DE102018106804A1 - Route generation device, route generation method, and route generation program - Google Patents

Abstract

A map generator (112) generates a map indicative of the surrounding situation of the vehicle (1) based on recognition data obtained by a recognition data input unit (111). A motion route generator (113) generates on the map generated by the map generator (112) a motion route for movement from a motion origin to a final destination. The movement route contains a clothoid section. The movement route generator (113) determines a movement speed of the vehicle (1) corresponding to at least one of a size of an area usable for the movement from the movement start point to the final destination point and a size of an opening of a location of the final destination point.

Description

BACKGROUND

Technical area

The present disclosure relates to a route generation device, a route generation method, and a route generation program used to generate a movement route of a vehicle.

Description of the Related Art

In recent years, the number of vehicles equipped with parking assist functions or automatic parking functions has increased. In order to provide parking assistance or to park automatically, the vehicle must generate a route from a current position to a target parking position. Vertical parking or parallel parking, in which the vehicle travels backwards to the target parking position, requires steering wheel operation while driving, which complicates the route to the target parking position.

The route to the target parking position is generated by combining one or more of the following elements: a straight line, a clothoid, and a circular arc. One or more steering wheel actuation operations are necessarily performed along the route, depending on a parking area, an environmental situation, a starting position, and other factors (see, for example, FIG WO 2016/203643 A ).

SUMMARY

The present disclosure provides a technology that can increase the likelihood of reaching a target parking position while avoiding an increase in the travel time to a target parking position when a movement route of a vehicle is generated.

A route generation device according to one aspect of the present disclosure includes a recognition data input unit, a map generator, and a movement route generator. The recognition data input unit is configured to obtain recognition data indicative of an environmental situation of a vehicle from a vehicle-mounted recognition device. The map generator is configured to generate a map indicative of the surrounding situation of the vehicle based on the recognition data obtained by the recognition data input unit. The movement route generator is arranged to generate on the map generated by the map generator a movement route for a movement from a movement start point to a final destination point. The movement route contains a clothoid section. The movement route generator determines a movement speed of the vehicle corresponding to at least one of a size of an area usable for the movement from the movement start point to the final destination point and a size of an opening of a location of the final destination point.

A route generation method according to another aspect of the present disclosure includes obtaining recognition data indicating an environmental situation of a vehicle from a vehicle-mounted detection device. In addition, the route generation method includes generating a map indicating the surrounding situation of the vehicle based on the recognition data. Furthermore, the route generation method includes generating a movement route on the map for movement from a movement start point to a final destination point. The movement route contains a clothoid section. In the generation of the movement route, a moving speed of the vehicle corresponding to at least one of a size of an area usable for the movement from the movement start point to the final destination point and a size of an opening of a location of the final destination point is determined.

It should be understood that any desired combinations of the above-described essential components and modifications of the features of the present disclosure in methods, apparatus, systems, computer programs, non-transitory recording media containing computer programs, or other entities are still to be considered other aspects of the present disclosure ,

According to the present disclosure, the likelihood of reaching a target parking position can be increased while avoiding an increase in the travel time to a target parking position when a moving route of the vehicle is generated.

list of figures

• 1 FIG. 10 is a diagram showing a configuration of a vehicle equipped with a parking assist function according to an exemplary embodiment of the present disclosure; FIG.
• 2 Fig. 13 is a view showing a movement route created only with straight lines and a circular arc;
• 3 Fig. 13 is a view showing a movement route formed by straight lines, clothoids, and a circular arc;
• 4A is a diagram showing the dimensions of the vehicle;
• 4B Fig. 10 is a diagram showing exemplary dimensions of a parking lot;
• 5 Fig. 10 is a flowchart showing the flow of the processes in the vertical parking when the vehicle is driving backwards on a parking area;
• 6 FIG. 10 is a flowchart showing a subroutine for a route generation process in step S30 of FIG 5 represents;
• 7A FIG. 14 is a view showing a concrete example of a process of determining a steering wheel operation position by the route generation process in FIG 6 shows;
• 7B FIG. 13 is a view showing a concrete example of the process of determining the steering wheel operation position by the route generation process in FIG 6 shows;
• 8th Fig. 13 is a view showing examples of movement route candidates;
• 9A Fig. 12 is a view showing examples of movement route candidates for an assumed speed of 1 km / h;
• 9B Fig. 13 is a view showing examples of movement route candidates for an assumed speed of 5 km / h; and
• 9C Fig. 13 is a view showing examples of movement route candidates for an assumed speed of 10 km / h.

DETAILED DESCRIPTION

Before describing an exemplary embodiment of the present disclosure, problems in a conventional art are briefly described. In a case of a narrow parking area and / or a narrow usable area, the number of steering wheel operation operations increases, and in a worst case, no route reaching a target parking position can be generated. To solve this problem, by shortening the clothoid portions, the moving distance of the vehicle can be shortened, whereby a probability of reaching the target parking position can be increased. The shortening of the clothoid sections, however, requires a lower vehicle speed, thereby increasing a time required for parking.

1 is a diagram showing a construction of a vehicle 1 , which is equipped with a parking assist function, according to the exemplary embodiment of the present disclosure. The vehicle 1 includes a controller 10 , a detector 20 , an actuator 30 , a storage unit 40 , an ad 50 , a sound output unit 60 and a control unit 70 , The actuator 30 stands as a general term for elements for driving a load that is relevant for driving the vehicle, such. As an internal combustion engine, an electric motor, a steering wheel, a brake and a lamp. The detector 20 includes various sensors for measuring a condition of the vehicle 1 and a situation in the vicinity of the vehicle 1 a, z. B. a camera 21 , an ultrasonic sensor (sonar) 22 , a vehicle speed sensor 23 , a steering angle sensor 24 and a Global Positioning System (GPS) sensor 25 ,

At least four points on a front, back and right and left sides of the vehicle 1 are cameras 21 arranged. An image of the front, an image of the back, an image of the right and an image of the left, taken from these four cameras 21 are recorded, are synthesized, so that a bird's eye view is created. If for each of the cameras arranged at the respective points 21 a stereo camera is used instead of a monocular camera, a distance to an object in an image can also be measured. If, in addition to the camera for visible light, an infrared camera is also arranged, an environmental situation can also at night by the cameras 21 be measured.

A plurality of ultrasonic sensors 22 is at a periphery of the vehicle 1 arranged so that the periphery of the vehicle 1 is covered. A detection area of the individual ultrasonic sensors 22 is smaller than a shooting range of each camera 21 , Therefore, a larger number of ultrasonic sensors are preferred 22 as of cameras 21 arranged. Every ultrasonic sensor 22 can measure the distance to the object, which is difficult when using the monocular camera. For measuring the environmental situation of the vehicle 1 can in addition to the cameras 21 and ultrasonic sensors 22 a LIDAR device (Light Detection and Ranging, detection and distance measurement by light) and / or a millimeter wave radar be mounted.

The vehicle speed sensor 23 detects a speed of the vehicle 1 , The steering angle sensor 24 detects a steering angle of the vehicle 1 , The GPS sensor 25 recognizes a position of the vehicle 1 , Specifically, the GPS sensor receives 25 respective transmission times from a plurality of GPS satellites and calculates based on the received transmission times the Latitude and longitude coordinates of a receiving point. The data collected by these various sensors are sent to the controller 10 output.

The ad 50 includes a liquid crystal display, an organic electroluminescent display or a head-up display and inputs from the controller 10 to display provided image signal again. For example, the ad shows 50 a view of a parking lot including vehicle 1 from a bird's eye view. A target parking position and a movement route to the target parking position are displayed for displaying above the bird's-eye view. The sound output unit 60 contains a speaker and inputs from the controller 10 provided audio signal to output a sound. For example, the sound output unit 60 a driver who performs a parking operation with the aid of a parking assist function, voice instructions ready.

The operating unit 70 receives an operation of a user, generates an operation signal based on the received operation, and outputs the signal to the controller 10 out. The ad 50 and the control unit 70 can be integrated with each other as a touch-sensitive display. For example, the operating unit receives 70 the user from the bird's eye view an operation for determining the parking position in the view of the parking lot displayed on the touch-sensitive display.

The ad 50 , Sound output unit 60 and control unit 70 may belong to a higher-level unit such as a car navigation system or a video / audio system, a portable terminal such as a smartphone or tablet device or a special console device.

The control 10 contains a route generator 11 and a command generator 12 , The route generator 11 contains a recognition data input unit 111 , a map generator 112 and a motion route generator 113 , 1 only shows function blocks of the controller 10 associated with processes central to the present exemplary embodiment. The functions of the controller 10 can be implemented by collaboration of a hardware resource and a software resource, or by a hardware resource alone. Available hardware resources include a processor, read only memory (ROM), random access memory (RAM), and other large scale integrated circuits (LSI). A central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), and other devices may be used as the processor. Available software resources include an operating system, an application, and a program such as: B. firmware.

The storage unit 40 is a nonvolatile memory and includes a recording medium such as a NAND / NOR flash memory, a hard disk drive (HDD) and a semiconductor disk drive (SSD).

The recognition data input unit 111 receives from the detector 20 Detection data representing an environmental situation of the vehicle 1 Show. Concretely, the recognition data input unit receives 111 the identification data from an electronic control unit of the respective sensor via a vehicle network (for example, a controller area network, CAN)).

The map generator 112 generated on the basis of the recognition data input unit 111 obtained recognition data a two-dimensional map (bird's-eye view) of the environment of the vehicle 1 , The motion route generator 113 generated on the card generator 112 created two-dimensional map a movement route of the vehicle 1 that runs from a motion origin to a final destination. In the present exemplary embodiment, the movement start point is a current position and the final destination point is the target parking position.

The motion route generator 113 creates the movement route by combining a straight line, a clothoid, and a circular arc. The clothoid is a curve whose curvature changes evenly (ie the curvature is proportional to the length). In the case of vehicle 1 The clothoid corresponds to the line of movement when a steering wheel is rotated at a constant angular velocity while the vehicle is moving 1 moved at a constant speed of movement.

2 is a view showing a movement route created only with straight lines and a circular arc. In the 2 shown movement route is a route generated for a following case: vehicle 1 temporarily stops at an end point of a first rectilinear portion L1, and a steering wheel is turned to the maximum angle while the vehicle is stationary; then the vehicle starts 1 the journey along the circular arc section A1; then stop vehicle 1 temporarily at an end point of the circular arc portion A1, and the steering wheel is set at an angle of 0 degrees while the vehicle is stationary; and then the vehicle starts 1 the journey along a second rectilinear section L2. It should be noted that one of the in 2 Route shown approximate movement route also in one Case is generated, where the steering wheel is taken immediately to the maximum angle when the vehicle 1 from the first rectilinear portion L1 enters the arc portion A1, and the steering wheel is immediately returned to an angle of 0 degree when the vehicle 1 from the circular arc section A1 enters the second rectilinear section L2.

3 is a view showing a movement route created with straight lines, clothoids, and a circular arc. In the 3 The illustrated movement route includes a first clothoid section C1 between a first rectilinear section L1 and a circular arc section A1 and a second clothoid section C2 between the circular arc section A1 and a second rectilinear section L2. A steering angle is increased in the first clothoid section C1 at a constant angular velocity and reduced in the second clothoid section C2 at a constant angular velocity.

If the clothoid sections as in 3 are provided, a driver does not hit the steering wheel at a hard angle, so that an operation of the steering wheel is easy. Furthermore, the provision of the clothoid sections also improves foresight. Turning the steering wheel while the vehicle is stationary places a heavy load on the tires and a steering mechanism, causing the vehicle 1 needs to be maintained more frequently. Therefore, when the movement route for parking is generated, the route including the clothoid is also preferably generated.

Assuming a constant angular velocity of the steering angle, the clothoid section is longer at higher vehicle speeds and shorter at lower vehicle speeds. In other words, the in 3 shown graph of the steering angle at higher vehicle speed flat and steeper at lower vehicle speed.

The following describes an example of the generation of a vertical parking movement route in which the vehicle 1 moves backwards to the target parking position. If the vehicle 1 when driving vertically backward on the parking area, the vehicle moves 1 which is positioned on a vehicle path near an opening of a parking area while being laterally aligned in a direction away from the parking lot, and then travels backward to the parking area from a steering wheel operation point, describing a curve.

4A is a diagram showing the dimensions of the vehicle 1 shows. 4B Fig. 10 is a diagram showing exemplary dimensions of a parking lot. Among the in 4A shown dimensions of the vehicle 1 the length l1 indicates a total vehicle length, the length l2 a front overhang length, the length l3 a wheelbase and the length l4 a rear overhang length. The width w1 gives a total vehicle width of the vehicle 1 and the width w2 is a gauge of the vehicle 1 at.

In 4B p1 indicates a movement start position of the vehicle 1 (please refer 1 and 4A ) and p2 a target parking position of the vehicle 1 at. The length l5 indicates a length of a vehicle path in a parking lot, the width w3 a width of the vehicle path in the parking lot, and the width w4 a width of the parking area Sp. The length of the vehicle path depends on a distance from a current position of the vehicle 1 from an obstacle (for example a wall) in the forward direction. It should be noted that in the exemplary embodiment, as the movement start position of the vehicle 1 and as the target parking position of the vehicle 1 For example, an intermediate position between two rear wheels of the vehicle 1 is used. Furthermore, for example, the forward direction of the vehicle 1 used as a body angle.

A usable area for parking the vehicle 1 can be used depends essentially on a product of the length of the vehicle path and the width of the vehicle path (l5 × w3). If there are obstacles in the area, those areas containing the obstacles are excluded from the usable area.

5 FIG. 10 is a flowchart showing the flow of the processes in the vertical parking when the vehicle 1 moves backwards onto the parking area. The recognition data input unit 111 gets from the cameras 21 and ultrasonic sensors 22 Detection data for the surrounding situation of the vehicle 1 (Step S10). The map generator 112 generated on the basis of the recognition data input unit 111 obtained recognition data, a two-dimensional map of the environment of the vehicle 1 (Step S20). For example, an in 4B generated view from a bird's eye view. The directions to the obstacles around vehicle 1 are mainly based on those of the cameras 21 recorded image data, and the distances to the respective obstacles are mainly based on that of the ultrasonic sensors 22 determined detection data determined. The motion route generator 113 generated on the from the map generator 112 created two-dimensional map a movement route of the vehicle 1 that is from a movement start point p1 to a target parking position p2 (step S30).

6 FIG. 10 is a flowchart showing a subroutine for a route generation process in step. FIG S30 of 5 represents. 7A and 7B FIG. 11 are views illustrating concrete examples of a process of determining a steering wheel operation position by the route generation process in FIG 6 demonstrate. In 7A and 7B the position with the symbol "G" indicates the target parking position p2. In 6 creates a motion route generator 113 a plurality of movement route candidates to the target parking position p2 each formed of one or more combinations of a straight line, a clothoid and a circular arc (step S31). The plurality of motion route candidates are candidates for a final backward travel route that can be calculated in advance from parameters such as an assumed speed, a steering wheel turning speed and a width of a parking area opening. The steering wheel rotation speed is a parameter for deriving a length of a clothoid section.

The movement route depends on six parameters including a length of the first rectilinear section L1, as in FIG 3 an angular velocity of a steering angle in the first clothoid section C1, a length of the circular arc section A1, an angular velocity of the steering angle in the second clothoid section C2, a length of the second rectilinear section L2, and the assumed velocity. A minimal turning radius of the vehicle 1 is derived from a wheelbase and a maximum steering angle of an outer front wheel. The minimum turning radius of the vehicle 1 denotes a radius of a circular arc described by the outer front wheel when the steering wheel is turned to a maximum angle. The wheelbase and the maximum steering angle of the outer front wheel are determined in advance for each vehicle type.

For example, the plurality of movement route candidates are generated so that a body angle at the start position of the backward movement relative to a body angle at the target parking position p2 is varied in a range from 0 degrees to M degrees in steps of N degrees. For example, M degrees are set at 90 degrees or 100 degrees and N degrees at 1 degree, 5 degrees, or 10 degrees.

8th Fig. 13 is a view showing examples of movement route candidates. Assuming that the body angle at the target parking position p2 on the parking area Sp is 0 degrees 8th 10 movement routes in which the body angle at the start position of the backward movement is changed in steps of 10 degrees counterclockwise to a value of 100 degrees. The rectangular areas marked by dashed lines indicate the respective start positions of the backward movement. When the body angle at the start position of the backward movement is 0 degree, the movement route is generated only by using the first straight line portion L1. As long as the body angle at the start position of the backward movement is small, a movement route without the circular arc portion A1 is generated. It should be noted that 8th only the counterclockwise motion route candidates are shown, but clockwise can produce motion route candidates in a similar manner.

The description now refers again 6 , The motion route generator 113 on the two-dimensional map, calculates a first area a1 from which the target parking position p2 can be achieved without steering when the vehicle is stationary, and the plurality of movement route candidates to the target parking position p2 (step S32). The motion route generator 113 generates a first area a1 on a forward direction side with respect to a current position of the vehicle 1 , The no-steering movement route when the vehicle is stationary is a route that includes the clothoid section in addition to a route that includes only the straight line. The motion route generator 113 can the in 8th shown motion route candidates as the plurality of motion route candidate to the target parking position p2 use.

The motion route generator 113 on the two-dimensional map, calculates a second area a2 that can be reached from the current position and the plurality of motion route candidates from the movement start position p1, ie, the current position (step S33). The motion route generator 113 generates the second area a2 on a side opposite the parking area Sp with respect to the current position of the vehicle 1 , The motion route generator 113 can pattern in the clockwise direction, in a similar way as in 8th shown motion route candidates to use as the plurality of movement route candidates from the movement start position p1.

The motion route generator 113 determines a steering wheel operation position in an area of the usable area a3 of the parking lot in which the first area a1 and the second area a2 intersect (step S34). In other words, the steering wheel operation position is determined within a range representing an intersection of the first surface a1, the second surface a2, and the usable surface a3.

Now, a body angle of the vehicle needs 1 in the forward movement to the steering wheel actuating position with a body angle of the vehicle 1 in the backward movement away from the steering wheel operating position match. When the two body angles are substantially coincident with each other, the motion route candidate for forward movement to the steering wheel operation position without change is combined with the motion route candidate for the backward movement away from the steering wheel operation position, so as to generate a movement route from the movement start position p1 to the target parking position p2 becomes. This algorithm is effective when an angular difference of the plurality of movement route candidates is small (for example, 1 degree). At such a small angular difference, the body angle of the vehicle 1 in the forward movement to the steering wheel operating position substantially with the body angle of the vehicle 1 coincide with the backward movement away from the steering wheel actuating position.

If a difference between the body angle of the vehicle 1 in the forward movement to the steering wheel operating position and the body angle of the vehicle 1 in the rearward movement away from the steering wheel operation position does not exceed a predetermined value (for example, 15 degrees), the movement route candidate for the forward movement to the steering wheel operation position or the movement route candidate for the backward movement away from the steering wheel operation position can be modified to generate the movement route from the movement start position p1 to the target parking position p2. For example, if at least one of the six parameters, including the length of the first straight line L1, the angular velocity of the steering angle in the first clothoid section C1, the length of the circular arc section A1, the angular velocity of the steering angle in the second clothoid section C2, the length of the second rectilinear portion L2 and the assumed speed are adjusted, the movement route may be modified from the steering wheel operation position to the target parking position p2.

The motion route generator 113 determined from a plurality of steering wheel operating positions in which a plurality of movement route candidates intersect each for the forward movement to the steering wheel actuating position at a matching body angle with a plurality of movement route candidates each for the backward movement away from the steering wheel operating position a steering wheel operation position that minimizes a moving distance from the movement start position p1 to the target parking position p2.

If the usable area a3 as in 7B shown narrow due to a narrow vehicle path, may exist within the usable area a3 no steering wheel operating position in which the body angle of the vehicle 1 in the forward movement to the steering wheel operating position with the body angle of the vehicle 1 coincides with the rearward movement away from the steering wheel actuating position. In this case, vehicle becomes 1 once moved backwards from the current position, whereupon the in 6 shown route generation process is executed again from the beginning.

The description now refers again 5 , The command generator 12 controls the vehicle 1 based on the motion route generator 113 generated movement route (step S40). In a case of a vehicle having an automatic parking function or an automatic driving function, the command generator transmits 12 control commands to a steering wheel controller and an engine control unit (or an electric motor controller) according to the generated movement route to drive and control a steering wheel and an engine (or an electric motor, respectively). In this case, the command generator attacks 12 on recognition values from the vehicle speed sensor 23 , Steering angle sensor 24 and GPS sensor 25 back to drive and control the steering wheel and the internal combustion engine (or the electric motor), while a current position of the vehicle 1 is confirmed.

In a case of a vehicle having a parking assist function, the command generator transmits 12 a control command to the steering wheel control unit to control and control a steering wheel. An operation of an accelerator pedal or a brake pedal is performed by a driver. In this case, the sound output unit 60 issue a voice prompt, such as "Please drive slower," when a speed of the vehicle exceeds an assumed speed.

It should be noted that a process can be used in which only those of the motion route generator 113 generated route on the display 50 is shown. An image generator (not shown) of the controller 10 initiates the ad 50 to display an image by superimposing that of the motion route generator 113 generated movement route and an actual driving line of the vehicle 1 generated with the bird's-eye view of the parking lot. In this case, the driver operates the steering wheel and the accelerator pedal while looking at this image.

If the usable area a3 is narrow, as in 7B As shown, a case may arise where no movement route can be generated from the current position to the target parking position. To solve this problem, the length of the clothoid Section shortened as described above to increase a probability of generating the movement route from the current position to the target parking position.

The motion route generator 113 changes the assumed speed according to the usable area a3. If the usable area a3 is large, the assumed speed is increased; if the usable area a3 is small, the assumed speed is reduced. As described above, increasing the assumed speed results in a longer clothoid section, and decreasing the assumed speed results in a shorter clothoid section. If the clothoid section is short, vehicle can 1 rotate within a narrower radius so that a usable area a3 can be used efficiently.

A size of the usable area a3 may be simply defined as the area resulting from the subtraction of the area of the obstacle from the product of the length l5 and the width w3 of the vehicle path, or may be defined as the maximum square area within the usable area a3 , A relationship between the size of the usable area a3 and the assumed speed can be determined based on a relationship derived from experiments and simulations.

Further, moreover, the probability of generating the movement route from the current position to the target parking position depends on the width w4 of the opening of the parking area Sp. The motion route generator 113 changes the assumed speed according to the width w4 of the opening of the parking area Sp. When the width w4 of the opening of the parking area Sp is large, the assumed speed is increased; and when the width w4 of the opening of the parking area Sp is small, the assumed speed is reduced. A relationship between the width w4 of the opening of the parking area Sp and the assumed speed can also be determined based on a relationship derived from experiments and simulations.

It should be noted that the motion route generator 113 can determine the assumed speed taking into account both the size of the usable area a3 and the width w4 of the opening of the parking area Sp. For example, the motion route generator 113 use a weighted average speed from the assumed speed derived from the size of the usable area a3 and the assumed speed derived from the width w4 of the opening of the parking area Sp. The contributions of both assumed velocities can be determined from values derived from experiments and simulations.

9A to 9C show different movement route candidates for different assumed speeds. 9A shows 10 movement route candidates for an assumed speed of 1 km / h, 9B shows 10 movement route candidates for an assumed speed of 5 km / h, and 9C shows 10 movement route candidates for an assumed speed of 10 km / h. It will be understood that the candidates for the steering wheel actuating position are distributed at a lower assumed speed in a relatively narrow range. Thereby, the probability that the movement route that can reach the target parking position is found within the narrower usable area a3 can be increased.

It should be noted that a number of the steering wheel actuation operations increase as the assumed speed is increased on the narrower surface. Although in this case a moving speed of the vehicle 1 is high, a loss of time due to the steering wheel operations increases. On the other hand, when the assumed speed is reduced, the number of steering wheel operation decreases. Although in this case a moving speed of the vehicle 1 is low, the time lost due to the steering wheel actuation operations is reduced. Thus, reducing the assumed speed on the narrower surface may reduce the total time required for parking due to the fewer number of steering wheel actuations. In this exemplary embodiment, the assumed speed is determined or modified so that the total time required for parking is minimized assuming at least one of the size of the usable area a3 and the width w4 of the opening of the parking area Sp, which are predetermined.

As described above, according to this exemplary embodiment, the steering wheel operating position is determined within the area corresponding to the intersection of the first area a1, the second area a2, and the usable area a3. Therefore, the movement route that can reach the target parking position by a steering wheel operation without encountering the obstacle in the area of the vehicle path can be found lossless. This exemplary embodiment can be a time necessary for determining the movement route time compared to a conventional method for determining the movement route - are generated in the repeated routes in which the movement routes and is checked in each case whether one Movement route comes into conflict with an obstacle - shorten. In particular, the time required to detect the travel route can be significantly shortened in an environment where the width of the vehicle travel is small.

Furthermore, the movement route is generated without "steering when the vehicle is stationary", whereby an increased load on the tires and a steering mechanism is avoided.

Furthermore, the assumed vehicle speed is changed in accordance with at least one of the size of the usable area a3 and the width w4 of the opening of the parking area Sp, so that the probability that the target parking position can be achieved is increased while avoiding an increase in the traveling time to the target parking position , In other words, when both the usable area a3 and the width w4 of the opening of the parking area Sp are large, a movement route is created on which the vehicle can be parked at a greater assumed speed in a shorter time. On the other hand, if at least one of the usable area a3 and the width w4 of the opening of the parking area Sp is small, the assumed speed is reduced to, for example, 1 km / h to shorten the clothoid portion. Thus, a movement route having a smaller number of steering wheel operation operations efficiently utilizing the usable area a3 can be generated. In such a low-speed ride, passengers are less likely to worry about a possible collision with surrounding objects. Furthermore, the lateral acceleration to which the passengers are exposed can also be reduced.

The present disclosure is described above according to an exemplary embodiment. The description of the above-mentioned exemplary embodiment is given by way of illustration only, and it will be apparent to one of ordinary skill in the art that various modifications can be made by various combinations of the foregoing components or processes, which are also within the scope of the present disclosure.

In the exemplary embodiment described above, an example of the generation of the movement route in the vertical parking, when the vehicle is driving backward to the target parking position is explained. However, the scope of the present disclosure also includes an example of generating a parallel parking route when the vehicle is reversing to the target parking position, an example of generating a vertical parking route when the vehicle is traveling forward to the target parking position, and an example of Creation of a movement route for parallel parking when the vehicle drives forward to the target parking position. In vertical parking, where the vehicle 1 Moves forward on the parking area Sp, the vehicle moves 1 , which is positioned on a vehicle path near an opening of a parking area Sp and laterally aligned, in a direction away from the parking area Sp backwards and then moves from a steering wheel actuating point forward on the parking area, where it describes a curve.

In the above-described exemplary embodiment, parking assistance in the parking lot is described as an example. The parking assistance can, however, z. As well as the parking in a garage, the exit from a garage and driving through a hairpin, which are accompanied by a steering wheel operation concern.

The process described above, in which the assumed speed through the motion route generator 113 is changed according to the usable area a3 is also applicable to the generation of a movement route without the steering wheel operation operation. The process is effective especially in a case where a direction of the vehicle 1 must be largely changed within a relatively narrow area, z. B. in a tight or hairpin.

It should be noted that the exemplary embodiment may be specified by the points described below.

[Point 1]

The route generator ( 11 ) contains the recognition data input unit ( 111 ), the card generator ( 112 ) and the motion route generator ( 113 ). The recognition data input unit ( 111 ) is designed to provide recognition data representing an environmental situation of the vehicle ( 1 ) from the vehicle ( 1 ) attached recognition device ( 20 ) to obtain. The map generator ( 112 ) is designed based on the information provided by the recognition data input unit (FIG. 111 ) obtained recognition data to produce a map that the environmental situation of the vehicle ( 1 ). The motion route generator ( 113 ) is designed on the card generator ( 112 ) generate a motion route for movement from a move start point to a final finish point. The movement route contains a clothoid section. The motion route generator ( 113 ) determines a movement speed of the vehicle ( 1 ) corresponding to at least one of a size of one usable for movement from the movement start point to the final destination point Area and a size of an opening of a location of the final destination.

Thereby, the probability that the final target point is reached can be increased while avoiding an extension of a movement time to the final target point when the movement route is generated.

[Point 2]

In the point 1 described route generating device ( 11 ), the motion route generator ( 113 ) the speed of movement of the vehicle ( 1 ) when at least one of the usable area and the opening of the location of the final destination is narrower.

This can increase the likelihood that the final target point will be reached while shortening the clothoid section.

[Point 3]

In the point 1 or 2 described route generating device ( 11 ), the motion route generator ( 113 ) on the card generator ( 112 ) generated map the movement route of vehicle ( 1 ) extending from the start of movement to an intermediate point and after a change of direction of movement from the intermediate point to the final destination point. Thereby, the likelihood that the final target point is reached can be increased while avoiding an extension of the movement time to the final target point when a movement route is generated with the steering wheel operation operation.

[Point 4]

A route generation method includes obtaining recognition data representing an environmental situation of the vehicle ( 1 ) from the vehicle ( 1 ) attached recognition device ( 20 ). In addition, the route generation method comprises generating a map that describes the environmental situation of the vehicle ( 1 ) based on the recognition data. Furthermore, the route generation method includes generating a movement route on the map for movement from a movement start point to a final destination point. The movement route contains a clothoid section. In the generation of the movement route, a movement speed of the vehicle ( 1 ) is determined according to at least one of a size of an area usable for the movement from the movement start point to the final destination point and a size of an opening of a location of the final destination point.

Thereby, the probability that the final target point is reached can be increased while avoiding an extension of the movement time to the final target point when the movement route is generated.

[Point 5]

A route generation program causes a computer to obtain recognition data representing an environmental situation of the vehicle ( 1 ) from the vehicle ( 1 ) attached recognition device ( 20 ). In addition, the route generation program causes the computer to generate a map showing the environmental situation of the vehicle ( 1 ) to execute based on the recognition data. Further, the route generation program causes the computer to execute generating a motion route on the map for movement from a move start point to a final finish point. The movement route contains a clothoid section. In the generation of the movement route, a movement speed of the vehicle ( 1 ) is determined according to at least one of a size of an area usable for the movement from the movement start point to the final destination point and a size of an opening of a location of the final destination point.

Thereby, the probability that the final target point is reached can be increased while avoiding an extension of the movement time to the final target point when the movement route is generated.

The present disclosure is useful as a route generation device, a route generation method, and a route generation program.

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Cited patent literature

• WO 2016/203643 A [0003]

Claims (5)

A route generator, comprising: a recognition data input unit configured to obtain recognition data indicative of an environmental situation of a vehicle from a vehicle-mounted recognition device; a map generator configured to generate a map indicative of the surrounding situation of the vehicle based on the recognition data obtained by the recognition data input unit; and a motion route generator configured to generate, on the map generated by the map generator, a motion route for movement from a move start point to a final finish point, the move route including a clothoid section; wherein the movement route generator determines a movement speed of the vehicle corresponding to at least one of a size of an area usable for the movement from the movement start point to the final destination point and a size of an opening of a location of the final destination point. Route generating device according to Claim 1 wherein the motion route generator sets the speed of travel of the vehicle lower because at least one of the usable area and the opening of the location of the final destination is narrower. Route generating device according to Claim 1 or 2 wherein the movement route generator on the map generated by the map generator generates the movement route of the vehicle, which extends from a movement start point to an intermediate point and after a change of a movement direction from the intermediate point to the final destination point. Route generation method comprising: Obtaining recognition data indicative of an environmental situation of a vehicle from a vehicle-mounted detection device; Generating a map indicative of the surrounding situation of the vehicle based on the recognition data; and Generating a motion route on the map for movement from a motion origin to a final destination, the motion route comprising a clothoid section; wherein generating the movement route includes determining a movement speed of the vehicle corresponding to at least one of a size of an area usable for the movement from the movement start point to the final destination point and a size of an opening of a location of the final destination point. Route generation program that causes a computer to do the following: Obtaining recognition data indicative of an environmental situation of a vehicle from a vehicle-mounted detection device; Generating a map indicative of the surrounding situation of the vehicle based on the recognition data; and Generating a motion route on the map for movement from a motion origin to a final destination, the motion route comprising a clothoid section; wherein generating the movement route includes determining a movement speed of the vehicle corresponding to at least one of a size of an area usable for the movement from the movement start point to the final destination point and a size of an opening of a location of the final destination point.

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