Shipping Support Device

Abstract

An unloading assistance device according to an embodiment comprises: an obstacle detection unit (144) that detects an obstacle around a vehicle; a path calculation unit (145) that calculates, on the basis of the obstacle detection result, an unloading path the vehicle is to follow when being unloaded from a parking area; an operation detection unit (146) that detects a predetermined operation performed by the driver; and a control unit (147) that performs an unloading assistance control by executing at least a steering control on the basis of the unloading path to assist with the unloading of the vehicle from the parking area, and ends the unloading assistance control if the predetermined operation is detected by the operation detection unit (146) in a case in which the positional relationship between the vehicle and an obstacle satisfies a predetermined condition, the obstacle being one that the vehicle approaches before unloading is completed.

Description

Technical Field

[0001] Embodiments of the present invention relate to a shipping support device.

Background Art

[0002] Conventionally, there has been a technology for assisting the departure of a vehicle parked in a parking area. In this departure assistance technology, for example, a route is generated so as not to contact surrounding obstacles, and the vehicle is guided along the route. In addition, after the departure assistance is completed, control is transferred from the system to the driver. However, in consideration of safety, parking is a condition for the transfer of control.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when parking is set as a condition for the transfer of control, there is a problem that it takes time and convenience is impaired.

[0005] Therefore, the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a shipping support device that can ensure safety even when control is transferred from the system to the driver without parking.

Means for Solving the Problems

[0006] To solve the above problems, the departure assistance device according to the embodiment includes an obstacle detection unit that detects obstacles around the host vehicle, a route calculation unit that calculates a departure route, which is a route along which the host vehicle travels when departing from a parking area, based on the detection result of the obstacles by the obstacle detection unit, an operation detection unit that detects a predetermined operation performed by the driver, and a control unit that performs departure assistance control for assisting the departure of the host vehicle from the parking area by executing at least steering control based on the departure route, and that ends the departure assistance control when the predetermined operation is detected by the operation detection unit in a case where the positional relationship between the host vehicle and the obstacle approaching until the host vehicle completes departure satisfies a predetermined condition. According to the above configuration, when the positional relationship between the host vehicle and the obstacle satisfies a predetermined condition, by ending the departure assistance control when there is a predetermined operation by the driver, it is possible to ensure safety even when transferring control from the system to the driver without stopping.

[0007] Also, in the departure assistance device according to the embodiment, the predetermined condition is a case where the host vehicle has passed the position closest to the obstacle. According to the above configuration, as the predetermined condition, specifically, the content as described above can be adopted.

[0008] Also, in the departure assistance device according to the embodiment, the predetermined condition is a case where it is determined based on the departure route that the host vehicle is scheduled to pass while ensuring a clearance of a predetermined distance or more from the obstacle. According to the above configuration, as the predetermined condition, specifically, the content as described above can be adopted.

[0009] Also, in the departure assistance device according to the embodiment, the operation detection unit detects, as the predetermined operation, at least any one of an operation of the steering wheel, an operation of the brake, and an operation of the accelerator when the shift lever is in the drive mode. According to the above configuration, the departure assistance device can surely recognize that the driver wishes to transfer control by detecting these operations.

[0010] Further, in the vehicle departure support device of the embodiment, the predetermined operation is an operation in a direction that does not reduce the clearance from an obstacle. According to the above configuration, by making the condition that the clearance from the obstacle does not shrink, higher safety can be ensured.

[0011] Also, in the vehicle departure support device of the embodiment, in the case of parallel forward departure, when the control unit determines that the inner side surface of the rear wheel axle of the host vehicle has passed the position closest to another vehicle parked adjacent to the departure direction side of the host vehicle in the parking area as the obstacle, or when it is determined that the host vehicle is scheduled to pass with a clearance of at least the predetermined distance from the other vehicle based on the departure route, when the predetermined operation is detected by the operation detection unit, the departure support control is terminated. According to the above configuration, in the case of parallel forward departure, it is possible to surely avoid a situation of colliding with another vehicle parked adjacent to the departure direction side, and then terminate the departure support control and transfer the control to the driver.

[0012] Also, in the vehicle departure support device of the embodiment, in the case of parallel forward departure, when the control unit determines that the front end of the host vehicle has passed the position closest to the obstacle located at the back of the passage in front of the parking area, or when it is determined that the host vehicle is scheduled to pass with a clearance of at least the predetermined distance from the obstacle based on the departure route, when the predetermined operation is detected by the operation detection unit, the departure support control is terminated. According to the above configuration, in the case of parallel forward departure, it is possible to surely avoid a situation of colliding with an obstacle located at the back of the passage in front of the parking area, and then terminate the departure support control and transfer the control to the driver.

[0013] In the vehicle departure assistance device according to the embodiment, in the case of parallel reverse departure, when the front end of the host vehicle has passed the position closest to another vehicle parked adjacent to the host vehicle in the driving direction after departure in the parking area as the obstacle, or when it is determined based on the departure route that the host vehicle is scheduled to pass while securing a clearance of the predetermined distance or more from the other vehicle, when the predetermined operation is detected by the operation detection unit, the departure assistance control is terminated. According to the above configuration, in the case of parallel reverse departure, it is possible to surely avoid a situation of colliding with another vehicle parked adjacent to the host vehicle in the driving direction after departure, and then terminate the departure assistance control and transfer the control to the driver.

[0014] In the vehicle departure assistance device according to the embodiment, the device further includes an acquisition unit that acquires the steering angle from a steering angle sensor that detects the steering angle of the host vehicle. In the case of longitudinal departure, when the front end of the host vehicle has passed the position closest to another vehicle parked in front of the host vehicle in the parking area as the obstacle, or when it is determined based on the departure route and the steering angle that the host vehicle is scheduled to pass while securing a clearance of the predetermined distance or more from the other vehicle, when the predetermined operation is detected by the operation detection unit, the departure assistance control is terminated. According to the above configuration, in the case of longitudinal departure, it is possible to surely avoid a situation of colliding with another vehicle parked in front, and then terminate the departure assistance control and transfer the control to the driver.

Brief Description of the Drawings

[0015]

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DETAILED DESCRIPTION OF THE INVENTION

[0016] Exemplary embodiments of the present invention will be disclosed below. The configurations of the embodiments shown below, as well as the actions, results, and effects brought about by the configurations, are examples. The present invention can be realized by configurations other than those disclosed in the following embodiments, and it is possible to obtain at least one of various effects and derivative effects based on the basic configuration.

[0017] The vehicle 1 (own vehicle) of the present embodiment may be, for example, an automobile having an internal combustion engine (not shown) as a drive source, that is, an internal combustion engine automobile, or an automobile having an electric motor (not shown) as a drive source, that is, an electric vehicle, a fuel cell vehicle, or the like. Further, the vehicle 1 may be a hybrid vehicle having both of them as drive sources, or an automobile equipped with other drive sources. Further, the vehicle 1 can be equipped with various transmission devices, and can be equipped with various devices necessary for driving the internal combustion engine or the electric motor, such as systems and components. Further, the method, number, layout, etc. of the devices related to the drive of the wheels 3 in the vehicle 1 can be set variously.

[0018] FIG. 1 is an exemplary perspective view showing a state in which a part of the passenger compartment of the vehicle 1 according to the embodiment is seen through. FIG. 2 is an exemplary plan view (bird's-eye view) of the vehicle 1 according to the embodiment. As illustrated in FIG. 1, the vehicle body 2 constitutes a passenger compartment 2a in which an occupant (not shown) gets on. Inside the passenger compartment 2a, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a shift operation unit 7, etc. are provided in a state facing the driver's seat 2b as an occupant.

[0019] The steering unit 4 is, for example, a steering wheel protruding from the dashboard 24. The acceleration operation unit 5 is, for example, an accelerator pedal located under the driver's feet. The braking operation unit 6 is, for example, a brake pedal located under the driver's feet. The shift operation unit 7 is, for example, a shift lever protruding from the center console. Note that the steering unit 4, the acceleration operation unit 5, the braking operation unit 6, and the shift operation unit 7 are not limited to these.

[0020] Also, inside the passenger compartment 2a, a display device 8 as a display output unit and an audio output device 9 as an audio output unit are provided. The display device 8 is, for example, an LCD (liquid crystal display), an OELD (organic electroluminescent display), or the like. The audio output device 9 is, for example, a speaker. Also, the display device 8 is covered with a transparent operation input unit 10 such as a touch panel. The occupant can visually recognize an image displayed on the display screen of the display device 8 through the operation input unit 10. Also, the occupant can execute an operation input by touching, pressing, or moving the operation input unit 10 with a finger or the like at a position corresponding to the image displayed on the display screen of the display device 8.

[0021] These display device 8, audio output device 9, operation input unit 10, etc. are provided, for example, in a monitor device 11 located at the center in the vehicle width direction, that is, the left - right direction, of the dashboard 24. The monitor device 11 can have operation input parts (not shown) such as switches, dials, joysticks, push buttons, etc. Also, an audio output device (not shown) can be provided at another position in the passenger compartment 2a different from the monitor device 11, and audio can be output from the audio output device 9 of the monitor device 11 and the other audio output device. Note that the monitor device 11 can be shared with, for example, a navigation system or an audio system. Also, in the passenger compartment 2a, a display device 12 different from the display device 8 is provided.

[0022] FIG. 3 is a view when an example of the dashboard of the vehicle 1 of the embodiment is seen from the rear of the vehicle. As illustrated in FIG. 3, the display device 12 is provided, for example, in the instrument panel part 25 of the dashboard 24, and is located between the speed display part 25a and the revolution number display part 25b at approximately the center of the instrument panel part 25. The size of the screen 12a of the display device 12 is smaller than the size of the screen 8a of the display device 8. An image mainly showing information related to the delivery support of the vehicle 1 can be displayed on this display device 12. The amount of information displayed on the display device 12 may be less than the amount of information displayed on the display device 8. The display device 12 is, for example, an LCD, an OELD, etc. Note that the information displayed on the display device 12 may be displayed on the display device 8.

[0023] Also, as illustrated in FIGS. 1 and 2, the vehicle 1 is, for example, a four - wheel automobile and has two left - right front wheels 3F and two left - right rear wheels 3R. All of these four wheels 3 can be configured to be steerable.

[0024] FIG. 4 is an exemplary block diagram of the configuration of the delivery support system 100 of the embodiment. As illustrated in FIG. 4, the vehicle 1 has a steering system 13 that steers at least two wheels 3. The steering system 13 has an actuator 13a and a torque sensor 13b. The steering system 13 is electrically controlled by an ECU 14 (electronic control unit) or the like to operate the actuator 13a. The steering system 13 is, for example, an electric power steering system, an SBW (steer by wire) system, or the like.

[0025] The steering system 13 adds torque, i.e., assist torque, to the steering unit 4 by the actuator 13a to supplement the steering force, or steers the wheels 3 by the actuator 13a. In this case, the actuator 13a may steer one wheel 3 or a plurality of wheels 3. Further, the torque sensor 13b detects, for example, the torque applied by the driver to the steering unit 4.

[0026] Also, as illustrated in FIG. 2, the vehicle body 2 is provided with a plurality of imaging units 15, for example, four imaging units 15a to 15d. The imaging unit 15 is, for example, a digital camera incorporating an imaging device such as a CCD (charge coupled device) or a CIS (CMOS image sensor). The imaging unit 15 can output moving image data at a predetermined frame rate. Each of the imaging units 15 has a wide-angle lens or a fish-eye lens and can photograph, for example, a range of 140° to 190° in the horizontal direction. Also, the optical axis of the imaging unit 15 is set to be directed obliquely downward. Therefore, the imaging unit 15 sequentially photographs the external environment around the vehicle body 2 including the road surface on which the vehicle 1 can move and the area where the vehicle 1 can park, and outputs it as imaging image data.

[0027] The imaging unit 15a is located, for example, at the rear end 2e of the vehicle body 2 and is provided on the wall portion below the door 2h of the rear trunk. The imaging unit 15b is located, for example, at the right end 2f of the vehicle body 2 and is provided on the right door mirror 2g. The imaging unit 15c is located, for example, at the front side of the vehicle body 2, that is, at the front end 2c in the vehicle longitudinal direction, and is provided on the front bumper or the like. The imaging unit 15d is located, for example, on the left side of the vehicle body 2, that is, at the left end 2d in the vehicle width direction, and is provided on the door mirror 2g as a left protruding portion. The ECU 14 can execute arithmetic processing and image processing based on the image data obtained by the plurality of imaging units 15, generate an image with a wider viewing angle, or generate a virtual bird's-eye view image of the vehicle 1 seen from above. Note that the bird's-eye view image can also be referred to as a planar image.

[0028] Further, the ECU 14 identifies lane lines or the like shown on the road surface around the vehicle 1 from the images of the imaging unit 15, and detects (extracts) parking sections shown by the lane lines or the like.

[0029] Also, as illustrated in FIGS. 1 and 2, the vehicle body 2 is provided with, for example, four distance measuring units 16a to 16d and eight distance measuring units 17a to 17h as a plurality of distance measuring units 16 and 17. The distance measuring units 16 and 17 are, for example, sonars that emit ultrasonic waves and capture the reflected waves. The sonar can also be referred to as a sonar sensor or an ultrasonic detector. The ECU 14 can measure the presence or absence of an object such as an obstacle located around the vehicle 1 and the distance to the object based on the detection results of the distance measuring units 16 and 17. That is, the distance measuring units 16 and 17 are an example of a detection unit that detects an object (obstacle). Note that the distance measuring unit 17 is used, for example, for detecting relatively close objects, and the distance measuring unit 16 can be used, for example, for detecting relatively long-distance objects farther than the distance measuring unit 17. Also, the distance measuring unit 17 is used, for example, for detecting objects in front of and behind the vehicle 1, and the distance measuring unit 16 can be used for detecting objects on the side of the vehicle 1.

[0030] Further, as illustrated in FIG. 4, in the shipping support system 100, in addition to the ECU 14, the monitor device 11, the steering system 13, the distance measuring units 16 and 17, etc., a brake system 18, a steering angle sensor 19, an accelerator sensor 20, a shift sensor 21, a wheel speed sensor 22, etc. are electrically connected via an in-vehicle network 23 as an electric communication line.

[0031] The in-vehicle network 23 is configured as, for example, a CAN (controller area network). The ECU 14 can control the steering system 13, the brake system 18, etc. by sending control signals through the in-vehicle network 23. Further, the ECU 14 can receive detection results of the torque sensor 13b, the brake sensor 18b, the steering angle sensor 19, the distance measuring units 16, the distance measuring unit 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, etc., and operation signals of the operation input unit 10, etc. via the in-vehicle network 23.

[0032] The ECU 14 has, for example, a CPU 14a (central processing unit), a ROM 14b (read only memory), a RAM 14c (random access memory), a display control unit 14d, an audio control unit 14e, an SSD 14f (solid state drive, flash memory), etc. The CPU 14a can execute various arithmetic processes and controls, such as image processing related to the images displayed on the display devices 8 and 12, calculation of the moving target position of the vehicle 1, calculation of the moving route of the vehicle 1, determination of the presence or absence of interference with an object (obstacle), automatic control of the vehicle 1, and cancellation of automatic control.

[0033] The CPU 14a can read out a program installed and stored in a non-volatile storage device such as the ROM 14b and execute arithmetic processing according to the program. The RAM 14c temporarily stores various data used in the arithmetic operations by the CPU 14a. Further, the display control unit 14d mainly executes image processing using the image data obtained by the imaging unit 15 and synthesis of the image data displayed on the display device 8, etc. in the arithmetic processing by the ECU 14.

[0034] Also, the voice control unit 14e mainly executes the processing of the voice data output by the voice output device 9 among the arithmetic processes in the ECU 14. Further, the SSD 14f is a rewritable non-volatile storage unit and can store data even when the power of the ECU 14 is turned off. Note that the CPU 14a, the ROM 14b, the RAM 14c, etc. can be integrated in the same package. Also, the ECU 14 may be configured such that another logical operation processor such as a DSP (digital signal processor) or a logical circuit is used instead of the CPU 14a. Also, an HDD (hard disk drive) may be provided instead of the SSD 14f, or the SSD 14f and the HDD may be provided separately from the ECU 14.

[0035] The brake system 18 is, for example, an ABS (anti-lock brake system) that suppresses brake lock, an ESC (electronic stability control) that suppresses the skidding of the vehicle 1 during cornering, an electric brake system that enhances the braking force (executes brake assist), a BBW (brake by wire), etc. The brake system 18 applies a braking force to the wheels 3 and thus to the vehicle 1 via the actuator 18a. Also, the brake system 18 can detect signs of brake lock, wheel spin, skidding, etc. from the rotational difference between the left and right wheels 3 and execute various controls. The brake sensor 18b is, for example, a sensor that detects the position of the movable part of the braking operation unit 6. The brake sensor 18b can detect the position of the brake pedal as the movable part of the braking operation unit 6. The brake sensor 18b includes a displacement sensor.

[0036] The rudder angle sensor 19 is a sensor that detects the amount of steering (steering angle) of the steering unit 4 such as a steering wheel, for example. The rudder angle sensor 19 is configured using, for example, a Hall element or the like. The ECU 14 acquires the amount of steering of the steering unit 4 by the driver and the amount of steering of each wheel 3 during automatic steering from the rudder angle sensor 19 and executes various controls. Note that the rudder angle sensor 19 detects the rotation angle of the rotating part included in the steering unit 4.

[0037] The accelerator sensor 20 is a sensor that detects the position of the movable part of the acceleration operation unit 5, for example. The accelerator sensor 20 can detect the position of the accelerator pedal as the movable part. The accelerator sensor 20 includes a displacement sensor.

[0038] The shift sensor 21 is a sensor that detects the position of the movable part of the shift operation unit 7, for example. The shift sensor 21 can detect the positions of the lever, arm, button, etc. as the movable part of the shift operation unit 7. The shift sensor 21 may include a displacement sensor or may be configured as a switch.

[0039] The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 or the number of rotations per unit time. The wheel speed sensor 22 outputs the number of wheel speed pulses indicating the detected number of rotations as a sensor value. The wheel speed sensor 22 can be configured using, for example, a Hall element or the like. The ECU 14 calculates the amount of movement of the vehicle 1 based on the sensor value acquired from the wheel speed sensor 22 and executes various controls. Note that the wheel speed sensor 22 may be provided in the brake system 18. In that case, the ECU 14 acquires the detection result of the wheel speed sensor 22 via the brake system 18.

[0040] Note that the configurations, arrangements, electrical connection forms, etc. of the various sensors and actuators described above are examples and can be set (changed) in various ways.

[0041] In this embodiment, the ECU 14 realizes at least part of the functions as a shipping support device by the cooperation of hardware and software (control program). FIG. 5 is an exemplary block diagram of the configuration of the ECU 14 of the shipping support system 100 according to the embodiment.

[0042] As shown in FIG. 5, the ECU 14 functions as an acquisition unit 141, a host vehicle position calculation unit 142, a target position calculation unit 143, an obstacle detection unit 144, a route calculation unit 145, an operation detection unit 146, a control unit 147, and a storage unit 1400.

[0043] The storage unit 1400 stores various data (operation programs, various parameters, various calculation results, etc.).

[0044] The acquisition unit 141 acquires information from various sensors and the like. The acquisition unit 141 acquires, for example, a captured image from the imaging unit 15 or steering angle information from the steering angle sensor 19.

[0045] The host vehicle position calculation unit 142 calculates the current position (host vehicle position) of the vehicle 1. The host vehicle position calculation unit 142 calculates the current position (host vehicle position) of the vehicle 1 on a coordinate system defined by a three-dimensional image, for example, based on the captured image by the imaging unit 15.

[0046] The target position calculation unit 143 calculates the movement target position of the vehicle 1. When parking support control is performed, the movement target position is the parking target position. When shipping support control is performed, the movement target position is the shipping target position.

[0047] The obstacle detection unit 144 detects obstacles around the vehicle 1. The obstacle detection unit 144 detects obstacles such as other vehicles, walls, and pillars based on, for example, the captured image by the imaging unit 15 or the distance measurement results by the distance measurement units 16 and 17.

[0048] The route calculation unit 145 calculates a shipping route, which is the route that the vehicle 1 travels when leaving the parking area, based on the detection result of the obstacle by the obstacle detection unit 144.

[0049] The operation detection unit 146 detects a predetermined operation that has been performed by the driver and that is a condition for ending the departure assistance. As the predetermined operation, the operation detection unit 146 detects, for example, at least any one of an operation of the steering wheel, an operation of the brake, and an operation of the accelerator when the shift lever is in the drive mode. Note that the predetermined operation may be an operation in a direction that does not reduce the clearance from an obstacle. For example, in the case of an operation of the steering wheel, the operation direction of the steering wheel may be limited to a direction for avoiding an obstacle.

[0050] The control unit 147 executes various controls related to the vehicle 1. The control unit 147 performs, for example, a departure assistance control that executes at least a steering control based on a departure route to assist the departure of the vehicle 1 from the parking area.

[0051] Further, when the control unit 147 determines that the positional relationship between the vehicle 1 and an obstacle that the vehicle 1 approaches before the completion of the departure satisfies a predetermined condition, and a predetermined operation is detected by the operation detection unit 146, the control unit 147 ends the departure assistance control. As the predetermined condition, for example, the following (1) and (2) can be considered. (1) When the vehicle 1 has passed the position closest to the obstacle (hereinafter, also referred to as "satisfying the closest approach condition", etc.). (2) When it is determined that the vehicle 1 is scheduled to pass while securing a clearance of a predetermined distance or more from the obstacle based on the departure route (hereinafter, also referred to as "satisfying the clearance condition", etc.). However, the predetermined condition is not limited to these. When there are a plurality of obstacles that the vehicle 1 approaches before the completion of the departure, it is necessary that one of the closest approach condition and the clearance condition is satisfied for all the obstacles.

[0052] Here, FIG. 6 is an explanatory diagram of the outline of the embodiment. In FIG. 6, the case of parallel forward departure is taken as an example. In FIG. 6(a), the vehicle 1 is parked between the other vehicle 80 and the other vehicle 90 in the parking area. From this state, the departure assistance control of the vehicle 1 is started.

[0053] In Fig. 6(b), the vehicle 1 is in the middle of the departure assistance control. Also, the position of the vehicle 1 in Fig. 6(c) is the completion position of the conventional departure assistance control. Conventionally, the vehicle 1 was stopped at the position in Fig. 6(c), the departure assistance control was completed, and the control was transferred from the system to the driver. However, if stopping is made a condition for the transfer of control, there is a problem that it takes time and convenience is impaired.

[0054] Even at the position of the vehicle 1 in Fig. 6(b), if safety is ensured, there is no problem in transferring the control from the system to the driver. Also, at that time, it is not necessary to stop the vehicle 1. Therefore, as described above, after either the closest condition or the clearance condition is satisfied and the driver performs a predetermined operation, the control is transferred from the system to the driver without stopping the vehicle 1. Details will be described below.

[0055] Fig. 7 is an explanatory diagram of an example of parallel forward departure in the embodiment. The departure assistance system 100 of the vehicle 1 starts the departure assistance control at the assistance start position SP. Point P1 is the inner side surface of the turning of the rear axle of the vehicle 1. When the vehicle 1 moves forward and passes the position where point P1 is closest to the other vehicle 90, it can be said that safety is ensured in the relationship between the vehicle 1 and the other vehicle 90. Also, even before that, if it is determined that the vehicle 1 (point P1) is scheduled to pass while securing a clearance of a predetermined distance or more from the other vehicle 90, it can be said that safety is ensured in the relationship between the vehicle 1 and the other vehicle 90.

[0056] Therefore, in the case of parallel forward departure, when the inner side surface of the turning of the rear axle of the vehicle 1 passes the position closest to the other vehicle 90 parked adjacent to the departure direction side of the vehicle 1 in the parking area as an obstacle, or when it is determined that the vehicle 1 is scheduled to pass while securing a clearance of a predetermined distance or more from the other vehicle 90 based on the departure route, and a predetermined operation is detected by the operation detection unit 146, the departure assistance control is terminated.

[0057] Further, point P2 is a portion near the left end of the front end of vehicle 1. When vehicle 1 moves forward and passes the position where point P2 is closest to obstacle OB (point T on the locus TR of point P2), it can be said that the safety of vehicle 1 is ensured in relation to obstacle OB. Also, even before that, if it is determined that vehicle 1 (point P2) is scheduled to pass while ensuring a clearance of a predetermined distance or more from obstacle OB, it can be said that the safety of vehicle 1 is ensured in relation to obstacle OB.

[0058] Therefore, in the case of parallel forward exit from the warehouse, when the front end of vehicle 1 passes the position where it is closest to obstacle OB located at the back of the passage in front of the parking area, or when it is determined based on the exit route that vehicle 1 is scheduled to pass while ensuring a clearance of a predetermined distance or more from obstacle OB, and a predetermined operation is detected by operation detection unit 146, the control unit 147 ends the exit support control.

[0059] FIG. 8 is an explanatory diagram of an example of parallel backward exit from the warehouse in the embodiment. The exit support system 100 of vehicle 1 starts the exit support control at the support start position SP. Point P3 is a portion near the right end of the front end of vehicle 1. When vehicle 1 once moves backward to the side of another vehicle 80 and then moves forward and passes the position where point P3 is closest to another vehicle 90, it can be said that the safety of vehicle 1 is ensured in relation to another vehicle 90. Also, even before that, if it is determined that vehicle 1 (point P3) is scheduled to pass while ensuring a clearance of a predetermined distance or more from another vehicle 90, it can be said that the safety of vehicle 1 is ensured in relation to another vehicle 90.

[0060] Therefore, in the case of parallel backward exit from the warehouse, when the front end of vehicle 1 passes the position where it is closest to another vehicle 90 parked adjacent to the traveling direction side after the exit of vehicle 1 in the parking area as an obstacle, or when it is determined based on the exit route that vehicle 1 is scheduled to pass while ensuring a clearance of a predetermined distance or more from another vehicle 90, and a predetermined operation is detected by operation detection unit 146, the control unit 147 ends the exit support control.

[0061] FIG. 9 is an explanatory diagram of an example of vertical storage retrieval. When the vehicle 1 moves forward and passes the position where point P2 is closest to the other vehicle 80, it can be said that the safety of the vehicle 1 is ensured in relation to the other vehicle 80. Also, even before that, if it is determined that the vehicle 1 (point P2) is scheduled to pass while ensuring a clearance of a predetermined distance or more from the other vehicle 80, it can be said that the safety of the vehicle 1 is ensured in relation to the other vehicle 80.

[0062] Therefore, in the case of vertical storage retrieval, when the front end of the vehicle 1 passes the position closest to the other vehicle 80 parked in front of the vehicle 1 in the parking area, which is an obstacle, or when it is determined based on the retrieval route and the steering angle that the vehicle 1 is scheduled to pass while ensuring a clearance of a predetermined distance or more from the other vehicle 80, and a predetermined operation is detected by the operation detection unit 146, the control unit 147 ends the retrieval support control.

[0063] Next, with reference to FIG. 10, an example of the processing by the retrieval support system 100 of the embodiment will be described. FIG. 10 is a flowchart showing an example of the processing by the retrieval support system 100 of the embodiment. It should be noted that when performing this series of processes, the acquisition of the captured image from the imaging unit 15 by the acquisition unit 141, the calculation of the current position of the vehicle 1 by the own vehicle position calculation unit 142, the detection of obstacles by the obstacle detection unit 144, etc. are appropriately performed.

[0064] First, in step S1, the control unit 147 determines whether to start the retrieval support. If Yes, it proceeds to step S2, and if No, it returns to step S1. For example, when the driver performs a retrieval support start operation using the operation input unit 10, the control unit 147 starts the retrieval support.

[0065] The departure support is executed, for example, in the automatic steering mode. In the automatic steering mode, the driver does not need to operate the steering unit 4, specifically, the operation of the steering wheel. Also, the forward driving force and the reverse driving force of the vehicle 1 are realized, for example, by utilizing the creeping in which the driving force of the engine is transmitted without the driver performing an operation of stepping on the accelerator pedal which is an operation of the acceleration operation unit 5. Therefore, the driver only needs to operate the brake pedal as the braking operation unit 6 and the shift lever as the shift operation unit 7 according to the display on the display device 12.

[0066] Note that the departure support is not limited to the automatic steering mode and may be executed in other modes such as a fully automatic mode that also performs acceleration and deceleration control.

[0067] In step S2, the target position calculation unit 143 calculates the moving target position (departure target position) of the vehicle 1.

[0068] Next, in step S3, the route calculation unit 145 calculates the departure route based on the detection result of the obstacle by the obstacle detection unit 144.

[0069] Next, in step S4, the control unit 147 performs departure support control.

[0070] Next, in step S5, the control unit 147 determines whether the vehicle 1 (own vehicle) is expected to pass while securing a clearance of a predetermined distance or more from the obstacle. If Yes, it proceeds to step S7. If No, it proceeds to step S6.

[0071] In step S6, the control unit 147 determines whether the vehicle 1 (own vehicle) has passed the position closest to the obstacle. If Yes, it proceeds to step S7. If No, it returns to step S5.

[0072] In step S7, the operation detection unit 146 determines whether or not a predetermined operation by the driver (for example, an operation of the steering wheel when the shift lever is in the drive mode) has been detected. If Yes, the process proceeds to step S8; if No, the process returns to step S5.

[0073] In step S8, the control unit 147 ends the warehousing support control.

[0074] Next, in step S9, the control unit 147 transfers the control from the warehousing support system 100 to the driver.

[0075] (Modification Example 1) Next, Modification Example 1 will be described. When performing the warehousing support control of the vehicle 1, even when there is no obstacle, a virtual obstacle may be set and the same processing as when there is an obstacle may be executed. By doing so, for example, it is possible to avoid a situation where a large difference occurs in the timing of transferring control after completion of the warehousing support control depending on whether there is an obstacle or not, which gives the driver a sense of discomfort.

[0076] (Modification Example 2) Next, Modification Example 2 will be described. The warehousing support control may be completed when either the above-described completion condition of the warehousing support control or the completion condition of the conventional warehousing support control is satisfied.

[0077] As described above, according to the warehousing support system 100 of the present embodiment, regarding an obstacle that the host vehicle approaches until the warehousing is completed, when the positional relationship between the host vehicle and the obstacle satisfies a predetermined condition, if there is a predetermined operation by the driver, the warehousing support control is ended, so that safety can be ensured even when the control is transferred to the driver without stopping. In particular, convenience is greatly improved for a driver who is accustomed to driving.

[0078] Also, specifically, the above-described closest condition, clearance condition, etc. can be adopted as the predetermined condition.

[0079] In addition, the shipping support system 100 can surely recognize that the driver wishes to transfer control by detecting at least one of the operations of the steering wheel, the brake, and the accelerator when the shift lever is in the drive mode as a predetermined operation.

[0080] Also, for example, by setting the predetermined operation to an operation in a direction that does not reduce the clearance from an obstacle, safety can be further ensured.

[0081] Also, as described with reference to FIG. 7, in the case of parallel forward shipping, after surely avoiding a situation of colliding with another vehicle 90 parked next to the shipping direction side, the shipping support control can be terminated and the control can be transferred to the driver.

[0082] Also, as described with reference to FIG. 7, in the case of parallel forward shipping, after surely avoiding a situation of colliding with an obstacle OB located at the back of the passage in front of the parking area, the shipping support control can be terminated and the control can be transferred to the driver.

[0083] Also, as described with reference to FIG. 8, in the case of parallel reverse shipping, after surely avoiding a situation of colliding with another vehicle 90 parked next to the traveling direction side after shipping, the shipping support control can be terminated and the control can be transferred to the driver.

[0084] Also, as described with reference to FIG. 9, in the case of vertical shipping, after surely avoiding a situation of colliding with another vehicle 80 parked in front, the shipping support control can be terminated and the control can be transferred to the driver.

[0085] Although the embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and its equivalent scope.

[0086] For example, it is possible that the completion conditions of the shipping support control are already satisfied before the start of the movement of vehicle 1 after the start of the shipping support. However, since completing the shipping support control before the start of the movement of vehicle 1 may give the driver a sense of discomfort, the completion of the shipping support control may be restricted to after the start of the movement of vehicle 1.

[0087] Also, when determining whether vehicle 1 is closest to an obstacle, the angle (direction) of the passage in front of the parking area may be used as a reference. By doing so, more accurate judgment can be made, especially in the case of a diagonal parking lot or the like.

Description of Reference Numerals

[0088] 1... Vehicle, 4... Steering unit, 5... Acceleration operation unit, 6... Braking operation unit, 7... Transmission operation unit, 14... ECU, 100... Shipping support system, 141... Acquisition unit, 142... Own vehicle position calculation unit, 143... Target position calculation unit, 144... Obstacle detection unit, 145... Route calculation unit, 146... Operation detection unit, 147... Control unit, 1400... Storage unit.

Claims

1. An obstacle detection unit that detects obstacles around the vehicle; A path calculation unit that calculates a departure path, which is a path along which the vehicle travels when leaving a parking area, based on the detection result of the obstacle by the obstacle detection unit; An operation detection unit that detects a predetermined operation performed by a driver; Performs departure support control for assisting the departure of the vehicle from the parking area by executing at least steering control based on the departure path, and A control unit that ends the departure support control when the predetermined operation is detected by the operation detection unit when the positional relationship between the vehicle and the obstacle satisfies a predetermined condition with respect to the obstacle that the vehicle approaches before the departure is completed; Comprising The predetermined condition is a case where the vehicle has passed the position closest to the obstacle, The control unit determines whether the vehicle has reached the closest position to the obstacle with reference to the angle of the passage in front of the parking area. A departure support device.

2. The operation detection unit detects, as the predetermined operation, at least any one of an operation of the steering wheel when the shift lever is in the drive mode, an operation of the brake, and an operation of the accelerator. The departure support device according to claim 1.

3. The predetermined operation is an operation in a direction that does not reduce the clearance from the obstacle. The departure support device according to claim 2.

4. In the case of parallel forward departure, When the control unit determines that the inner side surface of the turning of the rear axle of the vehicle has passed the position closest to another vehicle parked adjacent to the departure direction side of the vehicle in the parking area as the obstacle, and the predetermined operation is detected by the operation detection unit, the departure support control is terminated. The departure support device according to claim 1.

5. In the case of parallel forward departure, When the control unit determines that the front end of the vehicle has passed the position closest to the obstacle located at the back of the passage in front of the parking area, and the predetermined operation is detected by the operation detection unit, the departure support control is terminated. The departure support device according to claim 1.

6. In the case of parallel reverse departure, When the control unit determines that the front end of the vehicle has passed the position closest to another vehicle parked adjacent to the traveling direction side after the departure of the vehicle in the parking area as the obstacle, and the predetermined operation is detected by the operation detection unit, the departure support control is terminated. The departure support device according to claim 1.

7. The apparatus further includes an acquisition unit configured to acquire the steering angle from a steering angle sensor that detects the steering angle of the host vehicle. In the case of vertical storage The control unit according to claim 1, wherein when the front end of the host vehicle passes a position closest to another vehicle parked in front of the host vehicle in the parking area as the obstacle, and the predetermined operation is detected by the operation detection unit, the control unit ends the storage support control.

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