Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program which shorten time until a detection result of a registered parking position is indicated to a user, and can improve usability.SOLUTION: A calculation part 52 of a vehicle 10 includes an external environment recognition part 55 for acquiring recognition data of an external environment of the vehicle 10, a parking candidate position detection part 56 for detecting a parking candidate position of the vehicle 10 on the basis of the recognition data, and a reception part 57 for receiving selection of the parking position of the vehicle 10 among the parking candidate positions from a user of the vehicle 10. The parking candidate position detection part 56 can execute first detection processing of detecting an unregistered parking candidate position, and second detection processing of detecting a registered parking candidate position, starts the first detection processing on the basis of operation by the user, stops the first detection processing on the basis of making a moving speed v of the vehicle 10 during moving of the vehicle 10 equal to or less than a predetermined speed V1, and starts the second detection processing on the basis of the stop of the first detection processing.SELECTED DRAWING: Figure 8

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 transportation systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into autonomous driving technology to further improve the safety and convenience of transport.

[0003] Conventionally, there is known an automatic parking control that detects a parking space and automatically moves a vehicle to the detected parking space to park the vehicle. In addition, there is known an automatic parking control that registers a designated parking space in advance, detects the registered parking space, and automatically moves the vehicle to park the vehicle. Patent Document 1 describes a control device that, when receiving a first instruction, acquires feature point information around the vehicle based on image data acquired from the start to the end of automatic parking, associates the feature point information with the parking position, and stores the feature point information, and when receiving a second instruction, acquires actual feature point information based on the image data, and performs automatic parking based on the stored feature point information and the actual feature point information. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-117128 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, when the automatic parking mode is selected when parking the vehicle, both vacant parking position detection, which simply detects vacant parking spaces, and registered parking position detection, which detects parking spaces that have been registered in advance as specific parking spaces, may be performed. In this case, there is an automatic parking mode that starts vacant parking position detection first, and ends vacant parking position detection and starts registered parking position detection when the vehicle stops, for example. However, in this automatic parking mode, registered parking position detection is not started unless the vehicle stops, so there is a drawback in that it takes time for the detection result of the registered parking position to be shown to the user. Therefore, there is room for improvement in the detection of the parking position.

[0006] The present invention aims to provide a control device, a control method, and a control program that can shorten the time until the detection result of the registered parking position is shown to the user and improve usability, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] The present invention relates to A control device for a moving object, An external environment recognition unit that acquires recognition data of the external environment of the moving body; a candidate parking position detection unit that detects candidate parking positions for the moving object based on the recognition data; a reception unit that receives a selection of a parking position of the mobile body from the parking candidate positions from a user of the mobile body, The parking candidate position detection unit A first detection process for detecting unregistered parking candidate positions and a second detection process for detecting registered parking candidate positions are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; It is a control device.

[0008] The present invention relates to A control method for a mobile body using a control device comprising: an external environment recognition unit that acquires recognition data of an external environment of a mobile body; a parking candidate position detection unit that detects parking candidate positions of the mobile body based on the recognition data; and a reception unit that receives a selection of a parking position of the mobile body from the parking candidate positions from a user of the mobile body, The processor of the control device A first detection process for detecting unregistered parking candidate positions and a second detection process for detecting registered parking candidate positions are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; It is a control method.

[0009] The present invention relates to A control program for a control device of a mobile body, comprising: an external environment recognition unit that acquires recognition data of an external environment of a mobile body; a parking candidate position detection unit that detects parking candidate positions of the mobile body based on the recognition data; and a reception unit that receives a selection of a parking position of the mobile body from the parking candidate positions from a user of the mobile body, A processor of the control device A first detection process for detecting unregistered parking candidate positions and a second detection process for detecting registered parking candidate positions are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; 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 can shorten the time until the detection result of a registered parking position is shown to the user, thereby improving usability. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view showing an example of a vehicle equipped with a control device according to an embodiment 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 internal configuration of the vehicle shown in FIG. 1. [Figure 4] FIG. 2 is a diagram showing an example of an overhead image generated based on external environment recognition data of a vehicle. [Diagram 5] FIG. 2 is a diagram showing surrounding feature points for a specified parking position. [Figure 6] FIG. 2 is a diagram showing an example of a map of designated parking positions registered in a storage unit; [Figure 7] 10 is a flowchart showing an example of a process of detecting candidate parking positions by a calculation unit. [Figure 8] 11 is a diagram showing a relationship between a change in the vehicle's moving speed during automatic parking and a change in the detection mode of the parking candidate position. FIG. [Figure 9] FIG. 13 is a diagram showing an overhead image displayed at time t1 during automatic parking. [Figure 10] FIG. 13 is a diagram showing an overhead image displayed at time t2 during automatic parking. [Figure 11] FIG. 13 is a diagram showing an overhead image displayed at time t3 during automatic parking. [Figure 12] FIG. 13 is a diagram showing an overhead image displayed at time t4 during automatic parking. [Figure 13] 10 is a diagram showing a three-dimensional image corresponding to the overhead image of FIG. 9. [Figure 14] FIG. 13 is a diagram showing a three-dimensional image corresponding to the overhead image of FIG. [Figure 15] 10 is a flowchart showing a modified example of the process of detecting candidate parking positions by the calculation unit. [Figure 16]10 is a flowchart showing a modified example of the process of detecting candidate parking positions by the calculation unit. [Figure 17] 13 is a diagram showing a relationship between a change in the moving speed of the vehicle and a change in the detection mode of the candidate parking position in the modified example. FIG. [Figure 18] 13A and 13B are diagrams illustrating a relationship between a change in a moving distance and a moving speed of a vehicle and a change in a detection mode of a candidate parking position in a modified example. 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 mobile object 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 (e.g., peripheral images) for recognizing the external environment of the vehicle 10. The peripheral images 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.

[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 constituting the right side sonar group 32d are provided at the front and rear of the right side of the vehicle 10, respectively.

[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 contents of operations performed by the user using the operation input unit 14, and outputs the detected contents of operations 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 states 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 parking support and leaving support for 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 a parking support button for requesting parking support for the vehicle 10 and an leaving support button for requesting leaving support. The parking support buttons include an automatic parking button for requesting parking by automatic steering of the control ECU 20 and an auxiliary parking button for requesting assistance when parking by the driver's operation. The leaving support buttons include an automatic leaving button for requesting leaving by automatic steering of the control ECU 20 and an auxiliary leaving 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 an input device or a display device.

[0027] In addition, "parking" is synonymous with "parking". For example, "parking" means stopping with passengers getting on and off, and does not include temporary stops at traffic signals, etc. In addition, "parking position" means a position where a moving body is stopped, that is, a position where the moving body is parked.

[0028] 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.

[0029] The calculation unit 52 has an external environment recognition unit 55 that acquires external environment recognition data of the vehicle 10, a candidate parking position detection unit 56 that detects candidate parking positions for the vehicle 10, a reception unit 57 that receives a parking position selected by the user from among the candidate parking positions, and a parking control unit 58 that parks the vehicle 10 in the selected parking position.

[0030] The external environment recognition unit 55 acquires images (external environment recognition data) of the surroundings 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 from each camera. The external environment recognition unit 55 can also acquire external environment recognition data of the vehicle 10 acquired by the sonar group 32a to 32d or a radar.

[0031] The parking candidate position detection unit 56 detects a parking candidate position for parking the vehicle 10 based on the external environment recognition data. The parking candidate position detection unit 56 can execute an unregistered candidate detection process for detecting an unregistered parking candidate position, and a registered candidate detection process for detecting a registered parking candidate position. The unregistered candidate detection process is a first detection process of the present invention. The registered candidate detection process is a second detection process of the present invention.

[0032] The unregistered candidate detection process is a process for detecting a parking candidate position where the vehicle 10 can be parked in a recognition space detected from the external recognition data. In the unregistered candidate detection process, a parking space is detected by, for example, frame line recognition for recognizing a parking frame, or space recognition for recognizing an empty parking space. A parking frame is a white line frame or the like displayed in a parking lot for parking a vehicle. An empty parking space is simply a space or the like that exists in a state where a vehicle can be parked.

[0033] The registered candidate detection process is a process for detecting a registered parking candidate position that has been registered by the user as a designated parking position in the past in a recognition space detected from the external environment recognition data. The designated parking position is a specific parking position for the user, for example, a parking space where the user frequently parks the vehicle 10. Designated parking positions include, for example, monthly parking lots, parking lots at home, and coin parking lots where the user frequently parks. In the registered candidate detection process, the registered parking candidate position is detected by comparing the feature points of the external environment recognition data when the user registered the previously registered parking candidate position with the feature points of the current external environment recognition data.

[0034] The parking candidate position detection unit 56 starts the unregistered candidate detection process based on a parking control start operation by the user, stops the unregistered candidate detection process based on the movement speed of the vehicle 10 becoming equal to or lower than a predetermined speed while the vehicle 10 is moving, and starts the registered candidate detection process based on the stop of the unregistered candidate detection process. The parking control start operation is, for example, starting an automatic parking mode that starts automatic parking of the vehicle 10. The movement speed of the vehicle 10 is, for example, the speed at which the vehicle 10 runs in a parking facility to search for a parking space. The predetermined speed is, for example, 5 to 10 [km / h].

[0035] After starting the registered candidate detection process, the parking candidate position detection unit 56 stops the registered candidate detection process based on the movement speed of the vehicle 10 becoming equal to or greater than a predetermined speed, and resumes the unregistered candidate detection process based on the stop of the registered candidate detection process. In addition, after starting the registered candidate detection process, the parking candidate position detection unit 56 may stop the registered candidate detection process based on the movement distance of the vehicle 10 becoming equal to or greater than a predetermined distance, and resume the unregistered candidate detection process based on the stop of the registered candidate detection process.

[0036] The parking candidate position detection unit 56 may stop the unregistered candidate detection process when the moving speed of the vehicle 10 becomes equal to or lower than a first speed while the vehicle 10 is moving, and after starting the registered candidate detection process, may stop the registered candidate detection process when the moving speed of the vehicle 10 becomes equal to or higher than a second speed higher than the first speed, and may resume the unregistered candidate detection process when the registered candidate detection process is stopped. The first speed is, for example, 5 to 10 km / h.

[0037] After resuming the unregistered candidate detection process, the parking candidate position detection unit 56 stops the unregistered candidate detection process based on the stop of the vehicle 10, and resumes the registered candidate detection process based on the stop of the unregistered candidate detection process.

[0038] The parking candidate position detection unit 56 registers a predetermined parking position designated by the user as a designated parking position in the storage unit 54. The parking candidate position detection unit 56 registers the designated parking position by associating feature points in the external environment recognition data of the vehicle 10 with the designated parking position to be registered. The external environment recognition data for detecting the feature points is a peripheral image of the periphery 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. The designated parking position is registered in the storage unit 54 as a map including feature points in the peripheral image of the vehicle 10.

[0039] The parking candidate position detection unit 56 compares feature points of the external environment recognition data for the currently detected parking candidate position with feature points of the external environment recognition data for a designated parking position previously registered by the user, and when it determines that the matching rate of the feature points is equal to or greater than a threshold, it determines that the currently detected parking candidate position is a registered parking candidate position.

[0040] The reception unit 57 receives a parking candidate position selected by the user from among the parking candidate positions displayed on the touch panel 42 as a parking position for the vehicle 10. When an unregistered parking candidate position is detected based on the unregistered candidate detection process, the reception unit 57 displays the unregistered parking candidate position on the touch panel 42 and receives a selection of a parking position from the user. When a registered parking candidate position is detected based on the registered candidate detection process, the reception unit 57 displays the registered parking candidate position on the touch panel 42 and receives a selection of a parking position from the user. When an unregistered parking candidate position is detected based on the unregistered candidate detection process and a registered parking candidate position is detected based on the registered candidate detection process, the reception unit 57 displays the unregistered parking candidate position and the registered parking candidate position on the touch panel 42 in different modes. The different modes include, for example, different display colors, different display line thicknesses, and the like.

[0041] The parking control unit 58 performs automatic parking assistance for the vehicle 10 by automatic steering, in which the operation of the steering wheel 110 is automatically performed under the control of the parking control unit 58. In the automatic steering assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is automatically performed. In addition, the parking control unit 58 performs auxiliary parking assistance when the driver operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park the vehicle 10.

[0042] For example, the parking control unit 58 performs automatic parking control and assisted parking control to park the vehicle 10 at a selected candidate parking position based on 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 the user's selection of a parking position.

[0043] 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.

[0044] 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).

[0045] 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.

[0046] 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).

[0047] 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).

[0048] <Registering a designated parking location> Next, the designated parking position of the vehicle 10 registered by the user will be described with reference to FIGS.

[0049] FIG. 4 is a diagram showing an example of an overhead image 60 (synthetic image) generated by 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. The overhead image 60 is displayed, for example, on the touch panel 42 of the vehicle 10. A parking lot P and a plurality of plants (obstacles) 61a to 61f are captured in the overhead image 60 shown in FIG. 4. The user of the vehicle 10 rents a parking area 62 set on the side of the obstacles 61a to 61f in the parking lot P as a monthly parking lot. The vehicle parked in front of the parking lot P is an image showing the vehicle 10 viewed from above, which is a vehicle image 63 generated (captured) in advance and stored in the storage unit 54 or the like.

[0050] The user can set the parking area 62 as the designated parking position 64, for example, by manually setting it by touching the touch panel 42. To manually set the designated parking position 64, a rectangular dashed frame 64a displayed on the touch panel 42 is moved by a touch operation, and the dashed frame 64a is set to surround the parking area 62, as shown in Fig. 4. As a result, the dashed frame 64a set to surround the parking area 62 is set as the designated parking position 64.

[0051] 5 is a diagram showing characteristic points around the designated parking position 64 shown in FIG. 4. When the designated parking position 64 is set, the parking candidate position detection unit 56 detects characteristic points for the designated parking position 64 in the external environment recognition data acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R. For example, as shown in FIG. 5, the parking candidate position detection unit 56 detects obstacle characteristic points 65a to 65f, which indicate the positions of obstacles 61a to 61f existing around the designated parking position 64, as characteristic points for the designated parking position 64. Note that FIG. 5 shows a state in which the vehicle 10 is parked at the designated parking position 64.

[0052] Fig. 6 is a diagram showing an example of a map of the designated parking position 64 registered in the storage unit 54. When characteristic points (obstacle characteristic points 65a-65f) for the designated parking position 64 are detected, the designated parking position 64 is registered in the storage unit 54 as a map M showing the association between the detected obstacle characteristic points 65a-65f and the set designated parking position 64, as shown in Fig. 6.

[0053] <Processing of the calculation unit 52 during automatic parking> Next, a process of detecting candidate parking positions by the calculation unit 52 during automatic parking will be described. Fig. 7 is a flowchart showing an example of the process of detecting candidate parking positions by the calculation unit 52. When the automatic parking button displayed on the touch panel 42 is touched, the calculation unit 52 starts the process shown in Fig. 7. The automatic parking button is touched by a user who intends to park the vehicle 10, for example, when the user arrives near a parking lot.

[0054] First, the parking candidate position detection unit 56 of the calculation unit 52 determines whether or not an automatic parking start operation for starting automatic parking of the vehicle 10 has been received (step S11). The automatic parking start operation is, for example, a touch operation of an automatic parking button displayed on the touch panel 42.

[0055] In step S11, if the automatic parking start operation has not been received (step S11: No), the parking candidate position detection unit 56 repeats the process of step S11. In step S11, if the automatic parking start operation has been received (step S11: Yes), the parking candidate position detection unit 56 determines whether the moving speed of the vehicle 10 is equal to or lower than a first speed (step S12). The first speed is, for example, 5 to 10 km / h.

[0056] In step S12, if the moving speed of the vehicle 10 is not equal to or lower than the first speed, i.e., if the vehicle 10 is moving in the parking facility at a speed faster than the first speed (step S12: No), the parking candidate position detection unit 56 starts an unregistered candidate detection process to detect spaces / white lines in the parking lot, i.e., to detect vacant spaces and the like in which the vehicle 10 can be parked (step S13). The parking candidate position detection unit 56 detects spaces / white lines based on surrounding images captured by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R.

[0057] Next, the candidate parking position detection unit 56 determines whether or not a space / white line has been detected in the detection process of step S13, i.e., whether or not an unregistered candidate parking position where the vehicle 10 can be parked has been detected (step S14).

[0058] In step S14, if an unregistered parking candidate position can be detected (step S14: Yes), the reception unit 57 of the calculation unit 52 displays the detected unregistered parking candidate position on the touch panel 42 (step S15).

[0059] Next, the parking candidate position detection unit 56 determines whether the moving speed of the vehicle 10 is equal to or less than the first speed (step S16). On the other hand, if an unregistered parking candidate position cannot be detected in step S14 (step S14: No), the parking candidate position detection unit 56 proceeds directly to step S16 and determines whether the moving speed of the vehicle 10 is equal to or less than the first speed.

[0060] In step S16, if the moving speed of the vehicle 10 is not equal to or lower than the first speed (step S16: No), the parking candidate position detection unit 56 returns to step S14 and executes each process. In step S16, if the moving speed of the vehicle 10 is equal to or lower than the first speed (step S16: Yes), the parking candidate position detection unit 56 stops detecting spaces / white lines in the parking lot, that is, stops the unregistered candidate detection process (step S17).

[0061] Next, the parking candidate position detection unit 56 starts memory detection of parking candidate positions, that is, registered candidate detection processing for detecting registered parking candidate positions (step S18). On the other hand, in step S12, if the moving speed of the vehicle 10 is equal to or lower than the first speed, that is, if the speed of the vehicle 10 moving in the parking facility is equal to or lower than the first speed (step S12: Yes), the parking candidate position detection unit 56 proceeds directly to step S18 and starts registered candidate detection processing.

[0062] Next, the candidate parking position detection unit 56 determines whether or not the memory detection of the candidate parking position has been performed in the detection process of step S18, that is, whether or not a registered candidate parking position has been detected (step S19).

[0063] In step S19, if a registered candidate parking position can be detected (step S19: Yes), the reception unit 57 displays the detected registered candidate parking position on the touch panel 42 (step S20).

[0064] Next, the parking candidate position detection unit 56 judges whether or not the detection end condition of the parking candidate position detection is satisfied (step S21). On the other hand, in step S19, if the registered parking candidate position cannot be detected (step S19: No), the parking candidate position detection unit 56 proceeds directly to step S21 and judges whether or not the detection end condition of the parking candidate position detection is satisfied. The detection end condition is, for example, that the user selects an unregistered parking candidate position or a registered parking candidate position displayed on the touch panel 42, that a detection end operation is performed to end this detection process, that a registered parking candidate position is detected, etc.

[0065] In step S21, if the detection end condition of the registered parking candidate position detection is not satisfied (step S21: No), the parking candidate position detection unit 56 returns to step S19 and executes each process. In step S21, if the detection end condition of the registered parking candidate position detection is satisfied (step S21: Yes), the parking candidate position detection unit 56 ends this detection process. Note that the parking candidate position detection unit 56 also ends this detection process if the detection end condition is satisfied in any step in this detection process.

[0066] Next, the relationship between the moving speed of the vehicle 10 and the detection of candidate parking positions will be described with reference to Fig. 8 to Fig. 12. Fig. 8 is a diagram showing the relationship between the change in the moving speed of the vehicle 10 during automatic parking and the change in the detection mode of the candidate parking positions by the calculation unit 52.

[0067] When the user of the vehicle 10 presses, for example, an automatic parking button in a parking facility, automatic parking control is started. The driving range of the vehicle 10 is set to, for example, a drive range. If the user has applied the brake, the brake is released. When the vehicle 10 starts to move, the parking candidate position detection unit 56 of the calculation unit 52 first starts an unregistered candidate detection process to detect an empty space in which the vehicle 10 can be parked.

[0068] For example, suppose that after the vehicle 10 starts moving to detect a candidate parking position, its moving speed changes to, for example, a moving speed v shown in Fig. 8. When the moving speed v of the vehicle 10 is faster than a first speed V1, for example, at time t1 and time t2, the candidate parking position detection unit 56 sets the detection mode DM of the candidate parking position to a space / white line detection mode and executes the unregistered candidate detection process.

[0069] In addition, when the movement speed v of the vehicle 10 slows down and becomes equal to or less than the first speed V1, that is, when the movement speed v becomes equal to or less than the first speed V1, such as between time t2 and time t3 in FIG. 8, the candidate parking position detection unit 56 stops the mode of space / white line detection for the candidate parking position, and starts the mode of memory detection.

[0070] When the movement speed v of the vehicle 10 becomes equal to or lower than the first speed V1, for example, at time t3 and time t4, the parking candidate position detection unit 56 sets the parking candidate position detection mode DM to a memory detection mode and executes the registered candidate detection process.

[0071] FIG. 9 is a diagram showing an example of an overhead image 60 displayed on the touch panel 42 of the vehicle 10 during automatic parking of the vehicle 10. The overhead image 60 in FIG. 9 is an image showing a detection situation of the parking candidate position at time t1 in FIG. 8. As shown in FIG. 9, the overhead image 60 shows a parking lot P, a plurality of plants (obstacles) 61a to 61f existing around the parking lot P, and the vehicle 10 moving in the direction of the arrow A in the parking facility while searching for a parking position. At time t1, the moving speed v of the vehicle 10 is faster than the first speed V1 (see FIG. 8). Therefore, the parking candidate position detection unit 56 executes an unregistered candidate detection process for detecting a space / white line. In the unregistered candidate detection process in the situation of FIG. 9, the parking candidate position detection unit 56 detects an unregistered parking candidate position 71 in the parking lot P on the left front. The reception unit 57 displays the detected unregistered parking candidate position 71 as, for example, a rectangular shape as shown in FIG. 9. As a result, the displayed unregistered parking candidate position 71 becomes a parking candidate position that can be selected as a parking position for automatically parking the vehicle 10.

[0072] The overhead image 60 in FIG. 10 is an image showing the detection situation of the parking candidate position at time t2 in FIG. 8. As shown in FIG. 10, the vehicle 10 at time t2 has moved forward in the direction of the arrow A compared to the vehicle 10 at time t1 (see FIG. 9). The moving speed v of the vehicle 10 at time t2 is faster than the first speed V1 (see FIG. 8) as at time t1. Therefore, the parking candidate position detection unit 56 continues to execute the unregistered candidate detection process for detecting a space / white line. The forward-moving vehicle 10 has advanced to a position in the direction of the arrow A beyond the positions where the obstacles 61c to 61f are present. Therefore, in the unregistered candidate detection process in the situation of FIG. 10, the parking candidate position detection unit 56 detects the unregistered parking candidate position 72 as a parking space in an area close to the obstacles 61a to 61f in addition to the unregistered parking candidate position 71 in the parking lot P. The reception unit 57 displays the detected unregistered parking candidate position 72 in Fig. 10 in a rectangular shape similar to the parking candidate position 71. As a result, the displayed unregistered parking candidate position 71 and the unregistered parking candidate position 72 become parking candidate positions that can be selected as parking positions for automatically parking the vehicle 10.

[0073] An overhead image 60 in Fig. 11 is an image showing a detection state of the parking candidate position at time t3 in Fig. 8. As shown in Fig. 11, the vehicle 10 at time t3 has moved further forward in the direction of arrow A compared to the vehicle 10 at time t2 (see Fig. 10). The moving speed v of the vehicle 10 at time t3 is slower than the moving speed v at time t2, and is moving speed v equal to or lower than the first speed V1 (see Fig. 8). Therefore, the parking candidate position detection unit 56 starts a registered candidate detection process for detecting a registered parking candidate position (for example, the parking candidate position 73 indicated by the dashed line).

[0074] The overhead image 60 in FIG. 12 is an image showing the detection situation of the parking candidate position at time t4 in FIG. 8. As shown in FIG. 12, the vehicle 10 at time t4 has moved further forward in the direction of the arrow A compared to the vehicle 10 at time t3 (see FIG. 11). The moving speed v of the vehicle 10 at time t4 is equal to or lower than the first speed V1 (see FIG. 8) as at time t3. Therefore, the parking candidate position detection unit 56 continues to execute the registered candidate detection process for detecting the registered parking candidate positions. In the registered candidate detection process in the situation of FIG. 12, the parking candidate position detection unit 56 detects the registered parking candidate position 73 in the parking lot P. The reception unit 57 displays the detected registered parking candidate position 73 as, for example, a rectangular shape of a solid line as shown in FIG. 12. The registered parking candidate position 73 shown in FIG. 12 corresponds to, for example, the registered parking candidate position previously registered by the user as the designated parking position 64 (see FIG. 6). As a result, the displayed registered parking candidate position 73 becomes a parking candidate position that can be selected as a parking position for automatically parking the vehicle 10. In the detection process of this example, the unregistered parking candidate positions 71, 72 and the registered parking candidate position 73 are detected, and these three parking candidate positions become parking candidate positions that can be selected as parking positions for the vehicle 10. The reception unit 57 displays the unregistered parking candidate positions 71, 72 as, for example, rectangular parking candidate positions drawn with thin solid lines, and displays the registered parking candidate position 73 as, for example, a rectangular parking candidate position drawn with thick solid lines.

[0075] Next, examples of images displayed on the touch panel 42 in the process of detecting candidate parking positions during automatic parking will be described with reference to Fig. 13 and Fig. 14. In Fig. 9 to Fig. 12, the candidate parking positions 71 to 73 are displayed on the touch panel 42 as an overhead image 60. However, for example, as shown in Fig. 13 and Fig. 14, the candidate parking positions 71 to 73 may be displayed as a three-dimensional image.

[0076] The image shown in Fig. 13 is a three-dimensional image 80 corresponding to the overhead image 60 in Fig. 9. That is, the three-dimensional image 80 in Fig. 13 is an image showing a detection situation of the parking candidate position at a time t1 (see Fig. 8) when the moving speed v of the vehicle 10 is faster than the first speed V1. In the three-dimensional image 80, the unregistered parking candidate position 71 detected in the unregistered candidate detection process is displayed to the left as viewed from the vehicle 10.

[0077] The image shown in Fig. 14 is a three-dimensional image 80 corresponding to the overhead image 60 in Fig. 12. That is, the three-dimensional image 80 in Fig. 14 is an image showing a detection situation of the parking candidate positions at time t4 (see Fig. 8) when the moving speed v of the vehicle 10 is equal to or lower than the first speed V1. In the three-dimensional image 80, a registered parking candidate position 73 detected in the registered candidate detection process at time t4, an unregistered parking candidate position 71 detected in the unregistered candidate detection process at time t1, and an unregistered parking candidate position 72 detected in the unregistered candidate detection process at time t2 are displayed to the left as viewed from the vehicle 10.

[0078] As described above, the parking candidate position detection unit 56 of the calculation unit 52 starts the unregistered candidate detection process to detect an unregistered parking candidate position based on the parking start operation of the vehicle 10 by the user, stops the unregistered candidate detection process based on the movement speed v of the vehicle 10 becoming equal to or lower than the first speed V1 while the vehicle 10 is moving, and starts the registered candidate detection process to detect a registered parking candidate position based on the stop of the unregistered candidate detection process. According to this configuration, it is possible to increase the movement speed of the vehicle 10 at which the registered candidate detection process is started, and start the registered candidate detection process while the vehicle 10 is moving. As a result, the second detection process can be started at an early stage of the parking control of the vehicle 10, and the time until the registered candidate detection process is completed and the processing result is notified can be shortened, improving usability.

[0079] Furthermore, when an unregistered parking candidate position is detected based on the unregistered candidate detection process, the reception unit 57 of the calculation unit 52 displays the unregistered parking candidate position on the touch panel 42 and receives a parking position selection from the user, and when a registered parking candidate position is detected based on the registered candidate detection process, the reception unit 57 displays the registered parking candidate position on the touch panel 42 in a manner different from the unregistered parking candidate positions and receives a parking position selection from the user. This allows the user to easily distinguish between the displayed unregistered parking candidate positions and the registered parking candidate positions, allowing the user to select a desired parking candidate position without error, improving usability.

[0080] <Modification of the process for detecting candidate parking positions> Next, a modified example of the process of detecting candidate parking positions by the calculation unit 52 during automatic parking will be described. Figures 15 and 16 are flowcharts showing a modified example of the process of detecting candidate parking positions by the calculation unit 52. When the automatic parking button displayed on the touch panel 42 is touched, the calculation unit 52 starts the process shown in Figure 15.

[0081] As shown in Fig. 15, in this modification, each process from step S21 to step S30 is similar to each process from step S11 to step S20 of the detection process described in Fig. 7. Therefore, a description of steps S21 to S30 will be omitted.

[0082] When the registered parking candidate position is displayed in step S30, the parking candidate position detection unit 56 judges whether the moving speed of the vehicle 10 is equal to or higher than the second speed, or whether the moving distance of the vehicle 10 at the first speed or lower is equal to or higher than a predetermined distance (step S31). The second speed is a speed higher than the first speed. The predetermined distance is, for example, 〇〇 meters. Furthermore, if the registered parking candidate position cannot be detected in step S29 (step S29: No), the parking candidate position detection unit 56 proceeds directly to step S31 and judges whether the moving speed of the vehicle 10 is equal to or higher than the second speed, or whether the moving distance of the vehicle 10 at the first speed or lower is equal to or higher than a predetermined distance.

[0083] In step S31, if the moving speed of the vehicle 10 is not the second speed or more, and the moving distance of the vehicle 10 at the first speed or less is not the predetermined distance or more (step S31: No), the parking candidate position detection unit 56 returns to step S29 and executes each process. In step S31, if the moving speed of the vehicle 10 is the second speed or more, or the moving distance of the vehicle 10 at the first speed or less is the predetermined distance or more (step S31: Yes), the parking candidate position detection unit 56 stops the memory detection of the parking candidate position, that is, the registered candidate detection process (step S32).

[0084] Next, based on the stop of memory detection in step S32, the parking candidate position detection unit 56 starts (resumes) detection of spaces / white lines in the parking lot, that is, the unregistered candidate detection process (step S33).

[0085] Next, the candidate parking position detection unit 56 determines whether or not a space / white line has been detected in the detection process of step S33, that is, whether or not an unregistered candidate parking position has been detected (step S34).

[0086] In step S34, if an unregistered parking candidate position can be detected (step S34: Yes), the reception unit 57 displays the detected unregistered parking candidate position on the touch panel 42 (step S35).

[0087] Next, the parking candidate position detection unit 56 determines whether the moving speed of the vehicle 10 is zero, that is, whether the vehicle 10 has stopped (step S36). On the other hand, if an unregistered parking candidate position cannot be detected in step S34 (step S34: No), the parking candidate position detection unit 56 proceeds directly to step S36 and determines whether the moving speed of the vehicle 10 is zero.

[0088] In step S36, if the moving speed of the vehicle 10 is not zero (step S36: No), the parking candidate position detection unit 56 returns to step S34 and executes each process. In step S36, if the moving speed of the vehicle 10 is zero (step S36: Yes), the parking candidate position detection unit 56 stops the detection of spaces / white lines in the parking lot, that is, the unregistered candidate detection process (step S37).

[0089] Note that the processes from step S38 to step S41 are similar to the processes from step S18 to step S21 described with reference to Fig. 7. Therefore, the description of steps S18 to S21 will be omitted.

[0090] <Switching between memory detection and space / white line detection> Next, switching between memory detection (registered candidate detection process) and space / white line detection (unregistered candidate detection process) of parking candidate positions in the modified example of the parking candidate position detection process described above will be described with reference to Fig. 17 and Fig. 18. Fig. 17 is a diagram showing the relationship between a change in the moving speed v of the vehicle 10 and a change in the parking candidate position detection mode DM in the modified example of the parking candidate position detection process.

[0091] After the vehicle 10 starts moving to detect a candidate parking position, it is assumed that the moving speed changes to, for example, a moving speed v shown in Fig. 17. When the moving speed v of the vehicle 10 is faster than a first speed V1, for example, at time t11, the candidate parking position detection unit 56 sets the detection mode DM of the candidate parking position to a space / white line detection mode and executes the unregistered candidate detection process.

[0092] When the moving speed v of the vehicle 10 slows down and becomes equal to or less than the first speed V1, for example, at time t12, the candidate parking position detection unit 56 stops the space / white line detection mode for the candidate parking position and starts the memory detection mode (registered candidate detection process).

[0093] After the moving speed v of the vehicle 10 becomes equal to or lower than the first speed V1 at time t12, the moving speed v fluctuates repeatedly in a short period, for example, as in the period P1 surrounded by the dashed line. In this case, even if the fluctuating moving speed v exceeds the first speed V1, for example, as in the time t13 and time t14, the parking candidate position detection unit 56 maintains the detection mode DM of the parking candidate position in the memory detection mode and does not switch to the space / white line detection mode. Then, for example, when the moving speed v of the vehicle 10 becomes equal to or higher than the second speed V2, which is higher than the first speed V1, as in the time t15 in FIG. 17, the parking candidate position detection unit 56 stops the memory detection mode of the parking candidate position and starts the space / white line detection mode (unregistered candidate detection process).

[0094] Similarly, after the moving speed v of the vehicle 10 becomes equal to or greater than the second speed V2 at time t15, for example, the moving speed v fluctuates repeatedly in a short period such as a period P2 surrounded by a dashed line. In this case, too, even if the fluctuating moving speed v falls below the second speed V2, for example, at times t16 and t17, the candidate parking position detection unit 56 maintains the detection mode DM of the candidate parking position in the space / white line detection mode and does not switch to the memory detection mode.

[0095] FIG. 18 is a diagram showing the relationship between the change in the moving distance L and the moving speed v of the vehicle 10 and the change in the detection mode DM for the parking candidate positions in the modified example of the detection process for the parking candidate positions.

[0096] After the vehicle 10 starts moving to detect a candidate parking position, the moving speed changes to, for example, a moving speed v shown in Fig. 18, and the moving distance of the vehicle 10 due to the movement changes to, for example, a moving distance L shown in Fig. 18. When the moving speed v of the vehicle 10 is faster than the first speed V1, for example, at time t21, the candidate parking position detection unit 56 sets the detection mode DM of the candidate parking position to the space / white line detection mode and executes the unregistered candidate detection process.

[0097] When the moving speed v of the vehicle 10 slows down and becomes equal to or less than the first speed V1, for example, at time t22, the candidate parking position detection unit 56 stops the space / white line detection mode for the candidate parking position and starts the memory detection mode (registered candidate detection process).

[0098] Assume that after the moving speed v of the vehicle 10 becomes equal to or less than the first speed V1 at time t22, the memory detection mode (registered candidate detection process) continues at the moving speed v equal to or less than the first speed V1. In this case, when the moving distance L of the vehicle 10 in the memory detection mode becomes equal to or more than a predetermined distance L1, for example, as at time t23 in FIG. 18, the parking candidate position detection unit 56 stops the memory detection mode of the parking candidate position and starts the space / white line detection mode (unregistered candidate detection process). That is, even if the moving speed v of the vehicle 10 does not exceed the first speed V1, when the moving distance L of the vehicle 10 becomes equal to or more than the predetermined distance L1, the parking candidate position detection unit 56 stops the memory detection mode of the parking candidate position and starts the space / white line detection mode.

[0099] Then, after starting the space / white line detection mode (unregistered candidate detection processing), when the movement speed v of the vehicle 10 becomes zero (the vehicle 10 stops), for example, as at time t24 in FIG. 18, the candidate parking position detection unit 56 stops the space / white line detection mode for the candidate parking position, and starts the memory detection mode (registered candidate detection processing).

[0100] In this way, the parking candidate position detection unit 56 of the calculation unit 52 in the modified example stops the unregistered candidate detection process based on the movement speed v of the vehicle 10 becoming equal to or lower than the first speed V1 while the vehicle 10 is moving, stops the registered candidate detection process based on the movement speed of the vehicle 10 becoming equal to or higher than the second speed V2 higher than the first speed V1 after starting the registered candidate detection process, and resumes the unregistered candidate detection process based on the stop of the registered candidate detection process. According to this configuration, since the unregistered candidate detection process can be resumed based on the movement speed v of the vehicle 10 during the registered candidate detection process, it is also possible to search for an unregistered parking candidate position again when a registered parking candidate position is not detected, further improving usability. In addition, by making the second speed V2 higher than the first speed V1, it is possible to prevent the registered candidate detection process from being stopped in response to a small change in the movement speed of the vehicle 10.

[0101] Furthermore, the parking candidate position detection unit 56 stops the unregistered candidate detection process based on the movement speed v of the vehicle 10 becoming equal to or less than a first speed V1 while the vehicle 10 is moving, stops the registered candidate detection process based on the movement distance L of the vehicle 10 becoming equal to or greater than a predetermined distance L1 after starting the registered candidate detection process, and resumes the unregistered candidate detection process based on the stop of the registered candidate detection process. According to this configuration, since it is possible to resume the unregistered candidate detection process when the movement distance L of the vehicle 10 becomes longer during the registered candidate detection process, it is possible to resume the unregistered candidate detection process based on the movement distance L even in cases where the movement speed v of the vehicle 10 does not fluctuate, for example, and therefore further improve usability.

[0102] Moreover, after stopping the registered candidate detection process and restarting the unregistered candidate detection process, the parking candidate position detection unit 56 stops the unregistered candidate detection process based on the stop of the vehicle 10, and restarts the registered candidate detection process based on the stop of the unregistered candidate detection process. According to this configuration, since the registered candidate detection process based on the movement speed v of the vehicle 10 becoming equal to or lower than the first speed V1 has already been executed, usability is ensured after restarting the unregistered candidate detection process without raising the movement speed v to the first speed V1 in order to stop the unregistered candidate detection process and restart the registered candidate detection process.

[0103] 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.

[0104] For example, in the above embodiment, the case where the vehicle 10 is automatically parked by the automatic steering of the parking control unit 58 has been described, but the present invention is not limited to this. For example, the present invention may be applied to a parking assistance that assists the driver in parking the vehicle 10 through the driver's operation.

[0105] In the above embodiment, the control ECU 20 displays the overhead image 60, etc. on the touch panel 42 of the vehicle 10, but the present invention is not limited to this. For example, the control ECU 20 may display the overhead image 60, etc. on a display screen of an information terminal (e.g., a smartphone, etc.) carried by a passenger of the vehicle 10 via the communication unit 24.

[0106] In the above embodiment, a case has been described in which information such as a map including characteristic points related to the designated parking position is registered in the storage unit 54 of the vehicle 10. However, the present invention is not limited to this. For example, such information may be registered in a storage unit of another device such as an information terminal or a server that is communicably connected to the vehicle 10.

[0107] In the above embodiment, the moving body is a vehicle (four-wheeled automobile), but the present invention is not limited to this. For example, the moving body may be a two-wheeled vehicle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move by the power of the drive source.

[0108] 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.

[0109] 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.

[0110] (1) A control device (a computing unit 52) ​​for a moving body (a vehicle 10), An external environment recognition unit (external environment recognition unit 55) that acquires recognition data of the external environment of the moving body; a parking candidate position detection unit (parking candidate position detection unit 56) that detects parking candidate positions of the moving body based on the recognition data; A reception unit (reception unit 57) that receives a selection of a parking position of the moving body from the parking candidate positions from a user of the moving body, The parking candidate position detection unit A first detection process for detecting unregistered parking candidate positions and a second detection process for detecting registered parking candidate positions are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; Control device.

[0111] According to (1), it is possible to increase the moving speed at which the second detection process for detecting registered candidate parking positions is started (the second detection process is started while the moving body is moving), so that the second detection process can be started at an early stage when the vehicle is stopped. Therefore, the time from the completion of the second detection process until the result of the second detection process is notified can be shortened, and usability is improved.

[0112] (2) The control device according to (1), The parking candidate position detection unit After starting the second detection process, the second detection process is stopped based on at least one of the following: the moving speed has reached a predetermined speed or more; and the moving distance of the moving object has reached a predetermined distance or more. restarting the first detection process based on the stop of the second detection process; Control device.

[0113] According to (2), it is possible to resume the first detection process based on the moving speed or moving distance of the moving object during the second detection process, thereby further improving usability.

[0114] (3) The control device according to (2), The parking candidate position detection unit stopping the first detection process based on the fact that the moving speed of the moving object becomes equal to or lower than a first speed while the moving object is moving; after starting the second detection process, stopping the second detection process based on the fact that the moving speed becomes equal to or higher than a second speed that is higher than the first speed; Control device.

[0115] According to (3), by making the second speed higher than the first speed, it is possible to prevent the second detection process from being stopped in response to a small change in the moving speed.

[0116] (4) The control device according to (2) or (3), The parking candidate position detection unit After restarting the first detection process, the first detection process is stopped based on the stop of the moving object; restarting the second detection process based on the stop of the first detection process; Control device.

[0117] According to (4), since the second detection process based on the movement speed being equal to or lower than a predetermined speed has already been executed, after the first detection process is resumed, usability is ensured without stopping the first detection process and increasing the movement speed to resume the second detection process.

[0118] (5) A control device according to any one of (1) to (4), The reception unit is When the unregistered parking candidate position is detected based on the first detection process, the unregistered parking candidate position is displayed and a selection of the parking position is received from the user; When the registered parking candidate positions are detected based on the second detection process, the registered parking candidate positions are displayed and a selection of the parking position is received from the user. Control device.

[0119] According to (5), the detected candidate parking positions are displayed, making it easy for the user to select a parking position.

[0120] (6) The control device according to (5), When the unregistered parking candidate position is detected based on the first detection process and the registered parking candidate position is detected based on the second detection process, the reception unit displays the unregistered parking candidate position and the registered parking candidate position in different modes. Control device.

[0121] According to (6), the user can easily distinguish between displayed unregistered parking candidate positions and registered parking candidate positions.

[0122] (7) A control device according to any one of (1) to (6), The parking control unit (parking control unit 58) further includes a parking control unit that performs parking control for parking the moving body at the parking position selected by the user. Control device.

[0123] According to (7), the mobile object can be parked in a parking position selected by the user.

[0124] (8) A control device according to any one of (1) to (7), The first detection process is a process of detecting the unregistered parking candidate position based on at least one of detection of a parking frame and detection of an empty parking space, The second detection process is a process of detecting the registered parking candidate position based on a comparison between feature points of the recognition data when the user previously registered the registered parking candidate position and feature points of the current recognition data. Control device.

[0125] According to (8), unregistered and registered parking candidate positions can be accurately detected.

[0126] (9) A control method for a mobile body control device, comprising: an external environment recognition unit that acquires recognition data of an external environment of a mobile body; a candidate parking position detection unit that detects candidate parking positions for the mobile body based on the recognition data; and a reception unit that receives a selection of a parking position for the mobile body from the candidate parking positions from a user of the mobile body, the control method comprising: The processor of the control device A first detection process for detecting unregistered parking candidate positions and a second detection process for detecting registered parking candidate positions are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; Control methods.

[0127] According to (9), it is possible to increase the moving speed at which the second detection process for detecting registered candidate parking positions is started (the second detection process is started while the moving body is moving), so that the second detection process can be started at an early stage when the vehicle is stopped. Therefore, the time from the completion of the second detection process until the result of the second detection process is notified can be shortened, and usability is improved.

[0128] (10) A control program for a control device of a mobile body, the control program comprising: an external environment recognition unit that acquires recognition data of an external environment of a mobile body; a candidate parking position detection unit that detects candidate parking positions of the mobile body based on the recognition data; and a reception unit that receives a selection of a parking position of the mobile body from the candidate parking positions from a user of the mobile body, A processor of the control device A first detection process for detecting unregistered parking candidate positions and a second detection process for detecting registered parking candidate positions are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; A control program for executing processing.

[0129] According to (10), since it is possible to increase the moving speed at which the second detection process for detecting registered candidate parking positions is started (the second detection process is started while the moving body is moving), the second detection process can be started at an early stage when the vehicle is stopped. Therefore, the time from the completion of the second detection process until the result of the second detection process is notified can be shortened, and usability is improved. [Explanation of symbols]

[0130] 10 Vehicles (moving objects) 52 Calculation unit (control device) 55 External world recognition part 56 Parking candidate position detection unit 57 Reception 58 Parking control unit

Claims

1. A control device for a moving object, An external environment recognition unit that acquires recognition data of the external environment of the moving body; a candidate parking position detection unit that detects candidate parking positions for the moving object based on the recognition data; a reception unit that receives a selection of a parking position of the mobile body from the parking candidate positions from a user of the mobile body, The parking candidate position detection unit A first detection process for detecting an unregistered parking candidate position and a second detection process for detecting a registered parking candidate position are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; Control device.

2. The control device according to claim 1 , The parking candidate position detection unit After starting the second detection process, the second detection process is stopped based on at least one of the fact that the moving speed has reached a predetermined speed or more and the fact that the moving distance of the moving object has reached a predetermined distance or more; restarting the first detection process based on the stop of the second detection process; Control device.

3. The control device according to claim 2, The parking candidate position detection unit stopping the first detection process based on the fact that the moving speed of the moving object becomes equal to or lower than a first speed while the moving object is moving; after starting the second detection process, stopping the second detection process based on the fact that the moving speed becomes equal to or higher than a second speed that is higher than the first speed; Control device.

4. The control device according to claim 2, The parking candidate position detection unit After restarting the first detection process, the first detection process is stopped based on the stop of the moving object; restarting the second detection process based on the stop of the first detection process; Control device.

5. The control device according to claim 1 , The reception unit is When the unregistered parking candidate position is detected based on the first detection process, the unregistered parking candidate position is displayed and a selection of the parking position is received from the user; When the registered parking candidate positions are detected based on the second detection process, the registered parking candidate positions are displayed and a selection of the parking position is received from the user. Control device.

6. The control device according to claim 5, When the unregistered parking candidate position is detected based on the first detection process and the registered parking candidate position is detected based on the second detection process, the reception unit displays the unregistered parking candidate position and the registered parking candidate position in different modes. Control device.

7. The control device according to claim 1 , A parking control unit that performs parking control to park the moving object at the parking position selected by the user is further provided. Control device.

8. The control device according to any one of claims 1 to 7, The first detection process is a process of detecting the unregistered parking candidate position based on at least one of detection of a parking frame and detection of an empty parking space, The second detection process is a process of detecting the registered parking candidate position based on a comparison between feature points of the recognition data when the user previously registered the registered parking candidate position and feature points of the current recognition data. Control device.

9. A control method for a mobile body using a control device comprising: an external environment recognition unit that acquires recognition data of an external environment of a mobile body; a parking candidate position detection unit that detects parking candidate positions of the mobile body based on the recognition data; and a reception unit that receives a selection of a parking position of the mobile body from the parking candidate positions from a user of the mobile body, The processor of the control device A first detection process for detecting an unregistered parking candidate position and a second detection process for detecting a registered parking candidate position are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; Control methods.

10. A control program for a control device of a mobile body, comprising: an external environment recognition unit that acquires recognition data of an external environment of a mobile body; a parking candidate position detection unit that detects parking candidate positions of the mobile body based on the recognition data; and a reception unit that receives a selection of a parking position of the mobile body from the parking candidate positions from a user of the mobile body, A processor of the control device A first detection process for detecting an unregistered parking candidate position and a second detection process for detecting a registered parking candidate position are executable; starting the first detection process based on an operation by the user; stopping the first detection process based on the fact that a moving speed of the moving object becomes equal to or lower than a predetermined speed while the moving object is moving; starting the second detection process based on the stop of the first detection process; A control program for executing processing.

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