JP2020093575A - Control apparatus and control system - Google Patents

Abstract

To provide a control apparatus and a control system, which enable an occupant to more smoothly get out of a movable body.SOLUTION: A control apparatus comprises: an identification part that identifies a door to be opened, on the basis of in-movable-body information on an occupant getting in a movable body; a parking area calculation part that calculates a parking area for parking the movable body in a door-openable state; and a determination part that determines whether or not the movable can be parked in a designated area, on the basis of environmental information on the periphery of the movable body in the pre-designated area and the parking area.SELECTED DRAWING: Figure 6

Description

The present invention relates to a control device and a control system.

2. Description of the Related Art In recent years, a technique for acquiring an image of the surroundings of a vehicle using a camera or the like provided outside the vehicle and supporting parking of the vehicle based on the acquired image has become widespread. As such a technique, for example, the technique disclosed in Patent Document 1 below can be cited.

JP, 2013-18406, A

However, even if the vehicle can be parked, if there is no space around the vehicle for the occupant to open the vehicle door for getting off or for getting off and moving the occupant. May hit the vehicle door or the passenger cannot move, so that the passenger may not be able to get off the vehicle smoothly. Further, when getting off the vehicle, if there is a puddle or the like at the position where the passenger gets off, the shoes of the passenger may get wet, so the passenger may not be able to get off smoothly. ..

Therefore, the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a new and improved control device that enables an occupant to dismount (dismount) more smoothly. And to provide a control system.

In order to solve the above problems, according to an aspect of the present invention, based on information in a moving body related to an occupant who is riding on a moving body, a specifying unit that specifies a door to be opened, and in a state where the door is open Based on the parking area calculation unit that calculates a parking area for parking the mobile body, environmental information around the mobile body in a designated area designated in advance, and the parking area, the designation A control device is provided, comprising: a determination unit that determines whether or not the mobile body can be parked in the area.

The specifying unit may specify the door to be opened based on the information on the boarding position of the occupant.

The specifying unit may specify the opening angle of the door by specifying the occupant and acquiring information on the opening angle that is associated with the specified occupant in advance.

The opening angle may be acquired in advance by an angle detection unit that is provided on the moving body and that detects the opening angle of the door when the specified occupant gets on and off the vehicle.

The parking area calculation unit, based on the specified opening angle, when opening the door for the specified passenger to disembark, the direction of the door perpendicular to the side surface of the moving body. In the above, the width of the parking area may be calculated based on the calculated movement distance and the known width of the moving body.

The environment information is information on a first obstacle that may obstruct the parking of the moving body in the designated area, information on a second obstacle that may obstruct the door when the door is opened, and the occupant. May include any of the information of the third obstacles that obstruct the occupant when the passenger disembarks.

The control device further includes a free area estimation unit that estimates a free area of the designated area in which the first to third obstacles do not exist based on the environment information, and the determination unit is configured to estimate the free area. It may be possible to determine whether or not the mobile body can park in the designated area by comparing an empty area with the calculated parking area.

The control device may further include a guide unit that outputs guide information for guiding the moving body to a stop position in the designated area.

Further, in order to solve the above problems, according to another aspect of the present invention, a moving body information detection unit that detects moving body information regarding an occupant riding on the moving body, and the moving body in a designated region designated in advance Is a control system including an environment information detection unit that detects environment information of the surroundings and a control device, wherein the control device specifies the door to be opened based on the moving body information. Based on the environment information and the parking area, a specific section, a parking area calculation section for calculating a parking area for parking the moving body with the door openable, and the designated area And a determination unit that determines whether the mobile body can be parked.

As described above, according to the present invention, it is possible to provide a control device and a control system that enable an occupant to disembark more smoothly.

It is a block diagram showing an example of composition of control system 1 concerning an embodiment of the present invention. It is explanatory drawing for demonstrating an example of the parking area 802 which concerns on embodiment of this invention. It is explanatory drawing for demonstrating an example of the parking area 802a which concerns on embodiment of this invention. It is a flow chart which shows a flow of operation of control system 1 concerning an embodiment of the present invention. It is explanatory drawing (the 1) for demonstrating the flow of operation|movement of the control system 1 which concerns on the 1st Example of this invention. It is explanatory drawing (the 2) for demonstrating the flow of operation|movement of the control system 1 which concerns on the 1st Example of this invention. It is explanatory drawing (the 1) for demonstrating the flow of operation|movement of the control system 1 which concerns on the 2nd Example of this invention. It is explanatory drawing (the 2) for demonstrating the flow of operation|movement of the control system 1 which concerns on the 2nd Example of this invention. It is explanatory drawing (the 1) for demonstrating the flow of operation|movement of the control system 1 which concerns on the 3rd Example of this invention. It is explanatory drawing (the 2) for demonstrating the flow of operation|movement of the control system 1 which concerns on the 3rd Example of this invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, constituent elements having substantially the same functional configuration are designated by the same reference numerals, and a duplicate description will be omitted. Further, in the present specification and the drawings, substantially the same or similar components may be distinguished by attaching different alphabets after the same reference numerals. However, if there is no particular need to distinguish between similar components, only the same reference numerals will be given.

In the following description, an ECU (Electronic Control Unit) (control device) according to an embodiment of the present invention will be described as being mounted in a vehicle, but in the present embodiment, it should be mounted in a vehicle. It is not limited to. For example, the ECU according to the embodiment of the present invention may be mounted on a moving body such as a vehicle, an airplane, or a ship that a user can board or board. Further, in the present embodiment, a user mainly means a person such as a driver who uses the control system according to the present embodiment, and an occupant is a person who rides on a moving body such as a vehicle including the driver. It means the person (boarding). Further, in the following description, “dismount” means that an occupant gets off the moving body, and means “get off” when the moving body is a vehicle. Further, in the following description, “parking” means stopping the moving body, and means “parking” when the moving body is a vehicle.

<<Embodiment>>
<Structure example>
First, a functional configuration example of the control system 1 according to the present embodiment will be described with reference to FIGS. 1 to 3. FIG. 1 is a block diagram showing a configuration example of a control system 1 according to this embodiment. 2 and 3 are explanatory diagrams for explaining an example of the parking areas 802 and 802a according to the present embodiment.

Referring to FIG. 1, the control system 1 according to the present embodiment includes an obstacle sensor (environmental information detection unit) 100, an occupant sensor (moving body information detection unit) 200, an angle sensor (angle detection unit) 300, It mainly has an ECU 400, a display 500, and a speaker 510.

The obstacle sensor 100 is provided with environmental information around the vehicle in a designated area such as a parking lot or a road designated in advance by the user, that is, information about an obstacle around the vehicle when the vehicle is parked (parked). Is a device for detecting. Specifically, the obstacle sensor 100 detects information such as a position and a size of an obstacle (first obstacle) such as a pillar or another vehicle, which is an obstacle for parking the vehicle in the designated area. You can In addition, the obstacle sensor 100 is a pillar or another vehicle that obstructs the opening of the vehicle door when the vehicle door (door) that is likely to be opened by the occupant of the vehicle to get off (get off) is opened. It is possible to detect information such as the position and size of an obstacle (second obstacle) such as. Further, the obstacle sensor 100 can detect an obstacle (third obstacle) such as a puddle or a step, which is an obstacle for the occupant getting off the vehicle. For example, the obstacle sensor 100 may be a camera that is provided outside the vehicle and captures the designated area, or may be an ultrasonic sensor, an infrared sensor, a high frequency sensor, or the like. When the obstacle sensor 100 is a camera, the designated area is imaged. Then, the position and size of various obstacles can be detected by analyzing the captured image with the ECU 400 described later. In this case, the obstacle sensor 100 can also detect the position and size of the puddle by detecting the reflected light from the puddle using, for example, a polarization filter.

The occupant sensor 200 is a device that detects information (in-vehicle information) about an occupant who gets in the vehicle, that is, an occupant and a riding position (boarding position) of each occupant. The occupant sensor 200 may be, for example, a camera that is provided inside the vehicle 600 and images the inside of the vehicle, and images the occupant. Then, the captured image can be analyzed by the ECU 400, which will be described later, to specify the occupant and the occupant's riding position. However, in the present embodiment, the occupant sensor 200 is not limited to the camera as described above, and may be any sensor that can detect information that can identify the occupant and the riding position thereof. The occupant sensor 200 may be, for example, a device that wirelessly communicates with an electronic device (for example, a portable device, a smartphone, or the like) (not shown) carried by each occupant, and in this case, it is included in the signal received by the wireless communication. The occupant and his/her riding position can be specified based on the ID code signal including a predetermined ID (Identification) code unique to each electronic device and the strength of the signal. Further, the occupant sensor 200 may include a pressure sensor (not shown) provided in each seat in the vehicle, and in this case, the occupant's riding position can be specified based on the detection result of the pressure sensor.

The angle sensor 300 is provided on the vehicle door of the vehicle, and can detect the opening angle (opening degree) of the vehicle door when the occupant gets off (gets off) or gets on (boards). In the following description, the vehicle door is opened for an occupant to get on and off, but at this time, the vehicle door is rotated about a hinge (not shown) that connects the vehicle door and the vehicle body. The rotation angle is called the opening angle. For example, the angle sensor 300 is provided on a hinge of a vehicle door and includes a rotary encoder for detecting a rotation angle, a motion sensor such as an acceleration sensor provided on a latch portion (not shown) of the vehicle door, and a light emitting/receiving element. Can be an optical sensor. The opening angle detected by the angle sensor 300 is stored in the storage unit 440 of the ECU 400, which will be described later, in association with the ID information that identifies the occupant who has opened the corresponding vehicle door when the opening angle is detected. Become. The open angle may be detected in advance by an angle sensor 300 provided in another vehicle installed in an automobile dealership or a mockup. In this case, the detected open angle is the ID information. It may be stored in a server (not shown) on the cloud or the like in association with.

The ECU 400 can control the whole operation of each component such as the ECU 400 or a part thereof based on various programs stored in a storage unit 440 described later. The ECU 400 mainly includes a CPU (Central Processing Unit) and the like. Specifically, the ECU 400, as shown in FIG. 1, an area estimation unit (vacant area estimation unit) 410, a door identification unit (identification unit) 420, an occupant identification unit (identification unit) 422, and a parking region calculation. It mainly includes a unit 424, an angle acquisition unit 430, a storage unit 440, a determination unit 450, a guiding unit 452, and a communication unit 460.

The area estimation unit 410 acquires the environment information of a specified area such as a parking lot from the obstacle sensor 100, and estimates a free area in which the obstacle does not exist based on the acquired environment information. Here, the empty area means an area which is a candidate for a place where the vehicle is parked because there is no obstacle. Specifically, the area estimation unit 410 calculates the shape and size (width and length) of the empty area where no obstacle exists based on the information such as the position and size of each obstacle. Further, the area estimation unit 410 outputs the calculated information on the shape and size of the empty area to the determination unit 450 described later.

The door identification unit 420 acquires the in-vehicle information from the occupant sensor 200, identifies the riding position of the occupant based on the obtained in-house information, and identifies the vehicle door that will be opened when the occupant exits. .. Specifically, for example, the door identification unit 420 can identify the passenger's riding position by acquiring an image of the inside of the vehicle including the occupant as the in-vehicle information and acquiring an image of a person from the image. Then, the information on the vehicle door 602 specified by the door specifying unit 420 is output to the parking area calculation unit 424 described later.

The occupant identification unit 422 identifies the vehicle door that is opened for the passenger to get off. Further, the occupant identifying unit 422 identifies a space for opening the vehicle door for getting off the occupant. Specifically, the occupant identification unit 422 acquires the in-vehicle information from the occupant sensor 200, identifies the occupant based on the acquired in-house information, and associates the occupant with the identified occupant information. The opening angle of the vehicle door is specified by acquiring the opening angle. More specifically, for example, the occupant identifying unit 422 obtains the face image of the occupant as the in-vehicle information, and compares the feature of the face image with the feature of the user's face stored in the storage unit 440 in advance. , Occupants can be specified. Further, the occupant identifying unit 422 can acquire the information on the opening angle of the occupant stored in the storage unit 440 by using the ID information associated with the identified occupant. Then, the occupant identification unit 422 outputs the obtained opening angle to the parking area calculation unit 424 described later. Further, when the angle sensor 300 detects the opening angle, the occupant identifying unit 422 identifies the occupant who has opened the vehicle door related to the opening angle. Then, the identified occupant ID information is stored in the storage unit 440 in association with the opening angle. In addition, in the present embodiment, the above-described information on the facial features and the opening angle may be stored in a server (not shown) on the cloud, and in this case, the occupant identification unit 422 may transmit the information via the communication unit 460. Then, these pieces of information may be acquired. In addition, in the present embodiment, the occupant identification unit 422 is not limited to identifying the occupant based on the face image, and the occupant may be identified based on, for example, an image such as the user's glow or blood vessel pattern. May be specified.

The angle acquisition unit 430 acquires the opening angle detected by the angle sensor 300, associates the acquired opening angle with the ID information of the occupant who has opened the vehicle door corresponding to when the opening angle is detected, It is output to the storage unit 440. The ID information may be input in advance by the user, or may be acquired from the occupant specifying unit 422 according to the occupant specifying result of the occupant specifying unit 422 when the opening angle is acquired. The angle acquisition unit 430 may acquire the opening angle when the occupant gets off the vehicle, may acquire the opening angle when getting on the vehicle, and may obtain it when getting on and off the vehicle. Note that when the vehicle door is opened in stages (for example, when the vehicle door is opened narrowly and widely in two steps), the angle acquisition unit 430 replaces the opening angle in the opening stage. The information may be acquired and output to the storage unit 440. Further, in the present embodiment, the acquired opening angle may be statistically processed for each occupant in the ECU 400 and then stored in the storage unit 440. Further, in the present embodiment, the ECU 400 machine-learns the relationship between the occupant's attribute information (gender, age, etc.) input in advance and the opening angle, and then stores the machine-learning result in the storage unit 440. Good. In the present embodiment, when there is an occupant for whom the opening angle is not obtained, it is possible to obtain the opening angle of a person whose attribute information is close to the occupant as an alternative. By referring to the result, the alternative opening angle can be obtained more preferably. Further, when the angle sensor 300 is not installed in the vehicle, the angle acquisition unit 430 may acquire the opening angle from the server (not shown) on the cloud via the communication unit 460.

The storage unit 440 is composed of various memories and the like, and is a unit that stores a memory program, data used for calculation, and the like. The storage unit 440 stores, for example, a program read by the occupant identifying unit 422 and the like, various parameters, data related to a user's face image and characteristics, an opening angle associated with each occupant's ID information, and when executing the program Various parameters that change appropriately are stored temporarily or permanently. Note that the face image and data relating to its characteristics stored in the storage unit 440 may be information input in advance by the user or information acquired from a server (not shown) on the cloud. Alternatively, the face image acquired in the occupant sensor 200, which is associated with the ID information input by the user, and the face image stored in the storage unit 440 are analyzed by the ECU 400. It may be data relating to the characteristics obtained by the above.

The parking area calculation unit (parking area calculation unit) 424 identifies the vehicle based on the information on the vehicle door that will be opened from the door identification unit 420 and the opening angle from the occupant identification unit 422. The shape and size of the parking area (parking area) for parking (parking) the vehicle with the door openable (width (length along the direction perpendicular to the traveling direction of the vehicle), length) (The length along the traveling direction of the vehicle)) is calculated. Then, the parking area calculation unit 424 outputs the calculated parking area to the determination unit 450 described later.

Specifically, for example, a case where it is specified that the vehicle door 602 on the driver side is opened will be described with reference to FIG. In this case, the parking area calculation unit 424, based on the opening angle 800 associated with the occupant 700 who is the driver, of the vehicle door 602 when opening the vehicle door 602 for the occupant 700 to get off, The moving distance D in the direction perpendicular to the side surface of the vehicle 600 is calculated. Then, the parking area calculation unit 424 can calculate the width of the parking area 802, for example, by adding the calculated movement distance D and the width W of the vehicle 600 acquired in advance. Further, the parking area calculation unit 424 adds a predetermined width determined in advance to the calculated width of the parking area 802 as the width of the area for opening the vehicle door 602 in the adjacent other vehicle 610, and the like. The width of the typical parking area 802 may be calculated. In addition, for example, the parking area calculation unit 424 may calculate the shape and size of the parking area 802 by using the length L of the vehicle 600 acquired in advance, and further, on the outer periphery of the calculated parking area 802, the occupant A region having a predetermined width and a predetermined length is added as a region required for moving 700 when the vehicle is dismounted, and a region for opening the vehicle door 602 of another vehicle 610 adjacent to the other vehicle 610. The shape and size (width, length) of the parking area 802 may be calculated.

Further, for example, a case where it is specified that the vehicle door 602a on the driver side and the vehicle door 602b on the passenger side are opened will be described with reference to FIG. In this case, the parking area calculation unit 424 causes the opening angles 800a and 800b associated with the identified occupants 700a and 700b, respectively (in the example shown in FIG. 3, the occupant 700a does not contact the occupant 700b when getting off). In the direction perpendicular to the side surface of the vehicle 600 of the vehicle doors 602a and 602b when the vehicle doors 602a and 602b that are specified to be opened are opened based on The moving distances D1 and D2 are calculated. Then, the parking area calculation unit 424 can calculate the width of the parking area 802a, for example, by adding the calculated movement distances D1 and D2 and the width W of the vehicle 600 acquired in advance. Further, the parking area calculation unit 424 may calculate a final width of the parking area 802a by adding a predetermined width to the calculated width of the parking area 802. Further, for example, the parking area calculation unit 424 may calculate the shape and size of the parking area 802a by using the length L of the vehicle 600 acquired in advance, and further, on the outer periphery of the calculated parking area 802a. As a region necessary for the movement of 700a and 700b when getting off and a region for opening the vehicle door 602 in another adjacent vehicle 610, a region having a predetermined width and length is added to make a final parking. The shape and size of the area 802a may be calculated.

The determination unit 450 determines whether the vehicle can be parked (parked) in the designated area based on the environment information around the vehicle in the designated area designated in advance and the parking area 802 described above. Specifically, the determination unit 450 is based on the information on the empty area acquired from the area estimation unit 410 and the information on the parking area 802 acquired from the parking area calculation unit 424, that is, by comparing these pieces of information. , It is determined whether the vehicle can be parked in the designated area. Then, the determination unit 450 outputs the determination result to the guide unit 452, the display 500, the speaker 510, etc., which will be described later. At this time, the determination unit 450 compares whether or not the vehicle 600 can be parked in the designated area by comparing predetermined widths such as the width P of the empty area (see FIG. 5) and the width of the parking area 802. You may judge. Alternatively, the determination unit 450 may perform a simulation in which the empty area and the parking area 802 are virtually overlapped to determine whether the vehicle 600 can be parked in the designated area. That is, in the present embodiment, the determination method of the determination unit 450 is not particularly limited.

The guidance unit 452 can output guidance information that guides the vehicle 600 to a suitable stop (stop) position in the designated area based on the determination result of the determination unit 450 via the display 500 or the like described later. For example, the guide unit 452 outputs an image showing the stop position and the current position of the vehicle 600, or outputs a voice for instructing the driver to turn the steering wheel or the like in order to guide the vehicle 600 to the stop position. You can If the vehicle 600 is provided with an automatic driving control unit (not shown), the guiding unit 452 may output the guidance information to the automatic driving control unit. In this case, the automatic driving control unit controls each unit of the vehicle 600, so that the vehicle 600 can be stopped at a suitable stop position within the designated area.

The communication unit 460 is a communication device for connecting to a commercial network or the like for wireless communication. The communication unit 460 is, for example, a wired or wireless LAN, a Bluetooth (registered trademark) or a communication card for WUSB (Wireless USB), a router for optical communication, a router for ADSL (Asymmetrical Digital Subscriber Line), or various communication. May have a function as a modem. Further, it may have a function of connecting to a telephone network such as an extension telephone network or a mobile telephone carrier network.

The display 500 is a functional unit for outputting image information to the driver, and is, for example, a display device such as a liquid crystal display (LCD) device and an OLED (Organic Light Emitting Diode) device provided in front of the driver's seat. It is realized by.

The speaker 510 is a functional unit for outputting voice information to the driver, and is realized by, for example, a speaker provided inside the vehicle 600.

The configuration example of the control system 1 according to the embodiment of the present invention has been described above. The configuration described above with reference to FIG. 1 is merely an example, and the configuration of the control system 1 according to the present embodiment is not limited to this example. That is, the functional configuration of the control system 1 according to the present embodiment can be flexibly modified according to specifications and operation.

<Operation flow>
Next, a flow of operations of the control system 1 according to this embodiment will be described. In the following, the control system 1 according to the present embodiment determines whether the vehicle 600 can be parked in a designated area such as a parking lot, and based on the determination result, sets the vehicle 600 to a suitable stop position in the designated area. An example of the case of guiding to will be described with reference to FIG. FIG. 4 is a flowchart showing the flow of operations of the control system 1 according to this embodiment.

First, for example, a user who is a driver of the vehicle 600 inputs a place to park (for example, a parking lot) into the control system 1 as the designated area. At this time, the user may input, for example, a parking method such as approach, back, and parallel, a parking direction of the vehicle 600 (for example, a direction of the vehicle 600 when the vehicle 600 is parked), and the like. Further, the control system 1 is provided in the vehicle 600, and based on the position information obtained from the GPS (Global Positioning System) receiver that acquires the position information of the vehicle 600, the designated area is a parking lot or a road shoulder. It is also possible to recognize whether or not there is such information, and recognize the details of the obstacle or specify the vehicle door 602 that will be opened for getting off the vehicle, based on the recognized information. At this time, since it is possible to estimate that parking is dangerous or getting off the vehicle is dangerous because the designated area is a road shoulder or the like, the control system 1 notifies the user who is the occupant 700 of You may notify that it is dangerous.

Then, referring to FIG. 4, the obstacle sensor 100 detects, for example, information (environmental information) on an obstacle in a parking lot (designated area) (S1101). Further, the area estimation unit 410 estimates the empty area of the parking lot based on the environmental information from the obstacle sensor 100 (S1102).

Next, the occupant sensor 200 detects information (in-vehicle information) about the occupant 700 of the vehicle 600 (S1103). Then, the door identifying unit 420 identifies the riding position of the occupant 700 based on the vehicle interior information, and identifies the vehicle door 602 that will be opened when the occupant gets off (S1104). Further, the occupant identifying unit 422 identifies the occupant based on, for example, the face image of the occupant included in the in-vehicle information (S1105). Then, the occupant identification unit 422 acquires the opening angle associated with the identified occupant from the storage unit 440 (S1106).

Then, the parking area calculation unit 424 parks the vehicle 600 in a state in which the identified vehicle door 602 can be opened based on the information about the vehicle door 602 that will be opened and the opening angle from the occupant identification unit 422. The parking area 802 for the operation is calculated (S1107).

Then, the determination unit 450 compares the empty area acquired from the area estimation unit 410 with the parking area 802 acquired from the parking area calculation unit 424 to determine whether the vehicle 600 can park in the designated area such as a parking lot. It is determined (S1108). If parking is possible, the guide unit 452 outputs guide information for guiding the vehicle 600 to a suitable stop position on the display 500 or the like (S1109). On the other hand, when the parking is not possible, the determination unit 450 notifies the user by displaying that the parking is not possible on the display 500 or the like (S1110). It should be noted that the present embodiment is not limited to outputting an image to the display 500 or the like, and for example, sound may be output from the speaker 510.

<Example>
The present disclosure has been described above. Further, a specific example using the above-described embodiment will be described. The following examples are merely examples of the above embodiment, and the present embodiment is not limited to the following examples.

(First embodiment)
For example, in the present embodiment described above, the determination unit 450 may determine whether or not the vehicle 600 can be parked in the designated area by comparing the width P of the empty area and the widths of the parking areas 802. Such an embodiment will be described with reference to FIGS. 5 and 6 are explanatory diagrams for explaining the flow of the operation of the control system 1 according to the first embodiment.

As shown in FIGS. 5 and 6, the determination unit 450 adds the width P of the vacant area of the parking lot 900 (an example of the designated area) and the width of the parking area 802 (the moving distance D and the width W of the vehicle 600). It is possible to determine whether or not the vehicle 600 can be parked in the empty area by comparing the width of the vehicle 600 with that of the vehicle 600. Then, when the width P of the empty area is larger than the width of the parking area 802, the determination unit 450 determines that parking is possible. As shown in FIG. 6, the determination unit 450 considers the opening angle at which the vehicle door 602 specified that the occupant 700 will open when the passenger 700 gets off the vehicle, in consideration of the opening angle at which the vehicle door 602 opens when the passenger 700 gets off the vehicle. It is determined whether vehicle 600 can be stopped in an empty area. Therefore, in this embodiment, since it is possible to secure a dismounting space or the like for the passenger 700 to open the vehicle door 602 for dismounting, it is possible to hit the vehicle door 602 to another adjacent vehicle 610. The occupant 700 can get off the vehicle more smoothly without the occupant 700 being unable to move after getting off the vehicle.

(Second embodiment)
Further, in the above-described present embodiment, the determination unit 450 may determine whether or not the vehicle 600 can be parked in the designated area in consideration of the position of the obstacle in the designated area. Such an embodiment will be described with reference to FIGS. 7 and 8. 7 and 8 are explanatory diagrams for explaining the flow of the operation of the control system 1 according to the second embodiment.

For example, when only the vehicle door 602 on the driver's seat side is specified as the vehicle door 602 that will be opened, the determination unit 450 is opened when the vehicle 600 stops in the empty area of the parking lot 900. It is determined whether or not the vehicle 600 can be parked in the vacant area, taking into consideration whether the vehicle door 602 described above will collide with the pillar 902 that is an obstacle. The determination unit 450 performs a simulation that virtually overlaps the empty area and the parking area 802 in consideration of the existence of the pillar 902, and determines whether the vehicle 600 can be parked in the empty area. In FIG. 7, when the vehicle 600 is parked in a vacant area, the pillar 902 is present at a position rearward of the driver's seat. Therefore, even if the vehicle door 602 on the driver's seat side is opened, the pillar 902 does not hit the pillar 902. .. Therefore, in FIG. 7, determination unit 450 determines that vehicle 600 can be parked in the empty area of parking lot 900.

On the other hand, for example, as shown in FIG. 8, when the pillar 902 is located near the driver's seat when the vehicle 600 is parked in the empty area of the parking lot 900, the vehicle door 602 on the driver's seat side is opened. And the column 902 may collide. Therefore, in FIG. 8, the determination unit 450 determines that the vehicle 600 cannot park in the empty area of the parking lot 900. As described above, in this embodiment, it is determined whether the vehicle 600 can be parked in the designated area in consideration of the position of the obstacle in the designated area. Therefore, the vehicle door 602 may be bumped against the pillar 902. This can be avoided, and the occupant 700 can get off the vehicle more smoothly.

(Third embodiment)
In addition, in the above-described embodiment, the determination unit 450 considers an obstacle such as a puddle or a step in the designated area, which is an obstacle to an occupant getting off the vehicle 600, and then the vehicle 600 is placed in the designated area. May determine whether or not the car can be parked. Such an embodiment will be described with reference to FIGS. 9 and 10. 9 and 10 are explanatory diagrams for explaining the flow of the operation of the control system 1 according to the third embodiment.

For example, when the vehicle door 602a on the driver's seat side and the vehicle door 602b on the passenger side are specified as the vehicle doors 602 that will be opened, the determination unit 450 determines that the vehicle is in an empty area of the parking lot 900. It is determined whether or not the vehicle 600 can be parked in the vacant area in consideration of whether or not there is an obstacle for getting off the occupant near the vehicle doors 602a and 602b that are opened when the vehicle 600 stops. The determination unit 450 performs a simulation that virtually overlaps the empty area and the parking area 802 in consideration of the existence of the obstacle (such as a puddle or a step) and determines whether the vehicle 600 can be parked in the empty area. judge. In FIG. 9, when the vehicle 600 is parked in an empty area, a puddle 904 exists near the vehicle door 602 on the passenger side, so the determination unit 450 determines that the vehicle 600 cannot park in the empty area of the parking lot 900. It is determined that Therefore, in the present embodiment, it is possible to prevent the occupant 700 from getting off from the vehicle door 602 on the passenger side for getting off and getting the shoes or the like of the occupant 700 wet due to the presence of the puddle 904.

Further, in the present embodiment, as shown in FIG. 10, the guide portion 452 may guide the vehicle 600 so as to avoid the puddle 904. At this time, when it is estimated that the opening angle of the vehicle door 602b is smaller than that of the vehicle door 602a according to the identified occupant 700, the guiding part 452 avoids the puddle 904 and the vehicle door 602a is the vehicle door. The vehicle 600 is guided to a stop position slightly leftward so that the vehicle 600 can be widely opened as compared with 602b. Therefore, in the present embodiment, it is possible to prevent the shoes of the occupant 700 from getting wet due to the presence of the puddle 904, so that the occupant 700 can get off the vehicle more smoothly. Further, in the present embodiment, it is determined whether or not the vehicle 600 can be parked in consideration of the opening of the vehicle door 602 according to the occupant 700, so that it is possible to secure the dismounting space according to each individual, and the occupant 700 can be You can get off the train smoothly.

<<Summary>>
As described above, the control system 1 according to the embodiment of the present invention enables the occupant to get off the vehicle more smoothly. Specifically, according to the present embodiment, it is determined whether or not the vehicle 600 can be parked in consideration of the opening of the vehicle door 602 according to the occupant. The 700 can get off more smoothly.

Specifically, in the present embodiment, the vehicle door that will be opened when the occupant exits is specified based on the information on the passenger's boarding position, so only the space for opening the corresponding vehicle door is specified. The parking area 802 can be calculated in consideration of the above. In other words, in the present embodiment, the parking area 802 is not calculated in consideration of the space for opening the vehicle door that is not opened when the occupant gets off the vehicle. Therefore, the parking area 802 can be calculated wider than necessary. Absent. Therefore, according to the present embodiment, the possibility of determining that the vehicle can be parked can be increased even in a narrow parking lot or the like. Further, in the present embodiment, by using the angle sensor 300 attached to the vehicle, the opening angle of the vehicle door at the time of getting off or getting on each passenger is detected, and the detected opening angle is associated with each passenger. Store. Therefore, according to this embodiment, the parking area 802 can be calculated based on the stored opening angle associated with each occupant in consideration of the space for getting off according to the occupant. As a result, according to the present embodiment, it is possible to secure a dismounting space suitable for each individual, and the occupant can dismount more smoothly. In addition, in the present embodiment, by using the obstacle sensor 100, information such as the position and size of an obstacle that obstructs parking of the vehicle is detected, or the vehicle door is opened for the passenger to get off. At this time, it is possible to detect information such as the position and size of an obstacle that obstructs the opening of the vehicle door, or detect an obstacle that obstructs the occupant getting off the vehicle. Therefore, according to the present embodiment, it is possible to determine whether or not the vehicle can be parked, in consideration of various obstacles detected by the obstacle sensor 100, so that these obstacles can be avoided and the occupant Can get off more smoothly. Further, in the present embodiment, the guidance information for guiding the vehicle to a suitable stop position is output by referring to the determination result of the determination unit 450 that makes a determination based on the information of various obstacles. Therefore, according to the present embodiment, the driver or the vehicle (during automatic driving) appropriately stops the vehicle while avoiding various obstacles and considering the opening of the vehicle door 602 according to the occupant. Will be easier. As a result, the occupant can get off the vehicle more smoothly.

Although the preferred embodiments of the present invention have been described above in detail with reference to the accompanying drawings, the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various alterations or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

Further, the steps in the operation of the above-described embodiment of the present invention do not necessarily have to be processed in the order described. For example, the order of the steps may be appropriately changed and processed. Further, each step may be processed partially in parallel or individually instead of being processed in time series. Further, the processing method of each step does not necessarily have to be processed according to the described method, and may be processed by another function unit by another method, for example.

In addition, a program for causing hardware such as a CPU, a ROM (Read Only Memory) and a RAM (Random Access Memory) built into the computer to exhibit the same function as the configuration of the ECU 400 described above can be created. A computer-readable recording medium in which the program is recorded may be provided.

1 control system, 100 obstacle sensor, 200 occupant sensor, 300 angle sensor, 400 ECU, 410 region estimation unit, 420 door identification unit, 422 occupant identification unit, 424 parking region calculation unit, 430 angle acquisition unit, 440 storage unit, 450 determination unit, 452 guidance unit, 460 communication unit, 500 display, 510 speaker, 600, 610 vehicle, 602, 602a, 602b vehicle door, 700, 700a, 700b occupant, 800, 800a, 800b opening angle, 802, 802a parking Area, 900 parking lot, 902 pillars, 904 puddle

Claims (9)

Based on the in-moving body information about the occupants boarding the moving body, a specifying unit that specifies the door to be opened,
A parking area calculation unit that calculates a parking area for parking the moving body in a state in which the door can be opened;
Based on the environmental information around the moving body in a designated area designated in advance, and the parking area, a determination unit that determines whether or not the moving body can be parked in the designated area,
And a control device. The control device according to claim 1, wherein the specifying unit specifies the door to be opened based on information on a boarding position of the occupant. The control device according to claim 2, wherein the identifying unit identifies the occupant and identifies the opening angle of the door by acquiring information on an opening angle preliminarily associated with the identified occupant. .. The opening angle is
Provided to the moving body, and acquired in advance by an angle detection unit that detects the opening angle of the door when the specified occupant gets on and off the vehicle.
The control device according to claim 3. The parking area calculation unit,
Based on the specified opening angle, when opening the door for the specified passenger to disembark, to calculate the moving distance of the door in the direction perpendicular to the side surface of the moving body,
The control device according to claim 4, wherein the width of the parking area is calculated based on the calculated moving distance and a known width of the moving body. The environment information is information on a first obstacle that may obstruct the parking of the moving body in the designated area, information on a second obstacle that may obstruct the door when the door is opened, and the occupant. The control device according to any one of claims 1 to 5, including any information of information on a third obstacle that causes an obstacle to the occupant when the passenger disembarks. Further comprising a free area estimation unit that estimates a free area of the designated area in which the first to third obstacles do not exist, based on the environment information,
The determination unit determines whether or not the mobile body can be parked in the designated area by comparing the estimated free area with the calculated parking area,
The control device according to claim 6. The control device according to claim 1, further comprising a guide unit that outputs guide information that guides the moving body to a stop position in the designated area. A moving body information detection unit that detects moving body information regarding an occupant who is on a moving body,
An environmental information detection unit that detects environmental information around the moving body in a designated area designated in advance,
A control device,
Including,
The control device, based on the information in the moving body, a specifying unit that specifies a door to be opened, and a parking area that calculates a parking area for parking the moving body in a state in which the door can be opened. A calculating unit; and a determining unit that determines whether or not the mobile body can be parked in the designated area based on the environment information and the parking area.
Control system.

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