U.S. patent application number 16/652299 was filed with the patent office on 2020-09-24 for parking control method and parking control device.
This patent application is currently assigned to Nissan Motor Co., Ltd.. The applicant listed for this patent is Nissan Motor Co., Ltd.. Invention is credited to Yasuhisa Hayakawa, Yasuhiro Suzuki.
Application Number | 20200298835 16/652299 |
Document ID | / |
Family ID | 1000004905430 |
Filed Date | 2020-09-24 |
![](/patent/app/20200298835/US20200298835A1-20200924-D00000.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00001.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00002.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00003.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00004.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00005.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00006.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00007.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00008.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00009.png)
![](/patent/app/20200298835/US20200298835A1-20200924-D00010.png)
View All Diagrams
United States Patent
Application |
20200298835 |
Kind Code |
A1 |
Suzuki; Yasuhiro ; et
al. |
September 24, 2020 |
Parking Control Method and Parking Control Device
Abstract
A parking control method causes a control device of a vehicle to
execute a first control instruction for moving the vehicle along a
first route to a target parking space, on the basis of an operation
command acquired from an operator located outside the vehicle. This
method includes, when execution of the first control instruction is
suspended or canceled, calculating a second route for the vehicle
to leave with a predetermined distance or more from an object
detected around the vehicle and causing the control device to
execute a second control instruction for moving the vehicle along
the second route.
Inventors: |
Suzuki; Yasuhiro; (Kanagawa,
JP) ; Hayakawa; Yasuhisa; (Kanagawa, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nissan Motor Co., Ltd. |
Yokohama-shi, Kanagawa |
|
JP |
|
|
Assignee: |
Nissan Motor Co., Ltd.
Yokohama-shi, Kanagawa
JP
|
Family ID: |
1000004905430 |
Appl. No.: |
16/652299 |
Filed: |
October 5, 2017 |
PCT Filed: |
October 5, 2017 |
PCT NO: |
PCT/JP2017/036322 |
371 Date: |
March 30, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W 2554/80 20200201;
B60W 30/06 20130101 |
International
Class: |
B60W 30/06 20060101
B60W030/06 |
Claims
1. A parking control method for causing a control device of a
vehicle to execute a first control instruction for moving the
vehicle along a first route to a target parking space, on a basis
of an operation command acquired from an operator, the parking
control method comprising: in a case in which a distance between
the vehicle and an object detected around the vehicle is less than
a predetermined value when execution of the first control
instruction is suspended or canceled, calculating a second route
for the vehicle to leave with a predetermined distance or more from
the object detected around the vehicle and causing the control
device to execute a second control instruction for moving the
vehicle along the second route.
2. The parking control method according to claim 1, further
comprising: when the execution of the first control instruction for
the vehicle is suspended or canceled at a position at which at
least part of the vehicle belongs to the target parking space,
causing the control device to execute the second control
instruction for moving the vehicle along the second route.
3. The parking control method according to claim 1, wherein the
second route is a route to an evacuation space that is set at a
position left with a predetermined distance or more from the
object.
4. The parking control method according to claim 3, further
comprising: detecting the object including a structure of the
target parking space, wherein the position at which the evacuation
space is set is a position at which a clearance having a
predetermined width or more is formed between the structure and an
opening part of the vehicle moved to the evacuation space.
5. The parking control method according to claim 4, comprising:
detecting a position of the operator; and forming the clearance
having a predetermined distance or more between the structure and
the opening part closest to the position of the operator among a
plurality of the opening parts.
6. The parking control method according to claim 4, wherein the
opening part is a side opening part of the vehicle.
7. The parking control method according to claim 4, wherein the
opening part is a rear opening part of the vehicle.
8. The parking control method according to claim 4, wherein the
clearance is formed between an entrance of the target parking space
and the opening part.
9. A parking control apparatus comprising a control device
configured to execute a first control instruction for moving a
vehicle along a first route to a target parking space, on a basis
of an operation command acquired from an operator, the control
device operating to: in a case in which a distance between the
vehicle and an object detected around the vehicle is less than a
predetermined value when execution of the first control instruction
is suspended or canceled on a basis of a detection result of a
sensor of the vehicle, calculate a second route for the vehicle to
leave with a predetermined distance or more from the object
detected around the vehicle and execute a second control
instruction for moving the vehicle along the second route.
Description
TECHNICAL FIELD
[0001] The present invention relates to a parking control method
and a parking control apparatus.
BACKGROUND
[0002] A technique is known in which when a vehicle is parked into
a parking space by being operated from outside of the vehicle, the
vehicle is controlled to make a stop if an object is detected
around the vehicle (JP2008-074296A).
SUMMARY
[0003] When an object is detected in a divided parking space such
as a garage and the vehicle is controlled to make a stop, the user
may not be able to enter the parking space.
[0004] A problem to be solved by the present invention is to ensure
a passage through which the user can enter the parking space even
when an object is detected in the parking space.
[0005] The present invention solves the above problem through, when
execution of a first control instruction for moving a vehicle to a
target parking space is suspended or canceled, calculating a second
route for the vehicle to leave with a predetermined distance or
more from an object detected around the vehicle and causing a
control device to execute a second control instruction for moving
the vehicle along the second route.
[0006] According to the present invention, even when the vehicle is
controlled to make a stop in the parking space, the user can enter
the parking space.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is a block diagram illustrating an example of a
parking control system according to one or more embodiments of the
present invention;
[0008] FIG. 2A is a diagram for describing a first detection scheme
for the position of an operator;
[0009] FIG. 2B is a diagram for describing a second detection
scheme for the position of an operator;
[0010] FIG. 2C is a diagram for describing a third detection scheme
for the position of an operator;
[0011] FIG. 2D is a diagram for describing a fourth detection
scheme for the position of an operator;
[0012] FIG. 3A is a diagram for describing a first detection scheme
for an object;
[0013] FIG. 3B is a diagram for describing a second detection
scheme for an object;
[0014] FIG. 4 is a flowchart illustrating an example of a control
procedure executed by the parking control system according to one
or more embodiments of the present invention;
[0015] FIG. 5 is a diagram illustrating an example of a target
parking space;
[0016] FIG. 6A is a diagram for describing a state in which the
execution of the first control is canceled and the vehicle makes a
stop;
[0017] FIG. 6B is a first diagram for describing a state in which
the execution of the second control is completed;
[0018] FIG. 6C is a second diagram for describing a state in which
the execution of the second control is completed;
[0019] FIG. 7A is a diagram for describing a state in which the
execution of the first control is canceled and the vehicle makes a
stop;
[0020] FIG. 7B is a diagram for describing a state in which the
execution of the second control is completed;
[0021] FIG. 8A is a diagram for describing a state in which the
execution of the first control is canceled and the vehicle makes a
stop;
[0022] FIG. 8B is a first diagram for describing a state in which
the execution of the second control is completed;
[0023] FIG. 8C is a second diagram for describing a state in which
the execution of the second control is completed;
[0024] FIG. 9 is a diagram for describing a state in which the
execution of the first control is canceled and the vehicle makes a
stop and a state in which the execution of the second control is
completed;
[0025] FIG. 10 is a diagram for describing a state in which the
execution of the first control is canceled and the vehicle makes a
stop and a state in which the execution of the second control is
completed; and
[0026] FIG. 11 is a diagram for describing an example of display
information on an operation terminal carried by an operator.
DETAILED DESCRIPTION
[0027] Hereinafter, one or more embodiments of the present
invention will be described with reference to the drawings.
[0028] In the embodiments, the present invention will be described
by exemplifying a case in which the parking control apparatus
according to the present invention is applied to a parking control
system. The parking control apparatus may also be applied to a
portable operation terminal (equipment such as a smartphone or a
PDA: Personal Digital Assistant) capable of exchanging information
with an onboard apparatus. The parking control method according to
the present invention can be used in the parking control apparatus,
which will be described below.
[0029] FIG. 1 is a block diagram of a parking control system 1000
including a parking control apparatus 100 according to one or more
embodiments of the present invention. The parking control system
1000 according to one or more embodiments of the present invention
includes cameras 1a to 1d, ranging devices 2, an information server
3, an operation terminal 5, the parking control apparatus 100, a
vehicle controller 70, a drive system 40, a steering angle sensor
50, a vehicle speed sensor 60, and a seating sensor 80.
[0030] The parking control apparatus 100 according to one or more
embodiments of the present invention causes a control device (ECU:
Engine Control Unit) of a vehicle to execute a first control
instruction (parking control instruction) for moving the vehicle as
the target of control along a first route to a target parking space
(parking lot), on the basis of an operation command acquired from
an operator. The parking control apparatus 100 according to one or
more embodiments of the present invention controls the operation of
moving (parking) a vehicle V as the target of control into a target
parking space on the basis of an operation command that is input
from the operation terminal 5. The parking control apparatus 100
according to one or more embodiments of the present invention
controls the operation of moving the vehicle V so as to make the
vehicle V leave from the target parking space (so as to separate
the vehicle V from the target parking space), (so that the vehicle
V is/becomes distant from the target parking space), (so that the
vehicle V escapes from the target parking space), on the basis of
an operation command that is input to the operation terminal 5 by
an operator M located outside the vehicle. One or more embodiments
of the present invention will be described with reference to an
exemplary case in which the operator M is located outside the
vehicle, but the operator M may be located inside the vehicle
interior of the vehicle V. In another case, occupants including the
driver may be located inside the vehicle interior while the
operator M (such as a manager of the parking lot) may be located
outside the vehicle.
[0031] The operation terminal 5 is a portable computer that can be
brought out to outside of the vehicle V and has an input function
and a communication function. The operation terminal 5 receives the
input of an operation command made by an operator M for controlling
the driving (operation) of the vehicle V for parking. The driving
includes operations for parking (operations for entering a parking
space and exiting the parking space). The operator M inputs
instructions via the operation terminal 5. The instructions include
an operation command for execution of parking. The operation
command includes information on the execution/stop of parking
control, selection/change of a target parking position, and
selection/change of a parking route and other information necessary
for parking. The operator M can also make the parking control
apparatus 100 recognize the instructions including the operation
command without using the operation terminal 5, such as by a
gesture of the operator M (i.e., the operator M can input such
instructions to the parking control apparatus 100 without using the
operation terminal 5, such as by a gesture). Examples of operation
commands that are input by the operator M via the operation
terminal 5 include not only the operation command for executing the
parking but also an evacuation command for the vehicle to leave
from the target parking space.
[0032] The operation terminal 5 includes a communication device and
is capable of exchanging information with the parking control
apparatus 100 and the information server 3. The operation terminal
5 transmits the operation command, which is input outside the
vehicle, to the parking control apparatus 100 via a communication
network and inputs the operation command to the parking control
apparatus 100. The operation terminal 5 communicates with the
parking control apparatus 100 using signals including a unique
identification number. The operation terminal 5 includes a display
53. The display 53 presents an input interface and various
information items. When the display 53 is a touch panel-type
display, it has a function of receiving the operation command. The
operation terminal 5 may be portable equipment, such as a
smartphone or a PDA: Personal Digital Assistant, in which
applications are installed for receiving an input of the operation
command used in the parking control method according to one or more
embodiments of the present invention and transmitting the operation
command to the parking control apparatus 100.
[0033] The information server 3 is an information provision device
provided on a network capable of communication. The information
server 3 includes a communication device 31 and a storage device
32. The storage device 32 includes readable map information 33,
parking lot information 34, and object information 35. The parking
control apparatus 100 and the operation terminal 5 can access the
storage device 32 of the information server 3 to acquire each
information item.
[0034] The parking control apparatus 100 according to one or more
embodiments of the present invention includes a control device 10,
an input device 20, and an output device 30. These components of
the parking control apparatus 100 are connected to one another via
a controller area network (CAN) or other onboard LAN to mutually
exchange information. The input device 20 includes a communication
device 21. The communication device 21 receives the operation
command transmitted from the external operation terminal 5 and
inputs the operation command to the input device 20. The subject
who inputs the operation command to the external operation terminal
5 may be a person (a user, a passenger, a driver, or a worker of a
parking facility). The input device 20 transmits the received
operation command to the control device 10. The output device 30
includes a display 31. The output device 30 notifies the driver of
parking control information. The display 31 according to one or
more embodiments of the present invention is a touch panel-type
display having an input function and an output function. When the
display 31 has an input function, it serves as the input device 20.
Even when the vehicle V is controlled on the basis of the operation
command which is input from the operation terminal 5, an occupant
(driver or passenger) can input the operation command, such as a
command for emergency stop, via the input device 20.
[0035] The control device 10 of the parking control apparatus 100
according to one or more embodiments of the present invention is a
computer for parking control including a ROM 12 that stores a
parking control program, a CPU 11 as an operation circuit that
executes the program stored in the ROM 12 to serve as the parking
control apparatus 100 according to one or more embodiments of the
present invention, and a RAM 13 that serves as an accessible
storage device.
[0036] The parking control program according to one or more
embodiments of the present invention includes commands for
executing a process of causing a control device of the vehicle to
execute a first control instruction for moving the vehicle along a
first route to a target parking space, on the basis of the
operation command acquired from an operator, and a process of, when
execution of the first control instruction is suspended or
canceled, calculating a second route for the vehicle to leave with
a predetermined distance or more from an object detected around the
vehicle and causing the control device of the vehicle to execute a
second control instruction for moving the vehicle along the second
route.
[0037] The parking control apparatus 100 according to one or more
embodiments of the present invention is a remote control-type
apparatus that receives the operation command from the operation
terminal 5 and controls the movement of the vehicle V to park the
vehicle V into a given parking space. The occupant who operates the
operation terminal 5 may be located outside the vehicle interior or
may also be located inside the vehicle interior.
[0038] The parking control apparatus 100 according to one or more
embodiments of the present invention may be of an autonomous
(automated) control type in which the steering operation and the
accelerator/brake operation are performed in an autonomous
(automated) manner. The parking control apparatus 100 may also be
of a semiautonomous (semiautomated) type in which the steering
operation is performed in an autonomous manner while the driver
performs the accelerator/brake operation.
[0039] In the parking control program according to one or more
embodiments of the present invention, the user may arbitrarily
select the target parking position, or the parking control
apparatus 100 or the parking facility side may automatically set
the target parking position.
[0040] The control device 10 of the parking control apparatus 100
according to one or more embodiments of the present invention has
functions of executing a first control process of moving the
vehicle along the first route to a target parking space, a
determination process of determining whether or not execution of
the first control process is suspended or canceled, and a second
control process of, when the execution of the first control
instruction is suspended or canceled, calculating the second route
for the vehicle to leave with a predetermined distance or more from
an object detected around the vehicle and executing a second
control process of moving the vehicle along the second route. Each
of the above processes is executed by cooperation of software for
implementing the process and the above-described hardware.
[0041] Some processes of detecting the position of the operator M
will be described with reference to FIGS. 2A to 2D. The control
device 10 acquires the position of the operator M. The position of
the operator M is used for calculation of an evacuation space. The
position of the operator M includes information on the position on
the movement plane of the vehicle V. The position of the operator M
includes information on the height position. The position of the
operator M may be detected on the basis of the sensor signals from
sensors provided in the vehicle V or may also be obtained through
detecting the position of the operation terminal 5 carried by the
operator M and calculating the position of the operator M on the
basis of the position the operation terminal 5. The operation
terminal 5 may be provided at a predetermined position or may also
be carried by the operator M. When the operation terminal 5 is
provided at a predetermined position, the operator M moves to the
position at which the operation terminal 5 is provided, and uses
the operation terminal 5 at that position. In these cases, the
position of the operation terminal 5 can be employed as the
position of the operator M. In some cases, occupants including the
operator M may be located inside the vehicle interior. The seating
sensor 80 detects that an occupant is located inside the vehicle
interior. The seating sensor 80 can detect the position at which
the occupant is seated (distinction between the driver seat and the
front passenger seat, distinction between the right side and the
left side). The seating sensor 80 for use may be any of such
sensors having a structure known at the time of filing the present
application.
[0042] As illustrated in FIG. 2A, the position of the operator M is
detected on the basis of the detection results from the multiple
ranging devices 2 provided in the vehicle and/or the images
captured by the cameras 1. The position of the operator M can be
detected on the basis of the images captured by the cameras 1a to
1d. The ranging devices 2 for use may each be a radar device, such
as a millimeter-wave radar device, a laser radar device, or an
ultrasonic radar device, or a sonar device. The multiple ranging
devices 2 and their detection results can be identified, and the
two-dimensional position and/or three-dimensional position of the
operator M can therefore be detected on the basis of the detection
results. The ranging devices 2 may be provided at the same
positions as the cameras 1a to 1d or may also be provided at
different positions. The control device 10 can also detect a
gesture of the operator M on the basis of the images captured by
the cameras 1a to 1d and identify the operation command associated
with features of the image of the gesture.
[0043] As illustrated in FIG. 2B, the position of the operation
terminal 5 or of the operator M carrying the operation terminal 5
may also be detected on the basis of the communication radio waves
between multiple antennas 211 provided at different positions of
the vehicle V and the operation terminal 5. When the multiple
antennas 211 communicate with one operation terminal 5, the
intensity of the received radio wave of each antenna 211 is
different. The position of the operation terminal 5 can be
calculated on the basis of the intensity difference between the
received radio waves of the antennas 211. The two-dimensional
position and/or three-dimensional position of the operation
terminal 5 or of the operator M can be calculated from the
intensity difference between the received radio waves of the
antennas 211.
[0044] As illustrated in FIG. 2C, a predetermined position
(direction/distance: D1, D2) with respect to the driver seat DS of
the vehicle V may be preliminarily designated as the operating
position of the operator M or as the position at which the
operation terminal 5 is disposed. For example, when the operator M
temporarily stops the vehicle V at a designated position and gets
off the vehicle V to operate the operation terminal 5 provided at
the predetermined position, it is possible to calculate the initial
position of the operator M with respect to the vehicle V or the
initial position of the terminal 5, which is carried by the
operator M, with respect to the vehicle V.
[0045] As illustrated in FIG. 2D in a similar manner, image
information representing the operating position (a position at
which the operator M stands: operation position) with respect to
the vehicle V is displayed on the display 53 of the operation
terminal 5. This display control may be executed by an application
installed on the operation terminal 5 side or may also be executed
on the basis of a command from the control device 10.
[0046] The detection process for an object will be described with
reference to FIGS. 3A and 3B. In one or more embodiments of the
present invention, "objects" include structures, such as walls and
pillars of a parking lot, installations around the vehicle,
pedestrians, other vehicles, parked vehicles, etc.
[0047] As illustrated in FIG. 3A, an object is detected on the
basis of the detection results from the multiple ranging devices 2
provided in the vehicle V and/or the images captured by the cameras
1. The ranging devices 2 detect the existence or absence of an
object, the position of the object, the size of the object, and the
distance to the object on the basis of the received signals from
the radar devices. Additionally or alternatively, the existence or
absence of an object, the position of the object, the size of the
object, and the distance to the object may be detected on the basis
of the images captured by the cameras 1a to 1d. The detection of an
object may be performed using a motion stereo technique with the
cameras 1a to 1d. The detection results are used to determine
whether or not a parking space is empty (whether or not a vehicle
is parked in the parking space).
[0048] As illustrated in FIG. 3B, objects including structures such
as walls and pillars of a parking lot can be detected on the basis
of the parking lot information 34 acquired from the storage device
32 of the information server 3. The parking lot information
includes the location and identification number of each parking lot
and positional information of passages, pillars, walls, storage
spaces, etc. in the parking facility. The information server 3 may
be managed by staffs of the parking lot.
[0049] The control procedure of parking control will be described
below with reference to the flowchart illustrated in FIG. 4.
[0050] FIG. 4 is a flowchart illustrating the control procedure of
the parking control process executed by the parking control system
1000 according to one or more embodiments of the present invention.
The trigger for starting the parking control process is not
particularly limited, and the parking control process may be
triggered by the operation of a start switch of the parking control
apparatus 100.
[0051] The parking control apparatus 100 according to one or more
embodiments of the present invention has a function of moving the
vehicle V in an autonomous manner to a parking space on the basis
of the operation command acquired from outside of the vehicle.
[0052] In step 101, the control device 10 of the parking control
apparatus 100 acquires information around the vehicle at a
predetermined cycle. The process of acquiring the ranging signals
and the process of acquiring the captured images may be selectively
executed. The control device 10 acquires the ranging signals, as
necessary, from the ranging devices 2 which are attached to
multiple sites of the vehicle V. The control device 10 acquires the
images, as necessary, which are captured by the cameras 1a to 1d
attached to multiple sites of the vehicle V. Although not
particularly limited, the camera 1a is disposed on the front grille
part of the vehicle V, the camera 1d is disposed in the vicinity of
the rear bumper, and the cameras 1b and 1c are disposed on the
lower parts of the right and left door mirrors. A camera having a
wide-angle lens with a wide view angle can be used as each of the
cameras 1a to 1d. The cameras 1a to 1d capture images of boundary
lines of parking spaces around the vehicle V and objects existing
around the parking spaces. The cameras 1a to 1d may be CCD cameras,
infrared cameras, or other appropriate imaging devices.
[0053] In step 102, the control device 10 detects parking spaces
into which parking is possible. The control device 10 detects
frames (areas) of parking spaces on the basis of the images
captured by the cameras 1a to 1d. The control device 10 detects
empty parking spaces using the detection data from the ranging
devices 2 and the detection data extracted from the captured
images. The control device 10 detects available parking spaces from
among the parking spaces. The available parking spaces are parking
spaces which are empty (i.e., other vehicles are not parked) and to
which routes for completing the parking can be calculated. The
target parking space for parking the vehicle is specified from
among the available parking spaces. In one or more embodiments of
the present invention, the condition that a parking route can be
calculated means that a trajectory of the route from the current
position to a target parking position can be rendered on the road
surface coordinates without interfering with objects (including
parked vehicles).
[0054] In step 103, the control device 10 transmits the available
parking spaces to the operation terminal 5, controls the display 53
to display the available parking spaces, and requests the operator
M to input selection information of the target parking position for
parking the vehicle V. The target parking position may be
automatically selected by the control device 10 or the parking
facility side. When the operation command of specifying a parking
space is input to the operation terminal 5, the parking space is
set as the target parking position.
[0055] In step 104, the control device 10 detects an object using
the previously described scheme. Objects include pedestrians,
traffic signs, road structures, cargoes, movable objects,
structures that form parking spaces, curbstones that partition
parking spaces, etc. Structures that form parking spaces are
buildings that constitute garages, carports, and the like. The
detection of objects includes the detection of obstacles that
obstruct the execution of the parking control.
[0056] In step 105, the control device 10 calculates a first route
to the target parking space. Any scheme known at the time of filing
the present application may be used for the process of calculating
the first route to the target parking space.
[0057] In step 106, the control device 10 generates a first control
instruction for moving the vehicle V along the calculated first
route. The control device 10 preliminarily stores the spec
information of the vehicle V necessary for the control instruction.
Examples of the first control instruction include operation
instructions for the steering amount, steering speed, steering
acceleration, shift position, speed (including zero), acceleration,
and deceleration of the vehicle V, which are associated with the
timing or position when the vehicle V travels along the parking
route, and other operation instructions. The first control
instruction includes the execution timing or execution position of
the above operation instruction for the vehicle V. The instruction
regarding the parking route and the operation instruction
associated with the parking route are executed by the vehicle V,
and the vehicle V can thereby be moved (parked) to the target
parking position.
[0058] In step 107, the control device 10 receives an input of an
execution instruction/command of the first control instruction from
the operator M. When the execution instruction/command is input,
the process proceeds to step 108, in which execution of the first
control instruction is started. The execution instruction/command
may be an input to a deadman switch of the operation terminal 5.
The deadman switch is a switch having a function of continuing
execution of the parking control process only while the operator M
applies force to the switch and a function of suspending or
canceling the execution of the parking control process when the
force applied to the switch is removed. While the Deadman switch of
the operation terminal 5 is pressed/touched, the parking control
process is continuously executed.
[0059] In step 109, the control device 10 determines whether or not
the first control can be continued and whether or not the execution
of the first control should be suspended/canceled. The control
device 10 determines whether or not the vehicle can move to the
target parking space. When the execution of the first control is
started, the control device 10 acquires detection information of a
surrounding object (obstacle) at a predetermined cycle and
determines whether or not the vehicle V1 can travel along the first
route. When the execution of the first control is started, the
control device 10 acquires detection information of the target
parking space at a predetermined cycle and determines whether or
not the vehicle V1 can enter the target parking space. The control
device 10 determines whether or not the vehicle V1 can travel along
the first route without being obstructed by the existence of an
object. When the travel along the first route is not possible, a
determination is made that the execution of the first control
should be suspended or canceled. When the control device 10
determines that the execution of the first control should be
suspended or canceled, the process proceeds to step 110.
[0060] In step 110, the control device 10 calculates a second
route. The second route is a route for the vehicle V1 to leave from
the target parking space (a route for separating the vehicle V1
from the target parking space), (a route for making a space between
vehicle V1 and target parking space), (a route for making the
vehicle V1 escape from the target parking space). The second route
according to one or more embodiments of the present invention is
used in a rescue mode (return mode) for return/recovery from the
state in which the parking control is suspended or canceled. The
rescue mode refers to a process that is executed as emergency
avoidance when continuation of the parking control process is
difficult and the movement to the target parking position is
suspended/canceled. The rescue mode is a process of moving the
subject vehicle V1 so as to make the subject vehicle V1 leave from
the target parking space (so as to separate the subject vehicle V1
from the target parking space), (so that the subject vehicle V1
is/becomes distant from the target parking space), (so that the
subject vehicle V1 escapes from the target parking space) which has
been set before the execution of the rescue mode. The control
device 10 may calculate a trajectory for avoiding an object that
causes the movement to the target parking position to be
suspended/canceled as the second route (route in the rescue mode).
As will be understood, the second route may be the same as the
first route to the target parking space, and the control device 10
may reverse the travel direction along the route to calculate the
second route for moving the subject vehicle V1 in the opposite
direction to the first route. The second route calculated in the
rescue mode may be a trajectory for moving (returning) to the
position at which the parking process was started.
[0061] In step 111, the control device 10 sets an evacuation space.
In one or more embodiments of the present invention, the control
device 10 may set the evacuation space at a position left with a
predetermined distance or more from an object and calculate the
second route to the set evacuation space. The second route is
obtained after the evacuation space is set, and the vehicle V1 can
therefore be guided to the position left with the predetermined
distance or more from the object. By making the vehicle V1 leave
with the predetermined distance or more from the object (by leaving
the evacuation space with the predetermined distance or more from
the object), a clearance for a person to pass through can be
formed. A plurality of clearances may be set for one evacuation
space, or only one clearance may be set. That is, the evacuation
space may be set such that a clearance equal to or more than a
predetermined distance can be ensured only on the right side or the
left side of the vehicle V1, or the evacuation space may be set
such that clearances equal to or more than a predetermined distance
can be ensured on both the right side and the left side of the
vehicle V1. The predetermined distance in one or more embodiments
of the present invention can be set in accordance with the
attribute of the object OB. When the object is a structure, the
predetermined distance may be set to a distance that allows a
person to pass through. A distance that allows a person to pass
through can be set to 40 cm to 70 cm, 50 cm to 65 cm, and
preferably 60 cm.
[0062] The "predetermined distance" between an object and the
evacuation space (the position at which the vehicle V1 is located
after the first control) may be defined as a distance between the
object and an opening part of the vehicle V1. Examples of the
opening part include a side opening part provided on the side of
the vehicle V1 and a rear opening part provided on the rear of the
vehicle. Examples of the side opening part include a pull-type side
door and a slide-type side door. The predetermined distance may be
set to a distance in accordance with the size and/or the movable
range (the maximum distance at the time of opening) of each side
door of the vehicle V1. Different predetermined distances may be
set for a pull-type door vehicle V1 and a slide-type door vehicle
V1. As for the predetermined distance for a side opening part of
the vehicle V1, the distance for a right-side opening part and the
distance for a left-side opening part may be different values. The
"predetermined distance" between the object and the evacuation
space (or the opening part) may be set in accordance with a space
required for an occupant to open the door and get into the vehicle
V1. The space required for getting into the vehicle may be
preliminarily defined in accordance with the vehicle type and
stored in the storage device 132 so as to be readable.
[0063] The rear opening part is a trunk door or a hatchback door.
Examples of the rear opening part include a pull-type back door and
a hatch-type door. The predetermined distance may be set to a
distance in accordance with the size and/or the movable range (the
maximum distance at the time of opening) of each back door of the
vehicle V1. Different predetermined distances may be set for a
pull-type door vehicle V1 and a hatch-type door vehicle V1. The
predetermined distance between the object and the opening part may
be set in accordance with a space required for an occupant to enter
the space between the back door (opening part) and the object and
open the back door to take out a baggage from the trunk or rear
seat. The space required for handling a baggage in the trunk or
rear seat may be preliminarily defined in accordance with the
vehicle type and stored in the storage device 132 so as to be
readable. As for the back door, different predetermined distances
may be set for a trunk-type vehicle V1 and a hatchback-type vehicle
V1.
[0064] When a plurality of candidates for the evacuation space can
be set, the evacuation space may be set so as to be able to ensure
the longest predetermined distance (a clearance having the widest
width, the widest clearance), or the evacuation space may also be
set to a position closest to the operator M. The position of the
operator M can be acquired using the previously described scheme.
When a plurality of candidates for the evacuation space can be set,
the evacuation space closest to the position of the occupant
detected by the seating sensor 80 can be selected and set. When the
occupant is seated in the driver seat, the evacuation space may be
set closest to the opening part on the driver seat side.
[0065] In one or more embodiments of the present invention, when
the execution of the first control instruction is suspended or
canceled, the control device 10 sets as the second route a route
for the vehicle V1 to leave with a predetermined distance or more
from the object detected around the vehicle V1. Thus, by making the
vehicle V1 leave with a predetermined distance or more from the
object, the operator can pass through a space between the vehicle
V1 and the object.
[0066] When a vehicle is parked into a parking space surrounded by
walls, such as a garage or a carport, the parking control process
being executed may be suspended or canceled if an object is
detected in the garage. In this case, if the vehicle is stopped
without a sufficient space between the wall (object) and the
vehicle, the operator M cannot enter the parking space to confirm
and move the object detected in the garage.
[0067] FIG. 5 illustrates an example of a parking space PL formed
by a structure ST. The structure ST has a right-side wall WR, a
left-side wall WL, and a rear wall WB, and these walls define the
parking space PL. The structure ST also forms an entrance ET that
is an opening part opened to the outside. The entrance ET includes
gatepost structures ETPL and ETPR that are right and left end parts
of the opening part. A space between the gatepost structures ETPL
and ETPR is the opening part through which the vehicle enters and
exits. The entrance ET is an entrance port/exit port to/from the
parking space PL. FIG. 5 illustrates a state in which the vehicle
V1 is parked in the parking space PL. The vehicle V1 is left with
certain distances from the structure ST as an object. A clearance
CLR is formed between the right-side wall WR of the structure ST
and the vehicle V1, a clearance CLL is formed between the left-side
wall WL and the vehicle V1, and a clearance CLB is formed between
the rear wall WB and the vehicle V1.
[0068] Garages and carports may be used as storehouses and may
store goods therein. When the suspension of the parking control
(first control) is due to the presence of a movable object, the
operator M can move (take away) the object thereby to allow the
parking control (first control) to be executed again. However, if a
person cannot enter the parking space, he/she cannot remove the
object in the first place. Moreover, if the vehicle is stopped
without a sufficient space between the wall (object) and the
vehicle, the operator M cannot get into the vehicle V1 to drive
(perform the parking operation) for him/herself and also cannot
take out a baggage from the vehicle V1. In the autonomous parking
control process, it is necessary to determine whether or not to
continue the parking control from the viewpoint of ensuring safety,
and the parking control process may of course be suspended or
canceled. The above situations, that is, the situations in which it
is not possible to enter the parking space for taking away the
object, get on the vehicle V1, and open an opening part such as a
door or a trunk of the vehicle V1 when the vehicle V1 is stopped
due to the suspension/cancellation of the first control,
deteriorate the evaluation of convenience and reliability of the
parking control apparatus itself which performs the autonomous
parking.
[0069] In one or more embodiments of the present invention, when
the execution of the first control instruction is suspended or
canceled, the second route for the vehicle V1 to leave with a
predetermined distance or more from the object detected around the
vehicle V1 is calculated, and it is therefore possible to prevent
the occurrence of a situation in which it is not possible to enter
the parking space, get on the vehicle V1, or access an opening part
such as a door or a trunk of the vehicle V1 when the vehicle V1 is
stopped.
[0070] In one or more embodiments of the present invention, the
process of calculating the second route may be executed when the
following condition is satisfied. Specifically, when the execution
of the first control instruction for the vehicle V1 is suspended or
canceled at a position at which at least part of the vehicle V1
belongs to the target parking space, the control device 10 is
caused to execute the second control instruction for moving the
vehicle along the second route. The control device 10 compares the
existence area (XY coordinates) of the vehicle V1 with the area (XY
coordinates) of the target parking space at the timing at which the
execution of the first control instruction is suspended or
canceled, and when the areas partially overlap each other, the
control device 10 calculates the second route and executes the
second control (rescue mode). When the vehicle V1 makes a stop at a
position at which at least part of the vehicle V1 belongs to the
target parking space, it is highly possible to fall into a state
that cannot be handled, such as a state in which it is not possible
to enter the parking space, get on the vehicle V1, or access an
opening part such as a door or a trunk of the vehicle V1 when the
vehicle V1 is stopped. In one or more embodiments of the present
invention, the second route is calculated when the possibility of
the occurrence of such a state that cannot be handled is high, and
it is therefore possible to prevent the execution of the second
control (rescue mode) which is not necessary in a situation that
cannot be handled.
[0071] In step 112, the control device 10 generates a second
control instruction for moving the vehicle V along the calculated
second route. The control device 10 preliminarily stores the spec
information of the vehicle V necessary for the control instruction.
Examples of the second control instruction include operation
instructions for the steering amount, steering speed, steering
acceleration, shift position, speed (including zero), acceleration,
and deceleration of the vehicle V, which are associated with the
timing or position when the vehicle V travels along the parking
route, and other operation instructions. The second control
instruction includes the execution timing or execution position of
the above operation instruction for the vehicle V. The instruction
regarding the parking route and the operation instruction
associated with the parking route are executed by the vehicle V,
and the vehicle V can thereby be moved (parked) to the target
parking position. When the execution command for the second control
is input, the control device 10 executes the process of moving the
subject vehicle V1 along the second route for leaving from the
target parking space. The moving direction and moving distance of
the trajectory for leaving from the target parking space are not
limited.
[0072] Specific control examples will be described below with
reference to the drawings. The following description is based on an
exemplary case in which the vehicle V1 is parked into the parking
space PL illustrated in FIG. 5.
[0073] As described above, when the execution of the first control
instruction is suspended or canceled, the control device 10
calculates the second route for the vehicle V1 to leave with a
predetermined distance or more from the object detected around the
vehicle V1 and controls the vehicle V1 to move along the second
route.
[0074] (1) The control device 10 may calculate the second route for
guiding the vehicle V1 to the evacuation space in which the
structure ST (object) of the parking space is left with a
predetermined distance or more from the vehicle V1.
[0075] FIG. 6A is a diagram when viewing from above a state in
which the vehicle V1 is parked into the target parking space PL
along the first route RT1. An object OB is present at the back of
the parking space PL; therefore, the execution of the first control
as the parking control cannot be continued and the vehicle V1 is
controlled to make a stop. At this time, a reference position PV of
the vehicle V1 is located at coordinates X0 and Y0. The reference
position of the vehicle V1 is not particularly limited and is set
at a predetermined position of the vehicle V1.
[0076] FIG. 6B is a diagram when viewing from above a state in
which the vehicle V1 is moved along the second route RT2 for the
vehicle V1 to leave from the target parking space PL. The second
route is calculated to guide the vehicle V1 to the evacuation space
in which the structure ST (object) of the parking space is left
with a predetermined distance or more from the vehicle V1. The
reference position PV of the vehicle V1 located in the evacuation
space after the execution of the second control is located at
coordinates X1 and Y1. Clearances CL are formed between the vehicle
V1 located in the evacuation space and the structure ST. The
right-side clearance CLR and the left-side clearance CLL, which are
formed in the lateral direction (wheel axis direction) of the
vehicle V1, have a predetermined distance or more. The reference
position PV of the vehicle V1 is located at the coordinates X1 and
Y1 when the second control is executed to move the vehicle V1 to
the evacuation space. Compared with the position of the vehicle V1
represented by the coordinates X0 and Y0 illustrated in FIG. 6A,
the position of the vehicle V1 is shifted in the vehicle travel
direction on the X axis.
[0077] Additionally or alternatively, the evacuation space may be
set such that the distances between predetermined positions of the
vehicle V1 and the gatepost structures ETPL and ETPR, which form
the entrance of the parking space PL, are not less than a
predetermined distance, and the vehicle V1 may be moved to the
evacuation space. The predetermined positions of the vehicle V1 are
not particularly limited, but in this example, the predetermined
positions are set at the pivot axes of doors. Clearances are formed
between the entrance ET of the parking space PL and opening parts
of the vehicle V1 and it is therefore possible to ensure an entry
route into the parking space PL.
[0078] In the state in which the first control is canceled as
illustrated in FIG. 6A, the distances between the vehicle V1 and
the structure ST are short, and the operator M cannot enter the far
side of the parking space PL and also cannot confirm the state of
the object OB In contrast, in the state in which the second control
is executed as illustrated in FIG. 6B, the distances between the
vehicle V1 and the structure ST are not less than the predetermined
distance, and the operator M can enter the far side of the parking
space PL and can also confirm the state of the object OB, so the
object OB can be removed if necessary.
[0079] The right-side clearance CLR and the left-side clearance CLL
may be the same distance or may also be different distances. The
control device 10 according to one or more embodiments of the
present invention detects the position of the operator M and forms
a clearance having a predetermined distance or more between the
structure ST and an opening part closest to the position of the
operator M among a plurality of opening parts of the vehicle V1.
The opening parts of the vehicle V1 include side opening parts and
a rear opening part. The side opening parts are side doors.
Examples of the rear opening part include a trunk door and a
hatchback door. In the example illustrated in FIGS. 6A and 6B, the
clearance CLL between the left-side door closest to the operator M
and the structure ST is set as the control target (which is
controlled to have a predetermined distance or more). In this case,
the width of the clearance CLL may be set larger than the width of
the clearance CLR. By forming a passage (clearance) in a place
through which the operator M can easily access the opening part
(such as a door or a trunk), the user convenience can be improved.
In this case, the coordinate value of Y1 passing through the
reference position PV of the vehicle V1 shifts in the +Y/-Y
direction from the center of the entrance. As illustrated in FIG.
6C, the clearances CLL and CLR may be formed such that the
distances between the trunk portion (rear opening part) of the
vehicle V1 and the gatepost structures ETPL and ETPR, which form
the entrance, are not less than a predetermined distance.
[0080] (2) The control device 10 may calculate the second route for
guiding the vehicle V1 to the evacuation space in which the
structure ST (object) of the parking space is left with a
predetermined distance or more from an opening part of the vehicle
V1.
[0081] FIG. 7A is a diagram when viewing from above a state in
which the vehicle V1 is parked into the target parking space PL
along the first route RT1. An object OB is present at the back of
the parking space PL; therefore, the execution of the first control
as the parking control cannot be continued and the vehicle V1 is
controlled to make a stop. At this time, the reference position PV
of the vehicle V1 is located at coordinates X0 and Y0. The
reference position of the vehicle V1 is not particularly limited
and is set at a predetermined position of the vehicle V1. As
illustrated in the figure, the distances CLL and CLR between the
structure ST and the vehicle V1 are less than a predetermined
distance and, therefore, the opening parts cannot be opened.
[0082] FIG. 7B is a diagram when viewing from above a state in
which the vehicle V1 is moved along the second route RT2 for the
vehicle V1 to leave from the target parking space PL. The second
route is calculated to guide the vehicle V1 to the evacuation space
in which the structure ST (object) of the parking space is left
with a predetermined distance or more from the opening parts of the
vehicle V1. The reference position PV of the vehicle V1 located in
the evacuation space after the execution of the second control is
located at coordinates X1 and Y1. Clearances CL are formed between
the vehicle V1 located in the evacuation space and the structure
ST. The right-side clearance CLR and the left-side clearance CLL,
which are formed in the lateral direction (wheel axis direction) of
the vehicle V1, have a predetermined distance or more. Additionally
or alternatively, the evacuation space may be set such that the
distances between the pivot axes of doors of the vehicle V1 and the
gatepost structures ETPL and ETPR, which form the entrance of the
parking space PL, are not less than a predetermined distance, and
the vehicle V1 may be moved to the evacuation space. The vehicle V1
moves to the evacuation space thereby to allow the right-side door
DR to be moved in a range RR and also allow the left-side door DL
to be moved in a range RL. The rear clearance CLB formed in the
longitudinal direction (vehicle length direction) of the vehicle V1
is not less than a predetermined distance. The reference position
PV of the vehicle V1 is located at the coordinates X1 and Y1 when
the second control is executed to move the vehicle V1 to the
evacuation space. Compared with the position of the vehicle V1
represented by the coordinates X0 and Y0 illustrated in FIG. 7A,
the position of the vehicle V1 is shifted in the vehicle travel
direction on the X axis.
[0083] In the state in which the first control is canceled as
illustrated in FIG. 7A, the distances between the vehicle V1 and
the structure ST are short, and the operator M cannot open the
doors of the vehicle V1, cannot get into the vehicle V1 to drive
the vehicle V1, and cannot take out a baggage from the vehicle. In
contrast, in the state in which the second control is executed as
illustrated in FIG. 7B, the distances between the vehicle V1 and
the structure ST are not less than the predetermined distance, and
the operator M can get into the vehicle V1 to drive the vehicle V1,
can take out a baggage from the vehicle, and can move the vehicle
V1.
[0084] The right-side clearance CLR and the left-side clearance CLL
may be the same distance or may also be different distances. The
control device 10 according to one or more embodiments of the
present invention detects the position of the operator M and forms
a clearance having a predetermined distance or more between the
structure ST and an opening part closest to the position of the
operator M among a plurality of opening parts of the vehicle
V1.
[0085] The opening parts of the vehicle V1 include side opening
parts. The side opening parts are side doors. The clearances CL are
formed such that an object is left with a predetermined distance or
more from a side opening part of the vehicle V1, and the operator
can therefore get into the vehicle V1 from the side opening part to
drive the vehicle V1. The opening parts of the vehicle V1 include a
rear opening part. Examples of the rear opening part include a
trunk door and a hatchback door. The clearances CL are formed such
that an object is left with a predetermined distance or more from
the rear opening part of the vehicle V1, and the operator can
therefore take out a baggage or the like from the rear opening
part.
[0086] In the example illustrated in FIGS. 7A and 7B, the clearance
CLL between the left-side door closest to the operator M and the
structure ST is set as the control target (which is controlled to
have a predetermined distance or more). In this case, the width of
the clearance CLL may be set larger than the width of the clearance
CLR. By forming a passage (clearance) in a place through which the
operator M can easily access the opening part (such as a door or a
trunk), the user convenience can be improved. In this case, the
coordinate value of Y1 passing through the reference position PV of
the vehicle V1 shifts in the +Y/-Y direction from the center of the
entrance.
[0087] (3) The control device 10 may calculate the second route for
guiding the vehicle V1 to the evacuation space at which another
vehicle (object) is left with a predetermined distance or more from
an opening part of the vehicle V1.
[0088] With reference to FIGS. 8A to 8C, the description will be
made for the first control and the second control when another
vehicle V2 is present next to the vehicle V1 to be parked in a
right-angle parking form.
[0089] FIG. 8A is a prediction diagram of a state in which the
vehicle V1 is parked in the target parking space PL along the first
route RT1. Another vehicle V2 is present next to the target parking
space PL. When the existence areas of the target parking space PL
and the other vehicle V2 overlap or when the distance between the
target parking space PL and the other vehicle V2 is less than a
predetermined distance, the execution of the first control is
difficult and the control device 10 therefore determines to
suspend/cancel the execution of the first control instruction. The
control device 10 may determine to suspend/cancel the execution of
the first control instruction when the distance between the target
parking space PL and the other vehicle V2 is short and it is
difficult to open the side door of the vehicle V1 after the
execution of the first control. At this time, the reference
position PV of the vehicle V1 is located at coordinates X0 and Y0.
As illustrated in the figure, the distance CLR between the other
vehicle V2 (object) and the vehicle V1 is less than a predetermined
distance and, therefore, the opening part cannot be opened.
[0090] FIG. 8B is a diagram when viewing from above a state in
which the vehicle V1 is moved forward along a second route RT2F for
the vehicle V1 to leave from the target parking space PL. The
second route is calculated to guide the vehicle V1 to the
evacuation space at which the other vehicle V2 (object) is left
with a predetermined distance or more from the opening part of the
vehicle V1. The reference position PV of the vehicle V1 located in
the evacuation space after the execution of the second control is
located at coordinates X1 and Y1. A clearance CL is formed between
the vehicle V1 located in the evacuation space and the other
vehicle V2. The clearance CLR formed between the door DR of the
vehicle V1 and the other vehicle V2 is not less than a
predetermined distance. The vehicle V1 moves to the evacuation
space thereby to allow the right-side door DR to be moved in a
range RR. The reference position PV of the vehicle V1 is located at
the coordinates X1 and Y1 when the second control is executed to
move the vehicle V1 to the evacuation space. Compared with the
position of the vehicle V1 represented by the coordinates X0 and Y0
illustrated in FIG. 8A, the position of the vehicle V1 is shifted
in the vehicle travel direction on the X axis.
[0091] FIG. 8C is a diagram when viewing from above a state in
which the vehicle V1 is moved backward along a second route RT2B
for the vehicle V1 to leave from the target parking space PL. The
second route is calculated to guide the vehicle V1 to the
evacuation space at which the other vehicle V2 (object) is left
with a predetermined distance or more from the opening part of the
vehicle V1. The reference position PV of the vehicle V1 located in
the evacuation space after the execution of the second control is
located at coordinates X2 and Y2. A clearance CLR is formed between
the door DR of the vehicle V1 located in the evacuation space and
the other vehicle V2 (object). The right-side clearance CLR formed
between the door DR of the vehicle V1 and the other vehicle V2 is
not less than a predetermined distance. The vehicle V1 moves to the
evacuation space thereby to allow the right-side door DR to be
moved in the range RR. The reference position PV of the vehicle V1
is located at the coordinates X2 and Y2 when the second control is
executed to move the vehicle V1 to the evacuation space. Compared
with the position of the vehicle V1 represented by the coordinates
X0 and Y0 illustrated in FIG. 8A, the position of the vehicle V1 is
shifted to the rear side opposite to the vehicle travel direction
on the X axis.
[0092] In the state in which the first control is canceled as
illustrated in FIG. 8A, the distance between the vehicle V1 and the
other vehicle V2 is short, and the operator M cannot open the door
of the vehicle V1, cannot get into the vehicle V1 to drive the
vehicle V1, and cannot take out a baggage from the vehicle. In
contrast, in the state in which the second control is executed as
illustrated in FIGS. 8A and 8B, the distance between the vehicle V1
and the other vehicle V2 is not less than the predetermined
distance, and the operator M can get into the vehicle V1 to drive
the vehicle V1, can take out a baggage from the vehicle, and can
move the vehicle V1. The clearance CLR is formed such that the
other vehicle V2 is left with a predetermined distance or more from
the side opening part of the vehicle V1, and the operator can
therefore get into the vehicle V1 from the right-side door DR to
drive the vehicle V1.
[0093] (4) The control device 10 may calculate the second route for
guiding the vehicle V1 to the evacuation space in which a wall WT
(object) as a structure of the parking lot is left with a
predetermined distance or more from an opening part of the vehicle
V1.
[0094] With reference to FIG. 9, the description will be made for
the first control and the second control when the wall WL (object)
exists next to the vehicle V1 to be parked.
[0095] FIG. 9 is a prediction diagram of a state in which the
vehicle V1 is parked in the target parking space PL along the first
route RT1. The wall WL exists next to the target parking space PL.
When the existence areas of the target parking space PL and the
wall WL overlap or when the distance between the target parking
space PL and the wall WL is less than a predetermined distance, the
execution of the first control is difficult and the control device
10 therefore determines to suspend/cancel the execution of the
first control instruction. The control device 10 may determine to
suspend/cancel the execution of the first control instruction when
the distance between the target parking space PL and the wall WL is
short and it is difficult to open the side door of the vehicle V1
after the execution of the first control. At this time, the
reference position PV of the vehicle V1 is located at coordinates
X0 and Y0. As illustrated in the figure, the distance CLR between
the wall WL and the vehicle V1 is less than a predetermined
distance and, therefore, the opening part cannot be opened.
[0096] As illustrated in FIG. 9, the second route is calculated to
guide the vehicle V1 to the evacuation space in which the wall WL
(object) is left with a predetermined distance or more from the
opening part of the vehicle V1. The reference position PV of the
vehicle V1' located in the evacuation space after the execution of
the second control is located at coordinates X1 and Y1. A clearance
CLR is formed between the opening part of the vehicle V1 located in
the evacuation space and the wall WL. The clearance CLR formed
between the door DR of the vehicle V1 and the wall WL is not less
than a predetermined distance. The vehicle V1 moves to the
evacuation space thereby to allow the right-side door DR to be
moved in the range RR. The reference position PV of the vehicle V1
is located at the coordinates X1 and Y1 when the second control is
executed to move the vehicle V1 to the evacuation space.
[0097] In the state in which the first control is canceled, the
distance between the vehicle V1 and the wall WL is short, and the
operator M cannot open the door of the vehicle V1, cannot get into
the vehicle V1 to drive the vehicle V1, and cannot take out a
baggage from the vehicle. In contrast, in the state in which the
second control is executed, the distance between the vehicle V1'
and the wall WL is not less than the predetermined distance, and
the operator M can get into the vehicle V1 to drive the vehicle V1,
can take out a baggage from the vehicle, and can move the vehicle
V1. The clearance CLR is formed such that the wall WL is left with
a predetermined distance or more from the side opening part of the
vehicle V1, and the operator can therefore get into the vehicle V1
from the right-side door DR to drive the vehicle V1.
[0098] (5) The control device 10 may calculate the second route for
guiding the vehicle V1 to the evacuation space in which a wall WT
(object) as a structure of the parking lot is left with a
predetermined distance or more from an opening part of the vehicle
V1.
[0099] With reference to FIG. 10, the description will be made for
the first control and the second control when the wall WL (object)
exists behind the vehicle V1 to be parked. FIG. 10 is a prediction
diagram of a state in which the vehicle V1 is parked in the target
parking space PL along the first route RT1. The wall WL exists
behind the target parking space PL. When the existence areas of the
target parking space PL and the wall WL overlap or when the
distance between the target parking space PL and the wall WL is
less than a predetermined distance, the execution of the first
control is difficult and the control device 10 therefore determines
to suspend/cancel the execution of the first control instruction.
The control device 10 may determine to suspend/cancel the execution
of the first control instruction when the distance between the
target parking space PL and the wall WL is short and it is
difficult to open the rear opening part of the vehicle V1 after the
execution of the first control. At this time, the reference
position PV of the vehicle V1 is located at coordinates X0 and Y0.
As illustrated in the figure, the distance CLR between the wall WL
and the vehicle V1 is less than a predetermined distance and,
therefore, the rear opening part (trunk/hatchback door) cannot be
opened.
[0100] As illustrated in FIG. 10, the second route is calculated to
guide the vehicle V1 to the evacuation space in which the wall WL
(object) is left with a predetermined distance or more from the
opening part of the vehicle V1. The reference position PV of the
vehicle V1' located in the evacuation space after the execution of
the second control is located at coordinates X1 and Y1. A clearance
CLB' is formed between the rear opening part of the vehicle V1
located in the evacuation space and the wall WL. The clearance CLB
formed between the rear opening part of the vehicle V1 and the wall
WL is not less than a predetermined distance. The predetermined
distance between the rear opening part of the vehicle V1 and the
wall WL is set to a distance that allows an occupant to stand
between the wall WL and the vehicle V1 and open the back door of
the rear opening part to handle a baggage in the trunk. The
distance required to open and close the back door of the rear
opening part may be set on the basis of the door opening/closing
mechanism, the size of the door, and the distance from the door
when opened. The vehicle V1 moves to the evacuation space thereby
to allow the back door DR to be moved. The reference position PV of
the vehicle V1 is located at the coordinates X1 and Y1 when the
second control is executed to move the vehicle V1 to the evacuation
space.
[0101] In the state in which the first control is canceled, the
distance between the vehicle V1 and the wall WL is short, and the
operator M cannot open the door of the vehicle V1, cannot get into
the vehicle V1 to drive the vehicle V1, and cannot take out a
baggage from the vehicle. In contrast, in the state in which the
second control is executed, the distance between the vehicle V1'
and the wall WL is not less than the predetermined distance, and
the operator M can take out a baggage from the trunk.
[0102] Referring again to FIG. 4, in step 113, when the operator M
commands to execute the second control instruction, the second
control is started. FIG. 11 is a display example of the display 53
of the operation terminal 5 which receives the command to execute
the second control instruction. As illustrated in FIG. 11, the
display example includes the vehicle V1 before parking, other
vehicles V2 parked around the vehicle V1, the target parking space
PL for the vehicle V1, and an object OB present on the route to the
target parking space PL (an object OB to which attention should be
paid), which are presented after coordinate conversion as if they
are viewed from above. The object OB is present near the point of
turn for parking, so the first control is suspended when executed
for the vehicle V1. In this case, the control device 10 displays a
"Rescue" button that makes an inquiry to the operator M as to
whether to execute the second control. When an acceptance input is
made via the "Rescue" button, the second control instruction is
executed. In this example, the name of the second control for the
vehicle V1 to leave from the target parking space PL is referred to
as a "Rescue" mode, but the name is not particularly limited. The
"GO" button is an input button of the previously described deadman
switch, and the execution of the first control is continued while
the button is being pressed/touched.
[0103] After the second control is completed, the vehicle V1 is
controlled to move to the evacuation space. The evacuation space is
not a parking space and it is therefore necessary to move the
vehicle V1 to a parking space.
[0104] In step 114, when the execution instruction/command for the
first control for moving the vehicle to the target parking space PL
is input again, the processes of step 115 and subsequent steps are
performed to move the vehicle to the target parking space PL
again.
[0105] In step 115, the control device 10 detects objects around
the vehicle V1. In step 116, the control device 10 sets the target
parking space PL again. In step 117, the control device 10
calculates the parking route (first route) to the target parking
space PL. The parking route includes a position of turn for parking
necessary for moving to the parking space. For this operation, the
parking route is defined as a line and is also defined as a
strip-shaped area corresponding to the occupied area by the vehicle
V based on the vehicle width. The occupied area by the vehicle V is
defined with consideration for the vehicle width and a margin width
ensured for movement. The control device 10 confirms that no
objects are detected within the occupied area.
[0106] In step 117, the control device 10 generates a control
instruction for moving the vehicle V along the calculated parking
route. The control device 10 preliminarily stores the spec
information of the vehicle V necessary for the control instruction.
Examples of the control instruction include operation instructions
for the steering amount, steering speed, steering acceleration,
shift position, speed (including zero), acceleration, and
deceleration of the vehicle V, which are associated with the timing
or position when the vehicle V travels along the parking route, and
other operation instructions. The control instruction includes the
execution timing or execution position of the above operation
instruction for the vehicle V. The instruction regarding the
parking route and the operation instruction associated with the
parking route are executed by the vehicle V, and the vehicle can
thereby be moved (parked) to the target parking position. The
control instruction according to one or more embodiments of the
present invention includes a stop instruction for the vehicle V at
the second position. Additionally or alternatively, the control
instruction may include an operation of opening a door of the
vehicle V at the second position.
[0107] In step 118, the control device 10 monitors the change in
the environment around the vehicle V until the vehicle V reaches
the position of turn for parking. When the vehicle V reaches the
position of turn for parking, the gear shift included in the
control instruction is executed in step 119. Step 119 is followed
by step 120, in which the parking control is completed by
sequentially executing control instructions.
[0108] The parking control apparatus 100 according to one or more
embodiments of the present invention controls the operation of the
drive system 40 via the vehicle controller 70 in accordance with
the control instruction so that the vehicle V moves along the
parking route. The parking control apparatus 100 calculates command
signals to the drive system 40 of the vehicle V, such as an EPS
motor, while feeding back the output value of the steering angle
sensor 50 of the steering apparatus so that the travel trajectory
of the vehicle V coincides with the calculated parking route, and
transmits the command signals to the drive system 40 or to the
vehicle controller 70 which controls the drive system 40.
[0109] The parking control apparatus 100 according to one or more
embodiments of the present invention includes a control unit for
parking control. The control unit for parking control acquires
shift range information from an AT/CVT control unit, wheel speed
information from an ABS control unit, steering angle information
from a steering angle control unit, engine speed information from
an ECM, and other necessary information. On the basis of these
information items, the control unit for parking control calculates
and outputs instruction information on the autonomous steering to
the EPS control unit, instruction information such as warning to a
meter control unit, etc. The control device 10 acquires information
items, which are acquired by the steering angle sensor 50 of the
steering apparatus of the vehicle V, the vehicle speed sensor 60,
and other sensors of the vehicle V, via the vehicle controller
70.
[0110] The drive system 40 according to one or more embodiments of
the present invention drives the vehicle V1 to move (travel) from
the current position to the target parking position by driving
based on the control command signals acquired from the parking
control apparatus 100. The steering apparatus according to one or
more embodiments of the present invention is a drive mechanism that
moves the vehicle V in the right and left directions. The EPS motor
included in the drive system 40 drives the power steering mechanism
of the steering of the steering apparatus on the basis of the
control command signals acquired from the parking control apparatus
100 to control the steering amount and controls the operation when
moving the vehicle V to the target parking position. The control
content and operation scheme for parking of the vehicle V are not
particularly limited, and any scheme known at the time of filing
the present application can be appropriately applied.
[0111] When the parking control apparatus 100 according to one or
more embodiments of the present invention controls the vehicle V to
move to the target parking position along the route calculated on
the basis of the position of the vehicle V and the position of the
target parking position, the accelerator and the brake are
controlled in an autonomous manner on the basis of the designated
control vehicle speed (set vehicle speed), and the operation of the
steering apparatus controls the movement of the vehicle V in an
autonomous manner in accordance with the vehicle speed.
[0112] The parking control method according to one or more
embodiments of the present invention is used in the parking control
apparatus as the above and therefore exhibits the following
effects. The parking control apparatus 100 according to one or more
embodiments of the present invention is configured and operates as
the above and therefore exhibits the following effects.
[0113] (1) In the parking control method according to one or more
embodiments of the present invention, even when the vehicle is
controlled to make a stop in a parking space, the user can enter
the parking space.
[0114] In the control method according to one or more embodiments
of the present invention, when the execution of the first control
instruction is suspended or canceled, the control device 10 sets as
the second route a route for the vehicle V1 to leave with a
predetermined distance or more from the object detected around the
vehicle V1. Thus, by making the vehicle V1 leave with a
predetermined distance or more from the object, the operator can
pass through a space between the vehicle V1 and the object. When
the suspension of the first control is due to the presence of a
movable object, the operator M can move (take away) the object
thereby to allow the parking control (first control) to be executed
again, but if a person cannot enter the parking space, he/she
cannot remove the object. Moreover, if the vehicle is stopped
without a sufficient space between the vehicle and the object such
as a wall or another vehicle, the operator M cannot get into the
vehicle V1 to drive (perform the parking operation) for him/herself
and also cannot take out a baggage from the vehicle V1. It is
necessary to determine whether or not to continue the execution of
the first control instruction, and the execution of the first
control instruction may of course be suspended or canceled. The
above situations, that is, the situations in which it is not
possible to enter the parking space for taking away the object, get
on the vehicle V1, and open an opening part such as a door or a
trunk of the vehicle V1 when the vehicle V1 is stopped due to the
suspension/cancellation of the first control, deteriorate the
convenience and reliability of the parking control apparatus
itself. In one or more embodiments of the present invention, when
the execution of the first control instruction is suspended or
canceled, the second route for the vehicle V1 to leave with a
predetermined distance or more from the object detected around the
vehicle V1 is calculated, and it is therefore possible to prevent
the situations in which it is not possible to enter the parking
space, get on the vehicle V1, and access an opening part such as a
door or a trunk of the vehicle V1 when the vehicle V1 is
stopped.
[0115] (2) In the parking control method according to one or more
embodiments of the present invention, when the execution of the
first control instruction for the vehicle V1 is suspended or
canceled at a position at which at least part of the vehicle V1
belongs to the target parking space, the control device 10 is
caused to execute the second control instruction for moving the
vehicle along the second route. The control device 10 compares the
existence area (XY coordinates) of the vehicle V1 with the area (XY
coordinates) of the target parking space at the timing at which the
execution of the first control instruction is suspended or
canceled, and when the areas partially overlap each other, the
control device 10 calculates the second route and executes the
second control (rescue mode). When the vehicle V1 makes a stop at a
position at which at least part of the vehicle V1 belongs to the
target parking space, it is highly possible to fall into a state
that cannot be handled, such as a state in which it is not possible
to enter the parking space, get on the vehicle V1, or access an
opening part such as a door or a trunk of the vehicle V1 when the
vehicle V1 is stopped. In one or more embodiments of the present
invention, the second route is calculated when the possibility of
the occurrence of such a state that cannot be handled is high, and
it is therefore possible to prevent the execution of the second
control (rescue mode) which is not necessary in a situation that
cannot be handled.
[0116] (3) In the parking control method according to one or more
embodiments of the present invention, the control device 10 may set
an evacuation space at a position left with a predetermined
distance or more from an object and calculate the second route to
the set evacuation space. The second route is obtained after the
evacuation space is set, and the vehicle V1 can therefore be guided
to the position left with the predetermined distance or more from
the object.
[0117] (4) In the parking control method according to one or more
embodiments of the present invention, in the state in which the
second control is executed, the distances between the vehicle V1
and the structure ST are not less than a predetermined distance,
and the operator M can drive the vehicle V1, can take out a baggage
from the vehicle, and can move the vehicle V1.
[0118] (5) In the parking control method according to one or more
embodiments of the present invention, in an example in which the
control device 10 detects the position of an operator M and forms a
clearance having a predetermined distance or more between a
structure ST and an opening part closest to the position of the
operator M among a plurality of opening parts (such as a door and a
trunk) of the vehicle V1, the control device 10 sets a clearance
CLL between the left-side door closest to the operator M and the
structure ST as the control target (which is controlled to have a
predetermined distance or more). In this case, the width of the
clearance CLL may be set larger than the width of a clearance CLR.
By forming a passage (clearance) in a place through which the
operator M can easily access the opening part (such as a door or a
trunk), the user convenience can be improved.
[0119] (6) In the parking control method according to one or more
embodiments of the present invention, the opening parts of the
vehicle V1 include side opening parts. The side opening parts are
side doors. The clearances CL are formed such that an object is
left with a predetermined distance or more from a side opening part
of the vehicle V1, and the operator can therefore get into the
vehicle V1 from the side opening part to drive the vehicle V1.
[0120] (7) In the parking control method according to one or more
embodiments of the present invention, the opening parts of the
vehicle V1 include a rear opening part. Examples of the rear
opening part include a trunk door and a hatchback door. The
clearances CL are formed such that an object is left with a
predetermined distance or more from the rear opening part of the
vehicle V1, and the operator can therefore take out a baggage or
the like from the rear opening part.
[0121] (8) In the parking control method according to one or more
embodiments of the present invention, a clearance is formed between
the entrance ET of the parking space PL and an opening part of the
vehicle V1 and it is therefore possible to ensure an entry route
into the parking space PL.
[0122] (9) Also in the parking control apparatus 100 in which the
method according to one or more embodiments of the present
invention is executed, the actions and effects as described in the
above (1) to (8) are exhibited.
[0123] Embodiments heretofore explained are described to facilitate
understanding of the present invention and are not described to
limit the present invention. It is therefore intended that the
elements disclosed in the above embodiments include all design
changes and equivalents to fall within the technical scope of the
present invention.
DESCRIPTION OF REFERENCE NUMERALS
[0124] 1000 Parking control system [0125] 100 Parking control
apparatus [0126] 10 Control device [0127] 11 CPU [0128] 12 ROM
[0129] 13 RAM [0130] 132 Storage device [0131] 133 Map information
[0132] 134 Parking lot information [0133] 135 Object information
[0134] 20 Input device [0135] 21 Communication device [0136] 211
Antennas [0137] 30 Output device [0138] 31 Display [0139] 1a-1d
Cameras [0140] 2 Ranging devices [0141] 3 Information server [0142]
31 Communication device [0143] 32 Storage device [0144] 33 Map
information [0145] 34 Parking lot information [0146] 35 Object
information [0147] 5 Operation terminal [0148] 51 Communication
device [0149] 511 Antenna [0150] 52 Input device [0151] 53 Display
[0152] 200 Onboard device [0153] 40 Drive system [0154] 50 Steering
angle sensor [0155] 60 Vehicle speed sensor [0156] 70 Vehicle
controller [0157] 80 Seating sensor [0158] V, V1 Vehicle
* * * * *