JP6732602B2 - Warehousing/leaving support device and warehousing/leaving support method - Google Patents

Description

The disclosed embodiment relates to a warehousing/leaving support apparatus and a warehousing/leaving support method.

Conventionally, when parking a vehicle, it supports the user's steering operation to the target parking position, or receives a parking instruction from a user who has exited via a smartphone, which is a remote terminal, and automatically parks the vehicle at the target parking position. There is a known device that can do this (see, for example, Patent Document 1).

JP, 2016-007959, A

However, the above-mentioned conventional technique has room for further improvement in terms of further improving usability.

Specifically, when the above-described conventional technique is used, the user needs to stop the vehicle at a specified stop position with respect to the target parking position, or gets off the vehicle for a parking instruction from the outside of the vehicle, and the remote terminal It was necessary to take it out and perform an instruction operation. That is, when parking the vehicle, the user needs to take complicated steps.

Moreover, in recent years, users may utilize car sharing in which vehicles are shared among a plurality of members. In such car sharing, a part of the parking space of the pay parking lot is generally reserved for car sharing, and a portable stand signboard or the like is installed in the parking space to distinguish it from that for general vehicles. ..

For this reason, a user who uses car sharing needs to further follow the procedure of moving at least the stand signboard when parking the vehicle. Note that this point is the same when leaving the parking space.

One aspect of the embodiment is made in view of the above, and an object thereof is to provide a warehousing/leaving support apparatus and a warehousing/leaving support method that can further improve usability.

The warehousing/leaving support apparatus according to an aspect of the embodiment includes a detection unit and a vehicle control unit. The detection unit detects an index object, which is a mark of a predetermined parking space, based on imaging information around the vehicle. When the detection unit detects that the indicator has been moved from the first position that restricts the entry and exit of the parking space to the second position that does not restrict the entry and exit of the parking space, Automatic loading/unloading of the vehicle to/from the parking space is executed.

According to one aspect of the embodiment, usability can be further enhanced.

FIG. 1A is a schematic explanatory diagram (part 1) of a storage/delivery support method according to the embodiment. FIG. 1B is a schematic explanatory view (No. 2) of the loading/unloading support method according to the embodiment. FIG. 1C is a schematic explanatory view (No. 3) of the loading/unloading support method according to the embodiment. FIG. 1D is a schematic explanatory view (No. 4) of the loading/unloading support method according to the embodiment. FIG. 1E is a schematic explanatory view (No. 5) of the loading/unloading support method according to the embodiment. FIG. 2 is a block diagram of the loading/unloading support apparatus according to the embodiment. FIG. 3A is a diagram showing an example of parking space registration information. FIG. 3B is a diagram showing an example of index registration information. FIG. 4A is a diagram showing an example of mounting a camera. FIG. 4B is a diagram (part 1) showing an example of mounting the ultrasonic sensor. FIG. 4C is a diagram (part 2) illustrating an example of mounting the ultrasonic sensor. FIG. 5A is a process explanatory diagram (1) of the warehousing support process. FIG. 5B is a process explanatory diagram (2) of the warehousing support process. FIG. 5C is a process explanatory diagram (3) of the warehousing support process. FIG. 5D is a process explanatory diagram (part 4) of the warehousing support process. FIG. 5E is a process explanatory diagram (part 5) of the warehousing support process. FIG. 5F is a process explanatory diagram (6) of the warehousing support process. FIG. 6A is a process explanatory diagram (1) of the delivery support process. FIG. 6B is a process explanatory diagram (2) of the delivery support process. FIG. 6C is a process explanatory diagram (3) of the delivery support process. FIG. 6D is a process explanatory diagram (4) of the delivery support process. FIG. 6E is a process explanatory diagram (5) of the delivery support process. FIG. 7A is a flowchart (No. 1) showing a processing procedure of a storage assistance process executed by the storage/assistance device according to the embodiment. FIG. 7B is a flowchart (No. 2) showing the processing procedure of the warehousing support processing executed by the warehousing/leaving support apparatus according to the embodiment. FIG. 7C is a flowchart (No. 1) showing the processing procedure of the shipping/unloading support processing executed by the shipping/unloading support apparatus according to the embodiment. FIG. 7D is a flowchart (No. 2) showing the processing procedure of the leaving/receiving support process executed by the entering/leaving support apparatus according to the embodiment.

Hereinafter, embodiments of a warehousing/leaving support apparatus and a warehousing/leaving support method disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.

Further, in the following, a case where the user U is a user of car sharing and the vehicle 100 enters and leaves the parking space SP for car sharing secured in a part of a pay parking lot or the like will be described as a main example. .. In addition, the number "SP" of the parking space SP may be numbered in the form of "-number" to distinguish a plurality of parking spaces SP.

Further, in each of the drawings referred to below, a “balloon” for illustration may be illustrated, but a solid-line balloon is used for the action of the user U who is a human, and a broken-line balloon is used for the system operation of the device and others. Will be used.

In addition, hereinafter, after the outline of the storage/receipt support method according to the present embodiment is described with reference to FIGS. 1A to 1E, the storage/receipt support device 10 of the automatic parking system 1 to which the storage/receipt support method according to the embodiment is applied. Will be described with reference to FIGS. 2 to 7D.

First, the outline of the loading/unloading support method according to the present embodiment will be described with reference to FIGS. 1A to 1E. 1A to 1E are schematic explanatory diagrams (No. 1) to (No. 5) of the loading/unloading support method according to the embodiment.

As shown in FIG. 1A, in car sharing, for example, a plurality of parking spaces SP are secured in a part of a pay parking lot, and an index object SB that is a mark for distinguishing from a parking space for general vehicles is prepared. Has been done.

Note that FIG. 1A shows an example in which three parking spaces SP-0, SP-1, and SP-2 are provided, and the vehicle 101 is installed in the parking space SP-1 and the parking space SP-2 is installed in the parking space SP-2. It is assumed that the vehicles 102 are in storage. Then, in the present embodiment, the description will be made assuming that the vehicle 100 is put in and out of the parking space SP-0.

As shown in FIG. 1B, the index object SB is moved to a predetermined position of the entrance/exit of the parking space SP while the vehicle 100 is parked in the parking space SP or while the vehicle 100 is leaving the parking space SP. Will be placed.

The predetermined position of the loading/unloading port is a first position that can restrict loading/unloading into/from the parking space SP, and is, for example, a substantially central position of the loading/unloading port. As a result, for example, it is possible to prevent a general vehicle or the like from entering or leaving the parking space SP while the vehicle 100 is in the process of leaving.

The index object SB is called, for example, a “stand signboard” and has various designs depending on each car sharing company. For example, the indicator SB has a weight to prevent it from being blown off by the wind. Further, as the index object SB, for example, there is one having a handle so that the user U can easily hold and move it.

The user U moves the index object SB to the second position that does not limit the entry and exit of the vehicle 100 when the vehicle 100 enters and exits the parking space SP. Therefore, at least the user U who uses the car sharing needs to take the procedure of moving the index object SB when the vehicle 100 is loaded or unloaded.

Therefore, in addition to the movement of the index object SB, it is difficult for the user U to repeatedly get on and off the vehicle 100 for loading and unloading, in terms of usability. In this respect, it is conceivable to use a well-known technique for automatic loading/unloading using a remote terminal or the like. However, when such a technique is used, the vehicle 100 is stopped in advance at a prescribed stop position in the parking space SP. It is necessary to take out the remote terminal and operate it, which is also difficult in terms of usability.

Therefore, in the present embodiment, the movement of the index object SB by the user U who has stopped the vehicle 100 at an arbitrary position is detected, and the automatic loading/unloading of the vehicle 100 is executed by using the detection as a trigger.

Specifically, the case of warehousing will be taken as an example. In the present embodiment, first, when the user U stores the vehicle 100, the user U travels in the parking lot and stops the vehicle 100 at an arbitrary position with respect to the parking space SP. During this time, the loading/unloading support apparatus 10 according to the present embodiment detects the index object SB at any time by sensing based on the image pickup information around the vehicle 100 and the like.

Then, as shown in FIG. 1C, the user U dismounts the vehicle 100 and moves the index object SB of the parking space SP-0, which is the storage destination, from the first position to the second position (arrow aw- in the figure). 1). Then, in the present embodiment, the warehousing/leaving support device 10 detects the movement of the index object SB (step S1).

Then, as shown in FIG. 1D, the warehousing/leaving support device 10 executes automatic warehousing of the vehicle 100 in the parking space SP-0, triggered by the movement of the index object SB (step S2). Therefore, the user U only has to stop the vehicle 100 at an arbitrary position with respect to the parking space SP-0 and move the indicator SB from the first position to the second position when the vehicle 100 is stored. That is, according to this embodiment, usability can be further enhanced.

Although not shown here, the movement of the indicator SB is basically detected also in the case of leaving, and the automatic leaving of the vehicle 100 is executed by using the detection as a trigger. Therefore, even in the case of leaving the warehouse, the user U basically only needs to move the index object SB, and according to the present embodiment, usability can be further enhanced.

In the case of warehousing and in the case of warehousing, more specific procedures will be described later with reference to FIG. 5A and the subsequent figures. 1C and 1D exemplify the warehousing of the vehicle 100 when the vehicle 101 is in the parking space SP-1 and the vehicle 102 is in the parking space SP-2, respectively. In the form, since the movement of the index object SB is used as a trigger, this point does not change even when there are a plurality of vacant parking spaces SP.

Specifically, as shown in FIG. 1E, for example, when all of the parking spaces SP-0, SP-1, SP-2 are vacant, and the user U may store the vehicle 100 in any of the parking spaces SP-0, SP-1, SP-2. Further, it is assumed that the user U has moved the index object SB in the parking space SP-0.

In such a case, in the present embodiment, automatic storage of the vehicle 100 is executed in the parking space SP-0 in which the index object SB has been moved (step S2'). In addition, if the index object SB of the parking space SP-1 is moved, the vehicle 100 automatically enters the parking space SP-1, and if the index object SB of the parking space SP-2 is moved, the vehicle 100 automatically enters the parking space SP-2. To be done.

As a result, when the vehicle 100 is stored, even if there is an option in the parking space SP, the user U stops the vehicle 100 at an arbitrary position with respect to the parking space SP without taking a troublesome procedure, and the index object SB. All you have to do is move. That is, according to this embodiment, usability can be further enhanced.

As described above, in the present embodiment, the index object SB, which is a mark of the predetermined parking space SP, is detected based on the imaging information around the vehicle 100, and the index object SB limits entry and exit from the parking space SP. When it is detected that the user U has moved from the position to the second position that does not restrict the loading/unloading, the automatic loading/unloading of the vehicle 100 in/from the parking space SP is executed. Therefore, according to this embodiment, usability can be further enhanced.

Hereinafter, the warehousing/leaving support device 10 of the automatic parking system 1 to which the warehousing/leaving support method described above is applied will be described more specifically.

FIG. 2 is a block diagram of the loading/unloading support device 10 according to the embodiment. Note that, in FIG. 2, only the components necessary for explaining the features of the present embodiment are represented by functional blocks, and the description of general components is omitted.

In other words, each component shown in FIG. 2 is functionally conceptual, and does not necessarily have to be physically configured as shown. For example, the specific form of distribution/integration of each functional block is not limited to that shown in the figure, and all or part of the functional block may be functionally or physically distributed in arbitrary units according to various loads and usage conditions. -It can be integrated and configured.

As shown in FIG. 2, the loading/unloading support apparatus 10 includes a control unit 11 and a storage unit 12. The control unit 11 includes a registration unit 11a, a detection unit 11b, a route calculation unit 11c, a vehicle control unit 11d, an authentication unit 11e, and an output information generation unit 11f. The detection unit 11b includes an index detection unit 11ba, a parking space detection unit 11bb, and an obstacle detection unit 11bc.

The storage unit 12 is a storage device such as a hard disk drive, a non-volatile memory, or a register, and stores the registration information 12a. The registration information 12a is pre-registration information required in the warehousing/leaving support process executed by the warehousing/leaving support device 10.

The control unit 11 controls the entire loading/unloading support device 10. The registration unit 11a receives the registration content of the pre-registration information from the operation unit 2 and stores it in the storage unit 12 as registration information 12a. The operation unit 2 corresponds to, for example, an operation device of an in-vehicle device such as a navigation device mounted on the vehicle 100. As a result, it is possible to provide the user U with a preset function of various information relating to automatic warehousing/discharging.

Here, various information included in the registration information 12a that is registered by the registration unit 11a will be described. FIG. 3A is a diagram showing an example of parking space registration information. 3B is a diagram showing an example of index registration information.

As shown in FIG. 3A, the parking space registration information includes various information regarding the parking space SP. For example, it is registered in the parking space registration information that the parking space SP includes, for example, a parking frame 51, an internal area 52, a tire stopper 53, and an entrance/exit opening 54.

In the parking space registration information, for example, the first position P1 which is a predetermined position of the index object SB is a position corresponding to substantially the center of the loading/unloading port 54, and the second positions P2-1 and P2-2 are loading/unloading. It is registered that the position corresponds to either one of both ends of the mouth 54. Note that, for convenience of description, the second positions P2-1 and P2-2 may be collectively referred to as "second position P2" below.

Further, in the parking space registration information, it is registered that the width of the parking space SP is, for example, 2×W and the depth length is, for example, L.

Further, as shown in FIG. 3B, identification information of each of a plurality of types of index objects SB is registered in the index object registration information. For example, as shown in FIG. 3B, the index object registration information includes “index object type”, “business operator” of car sharing, “template image” of index object SB, “dimension information” of index object SB, and the like. It is the associated information. The index detection unit 11ba, which will be described later, detects the index SB by comparing the index registration information with the imaging information of the camera 3, for example. As a result, it is possible to detect the indicator SB having various designs that differ depending on the car sharing company.

Further, although not shown, the registration information 12a can register the exit direction of the parking lot where the parking space SP exists, which is the basis of the exit direction at the time of exit. The route calculation unit 11c, which will be described later, calculates the leaving route when the vehicle 100 is leaving based on the registered exit direction.

Returning to the description of FIG. 2, the detection unit 11b will be described next. The detection unit 11b is a processing unit that detects obstacles around the indicator SB, the parking space SP, and the vehicle 100 based on the detection results of the camera 3, the ultrasonic sensor 4, the vehicle information sensor 5, and the like.

Specifically, the index detection unit 11ba compares the index registration information included in the registration information 12a with the feature points of the template image (for example, pattern matching of the shape) based on the imaging information of the camera 3. , The indicator SB is detected. As a result, index objects SB of various designs can be detected by registering even a template image from which feature points of the shape can be extracted.

In addition, the parking space detection unit 11bb compares the parking space 51 and the like with various information of the parking space registration information included in the registration information 12a based on the imaging information of the camera 3 to determine the parking space SP. To detect.

Note that instead of the parking space detection unit 11bb, the index object detection unit 11ba refers to the parking space registration information of the registration information 12a based on the detected position of the index object SB, and based on the width W and the depth length L, for example, parking is performed. The parking space SP may be estimated by calculating the position of the frame 51. As a result, if only the indicator SB can be detected, for example, preparation for shifting to the storage mode at the time of storage can be performed in terms of system operation, and the processing speed can be increased.

Further, the obstacle detection unit 11bc detects an obstacle around the vehicle 100 based on the detection result of the ultrasonic sensor 4. Here, an example of mounting the camera 3 and the ultrasonic sensor 4 will be described. FIG. 4A is a diagram showing an example of mounting the camera 3. 4B and 4C are views (No. 1) and (No. 2) showing an example of mounting the ultrasonic sensor 4.

As shown in FIG. 4A, as the camera 3, four cameras, for example, a front camera 3a, a back camera 3b, and side cameras 3c and 3d are mounted. Each of the cameras 3a to 3d includes an image pickup device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and outputs image pickup information around the vehicle 100 picked up by the image pickup device to the entry/exit assistance device 10.

A wide-angle lens such as a fish-eye lens is adopted as the lens of each camera 3a to 3d, and each camera 3a to 3d has an angle of view of 180 degrees or more. It is possible to shoot.

Further, as shown in FIG. 4B, the ultrasonic sensor 4 has, for example, two front corner sensors 4a, four front sensors 4b, four rear corner sensors 4c, four back sensors 4d, four front side sensors 4e, and four rear side sensors 4f, for a total of eight. It is installed individually.

These respective sensors 4a to 4f can form a sensing area as shown as a filled area in FIG. 4C. Each of the sensors 4a to 4f detects an obstacle existing in the sensing area and outputs the detection result to the loading/unloading assistance device 10.

Returning to the description of FIG. 2, the detecting unit 11b will be continuously described. The detection unit 11b also updates the detection results of the indicator SB, the parking space SP, and the obstacle, as needed, based on the vehicle information from the vehicle information sensor 5. The vehicle information sensor 5 is a device that detects information such as the vehicle speed and the steering angle regarding the movement of the vehicle 100, and includes, for example, a vehicle speed sensor and a steering angle sensor.

Further, the detection unit 11b outputs the detection result to the route calculation unit 11c and the output information generation unit 11f. The route calculation unit 11c calculates the warehousing route or the warehousing route of the vehicle 100 in the automatic warehousing based on at least the detection result of the detection unit 11b.

For example, the route calculation unit 11c passes through the loading/unloading port 54 based on the position of the indicator SB detected by the detection unit 11b, the position of the parking space SP, the position of the obstacle, and the vehicle information from the vehicle information sensor 5. The storage route or the storage route of the vehicle can be stored in the parking space SP or can be stored in the parking space SP without hitting an obstacle.

In addition, the route calculation unit 11c calculates the warehousing route or the warehousing route based on, for example, one or both of the first position P1 and the second position P2. For example, the route calculation unit 11c prevents the side of the second position P2 on which the index object SB is moved and placed at the loading/unloading port 54 from entering and exiting from the turning center side of the steering angle of the vehicle 100, that is, the inner ring side. Calculate the entry route or exit route.

Further, for example, when leaving the vehicle 100, the route calculation unit 11c calculates the leaving route such that the exit direction of the parking lot registered in the registration information 12a is the leaving direction. A specific example of the warehousing path or the warehousing path at the time of warehousing and unloading will be described later with reference to FIG.

In addition, the route calculation unit 11c outputs the calculated warehousing route or warehousing route to the vehicle control unit 11d. The route calculation unit 11c updates the calculation result at any time according to the detection result of the detection unit 11b and the detection result of the vehicle information sensor 5.

The vehicle control unit 11d controls each component of the vehicle 100 such that the vehicle 100 is loaded or unloaded along the warehousing route or the warehousing route calculated by the route calculation unit 11c. For example, the vehicle control unit 11d controls the lock mechanism 8a for locking or unlocking, the engine 8b, the transmission 8c, the P brake 8d, the brake 8e, the accelerator 8f, and the steering 8g. As a result, it is possible to realize automatic warehousing/leaving for the parking space SP along the warehousing path or the warehousing path calculated by using the movement of the index object SB as a trigger.

The authentication unit 11e accepts the authentication information of the user U from the authentication information acquisition unit 6 and performs the authentication process of the user U when leaving the warehouse. When the user U can be authenticated as the authorized user of the vehicle 100, the authentication unit 11e notifies the vehicle control unit 11d of that fact, and causes the vehicle control unit 11d to turn on, for example, the engine 8b or the P brake. Turn off 8d.

The authentication information acquisition unit 6 is, for example, a member card reading unit in car sharing, and is provided near the rear window of the vehicle 100.

The output information generation unit 11f generates output information when, for example, it is necessary to perform display or voice output to the user U based on the detection result of the detection unit 11b, and outputs it to the output unit 7. The output unit 7 is an output device such as a display or a speaker of an in-vehicle device.

Next, a more specific procedure for warehousing will be described with reference to FIGS. 5A to 5F. 5A to 5F are process explanatory diagrams (No. 1) to (No. 6) of the warehousing support process.

First, at the time of warehousing, the user U enters the parking lot and drives the vehicle 100 toward the parking space SP. During this period, as shown in FIG. 5A, the detection unit 11b of the loading/unloading support device 10 detects the index object SB in the parking space SP at any time (step S11). Then, the user U stops the vehicle 100 at an arbitrary position near the parking space SP (step S12).

At this time, if the detection unit 11b can detect the indicator SB, the detection unit 11b causes the output information generation unit 11f to display, for example, a display component indicating that the storage mode can be entered. Specifically, as shown in FIG. 5B, the output information generation unit 11f generates, for example, image information of the warehousing button 71a and causes the display 71 of the vehicle-mounted apparatus to display the warehousing button 71a (step S13).

Then, when the user U presses the warehousing button 71a (step S14), the warehousing/leaving support device 10 shifts to the warehousing mode (step S15). When shifting to the warehousing mode, the output information generation unit 11f generates, for example, the guidance information of the operation procedure of the user U related to the automatic warehousing in the form of an image or voice, and outputs it to the output unit 7.

According to the guidance information, as shown in FIG. 5C, the user U subsequently dismounts the vehicle 100 and sets the index object SB in the parking space SP (here, the parking space SP-0) from the first position P1 to the second position P2. -2 (step S16).

On the other hand, the warehousing/leaving support device 10 detects the movement of the indicator SB within a predetermined time after shifting to the warehousing mode (step S17). The predetermined time referred to here is a standard for measuring that the user U (passenger may be alight) getting off from the vehicle 100 has moved the index object SB without fail, and by performing such time determination, It is possible to prevent erroneous operation due to movement of the index object SB by an unrelated person. The following detection method may be used for the movement of the indicator SB. The warehousing/outgoing assistance device 10 uses the camera 3 provided in the vehicle 100 to acquire a photographed image until the user U who gets off the vehicle 100 approaches the index portion SB. Then, the warehousing/outgoing support device 10 acquires a photographed image until the user U is present in the vicinity of the index portion SB and moves the index portion SB from the first position P1 to the second position P2. As described above, in the loading/unloading support device 10, the user U who has exited from the vehicle 100 exists near the index object SB, and this user U moves the index object SB from the first position P1 to the second position P2. The movement of the indicator SB may be detected when the determination is made based on the captured image. As a result, it is possible to more reliably prevent a malfunction caused by the movement of the index object SB by an unrelated person.

Then, as shown in FIG. 5D, the warehousing/leaving support device 10 executes automatic warehousing after a lapse of a predetermined time after detecting the movement of the indicator SB (step S18). After the lapse of the predetermined time, the purpose is to wait for the user U to move reliably to a safe position after moving the index object SB. As a result, it is possible to prevent accidents and achieve automatic storage safely.

As shown in FIG. 5D, when the automatic warehousing is started, for example, a voice notification such as “Automatic warehousing is started. The car moves.”, a hazard lamp starts blinking, and the actual movement of the vehicle 100 is started. Begins.

The movement of the vehicle 100 is performed along the warehousing route calculated by the route calculation unit 11c. The route calculation unit 11c, for example, the user U moves to a position closer to one of the second positions P2-1 and P2-2 (the second position P2-2 in FIG. 5D) where the user U has moved the indicator SB, that is, near the user. The warehousing path is calculated so that the side with a high possibility of being on the vehicle is not on the rotation center side of the steering angle of the vehicle 100.

Specifically, when the user U does not exist inside the rotation center side of the storage path drawn by the arrows aw-2 and aw-3 illustrated in FIG. 5D, in other words, inside the arc of the arrows aw-2 and aw-3, the storage is performed. The route is calculated. This can reduce the risk of the user U getting caught in the inner ring of the vehicle 100 during automatic warehousing, prevent an accident, and achieve automatic warehousing safely.

This is the same when the user U moves the index object SB to the second position P2-2 side as shown in FIG. 5E. That is, the route calculation unit 11c does not allow the user U to exist inside the rotation center side of the storage route drawn by the arrows aw-4 and aw-5 shown in FIG. 5E, in other words, inside the arc of the arrows aw-4 and aw-5. Then, the storage route is calculated. Therefore, as shown in FIG. 5E, for example, the vehicle 100 can be moved forward into the parking space SP-0 in consideration of the safety of the user U.

Then, when the movement of the vehicle 100 at the time of warehousing is completed, as shown in FIG. 5F, for example, a voice notification such as "automatic warehousing is completed. Please return the signboard to the original position." The blinking ends, the P brake 8d turns on, the engine 8b turns off, and the lock mechanism 8a locks (step S19).

Then, the user U returns the index object SB to the original first position P1 (step S20), and the execution of the automatic warehousing is completed. In addition, after the voice notification of the above-mentioned "Automatic warehousing is completed. Please return the signboard to the original position.", the position of the indicator SB is monitored, and the user U returns to the original first position P1. It is possible to wait until the blinking of the hazard lamp or the turning off of the engine 8b until the operation is returned to. Also, the voice notification may be repeated. Thereby, it is possible to prevent the user U from forgetting to return the index object SB.

As illustrated in FIGS. 5A to 5F, when the user U stores the vehicle 100, the user U simply stops the vehicle 100 at an arbitrary position with respect to the parking space SP, and then dismounts the vehicle 100 to move the index object SB. The 100 can be automatically stored in the parking space SP automatically. Therefore, according to this embodiment, usability can be further enhanced.

Next, a more specific procedure for warehousing will be described with reference to FIGS. 6A to 6E. 6A to 6E are process explanatory diagrams (No. 1) to (No. 5) of the shipping assistance process.

First, when leaving the warehouse, the user U performs a user authentication action as shown in FIG. 6A (step S21). For example, in car sharing, the user U is authenticated by reading the membership card as described above. Note that various authentication techniques such as face authentication, fingerprint authentication, smart entry, etc. may be used instead of card authentication.

In the warehousing/discharging support device 10, when the authentication unit 11e authenticates the user U and the user U is authenticated as an authorized user, the vehicle control unit 11d turns on the engine 8b and turns off the P brake 8d. The indicator SB at the first position P1 is detected by the detection unit 11b, and if detected, the loading/unloading support device 10 shifts to the shipping mode (step S22).

When shifting to the shipping mode, the output information generation unit 11f outputs to the output unit 7 a voice notification such as "Move the stand signboard. Automatic shipping will start."

According to the voice notification, as shown in FIG. 6B, subsequently, the user U moves the indicator SB in the parking space SP-0 from the first position P1 to the second position P2-2 without getting on the vehicle 100. (Step S23).

On the other hand, the warehousing/leaving support device 10 detects the movement of the indicator SB within a predetermined time after shifting to the warehousing mode (step S24). As in the case of warehousing, the predetermined time referred to here is a standard for measuring that the authenticated user U (passenger is acceptable) has moved the index object SB without fail. By doing so, it is possible to prevent a malfunction caused by a completely unrelated person moving the index object SB.

Then, as shown in FIG. 6C, the warehousing/leaving support device 10 executes automatic warehousing after a lapse of a predetermined time after detecting the movement of the index object SB (step S25). After the lapse of the predetermined time, the user U himself/herself waits for sure movement to a safe position after moving the index object SB, similarly to the case of storing. As a result, it is possible to prevent an accident and to safely carry out automatic warehousing.

As shown in FIG. 6C, when the automatic unloading is started, for example, the blinking of a hazard lamp and the actual movement of the vehicle 100 are started. The movement of the vehicle 100 is performed along the exit route calculated by the route calculation unit 11c.

As shown in FIG. 6C, the route calculation unit 11c calculates a delivery route in which the exit direction of the parking lot registered in the above-described registration information 12a is the delivery direction, and the vehicle control unit 11d sends a vehicle along the delivery route. 100 is issued. As a result, after leaving the garage, the user U can smoothly move toward the exit of the parking lot without causing the user U to switch back or the like. That is, usability can be further improved.

It should be noted that, for example, when the vehicle 100 is in the front entrance in the opposite direction to that shown in FIG. 6C, the route calculation unit 11c once exits the vehicle in the reverse direction to the exit direction of the registration information 12a, and then the vehicle 100 You may calculate the leaving path which directs the front to the exit direction of a parking lot (refer FIG. 6D). Alternatively, in the registration information 12a, the exit direction when the vehicle is retracting backward and the exit direction when the vehicle is entering frontward may be registered in advance.

Further, as shown in FIG. 6D, the route calculation unit 11c, as in the case of warehousing, for example, one of the second positions P2-1 and P2-2 where the user U has moved the indicator SB (in FIG. 6D, , The second position P2-1), that is, the side where the user U is likely to be near is not the rotation center side of the steering angle of the vehicle 100, and the exit route can be calculated.

This can reduce the risk of the user U getting caught in the inner ring of the vehicle 100, prevent an accident, and perform automatic warehousing safely even during automatic warehousing.

Then, when the movement of the vehicle 100 at the time of leaving the warehouse is finished, for example, a voice notification such as “automatic leaving is finished. Please return the signboard to the original position.”, or as shown in FIG. The blinking is completed, the P brake 8d is turned on, and the lock mechanism 8a unlocks (step S26).

Then, the user U returns the index object SB to the original first position P1 (step S27), and the execution of the automatic shipping is completed. In addition, after the voice notification of the above-mentioned “automatic warehousing is completed. Please return the signboard to the original position.”, the position of the indicator SB is monitored and the user U returns to the original first position P1. You may wait until the blinking of the hazard lamp or the unlocking by the lock mechanism 8a is returned until it returns to. Also, the voice notification may be repeated. Thereby, it is possible to prevent the user U from forgetting to return the index object SB.

As shown in FIGS. 6A to 6E, when the user U exits the vehicle 100, after the user authentication, the user U simply moves the index object SB without getting on the vehicle 100, and the vehicle 100 is automatically moved from the parking space SP automatically. You can leave the warehouse. Therefore, according to this embodiment, usability can be further enhanced.

Next, a processing procedure executed by the loading/unloading support device 10 according to the present embodiment will be described with reference to FIGS. 7A to 7D. 7A and 7B are flowcharts (No. 1) and (No. 2) showing the processing procedure of the warehousing support processing executed by the warehousing/leaving support apparatus 10 according to the embodiment.

Moreover, FIG. 7C and FIG. 7D are flowcharts (No. 1) and (No. 2) showing the processing procedure of the shipping/unloading support processing executed by the shipping/unloading support apparatus 10 according to the embodiment.

First, at the time of warehousing, while the user U is traveling the vehicle 100, as shown in FIG. 7A, the detection unit 11b detects the indicator SB at any time (step S101). When the index object SB is detected (Yes in step S101), the detection unit 11b determines whether the vehicle 100 is stopped based on the vehicle information from the vehicle information sensor 5 (step S102).

Here, when the vehicle 100 is stopped (Yes in step S102), the output information generation unit 11f generates an image of the warehousing button 71a and causes the display 71 to display the warehousing button 71a (step S103).

If the determination conditions of steps S101 and S102 are not satisfied (step S101, No/step S102, No), the processing from step S101 is repeated.

Subsequently, it is determined whether or not the warehousing button 71a has been pressed (step S104). When it is determined that the warehousing button 71a has been pressed (step S104, Yes), the warehousing/leaving support apparatus 10 shifts to the warehousing mode (step S105). Then, the guidance information of the operation procedure of the user U related to the automatic warehousing is output to the output unit 7 as an image or a sound (step S106).

Subsequently, it is determined whether or not the movement of the index object SB is detected within a predetermined time after shifting to the storage mode (step S107). Here, when the movement of the indicator SB is detected within the predetermined time (Yes in step S107), it is determined whether or not the predetermined time has elapsed after the detection (step S108).

Here, when the predetermined time has not elapsed (step S108, No), the process of step S108 is repeated. The length of the "predetermined time" in steps S107 and S108 may be different.

When the determination condition of step S108 is satisfied (step S108, Yes), as shown in FIG. 7B, the start of automatic warehousing is notified based on the output information generated by the output information generation unit 11f (step S109). Such "notification" includes voice notification, image display, hazard lamp blinking, and the like.

Then, the route calculation unit 11c calculates the warehousing route (step S110), and the vehicle control unit 11d automatically moves the vehicle 100 along the calculated warehousing route (step S111). When the movement of the vehicle 100 is completed, the completion of the automatic warehousing is notified based on the output information generated by the output information generation unit 11f (step S112).

Then, the vehicle control unit 11d turns on the P brake 8d, turns off the engine 8b (step S113), and locks the lock mechanism 8a (step S114), and ends the process. Further, as shown in FIGS. 7A and 7B, even when the determination conditions of steps S104 and S107 are not satisfied (step S104, No/step S107, No), the processing ends.

In addition, when leaving the warehouse, as shown in FIG. 7C, the authentication unit 11e first authenticates the user U (step S201). When the user U is authenticated (step S201, Yes), the vehicle control unit 11d turns on the engine 8b and turns off the P brake 8d (step S202). If the determination condition of step S201 is not satisfied (step S201, No), the process of step S201 is repeated.

Subsequently, the detection unit 11b detects the index object SB at the first position P1 (step S203). When the index object SB is detected (Yes at Step S203), the loading/unloading support device 10 shifts to the shipping mode (Step S204). Then, the guidance information of the operation procedure of the user U related to the automatic warehousing is output by voice to the output unit 7 (step S205).

Subsequently, it is determined whether or not the movement of the index object SB is detected within a predetermined time after the shift to the shipping mode (step S206). Here, when the movement of the indicator SB is detected within the predetermined time (Yes in step S206), it is determined whether or not the predetermined time has elapsed after the detection (step S207).

Here, when the predetermined time has not elapsed (step S207, No), the process of step S207 is repeated. The length of the “predetermined time” in steps S206 and S207 may be different.

When the determination condition of step S207 is satisfied (step S207, Yes), as shown in FIG. 7D, the start of automatic shipping is notified based on the output information generated by the output information generation unit 11f (step S208). Such "notification" includes voice notification, blinking of a hazard lamp, and the like.

Then, the route calculation unit 11c calculates the leaving route (step S209), and the vehicle control unit 11d automatically moves the vehicle 100 along the calculated leaving route (step S210). When the movement of the vehicle 100 is completed, the completion of the automatic shipping is notified based on the output information generated by the output information generation unit 11f (step S211).

Then, the vehicle control unit 11d turns on the P brake 8d (step S212) and unlocks the lock mechanism 8a (step S213), and ends the process. Further, as shown in FIGS. 7C and 7D, even when the determination conditions of steps S203 and S206 are not satisfied (step S203, No/step S206, No), the processing ends.

As described above, the loading/unloading assistance device 10 according to the present embodiment includes the detection unit 11b and the vehicle control unit 11d. The detection unit 11b detects the index object SB, which is a mark of the predetermined parking space SP, based on the imaging information around the vehicle 100. When the detection unit 11b detects that the index object SB has been moved from the first position P1 that restricts entry and exit to the parking space SP to the second position P2 that does not restrict entry and exit, the vehicle control unit 11d detects Automatic loading/unloading of the vehicle 100 to/from the parking space SP is executed.

Therefore, according to the loading/unloading support apparatus 10 according to the present embodiment, usability can be further enhanced.

In the above-described embodiment, the first position P1 is a position corresponding to the approximate center of the loading/unloading opening 54 of the parking space SP, but the invention is not limited to this, and the loading/unloading of the vehicle 100 is restricted. Any position is acceptable. Similarly, the second position P2 may be a position that does not limit the warehousing/unloading of the vehicle 100, and is not limited to the position corresponding to either one of both ends of the warehousing/unloading port 54.

In the above-described embodiment, the case where the user U uses car sharing has been described as an example, but the present invention is also applied to the case where the user U owns the vehicle 100 and enters and leaves the vehicle 100 from the parking space SP at home. be able to.

Specifically, the index object SB that serves as a mark of the parking space SP at home is installed, and when the parking space SP is being parked (parked) or is being parked (outgoing), the index object SB is located at the first position. The index object SB may be placed at the second position P2 when the article SB is placed at P1 and is loaded or unloaded.

As the index object SB in such a case, for example, a generally well-known conical safety cone (see “index object #3” in FIG. 3B) can be used.

Further effects and modifications can be easily derived by those skilled in the art. As such, the broader aspects of the present invention are not limited to the specific details and representative embodiments depicted and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1 Automatic parking system 10 Entry/exit assistance device 11 Control part 11a Registration part 11b Detection part 11ba Index object detection part 11bb Parking space detection part 11bc Obstacle detection part 11c Route calculation part 11d Vehicle control part 11e Authentication part 11f Output information generation part 12 Storage section 12a Registration information 54 Entry/Exit gate 71 Display 71a Entry button 100 Vehicle P1 1st position P2 2nd position SB Index object SP Parking space U User

Claims (11)

A detection unit that detects an index object that is a mark of a predetermined parking space, based on imaging information around the vehicle,
When the detection unit detects that the index object has been moved from the first position that restricts the entry and exit of the parking space to the second position that does not restrict the entry and exit of the parking space, And a vehicle control unit that executes automatic warehousing and unloading. The vehicle control unit,
The loading/unloading support apparatus according to claim 1, wherein the automatic loading/unloading is executed after a predetermined time has elapsed since the detection unit detected that the index object was moved to the second position. The vehicle control unit,
The automatic loading/unloading is executed when the index object is moved to the second position within a predetermined time after the detection section detects that the index object is at the first position. The loading/unloading support apparatus according to claim 1 or 2. A storage unit that stores identification information of the index object detected by the detection unit;
The detection unit,
The loading/unloading support apparatus according to claim 1, wherein the index object corresponding to the identification information acquired from the storage unit is detected as a detection target. The storage/receipt support apparatus according to claim 4, further comprising: a registration unit that receives registration of the identification information for each of a plurality of types of index objects and stores the registration information in the storage unit. The identification information is
At least including information about the shape of the index object,
The detection unit,
The loading/unloading support apparatus according to claim 5, wherein the index object is detected by pattern matching of the shape based on the identification information. The detection unit,
The loading/unloading assistance device according to claim 5, wherein the parking space is estimated based on the detected position of the index object. A route calculation unit that calculates a warehousing route or a warehousing route of the vehicle in the automatic warehousing based on a detection result of the detection unit;
The vehicle control unit,
The warehousing/leaving support apparatus according to claim 5, 6 or 7, wherein the vehicle is loaded or unloaded along the warehousing route or the warehousing route calculated by the route calculation unit. The first position is a position corresponding to approximately the center of the entrance/exit of the parking space,
The second position is a position corresponding to either one of both ends of the loading/unloading port,
The route calculation unit,
The warehousing/leaving support device according to claim 8, wherein the warehousing route or the warehousing route is calculated such that the side of the second position where the index object exists is not on the rotation center side of the steering angle of the vehicle. .. The registration unit is
Accept the registration of the exit direction of the parking lot where the parking space is present and store it in the storage unit,
The route calculation unit,
The warehousing/leaving support apparatus according to claim 8 or 9, wherein the warehousing route is calculated so that the exit direction is the warehousing direction. A detection step of detecting an index object that is a mark of a predetermined parking space based on the imaged information around the vehicle;
When it is detected by the detection step that the index object has been moved from the first position that restricts the entry and exit of the parking space to the second position that does not restrict the entry and exit of the parking space, And a vehicle control process for executing automatic warehousing and unloading.

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