outside world acquired by the sensor becomes farther back (away from the vehicle 10) than the sensing area RM at the vehicle height (Mid), as shown by the sensing area RH centered on the position of the arrow line 64H, for example. As a result, the detection position of the speed bump 63 in the outside world recognition data changes in a direction approaching the vehicle 10.

[0102] Specifically, as shown in Fig. 11, when the vehicle height of the vehicle 10 changes from the vehicle height (Mid) to the vehicle height (Lo) and becomes lower, the position of the speed bump in the external recognition data is detected at the position of the speed bump 63 at the vehicle height (Mid), whereas it is detected at the position of the speed bump 63a, which is farther away, at the vehicle height (Lo). Therefore, the external recognition data is corrected to bring the speed bump 63a closer to the sensor (vehicle 10) so that the position of the speed bump in the external recognition data at the vehicle height (Lo) is the same as the position of the speed bump 63 at the vehicle height (Mid). On the other hand, when the vehicle height of the vehicle 10 changes from the vehicle height (Mid) to the vehicle height (Hi) and becomes higher, the position of the speed bump in the external recognition data at the vehicle height (Hi) is detected at the position of the speed bump 63b, which is closer than the position of the speed bump 63 at the vehicle height (Mid). Therefore, the external environment recognition data is corrected to move the speed bump 63b away from the sensor (vehicle 10) so that the position of the speed bump in the external environment recognition data when the vehicle height is (Hi) is the same as the position of the speed bump 63 when the vehicle height is (Mid).

[0103] <Correction process of the calculation unit 52 during automatic movement> Next, the correction process of the calculation unit 52 during automatic movement of the vehicle 10 will be described. Fig. 12 is a flowchart showing the correction process of the external recognition data by the calculation unit 52. When the calculation unit 52 receives an entry start operation or an exit start operation from the user, the calculation unit 52 starts the correction process shown in Fig. 12. As described above, the entry start operation is the operation of the automatic entry button, and the exit start operation is the operation of the automatic exit button.

[0104] First, the calculation unit 52 determines whether to start automatic movement of the vehicle 10 (step S71). The automatic movement starts, for example, when an entry start operation or an exit start operation is accepted, similar to the start of the correction process. The process of step S71 is executed by the movement control unit 56 of the calculation unit 52.

[0105] In step S71, if automatic movement is not to be started, i.e., if the entry start operation or the exit start operation has not been accepted (step S71: No), the calculation unit 52 repeats the process of step S71. In step S71, if automatic movement is to be started, i.e., if the entry start operation or the exit start operation has been accepted (step S71: Yes), the calculation unit 52 acquires external recognition data of the vehicle 10 based on sensing data acquired by sensors such as the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R (step S72).

[0106] Next, the calculation unit 52 detects the current vehicle height of the vehicle 10, and if the vehicle height has changed, calculates a correction parameter according to the change in the vehicle height (step S73). When the correction of the external recognition data is performed by enlarging or reducing as described above, the correction parameter includes parameters such as an enlargement rate and a reduction rate. The correction parameter is calculated from the vehicle height calculated according to the vehicle height adjustment time by the air suspension, for example. The correction parameter may also be calculated from the vehicle height calculated based on a feedback value of the adjustment amount from the vehicle height adjustment unit 140.

[0107] Next, the calculation unit 52 corrects the external environment recognition data acquired in step S72 based on the correction parameters calculated in step S73 (step S74). For example, when the vehicle height of the vehicle 10 has changed and become lower, the calculation unit 52 corrects the external environment recognition data in a direction in which the surrounding objects represented by the external environment recognition data approach the vehicle 10. When the vehicle height of the vehicle 10 has changed and become higher, the calculation unit 52 corrects the external environment recognition data in a direction in which the surrounding objects represented by the external environment recognition data move away from the vehicle 10. When the vehicle height of the vehicle 10 has not changed, the calculation unit 52 corrects the external environment recognition data with correction parameters without correction (correction value=0). The external environment recognition unit 55 of the calculation unit 52 executes the processes of steps S72, S73, and S74.

[0108] Next, the calculation unit 52 determines whether or not the automatic movement of the vehicle 10 started in step S71 has been completed (step S75). It is the movement control unit 56 of the calculation unit 52 that executes the process of step S75.

[0109] In step S75, if the automatic movement of the vehicle 10 has not been completed (step S75: No), the calculation unit 52 returns to step S72 and repeats each process. In step S75, if the automatic movement of the vehicle 10 has been completed (step S75: Yes), the calculation unit 52 ends this correction process.

[0110] The movement control unit 56 controls the movement of the vehicle 10 by referring to the external environment recognition data corrected in step S74. Furthermore, the display control unit 59 displays a surrounding image (e.g., an overhead image) on the touch panel 42 of the navigation device 18 or an information terminal such as a smartphone by referring to the external environment recognition data corrected in step S74. Furthermore, when there is no change in the vehicle height, the movement control unit 56 and the display control unit 59 may skip the correction process in step S74 and refer to the uncorrected external environment recognition data.

[0111] <Overhead image displayed on information terminal> Next, a description will be given of an overhead image displayed on the information terminal when there is a change in the vehicle height of the vehicle 10. Fig. 13 is a diagram showing an example of an overhead image 71 when the vehicle 10 is automatically parked at the target position 60 in the parking lot P. Fig. 14 is a diagram showing an example of the overhead image 71 when there is a change in the vehicle height of the vehicle 10 from the state shown in Fig. 13.

[0112] As shown in FIG. 13, a white line 65 that divides the target position 60 where the vehicle 10 is to be parked is displayed. A speed bump 63 is provided in the area from the position where the vehicle 10 is parked to the target position 60 (on the front side of the target position 60). The vehicle 10 shown in the overhead image 71 of FIG. 13 is the vehicle 10 in the state described in the upper diagram of FIG. 8. That is, the vehicle 10 is in the state at the time when an automatic parking instruction for starting automatic parking is received and the vehicle height (Hi), which is the vehicle height adjusted during normal driving of the vehicle 10, is stored in the storage unit 54. The vehicle displayed in the overhead image 71 is an image showing the vehicle 10 as seen from above, and is a vehicle image 75 that is generated (captured) in advance and stored in the storage unit 54 or the like. In addition, a target position frame surrounding the target position 60 may be displayed instead of the white line 65 at the target position 60 where the vehicle 10 is to be parked.

[0113] The vehicle 10 shown in the overhead image 71 of Fig. 14 is the vehicle 10 in the state described in the middle diagram of Fig. 8. That is, the vehicle 10 is in a state in which the vehicle height has been changed from the vehicle height (Hi) state (the state of Fig. 13) to the vehicle height (Mid) suitable for the automatic parking of the vehicle 10 in consideration of the ceiling 61 (not shown) of the target position 60 and the speed bump 63 provided in the area up to the target position 60. By changing and lowering the vehicle height of the vehicle 10 from the vehicle height (Hi) to the vehicle height (Mid), the position of the mounted sensor such as a camera is also lowered, so that a shift occurs in the detection position of the surrounding target in the external environment recognition data acquired by the sensor, and as shown in Fig. 14, the positions of the speed bump 63 and the white line 65 shown by the solid lines are changed in a direction away from the vehicle 10, and are displayed at the positions of the speed bump 63a and the white line 65a shown by the dashed lines. Therefore, the calculation unit 52 of the vehicle 10 corrects the external environment recognition data so that the positions of the speed bump 63a and the white line 65a in the external environment recognition data are displayed at the positions of the speed bump 63 and the white line 65, that is, in a direction in which the surrounding objects represented by the external environment recognition data approach the vehicle 10. Specifically, when the vehicle height of the vehicle 10 is lowered, the calculation unit 52 corrects the external environment recognition data so that the overhead image 71 shrinks with the vehicle 10 at the center. The calculation unit 52 generates an overhead image 71 based on the corrected external environment recognition data, and displays the corrected overhead image 71 on the information terminal.

[0114] As described above, when the movement control of the vehicle 10 is executed, if the vehicle height is lowered due to the height control of the vehicle 10 by the vehicle height control unit 58, the external environment recognition unit 55 of the calculation unit 52 corrects the external environment recognition data in a direction in which the surrounding objects represented by the external environment recognition data approach the vehicle 10, and if the vehicle height is increased, the external environment recognition unit 55 corrects the external environment recognition data in a direction in which the surrounding objects represented by the external environment recognition data move away from the vehicle 10. Therefore, even if the vehicle height of the vehicle 10 changes during the movement control of the vehicle 10, the external environment recognition data can be corrected to external environment recognition data according to the change in the vehicle height, so that a surrounding image of the vehicle 10 can be appropriately generated based on the external environment recognition data according to the vehicle height.

[0115] In addition, the display control unit 59 of the calculation unit 52 can display an overhead image 71 (surrounding image) of the vehicle 10 based on the external environment recognition data corrected according to the vehicle height on an information terminal carried by the user of the vehicle 10.

[0116] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications and improvements are possible as appropriate.

[0117] For example, in the above embodiment, the case where the vehicle 10 is automatically entered and automatically exited by automatic steering has been described, but the present invention is not limited to this. For example, the present invention may be applied to an auxiliary entry support and an auxiliary exit support that assist the driver in entering and exiting the vehicle 10.

[0118] The control method described in the above embodiment can be realized by executing a prepared control program on a computer. The control program is recorded in a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored in a non-transient storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0119] This specification also describes at least the following items. Note that, in parentheses, components corresponding to those in the above-mentioned embodiment are shown, but the present invention is not limited to these.

[0120] (1) In a control device (calculation unit 52) ​​of a moving body (vehicle 10), An external environment recognition unit (external environment recognition unit 55) that acquires external environment recognition data of the moving body; A movement control unit (movement control unit 56) that controls the movement of the moving object based on the external environment recognition data; a vehicle height detection unit (vehicle height detection unit 57) that detects the vehicle height of the moving body, The external environment recognition unit corrects the external environment recognition data in response to a change in the vehicle height when the movement control is executed. Control device.

[0121] According to (1), even if the vehicle height changes while the moving body is moving, the external environment recognition data of the moving body can be corrected to external environment recognition data that corresponds to the change in vehicle height, so that the external environment recognition of the moving body can be performed appropriately.

[0122] (2) The control device according to (1), The movement control unit performs the movement control based on the external environment recognition data corrected in accordance with the change in the vehicle height. Control device.

[0123] As in (2), since the movement of the moving body is controlled based on the external environment recognition data corrected in accordance with the change in the vehicle height of the moving body, it is possible to perform even more accurate movement control of the moving body.

[0124] (3) The control device according to (1) or (2), A display control unit (display control unit 59) that displays an image based on the external environment recognition data, The display control unit displays the image based on the external environment recognition data corrected in accordance with the change in the vehicle height. Control device.

[0125] According to (3), an image is displayed based on the external environment recognition data corrected according to changes in the vehicle height of the moving object, so that an appropriate image can be displayed even if the vehicle height changes.

[0126] (4) The control device according to (3), The display control unit displays an image indicating at least one of a target position of the movement control and a peripheral target in the periphery of the moving body based on the external environment recognition data. Control device.

[0127] According to (4), it is preferable that the object to be displayed as an image during movement control of the moving body is the target position of the moving body, a surrounding target object, etc.

[0128] (5) A control device according to any one of (1) to (4), The external environment recognition unit is When the vehicle height is lowered, the external environment recognition data is corrected in a direction in which the target represented by the external environment recognition data approaches the moving body; When the vehicle height is increased, the external environment recognition data is corrected in a direction in which the target moves away from the moving body. Control device.

[0129] According to (5), by correcting the position of the target relative to the moving body in this way in response to changes in the vehicle height, an image of the surroundings of the moving body can be generated appropriately.

[0130] (6) A control device according to any one of (1) to (5), A vehicle height control unit (vehicle height control unit 58) is provided to control the vehicle height of the moving body. The external environment recognition unit corrects the external environment recognition data in accordance with the vehicle height control when the movement control is executed. Control device.

[0131] According to (6), even if the vehicle height changes during movement control of the moving body, the external environment recognition data of the moving body can be corrected to external environment recognition data corresponding to the vehicle height control of the vehicle height, so that an appropriate image of the surroundings of the moving body can be generated based on the external environment recognition data.

[0132] (7) The control device according to (6), the vehicle height detection unit detects the vehicle height of the moving body based on an elapsed time from when the vehicle height control is started. Control device.

[0133] According to (7), the external environment recognition data can be appropriately corrected based on the vehicle height of the moving object detected from the elapsed time of vehicle height control.

[0134] (8) The control device according to (6) or (7), The vehicle height control unit executes the vehicle height control in accordance with the progress of the movement control. Control device.

[0135] According to (8), height control of the moving body is performed in conjunction with movement control that moves the moving body to a target position such as a parking space, so that the height of the moving body can be appropriately adjusted when moving to the target position, thereby improving the convenience of users getting on and off the moving body, for example.

[0136] (9) The control device according to (8), The vehicle height control unit is executing a first vehicle height control of the moving body based on the external environment recognition data before starting the movement control; starting a second vehicle height control of the moving body, which is different from the first vehicle height control, when the movement control is completed or during the execution of the movement control. Control device.

[0137] According to (9), it is possible to control the height of the moving body to an appropriate height depending on the moving conditions of the moving body.

[0138] (10) The control device according to (9), the first vehicle height control is a vehicle height control of the moving body to a height at which the movement control can be performed, the second vehicle height control is a control of the vehicle height of the moving body to a height that is more suitable for a user of the moving body to get on and off than a height at which the movement control is possible, Control device.

[0139] According to (10), it is possible to control the height of the moving body to an appropriate height when controlling the movement of the moving body and when a user gets on and off.

[0140] (11) The control device according to (9) or (10), The movement control unit is executing a movement control for moving the moving body from a target position of the movement control; The vehicle height control unit is storing a height of the moving body before the start of the first vehicle height control; executing a vehicle height control of the moving body to the stored height upon completion of a movement control for moving the moving body from the target position; Control device.

[0141] According to (11), when movement control of the moving body is completed, the moving body can be automatically returned to its original height, which is different from the height during movement control, eliminating the need for the user to instruct height adjustment, thereby improving convenience.

[0142] (12) A control method using a control device including an external environment recognition unit that acquires external environment recognition data of a moving body, a movement control unit that performs movement control of the moving body based on the external environment recognition data, and a vehicle height detection unit that detects a vehicle height of the moving body, When the movement control is executed, the external environment recognition data is corrected in accordance with a change in the vehicle height. Control methods.

[0143] According to (12), even if the vehicle height changes while the moving body is moving, the external environment recognition data of the moving body can be corrected to external environment recognition data that corresponds to the change in vehicle height, so that the external environment recognition of the moving body can be performed appropriately.

[0144] (13) A control program for a control device including an external environment recognition unit that acquires external environment recognition data of a moving body, a movement control unit that performs movement control of the moving body based on the external environment recognition data, and a vehicle height detection unit that detects a vehicle height of the moving body, A processor of the control device When the movement control is executed, the external environment recognition data is corrected in accordance with a change in the vehicle height. A control program for executing processing.

[0145] According to (13), even if the vehicle height changes while the moving body is moving, the external environment recognition data of the moving body can be corrected to external environment recognition data that corresponds to the change in vehicle height, so that the external environment recognition of the moving body can be performed appropriately. [Explanation of symbols]

[0146] 10 Vehicles (moving objects) 55 External world recognition department 56 Movement control section 57 Vehicle height detection unit 58 Height control unit 59 Display control section

Claims

1. In a control device for a moving object, An external environment recognition unit that acquires external environment recognition data of the moving body; A movement control unit that controls the movement of the moving object based on the external environment recognition data; a vehicle height detection unit for detecting a vehicle height of the moving body; a vehicle height control unit that controls the vehicle height of the moving body, The external environment recognition unit corrects the external environment recognition data in accordance with the vehicle height control when the movement control is executed, The vehicle height control unit is executing a first vehicle height control of the moving body based on the external environment recognition data before starting the movement control; starting a second vehicle height control of the moving body, which is different from the first vehicle height control, when the movement control is completed or during the execution of the movement control. Control device.

2. The control device according to claim 1 , The movement control unit performs the movement control based on the external environment recognition data corrected in accordance with the change in the vehicle height. Control device.

3. The control device according to claim 1 , A display control unit that displays an image based on the external environment recognition data, The display control unit displays the image based on the external environment recognition data corrected in accordance with the change in the vehicle height. Control device.

4. The control device according to claim 3, The display control unit displays an image indicating at least one of a target position of the movement control and a peripheral target in the periphery of the moving body based on the external environment recognition data. Control device.

5. The control device according to claim 1 , The external environment recognition unit is When the vehicle height is lowered, the external environment recognition data is corrected in a direction in which the target represented by the external environment recognition data approaches the moving body; When the vehicle height is increased, the external environment recognition data is corrected in a direction in which the target moves away from the moving body. Control device.

6. A control device as claimed in claim 1, the vehicle height detection unit detects the vehicle height of the moving body based on an elapsed time from when the vehicle height control is started. Control device.

7. A control device as claimed in claim 1, the first vehicle height control is a control of the vehicle height of the moving body to a height at which the movement control can be performed, the second vehicle height control is a control of a vehicle height of the moving body to a height that is more suitable for a user of the moving body to get on and off than a height at which the movement control is possible, Control device.

8. A control device as claimed in claim 1, The movement control unit is executing a movement control for moving the moving body from a target position of the movement control; The vehicle height control unit is storing a height of the moving body before the start of the first vehicle height control; executing a vehicle height control of the moving body to the stored height upon completion of a movement control for moving the moving body from the target position; Control device.

9. A control method using a control device including an external environment recognition unit that acquires external environment recognition data of a moving body, a movement control unit that performs movement control of the moving body based on the external environment recognition data, a vehicle height detection unit that detects a vehicle height of the moving body, and a vehicle height control unit that performs vehicle height control of the moving body, correcting the external environment recognition data in accordance with the vehicle height control when the movement control is executed; executing a first vehicle height control of the moving body based on the external environment recognition data before starting the movement control; starting a second vehicle height control of the moving body, which is different from the first vehicle height control, when the movement control is completed or during the execution of the movement control. Control methods.

10. A control program for a control device including an external environment recognition unit that acquires external environment recognition data of a moving body, a movement control unit that performs movement control of the moving body based on the external environment recognition data, a vehicle height detection unit that detects a vehicle height of the moving body, and a vehicle height control unit that performs vehicle height control of the moving body, A processor of the control device correcting the external environment recognition data in accordance with the vehicle height control when the movement control is executed; executing a first vehicle height control of the moving body based on the external environment recognition data before starting the movement control; starting a second vehicle height control of the moving body, which is different from the first vehicle height control, when the movement control is completed or during the execution of the movement control. A control program for executing processing.

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