Vehicle control device

Abstract

To provide a technique for enabling the reduction of a possibility of computing an inappropriate moving path in the case of executing parking support control under a condition where the environment around the vehicle has changed from the time of parking the vehicle.SOLUTION: A vehicle control apparatus, for use in executing parking support control so that a vehicle VA moves along a moving path MP, performs: storing, as first information, surroundings environment information obtained in a process of parking the vehicle in a storage part; obtaining, when a support requirement for parking support control occurs under a condition where the vehicle is parked, the first information from the storage part, and obtaining, as second information, surroundings environment information at a present time; computing, when an environmental change condition is established, a moving path by using the second information, or computing, in a case where no environmental change condition is established, a moving path by using the first information.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that executes parking assist control. [Background technology]

[0002] Conventionally, there have been proposed vehicle control devices that execute parking assist control so that the vehicle moves along a travel path (target path) that is set according to the surrounding conditions of the vehicle (see, for example, Patent Document 1). Parking assist control includes, for example, a parking mode and an exit mode. The parking mode is a mode for parking the vehicle. The exit mode is a mode for exiting (moving) the parked vehicle to a travel path.

[0003] The device described in Patent Document 1 (hereinafter referred to as the "conventional device") acquires integrated information of the surrounding environment by integrating the surrounding environment information currently acquired from the sensor and the surrounding environment information stored when the vehicle was parked when the vehicle leaves the parking lot. The conventional device calculates a travel route (a route for the vehicle to leave the parking lot) based on the integrated information of the surrounding environment. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-083481 A Summary of the Invention

[0005] However, after the vehicle is parked, an object (e.g., another vehicle) existing around the vehicle may move. Even in such a case, the conventional device uses the surrounding environment information stored when the vehicle was parked. Since the positional relationship between the vehicle and the object has changed since the vehicle was parked, the conventional device may erroneously recognize the environment around the vehicle. As a result, the conventional device may calculate an inappropriate movement route.

[0006] One of the objects of the present invention is to provide a technology that can reduce the possibility of calculating an inappropriate movement path when performing parking assistance control in a situation where the environment around the vehicle has changed since the vehicle was parked.

[0007] In one or more embodiments, the vehicle control device comprises: an information acquisition device (60, 10) for acquiring surrounding environment information including information regarding the positions of objects around a vehicle (VA); In response to an assistance request, using the surrounding environment information, calculate a movement path (MP) for moving the vehicle from a current position of the vehicle to a target position (Ptgt) which is a position of the vehicle when the vehicle has completed leaving the garage; a control unit (10) configured to execute parking assistance control so as to move the vehicle along the movement path; A memory unit (10e); Equipped with. When a predetermined storage condition that is satisfied when parking of the vehicle is completed is satisfied, the control unit The surrounding environment information acquired by the information acquisition device during the process of parking the vehicle is stored in the storage unit as first information. It is structured as follows. When the assistance request occurs in a situation where the vehicle is parked, the control unit Acquiring the first information from the storage unit; The surrounding environment information currently acquired by the information acquisition device is acquired as second information; When an environmental change condition is satisfied, the environmental change condition being satisfied when a degree of deviation between the first information and the second information is greater than a predetermined degree, the second information is used to calculate the moving path; When the environmental change condition is not satisfied, the first information is used to calculate the travel route. It is structured as follows.

[0008] According to the above configuration, when the environmental change condition is satisfied, the vehicle control device recognizes the environment around the vehicle using the second information and calculates the travel route. Therefore, the possibility that the vehicle control device erroneously recognizes the environment around the vehicle can be reduced. As a result, the possibility that the vehicle control device calculates an inappropriate travel route can be reduced.

[0009] In one or more embodiments, the control unit is configured to calculate the travel path using information obtained by integrating the first information and the second information when the environmental change condition is not met.

[0010] When the environmental change condition is not satisfied, the degree of deviation between the first information and the second information is small, so that the first information is considered to accurately represent the environment around the vehicle. According to the above configuration, the second information is complemented by the first information. The vehicle control device can more accurately recognize the positions of objects existing around the vehicle. As a result, the possibility that the vehicle control device calculates an inappropriate travel route can be further reduced.

[0011] In one or more embodiments, the information acquisition device includes a sensor (16) that emits ultrasonic waves or electromagnetic waves and acquires information about reflection points, which are points at which the emitted ultrasonic waves or electromagnetic waves are reflected. The surrounding environment information includes information (401, 402, 601, 602, 801, 802) regarding the reflection points. The control unit calculating, as an index value (dn) representing the degree of deviation, a value related to a distance between the position of the reflection point included in the first information and the position of the reflection point included in the second information; When the index value is greater than a predetermined threshold, it is determined that the environmental change condition is satisfied. It is structured as follows.

[0012] According to the above configuration, the vehicle control device can determine whether or not the environmental change condition is satisfied by using the information on the reflection point.

[0013] In one or more embodiments, the control unit may be implemented by a microprocessor programmed to perform one or more functions described herein. In one or more embodiments, the control unit may be implemented in whole or in part by hardware, such as one or more application specific integrated circuits, i.e., ASICs. In the above description, in order to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are added in parentheses to the configurations of the invention corresponding to those embodiments. However, each component of the present invention is not limited to the embodiments defined by the names and / or symbols. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic configuration diagram of a vehicle control device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a plan view showing an example of a situation in which a vehicle is parked. [Diagram 3] This is ambient environment information acquired in the situation shown in FIG. [Figure 4] FIG. 11 is a plan view showing the process of parking a vehicle. [Diagram 5] This is the surrounding environment information acquired in the process shown in FIG. [Figure 6] FIG. 2 is a plan view showing an example of a situation in which a vehicle is parked. [Figure 7] This is ambient environment information acquired in the situation shown in FIG. [Figure 8] FIG. 1 is a plan view showing an example of a situation in which the environment around the vehicle has changed after the vehicle has been parked. [Figure 9] This is ambient environment information acquired in the situation shown in FIG. [Figure 10] 1 is an example of integrated information. [Figure 11] 11 is a flowchart showing a "routine for storing ambient environment information as first information." [Figure 12]11 is a flowchart showing a routine for executing parking assist control in an exit mode. [Figure 13] This is a routine that is executed in step 1204 of the routine in FIG. [Figure 14] FIG. 2 is a plan view showing an example of a situation in which a vehicle is parked. [Figure 15] This is the integrated information obtained in the situation shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] <Configuration> 1, a vehicle control device 100 according to this embodiment is mounted (applied) to a vehicle VA. The vehicle control device 100 includes a parking assist ECU 10, an engine ECU 20, a brake ECU 30, a Shift-by-Wire (SBW) ECU 40, and an electric power steering ECU (hereinafter referred to as "EPS ECU") 50. These ECUs are connected to each other via a Controller Area Network (CAN) 90 so as to be able to transmit and receive data to and from each other.

[0016] ECU is an abbreviation of Electronic Control Unit, and is an electronic control circuit having a microcomputer including a CPU, ROM, RAM, interface, non-volatile memory, etc. as a main component. The CPU realizes various functions by executing instructions (routines, programs) stored in the ROM. For example, the parking assistance ECU 10 is equipped with a microcomputer including a CPU 10a, ROM 10b, RAM 10c, interface (I / F) 10d, non-volatile memory 10e, etc.

[0017] The engine ECU 20 is connected to an engine actuator 21. The engine actuator 21 includes a throttle valve actuator that changes the opening degree of a throttle valve of an internal combustion engine 22. The engine ECU 20 can change the torque generated by the internal combustion engine 22 by driving the engine actuator 21. The torque generated by the internal combustion engine 22 is transmitted to the driving wheels via a transmission 23 and a driving force transmission mechanism. Therefore, the engine ECU 20 can control the driving force of the vehicle VA by controlling the engine actuator 21.

[0018] The state of the internal combustion engine 22 is changed in response to the operation of an engine start switch 24. The engine start switch 24 may be referred to as an "ignition switch (IG switch)" or a "vehicle start switch". Hereinafter, the engine start switch 24 will be simply referred to as the "start switch 24".

[0019] The start switch 24 is a switch operated by a driver (user) when the driver starts or ends driving the vehicle VA. Each time the start switch 24 is pressed, the state of the start switch 24 alternates between an on state and an off state. The state of the drive source of the vehicle VA (in this example, the internal combustion engine 22) is changed according to the state of the start switch 24. When starting to drive the vehicle VA, the driver presses the start switch 24 to change the state of the start switch 24 from an off state to an on state. This starts the internal combustion engine 22. When ending the driving of the vehicle VA, the driver presses the start switch 24 to change the state of the start switch 24 from an on state to an off state. This stops the internal combustion engine 22.

[0020] If the vehicle VA is a hybrid vehicle, the engine ECU 20 can control the driving force generated by either or both of the "internal combustion engine and the electric motor" as the driving source. Furthermore, if the vehicle VA is an electric vehicle, the engine ECU 20 can control the driving force generated by the electric motor as the driving source.

[0021] The brake ECU 30 is connected to a brake actuator 31. The brake actuator 31 includes a known hydraulic circuit. The hydraulic circuit includes a reservoir, an oil pump, various valve devices, and the like. The brake actuator 31 adjusts the hydraulic pressure (i.e., braking pressure) supplied to the wheel cylinder 32 in response to an instruction from the brake ECU 30. The frictional braking force generated on the wheel changes in response to the braking pressure. Therefore, the brake ECU 30 can control the braking force of the vehicle VA by controlling the brake actuator 31.

[0022] The SBW ECU 40 is connected to an SBW actuator 41. The SBW ECU 40 controls the SBW actuator 41 based on the position of a shift lever (not shown). The SBW actuator 41 controls a shift switching mechanism 42 in response to an instruction from the SBW ECU 40 to switch the shift position of the transmission 23 to one of a plurality of shift positions.

[0023] In this example, the shift positions include at least a parking position in which no driving force is transmitted to the drive wheels and the vehicle VA is mechanically locked in a stopped position, a neutral position in which no driving force is transmitted to the drive wheels and the vehicle VA is not mechanically locked in a stopped position, a forward position in which a driving force is transmitted to the drive wheels to move the vehicle VA forward, and a reverse position in which a driving force is transmitted to the drive wheels to move the vehicle VA backward.

[0024] The EPS·ECU 50 is connected to an assist motor (M) 51. The assist motor 51 is incorporated in a steering mechanism 52. The steering mechanism 52 is a mechanism for steering the wheels by rotating the steering wheel SW. The steering mechanism 52 includes a steering wheel SW, a steering shaft US connected to the steering wheel SW, and a steering gear mechanism (not shown). The EPS·ECU 50 detects the steering torque input to the steering wheel SW by the driver using a steering torque sensor (not shown) provided on the steering shaft US, and drives the assist motor 51 based on this steering torque. The EPS·ECU 50 applies a steering torque (steering assist torque) to the steering mechanism 52 by driving the assist motor 51, thereby assisting the steering operation of the driver.

[0025] In addition, when the EPS·ECU 50 receives a steering command from the parking assist ECU 10 while executing parking assist control described below, it drives the assist motor 51 based on the steering torque specified by the steering command. This steering torque is different from the above-mentioned steering assist torque and represents a torque applied to the steering mechanism 52 by the steering command from the parking assist ECU 10 without requiring the driver to perform a steering operation. This torque automatically changes the steering angle of the steered wheels of the vehicle VA.

[0026] The parking assist ECU 10 is connected to the surroundings sensor 60. The surroundings sensor 60 is used to acquire information about the surrounding environment of the vehicle VA. The surroundings sensor 60 includes a plurality of ultrasonic sensors 61a to 61h and a plurality of camera sensors 62a to 62b. The plurality of ultrasonic sensors 61a to 61h may be collectively referred to as "ultrasonic sensor 61." The plurality of camera sensors 62a to 62b may be collectively referred to as "camera sensor 62."

[0027] Four ultrasonic sensors 61a to 61d are provided at the front of the vehicle VA at intervals in the vehicle width direction. Four ultrasonic sensors 61e to 61h are provided at the rear of the vehicle VA at intervals in the vehicle width direction.

[0028] Each ultrasonic sensor 61 transmits ultrasonic waves in a pulsed manner to a predetermined range around the vehicle VA and receives the reflected waves reflected by objects. "Objects" include, for example, moving objects such as automobiles, pedestrians, and bicycles, as well as fixed objects such as guardrails and fences.

[0029] Each ultrasonic sensor 61 can acquire "information about a reflection point, which is a point on an object where the transmitted ultrasonic wave is reflected (hereinafter referred to as "reflection point information")" based on the time from transmission to reception of the ultrasonic wave, etc. The reflection point information includes information about the position (direction) of the reflection point relative to the ultrasonic sensor, and the distance between the ultrasonic sensor and the reflection point, etc. Each ultrasonic sensor 61 is configured to output the reflection point information to the parking assistance ECU 10.

[0030] The camera sensor 62a is provided at approximately the center of the front of the vehicle VA in the vehicle width direction, and the camera sensor 62b is provided at approximately the center of the rear of the vehicle VA in the vehicle width direction. Each camera sensor 62 is, for example, a digital camera incorporating an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). Each camera sensor 62 acquires image data of the surroundings of the vehicle VA and outputs the image data to the parking assistance ECU 10. Each camera sensor 62 may recognize objects and lane lines present around the vehicle VA based on the image data, and output information about the objects and lane lines to the parking assistance ECU 10.

[0031] The parking assist ECU 10 receives reflection point information from each of the ultrasonic sensors 61 every time a predetermined time period elapses. The parking assist ECU 10 plots the reflection point information (i.e., the positions of the reflection points) in a two-dimensional coordinate system defined by an x-axis and a y-axis. The origin of the x-axis and the origin of the y-axis are the center position O of the front part of the vehicle VA in the vehicle width direction (see FIG. 3). The x-axis is a coordinate axis that extends along the front-rear direction of the vehicle VA so as to pass through the center position O of the vehicle VA, and has a positive value toward the front. The y-axis is a coordinate axis that is perpendicular to the x-axis and has a positive value toward the right of the vehicle VA.

[0032] In the example of Fig. 2, the vehicle VA is parallel parked along the white line WL on the road RD. There is another vehicle OV in front of the vehicle VA. In this situation, the ultrasonic waves of the ultrasonic sensors 61a to 61d are reflected by the rear of the other vehicle OV. Therefore, the parking assist ECU 10 obtains reflection point information on a plurality of reflection points 201 from the ultrasonic sensors 61a to 61d.

[0033] 3, the parking assist ECU 10 plots the positions of the multiple reflection points 201 in a two-dimensional coordinate system. The information on the two-dimensional coordinate system on which the positions of the reflection points are plotted in this manner is information on the surrounding environment of the vehicle VA, and is hereinafter referred to as "surrounding environment information."

[0034] The "surrounding sensor 60 and the parking assistance ECU 10" may be referred to as an "information acquisition device that acquires surrounding environment information."

[0035] The parking assist ECU 10 groups "multiple reflection points" that are close to each other (or multiple reflection points that are close to each other and moving in the same direction) in the surrounding environment information 300 shown in Fig. 3. Multiple reflection points grouped in this way are called a "reflection point group."

[0036] The parking assist ECU 10 determines the multiple reflection points 201 as one reflection point group. Hereinafter, the multiple reflection points 201 are referred to as the "reflection point group 201." Since the reflection points are points on an object where ultrasonic waves are reflected, the reflection point group 201 can be regarded as an edge of the object. Therefore, it can be said that the surrounding environment information 300 includes information on the positions of objects present around the vehicle VA. Therefore, the parking assist ECU 10 can determine (estimate) that the first object OB1 is present in front of the reflection point group 201 based on the surrounding environment information 300.

[0037] The parking assistance ECU 10 detects an "object-free area" around the vehicle VA, assuming that a first object OB1 exists based on the surrounding environment information 300. If the object-free area has a size and shape that allows the vehicle VA to exit the parking lot with ease, the parking assistance ECU 10 determines the area as an "exit possible area."

[0038] Furthermore, the parking assist ECU 10 is connected to a parking assist switch 70. The parking assist switch 70 is a switch that is pressed by the driver when the driver requests the parking assist ECU 10 to execute parking assist control (when issuing an assistance request, which will be described later).

[0039] <Parking Assist Control> The parking assist ECU 10 is configured to execute parking assist control according to an assist mode. The assist modes include a parking mode and an exit mode. The parking mode is a mode for parking the vehicle VA. The exit mode is a mode for exiting the parked vehicle VA to the driving path.

[0040] The following describes the "parking assist control in the leaving mode". The parking assist control in the parking mode is not directly related to the features of this embodiment, so a description thereof will be omitted.

[0041] The parking assist ECU 10 judges whether or not an assistance request has been generated when the vehicle VA is parked. The parking assist ECU 10 judges that an assistance request has been generated when both of the following conditions A1 and A2 are satisfied. Other conditions may be added as conditions for generating an assistance request. (Condition A1) The parking assist switch 70 is pressed. (Condition A2) The shift position is the parking position.

[0042] When an assistance request is generated, the parking assistance ECU 10 detects the possible exit area AS based on the surrounding environment information 300 as shown in Fig. 2. Then, the parking assistance ECU 10 sets a target position Ptgt within the possible exit area AS. The target position Ptgt is the position of the vehicle VA when the vehicle VA has completed leaving the parking lot, and is the position that the center position O of the vehicle VA should reach.

[0043] The parking assist ECU 10 calculates a movement path MP along which the vehicle VA moves from the current position to the target position Ptgt. The movement path MP is a path along which the vehicle VA can move from the current position to the target position Ptgt while keeping a predetermined distance or more between the body of the vehicle VA and objects (other vehicles, curbs, guardrails, etc.). The parking assist ECU 10 calculates the movement path MP according to one of various known calculation methods (for example, the method proposed in JP 2015-3565 A).

[0044] Next, the parking assist ECU 10 determines movement assistance information for moving the vehicle VA along the movement path MP. The movement assistance information includes the movement direction of the vehicle VA (specifically, the shift position of the transmission 23), the steering angle pattern, and the speed pattern.

[0045] The parking assist ECU 10 transmits a shift control command to the SBW·ECU 40 via the CAN 90 in accordance with the determined shift position. When the SBW·ECU 40 receives a shift control command from the parking assist ECU 10, it drives the SBW actuator 41 to change the shift position of the transmission 23 to a position specified by the shift control command (i.e., executes shift control).

[0046] The steering angle pattern is data that associates the position of the vehicle VA on the travel path MP with the steering angle of the steering wheels, and represents the change in steering angle while the vehicle VA travels along the travel path MP. The parking assist ECU 10 transmits a steering command (including a target steering angle) to the EPS·ECU 50 via the CAN 90 in accordance with the steering angle pattern. When the EPS·ECU 50 receives a steering command from the parking assist ECU 10, it drives the assist motor 51 based on the steering torque specified by the steering command to make the actual steering angle coincide with the target steering angle (i.e., it executes steering angle control).

[0047] The speed pattern is data that associates the position of the vehicle VA on the travel path MP with the target speed of the vehicle VA, and represents the change in the speed of the vehicle VA while the vehicle VA travels along the travel path MP. The parking assist ECU 10 transmits a driving force control command to the engine ECU 20 via the CAN 90 in accordance with the speed pattern. When the engine ECU 20 receives a driving force control command from the parking assist ECU 10, the engine ECU 20 controls the engine actuator 21 in response to the driving force control command (i.e., executes driving force control). Furthermore, the parking assist ECU 10 transmits a braking force control command to the brake ECU 30 via the CAN 90 in accordance with the speed pattern. When the brake ECU 30 receives a braking force control command from the parking assist ECU 10, the brake ECU 30 controls the brake actuator 31 in response to the braking force control command (i.e., executes braking force control).

[0048] As described above, the parking assist ECU 10 can execute parking assist control (shift control, steering angle control, driving force control, and braking force control) so that the vehicle VA moves along the movement path MP without a driving operation by the driver.

[0049] <Overview of operation> When the vehicle VA is parked, the range of the ultrasonic waves transmitted by the ultrasonic sensor 61 is limited. Therefore, the surrounding environment information may contain a relatively small amount of information regarding the reflection points. As a result, the parking assistance ECU 10 may not be able to accurately recognize the surrounding environment of the vehicle VA (specifically, the positions of objects). In consideration of this, when the vehicle VA is being pulled out, the parking assistance ECU 10 uses the surrounding environment information acquired during the process of parking the vehicle VA.

[0050] In the example of Fig. 4, the vehicle VA is parked in a parallel parking manner between a first other vehicle OV1 and a second other vehicle OV2 on a road RD1. In the process of parking the vehicle VA, the vehicle VA moves along a route Pa. The parking assistance ECU 10 acquires reflection point information regarding a plurality of reflection points 401 and a plurality of reflection points 402 from the ultrasonic sensor 61 while the vehicle VA moves along the route Pa.

[0051] As shown in Fig. 5, the parking assist ECU 10 plots a plurality of reflection points 401 and a plurality of reflection points 402 in a two-dimensional coordinate system. The parking assist ECU 10 determines the plurality of reflection points 401 as one reflection point group, and determines the plurality of reflection points 402 as one reflection point group. The surrounding environment information 500 shown in Fig. 5 is surrounding environment information acquired in the process of parking the vehicle VA, and is hereinafter referred to as "first information 500". When a predetermined storage condition described later is satisfied, the parking assist ECU 10 stores the first information 500 in the non-volatile memory 10e.

[0052] 6, the driver of the vehicle VA attempts to pull the vehicle VA out onto the road RD1. With the shift position of the vehicle VA in the park position, the driver presses the parking assist switch 70. This generates an assistance request. When the assistance request is generated, the parking assist ECU 10 obtains reflection point information on a plurality of reflection points 601 and a plurality of reflection points 602 from the ultrasonic sensor 61 at the current time.

[0053] As shown in Fig. 7, the parking assist ECU 10 plots a plurality of reflection points 601 and a plurality of reflection points 602 in a two-dimensional coordinate system. The parking assist ECU 10 determines the plurality of reflection points 601 as one reflection point group, and determines the plurality of reflection points 602 as one reflection point group. The surrounding environment information 700 shown in Fig. 7 is the surrounding environment information acquired at the time when the assistance request is generated (the current time), and will be hereinafter referred to as "second information 700" to distinguish it from the first information.

[0054] The second information 700 includes a relatively small amount of information on the reflection points compared to the first information 500. On the other hand, the first information 500 includes a large amount of information on the reflection points compared to the second information 700. The first information 500 represents the environment around the vehicle VA more accurately than the second information 700. Therefore, it is considered preferable to recognize the positions of objects existing around the vehicle VA based on the first information 500. In light of this, the inventor of the present application has considered a configuration in which the parking assistance ECU 10 detects an exit possible area based on the first information 500 and calculates the movement path MP.

[0055] However, as described above, after the vehicle VA is parked, the surrounding environment of the vehicle may change. For example, after the vehicle VA is parked, an object (e.g., another vehicle) existing around the vehicle may move. In the example of FIG. 8, it is assumed that the first other vehicle OV1 moves slightly backward after the vehicle VA is parked. In this case, when the parking assistance ECU 10 recognizes the position of the object existing around the vehicle VA based on the first information 500, the parking assistance ECU 10 erroneously recognizes the position of the object (first other vehicle OV1). As a result, the parking assistance ECU 10 may calculate an inappropriate movement path MP. For example, the parking assistance ECU 10 may calculate a movement path MP that is too close to the first other vehicle OV1.

[0056] When an assistance request occurs in the situation of FIG. 8, the parking assistance ECU 10 acquires reflection point information related to a plurality of reflection points 801 and a plurality of reflection points 802 from the ultrasonic sensor 61. As shown in FIG. 9, the parking assistance ECU 10 plots the plurality of reflection points 801 and the plurality of reflection points 802 in a two-dimensional coordinate system. The parking assistance ECU 10 determines the plurality of reflection points 801 as one reflection point group, and determines the plurality of reflection points 802 as one reflection point group. The surrounding environment information 900 shown in FIG. 9 is the surrounding environment information acquired at the time when the assistance request occurs, and is hereinafter referred to as "second information 900". The second information 900 includes less information on the reflection points than the first information 500, but represents the surrounding environment of the vehicle VA more accurately than the first information 500.

[0057] Considering the above, the parking assist ECU 10 in this embodiment judges whether a predetermined environmental change condition is satisfied when an assistance request occurs while the vehicle VA is parked. The environmental change condition is a condition for judging whether the environment around the vehicle VA has changed since the vehicle VA was parked. Specifically, the environmental change condition is a condition that is satisfied when the degree of deviation between the first information and the second information is greater than a predetermined degree. The parking assist ECU 10 selects the surrounding environment information to be finally used (hereinafter referred to as "final surrounding environment information") from the first information and the second information according to whether the environmental change condition is satisfied.

[0058] In the following, the operation of the parking assist ECU 10 will be described on the assumption that the first information is "500" in FIG. 5 and the second information is "900" in FIG.

[0059] In order to determine whether or not an environmental change condition is satisfied, the parking assist ECU 10 first integrates the first information 500 and the second information 900. Specifically, as shown in Fig. 10, the parking assist ECU 10 superimposes the first information 500 and the second information 900. The information 1000 integrated in this manner is referred to as "integrated information 1000."

[0060] The parking assist ECU 10 calculates an index value dn indicative of the degree of deviation "between the reflection point group of the first information 500 and the reflection point group of the second information 900" that are adjacent to each other in the integrated information 1000.

[0061] 10, the reflection point group 401 of the first information 500 and the reflection point group 801 of the second information 900 are close to each other. Therefore, the parking assistance ECU 10 calculates an index value dn between the reflection point group 401 and the reflection point group 801. In this example, the index value dn is the distance in the x-axis direction between the position of a specific reflection point (first specific reflection point) included in the reflection point group 401 and the position of a specific reflection point (second specific reflection point) included in the reflection point group 801.

[0062] The parking assistance ECU 10 sets a straight line 1001 parallel to the x-axis in the integrated information 1000. The equation of the straight line 1001 is expressed as "y=y1". Note that "y1" may be set to any value. The first specific reflection point is a reflection point of the reflection point group 401 located on the straight line 1001, and the second specific reflection point is a reflection point of the reflection point group 801 located on the straight line 1001. The "index value dn calculated between the reflection point group 401 and the reflection point group 801" is hereinafter referred to as the "first index value dn1".

[0063] Furthermore, the reflection point group 402 of the first information 500 and the reflection point group 802 of the second information 900 are close to each other. Therefore, the parking assist ECU 10 calculates the index value dn between the reflection point group 402 and the reflection point group 802 in the same manner as described above. The "index value dn calculated between the reflection point group 402 and the reflection point group 802" is hereinafter referred to as the "second index value dn2."

[0064] The parking assist ECU 10 judges whether or not there is an index value dn larger than a predetermined distance threshold dnth among the calculated index values ​​(dn1, dn2). If there is an index value dn larger than the distance threshold dnth, the parking assist ECU 10 judges that the degree of deviation between the first information 500 and the second information 900 is larger than a predetermined degree. That is, the parking assist ECU 10 judges that the environmental change condition is established.

[0065] In this example, the second index value dn2 is equal to or smaller than the distance threshold dnth, but the first index value dn1 is greater than the distance threshold dnth. Therefore, the parking assist ECU 10 determines that the degree of deviation between the first information 500 and the second information 900 is greater than a predetermined degree. That is, the parking assist ECU 10 determines that the environmental change condition is satisfied. In this case, the parking assist ECU 10 selects the second information 900 as the final surrounding environment information. According to this configuration, the parking assist ECU 10 uses surrounding environment information that accurately represents the surrounding environment of the vehicle VA at the current time. The possibility that the parking assist ECU 10 calculates an inappropriate movement path MP can be reduced.

[0066] On the other hand, assume that the first information is "500" in FIG. 5 and the second information is "700" in FIG. 7. In this case, the first other vehicle OV1 has not moved after the vehicle VA was parked, so the environmental change condition is not met. In this case, the parking assistance ECU 10 selects the first information 500 as the final surrounding environment information. With this configuration, the parking assistance ECU 10 can more accurately recognize the positions of objects present around the vehicle VA based on the first information 500.

[0067] In yet another example, assume that the first other vehicle OV1 has disappeared after the vehicle VA has been parked. There is no reflection point cloud in the second information 900 close to the reflection point cloud 401 in the first information 500, and the parking assist ECU 10 cannot calculate the index value dn. Even in such a case, the parking assist ECU 10 determines that the environmental change condition is satisfied.

[0068] <Activation> Next, there will be described the operation of the parking assist ECU 10. The CPU 10a (hereinafter simply referred to as "CPU") of the parking assist ECU 10 executes a routine shown in Fig. 11 every time a predetermined time dT has elapsed.

[0069] The CPU executes a routine (not shown) every time a predetermined time dT elapses, thereby acquiring reflection point information from the ultrasonic sensor 61 and updating the surrounding environment information.

[0070] At a predetermined timing, the CPU starts the process from step 1100 in Fig. 11 and proceeds to step 1101 to determine whether a predetermined storage condition is satisfied. The storage condition is satisfied when parking of the vehicle VA is completed. In this example, the storage condition is satisfied when all of the following conditions B1 to B3 are satisfied. (Condition B1) The speed of the vehicle VA is zero. (Condition B2) The shift position is the parking position. (Condition B3) The state of the start switch 24 is changed from the on state to the off state.

[0071] If the storage condition is not met, the CPU determines "No" in step 1101 and proceeds directly to step 1195, where it temporarily ends this routine.

[0072] On the other hand, if the storage condition is satisfied, the CPU determines "Yes" in step 1101 and proceeds to step 1102, where the surrounding environment information acquired during the process of parking the vehicle VA is stored in the non-volatile memory 10e as the first information. After that, the CPU proceeds to step 1195, where it temporarily ends this routine.

[0073] Furthermore, the CPU executes the routine of FIG. 12 every time a predetermined time dT elapses.

[0074] At a predetermined timing, the CPU starts processing from step 1200 in FIG. 12 and proceeds to step 1201 to determine whether the value of the execution flag XA is "0". When the value of the execution flag XA is "0", this indicates that parking assist control is not being executed. When the value of the execution flag XA is "1", this indicates that parking assist control is being executed. The value of the execution flag XA is set to "0" when the state of the start switch 24 is changed from the OFF state to the ON state.

[0075] Now, assume that the driver gets into the parked vehicle VA and presses the start switch 24. The state of the start switch 24 changes from the off state to the on state, and the value of the execution flag XA is "0." The CPU determines "Yes" in step 1201 and proceeds to step 1202 to determine whether or not an assistance request has occurred. If both the above-mentioned condition A1 and condition A2 are satisfied, the CPU determines that an assistance request has occurred.

[0076] If no assistance request has been made, the CPU determines "No" in step 1202 and proceeds directly to step 1295, where it temporarily ends this routine.

[0077] Now, assuming that an assistance request has occurred, the CPU judges "Yes" in step 1202 and sequentially executes the processes of steps 1203 to 1207 described below. After that, the CPU proceeds to step 1295 and temporarily ends this routine.

[0078] Step 1203: The CPU sets the value of the execution flag XA to “1”. Step 1204: The CPU executes a routine of FIG. 13, which will be described later, to select the first information or the second information as the final surrounding environment information.

[0079] Step 1205: The CPU detects the possible exit area AS using the final surrounding environment information. Then, the CPU sets a target position Ptgt within the possible exit area AS. Furthermore, the CPU calculates a moving path MP for moving the vehicle VA from the current position to the target position Ptgt. Step 1206: The CPU determines travel assistance information (specifically, the shift position, steering angle pattern, and speed pattern of the transmission 23) for moving the vehicle VA along the travel path MP. Step 1207: The CPU executes parking assistance control in the leaving mode, and executes shift control, steering angle control, driving force control, and braking force control in accordance with the movement assistance information.

[0080] After the CPU starts parking assist control in the leaving mode, it starts the routine of FIG. 12 again. When the CPU proceeds to step 1201, the CPU judges "No" and proceeds to step 1208. The CPU judges whether a predetermined end condition is satisfied. The end condition is satisfied when the vehicle VA reaches the target position Ptgt. If the end condition is not satisfied, the CPU judges "No" in step 1208 and executes the processing of step 1207 as described above. That is, the CPU continues the parking assist control. After that, the CPU proceeds to step 1295 and temporarily ends this routine.

[0081] On the other hand, if the end condition is satisfied when the CPU proceeds to step 1208, the CPU determines "Yes" in step 1208 and proceeds to step 1209, where it sets the value of the execution flag XA to "0." After that, the CPU proceeds to step 1295, where it temporarily ends this routine. This ends the parking assist control in the leaving mode.

[0082] When the CPU proceeds to step 1204 of the routine in Fig. 12, it executes the routine in Fig. 13. The CPU starts the process from step 1300 in Fig. 13, and sequentially executes the processes of steps 1301 to 1303 described below. After that, the CPU proceeds to step 1304.

[0083] Step 1301: The CPU acquires, from the non-volatile memory 10e, first information, which is surrounding environment information acquired during the process of parking the vehicle VA. Furthermore, the CPU acquires second information, which is surrounding environment information acquired at the current time. Step 1302: The CPU integrates the first information and the second information to generate integrated information. Step 1303: The CPU calculates an index value dn in the integrated information.

[0084] Next, in step 1304, the CPU determines whether or not the environmental change condition is satisfied. Specifically, the CPU determines whether or not there is an index value dn greater than the distance threshold dnth among the index values ​​dn calculated in step 1303. If there is an index value dn greater than the distance threshold dnth, the CPU determines that the environmental change condition is satisfied. In this case, the CPU determines "Yes" in step 1304 and proceeds to step 1305, where it selects the second information as the final surrounding environment information. Thereafter, the CPU proceeds to step 1395, and proceeds from step 1204 to step 1205.

[0085] On the other hand, if the environmental change condition is not satisfied, the CPU determines “No” in step 1304 and proceeds to step 1306, where it selects the first information as the final surrounding environment information. After that, the CPU proceeds to step 1395, and proceeds from step 1204 to step 1205.

[0086] The vehicle control device 100 having the above configuration judges whether or not an environmental change condition is satisfied when an assistance request occurs while the vehicle VA is parked. The environmental change condition is satisfied when the degree of deviation between the first information and the second information is greater than a predetermined degree. When the environmental change condition is satisfied, the vehicle control device 100 recognizes the environment around the vehicle VA using the second information and calculates a movement path MP. Therefore, it is possible to reduce the possibility that the vehicle control device 100 erroneously recognizes the environment around the vehicle VA. As a result, it is possible to reduce the possibility that the parking assistance ECU 10 calculates an inappropriate movement path MP.

[0087] On the other hand, when the environmental change condition is not satisfied, the vehicle control device 100 recognizes the environment around the vehicle VA using the first information and calculates the travel route MP. The parking assistance ECU 10 can more accurately recognize the positions of objects existing around the vehicle VA based on the first information that contains a large amount of information on reflection points, and calculate the travel route MP.

[0088] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0089] (Variation 1) In step 1306 of the routine in FIG. 13, the CPU may select the integrated information as the final surrounding environment information. That is, if the environmental change condition is not satisfied, the CPU may use the integrated information to recognize the environment around the vehicle VA and calculate the travel path MP. If the environmental change condition is not satisfied, the degree of deviation between the first information and the second information is small, so that the first information is considered to accurately represent the environment around the vehicle VA. According to this configuration, the CPU can more accurately recognize the positions of objects present around the vehicle VA by using the integrated information in which the second information is complemented by the first information.

[0090] (Variation 2) The index value dn representing the degree of deviation between the first information and the second information is not limited to the above example. The index value dn may be a value related to the distance between the position of the reflection point included in the first information and the position of the reflection point included in the second information. For example, in the example of FIG. 10, the CPU obtains an approximation curve (first approximation curve) representing the reflection point group 401 of the first information 500, and obtains an approximation curve (second approximation curve) representing the reflection point group 801 of the second information 900. The CPU may adopt the maximum distance in the x-axis direction between the first approximation curve and the second approximation curve as the index value dn. In another example, the CPU may calculate a plurality of distances in the x-axis direction between the first approximation curve and the second approximation curve, and adopt the average value of the plurality of distances as the index value dn.

[0091] As shown in FIG. 14, an object (another vehicle OV3) may be present on the left side (more specifically, the left front) of the vehicle VA. In this case, the CPU may calculate the index value dn as follows. FIG. 15 shows integrated information 1500 obtained in the situation of FIG. 14. Let "503" be the reflection point group of the first information, and "803" be the reflection point group of the second information. The CPU calculates the index value dn between the reflection point group 503 of the first information and the reflection point group 803 of the second information. The CPU sets a straight line 1501 parallel to the y-axis in the integrated information 1500. The equation of the straight line 1501 is expressed as "x=x1". Note that "x1" may be set to an arbitrary value. The index value dn may be a distance in the y-axis direction between a reflection point included in the reflection point group 503 of the first information and a reflection point included in the reflection point group 803 of the second information, or a value related to the distance. For example, the index value dn may be the distance in the y-axis direction between a reflection point of the reflection point group 503 located on the straight line 1501 and a reflection point of the reflection point group 803 located on the straight line 1501.

[0092] (Variation 3) The CPU may determine the degree of deviation between the first information and the second information as follows. For example, a vehicle (e.g., a light vehicle) that was in front of the vehicle VA when the vehicle VA was parked may disappear, and then another vehicle (e.g., a large vehicle) may be parked in front of the vehicle VA. In this case, the object in front of the vehicle VA is different between when the vehicle VA is parked and when the vehicle VA leaves the parking lot. In this case, the shape represented by the reflection point group detected in front of the vehicle VA differs between the first information and the second information. Here, examples of the shape represented by the reflection point group include the degree of unevenness (e.g., the degree of variation in the x-axis direction of the reflection point positions) and the curvature of the approximation curve of the reflection point group. When the shape represented by the reflection point group included in the first information differs from the shape represented by the reflection point group included in the second information, the CPU may determine that the degree of deviation between the first information and the second information is greater than a predetermined degree (i.e., the environmental change condition is established).

[0093] (Variation 4) The storage condition is not limited to the above example. The storage condition may be another condition as long as it is a condition that can determine that parking of the vehicle VA is completed. For example, the storage condition may be a condition that is satisfied when the shift position is changed from the forward position or reverse position to the parking position.

[0094] (Variation 5) The surrounding sensor 60 is not limited to the above example. The surrounding sensor 60 may include a radar sensor. The radar sensor emits electromagnetic waves (for example, millimeter wave band radio waves, referred to as "millimeter waves") and receives millimeter waves reflected by objects present within the emission range (i.e., reflected waves). The radar sensor can acquire "information about reflection points, which are points on an object where the transmitted millimeter waves are reflected," as reflection point information. The parking assistance ECU 10 may create surrounding environment information by plotting the positions of the reflection points included in the reflection point information acquired by the radar sensor on a two-dimensional coordinate system. The "radar sensor and the parking assistance ECU 10" may be one aspect of the "information acquisition device that acquires surrounding environment information."

[0095] Furthermore, the surrounding sensor 60 may include a stereo camera. The stereo camera can acquire information on the position of an object present within a shooting range and the distance to the object. The parking assistance ECU 10 may plot the position of the object acquired by the stereo camera on a two-dimensional coordinate system to generate surrounding environment information. The "stereo camera and the parking assistance ECU 10" may be one aspect of the "information acquisition device that acquires surrounding environment information."

[0096] (Variation 6) In the above embodiment, the first information is stored in the non-volatile memory 10e of the parking assist ECU 10, but is not limited to this configuration. The first information may be stored in "the surroundings sensor 60 or another ECU connected to the parking assist ECU 10" or "another storage medium connected to the surroundings sensor 60 or the parking assist ECU 10." [Explanation of symbols]

[0097] 10...parking assist ECU, 20...engine ECU, 30...brake ECU, 40...SBW·ECU, 50...EPS·ECU, 60...surrounding sensor, 70...parking assist switch, 100...vehicle control device.

Claims

[Claim 1] an information acquisition device that acquires surrounding environment information including information regarding positions of objects around the vehicle; In response to an occurrence of an assistance request, using the surrounding environment information, calculate a movement route for moving the vehicle from a current position of the vehicle to a target position which is a position of the vehicle when the vehicle has completed leaving the garage; a control unit configured to perform parking assistance control so as to move the vehicle along the movement path; A storage unit; Equipped with When a predetermined storage condition that is satisfied when parking of the vehicle is completed is satisfied, the control unit The surrounding environment information acquired by the information acquisition device during the process of parking the vehicle is stored in the storage unit as first information. It is configured as follows: When the assistance request occurs in a situation where the vehicle is parked, the control unit Acquiring the first information from the storage unit; The surrounding environment information currently acquired by the information acquisition device is acquired as second information; When an environmental change condition is satisfied, the environmental change condition being satisfied when a degree of deviation between the first information and the second information is greater than a predetermined degree, the second information is used to calculate the moving path; When the environmental change condition is not satisfied, the moving route is calculated using information obtained by integrating the first information and the second information. It was configured as follows: Vehicle control device.

Images