Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program capable of flexibly parking a moving body in a parking section.SOLUTION: The control device for the vehicle 10 that autonomously moves from the parking start position to the parking position includes the external environment recognition unit that acquires the external environment information on the surrounding situation of the vehicle 10, the storage unit that stores the route information on the travel route when the vehicle 10 moves from the parking start position to the predetermined parking position, and the control unit that performs the travel control of the vehicle 10 to the parking slot Ptar set as the target parking position based on the external environment information and the route information. When a parking available section Pdet in which the vehicle 10 can be parked and which is adjacent to the travel route to the target parking position is detected from the external information obtained during the execution of the travel control, the control unit resets the target parking position to the parking available section Pdet.SELECTED DRAWING: Figure 7

Description

Technical Field

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

Background Art

[0002] In recent years, efforts have been active to provide access to sustainable transportation systems that also take into consideration vulnerable people among traffic participants. Toward achieving this goal, efforts are focused on research and development that further improves traffic safety and convenience through research and development related to autonomous driving technology.

[0003] A remote parking system is known, in which a vehicle is remotely operated using a smartphone, or the vehicle moves autonomously to park the vehicle in a designated predetermined parking space or move the vehicle out of the parking space.

[0004] For example, Patent Document 1 describes a parking assistance device that recognizes landmark information indicating features of a desired parking location based on sensing information from a surrounding monitoring sensor, stores route information in the form of a surrounding map such as a home map including landmark information for automatic parking in addition to a parking route for automatic parking, and uses the route information including landmarks when estimating the position of the host vehicle.

Prior Art Literature

Patent Literature

[0005]

Patent Document 1

Summary of Invention

Problem to be Solved by the Invention

[0006] In conventional remote parking systems, even if a vehicle autonomously drives to a designated parking space and attempts to park, it cannot achieve its objective if another vehicle is already parked in that space. If information on the availability of each parking space were available, the system could simply select an available space. However, in parking lots of large commercial facilities, for example, there is frequent entry and exit of vehicles, so there is no guarantee that the designated parking space will still be available when the vehicle reaches it.

[0007] Furthermore, when a vehicle user designates a parking space for their vehicle, it is desirable for them to be able to select a space close to the entrance of the facility from the parking lot. However, if there are no available spaces near the entrance, the user has no choice but to designate an available space further away. As mentioned above, parking conditions change constantly. Immediately after designating a space far away, a parking space near the entrance may become available. If the user wants to park their vehicle in this available space, they need to perform an action to designate that space. Such actions can sometimes be cumbersome for the user.

[0008] The present invention aims to provide a control device, control method, and control program that enable flexible parking of mobile vehicles in parking spaces. Ultimately, this contributes to the development of sustainable transportation systems. [Means for solving the problem]

[0009] The present invention A control device for a mobile body that autonomously moves from a parking start position to a parking position, An external environment recognition unit that acquires external information regarding the surrounding conditions of the moving object, A storage unit that stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, The system includes a control unit that controls the movement of the moving body to a parking space set as a target parking position based on the external information and the route information, The control unit, If, from the external information obtained during the execution of the aforementioned driving control, a parking space adjacent to the driving path leading to the target parking position where the moving body can be parked is detected, Determine whether it is possible to generate a movement path from the current position of the moving body to the parking area. If the aforementioned travel path can be generated, the target parking position is reset to the parking space, and the travel path is generated. If it is not possible to generate the aforementioned travel path, the target parking position will not be reset to the parking area. When determining whether the aforementioned travel path can be generated, if the distance between the branching point on the travel path leading to the target parking position and the current position of the moving body is greater than or equal to a predetermined distance, it is determined that the travel path can be generated. The predetermined distance varies depending on the travel speed of the moving body when the control unit determines whether or not it can generate the travel path. It is a control device.

[0010] The present invention A control method using a control device for a mobile body that autonomously moves from a parking start position to a parking position, The aforementioned moving body is An external environment recognition unit that acquires external information regarding the surrounding conditions of the moving object, A storage unit that stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, The system includes a control unit that controls the movement of the moving body to a parking space set as a target parking position based on the external information and the route information, The control unit, If, from the external information obtained during the execution of the aforementioned driving control, a parking space adjacent to the driving path leading to the target parking position where the moving body can be parked is detected, Determine whether it is possible to generate a movement path from the current position of the moving body to the parking area. If the aforementioned travel path can be generated, the target parking position is reset to the parking space, and the travel path is generated. If it is not possible to generate the aforementioned travel path, the target parking position will not be reset to the parking area. When determining whether the aforementioned travel path can be generated, if the distance between the branching point on the travel path leading to the target parking position and the current position of the moving body is greater than or equal to a predetermined distance, it is determined that the travel path can be generated. The predetermined distance varies depending on the travel speed of the moving body when the control unit determines whether or not it can generate the travel path. This is a control method.

[0011] The present invention A control program for a control device that autonomously moves a mobile body from a parking start position to a parking position, The aforementioned moving body is An external environment recognition unit that acquires external information regarding the surrounding conditions of the moving object, A storage unit that stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, a control unit that controls traveling of the moving body to a parking section set as a target parking position based on the outside world information and the route information; in the control unit, when a parkable section, where the moving body can be parked and which is adjacent to the travel route leading to the target parking position, is detected from the outside world information obtained during execution of the travel control, Determine whether it is possible to generate a movement path from the current position of the moving body to the parking area. If the aforementioned travel path can be generated, the target parking position is reset to the parking space, and the travel path is generated. If it is not possible to generate the aforementioned travel path, the target parking position will not be reset to the parking area. When determining whether the aforementioned travel path can be generated, if the distance between the branching point on the travel path leading to the target parking position and the current position of the moving body is greater than or equal to a predetermined distance, it is determined that the travel path can be generated. The predetermined distance varies depending on the travel speed of the moving body when the control unit determines whether or not it can generate the travel path. the control program causes a process to be executed. Effects of the Invention

[0012] According to the present invention, it is possible to provide a control device, a control method, and a control program that can flexibly park a moving body in a parking section. Brief Description of the Drawings

[0013] [Figure 1] FIG. 1 is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle 10 shown in FIG. 1. [Figure 3] FIG. 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in FIG. 1. [Figure 4] FIG. 4 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user of the vehicle 10. [Figure 5] FIG. 5 is a flowchart showing travel control performed by a control ECU 20 when the vehicle 10 travels from a parking start position to a target parking position. [Figure 6] FIG. 6 is a diagram showing an example of parking a vehicle from a parking start position to a parking section set as a target parking position. [Figure 7] FIG. 7 is a diagram showing an example of parking a vehicle by resetting a parkable section as a target parking position midway along a travel route from a parking start position to an initial target parking position. [Figure 8]This diagram shows another example of how a vehicle is parked by resetting the available parking space to the target parking position along the driving path from the starting position to the initial target parking position. [Figure 9] This diagram shows another example of how a vehicle is parked by resetting the available parking space to the target parking position along the driving path from the starting position to the initial target parking position. [Modes for carrying out the invention]

[0014] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described based on the attached drawings. The drawings should be viewed in the direction of the reference numerals. Furthermore, in order to simplify and clarify the explanation in this specification, the front, rear, left, right, and up directions will be described according to the direction as seen from the driver of the vehicle 10 shown in Figures 1 and 2, and in the drawings, the front of the vehicle 10 will be indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0015] <Vehicle 10 equipped with the control device of the present invention> Figure 1 is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. Figure 2 is a top view of the vehicle 10 shown in Figure 1. Vehicle 10 is an example of the "mobile body" of the present invention.

[0016] Vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels and steerable wheels that are driven by the power of the drive source. In this embodiment, vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and rear wheels. The drive source of vehicle 10 is, for example, an electric motor. The drive source of vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the drive source of 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 rear wheels may be steerable wheels, or either one of them may be a steerable wheel.

[0017] Vehicle 10 is further equipped with side mirrors 11L and 11R. Side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front passenger doors of vehicle 10 for the driver to check the area behind and to the rear side. Side mirrors 11L and 11R are each fixed to the body of vehicle 10 by a vertically extending pivot axis, and can be opened and closed by rotating around this pivot axis.

[0018] Vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left-side camera 12L, and a right-side camera 12R. The front camera 12Fr is an imaging device (for example, a digital camera) located in front of vehicle 10 that images the area in front of vehicle 10. The rear camera 12Rr is a digital camera located behind vehicle 10 that images the area behind vehicle 10. The left-side camera 12L is a digital camera located on the left side mirror 11L of vehicle 10 that images the area to the left of vehicle 10. The right-side camera 12R is a digital camera located on the right side mirror 11R of vehicle 10 that images the area to the right of vehicle 10.

[0019] <Internal configuration of vehicle 10> Figure 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Figure 1. As shown in Figure 3, the vehicle 10 includes a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 further includes a drive force control system 26 and a braking force control system 28.

[0020] 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. Furthermore, the sensor group 16 includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0021] The front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R acquire external information (e.g., surrounding images) regarding the surrounding conditions of the vehicle 10 by imaging the area around the vehicle 10. The surrounding images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R are referred to as the front image, rear image, left-side image, and right-side image, respectively. The image composed of the left-side image and the right-side image may also be referred to as a side image. The image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R is referred to as an overhead view image of the vehicle 10.

[0022] The forward sonar group 32a, the rear sonar group 32b, the left-side sonar group 32c, and the right-side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The forward sonar group 32a includes, for example, four sonars. The sonars constituting the forward sonar group 32a are located on the left front, front left, front right, and right front of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are located on the left rear, rear left, rear right, and right rear of the vehicle 10, respectively. The left-side sonar group 32c includes, for example, two sonars. The sonars constituting the left-side sonar group 32c are located on the left front and left rear of the vehicle 10, respectively. The right-side sonar group 32d includes, for example, two sonars. The sonars constituting the right-side sonar group 32d are located on the front right side and the rear right side of the vehicle 10, respectively.

[0023] Wheel sensors 34a and 34b detect the rotation angle of the wheels of the vehicle 10. Wheel sensors 34a and 34b may be composed of angle sensors or displacement sensors. Wheel sensors 34a and 34b output a detection pulse each time the wheel rotates by a predetermined angle. The detection pulses output from wheel sensors 34a and 34b are used to calculate the rotation angle and rotation speed of the wheels. Based on the rotation angle of the wheels, the distance traveled by the vehicle 10 is calculated. Wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. Wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0024] The vehicle speed sensor 36 detects the speed of the vehicle body 10, i.e., 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, for example, on the rotation of the transmission countershaft.

[0025] The operation detection unit 38 detects the user's operations performed using the operation input unit 14 and outputs the detected operations to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch for switching the open / closed state of the side mirrors 11L and 11R, and a shift lever (select lever or selector).

[0026] The navigation device 18 detects the current location of the vehicle 10, for example, using GPS (Global Positioning System), and guides the user to the destination. The navigation device 18 has a storage device (not shown) equipped with a map information database. The navigation device 18 also has a touch panel 42 and a speaker 44. The touch panel 42 functions as an input and display device for the control ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 by voice.

[0027] The touch panel 42 is configured to allow input of various commands to the control ECU 20. For example, the user can input commands related to vehicle movement assistance for the vehicle 10 via the touch panel 42. Movement assistance includes parking assistance and exit assistance for the autonomously moving vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays screens related to vehicle movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button to request parking assistance for the vehicle 10 and an exit assistance button to request exit assistance. The parking assistance buttons include a remote parking button to request parking by automatic steering of the control ECU 20, an auxiliary parking button to request assistance when parking by user operation, and a parking start button with a route guidance function to request parking including movement from the parking start position to the target parking position by the driving control of the control ECU 20. The exit assistance buttons include a remote exit button to request exit by automatic steering of the control ECU 20 and an auxiliary exit button to request assistance when exiting by user operation. In addition, components other than the touch panel 42, such as information terminals like smartphones or tablets, may be used as input or display devices.

[0028] Note that "parking" is synonymous with, for example, "parking." For example, "parking" refers to the continuous stopping of a mobile vehicle (vehicle 10) in a parking space, excluding temporary stops at traffic signals, etc. Also, "parking location" refers to the location where the mobile vehicle (vehicle 10) is stopped, i.e., the parking location. "Parking start location" refers to, for example, the entrance or exit of a facility used by the user of the mobile vehicle. "Parking space" refers to a space provided in the parking lot of the above-mentioned facility, etc., for parking one mobile vehicle (vehicle 10).

[0029] The control ECU 20 includes an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The arithmetic unit 52 is configured, for example, by a CPU (Central Processing Unit). The arithmetic unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The arithmetic unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of the "control device" of the present invention.

[0030] Furthermore, the storage unit 54 stores information related to the remote movement of the vehicle 10. The storage unit 54 stores, for example, route information related to the driving path when the vehicle 10 moves from the parking start position to a predetermined parking position. The parking start position is the position of the vehicle 10 when the user starts parking, and includes, for example, the position of the vehicle 10 when the user presses the parking assist button to activate the parking assist function, the position when the vehicle 10 enters a predetermined parking area, and the position of the vehicle 10 when it arrives near the destination indicated by the navigation device 18. The route information includes parking position information, driving route information, and surrounding environment information. The parking position information is position information related to the parking position. The driving route information is information related to the driving path from the parking start position to the parking position, which is associated with the parking position information. The surrounding environment information includes external information along the driving path indicated by the driving route information, and map information related to the driving path or environmental information obtained through communication with the outside, which is associated with the driving route information.

[0031] The calculation unit 52 includes an external environment recognition unit 55 that recognizes an external environment recognition image of the vehicle 10, a control unit 57 that performs control related to the remote movement of the vehicle 10, and a notification unit 59 that notifies the vehicle 10 of its movement information.

[0032] The external environment recognition unit 55 acquires external environment information (e.g., surrounding images) regarding the surrounding conditions of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R from each camera.

[0033] The control unit 57 provides automatic steering assistance for parking and exiting the vehicle 10, which automatically operates the steering wheel 110 under the control of the control unit 57. During parking and exit assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are operated automatically. When the control unit 57 provides parking or exit assistance, the vehicle 10 may have a user (driver) inside it or the user may be outside the vehicle (unoccupied).

[0034] The control unit 57 controls the vehicle 10's movement to a designated parking space based on external information acquired by a camera or the like, and route information stored in the memory unit 54. The control unit 57 can perform the driving control according to instruction signals input via the input / output unit 50. The input instruction signals include instruction signals transmitted wirelessly from an information terminal or the like that can be carried by the vehicle 10's user. The control unit 57 can also transmit information related to the driving control to the information terminal or the like via the input / output unit 50.

[0035] When the vehicle 10 has stopped at the parking start position and all passengers have disembarked, and a parking space has been set as the target parking position, the control unit 57 starts controlling the vehicle 10 to move to the parking space in response to an instruction signal transmitted wirelessly from an information terminal or the like that the user of the vehicle 10 can carry.

[0036] If the control unit 57 changes the target parking position while performing the above-mentioned driving control, the notification unit 59 transmits route information regarding the driving route to the parking space of the changed target parking position to the user's information terminal or the like in the vehicle 10. The notification unit 59 may also notify, for example, using the navigation device 18 of the vehicle 10. The route information notified by the notification unit 59 includes at least one of the parking position information, driving route information, and surrounding environment information regarding the parking space of the changed target parking position.

[0037] 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 the steering 110. The torque sensor 102 detects the torque TQ applied to the steering 110.

[0038] The EPS motor 104 provides driving force or reaction force to the steering column 112 connected to the steering 110, thereby enabling assistance for the occupant's operation of the steering 110 and automatic steering during parking assistance. The resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 controls the entire 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).

[0039] The communication unit 24 enables wireless communication with other communication devices 120. Other communication devices 120 include base stations, communication devices in other vehicles, and information terminals 60 such as smartphones or tablets that can be carried by the user of vehicle 10. For example, the communication unit 24 is equipped with a UWB interface that enables UWB (Ultra Wide Band: registered trademark) communication with the information terminal 60.

[0040] The drive force control system 26 includes a drive ECU 130. The drive force control system 26 controls the drive force of the vehicle 10. The drive ECU 130 controls the drive force of the vehicle 10 by controlling an engine (not shown) and other components (not shown) based on user operation of an accelerator pedal (not shown).

[0041] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a braking mechanism (not shown) and the like based on user operation of a brake pedal (not shown).

[0042] <Hardware configuration of user's information terminal 60> Figure 4 shows an example of the hardware configuration of an information terminal 60 owned by a user of vehicle 10. The information terminal 60 comprises a processor 61, memory 62, a communication interface 63, and a user interface 64. The processor 61, memory 62, communication interface 63, and user interface 64 are connected, for example, by a bus 65.

[0043] The processor 61 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information terminal 60. The processor 61 may also be implemented using other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). Furthermore, the processor 61 may be implemented by combining multiple digital circuits.

[0044] Memory 62 includes, for example, main memory and auxiliary memory. Main memory is, for example, RAM (Random Access Memory). Main memory is used as the work area of ​​processor 61.

[0045] Auxiliary memory is non-volatile memory such as magnetic disks, optical disks, or flash memory. Various programs for operating the information terminal 60 are stored in the auxiliary memory. The programs stored in the auxiliary memory are loaded into main memory and executed by the processor 61.

[0046] Furthermore, the auxiliary memory may include portable memory that can be removed from the information terminal 60. Portable memory may include USB (Universal Serial Bus) flash drives, SD (Secure Digital) memory cards, and external hard disk drives.

[0047] The communication interface 63 is a communication interface that performs wireless communication between the information terminal 60 and an external party (for example, the communication unit 24 of the vehicle 10). For example, the communication interface 63 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 63 is controlled by the processor 61.

[0048] The user interface 64 includes, for example, an input device that accepts user input and an output device that outputs information to the user. The input device can be implemented by, for example, a touch panel. The output device can be implemented by, for example, a display or a speaker. The user interface 64 is controlled by the processor 61.

[0049] The processor 61, in response to a specific operation on the terminal screen of the information terminal 60, sends an instruction to the vehicle 10 via the communication interface 63 for the control unit 57 of the vehicle 10 to start the above-mentioned driving control. The information terminal 60 has an application installed that can manage the above-mentioned driving control by sending and receiving information related to the driving control of the vehicle 10 to and from the vehicle 10.

[0050] <Driving control method by control ECU20> Next, with reference to Figure 5, the driving control of the vehicle 10 from the parking start position to the target parking position will be explained. Figure 5 is a flowchart showing the driving control by the control ECU 20 when the vehicle 10 is traveling from the parking start position to the target parking position.

[0051] First, the control ECU 20 determines whether the user has given a parking start command to the vehicle 10 at the parking start position (step S11). The control ECU 20 determines that the vehicle 10 is at the parking start position because it has entered a predetermined parking area or has arrived near the destination indicated by the navigation device 18. The control ECU 20 also determines that the user has given a command to start parking the vehicle 10, such as when the user presses the parking start button with route guidance function or when it receives a predetermined instruction signal transmitted from the user's information terminal, etc. In the following explanation, we will use the example of when the vehicle 10 arrives at a shopping mall parking lot and the user presses the parking start button with route guidance function.

[0052] In step S11, if the user has not instructed the vehicle 10 to begin parking (step S11: No), the control ECU 20 repeats the determination process in step S11. In step S11, if the user has instructed the vehicle 10 to begin parking (step S11: Yes), the control ECU 20 starts driving control of the vehicle 10 from the parking start position to the target parking position (step S12). Note that when the vehicle 10 starts moving due to the above driving control, the user does not need to be in the vehicle 10. In other words, the control ECU 20 will start driving control even if all passengers have disembarked from the vehicle 10.

[0053] The target parking position is either a parking space set by the user before the above instruction, or a parking space determined by the control ECU 20 based on information stored in the memory unit 54.

[0054] While the vehicle 10 is traveling toward the target parking position, the control ECU 20 controls the vehicle 10's movement toward the parking space at the target parking position based on external information acquired by the external recognition unit 55 and route information relating to the travel route to the target parking position. During the execution of this driving control, the control ECU 20 determines from the external information obtained whether it has detected a parking space adjacent to the travel route of the vehicle 10 toward the target parking position where the vehicle 10 can be parked (step S13). The control ECU 20 excludes parking spaces that have been pre-selected by the vehicle 10 user from the detection targets for parking spaces, from among the parking spaces indicated by the parking position information of the route information stored in the storage unit 54.

[0055] In step S13, if no parking space adjacent to the driving path is detected (step S13: No), the control ECU 20 proceeds to step S15, which will be described later. On the other hand, if a parking space adjacent to the driving path is detected (step S13: Yes), the control ECU 20 resets the target parking position to the detected parking space (step S14). The control ECU 20 determines whether the vehicle 10 has arrived at the target parking position and whether the vehicle 10 has been parked in the parking space set as the target parking position (step S15).

[0056] If, in step S15, the vehicle 10 has not yet been parked at the target parking position (step S15: No), the control ECU 20 proceeds to step S13 described above. On the other hand, if the vehicle 10 has been parked at the target parking position (step S15: Yes), the control ECU 20 stores route information regarding the driving route to the target parking position in the storage unit 54 (step S16).

[0057] <Driving control by control ECU20> Next, referring to Figures 6 to 9, the movement of the vehicle 10 from the parking start position to the parking space set as the target parking position, based on the driving control of the control ECU 20, will be described. Figure 6 is a diagram showing an example of parking a vehicle from the parking start position to the parking space set as the target parking position. As shown in Figure 6, after user U, who is driving the vehicle 10, arrives at the shopping mall parking lot 70, user U gets out of the vehicle 10 and attempts to park the vehicle 10 in parking space Ptar within the parking lot 70. In other words, parking space Ptar is set as the target parking position.

[0058] When user U gets out of vehicle 10 with the information terminal 60 and operates the information terminal 60 to instruct vehicle 10 to perform parking using the route guidance function, the control ECU 20 of vehicle 10 starts the driving control described above with reference to Figure 5. The stopping position of vehicle 10 at the time the above instruction is given is the parking start position. The control ECU 20 performs driving control until vehicle 10 starts moving from the parking start position, travels along the driving path Rtar shown in Figure 6 to reach parking space Ptar, and parks in parking space Ptar.

[0059] The control ECU 20 controls the vehicle 10's movement based on external information acquired by the external recognition unit 55 and route information related to the travel route to parking space Ptar stored in the storage unit 54. In this embodiment, as shown in Figure 7, the control ECU 20 detects a parking space Pdet adjacent to the travel route where the vehicle 10 can be parked, based on external information obtained while the vehicle 10 is traveling along the travel route to parking space Ptar. The control ECU 20 determines whether it is possible to generate a travel route from the vehicle 10's current position to the parking space Pdet. It is a condition that no other parking spaces adjacent to the parking space Pdet overlap on the travel route.

[0060] If the control ECU 20 determines that it can generate a travel path to the parking area Pdet, it resets the target parking position to the parking area Pdet. On the other hand, if the control ECU 20 determines that it cannot generate a travel path to the parking area Pdet, it does not reset the target parking position to the parking area Pdet and continues driving control toward the parking area Ptar.

[0061] In determining whether the above-described travel path can be generated, the control ECU 20 determines that a travel path to the parking area Pdet can be generated if the distance D between the branching point Bdet on the travel path Rtar leading to the parking area Ptar and the current position of the vehicle 10 is greater than or equal to a predetermined distance. The predetermined distance compared with distance D varies depending on the travel speed of the vehicle 10 when making the determination. The faster the travel speed of the vehicle 10, the longer the predetermined distance.

[0062] When the control ECU 20 resets the target parking position to a parking space Pdet, it generates route information regarding the driving route to the parking space Pdet and transmits at least one of the parking position information, driving route information, and surrounding environment information included in the route information to the user U's information terminal 60.

[0063] Furthermore, if the control ECU 20 determines that it can generate a travel path to the parking area Pdet, it may transmit at least one of the following pieces of information—parking location information, travel path information, and surrounding environment information—included in the travel path information to the parking area Pdet, to the user U's information terminal 60 before resetting the target parking position to the parking area Pdet. At this time, the screen of the information terminal 60 will display, for example, a parking frame of a different form from the parking frame indicating the target parking position superimposed on the parking area Pdet. If the control ECU 20 receives an instruction to allow resetting the target parking position to the parking area Pdet, it will reset the target parking position to the parking area Pdet.

[0064] Furthermore, the control ECU 20 controls the movement of the vehicle 10 from the time it detects a parking space Pdet until it receives the instruction transmitted by the information terminal 60. During this time, the vehicle 10 may move slowly along the route to the parking space Ptar, or it may stop moving until it receives the instruction transmitted by the information terminal 60. If it stops moving, it may come to a halt with the turn signals flashing to indicate a change of course to the route to the parking space Pdet, and then start moving again after receiving the instruction transmitted from the information terminal 60.

[0065] Furthermore, as shown in Figure 8, while the vehicle 10 is traveling along a route to parking area Ptar, the control ECU 20 detects multiple parking spaces Pdet1 and Pdet2 adjacent to the route where the vehicle 10 can be parked. If it is possible to generate a travel route to any of these spaces, the control ECU 20 selects one of the multiple parking spaces Pdet1 and Pdet2 based on predetermined conditions. The control ECU 20 then resets the target parking position to the selected parking space. The predetermined conditions include conditions such as the distance between each branching point on the route Rtar leading to parking spaces Pdet1 and Pdet2 and the current position of the vehicle 10 being greater than or equal to the predetermined distance and the shortest distance between them.

[0066] Furthermore, as shown in Figure 9, if the control ECU 20 detects a parking space Pdet0 while the vehicle 10 is traveling along a route to parking space Ptar, but the vehicle 10 cannot enter parking space Pdet0 directly from its current position, the ECU 20 may reverse the vehicle 10 on the travel route Rtar and then reset the target parking position to parking space Pdet0.

[0067] Furthermore, if the control ECU 20 determines, based on external information, that it is impossible to park the vehicle 10 in the parking area after resetting the target parking position to a parking area, it returns the target parking position to the parking area Ptar before resetting, and controls the vehicle 10's movement based on route information related to the driving path to parking area Ptar and external information.

[0068] As described above, when the control ECU 20 of this embodiment detects an available parking space along the driving path from the parking start position to the target parking position, it resets the target parking position to the available parking space and then controls the vehicle 10 to drive to the reset target parking position. In this way, parking can be flexibly performed in a parking space according to the availability of spaces in the parking lot. Therefore, even if another vehicle parks in the target parking position while the vehicle 10 is driving along the driving path toward the target parking position, a parking space for the vehicle 10 can be secured. In other words, convenience for the user of the vehicle 10 can be improved. It can also reduce the user's anxiety about not being able to secure a parking space for the vehicle 10. Furthermore, it can meet the user's desire to park the vehicle 10 in a parking space as close as possible to the entrance of the facility from the parking lot. Moreover, the route information related to the driving path stored in the storage unit 54 necessary for setting the target parking position only needs to be the driving path to the initial target parking position, and it is not necessary to register the driving paths for all available parking spaces in the parking lot, thus reducing the burden on the capacity of the storage unit 54.

[0069] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and modifications, improvements, etc., can be made as appropriate.

[0070] In the above embodiment, an example was described in which the moving body is a vehicle (a four-wheeled automobile), but it is not limited to this. For example, it may be a motorcycle, a Segway, or other type of vehicle. Furthermore, the concept of the present invention is not limited to vehicles, but can also be applied to robots, ships, aircraft, etc., that are equipped with a drive source and are able to move using the power of the drive source.

[0071] Furthermore, this specification includes at least the following information. Note that the components etc. in parentheses indicate those corresponding to the embodiments described above, but are not limited thereto.

[0072] (1) A control device (control ECU 20) for a mobile body (vehicle 10) that autonomously moves from a parking start position to a parking position, An external environment recognition unit (external environment recognition unit 55) acquires external environment information regarding the surrounding conditions of the moving object, A storage unit (storage unit 54) stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, The system includes a control unit (control unit 57) that controls the movement of the moving body to a parking space set as a target parking position based on the external information and the route information, The control unit, If, from the external information obtained during the execution of the aforementioned driving control, a parking space adjacent to the driving path leading to the target parking position where the moving body can be parked is detected, the target parking position is reset to the parking space. Control device.

[0073] According to (1), when a parking space is detected along the driving path from the starting parking position to the target parking position, the target parking position is reset to that parking space, and the vehicle's driving control is performed to the reset target parking position. In this way, parking can be flexibly performed in a parking space according to the availability of spaces in the parking lot. In other words, convenience for the vehicle's user can be improved. It can also reduce user anxiety about not being able to secure a parking space for the vehicle. Furthermore, it can meet the user's request to park the vehicle in a parking space as close as possible to the entrance of the facility from the parking lot. In addition, the route information related to the driving path that the memory unit needs to store to set the target parking position only needs to be the driving path to the initial target parking position, and it is not necessary to register the driving path for available parking spaces, thus reducing the burden on the memory unit's capacity.

[0074] (2) The control device described in (1), The route information relating to the driving route to the aforementioned parking location includes parking location information, driving route information, and surrounding environment information. The aforementioned parking location information is location information relating to the parking location, The aforementioned travel route information is information relating to the travel route from the parking start position to the parking position, which is associated with the parking position information. The surrounding environment information includes the external environment information acquired by the external environment recognition unit along the driving route indicated by the driving route information, which is associated with the driving route information, and the map information related to the driving route or environmental information obtained through communication with the outside. Control device.

[0075] According to (2), since the route information includes parking location information, driving route information, and surrounding environment information, it is possible to perform driving control based on the accurate status of the moving object.

[0076] (3) A control device as described in (1) or (2), The control unit, After detecting the available parking space, it is determined whether or not a travel path from the current position of the moving body to the available parking space can be generated. If the aforementioned travel path can be generated, the target parking position is reset to the parking space, and the travel path is generated. If it is not possible to generate the aforementioned travel path, the target parking position will not be reset to the parking area. Control device.

[0077] According to (3), the target parking position can be reset to the above-mentioned parking space only if it is possible to generate a travel path from the current position to the available parking space.

[0078] (4) The control device described in (3), The control unit, When determining whether the aforementioned travel path can be generated, it is determined that the travel path can be generated if the distance between the branching point on the travel path leading to the parking area and the current position of the moving body is greater than or equal to a predetermined distance. Control device.

[0079] According to (4), a movement path is generated and the moving body can be parked in the parking space only if the moving body can move towards the parking space without reversing.

[0080] (5) The control device described in (4), The predetermined distance varies depending on the travel speed of the moving body when the control unit determines whether or not it can generate the travel path. Control device.

[0081] According to (5), it is possible to accurately determine when a moving object can proceed to a parking space without reversing.

[0082] (6) The control device described in (2), When the control unit resets the target parking position to the available parking space, it notifies the user of the mobile vehicle of at least one of the parking position information, the travel route information, and the surrounding environment information included in the route information relating to the travel route to the available parking space. Control device.

[0083] According to (6), the user can be notified that the target parking position has been reset to an available parking space.

[0084] (7) The control device described in (2), When the control unit detects the available parking space during the driving control, The user of the mobile body is notified of at least one of the parking location information, the driving route information, and the surrounding environment information included in the route information relating to the driving route to the parking space, The system receives instructions from the user indicating whether or not the target parking position can be reset to the available parking space. Control device.

[0085] According to (7), after user confirmation, the target parking position can be reset to an available parking space.

[0086] (8) The control device described in (1), When the control unit detects a plurality of available parking spaces during the driving control, it selects one of the plurality of available parking spaces based on predetermined conditions. Control device.

[0087] According to (8), even if multiple parking spaces are detected, one parking space can be selected.

[0088] (9) The control device described in (1), If the control unit, after resetting the target parking position to the parking area, determines that the mobile body cannot be parked in the parking area, The target parking position is returned to the parking space before the reset, and the driving control is performed based on the route information related to the driving path to the parking space before the reset and the external information. Control device.

[0089] According to (9), if the moving object cannot be parked in the parking space that has been reset as the target parking position, the target parking position can be returned to the parking space that was in place before the reset, and thus driving control can be continued.

[0090] (10) The control device described in (1), The control unit resets the target parking position to the parking space, and when parking the moving object in the parking space is completed, it registers route information relating to the travel path from the parking start position to the parking space in the storage unit. Control device.

[0091] According to (10), this will increase the number of options for target parking positions the next time you park.

[0092] (11) The control device described in (1), The control unit causes the user of the mobile vehicle to display a parking space of a different form from the parking space indicating the target parking position on the information terminal of the mobile vehicle, superimposed on the available parking space. Control device.

[0093] According to (11), the user can clearly distinguish between the parking space set as the target parking position and the available parking space.

[0094] (12) The control device described in (3), The control unit generates a movement path from the current position of the moving body to the available parking space in which no other parking spaces overlap. Control device.

[0095] According to (12), parking in a designated parking space can be ensured.

[0096] (13) The control device described in (2), The control unit excludes from the detection target of the available parking spaces the parking location information of the route information stored in the storage unit has been selected by the user of the mobile vehicle. Control device.

[0097] According to (13), the mobile vehicle can be parked in a parking space that suits the user's preferences.

[0098] (14) A control method by a control device for a mobile body that autonomously moves from a parking start position to a parking position, The aforementioned moving body is An external environment recognition unit that acquires external information regarding the surrounding conditions of the moving object, A storage unit that stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, The system includes a control unit that controls the movement of the moving body to a parking space set as a target parking position based on the external information and the route information, The control unit, If, from the external information obtained during the execution of the aforementioned driving control, a parking space adjacent to the driving path leading to the target parking position where the moving body can be parked is detected, the target parking position is reset to the parking space. Control method.

[0099] According to (14), when a parking space is detected along the driving path from the starting parking position to the target parking position, the target parking position is reset to that parking space, and the vehicle's driving control is performed to the reset target parking position. In this way, parking can be flexibly performed in a parking space according to the availability of spaces in the parking lot. In other words, convenience for the vehicle's user can be improved. It can also reduce user anxiety about not being able to secure a parking space for the vehicle. Furthermore, it can meet the user's request to park the vehicle in a parking space as close as possible to the entrance of the facility from the parking lot. In addition, the route information related to the driving path that the memory unit needs to store to set the target parking position only needs to be the driving path to the initial target parking position, and it is not necessary to register the driving paths for available parking spaces, thus reducing the burden on the memory unit's capacity.

[0100] (15) A control program for a control device that autonomously moves a mobile body from a parking start position to a parking position, The aforementioned moving body is An external environment recognition unit that acquires external information regarding the surrounding conditions of the moving object, A storage unit that stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, The system includes a control unit that controls the movement of the moving body to a parking space set as a target parking position based on the external information and the route information, The control unit, If, from the external information obtained during the execution of the aforementioned driving control, a parking space adjacent to the driving path leading to the target parking position where the moving body can be parked is detected, the target parking position is reset to the parking space. A control program that executes a process.

[0101] According to (15), if a parking space is detected along the driving path from the starting parking position to the target parking position, the target parking position is reset to that parking space, and the vehicle's driving control is performed to the reset target parking position. In this way, parking can be flexibly performed in a parking space according to the availability of spaces in the parking lot. In other words, convenience for the vehicle's user can be improved. It can also reduce user anxiety about not being able to secure a parking space for the vehicle. Furthermore, it can meet the user's request to park the vehicle in a parking space as close as possible to the entrance of the facility from the parking lot. In addition, the route information related to the driving path that the memory unit needs to store to set the target parking position only needs to be the driving path to the initial target parking position, and it is not necessary to register the driving path for available parking spaces, thus reducing the burden on the memory unit's capacity. [Explanation of Symbols]

[0102] 10. Vehicles (mobile devices) 20 Control ECU (Control Unit) 54 Storage section 55 External world recognition department 57 Control Unit 60 Information terminals

Claims

1. A control device for a mobile body that autonomously moves from a parking start position to a parking position, An external environment recognition unit that acquires external information regarding the surrounding conditions of the moving object, A storage unit that stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, The system includes a control unit that controls the movement of the moving body to a parking space set as a target parking position based on the external information and the route information, The control unit, If, from the external information obtained during the execution of the aforementioned driving control, a parking space adjacent to the driving path leading to the target parking position where the mobile body can be parked is detected, it is determined whether or not a driving path from the current position of the mobile body to the parking space can be generated. If the aforementioned travel path can be generated, the target parking position is reset to the parking space, and the travel path is generated. If it is not possible to generate the aforementioned travel path, the target parking position will not be reset to the parking area. When determining whether the aforementioned travel path can be generated, if the distance between the branching point on the travel path leading to the target parking position and the current position of the moving body is greater than or equal to a predetermined distance, it is determined that the travel path can be generated. The predetermined distance varies depending on the travel speed of the moving body when the control unit determines whether or not it can generate the travel path. Control device.

2. A control device according to claim 1, The route information relating to the driving route to the aforementioned parking location includes parking location information, driving route information, and surrounding environment information. The aforementioned parking location information is location information relating to the parking location, The aforementioned travel route information is information relating to the travel route from the parking start position to the parking position, which is associated with the parking position information. The surrounding environment information includes the external environment information acquired by the external environment recognition unit along the driving route indicated by the driving route information, which is associated with the driving route information, and the map information related to the driving route or environmental information obtained through communication with the outside. Control device.

3. A control device according to claim 2, When the control unit resets the target parking position to the available parking space, it notifies the user of the mobile vehicle of at least one of the parking position information, the travel route information, and the surrounding environment information included in the route information relating to the travel route to the available parking space. Control device.

4. A control device according to claim 2, When the control unit detects the available parking space during the driving control, The user of the mobile vehicle is notified of at least one of the parking location information, the driving route information, and the surrounding environment information included in the route information relating to the driving route to the parking space, The system receives instructions from the user indicating whether or not the target parking position can be reset to the available parking space. Control device.

5. A control device according to claim 1, When the control unit detects a plurality of available parking spaces during the driving control, it selects one of the plurality of available parking spaces based on predetermined conditions. Control device.

6. A control device according to claim 1, If the control unit, after resetting the target parking position to the parking area, determines that the mobile body cannot be parked in the parking area, The target parking position is returned to the parking space before the reset, and the driving control is performed based on the route information related to the driving path to the parking space before the reset and the external information. Control device.

7. A control device according to claim 1, The control unit resets the target parking position to the parking space, and when parking the moving object in the parking space is completed, it registers route information relating to the travel path from the parking start position to the parking space in the storage unit. Control device.

8. A control device according to claim 1, The control unit causes the user of the mobile vehicle to display a parking space of a different form from the parking space indicating the target parking position on the information terminal of the mobile vehicle, superimposed on the available parking space. Control device.

9. A control device according to claim 1, The control unit generates a movement path from the current position of the moving body to the available parking space in which no other parking spaces overlap. Control device.

10. A control device according to claim 2, The control unit excludes from the detection target of the available parking spaces the parking location information of the route information stored in the storage unit has been selected by the user of the mobile vehicle. Control device.

11. A control method using a control device for a mobile body that autonomously moves from a parking start position to a parking position, The aforementioned moving body is An external environment recognition unit that acquires external information regarding the surrounding conditions of the moving object, A storage unit that stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, The system includes a control unit that controls the movement of the moving body to a parking space set as a target parking position based on the external information and the route information, The control unit, If, from the external information obtained during the execution of the aforementioned driving control, a parking space adjacent to the driving path leading to the target parking position where the mobile body can be parked is detected, it is determined whether or not a driving path from the current position of the mobile body to the parking space can be generated. If the aforementioned travel path can be generated, the target parking position is reset to the parking space, and the travel path is generated. If it is not possible to generate the aforementioned travel path, the target parking position will not be reset to the parking area. When determining whether the aforementioned travel path can be generated, if the distance between the branching point on the travel path leading to the target parking position and the current position of the moving body is greater than or equal to a predetermined distance, it is determined that the travel path can be generated. The predetermined distance varies depending on the travel speed of the moving body when the control unit determines whether or not it can generate the travel path. Control method.

12. A control program for a control device that autonomously moves a mobile body from a parking start position to a parking position, The aforementioned moving body is An external environment recognition unit that acquires external information regarding the surrounding conditions of the moving object, A storage unit that stores route information relating to the travel path when the moving body moves from the parking start position to a predetermined parking position, The system includes a control unit that controls the movement of the moving body to a parking space set as a target parking position based on the external information and the route information, The control unit, If, from the external information obtained during the execution of the aforementioned driving control, a parking space adjacent to the driving path leading to the target parking position where the mobile body can be parked is detected, it is determined whether or not a driving path from the current position of the mobile body to the parking space can be generated. If the aforementioned travel path can be generated, the target parking position is reset to the parking space, and the travel path is generated. If it is not possible to generate the aforementioned travel path, the target parking position will not be reset to the parking area. When determining whether the aforementioned travel path can be generated, if the distance between the branching point on the travel path leading to the target parking position and the current position of the moving body is greater than or equal to a predetermined distance, it is determined that the travel path can be generated. The predetermined distance varies depending on the travel speed of the moving body when the control unit determines whether or not it can generate the travel path. A control program that executes a process.

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