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WO2020230193A1 - Dispositif de détermination de forme de stationnement - Google Patents

Dispositif de détermination de forme de stationnement Download PDF

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Publication number
WO2020230193A1
WO2020230193A1 PCT/JP2019/018765 JP2019018765W WO2020230193A1 WO 2020230193 A1 WO2020230193 A1 WO 2020230193A1 JP 2019018765 W JP2019018765 W JP 2019018765W WO 2020230193 A1 WO2020230193 A1 WO 2020230193A1
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WO
WIPO (PCT)
Prior art keywords
parking
angle
parking form
distribution
line segment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/018765
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English (en)
Japanese (ja)
Inventor
聡史 上田
井上　悟
侑己 浦川
真一 原瀬
崇博 関
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2019/018765 priority Critical patent/WO2020230193A1/fr
Priority to JP2021514451A priority patent/JP6890744B2/ja
Publication of WO2020230193A1 publication Critical patent/WO2020230193A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions

Definitions

  • the present invention relates to a parking form determination device.
  • Patent Document 1 discloses a parking form determining device that determines whether the parking form of another vehicle is so-called “parallel parking”, “parallel parking”, or “diagonal parking”.
  • the parking form determination device described in Patent Document 1 has a problem that the determination accuracy of the parking form is lowered when the traveling speed of the vehicle is high. Further, when the parking form of another vehicle is diagonal parking, there is a problem that the determination accuracy of the parking form is lowered.
  • the present invention has been made to solve the above problems, and an object of the present invention is to improve the accuracy of determining the parking form.
  • the parking form determination device of the present invention includes a grouping unit that sets a group corresponding to an obstacle by grouping a plurality of reflection points obtained by a distance sensor, and a plurality of reflection points included in the group.
  • An angle calculation unit that calculates the line segment angle or normal angle for each line segment connecting the reflection points adjacent to each other, and a length calculation unit that calculates the line segment length for each line segment. Based on the distribution of the line segment length with respect to the line segment angle or the normal angle, the parking form determination unit that determines whether the parking form of the other vehicle corresponding to the group is vertical parking, parallel parking, or diagonal parking. , Is provided.
  • the accuracy of determining the parking form can be improved.
  • FIG. It is a block diagram which shows the main part of the parking support system including the parking form determination device which concerns on Embodiment 1.
  • FIG. It is explanatory drawing which shows the example of the calculation method of the position of a reflection point. It is explanatory drawing which shows the example of the line segment angle and the line segment length. It is explanatory drawing which shows the example of the normal angle and the line segment length. It is explanatory drawing which shows the example of the group when the parking form is parallel parking. It is explanatory drawing which shows the example of the normal angle and the line segment length when the parking form is parallel parking. It is explanatory drawing which shows the example of the distribution when the parking form is parallel parking. It is explanatory drawing which shows the example of the group when the parking form is parallel parking.
  • FIG. 1 shows the operation of the 1st control device in the parking support system including the parking form determination device which concerns on Embodiment 1.
  • FIG. 2nd control device shows the operation of the 1st control device and the 2nd control device in the parking support system including the parking form determination device which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the detailed operation of the 1st control device in the parking support system including the parking form determination device which concerns on Embodiment 1.
  • FIG. is explanatory drawing which shows another example of a line segment angle. It is explanatory drawing which shows another example of a normal angle.
  • It is a block diagram which shows the main part of the parking support system including the parking form determination device which concerns on Embodiment 2.
  • FIG. 1 is a block diagram showing a main part of a parking support system including a parking form determining device according to the first embodiment.
  • a parking support system including the parking form determining device according to the first embodiment will be described with reference to FIG.
  • the vehicle 1 is provided with the distance sensor 2.
  • the distance sensor 2 is capable of transmitting ultrasonic waves, radio waves, light, and the like (hereinafter collectively referred to as "exploration waves”).
  • exploration waves When the exploration wave is reflected by an object such as an obstacle (hereinafter collectively referred to as “obstacle”) around the vehicle 1, the distance sensor 2 refers to the reflected exploration wave (hereinafter referred to as "reflected wave”). There is.) Can be received freely.
  • Obstacles include other parked vehicles V.
  • the distance sensor 2 is provided on the left side surface of the vehicle 1.
  • the distance sensor 2 is provided on the right side surface of the vehicle 1.
  • the distance sensor 2 is provided on each of the left side surface portion and the right side surface portion of the vehicle 1.
  • the distance sensor 2 provided on the left side surface of the vehicle 1 is capable of transmitting an exploration wave to the left side of the vehicle 1. Further, the distance sensor 2 is capable of receiving the reflected wave due to the obstacle when the exploration wave is reflected by the obstacle on the left side of the vehicle 1.
  • the distance sensor 2 provided on the right side surface of the vehicle 1 can freely transmit the exploration wave to the right side of the vehicle 1. Further, the distance sensor 2 is capable of receiving the reflected wave due to the obstacle when the exploration wave is reflected by the obstacle on the right side of the vehicle 1.
  • the vehicle 1 is provided with the first sensors 3.
  • the first sensors 3 include, for example, a wheel speed sensor and a shift position sensor.
  • the vehicle 1 is provided with the second sensors 4.
  • the second sensors 4 include, for example, a GPS (Global Positioning System) receiver, a yaw rate sensor, and a gyro sensor.
  • GPS Global Positioning System
  • the first control device 5 is provided in the vehicle 1.
  • the first control device 5 is composed of, for example, an ECU (Electronic Control Unit).
  • the first control device 5 includes a speed determination unit 11, a distance measurement unit 12, a position calculation unit 13, a grouping unit 14, an angle calculation unit 15, a length calculation unit 16, and a parking form determination unit 17.
  • the main part of the parking form determination device 100 is composed of the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking form determination unit 17.
  • the second control device 6 is provided in the vehicle 1.
  • the second control device 6 is composed of, for example, an ECU.
  • the main part of the parking support system 200 is configured.
  • the speed determination unit 11 acquires the output signal from the first sensors 3.
  • the speed determination unit 11 uses the acquired signal to determine whether or not the vehicle 1 is traveling at a speed less than a predetermined speed (for example, 30 km / h).
  • a predetermined speed for example, 30 km / h.
  • speed determination processing the processes executed by the speed determination unit 11 are collectively referred to as "speed determination processing".
  • the distance measuring unit 12 supplies an electric signal (hereinafter referred to as “transmission signal”) to the distance sensor 2 at a predetermined time interval when the vehicle 1 is traveling at a speed lower than a predetermined speed. As a result, the distance sensor 2 transmits the exploration wave at a predetermined time interval. When the distance sensor 2 receives the reflected wave due to an obstacle, the distance sensor 2 outputs an electric signal (hereinafter, referred to as “received signal”) corresponding to the received reflected wave. The distance measuring unit 12 acquires the output received signal.
  • transmission signal an electric signal
  • the distance measuring unit 12 calculates the round-trip propagation time RPT of the exploration wave based on the transmission time of the exploration wave and the reception time of the reflected wave.
  • the distance measuring unit 12 stores in advance the propagation speed PV of the exploration wave in the air.
  • the distance measuring unit 12 calculates the distance D by the following formula (1) using these values. That is, the distance D corresponds to the distance between the vehicle 1 and the obstacle at the transmission timing of the exploration wave.
  • distance measurement process the processes executed by the distance measurement unit 12 are collectively referred to as "distance measurement process”.
  • the position calculation unit 13 acquires the output signal from the second sensors 4.
  • the position calculation unit 13 calculates the position of the vehicle 1 (hereinafter referred to as “own vehicle position”) at the transmission timing of the exploration wave by using the acquired signal.
  • the own vehicle position has, for example, an X-axis along the left-right direction of the vehicle 1 at the reference time (for example, the start time of the distance measurement process), and the traveling direction of the vehicle 1 at the reference time (that is, the front-rear direction of the vehicle 1). It is represented by the coordinate values in the coordinate system CS having the Y axis along.
  • the position calculation unit 13 calculates the position (hereinafter referred to as “sensor position”) Ps of the distance sensor 2 at the transmission timing of the exploration wave based on the calculated own vehicle position.
  • the sensor position Ps is represented by, for example, a coordinate value in the coordinate system CS.
  • Information indicating the installation position of the distance sensor 2 in the vehicle 1 is stored in advance in the position calculation unit 13. The stored information is used to calculate the sensor position Ps.
  • the position calculation unit 13 calculates the position of the point where the exploration wave is reflected (hereinafter referred to as “reflection point”) P based on the calculated sensor position Ps and the distance D measured by the distance measurement unit 12.
  • the position of the reflection point P is represented by, for example, a coordinate value in the coordinate system CS.
  • the position calculation unit 13 calculates the position of the reflection point P by executing the so-called "two-circle intersection processing" or "synthetic opening processing".
  • FIG. 2 shows an example of two-circle intersection processing or synthetic opening processing.
  • RP indicates the traveling locus of the vehicle 1.
  • the position calculation unit 13 calculates the position of the reflection point P by calculating the position of the intersection of the circles C_1 and C_2. That is, the circle C_1 has a center corresponding to the sensor position Ps_1 at the transmission timing of the first exploration wave, and has a radius corresponding to the distance D_1 measured by the transmission of the first exploration wave. Is. Further, the circle C_2 has a center corresponding to the sensor position Ps_2 at the transmission timing of the second exploration wave, and has a radius corresponding to the distance D_2 measured by the transmission of the second exploration wave. Is.
  • FIG. 5A shows an example of the position of the reflection point P calculated by the position calculation unit 13 when the obstacle is another vehicle V parked and the parking form is parallel parking. .. In the example shown in FIG. 5A, the positions of the nine reflection points P are calculated.
  • FIG. 6A shows an example of the position of the reflection point P calculated by the position calculation unit 13 when the obstacle is another vehicle V that is parked and the parking form is parallel parking.
  • the positions of the seven reflection points P are calculated.
  • each of FIGS. 7A and 8A is an example of the position of the reflection point P calculated by the position calculation unit 13 when the obstacle is another vehicle V parked and the parking mode is diagonal parking. Is shown. In the example shown in FIG. 7A, the positions of the 10 reflection points P are calculated. In the example shown in FIG. 8A, the positions of the seven reflection points P are calculated.
  • ⁇ s indicates the angle of the left side surface portion or the right side surface portion (hereinafter collectively referred to as “side surface portion”) of the other vehicle V with respect to the direction along the Y axis.
  • ⁇ n indicates the angle of the front surface portion or the rear surface portion (hereinafter, collectively referred to as “nose surface portion”) of the other vehicle V with respect to the direction along the Y axis.
  • the surface portion corresponding to the smaller angle of the angles ⁇ s and ⁇ n may be referred to as a “reference surface portion”.
  • the side surface portion is the reference surface portion.
  • the nose surface portion is the reference surface portion.
  • the total value of angles ⁇ s and ⁇ n is 90 degrees. Therefore, when the angle ⁇ s is smaller than 45 degrees, the angle ⁇ n is larger than 45 degrees (see FIG. 7A). Therefore, it becomes difficult to receive the reflected wave by the nose surface portion as compared with the reflected wave by the side surface portion. As a result, the number of reflection points P corresponding to the nose surface portion is smaller than the number of reflection points P corresponding to the side surface portion (see FIG. 7A).
  • the angle ⁇ n is smaller than 45 degrees
  • the angle ⁇ s is larger than 45 degrees (see FIG. 8A). Therefore, it becomes difficult to receive the reflected wave by the side surface portion as compared with the reflected wave by the nose surface portion. As a result, the number of reflection points P corresponding to the surface portion is reduced again as compared with the number of reflection points P corresponding to the nose surface portion (see FIG. 8A).
  • position calculation process the processes executed by the position calculation unit 13 are collectively referred to as "position calculation process”.
  • the grouping unit 14 sets one or a plurality of groups G by grouping the plurality of reflection points P. .. Specifically, for example, in the grouping unit 14, the distance between the two reflection points P is less than a predetermined distance for each of the two reflection points P adjacent to each other among the plurality of reflection points P. If so, the two reflection points P are included in the same group G as each other. On the other hand, when the distance between the two reflection points P is equal to or greater than a predetermined distance, the grouping unit 14 includes the two reflection points P in different groups G. As a result, in principle, one or more groups G corresponding to one or more obstacles on a one-to-one basis are set.
  • FIG. 5A shows an example of the group G corresponding to the other vehicle V when the obstacle is another vehicle V parked and the parking form is parallel parking.
  • a group G including nine reflection points P is set.
  • FIG. 6A shows an example of the group G corresponding to the other vehicle V when the obstacle is the other vehicle V parked and the parking mode is parallel parking.
  • a group G including seven reflection points P is set.
  • FIG. 7A shows an example of the group G corresponding to the other vehicle V when the obstacle is the other vehicle V that is parked, the parking mode is diagonal parking, and the reference surface portion is the side surface portion. ing.
  • a group G including 10 reflection points P is set.
  • FIG. 8A shows an example of Group G corresponding to the other vehicle V when the obstacle is the other vehicle V that is parked, the parking mode is diagonal parking, and the reference surface portion is the nose surface portion. ing.
  • a group G including seven reflection points P is set.
  • grouping processes executed by the grouping unit 14 are collectively referred to as "grouping processes”.
  • the angle calculation unit 15 refers to the line segment SL connecting the two adjacent reflection points P of the plurality of reflection points P included in the individual group G, of the individual line segment SLs in the coordinate system CS. Calculate the tilt angle (hereinafter referred to as "line segment angle") ⁇ .
  • the line segment angle ⁇ is, for example, the inclination angle of the line segment SL with respect to the direction along the Y axis (see FIG. 3).
  • the angle calculation unit 15 calculates the normal vector NV for each line segment SL.
  • the angle calculation unit 15 calculates the inclination angle (hereinafter referred to as “normal angle”) ⁇ of each normal vector NV in the coordinate system CS.
  • the normal angle ⁇ is, for example, the inclination angle of the normal vector NV with respect to the direction along the X axis (see FIG. 4).
  • each line segment angle ⁇ is the same as the value of the corresponding normal angle ⁇ .
  • the line segment angle ⁇ and the normal angle ⁇ may be collectively referred to as “angle”.
  • the length calculation unit 16 calculates the length L of each line segment SL (hereinafter referred to as “line segment length”) L.
  • FIG. 5B shows an example of the calculation result of the normal angle ⁇ and the line segment length L in the group G shown in FIG. 5A.
  • eight normal angles ⁇ _1 to ⁇ _8 and eight line segment lengths L_1 to L_8 are calculated.
  • FIG. 6B shows an example of the calculation result of the normal angle ⁇ and the line segment length L in the group G shown in FIG. 6A.
  • six normal angles ⁇ _1 to ⁇ _6 and six line segment lengths L_1 to L_6 are calculated.
  • FIG. 7B shows an example of the calculation result of the normal angle ⁇ and the line segment length L in the group G shown in FIG. 7A.
  • nine normal angles ⁇ _1 to ⁇ _9 and nine line segment lengths L_1 to L_9 are calculated.
  • FIG. 8B shows an example of the calculation result of the normal angle ⁇ and the line segment length L in the group G shown in FIG. 8A.
  • six normal angles ⁇ _1 to ⁇ _6 and six line segment lengths L_1 to L_6 are calculated.
  • angle calculation processing the processes executed by the angle calculation unit 15 are collectively referred to as "angle calculation processing”. Further, the processes executed by the length calculation unit 16 are collectively referred to as “length calculation processing”.
  • the parking form determination unit 17 determines the parking form of the other vehicle V based on the calculation result of the angle calculation unit 15 and the calculation result of the length calculation unit 16. Specifically, for example, the parking form determination unit 17 determines the parking form of the other vehicle V as follows.
  • the parking form determination unit 17 calculates the sum ⁇ L of the line segment length L for each angle bin B in each group G based on the calculation result by the angle calculation unit 15 and the calculation result by the length calculation unit 16. As a result, the parking form determination unit 17 calculates the distribution D1 indicating the sum ⁇ L for each angle bin B in each group G.
  • FIG. 5C shows an example of the distribution D1 based on the calculation result shown in FIG. 5B.
  • the sum ⁇ L_3 in the angle bin B_3, the sum ⁇ L_4 in the angle bin B_4, and the sum ⁇ L_5 in the angle bin B_5 are calculated by the following equations (2) to (4), respectively.
  • L_1 to L_1 are shown in FIG. 5B.
  • FIG. 6C shows an example of the distribution D1 based on the calculation result shown in FIG. 6B.
  • the sum ⁇ L_3 in the angle bin B_3, the sum ⁇ L_4 in the angle bin B_4, and the sum ⁇ L_5 in the angle bin B_5 are calculated by the following equations (5) to (7), respectively.
  • L_1 to L_1 are as shown in FIG. 6B.
  • FIG. 7C shows an example of the distribution D1 based on the calculation result shown in FIG. 7B.
  • the sum ⁇ L_3 in the angle bin B_3, the sum ⁇ L_4 in the angle bin B_4, and the sum ⁇ L_5 in the angle bin B_5 are calculated by the following equations (8) to (10), respectively.
  • L_1 to L_1 are those shown in FIG. 7B.
  • FIG. 8C shows an example of the distribution D1 based on the calculation result shown in FIG. 8B.
  • the sum ⁇ L_3 in the angle bin B_3, the sum ⁇ L_4 in the angle bin B_4, and the sum ⁇ L_5 in the angle bin B_5 are calculated by the following equations (11) to (13), respectively.
  • L_1 to L_1 are as shown in FIG. 8B.
  • the parking form determination unit 17 calculates the sum ⁇ L value (hereinafter referred to as “peak value”) ⁇ Lp at the peak top PT of the distribution D1.
  • the value of the sum ⁇ L_4 in the angle bin B_4 is calculated to be the peak value ⁇ Lp.
  • the value of the sum ⁇ L_5 in the angle bin B_5 is calculated to be the peak value ⁇ Lp.
  • the parking form determination unit 17 calculates the average value, the median value, or the weighted average value (hereinafter collectively referred to as “peak angle”) ⁇ p of the angle ⁇ in the peak top PT of the distribution D1.
  • the parking form determination unit 17 calculates the average value of the normal angles ⁇ _2 to ⁇ _7 by the following equation (14). Alternatively, the parking form determination unit 17 calculates the median value of the normal angles ⁇ _2 to ⁇ _7 by the following equation (15). Alternatively, the parking form determination unit 17 calculates the weighted average value of the normal angles ⁇ _2 to ⁇ _7 by the following equation (16).
  • ⁇ _2 to ⁇ _7 are shown in FIG. 5B.
  • L_1 to L_7 are shown in FIG. 5B.
  • median () is a function that calculates the median value in parentheses.
  • ⁇ p ( ⁇ _2 + ⁇ _3 + ⁇ _4 + ⁇ _5 + L ⁇ _6 + ⁇ _7) / 6 (14)
  • ⁇ p median ( ⁇ _2, ⁇ _3, ⁇ _4, ⁇ _5, ⁇ _6, ⁇ _7) (15)
  • ⁇ p ( ⁇ _2 ⁇ L_2 + ⁇ _3 ⁇ L_3 + ⁇ _4 ⁇ L_4 + ⁇ _5 ⁇ L_5 + ⁇ _6 ⁇ L_6 + ⁇ _7 x L_7) / (L_2 + L_3 + L_4 + L_5 + L_6 + L_7) (16)
  • the parking form determination unit 17 calculates the average value of the normal angles ⁇ _2 to ⁇ _5 by the following equation (17). Alternatively, the parking form determination unit 17 calculates the median value of the normal angles ⁇ _2 to ⁇ _5 by the following equation (18). Alternatively, the parking form determination unit 17 calculates the weighted average value of the normal angles ⁇ _2 to ⁇ _5 by the following equation (19).
  • ⁇ _2 to ⁇ _5 are shown in FIG. 6B.
  • L_1 to L_5 are shown in FIG. 6B.
  • ⁇ p ( ⁇ _2 + ⁇ _3 + ⁇ _4 + ⁇ _5) / 4 (17)
  • ⁇ p median ( ⁇ _2, ⁇ _3, ⁇ _4, ⁇ _5) (18)
  • ⁇ p ( ⁇ _1 ⁇ L_2 + ⁇ _3 ⁇ L_3 + ⁇ _4 ⁇ L_4 + ⁇ _5 ⁇ L_5) / (L_2 + L_3 + L_4 + L_5) (19)
  • the parking form determination unit 17 calculates the average value of the normal angles ⁇ _1 to ⁇ _6 by the following equation (20). Alternatively, the parking form determination unit 17 calculates the median value of the normal angles ⁇ _1 to ⁇ _6 by the following equation (21). Alternatively, the parking form determination unit 17 calculates the weighted average value of the normal angles ⁇ _1 to ⁇ _6 by the following equation (22).
  • ⁇ _1 to ⁇ _6 are shown in FIG. 7B.
  • L_1 to L_1 are shown in FIG. 7B.
  • ⁇ p ( ⁇ _1 + ⁇ _2 + ⁇ _3 + ⁇ _4 + ⁇ _5 + L ⁇ _6) / 6 (20)
  • ⁇ p median ( ⁇ _1, ⁇ _2, ⁇ _3, ⁇ _4, ⁇ _5, ⁇ _6) (21)
  • ⁇ p ( ⁇ _1 ⁇ L_1 + ⁇ _2 ⁇ L_2 + ⁇ _3 ⁇ L_3 + ⁇ _4 ⁇ L_4 + ⁇ _5 ⁇ L_5 + ⁇ _6 x L_6) / (L_1 + L_2 + L_3) + L_4 + L_5 + L_6) (22)
  • the parking form determination unit 17 calculates the average value of the normal angles ⁇ _1 to ⁇ _3 by the following equation (23). Alternatively, the parking form determination unit 17 calculates the median value of the normal angles ⁇ _1 to ⁇ _3 by the following equation (24). Alternatively, the parking form determination unit 17 calculates the weighted average value of the normal angles ⁇ _1 to ⁇ _3 by the following equation (25).
  • ⁇ _1 to ⁇ _3 are shown in FIG. 8B.
  • L_1 to L_3 are shown in FIG. 8B.
  • ⁇ p ( ⁇ _1 + ⁇ _2 + ⁇ _3) / 3 (23)
  • ⁇ p median ( ⁇ _1, ⁇ _2, ⁇ _3) (24)
  • ⁇ p ( ⁇ _1 ⁇ L_1 + ⁇ _2 ⁇ L_2 + ⁇ _3 ⁇ L_3) / (L_1 + L_2 + L_3) (25)
  • the parking form determination unit 17 calculates the deviation amount ⁇ of the peak angle ⁇ p with respect to the reference angle ⁇ ref.
  • the reference angle ⁇ ref is set to, for example, 0 degrees.
  • the parking form determination unit 17 compares the deviation amount ⁇ with the predetermined amount ⁇ th.
  • the parking form determination unit 17 compares the peak value ⁇ Lp with a predetermined threshold value (hereinafter, may be referred to as “first threshold value”) ⁇ Lth1.
  • first threshold value a predetermined threshold value
  • second threshold value the parking form determination unit 17 compares the peak value ⁇ Lp with the predetermined threshold value
  • FIG. 9 shows an example of the parking form determination table T1 in the parking form determination unit 17.
  • the parking form determining unit 17 determines that the parking form is parallel parking. Further, in this case, when the peak value ⁇ Lp is equal to or less than the first threshold value ⁇ Lth1, the parking form determination unit 17 determines that the parking form is parallel parking.
  • the parking form determination unit 17 determines whether the parking form is parallel parking or parallel parking based on the magnitude relationship between the peak value ⁇ Lp and the first threshold value ⁇ Lth1.
  • the first threshold value ⁇ Lth1 is set to a value that can identify whether the parking form is parallel parking or parallel parking.
  • the parking form determining unit 17 has a parking form of diagonal parking. , It is determined that the reference surface portion is the side surface portion. Further, in this case, when the peak value ⁇ Lp is equal to or less than the second threshold value ⁇ Lth2, the parking form determination unit 17 determines that the parking form is oblique parking and the reference surface portion is the nose surface portion.
  • the parking form is diagonal parking
  • ⁇ s ⁇ 0 and ⁇ n ⁇ 0. Therefore, when the parking form is diagonal parking, there is a high possibility that the deviation amount ⁇ will be larger than when the parking form is parallel parking or parallel parking.
  • ⁇ > ⁇ th the area of the side surface portion is usually larger than the area of the nose surface portion. Therefore, when the reference surface portion is the side surface portion, it is highly probable that the peak value ⁇ Lp becomes larger than when the reference surface portion is the nose surface portion.
  • the parking form determination unit 17 determines whether the reference surface portion is the side surface portion or the nose surface portion based on the magnitude relationship between the peak value ⁇ Lp and the second threshold value ⁇ Lth2.
  • the second threshold value ⁇ Lth2 is set to a value that can identify whether the reference surface portion is the side surface portion or the nose surface portion.
  • the parking mode determination unit 17 determines the parking angle ⁇ of the other vehicle V based on the peak angle ⁇ p.
  • the parking form determination unit 17 determines that the reference surface portion is the side surface portion, the angle (that is, the angle corresponding to ⁇ s) ⁇ of the side surface portion with respect to the direction along the Y axis is equivalent to ⁇ p. It is determined that the value is.
  • the parking form determination unit 17 determines that the angle (that is, the angle corresponding to ⁇ n) ⁇ of the nose surface portion with respect to the direction along the Y axis is a value equivalent to ⁇ p. judge. That is, the parking form determination unit 17 determines that the other vehicle V is parked at the parking angle ⁇ corresponding to the peak angle ⁇ p.
  • parking form determination process the processes executed by the parking form determination unit 17 are collectively referred to as "parking form determination process”.
  • the first control device 5 includes information indicating the result of the position calculation process, information indicating the result of the grouping process, information indicating the result of the parking form determination process, and the like (hereinafter collectively referred to as "parking support information"). Is output.
  • the second control device 6 acquires the output parking support information.
  • the second control device 6 executes control for realizing so-called “automatic parking” by using the acquired parking support information.
  • the second control device 6 calculates the position and width of the parking lot for the vehicle 1 based on the result of the position calculation process and the result of the grouping process.
  • the second control device 6 guides the vehicle 1 to the parking section by controlling the accelerator, brake, steering, etc. of the vehicle 1 based on the result of the parking form determination process or the like. As a result, automatic parking is realized.
  • parking support control the control executed by the second control device 6 is collectively referred to as "parking support control".
  • Various known techniques can be used for parking support control. Detailed description of these techniques will be omitted.
  • the first control device 5 has a processor 21 and a memory 22.
  • the memory 22 contains a program for realizing the functions of the speed determination unit 11, the distance measurement unit 12, the position calculation unit 13, the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking form determination unit 17. It is remembered.
  • the processor 21 reads out and executes the stored program, the speed determination unit 11, the distance measurement unit 12, the position calculation unit 13, the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking mode The function of the determination unit 17 is realized.
  • the first control device 5 has a processing circuit 23.
  • the functions of the speed determination unit 11, the distance measurement unit 12, the position calculation unit 13, the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking form determination unit 17 are realized by the dedicated processing circuit 23.
  • the first control device 5 has a processor 21, a memory 22, and a processing circuit 23 (not shown).
  • some of the functions of the speed determination unit 11, the distance measurement unit 12, the position calculation unit 13, the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking form determination unit 17 are processors.
  • the remaining functions are realized by the dedicated processing circuit 23.
  • the processor 21 is composed of one or a plurality of processors.
  • a CPU Central Processing Unit
  • a GPU Graphics Processing Unit
  • a microprocessor a microcontroller
  • DSP Digital Signal Processor
  • the memory 22 is composed of one or a plurality of non-volatile memories. Alternatively, the memory 22 is composed of one or more non-volatile memories and one or more volatile memories. Each volatile memory uses, for example, a RAM (Random Access Memory).
  • the individual non-volatile memories include, for example, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Advanced Storage), a Small DriveSlide (Erasable Memory), and an EEPROM. Drive) is used.
  • the processing circuit 23 is composed of one or a plurality of digital circuits. Alternatively, the processing circuit 23 is composed of one or more digital circuits and one or more analog circuits. That is, the processing circuit 23 is composed of one or a plurality of processing circuits.
  • the individual processing circuits include, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), an FPGA (Field-Programmable Gate Array), and a System-System (System) System. ) Is used.
  • the operation of the first control device 5 will be described focusing on the operations of the speed determination unit 11, the distance measurement unit 12, and the position calculation unit 13.
  • step ST1 the speed determination unit 11 executes the speed determination process.
  • step ST3 the distance measuring unit 12 starts the distance measuring process.
  • step ST4 the position calculation unit 13 starts the position calculation process. Since specific examples of the speed determination process, the distance calculation process, and the position calculation process have already been described, the description thereof will be omitted again.
  • step ST5 the speed determination unit 11 executes the speed determination process.
  • step ST6 "NO" the speed determination unit 11 executes the speed determination process.
  • step ST7 the distance measuring unit 12 ends the distance measuring process.
  • step ST8 the position calculation unit 13 ends the position calculation process.
  • the operation of the first control device 5 will be described focusing on the operations of the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking form determination unit 17. Further, the operation of the second control device 6 will be described.
  • step ST11 By measuring the distance D one or more times between steps ST3 and ST7, one or more distances D are measured. Further, the positions of one or more reflection points P are calculated by calculating the positions of the reflection points P one or more times between steps ST4 and ST8. When the positions of the plurality of reflection points P are calculated, the process of step ST11 is started.
  • step ST11 the grouping unit 14 executes the grouping process.
  • step ST12 the angle calculation unit 15 executes the angle calculation process.
  • step ST13 the length calculation unit 16 executes the length calculation process.
  • step ST14 the parking form determination unit 17 executes the parking form determination process. Since the specific examples of the grouping process, the angle calculation process, the length calculation process, and the parking form determination process have already been described, the description thereof will be omitted again.
  • step ST15 the first control device 5 outputs parking support information.
  • step ST16 the second control device 6 executes parking support control. Since the specific example of parking support control has already been described, the description thereof will be omitted again.
  • step ST14 the detailed operation of the parking form determination unit 17 will be described with reference to the flowchart of FIG. That is, the detailed processing contents of step ST14 will be described.
  • step ST21 the parking form determination unit 17 calculates the sum ⁇ L of the line segment length L for each angle bin B.
  • the parking form determination unit 17 calculates the distribution D1 indicating the sum ⁇ L for each angle bin B.
  • step ST23 the parking form determination unit 17 calculates the peak value ⁇ Lp in the distribution D1. Further, the parking form determination unit 17 calculates the peak angle ⁇ p in the distribution D1. Further, the parking form determination unit 17 calculates the deviation amount ⁇ of the peak angle ⁇ p with respect to the reference angle ⁇ ref. Since the methods for calculating the peak value ⁇ Lp, the peak angle ⁇ p, and the deviation amount ⁇ have already been described, the description thereof will be omitted again.
  • step ST24 the parking form determination unit 17 determines the parking form of the other vehicle V based on the deviation amount ⁇ and the peak value ⁇ Lp. Since the method of determining the parking mode has already been described, the description will be omitted again.
  • step ST26 the parking mode determination unit 17 determines the parking angle ⁇ of the other vehicle V based on the peak angle ⁇ p. .. Since the method for determining the parking angle ⁇ has already been described, the description will be omitted again.
  • the distance measurement process and the position calculation process are executed when the vehicle 1 is traveling at a speed less than the reference speed (for example, 30 km / h).
  • the reference speed for example, 30 km / h.
  • the traveling speed of the vehicle 1 is high, the number of reflection points P included in each group G is reduced as compared with the case where the traveling speed of the vehicle 1 is low. As a result, the number of calculated values of the angle ⁇ in each group G also decreases.
  • the traveling speed of the vehicle 1 is high, the value of each line segment length L tends to be larger than when the traveling speed of the vehicle 1 is low.
  • the conventional parking form determination device determines the parking form by using a distribution indicating the number of calculated values of the line segment angle or the normal angle for each angle bin, that is, a distribution indicating the degree for each angle bin (). See FIGS. 9 to 11 of Patent Document 1). Therefore, when the traveling speed of the vehicle 1 is high, the distribution value in each angle bin becomes small, so that the difference value of the distribution value between the angle bins also becomes small. As a result, there is a problem that the accuracy of determining the parking form using the threshold value is lowered.
  • the parking form determination device 100 uses the distribution D1 showing the sum ⁇ L for each angle bin B. That is, the parking form determination device 100 uses the distribution D1 of the line segment length L with respect to the line segment angle ⁇ or the normal angle ⁇ . Therefore, even when the traveling speed of the vehicle 1 is high, it is possible to prevent the distribution value in each angle bin B from becoming small. As a result, it is possible to avoid a decrease in the determination accuracy of the parking mode using the threshold values ⁇ Lth1 and ⁇ Lth2. In other words, the accuracy of determining the parking mode can be improved.
  • the exploration wave is reflected in the direction corresponding to the angle ⁇ s on the side surface portion. Further, on the nose surface portion, the exploration wave is reflected in the direction corresponding to the angle ⁇ n.
  • the exploration waves are reflected in various directions regardless of the angles ⁇ s and ⁇ n (hereinafter referred to as “diffuse reflection”). Due to diffused reflection, a large number of reflection points P may be detected so as to be densely packed at positions corresponding to the corners.
  • the line segment angle ⁇ or the normal angle ⁇ is calculated and the line segment length L is calculated for each of the two reflection points P adjacent to each other among the large number of reflection points P.
  • a large number of line segment angles ⁇ or normal angles ⁇ having various values are calculated, and a large number of line segment lengths L having small values are calculated.
  • the conventional parking form determining device determines the parking form using a distribution indicating the degree for each angle bin. Therefore, when the parking mode is oblique parking, the shape of the distribution becomes unstable due to the influence of the value of the line segment angle or the normal angle related to the diffused reflection. As a result, there is a problem that the determination accuracy of the parking form is lowered.
  • the parking form determination device 100 uses the distribution D1 showing the sum ⁇ L for each angle bin B. Therefore, since the value of each line segment length L related to diffused reflection is small, the influence of the value of the line segment angle ⁇ or normal angle ⁇ related to diffused reflection can be reduced. Therefore, the shape of the distribution D1 can be stabilized even when the parking mode is diagonal parking. As a result, it is possible to avoid a decrease in the accuracy of determining the parking mode. In other words, the accuracy of determining the parking mode can be improved.
  • the line segment angle ⁇ may indicate the inclination angle of the line segment SL with respect to the direction along the X axis.
  • the normal angle ⁇ may indicate the inclination angle of the normal vector NV with respect to the direction along the Y axis.
  • the reference angle ⁇ ref may be set to, for example, 90 degrees.
  • the parking form determination device 100 includes the grouping unit 14 that sets the group G corresponding to the obstacle by grouping the plurality of reflection points P obtained by the distance sensor 2, and the group G.
  • the angle calculation unit 15 for calculating the line segment angle ⁇ or the normal angle ⁇ , and the individual line segment SL.
  • the parking mode of the other vehicle V corresponding to the group G is based on the length calculation unit 16 for calculating the line segment length L and the distribution D1 of the line segment length L with respect to the line segment angle ⁇ or the normal angle ⁇ . It is provided with a parking form determining unit 17 for determining which of column parking, parallel parking, and diagonal parking.
  • the parking form of the other vehicle V can be determined.
  • the accuracy of determining the parking form can be improved as compared with the conventional parking form determining device.
  • the parking form determination device 100 is used in the parking support system 200, the number of occurrences of so-called "turning back" can be reduced when the vehicle 1 parks.
  • the distribution D1 indicates the sum ⁇ L of the line segment length L for each angle range (angle bin B).
  • the distribution D1 shown in FIGS. 5C, 6C, 7C and 8C can be realized.
  • the parking form determination unit 17 parks when the peak value ⁇ Lp in the distribution D1 is larger than the first threshold value ⁇ Lth1 when the deviation amount ⁇ of the peak angle ⁇ p in the distribution D1 with respect to the reference angle ⁇ ref is equal to or less than the predetermined amount ⁇ th. It is determined that the form is parallel parking. This makes it possible to determine parallel parking.
  • the parking form determination unit 17 parks when the peak value ⁇ Lp in the distribution D1 is equal to or less than the first threshold value ⁇ Lth1 when the deviation amount ⁇ of the peak angle ⁇ p in the distribution D1 with respect to the reference angle ⁇ ref is equal to or less than a predetermined amount ⁇ th. It is determined that the form is parallel parking. This makes it possible to determine parallel parking.
  • the parking form determination unit 17 determines that the parking form is diagonal parking when the deviation amount ⁇ of the peak angle ⁇ p in the distribution D1 with respect to the reference angle ⁇ ref is larger than the predetermined amount ⁇ th. This makes it possible to determine diagonal parking.
  • the parking form determining unit 17 determines that the parking form is diagonal parking with reference to the left side surface portion or the right side surface portion of the other vehicle V.
  • the peak value ⁇ Lp is equal to or less than the second threshold value ⁇ Lth2
  • it is determined that the parking mode is diagonal parking with reference to the front surface portion or the rear surface portion of the other vehicle V. This makes it possible to determine the reference surface portion in diagonal parking.
  • the parking form determination unit 17 determines that the other vehicle V is parked at the parking angle ⁇ corresponding to the peak angle ⁇ p. Thereby, the parking angle ⁇ can be determined.
  • FIG. 16 is a block diagram showing a main part of the parking support system including the parking form determining device according to the second embodiment.
  • a parking support system including the parking form determining device according to the second embodiment will be described with reference to FIG.
  • the same blocks as those shown in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.
  • the first control device 5a includes a speed determination unit 11, a distance measurement unit 12, a position calculation unit 13, a grouping unit 14, an angle calculation unit 15, a length calculation unit 16, and a parking form determination unit 17a.
  • the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking form determination unit 17a constitute a main part of the parking form determination device 100a.
  • the main part of the parking support system 200a is configured.
  • the parking form determination unit 17a determines the parking form of the other vehicle V based on the calculation result of the angle calculation unit 15 and the calculation result of the length calculation unit 16. Specifically, for example, the parking form determination unit 17a determines the parking form of the other vehicle V as follows.
  • the parking form determination unit 17a calculates the total sum ⁇ La of the line segment length L in each group G based on the calculation result by the length calculation unit 16. Next, the parking form determination unit 17a calculates the sum ⁇ L of the line segment length L for each angle bin B in each group G based on the calculation result by the angle calculation unit 15 and the calculation result by the length calculation unit 16. Next, the parking form determination unit 17a calculates the ratio R of the sum ⁇ L for each angle bin B to the sum ⁇ La in each group G. As a result, the parking form determination unit 17a calculates the distribution D2 indicating the ratio R for each angle bin B in each group G.
  • FIG. 17 shows an example of the distribution D2 based on the calculation result shown in FIG. 5B.
  • the sum ⁇ La is calculated from the following equation (26).
  • the ratio R_3 in the angle bin B_3, the ratio R_4 in the angle bin B_4, and the ratio R_5 in the angle bin B_5 are calculated by the following equations (27) to (29), respectively.
  • L_1 to L_1 are shown in FIG. 5B.
  • ⁇ La L_1 + L_2 + L_3 + L_4 + L_5 + L_6 + L_7 + L_8 (26)
  • R_4 (L_2 + L_3 + L_4 + L_5 + L_6 + L_7) / ⁇ La (28)
  • FIG. 18 shows an example of the distribution D2 based on the calculation result shown in FIG. 6B.
  • the sum ⁇ La is calculated from the following equation (30).
  • the ratio R_3 in the angle bin B_3, the ratio R_4 in the angle bin B_4, and the ratio R_5 in the angle bin B_5 are calculated by the following equations (31) to (33), respectively.
  • L_1 to L_1 are as shown in FIG. 6B.
  • R_4 (L_2 + L_3 + L_4 + L_5) / ⁇ La (32)
  • R_5 L_1 / ⁇ La (33)
  • FIG. 19 shows an example of the distribution D2 based on the calculation result shown in FIG. 7B.
  • the sum ⁇ La is calculated from the following equation (34).
  • the ratio R_3 in the angle bin B_3, the ratio R_4 in the angle bin B_4, and the ratio R_5 in the angle bin B_5 are calculated by the following equations (35) to (37), respectively.
  • L_1 to L_1 are those shown in FIG. 7B.
  • ⁇ La L_1 + L_2 + L_3 + L_4 + L_5 + L_6 + L_7 + L_8 + L_9 (34)
  • R_3 (L_8 + L_9) / ⁇ La (35)
  • R_5 (L_1 + L_2 + L_3 + L_4 + L_5 + L_6) / ⁇ La (37)
  • FIG. 20 shows an example of the distribution D2 based on the calculation result shown in FIG. 8B.
  • the sum ⁇ La is calculated from the following equation (38).
  • the ratio R_3 in the angle bin B_3, the ratio R_4 in the angle bin B_4, and the ratio R_5 in the angle bin B_5 are calculated by the following equations (39) to (41), respectively.
  • L_1 to L_1 are as shown in FIG. 8B.
  • R_3 (L_5 + L_6) / ⁇ La (39)
  • R_4 L_4 / ⁇ La (40)
  • R_5 (L_1 + L_2 + L_3) / ⁇ La (41)
  • the parking form determination unit 17a calculates the value (hereinafter referred to as “peak value”) Rp of the ratio R at the peak top PT of the distribution D2.
  • the value of the ratio R_4 in the angle bin B_4 is the peak value Rp.
  • the value of the ratio R_5 in the angle bin B_5 is calculated to be the peak value Rp.
  • the parking form determination unit 17a calculates the peak angle ⁇ p in the distribution D2.
  • the method of calculating the peak angle ⁇ p in the distribution D2 is the same as the method of calculating the peak angle ⁇ p in the distribution D1. Therefore, detailed description thereof will be omitted.
  • the parking form determination unit 17a calculates the deviation amount ⁇ of the peak angle ⁇ p with respect to the reference angle ⁇ ref.
  • the reference angle ⁇ ref is set to, for example, 0 degrees.
  • the parking form determination unit 17a compares the deviation amount ⁇ with the predetermined amount ⁇ th.
  • the parking form determination unit 17 compares the peak value Rp with a predetermined threshold value (hereinafter, may be referred to as “first threshold value”) Rth1.
  • first threshold value a predetermined threshold value
  • second threshold value the parking form determination unit 17a compares the peak value Rp with the predetermined threshold value
  • FIG. 21 shows an example of the parking form determination table T2 in the parking form determination unit 17a.
  • the parking form determining unit 17a determines that the parking form is parallel parking. Further, in this case, when the peak value Rp is equal to or less than the first threshold value Rth1, the parking form determination unit 17a determines that the parking form is parallel parking. That is, the first threshold value Rth1 is set to a value that can identify whether the parking mode is parallel parking or parallel parking.
  • the parking form determining unit 17a has a parking form of diagonal parking. , It is determined that the reference surface portion is the side surface portion. Further, in this case, when the peak value Rp is equal to or less than the second threshold value Rth2, the parking form determining unit 17a determines that the parking form is oblique parking and the reference surface portion is the nose surface portion. That is, the second threshold value Rth2 is set to a value that can identify whether the reference surface portion is the side surface portion or the nose surface portion.
  • the parking mode determination unit 17a determines the parking angle ⁇ of the other vehicle V based on the peak angle ⁇ p.
  • the method for determining the parking angle ⁇ is the same as that described in the first embodiment. Therefore, detailed description thereof will be omitted.
  • parking form determination process the processes executed by the parking form determination unit 17a are collectively referred to as "parking form determination process”.
  • the hardware configuration of the main part of the first control device 5a is the same as that described with reference to FIG. 10 in the first embodiment. Therefore, illustration and description will be omitted. That is, the functions of the speed determination unit 11, the distance measurement unit 12, the position calculation unit 13, the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking form determination unit 17a are realized by the processor 21 and the memory 22. It may be one, or it may be realized by a dedicated processing circuit 23.
  • steps ST1 to ST8 are executed in the first control device 5a.
  • the processing contents of steps ST1 to ST8 are the same as those described with reference to FIG. 11 in the first embodiment. Therefore, illustration and description will be omitted.
  • the operation of the first control device 5a will be described focusing on the operations of the grouping unit 14, the angle calculation unit 15, the length calculation unit 16, and the parking form determination unit 17a. Further, the operation of the second control device 6 will be described.
  • the same steps as those shown in FIG. 12 are designated by the same reference numerals, and the description thereof will be omitted.
  • step ST11 By measuring the distance D one or more times between steps ST3 and ST7, one or more distances D are measured. Further, the positions of one or more reflection points P are calculated by calculating the positions of the reflection points P one or more times between steps ST4 and ST8. When the positions of the plurality of reflection points P are calculated, the process of step ST11 is started.
  • step ST14a the parking form determination unit 17a executes the parking form determination process. Since the specific example of the parking form determination process has already been described, the description thereof will be omitted again. Next, the processes of steps ST15 and ST16 are executed.
  • step ST14a the detailed operation of the parking form determination unit 17a will be described with reference to the flowchart of FIG. 23. That is, the detailed processing contents of step ST14a will be described.
  • step ST31 the parking form determination unit 17a calculates the total sum ⁇ La of the line segment length L.
  • step ST32 the parking form determination unit 17a calculates the sum ⁇ L of the line segment length L for each angle bin B.
  • step ST33 the parking form determination unit 17a calculates the ratio R of the line segment length L for each angle bin B with respect to the total sum ⁇ La.
  • step ST34 the parking form determination unit 17a calculates the distribution D2 indicating the ratio R for each angle bin B.
  • step ST35 the parking form determination unit 17a calculates the peak value Rp in the distribution D2. Further, the parking form determination unit 17a calculates the peak angle ⁇ p in the distribution D2. Further, the parking form determination unit 17a calculates the deviation amount ⁇ of the peak angle ⁇ p with respect to the reference angle ⁇ ref. Since the methods for calculating the peak value Rp, the peak angle ⁇ p, and the deviation amount ⁇ have already been described, the description thereof will be omitted again.
  • step ST36 the parking form determination unit 17a determines the parking form of the other vehicle V based on the deviation amount ⁇ and the peak value Rp. Since the method of determining the parking mode has already been described, the description will be omitted again.
  • step ST37 “YES” the parking mode determination unit 17a determines the parking angle ⁇ of the other vehicle V based on the peak angle ⁇ p. .. Since the method for determining the parking angle ⁇ has already been described, the description will be omitted again.
  • the parking form determination device 100a uses the distribution D2 showing the ratio R for each angle bin B. That is, the parking form determination device 100a uses the distribution D2 of the line segment length L with respect to the line segment angle ⁇ or the normal angle ⁇ . Therefore, similarly to the parking form determination device 100, the accuracy of determining the parking form can be improved as compared with the conventional parking form determination device.
  • the parking form determination device 100a when a plurality of other vehicles V are parked and the distance between each of the two other vehicles V adjacent to each other among the plurality of other vehicles V is small. The accuracy of determining the parking form can be further improved as compared with the parking form determining device 100.
  • the grouping unit 14 in principle, one or a plurality of group Gs corresponding to one or a plurality of obstacles one-to-one are set.
  • the plurality of other vehicles V Reflection points P corresponding to two or more of the other vehicles V may be included in one group G.
  • the sum ⁇ L in each angle bin B is compared with the case where only the reflection point P corresponding to one other vehicle V among the plurality of other vehicles V is included in the one group G. The value of becomes large.
  • the threshold values ⁇ Lth1 and ⁇ Lth2 for the sum ⁇ L are used, the accuracy of determining the parking mode may decrease.
  • the determination accuracy of the parking mode is correct. Can be avoided from decreasing. In other words, the accuracy of determining the parking mode can be further improved.
  • the parking form determination device 100a can employ various modifications similar to those described in the first embodiment.
  • the parking form determination device 100a includes the grouping unit 14 that sets the group G corresponding to the obstacle by grouping the plurality of reflection points P obtained by the distance sensor 2, and the group G.
  • the parking mode of the other vehicle V corresponding to the group G is based on the length calculation unit 16 for calculating the line segment length L and the distribution D2 of the line segment length L with respect to the line segment angle ⁇ or the normal angle ⁇ .
  • a parking form determining unit 17a for determining whether it is a column parking, a parallel parking, or an oblique parking. Thereby, the parking form of the other vehicle V can be determined. In particular, the accuracy of determining the parking form can be improved as compared with the conventional parking form determining device.
  • the distribution D2 indicates the ratio R of the sum ⁇ L of the line segment length L for each angle range (angle bin B) with respect to the total ⁇ La of the line segment length L.
  • the distribution D2 shown in FIGS. 17 to 20 can be realized.
  • the accuracy of determining the parking form can be further improved as compared with the parking form determining device 100.
  • the parking form determination unit 17a parks when the peak value Rp in the distribution D2 is larger than the first threshold value Rth1 when the deviation amount ⁇ of the peak angle ⁇ p in the distribution D2 with respect to the reference angle ⁇ ref is equal to or less than the predetermined amount ⁇ th. It is determined that the form is parallel parking. This makes it possible to determine parallel parking.
  • the parking form determination unit 17a determines that the peak value Rp in the distribution D2 is equal to or less than the first threshold value Rth1. It is determined that the parking form is parallel parking. This makes it possible to determine parallel parking.
  • the parking form determination unit 17a determines that the parking form is diagonal parking. This makes it possible to determine diagonal parking.
  • the parking form determining unit 17a determines that the parking form is diagonal parking with reference to the left side surface portion or the right side surface portion of the other vehicle V.
  • the peak value Rp is equal to or less than the second threshold value Rth2
  • it is determined that the parking mode is diagonal parking with reference to the front surface portion or the rear surface portion of the other vehicle V. From this, it is possible to determine the reference surface portion in diagonal parking.
  • the parking form determination unit 17a determines that the other vehicle V is parked at the parking angle ⁇ corresponding to the peak angle ⁇ p. Thereby, the parking angle ⁇ can be determined.
  • the parking form determination device of the present invention can be used, for example, in a parking support system.

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Abstract

L'invention concerne un dispositif de détermination de forme de stationnement (100) comprenant : une unité de regroupement (14) destinée à définir un groupe (G) correspondant à un obstacle (O) par regroupement d'une pluralité de points de réflexion (P) obtenus par un capteur de distance (2) ; une unité de calcul d'angle (15) destinée à calculer des angles de segment de ligne (θ) ou des angles de ligne normale (θ) de segments de ligne (SL) individuels qui relient des points de réflexion adjacents (P) parmi la pluralité de points de réflexion (P) inclus dans le groupe (G) ; une unité de calcul de longueur (16) destinée à calculer une longueur de segment de ligne (L) pour chaque segment de ligne (SL) ; et une unité de détermination de forme de stationnement (17) destinée à déterminer, en fonction d'une distribution (D1) des longueurs de segment de ligne (L) par rapport aux angles de segment de ligne (θ) ou aux angles de ligne normale (θ), quelle est la forme de stationnement, parmi un stationnement vertical, un stationnement parallèle et un stationnement oblique, de l'autre véhicule (V) correspondant au groupe (G)
PCT/JP2019/018765 2019-05-10 2019-05-10 Dispositif de détermination de forme de stationnement Ceased WO2020230193A1 (fr)

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WO2017068698A1 (fr) * 2015-10-22 2017-04-27 日産自動車株式会社 Dispositif d'aide au stationnement et procédé d'aide au stationnement

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JP2007030700A (ja) * 2005-07-27 2007-02-08 Aisin Seiki Co Ltd 駐車支援装置
WO2017060975A1 (fr) * 2015-10-06 2017-04-13 三菱電機株式会社 Dispositif de détermination de mode de stationnement
WO2017104164A1 (fr) * 2015-12-17 2017-06-22 日産自動車株式会社 Procédé et dispositif d'aide au stationnement
WO2018061893A1 (fr) * 2016-09-30 2018-04-05 パナソニックＩｐマネジメント株式会社 Dispositif, programme et procédé de commande de stationnement
JP2019020769A (ja) * 2017-07-11 2019-02-07 株式会社デンソー 障害物検知装置

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JP6890744B2 (ja) 2021-06-18

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