Mobile body control device, mobile body control method, and mobile body control program

Abstract

To provide a movable body control device which can continuously perform automatic parking at a specified parking position even when characteristic points of an external field of the movable body are changed.SOLUTION: A movable body control device comprises: cameras 12Fr, 12Rr, 12L, 12R which acquire recognition data of an external field of a vehicle 10; a touch panel 42 which receives specification of a prescribed parking position from a user of the vehicle 10; and an automatic parking control part 55 which performs an automatic parking control that makes the vehicle 10 park at the prescribed position based on the recognition data of the external field and the prescribed parking position and registers the prescribed parking position as a specified parking position. The automatic parking control part 55 registers characteristic points about the specified parking position based on the recognition data of the external field as registered characteristic points, perform the automatic parking control to park the vehicle 10 at the specified parking position based on the recognition data of the external field and the registered characteristic points, and updates the registered characteristic points based on a coincidence rate between the characteristic points based on the recognition data of the external field at the time of executing the automatic parking control and the registered characteristic points.SELECTED DRAWING: Figure 11

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants have become more active. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] Conventionally, automatic parking control has been known that automatically moves and parks a vehicle in a designated parking space. Patent Document 1 describes a parking assistance device that performs manual parking, in which a user manually drives the vehicle and parks it in a designated parking space, acquires feature point information around the vehicle during manual parking and stores it in memory, and performs automatic parking control based on the feature point information. This will ultimately contribute to the development of sustainable transportation systems. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-117128 Summary of the Invention [Problem to be solved by the invention]

[0005] Even when parking a vehicle in the same parking space, differences may occur in the acquired feature point information about the vehicle's surroundings, for example, due to changes in seasons or the passage of time. Therefore, if a mismatch occurs between the feature point information stored in memory and the feature point information available at the time of the next automatic parking execution, the target parking space may not be recognized based on the feature point information, and automatic parking control may not be possible. However, Patent Document 1 does not describe how to control the vehicle when the feature point information changes due to changes in seasons or the passage of time. Therefore, the prior art leaves room for improvement in this regard.

[0006] The present invention aims to provide a mobile body control device, a mobile body control method, and a mobile body control program that are capable of continuously automatically parking a mobile body at a designated parking position even if characteristic points of the mobile body's external environment change. [Means for solving the problem]

[0007] The present invention provides an external environment recognition unit that acquires recognition data of the external environment of the moving object; a reception unit that receives a designation of a predetermined parking position from a user of the mobile body; a control unit that performs automatic parking control to park the mobile body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registers the predetermined parking position as a designated parking position, The control unit registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; The registered feature points are updated in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is executed. stomach , If the matching rate is equal to or greater than a first threshold, the registered feature points are not updated, and if the matching rate is less than the first threshold, the registered feature points are updated. It is a mobile object control device.

[0008] The present invention provides A processor of the mobile control device Acquires recognition data of the external world of the moving object, Accepting a designation of a predetermined parking position from a user of the mobile body; performing automatic parking control for parking the mobile body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registering the predetermined parking position as a designated parking position; registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; The registered feature points are updated in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is executed. stomach , If the matching rate is equal to or greater than a first threshold, the registered feature points are not updated, and if the matching rate is less than the first threshold, the registered feature points are updated. A mobile object control method.

[0009] The present invention provides A processor of the mobile control device Acquires recognition data of the external world of the moving object, Accepting a designation of a predetermined parking position from a user of the mobile body; performing automatic parking control for parking the mobile body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registering the predetermined parking position as a designated parking position; registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; The registered feature points are updated in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is executed. stomach , If the matching rate is equal to or greater than a first threshold, the registered feature points are not updated, and if the matching rate is less than the first threshold, the registered feature points are updated. This is a mobile object control program for executing the process. [Effects of the Invention]

[0010] According to the mobile body control device, mobile body control method, and mobile body control program of the present invention, even if the characteristic points of the external environment of the mobile body change, it is possible to continuously automatically park the mobile body at a designated parking position. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view showing an example of a vehicle equipped with a mobile object control device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle shown in FIG. [Figure 3] FIG. 2 is a block diagram showing the internal configuration of the vehicle shown in FIG. [Figure 4] FIG. 10 is a diagram showing an example of an image displayed on the navigation device when the vehicle is automatically parked. [Figure 5] 10 is a flowchart showing an automatic parking control for parking a vehicle at a new parking position. [Figure 6] FIG. 10 is a diagram showing a parking position set on an overhead image generated based on an image captured by a camera. [Figure 7] FIG. 7 is a diagram showing characteristic points in the vicinity of the parking position shown in FIG. 6. [Figure 8] FIG. 10 is a diagram illustrating an example of a feature point map registered for a parking position. [Figure 9] FIG. 10 is a diagram showing the change in appearance of an object over time and the matching rate of feature points of the object. [Figure 10] 10 is a flowchart illustrating an example of a feature point map update process during automatic parking control. [Figure 11] FIG. 10 is a diagram illustrating the relationship between the matching rate of external feature points and updates. [Figure 12] FIG. 10 is a diagram showing a match rate of feature points maintained by automatic updating of registered feature points. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of a mobile object control device, a mobile object control method, and a mobile object control program according to the present invention will be described with reference to the accompanying drawings. The drawings are to be viewed in accordance with the directions of the reference numerals. For simplicity and clarity of explanation, the front-rear, left-right, and up-down directions in this specification and the like are described according to the directions as seen by the driver of the vehicle 10 shown in Figures 1 and 2. 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 top as U, and the bottom as D.

[0013] <Vehicle 10 equipped with the mobile body control device of the present invention> Fig. 1 is a side view of a vehicle 10 equipped with a mobile object 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 mobile object 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 all four wheels, including a pair of left and right front wheels and rear wheels. Both the front wheels and the rear wheels may be steerable wheels, or either one of them may be steerable wheels.

[0015] The vehicle 10 further includes side mirrors 11L and 11R. The side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front doors of the vehicle 10 to enable the driver to check what is behind and to the rear sides. The side mirrors 11L and 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 this 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 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. The front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R are examples of an external environment recognition unit of the present invention.

[0017] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of vehicle 10 shown in Fig. 1. As shown in Fig. 3, 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. Vehicle 10 also has a driving force control system 26 and a braking force control system 28. The sensor group 16, navigation device 18, and control ECU 20 constitute an example of a mobile object control device of the present invention.

[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 and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0019] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the periphery of the vehicle 10 to obtain recognition data (e.g., peripheral images) for recognizing the external environment of the vehicle 10. The peripheral images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and 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 also be referred to as a side image.

[0020] The front sonar group 32a, rear sonar group 32b, left side sonar group 32c, and right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The front sonar group 32a includes, for example, four sonars. The sonars that make up the front sonar group 32a are provided diagonally forward left, front left, front right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars that make up the rear sonar group 32b are provided diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars that make up the left side sonar group 32c are provided respectively on the front left side and rear left side of the vehicle 10. The right side sonar group 32d includes, for example, two sonars. The sonars that make up 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 angles of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured as angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse each time the wheel rotates a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the wheel rotation angle and wheel rotation speed. The travel distance of the vehicle 10 is calculated based on the wheel rotation angle. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

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

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

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

[0026] The touch panel 42 is configured to allow various commands to be input to the control ECU 20. For example, a user can input commands related to parking assistance for the vehicle 10 via the touch panel 42. The touch panel 42 is also configured to display various screens related to the control details of the control ECU 20. For example, the touch panel 42 displays a screen related to parking assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10. The parking assistance button includes an automatic parking button for requesting parking using automatic steering by the control ECU 20, and a parking assistance button for requesting assistance when parking using driver operation. Note that components other than the touch panel 42, such as a smartphone, may be used as the input device or display device. The touch panel 42 (navigation device 18) and the smartphone are examples of a reception unit of the present invention.

[0027] Note that "parking" is synonymous with "parking," for example. For example, "parking" refers to a stop that involves passengers getting in and out of the vehicle, and does not include temporary stops at traffic signals, etc. Also, a "parking position" refers to a position where a mobile object is stopped, i.e., a parking position.

[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 to and from each unit connected to the control ECU 20 via the input / output unit 50.

[0029] The calculation unit 52 has an automatic parking control unit 55 for controlling automatic parking of the vehicle 10. The automatic parking control unit 55 is an example of a control unit of the present invention. The automatic parking control unit 55 performs parking assistance for the vehicle 10 by automatic steering, which automatically operates the steering wheel 110 under the control of the automatic parking control unit 55. With the assistance of automatic steering, the operation of the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 is performed automatically. In addition, the automatic parking control unit 55 provides auxiliary assistance when the driver operates the accelerator pedal, brake pedal, and operation input unit 14 to manually park the vehicle 10.

[0030] For example, the automatic parking control unit 55 controls automatic parking to park the vehicle 10 in a specified parking position based on the recognition data of the outside world 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 specified parking position specified by the user.

[0031] Furthermore, the automatic parking control unit 55 registers a predetermined parking position designated by the user as a designated parking position in the memory unit 54. The automatic parking control unit 55 registers feature points related to the designated parking position as registered feature points in the memory unit 54 based on recognition data of the outside world 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 automatic parking control unit 55 controls automatic parking to park the vehicle 10 at the designated parking position based on the recognition data of the outside world of the vehicle 10 and the registered feature points of the designated parking position designated by the user.

[0032] The characteristic points related to the designated parking position include the characteristic points of the designated parking position itself and the characteristic points around the designated parking position. An example of the characteristic points of the designated parking position itself is the character "parking" displayed within the designated parking position. An example of the characteristic points around the designated parking position is a distinctive building or obstacle in the vicinity.

[0033] Furthermore, the automatic parking control unit 55 detects the matching rate between feature points obtained based on external recognition data when automatic parking is performed and registered feature points that were acquired before the performance and have already been registered, and updates the registered feature points according to the matching rate. If the matching rate between the feature points when automatic parking is performed and the registered feature points is equal to or greater than a first threshold (e.g., 80%), the automatic parking control unit 55 does not update the registered feature points. If the matching rate between the feature points when automatic parking is performed and the registered feature points is less than the first threshold and equal to or greater than a second threshold (e.g., 60%) that is lower than the first threshold, the automatic parking control unit 55 updates the registered feature points. If the matching rate between the feature points when automatic parking is performed and the registered feature points is less than the second threshold, the automatic parking control unit 55 does not perform automatic parking of the vehicle 10 based on the registered feature points. Note that each numerical value (%) indicating the threshold value of the matching rate is merely an example numerical value to serve as a guide.

[0034] The EPS system 22 includes 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 the steering angle θst of a steering wheel 110. The torque sensor 102 detects the torque TQ applied to the steering wheel 110.

[0035] 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 occupant in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for 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).

[0036] 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.

[0037] 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).

[0038] The braking force control system 28 is equipped with 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).

[0039] <Automatic Parking Control by Automatic Parking Control Unit 55> Next, the automatic parking control of the vehicle 10 by the automatic parking control unit 55 will be described with reference to FIGS.

[0040] 4 is a diagram showing an example of an "automatic parking menu" that is displayed on the touch panel 42 of the navigation device 18 when automatically parking the vehicle 10. The image of the automatic parking menu is displayed by touching an automatic parking button 60 that is displayed on the touch panel 42. For example, when a user who intends to park the vehicle 10 approaches a parking lot, the automatic parking button 60 is touched to display the automatic parking menu.

[0041] As shown in FIG. 4, the image of the automatic parking menu displays a new registration button 61 and a registered parking position image button 62. The new registration button 61 is a button that is operated when parking the vehicle 10 at a parking position that is to be newly registered as a designated parking position. The registered parking position image button 62 is a button that is operated when parking the vehicle 10 at a designated parking position that has already been registered. Examples of the registered parking position image button 62 include a parking position image button in which a home parking lot is registered as a designated parking position, as shown in No. 1 image button 62a, and a parking position image button in which a frequently parked coin parking lot is registered as a designated parking position, as shown in No. 2 image button 62b. The image displayed on the registered parking position image button 62 is an image captured by, for example, the front camera 12Fr of the vehicle 10 at the time of registration.

[0042] [Automatic parking control to a new parking position] First, the automatic parking control by the automatic parking control unit 55 when the new registration button 61 is touched will be described with reference to FIGS.

[0043] Fig. 5 is a flowchart showing automatic parking control for parking the vehicle 10 at a new parking position. Fig. 6 is a diagram showing a parking position 76 set on an overhead image 71 (synthetic image) generated from recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R. Fig. 7 is a diagram showing feature points around the parking position 76 shown in Fig. 6. Fig. 8 is a diagram showing an example of a feature point map registered for a parking position. When the new registration button 61 is touched, the automatic parking control unit 55 starts the process shown in Fig. 5.

[0044] The automatic parking control unit 55 accepts manual setting by the driver to set the parking position of the vehicle 10 (step S11).

[0045] For example, the driver of vehicle 10 parks vehicle 10 in front of a parking space at his or her home and touches new registration button 61 to register the parking space as a new designated parking location. Then, as shown in FIG. 6 , a bird's-eye view image 71 generated based on recognition data of the vehicle 10's external environment is displayed on touch panel 42 of vehicle 10. Bird's-eye view image 71 displays vehicle 10 parked in front of parking space 72 at the home. Bird's-eye view image 71 also displays the driver's residence (building) 73 and multiple plants (obstacles) 74a-74f. Parking space 72 is located between building 73 and obstacles 74a-74f. The vehicle displayed in bird's-eye view image 71 is an image showing vehicle 10 as viewed from above, and is vehicle image 75 that has been generated (captured) and stored in advance in storage unit 54 or the like. The parking position can be manually set by touching the rectangular parking position 76 indicating the area where the vehicle 10 is to be parked on the touch panel 42 on which the overhead image 71 is displayed, and sliding the vehicle 10 to the desired parking position.

[0046] In step S11, when manual setting of the parking position 76 is accepted, the automatic parking control unit 55 detects characteristic points related to the parking position 76 from the external recognition data acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R, and automatically parks the vehicle 10 in the parking position 76 based on the detected characteristic points (step S12).

[0047] For example, as shown in the overhead image 71 of Figure 7, the automatic parking control unit 55 detects, as feature points related to the specified parking position 76, building feature points 77a to 77d indicating the position of the outline of the building 73 closer to the parking position 76, obstacle feature points 78a to 78f indicating the positions of obstacles 74a to 74f existing around the parking position 76, and the like.

[0048] Next, the automatic parking control unit 55 registers a feature point map consisting of the feature points related to the designated parking position 76 detected in step S12 and the parking position 76 manually set in step S11 in the memory unit 54 as registered feature points of the designated parking position (step S13).

[0049] The feature point map representing the registered feature points of the designated parking position is registered as a map showing the relationship between the building feature points 77a to 77d and obstacle feature points 78a to 78f detected in the overhead image 71 of FIG. 7 and the manually set parking position 76, for example, as shown in feature point map 91 of FIG. 8.

[0050] As a result, the parking position 76 designated by the user is registered in the memory unit 54 as a designated parking position equipped with registered feature points (feature point map), and is displayed as one of the registered parking position image buttons 62 in the automatic parking menu.

[0051] [Automatic parking control at registered parking locations] Next, the automatic parking control by the automatic parking control unit 55 when the registered parking position image button 62 is touched will be described with reference to FIGS.

[0052] 9 is a diagram showing the change in appearance of objects around the parking position over time and the matching rate of the object's feature points. As shown in FIG. 9, the appearance of buildings 73 (73A to 73C) and obstacles 74 (74A to 74C) in the external environment where vehicle 10 is parked changes due to aging and seasonal changes. When the appearance of buildings 73 (73A to 73C) and obstacles 74 (74A to 74C) changes, the recognition data of the external environment acquired by front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R of vehicle 10 also changes.

[0053] Therefore, for example, even if feature points are detected and registered from the recognition data of building 73A and planting (obstacle) 74A, if the appearances of building 73B and planting (obstacle) 74B, or even building 73C and planting (obstacle) 74C, change over time or with seasonal changes, the feature points detected from those recognition data will also change, and the feature point matching rate M will gradually decrease. For this reason, when parking vehicle 10 at a designated parking position, if the feature points around the designated parking position detected from the recognition data change over time or with seasonal changes, it may not be possible to accurately automatically park vehicle 10 at the designated parking position based on the registered feature points.

[0054] Therefore, in the automatic parking control by the automatic parking control unit 55 of this example, when the vehicle 10 is automatically parked at a designated parking position where the feature points of the parking position are registered, the registered feature points are updated according to the matching rate between the feature points of the designated parking position obtained when the automatic parking is performed and the registered feature points.

[0055] Fig. 10 is a flowchart showing an example of a feature point map update process during automatic parking control, and Fig. 11 is a diagram showing the relationship between the match rate of feature points and update of registered feature points.

[0056] The automatic parking control unit 55 starts the processing of Fig. 10 when the registered parking position image button 62 in the automatic parking menu shown in Fig. 4 is touched. In this example, it is assumed that the driver of the vehicle 10 touches the No. 1 image button 62a.

[0057] The automatic parking control unit 55 acquires feature points (hereinafter referred to as execution feature points) related to the currently designated parking position using the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R, and calculates the match rate between the acquired execution feature points and the registered feature points (step S21). Next, the automatic parking control unit 55 determines whether the match rate between the execution feature points and the registered feature points is 80% or more (step S22).

[0058] In step S22, if the matching rate is 80% or higher (step S22: Yes), the automatic parking control unit 55 determines that there is almost no change in the external feature points at the specified parking position, as shown in FIG. 11, and maintains the feature point map representing the registered feature points that have been registered up to that point in the memory unit 54 as is, without updating the feature point map.

[0059] If the matching rate is not 80% or more in step S22 (step S22: No), the automatic parking control unit 55 determines whether the matching rate is 60% or more (step S23). If the matching rate is 60% or more in step S23 (step S23: Yes), the automatic parking control unit 55 updates the feature point map representing the registered feature points that had been registered for the designated parking position designated by the driver to a feature point map representing the execution feature points (step S24). That is, if the matching rate between the execution feature points and the registered feature points is 60% or more but less than 80%, the automatic parking control unit 55 determines that a change has occurred in the feature points of the external environment for the designated parking position, as shown in FIG. 11, and updates the feature point map registered in the storage unit 54 to the current feature point map. In this case, the entire feature point map may be updated, or only the different feature points in the feature point map may be updated.

[0060] In step S23, if the matching rate is not 60% or more (step S23: No), the automatic parking control unit 55 determines that an excessive change has occurred in the external feature points at the specified parking position, as shown in FIG. 11, and maintains the feature point map representing the registered feature points that have been registered up to that point in the memory unit 54 as is, without updating the feature point map.

[0061] In addition to the processing shown in FIG. 10, the automatic parking control unit 55 also executes automatic parking control such as automatically parking the vehicle 10 at a designated parking position as appropriate.

[0062] As described above, the automatic parking control unit 55 of the mobile object control device registers feature points related to a designated parking position based on external recognition data as registered feature points, automatically parks the vehicle 10 at the designated parking position based on the external recognition data and the registered feature points, and updates the registered feature points according to the matching rate between the execution feature points obtained based on the external recognition data when automatic parking is performed and the registered feature points that have been registered up to that point.

[0063] According to this configuration, if the registered feature points change over time or the like, the registered feature points can be updated as appropriate in accordance with the matching rate. For example, as shown in Fig. 12, when automatic parking of the vehicle 10 at a designated parking position is executed when the matching rate between the execution feature points and the registered feature points is equal to or greater than the update threshold, the registered feature points can be automatically updated, and a high matching rate M can be maintained. This makes it possible to continuously control automatic parking at a designated parking position based on the appropriately updated registered feature points, even if the appearance of buildings and obstacles (plants) around the designated parking position changes over time or with seasonal changes.

[0064] Furthermore, if the matching rate between the feature points at the time of automatic parking and the registered feature points is, for example, 80% or higher, the automatic parking control unit 55 does not update the registered feature points. On the other hand, if the matching rate between the feature points at the time of automatic parking and the registered feature points is less than 80% but 60% or higher, the automatic parking control unit 55 updates the registered feature points. This reduces the processing load of the automatic parking control unit 55 by not updating the registered feature points when the change in the registered feature points is small, while updating the registered feature points when the change in the registered feature points is relatively large, enabling continuous automatic parking control to the designated parking position.

[0065] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. are possible as appropriate.

[0066] For example, in the above embodiment, the case where the vehicle 10 is automatically parked by automatic steering of the automatic parking control unit 55 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 an operation by the driver.

[0067] In the above embodiment, the parking position of the vehicle 10 and the surrounding characteristic points are described using overhead images (composite images) from the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R, but the present invention is not limited to this. For example, the description may be given using an image captured by any one of the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R.

[0068] In the above embodiment, the automatic parking control unit 55 displays the overhead image 71 and the like on the touch panel 42 of the vehicle 10, but the present invention is not limited to this. For example, the automatic parking control unit 55 may display the overhead image 71 and the like on a display screen of an information terminal (e.g., a smartphone) carried by a passenger of the vehicle 10 via the communication unit 24.

[0069] In the above embodiment, the feature point map representing the registered feature points of 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, the information may be registered in the storage unit of another device, such as a smartphone or a server, that is communicably connected to the vehicle 10.

[0070] Furthermore, in the above embodiment, a case has been described in which the user touches the registered parking position image button 62 (when selecting and touching the No. 1 image button 62a in FIG. 4) when parking the vehicle 10 in a registered parking position, but this is not limiting. For example, when the user touches the automatic parking button 60 displayed on the touch panel 42 when automatically parking the vehicle 10, the automatic parking control unit 55 may compare the overhead image captured during execution of automatic parking with the registered overhead image, automatically determine the parking position in which the vehicle is to be parked this time, and start the processing of FIG. 10, for example. This eliminates the need for the user of the vehicle 10 to find and select the button for the parking position in which the vehicle is to be parked this time from among the registered parking position image buttons 62.

[0071] 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 motorcycle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may also be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move using the power of the drive source.

[0072] The mobile object control method described in the above-described embodiment can be realized by executing a prepared mobile object control program on a computer. The mobile object control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The mobile object control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the mobile object control program may be included in a mobile object control device, or may be included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the mobile object control device, or may be included in a server device that can communicate with these mobile object control devices and electronic devices.

[0073] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0074] (1) An external environment recognition unit (a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R) that acquires external environment recognition data of a moving body (vehicle 10); a reception unit (touch panel 42) that receives a designation of a predetermined parking position from a user of the mobile body; a control unit (automatic parking control unit 55) that performs automatic parking control to park the moving body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registers the predetermined parking position as a designated parking position; The control unit registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; updating the registered feature points in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is being executed; Mobile control device.

[0075] According to (1), if the registered feature points change due to seasonal changes or the like, the registered feature points can be updated, enabling continuous automatic parking control at the designated parking position.

[0076] (2) The mobile object control device according to (1), The control unit If the matching rate is equal to or greater than a first threshold, the registered feature points are not updated; If the matching rate is less than the first threshold, updating the registered feature points. Mobile control device.

[0077] According to (2), if the change in the registered feature points is small, the processing volume is reduced by not updating the registered feature points, and if the change in the registered feature points is large, the registered feature points are updated, enabling continuous automatic parking control to the specified parking position.

[0078] (3) The mobile object control device according to (2), the control unit does not update the registered feature points when the matching rate is less than a second threshold value that is lower than the first threshold value, even if the matching rate is less than the first threshold value. Mobile control device.

[0079] According to (3), if there is an excessive change in the registered feature points due to a temporary heavy snowfall, etc., the registered feature points are not updated, which enables continuous automatic parking control to the designated parking position under normal circumstances. Also, if there is a possibility that the parking position where the vehicle is currently attempting to park is different from the registered designated parking position, not updating the registered feature points makes it possible to prevent the registered feature points from being updated erroneously.

[0080] (4) The processor of the mobile control device Acquires recognition data of the external world of the moving object, Accepting a designation of a predetermined parking position from a user of the mobile body; performing automatic parking control for parking the mobile body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registering the predetermined parking position as a designated parking position; registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; updating the registered feature points in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is being executed; A mobile object control method.

[0081] According to (4), if the registered feature points change due to seasonal changes or the like, the registered feature points can be updated, enabling continuous automatic parking control at the designated parking position.

[0082] (5) A processor of the mobile control device Acquires recognition data of the external world of the moving object, Accepting a designation of a predetermined parking position from a user of the mobile body; performing automatic parking control for parking the mobile body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registering the predetermined parking position as a designated parking position; registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; updating the registered feature points in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is being executed; A mobile control program for executing processing.

[0083] According to (5), if the registered feature points change due to seasonal changes, etc., the registered feature points can be updated, enabling continuous automatic parking control at the specified parking position. [Explanation of symbols]

[0084] 10 Vehicles (moving objects) 12Fr front camera (external recognition unit) 12Rr Rear camera (external recognition unit) 12L Left side camera (external recognition unit) 12R Right side camera (external recognition unit) 42 Touch panel (reception area) 55 Automatic parking control unit (control unit)

Claims

1. an external environment recognition unit that acquires recognition data of the external environment of the moving object; a reception unit that receives a designation of a predetermined parking position from a user of the mobile body; a control unit that performs automatic parking control to park the mobile body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registers the predetermined parking position as a designated parking position, The control unit registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; updating the registered feature points in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is being executed; If the matching rate is equal to or greater than a first threshold, the registered feature points are not updated, and if the matching rate is less than the first threshold, the registered feature points are updated. Mobile control device.

2. A mobile object control device according to claim 1, The control unit a registration control for registering feature points related to the designated parking position based on the external recognition data as registered feature points; and performing the automatic parking control based on the external recognition data and the registered feature points registered in the registration control. When the matching rate between the execution-time feature points obtained based on the external recognition data during execution of the automatic parking control and the registered feature points is equal to or greater than the first threshold, the registered feature points are maintained without being updated, and when the matching rate is less than the first threshold, the registered feature points are updated based on the execution-time feature points. Mobile control device.

3. The mobile object control device according to claim 1, the control unit does not update the registered feature points when the matching rate is less than a second threshold value that is lower than the first threshold value, even if the matching rate is less than the first threshold value. Mobile control device.

4. A processor of the mobile object control device Acquires recognition data of the external world of the moving object, Accepting a designation of a predetermined parking position from a user of the mobile body; performing automatic parking control for parking the mobile body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registering the predetermined parking position as a designated parking position; registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; updating the registered feature points in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is being executed; If the matching rate is equal to or greater than a first threshold, the registered feature points are not updated, and if the matching rate is less than the first threshold, the registered feature points are updated. A mobile object control method.

5. A processor of the mobile control device Acquires recognition data of the external world of the moving object, Accepting a designation of a predetermined parking position from a user of the mobile body; performing automatic parking control for parking the mobile body at the predetermined parking position based on the external recognition data and the predetermined parking position, and registering the predetermined parking position as a designated parking position; registering feature points related to the designated parking position based on the external recognition data as registered feature points, and performing the automatic parking control for parking the mobile body at the designated parking position based on the external recognition data and the registered feature points; updating the registered feature points in accordance with a matching rate between the feature points obtained based on the external recognition data and the registered feature points when the automatic parking control is being executed; If the matching rate is equal to or greater than a first threshold, the registered feature points are not updated, and if the matching rate is less than the first threshold, the registered feature points are updated. A mobile control program for executing processing.

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